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

[Tom Wong-Cornall]

On Mon, Sep 23 '24 at 17.39 NZST, 호탄탐 <thanhtam.ho at neuromeka.com> wrote:
> 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.

Hello Jin,

There is nothing particular about the IGH master with respect to MDP as 
defined in ETG.5001. Modular devices normally need configuration (if 
CoE) via SDO to tell them which modules are "selected". Until this has 
happened, entire (fixed) PDOs may not be enabled yet, or access to 
certain indices/subindices will not work.

For a recent servo drive we worked with, we had to use SDO complete
access to write to 0xF030 (the "Configured Module Ident List"). By
comparison, an I/O module with MDP (for IO-Link) needed to be set up by
writing to 0x80n0-series indices (which is listed as just "Configuration
Data object area" in the spec). In both cases, this wasn't documented in
the suppliers' manuals.

As always, easiest to try with TwinCAT first, and take a look at the
SDOs it's writing to in the startup list. Add/remove "slots" (what
TwinCAT calls the modules) and see what changes in the startup list.

You should also be able to figure this out from the ESI file, but until
you understand the mechanism it's harder to figure out than just
experimenting with TwinCAT.

-Tom