[etherlab-users] PDOs Mapping

Thu Feb 6 22:51:40 CET 2020

I can't speak to the servo drive mapping itself, but as to the other question:

ecrt_slave_config_sdoX is to specify SDO values that should be set during the PREOP -> SAFEOP -> OP transition.  It is intended for any SDO configuration required to bring the device to the intended operational state, especially eg. If the device disconnects or is rebooted during operation.  It must never be used for PDOs - neither for values, nor for the PDO Assign/Config objects.

It is different from the sdo_download requests because the latter only occur once at the time the call is made, while the config_sdo is stored and executed on every later PREOP -> SAFEOP transition (until the master is deactivated).  (These should also never be used for PDOs.)

Gavin Lambert
Senior Software Developer

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From: BUSSIERES Vincent
Sent: Friday, 7 February 2020 09:03
To: etherlab-users at etherlab.org
Subject: [etherlab-users] PDOs Mapping

Dear All,

I mapped the two RxPdo's objects below of my Elmo servodrive.
[cid:image003.jpg at 01D5DDA3.0A8B5990]

[cid:image005.jpg at 01D5DDA3.0A8B5990]

Mapping seems to be OK
[cid:image007.jpg at 01D5DDA3.0A8B5990]

But when I write in digital output PDO, nothing is sent. This PDO is peculiar because digital outputs are witten at subindex 1. I don't know if it's because of that reason.

[cid:image009.jpg at 01D5DDA3.0A8B5990]

6 is the value sent in the controlword of the PDO 0x1605 but nothing for digital outputs.

You can see my PDO mapping code in the attached file. I have noticed that some people use « ecrt_slave_config_sdoX » function to clear and define Pdo. Is it necessary and what is the difference between this function and sdo download function ?

Regards

Vincent BUSSIERES
Responsable Technique Logiciel

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