[etherlab-users] Please help newbie to etherlab with setting PDOs

[Gavin Lambert]

Your custom configuration is not applied to the slave until you activate the master.  After that you can confirm the settings using "ethercat pdos" or those methods (though note that it does not happen immediately - there will be some delay before the slave is actually configured).

Have a look at the dc_user and other example programs for examples of slave configuration.

From: Montgomery-Smith, Stephen
Sent: Saturday, 17 March 2018 09:21
To: etherlab-users at etherlab.org
Subject: [etherlab-users] Please help newbie to etherlab with setting PDOs


I am trying out etherlab to connect my computer to a Parker Hannifin motor controller - you can read about it here: http://www.parker.com/Literature/Electromechanical%20North%20America/CATALOGS-BROCHURES/PSeries/PSeries_UG_EtherCAT_A.pdf



I am trying to tell it to use a certain PDO, which on page 68 of the manual is called 1st PDO mapping.  I use the ecrt_slave_config_pdos function to tell it what PDO to use.  But whenever I run the program, and ask it to print out the PDO using ecrt_master_get_pdo and ecrt_master_get_pdo_entry, I get output that tells me it is using the 2nd PDO mapping (see below).  I feel like I am missing something.  Is there a good sample program that shows me how to set up something like this that I can copy?



(I have used EC-Master from Acontis, and I was able operate the controller using their software.  But I want to find an open source solution.)



Output of my program:
Output PDO 0x1601 with 4 entries:
  PDO entry 0: 0x6040 0 16
  PDO entry 1: 0x607a 0 32
  PDO entry 2: 0x60b8 0 16
  PDO entry 3: 0x60fe 1 32
Input PDO 0x1a01 with 6 entries:
  PDO entry 0: 0x6041 0 16
  PDO entry 1: 0x6064 0 32
  PDO entry 2: 0x60f4 0 32
  PDO entry 3: 0x60b9 0 16
  PDO entry 4: 0x60ba 0 32
  PDO entry 5: 0x60fd 0 32
Thanks, Stephen
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