[etherlab-users] trouble mapping a PDO for a Kollmorgen AKD

[Dusty Clark]

This seems to be a common issue on this list. :)

I'm using Sebastien Blanchet's mini example he posted in 2012 as a base; in
my application, I want to run the drive in velocity mode and just set/query
the velocity values and the digital input status, along with the command
word and status word.

The issue is that the registration of the last PDO comes up unmapped. The
output from dmesg is:

[ 6271.226521] EtherCAT: Requesting master 0...
[ 6271.226525] EtherCAT: Successfully requested master 0.
[ 6271.226584] EtherCAT ERROR 0 0:0: PDO entry 0x6041:00 is not mapped.
[ 6271.226641] EtherCAT 0: Releasing master...
[ 6271.226643] EtherCAT 0: Released.

The application runs (although with a funny issue with the digital input
value varying wildly) when I don't include that particular PDO by not
configuring it in the 0x1A01 object.

The error messages when the code is running is:
<stderr>: Failed to register PDO entry: No such file or directory
<stderr>: PDO entry registration failed!
<stdout>: Configuring AKD with free PDO...
<stdout>: Configuring PDOs...

So clearly the error happens when ecrt_domain_reg_pdo_entry_list() gets
called. I'm really unsure why this would happen, I don't see what mistake
there must be in there, so it's time to get help from the experts...and
thanks in advance!

BTW, I did supply the PDO list with a call to ecrt_slave_config_pdos(), so
I *think* the PDOs got configured, but then I get the unmapped PDO error...

Listing is attached...

Dusty Clark
-------------- next part --------------
An HTML attachment was scrubbed...
URL: <http://lists.etherlab.org/pipermail/etherlab-users/attachments/20140105/7dc14aee/attachment-0002.htm>
-------------- next part --------------
A non-text attachment was scrubbed...
Name: test2.c
Type: text/x-csrc
Size: 6752 bytes
Desc: not available
URL: <http://lists.etherlab.org/pipermail/etherlab-users/attachments/20140105/7dc14aee/attachment-0003.c>