[etherlab-users] TxPDOs and RxPDOs for the D1-N by HIWIN

[Erik Euving]

Dear all,

Another question regarding the D1-N-36-E0-2-1-00 drive by HIWIN. When using
the EtherCAT configurator, it is normally possible to check/un-check TxPDO
and RxPDO SDOs. For example, 0x1600, 0x1601 and 0x1602. Likewise, 0x1a00
through 0x1a02. However appears that for the D1-N only 0x1600 and 0x1a00
are available, there are no others listed. The manual does not mention them
either, leading me to assume that they are not available. Is this a correct
assumption?

I proceeded to try and program using the two I have (1600 and 1a00). Both
theoretically have space for 6 PDOs each, of which only 2 and 3 entries are
used by default, respectively for 0x1600 and 0x1a00. I decided to add a few
more. Below the lines of code I used for this in the m-file:

rv.SlaveConfig.sdo = { hex2dec('6060'),0,8,10; % set Mode of Operation to
Cyclic Synchronous Torque mode
            hex2dec('1600'),3,32,hex2dec('60710010'); % adding Target
Torque to mapping entry 3 of RxPDOs
            hex2dec('1600'),4,32,hex2dec('60B20010')}; % adding Torque
Offset to mapping entry 4 of RxPDOs
%         hex2dec('1a00'),4,32,hex2dec('60f40020'); % adding Following
Error Actual Value to mapping entry 4 of TxPDOs
%         hex2dec('1a00'),0,8,4}; % defining the number of objects in 0x1a00

This conf. file loads and builds fine. No problem adding objects to the
RxPDOs. But once I uncomment the same lines of code for the TxPDOs (for the
Following Error, for example), I get 'Invalid Output configuration' errors.
Does anyone have an idea why this could be? If needed, I can supply more
lines of codes or from the terminal, but for now I won't make this email
longer than needed.

Thank you!

Kind regards,
Erik Euving
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