Hello, I am trying to change the default PDO assignments on the Yaskawa Sigma V Servo.
Currently the RX PDO only contains Control, Target Position, but I would also like to map the Profile Velocity in. The reference material recommends the following procedure: * Set PDO assignment count on Sync Managers 2, 3 to 0 * Modify PDO Mapping * Set PDO assignment count on Sync Managers 2, 3 to 1 I am using sdo transfers via command line to try to change the values: # disable sync ethercat -p9 --type uint8 download 0x1c12 0 0 ethercat -p9 --type uint8 download 0x1c13 0 0 # add velocity # push dictionary entry 0x6081:00 into the map ethercat -p9 --type uint32 download 0x1601 3 0x60810020 # update size ethercat -p9 --type uint8 download 0x1601 0 3 # re-enable sync ethercat -p9 --type uint8 download 0x1c12 0 1 ethercat -p9 --type uint8 download 0x1c13 0 1 However after executing the command to push an entry into the map: I get the following error. $ ethercat -p9 --type uint32 download 0x1601 3 0x60810020 SDO transfer aborted with code 0x06040041: The object cannot be mapped into the PDO I have tried doing the same with other dictionary entries that are compatible to be mapped as PDO items, still the same result. === Master 0, Slave 9 === Alias: 1 State: PREOP Flag: + Identity: Vendor Id: 0x00000539 Product code: 0x02200001 Revision number: 0x00030001 Serial number: 0x00000000 DL information: FMMU bit operation: yes Distributed clocks: yes, 32 bit DC system time transmission delay: 2510 ns Port Type Link Loop Signal NextSlave RxTime [ns] Diff [ns] NextDc [ns] 0 MII up open yes 8 1907351212 0 80 1 MII down closed no - - - - 2 N/A down closed no - - - - 3 N/A down closed no - - - - Mailboxes: Bootstrap RX: 0x0000/0, TX: 0x0000/0 Standard RX: 0x1000/128, TX: 0x1080/128 Supported protocols: CoE General: Group: Image name: Order number: Device name: CoE details: Enable SDO: yes Enable SDO Info: yes Enable PDO Assign: yes Enable PDO Configuration: yes Enable Upload at startup: no Enable SDO complete access: no Flags: Enable SafeOp: no Enable notLRW: yes Current consumption: 0 mA -- C-x C-s, C-x C-c
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