Just map everything yourself and it should show up after doing a ethercat pdos. I have not actually used the drive this way. Good Luck.
/* Master 0, Slave 11 * Vendor ID: 0x00000539 * Product code: 0x02200001 * Revision number: 0x00030001 */ ec_pdo_entry_info_t slave_11_pdo_entries[] = { {0x6040, 0x00, 16}, {0x607a, 0x00, 32}, {0x6040, 0x00, 16}, {0x60ff, 0x00, 32}, {0x6041, 0x00, 16}, {0x6064, 0x00, 32}, }; ec_pdo_info_t slave_11_pdos[] = { {0x1601, 2, slave_11_pdo_entries + 0}, {0x1602, 2, slave_11_pdo_entries + 2}, {0x1a02, 2, slave_11_pdo_entries + 4}, }; ec_sync_info_t slave_11_syncs[] = { {0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE}, {1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE}, {2, EC_DIR_OUTPUT, 2, slave_11_pdos + 0, EC_WD_ENABLE}, {3, EC_DIR_INPUT, 1, slave_11_pdos + 2, EC_WD_DISABLE}, {0xff} }; root@10.34.9.236:/opt/ppmac# ethercat pdos -p 11 SM0: PhysAddr 0x1000, DefaultSize 128, ControlRegister 0x36, Enable 1 SM1: PhysAddr 0x1080, DefaultSize 128, ControlRegister 0x32, Enable 1 SM2: PhysAddr 0x1100, DefaultSize 6, ControlRegister 0x74, Enable 1 RxPDO 0x1601 "" PDO entry 0x6040:00, 16 bit, "" PDO entry 0x607a:00, 32 bit, "" RxPDO 0x1602 "" PDO entry 0x6040:00, 16 bit, "" PDO entry 0x60ff:00, 32 bit, "" SM3: PhysAddr 0x1400, DefaultSize 6, ControlRegister 0x30, Enable 1 TxPDO 0x1a02 "" PDO entry 0x6041:00, 16 bit, "" PDO entry 0x6064:00, 32 bit, "" root@10.34.9.236:/opt/ppmac# On Fri, 2011-04-15 at 14:58 +1200, Ravi Chemudugunta wrote: > 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 > > _______________________________________________ > etherlab-users mailing list > etherlab-users@etherlab.org > http://lists.etherlab.org/mailman/listinfo/etherlab-users Outbound scan for Spam or Virus by Barracuda at Delta Tau _______________________________________________ etherlab-users mailing list etherlab-users@etherlab.org http://lists.etherlab.org/mailman/listinfo/etherlab-users