[etherlab-users] PDO mapping without 0x1c12 0x 1c13 method

[Tillman, Scott]

We have begun testing the Parker P-Series drives as a replacement for the drives we currently use.  I don't know all of the details, but I was told we "had to get custom firmware to map some of the PDOs".  Also, some of the configuration was still odd to my eyes.  It is possible we aren't using the drive in the same mode you want, but these were the settings we extracted from the TwinCAT config:

    ec_pdo_entry_info_t PSeries_pdoEntryInfo[] = {
                                 // PDO: 0x1A00
        {  0x6041, 0, 16 },      // Statusword
        {  0x6064, 0, 32 },      // Position Actual Value
        {  0x60B9, 0, 16 },      // Touch probe status
        {  0x60FD, 0, 32 },      // Digital Inputs
        {  0x60BA, 0, 32 },      // Touch probe 1 positive edge
        {  0x60F4, 0, 32 },      // Following Error Actual Value
                                 // PDO: 0x1600
        {  0x6040, 0, 16 },      // Controlword
        {  0x607A, 0, 32 },      // Target Position
        {  0x60B8, 0, 16 },      // Touch probe function
        {  0x6081, 0, 32 },      // Profile Velocity
        {  0x6083, 0, 32 },      // Profile Acceleration
        {  0x6084, 0, 32 },      // Profile Deceleration
    };
    ec_pdo_info_t PSeries_pdoInfo[] = {
        { 0x1A00, 6, &PSeries_pdoEntryInfo[0]  },
        { 0x1600, 6, &PSeries_pdoEntryInfo[6]  },
    };
    ec_sync_info_t PSeries_syncInfo[] = {
        {0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE},
        {1, EC_DIR_INPUT,  0, NULL, EC_WD_DISABLE},
        {2, EC_DIR_OUTPUT, 1, &PSeries_pdoInfo[1], EC_WD_DEFAULT},
        {3, EC_DIR_INPUT, 1, &PSeries_pdoInfo[0], EC_WD_DEFAULT},
        { 0xff }
    };
    ec_sdo_info_t PSeries_sdoInfo[] = {  // NOTE: data must be in little endien format 
       { 0x1A00, 0, 26, { 0x06, 0x00, 0x10, 0x00, 0x41, 0x60, 0x20, 0x00, 0x64, 0x60, 0x10, 0x00, 0xB9, 0x60, 0x20, 0x00, 0xFD, 0x60, 0x20, 0x00, 0xBA, 0x60, 0x20, 0x00, 0xF4, 0x60 } },
       { 0x1A01, 0,  2, { 0x00, 0x00 } },
       { 0x1A02, 0,  2, { 0x00, 0x00 } },
       { 0x1A03, 0,  2, { 0x00, 0x00 } },
       { 0x1600, 0, 26, { 0x06, 0x00, 0x10, 0x00, 0x40, 0x60, 0x20, 0x00, 0x7A, 0x60, 0x10, 0x00, 0xB8, 0x60, 0x20, 0x00, 0x81, 0x60, 0x20, 0x00, 0x83, 0x60, 0x20, 0x00, 0x84, 0x60 } },
       { 0x1601, 0,  2, { 0x00, 0x00 } },
       { 0x1602, 0,  2, { 0x00, 0x00 } },
       { 0x1603, 0,  2, { 0x00, 0x00 } },
       { 0x1C12, 0,  4, { 0x01, 0x00, 0x00, 0x16 } },
       { 0x1C13, 0,  4, { 0x01, 0x00, 0x00, 0x1A } },
       { 0x6060, 0,  1, { 0x01 } },                         // Send OpMode SDO ( 1 = Profile Position Mode)
        { 0 }
    };	//data for calls to ecrt_slave_config_sdo()

So, it's likely you'll need to contact Parker and ask about how to map the standard PDOs you are expecting (and get the right firmware).  The SDOs for 0x1A000:00 and 0x16000:00 look *very* unusual to me with 26 bytes of data.  It looks like instead of using the 0x1A00 subindexes they are just concatenating all of the data into one SDO.  In any case, this is working for us in our life-test rig at the moment.

-Scott Tillman
Advisory Software Engineer
Bell + Howell
(919) 767-6745

-----Original Message-----
From: etherlab-users [mailto:etherlab-users-bounces at etherlab.org] On Behalf Of Thomas Paoloni
Sent: Wednesday, January 13, 2016 6:12 AM
To: etherlab-users at etherlab.org
Subject: [etherlab-users] PDO mapping without 0x1c12 0x 1c13 method

Hi,

I'm trying to insert a Parker PSD servo drive in my ethercat network, but this item doesn't support the PDO mapping through the usual writing of the registers 0x1c12 and 0x1c13.
In short, the mechanism of mapping the PDO by writing the usual C++ cstruct ec_pdo_entry_info_t and claiming the objects in to the PDO ec_pdo_entry_reg_t is not implemented.
Anyway, I can have this slave working with Twincat and theoretically there should be an equivalent way to bring it in OP state even under etherlab master.
What can I try ?


Thanks in advance,

Thomas Paoloni

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