[Etherlab-users] IGH EtherCAT master with Modular Device Profile (MDP)

[Karl Zeilhofer]

Just stumbled over this in the EtherCAT documentation:


/6.4 Servo Profile over EtherCAT (SoE)
The SoE protocol implements the Service Channel layer, specified in IEC 
61800-7 [16]
via EtherCAT mailboxes.
The SoE protocol is quite similar to the CoE protocol (see section 6.2). 
Instead of SDO
indices and subindices, so-called identification numbers (IDNs) identify 
parameters.
The implementation covers the “SCC Read” and “SCC Write” primitives, 
each with
the ability to fragment data.
There are several ways to use the SoE implementation:
• Reading and writing IDNs via the command-line tool (see subsection 
7.1.21).
• Storing configurations for arbitrary IDNs via the application 
interface (see chap-
ter 3, i. e. ecrt_slave_config_idn()). These configurations are written 
to the
slave during configuration in PREOP state, before going to SAFEOP.
• The user-space library (see section 7.2), offers functions to 
read/write IDNs in
blocking mode (ecrt_master_read_idn(), ecrt_master_write_idn())/


Does it help for you?


Kind regards,
Karl


On 9/23/24 07:39, 호탄탐 wrote:
> Hello,
> I have a slave with Modular Device Profile (MDP) type (a servo drive), 
> I have tried to map its pdo as a normal slave type, but it doesn't 
> work, EtherCAT state can't change to state to OP mode. Does IGH 
> EtherCAT master work for MDP slave type? If it does, I would 
> appreciate if someone provide an example.
> Best regards,
> Jin
>
-- 

*|Karl Zeilhofer|*
|*Design Mechatronischer Systeme*|

|eMail: karl at zeilhofer.co.at (GPG-Verschlüsselung 
<http://www.zeilhofer.co.at/official/doku.php?id=gpg-key>)|
|Tel: +43 660 6591574|||

------------------------------------------------------------------------

||

|Mechatronik Karl Zeilhofer
||Steinbach 13, 4562 Steinbach am Ziehberg, AUSTRIA|
|zeilhofer.co.at <http://zeilhofer.co.at>|

-------------- next part --------------
An HTML attachment was scrubbed...
URL: <http://lists.etherlab.org/pipermail/etherlab-users/attachments/20240924/fb65f57c/attachment.htm>
-------------- next part --------------
A non-text attachment was scrubbed...
Name: OpenPGP_signature.asc
Type: application/pgp-signature
Size: 236 bytes
Desc: OpenPGP digital signature
URL: <http://lists.etherlab.org/pipermail/etherlab-users/attachments/20240924/fb65f57c/attachment.sig>