Andreas, Thanks for getting back to me. I guess the part I was confused on is how to properly do the PDO mapping in my application. For a non-safety slave setup I know I tell the EtherCAT master what the PDO configuration of the slaves are. However, for a safety slave setup I was unsure of how to tell the EtherCAT master how to copy the safety slave PDOs to the safety master PDOs and vice versa. I would have to do this in a cyclic task right? That is, once I configure the PDOs, on each cyclic task I would have to read the PDOs from the slaves and write them to the PDOs of the master and vice versa?
Thanks! On Sun, Aug 21, 2011 at 5:14 AM, Andreas Stewering-Bone <[email protected]>wrote: > ** > Hello, > > As I said, there is no specific code, > > You have to > - configure the safety components via TwinCAT (certified software) > - configure the PDO mapping (Slave to Slave communication) in your > application. > > That is all. > > Best regards > > Andreas > > Am 19.08.2011 00:12, schrieb Newell Jensen: > > Anyone here from IgH that could let us know where this code is? > > Thanks! > > > >> Newell Jensen wrote: >>> >>> Hello, >>> >>> We are currently trying to get Safety over EtherCAT working with the >>> Linux EtherCAT Master but haven't figured it out yet. When I look through >>> the sources I don't see any code for Safety over EtherCAT yet it seems that >>> others have gotten Safety over EtherCAT to work as this thread in the >>> archives states: >>> >>> http://lists.etherlab.org/pipermail/etherlab-users/2011/001285.html >>> >>> Where does this code exist? Is it in the repositories? >>> >>> _______________________________________________ >>> etherlab-users mailing list >>> [email protected] >>> http://lists.etherlab.org/mailman/listinfo/etherlab-users >>> >>> >> > > _______________________________________________ > etherlab-users mailing > [email protected]http://lists.etherlab.org/mailman/listinfo/etherlab-users > > > > Mit freundlichem Gruß > > Andreas Stewering-Bone > > -- > ------------------------------------------------------------------------ > > Dipl.-Ing.(FH) Andreas [email protected] > Tel.: +49 201 / 36014-15 > > Ingenieurgemeinschaft IgH > Gesellschaft für Ingenieurleistungen mbH > Heinz-Bäcker-Str. 34 > D-45356 Essen > Amtsgericht Essen HRB 11500 > USt-Id.-Nr.: DE 174 626 722 > Geschäftsführung: > - Dr.-Ing. S. Rotthäuser, > - Dr.-Ing. T. Finke, > - Dr.-Ing. W. Hagemeister > Tel.: +49 201 / 360-14-0http://www.igh-essen.com > > ------------------------------------------------------------------------ > > > _______________________________________________ > etherlab-users mailing list > [email protected] > http://lists.etherlab.org/mailman/listinfo/etherlab-users > > -- Newell
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