Just stumbled over this in the EtherCAT documentation:
/6.4 Servo Profile over EtherCAT (SoE)The SoE protocol implements the Service Channel layer, specified in IEC 61800-7 [16]
via EtherCAT mailboxes.The SoE protocol is quite similar to the CoE protocol (see section 6.2). Instead of SDO indices and subindices, so-called identification numbers (IDNs) identify parameters. The implementation covers the “SCC Read” and “SCC Write” primitives, each with
the ability to fragment data. There are several ways to use the SoE implementation:• Reading and writing IDNs via the command-line tool (see subsection 7.1.21). • Storing configurations for arbitrary IDNs via the application interface (see chap- ter 3, i. e. ecrt_slave_config_idn()). These configurations are written to the
slave during configuration in PREOP state, before going to SAFEOP.• The user-space library (see section 7.2), offers functions to read/write IDNs in
blocking mode (ecrt_master_read_idn(), ecrt_master_write_idn())/ Does it help for you? Kind regards, Karl On 9/23/24 07:39, 호탄탐 wrote:
Hello,I have a slave with Modular Device Profile (MDP) type (a servo drive), I have tried to map its pdo as a normal slave type, but it doesn't work, EtherCAT state can't change to state to OP mode. Does IGH EtherCAT master work for MDP slave type? If it does, I would appreciate if someone provide an example.Best regards, Jin
-- *|Karl Zeilhofer|* |*Design Mechatronischer Systeme*||eMail: k...@zeilhofer.co.at (GPG-Verschlüsselung <http://www.zeilhofer.co.at/official/doku.php?id=gpg-key>)|
|Tel: +43 660 6591574||| ------------------------------------------------------------------------ || |Mechatronik Karl Zeilhofer ||Steinbach 13, 4562 Steinbach am Ziehberg, AUSTRIA| |zeilhofer.co.at <http://zeilhofer.co.at>|
OpenPGP_signature.asc
Description: OpenPGP digital signature
-- Etherlab-users mailing list Etherlab-users@etherlab.org https://lists.etherlab.org/mailman/listinfo/etherlab-users
