Hi,
When I run "ethercat pdos" on an EL4024 I get the output below. The subindexes
for the analog output channels are 1.
SM0: PhysAddr 0x1000, DefaultSize 128, ControlRegister 0x26, Enable 1
SM1: PhysAddr 0x1080, DefaultSize 128, ControlRegister 0x22, Enable 1
SM2: PhysAddr 0x1100, DefaultSize 8, ControlRegister 0x24, Enable 1
RxPDO 0x1600 "RxPDO-Map OutputsCh.1"
PDO entry 0x7000:01, 16 bit, "Analog output"
RxPDO 0x1601 "RxPDO-Map OutputsCh.2"
PDO entry 0x7010:01, 16 bit, "Analog output"
RxPDO 0x1602 "RxPDO-Map OutputsCh.3"
PDO entry 0x7020:01, 16 bit, "Analog output"
RxPDO 0x1603 "RxPDO-Map OutputsCh.4"
PDO entry 0x7030:01, 16 bit, "Analog output"
SM3: PhysAddr 0x1180, DefaultSize 0, ControlRegister 0x20, Enable 0
Should the subindexes not be 0x11? In the "Beckhoff EL4xxx.xml" file the EL4024
subindexes are 17. E.g.:
<RxPdo Fixed="1" Mandatory="1" Sm="2">
<Index>#x1600</Index>
<Name>AO Outputs Channel 1</Name>
<Entry>
<Index>#x7000</Index>
<SubIndex>17</SubIndex>
<BitLen>16</BitLen>
<Name>Analog output</Name>
<DataType DScale="0-20">INT</DataType>
</Entry>
</RxPdo>
TwinCAT reports the subindexes as 17 as well. On top of this "ethercat
sii_read" seems to indicate the subindexes are 0x11 as well, though I must
admit I am not proficient at deciphering the SII.
Thanks,
Damien
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