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

[Thomas Paoloni]

On 13/01/2016 16:43, Thomas Bitsky Jr wrote:
> Are you using separate domains for read and write to the servo drive? While I can’t be sure this relates to your drive, I’m having similar problems with a Yaskawa servo and it turns out it’s because I only had one domain. Here’s a note from the mailing list:
>
>>> if you do a “ethercat slave –v” command, each module has an “Enable notLRW” status.  If it is “yes” then the slave needs separate domains for the read and write pdo’s.
>

Thanks for your answer,

After your suggestion I've checked my configuration, and I think this is 
not my case since the notLRW is "no" for my drive.


=== Master 0, Slave 0 ===
Alias: 2
State: PREOP
Flag: +
Identity:
   Vendor Id:       0x02000089
   Product code:    0x50314d32
   Revision number: 0x00010101
   Serial number:   0x00000000
DL information:
   FMMU bit operation: no
   Distributed clocks: yes, 32 bit
   DC system time transmission delay: 0 ns
Port  Type  Link  Loop    Signal  NextSlave  RxTime [ns]  Diff [ns]   
NextDc [ns]
    0  MII   up    open    yes             -   2425837722 0           0
    1  MII   up    open    yes             1   2425839642 1920         665
    2  N/A   down  closed  no              -            - -           -
    3  N/A   down  closed  no              -            - -           -
Mailboxes:
   Bootstrap RX: 0x0000/0, TX: 0x0000/0
   Standard  RX: 0x1300/128, TX: 0x1380/128
   Supported protocols: EoE, CoE
General:
   Group: Drive
   Image name: DRIVE
   Order number: Parker Servo Drive 1
   Device name: Parker Servo Drive 1
   CoE details:
     Enable SDO: yes
     Enable SDO Info: yes
     Enable PDO Assign: no
     Enable PDO Configuration: yes
     Enable Upload at startup: yes
     Enable SDO complete access: no
   Flags:
     Enable SafeOp: yes
     Enable notLRW: no
   Current consumption: 0 mA