We have begun testing the Parker P-Series drives as a replacement for the
drives we currently use. I don't know all of the details, but I was told we
"had to get custom firmware to map some of the PDOs". Also, some of the
configuration was still odd to my eyes. It is possible we aren't using the
drive in the same mode you want, but these were the settings we extracted from
the TwinCAT config:
ec_pdo_entry_info_t PSeries_pdoEntryInfo[] = {
// PDO: 0x1A00
{ 0x6041, 0, 16 }, // Statusword
{ 0x6064, 0, 32 }, // Position Actual Value
{ 0x60B9, 0, 16 }, // Touch probe status
{ 0x60FD, 0, 32 }, // Digital Inputs
{ 0x60BA, 0, 32 }, // Touch probe 1 positive edge
{ 0x60F4, 0, 32 }, // Following Error Actual Value
// PDO: 0x1600
{ 0x6040, 0, 16 }, // Controlword
{ 0x607A, 0, 32 }, // Target Position
{ 0x60B8, 0, 16 }, // Touch probe function
{ 0x6081, 0, 32 }, // Profile Velocity
{ 0x6083, 0, 32 }, // Profile Acceleration
{ 0x6084, 0, 32 }, // Profile Deceleration
};
ec_pdo_info_t PSeries_pdoInfo[] = {
{ 0x1A00, 6, &PSeries_pdoEntryInfo[0] },
{ 0x1600, 6, &PSeries_pdoEntryInfo[6] },
};
ec_sync_info_t PSeries_syncInfo[] = {
{0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE},
{1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE},
{2, EC_DIR_OUTPUT, 1, &PSeries_pdoInfo[1], EC_WD_DEFAULT},
{3, EC_DIR_INPUT, 1, &PSeries_pdoInfo[0], EC_WD_DEFAULT},
{ 0xff }
};
ec_sdo_info_t PSeries_sdoInfo[] = { // NOTE: data must be in little endien
format
{ 0x1A00, 0, 26, { 0x06, 0x00, 0x10, 0x00, 0x41, 0x60, 0x20, 0x00, 0x64,
0x60, 0x10, 0x00, 0xB9, 0x60, 0x20, 0x00, 0xFD, 0x60, 0x20, 0x00, 0xBA, 0x60,
0x20, 0x00, 0xF4, 0x60 } },
{ 0x1A01, 0, 2, { 0x00, 0x00 } },
{ 0x1A02, 0, 2, { 0x00, 0x00 } },
{ 0x1A03, 0, 2, { 0x00, 0x00 } },
{ 0x1600, 0, 26, { 0x06, 0x00, 0x10, 0x00, 0x40, 0x60, 0x20, 0x00, 0x7A,
0x60, 0x10, 0x00, 0xB8, 0x60, 0x20, 0x00, 0x81, 0x60, 0x20, 0x00, 0x83, 0x60,
0x20, 0x00, 0x84, 0x60 } },
{ 0x1601, 0, 2, { 0x00, 0x00 } },
{ 0x1602, 0, 2, { 0x00, 0x00 } },
{ 0x1603, 0, 2, { 0x00, 0x00 } },
{ 0x1C12, 0, 4, { 0x01, 0x00, 0x00, 0x16 } },
{ 0x1C13, 0, 4, { 0x01, 0x00, 0x00, 0x1A } },
{ 0x6060, 0, 1, { 0x01 } }, // Send OpMode SDO
( 1 = Profile Position Mode)
{ 0 }
}; //data for calls to ecrt_slave_config_sdo()
So, it's likely you'll need to contact Parker and ask about how to map the
standard PDOs you are expecting (and get the right firmware). The SDOs for
0x1A000:00 and 0x16000:00 look *very* unusual to me with 26 bytes of data. It
looks like instead of using the 0x1A00 subindexes they are just concatenating
all of the data into one SDO. In any case, this is working for us in our
life-test rig at the moment.
-Scott Tillman
Advisory Software Engineer
Bell + Howell
(919) 767-6745
-----Original Message-----
From: etherlab-users [mailto:etherlab-users-boun...@etherlab.org] On Behalf Of
Thomas Paoloni
Sent: Wednesday, January 13, 2016 6:12 AM
To: etherlab-users@etherlab.org
Subject: [etherlab-users] PDO mapping without 0x1c12 0x 1c13 method
Hi,
I'm trying to insert a Parker PSD servo drive in my ethercat network, but this
item doesn't support the PDO mapping through the usual writing of the registers
0x1c12 and 0x1c13.
In short, the mechanism of mapping the PDO by writing the usual C++ cstruct
ec_pdo_entry_info_t and claiming the objects in to the PDO ec_pdo_entry_reg_t
is not implemented.
Anyway, I can have this slave working with Twincat and theoretically there
should be an equivalent way to bring it in OP state even under etherlab master.
What can I try ?
Thanks in advance,
Thomas Paoloni
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