THANKS ! 2010/12/2 Henry Bausley <hbaus...@deltatau.com>
> Yes use 2 arrays and call ecrt_domain_reg_pdo_entry_list twice. The first > call of ecrt_domain_reg_pdo_entry_list must be for the output domain. If > you call ecrt_domain_reg_pdo_entry_list with the input domain registers > first it won't work. > > I tried, and seem to go a little ahead, that is, I can read status_word(0x6041). Now, the problems are: Wait YASKAWA goes to OP mode. OK. Set mode_of_operation(0x6060) to 1 (profile position mode). For comformation, read mode_of_opertioan, and get 1. Wait status_word to become 0x21 (ready to switch on), but it stays at 0x00. Set control_word(0x6040h) 0x0f(switch on and enable operation). Read status_word(0x601) and get 0x0f (fault reaction active). And motor is not energized. Henry, could you operate YASUKAWA sigma 5 ? takeshi.ik...@gmail.com
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