Not all devices allow changing the PDO Mapping entries. Some of them first require setting the unit into a programming mode. Then you write to those locations. Then send a save command. On power up the device fills them in itself. You need to use SDOs to change those locations so you will get back an RDO that shows success or failure. Others don't let you change them at all.
John Dammeyer http://www.autoartisans.com > -----Original Message----- > From: Nicklas Karlsson [mailto:nicklas.karlsso...@gmail.com] > Sent: March-10-19 8:47 AM > To: emc-users@lists.sourceforge.net > Subject: [Emc-users] CANopen configuration files > > I think like this is good for configuration of periodically transmitted PDOs > both on ordinary CAN network and CANopen over Ethercat and possible > others. > > Pins available for component in hal file come from mapping entries. From > 0x1600 to 0x17FF for RPDO mapping parameters. From 0x1A00 to 0x1BFF for > TPDO mapping parameters. > > Default is most probably assume device is properly configured and for > Linuxcnc to put it in operational state. In other case is most probably > missing > parameters assumed properly configured although it will possible to set > (mapping parameters, communication parameters, communication cycle, > etc) with parameters. > > I started to put an array of structures for the pins and it seems quite simple > to implement. Idea is to populate this array automatically during startup by > reading the mapping parameters and then configured will be available for > use in hal file. > > Nicklas Karlsson > > > _______________________________________________ > Emc-users mailing list > Emc-users@lists.sourceforge.net > https://lists.sourceforge.net/lists/listinfo/emc-users _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
