Hi Richard,
> > So this guy seems to be a little more tricky than the Beckhoff IOs.
> > Any ideas?So what does
> $ ethercat config
> say when the application is running? Does it match?
root@rosie:/home/dirk# ethercat config -v
Alias: 0
Position: 0
Vendor Id: 0x0000060a
Product code: 0x00000010
Attached slave: 0 (PREOP)
Watchdog divider: (Default)
Watchdog intervals: (Default)
SM2, Dir: Output, Watchdog: Enable
PDO 0x1608
PDO entry 0x7080:02, 16 bit
PDO 0x1609
PDO entry 0x7090:02, 16 bit
SM3, Dir: Input, Watchdog: Disable
PDO 0x1a00
PDO entry 0x6000:02, 16 bit
PDO 0x1a01
PDO entry 0x6010:02, 16 bit
PDO 0x1a02
PDO entry 0x6020:05, 16 bit
PDO entry 0x6020:06, 16 bit
PDO entry 0x6020:07, 16 bit
PDO entry 0x6020:08, 16 bit
SDO configuration:
None.
IDN configuration:
None.
This seems a good match to the generated cstruct which was:
root@rosie:/home/dirk# ethercat cstruct
/* Master 0, Slave 0, "Coupling"
* Vendor ID: 0x0000060a
* Product code: 0x00000010
* Revision number: 0x00000001
*/
ec_pdo_entry_info_t slave_0_pdo_entries[] = {
{0x7080, 0x02, 16},
{0x7090, 0x02, 16},
{0x6000, 0x02, 16},
{0x6010, 0x02, 16},
{0x6020, 0x05, 16},
{0x6020, 0x06, 16},
{0x6020, 0x07, 16},
{0x6020, 0x08, 16},
};
ec_pdo_info_t slave_0_pdos[] = {
{0x1608, 1, slave_0_pdo_entries + 0},
{0x1609, 1, slave_0_pdo_entries + 1},
{0x1a00, 1, slave_0_pdo_entries + 2},
{0x1a01, 1, slave_0_pdo_entries + 3},
{0x1a02, 4, slave_0_pdo_entries + 4}, };
ec_sync_info_t slave_0_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_0_pdos + 0, EC_WD_ENABLE},
{3, EC_DIR_INPUT, 3, slave_0_pdos + 2, EC_WD_DISABLE},
{0xff}
};
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