Hi,
The PDO mapping in main.c does not match the servo drive PDO mapping.
ethercat cstruct says there are 2 pdo entries
ec_pdo_entry_info_t slave_0_pdo_entries[] = {
{0x6040, 0x00, 16},
{0x6041, 0x00, 16},
};
but in main.c you try to map 3 pdos entries
static ec_pdo_entry_info_t foo_pdo_entries[] = {
{0x6042, 0, 16},
{0x6041, 0, 16},
{0x606c, 0, 32},
};
You have to send a SDO startup sequence to define the PDO mapping you
want on the servo drive.
see example in the following message:
http://lists.etherlab.org/pipermail/etherlab-users/2012/001684.html
regards
---
Sebastien BLANCHET
On 12/22/2014 10:25 AM, Thomas Nierhoff wrote:
Hi,
I'm using EtherLab 1.5.2. and am encountering slight problems when
interfacing a Baumüller servo controller via ethercat.
The problem occurs with the "ecrt_domain_reg_pdo_entry_list" and even
though I compared my program with other similar ones, I can't figure out
where the error is. Tiny as it (hopefully) is, it's been driving me nuts
for the last few hours...
Attached you will find a minimalistic C example and the ethercat cstruct
output. Hope it helps. The kernel message is
[331325.826445] EtherCAT: Requesting master 0...
[331325.826448] EtherCAT: Successfully requested master 0.
[331325.826506] EtherCAT ERROR 0 6913:15107: PDO entry 0xFB30:FF is not
mapped.
[331325.826715] EtherCAT 0: Releasing master...
[331325.826718] EtherCAT 0: Released.
Thanks in advance,
Thomas
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