[etherlab-users] How to change the input and output Map(Yaskawa servopack)?

Richard Hacker ha at igh.de
Tue Nov 18 13:20:20 CET 2014

Am 2014-11-18 09:07, schrieb Ruika You:
> Dear all,
> I got a set yaskawa servopack, it works well with Twincat.Now I am
> struggling with etherlab master version 1.52.
> First step, I tried ethercat command line, when i change the state from
> PREOP->SAFEOP->OP, control word 0x6040 always shows 0, can not be changed.
> I do some research from website, I found I got the same issue as follow
> posts:
> http://lists.etherlab.org/pipermail/etherlab-users/2010/000941.html
> http://thread.gmane.org/gmane.network.etherlab.user/676/focus=683
> http://lists.etherlab.org/pipermail/etherlab-users/2012/001581.html
> As I checked my firmware version is 3.01 is OK.
> I also got reply from yaskawa, the suggested me to change the mapping as
> follow:
> Original:
> Inputs  mapped to -> FMMU0
> Outputs mapped to -> FMMU1
> Change - Need to be mapped as:
> Outputs  mapped to -> FMMU0
> Inputs mapped to -> FMMU1
> I am a newbie in this field, anyone knows how to change this mapping?
There is no remapping in the slave. You define which FMMU (aka 
syncmanager) using the index field of ec_sync_info_t.

> What is more, as Henry Bausley mentioned in above post, his solution is
> using two domains, input domain and output domain. How to implement it?
Create 2 domains with ecrt_master_create_domain() and register TxPDO's 
in the one and RxPDO's in the other.

> Any ideas?
> Thanks in advance!
> Best regards!
> -chengxi
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