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

Gavin Lambert gavinl at compacsort.com
Thu Jan 14 23:37:35 CET 2016

On 14 January 2016 21:31, quoth Thomas Paoloni:
> I've had a phone conversation with the German people who developes PSD
> firmware at the middle of December and after this, we also had a
> TeamViewer session so that they could show me how they take the control
> trough Twincat (they failed even in this goal) and nobody told me that as
> special firmware is available for this drive, they simply told me that
> mapping method is not implemented.

If you can see PDOs in the "ethercat pdos" view, then that mapping method
must be supported.  Otherwise either someone has misinterpreted something or
the device is not actually EtherCAT conformant and you should use something
else instead.  (Slave vendors are required to sell only conformant devices.)

It's possible that some things are available only via SDOs (CoE) though, but
this is usually limited to up-front configuration settings and acyclic
statistical and other informational data rather than data that would
normally be read/written cyclically.

Also note that some devices may not allow you to actually change the
assignment, but all such CoE-enabled devices are required to accept writes
to the assignment registers provided that they match the "correct" values.
So make sure that they are being registered in the correct order (use
"ethercat debug 1" and look at the syslog to see what order Etherlab is
trying to write them in).

> Anyway, at the end Twincat works and it would be good nice if etherlab
> behave as Twincat and map the domain in the same way, without the
> needing of a special firmware.

It should be possible, but you'll need to determine what is different about
the configuration set in TwinCAT vs. what you're trying to set in Etherlab.
After successfully configuring and communicating with the device in TwinCAT,
export and review the ENI init sequence, and make your Etherlab application
do the equivalent.

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