Dear etherlab-users-forum,
I use the EtherCAT Master Development Version 1.5, the Beckhoff EL6731
Profibus Master module
and configure SDO's with the function ecrt_slave_config_complete_sdo().
One module within the Profibus Slave gsd-file is modul 3 (attachment
JAN926.gsd):
...
Module = "STD: 32 Word In, 1 Byte Out" 0xc0,0x00,0x5f
3
EndModule
...
If I use this module, the configuration is the following:
//PDO entry configuration information
//typedef struct {
// uint16_t index; /**< PDO entry index. */
// uint8_t subindex; /**< PDO entry subindex. */
// uint8_t bit_length; /**< Size of the PDO entry in bit. */
//} ec_pdo_entry_info_t;
ec_pdo_entry_info_t slave_1_pdo_entries[] = {
{0x7000, 0x01, 8},
{0x6000, 0x01, 512} ???????
};
//PDO configuration information
ec_pdo_info_t slave_1_pdos[] = {
{0x1600, 1, slave_3_pdo_entries},
{0x1a00, 1, slave_3_pdo_entries + 1}
};
// Sync manager configuration information
ec_sync_info_t slave_1_syncs[] = {
{0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE},
{1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE},
{2, EC_DIR_OUTPUT, 1, slave_3_pdos, EC_WD_DISABLE},
{3, EC_DIR_INPUT, 1, slave_3_pdos + 1, EC_WD_DISABLE}
};
"32 Word In" gives 512 bits but the variable "bit_length" has the type
uint8_t
(struct "ec_pdo_entry_info_t" ,line "{0x6000, 0x01, 512}").
Is this the right way to use more subindexes or is there another solution ?
ec_pdo_entry_info_t slave_1_pdo_entries[] = {
{0x7000, 0x01, 8},
{0x6000, 0x01, 128},
{0x6000, 0x02, 128},
{0x6000, 0x03, 128},
{0x6000, 0x04, 128}
};
Do any of you have experience with that and can help me ?
Thank you in advance.
Regards
Ralf Becker
--
----------------------------------------------------
Ralf Becker
Software Engineer
IDS GmbH
E-PA - Development Process Automation
Nobelstrasse 18
D-76275 Ettlingen
T +49 (0) 7243 / 218 - 628
F +49 (0) 7243 / 218 - 400
<mailto:[email protected]>
<http://www.ids.de>
Managing Directors: Norbert Wagner, Friedrich Abriss
Registered office: Ettlingen
Register of companies: Mannheim HRB 362503
----------------------------------------------------
;==========================================================
; GSD-File for UMG507 Janitza electronics GmbH
; Auto_Baud_supp, 1.5MBaud
;
; Stand : 12.06.2006
; File : JAN0926.GSD
;===========================================================
#Profibus_DP
; Unit-Definition-List:
GSD_Revision=2
Vendor_Name="Janitza electronics GmbH"
Model_Name="UMG507"
Revision="Rev. 3"
Revision_Number=3
Ident_Number=0x0926
Protocol_Ident=0
Station_Type=0
Hardware_Release="1.00"
Software_Release="1.00"
9.6_supp = 1
19.2_supp = 1
45.45_supp = 1
93.75_supp = 1
187.5_supp = 1
500_supp = 1
1.5M_supp = 1
MaxTsdr_9.6 = 15
MaxTsdr_19.2 = 15
MaxTsdr_45.45 = 15
MaxTsdr_93.75 = 15
MaxTsdr_187.5 = 15
MaxTsdr_500 = 15
MaxTsdr_1.5M = 25
Repeater_Ctrl_Sig = 0
Implementation_Type="SPC3"
Bitmap_Device="DP_NORM"
;
; Slave-Specification:
;
Freeze_Mode_supp=0
Sync_Mode_supp = 0
Auto_Baud_supp = 1
Set_Slave_Add_supp = 0
Min_Slave_Intervall=1
Max_Diag_Data_Len=6
Slave_Family=0
User_Prm_Data_Len=0
;
Modular_Station = 1
Max_Module=8
Max_Input_Len=128
Max_Output_Len=6
Max_Data_Len=134
;
;
; Module-Definitions:
;
Module = "STD: 8 Word In, 1 Byte Out" 0x57,0x20
1
EndModule
Module = "STD: 16 Word In, 1 Byte Out" 0x5f,0x20
2
EndModule
Module = "STD: 32 Word In, 1 Byte Out" 0xc0,0x00,0x5f
3
EndModule
Module = "STD: 64 Word In, 1 Byte Out" 0xc0,0x00,0x7f
4
EndModule
Module = "STD: 8 Word In, 2 Byte Out" 0x57,0x21
5
EndModule
Module = "STD: 16 Word In, 2 Byte Out" 0x5f,0x21
6
EndModule
Module = "STD: 32 Word In, 2 Byte Out" 0xc0,0x01,0x5f
7
EndModule
Module = "STD: 64 Word In, 2 Byte Out" 0xc0,0x01,0x7f
8
EndModule
Module = "STD: 8 Word In, 6 Byte Out" 0x57,0x25
9
EndModule
Module = "STD: 16 Word In, 6 Byte Out" 0x5f,0x25
10
EndModule
Module = "STD: 32 Word In, 6 Byte Out" 0xc0,0x05,0x5f
11
EndModule
Module = "STD: 64 Word In, 6 Byte Out" 0xc0,0x05,0x7f
12
EndModule
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