[etherlab-users] PDOs Mapping

Mon Feb 10 14:03:08 CET 2020

Thanks, I found the solution to my problem.

Indeed, digital outputs are drivable from the 32 bits object 0x60FE at index 1.
I mapped correctly PDO with index 1 for this object as you can see below.

[cid:image013.jpg at 01D5E01A.C78DD3F0]

The first digital output is controled by the 16th bit of the word.
So I need to shift one byte (I presume corresponding to index 0) to drive the output.

EC_WRITE_U32(domain1_pd + off_DigitalOuptut, lValue << 8) ;

Is it the normal behaviour ?

Best regards

Cordialement

Vincent BUSSIERES
Responsable Technique Logiciel

[1572337113342]
24 Avenue de Pasleck
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De : Gavin Lambert <gavin.lambert at tomra.com>
Envoyé : dimanche 9 février 2020 23:10
À : BUSSIERES Vincent <vincent.bussieres at hemeria-group.com>; etherlab-users at etherlab.org
Objet : RE: PDOs Mapping

Using only one domain is the normal case.

Some (very old) slaves will require you to use separate domains for input and output data (as they don't support the LRW datagram), but other than that the choice of domains is entirely up to the application.

Typical division points are where you want to have different cycle rates for different slave groups, or if you want to have "hot connect" groups where you can more easily detect whether a given cluster of slaves is present or absent on the network based on whether their domain is being processed or not.

You don't have to use separate domains for this - my app uses a single domain where any of the slaves can potentially drop in and out, and uses a different method to get some slaves processing faster than others - but it does simplify some of these use cases.

I don't think it's likely to be related to the issue you're having.

Have you confirmed that all the PDO mappings were successful, and that the offsets read by your application match those shown in "ethercat domain -v"?  And that you are using these same offsets correctly in the EC_WRITE_* calls?  Don't forget that you have to offset the domain base address with the PDO offset when the former is a uint8_t*, not cast to any other type.  Also, digital output data is usually bitwise, and you may need to take into account bit ordering differences between the master and slave.

Gavin Lambert
Senior Software Developer

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From: BUSSIERES Vincent
Sent: Saturday, 8 February 2020 05:07
To: etherlab-users at etherlab.org<mailto:etherlab-users at etherlab.org>
Subject: Re: [etherlab-users] PDOs Mapping

Dear all,

I wonder if the reason of my problem on multi PDO outputs mapping describe below could be because I use only one domain.
In which case should we use several domains ?

Best regards

Vincent BUSSIERES
Responsable Technique Logiciel

[1572337113342]
24 Avenue de Pasleck
16400 LA COURONNE
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De : Gavin Lambert <gavin.lambert at tomra.com<mailto:gavin.lambert at tomra.com>>
Envoyé : jeudi 6 février 2020 22:52
À : BUSSIERES Vincent <vincent.bussieres at hemeria-group.com<mailto:vincent.bussieres at hemeria-group.com>>; etherlab-users at etherlab.org<mailto:etherlab-users at etherlab.org>
Objet : RE: PDOs Mapping

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<mailto: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:image022.jpg at 01D5E01A.C78DD3F0]

[cid:image023.jpg at 01D5E01A.C78DD3F0]

Mapping seems to be OK
[cid:image024.jpg at 01D5E01A.C78DD3F0]

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:image025.jpg at 01D5E01A.C78DD3F0]

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

[1572337113342]
24 Avenue de Pasleck
16400 LA COURONNE
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