[Etherlab-users] Configuring EL7047 stepper driver

Fontana Nicola ntd at entidi.it
Sat Jul 31 22:37:51 CEST 2021

Il giorno lun, 26/07/2021 alle 07.00 +0200, Fontana Nicola ha scritto:
> ...
> I will do my homeworks and report back for future reference.
> ...

I can confirm that, by moving the PDO handling into the application,
things started working as expected. Here is the updated snippet:


The shell script is now used only for bootstrapping the EL7047. All
0x8nnn:nn entries in the object dictionary seem to be stored in some
non-volatile memory (no idea this is customary or mandated by some
standard), so that script should be called only on new devices.

The manual handling of PDOs on the C side is really tedious and
error-prone, so I can understand Gavin's suggestion of trying to
configure as much as possible before `ethercat cstruct`, but I'm
confident some kind of abstraction is possible (see e.g. the
`SlaveLayout` struct in `el7047.c` for details).

Thank you again for your help.


More information about the Etherlab-users mailing list