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EtherCAT "Communications Device" Setup
#1
Hi,

I am using an EtherCAT communications device EL 6022, and I am having some difficulties. I can manage to get the device into OP, however when I map the PDO's (which I have to do manually) They do not effect the device.

I am using the IDE 3.1.4.0,because of its EtherLAB functionality, required by my PMAC 465

My version says "EtherCAT IO Devices Licences Only" is this the problem, as I am using a communications device, however I have used EtherCAT with Amplifiers before?

ECAT[i].Slave[j].PDOMapping[m].PDOCount should this be the number of pdos in the 0x1604 register or the number of pdos I have mapped in the delta tau?

When I set and ECAT[].IO[].data I can correlate this with some data in the "system ethercat -px data|hexdump" however this does not effect the PDO inside the slave. I can check if the PDO(inside the slave) is set by checking it's corresponding read only SDO.

Has anyone set up a communication device, especially EL6xxx before?

Here is the mapping I perform
"
ECAT[0].Slave[1].PDO[256].index =$7000
ECAT[0].Slave[1].PDO[256].subindex =1
ECAT[0].Slave[1].PDO[256].BitLength =16
ECAT[0].Slave[1].PDO[256].input = 0
ECAT[0].Slave[1].PDO[257].bitlength = 0

ECAT[0].Slave[1].PDOMapping[128].Index = $1604
ECAT[0].Slave[1].PDOMapping[128].PDOCount = 1
ECAT[0].Slave[1].PDOMapping[128].pPDO = ECAT[0].Slave[1].PDO[256].a
ECAT[0].Slave[1].PDOMapping[129].Index = 0
ECAT[0].Slave[1].PDOMapping[129].PDOCount = 0
ECAT[0].Slave[1].PDOMapping[129].pPDO = 0

ECAT[0].Slave[1].SyncManager[0].Index = 2
ECAT[0].Slave[1].SyncManager[0].dir = 1
ECAT[0].Slave[1].SyncManager[0].PDOMappingCount = 1
ECAT[0].Slave[1].SyncManager[0].watchdogmode = 0
ECAT[0].Slave[1].SyncManager[0].pPDOMapping = ECAT[0].Slave[1].PDOMapping[128].a

ECAT[0].IO[0].Slave = 1
ECAT[0].IO[0].index = ECAT[0].Slave[1].PDO[256].index
ECAT[0].IO[0].subindex = ECAT[0].Slave[1].PDO[256].subindex
ECAT[0].IO[0].Bitlength = ECAT[0].Slave[1].PDO[256].BitLength
ECAT[0].IO[0].Input = 0
ECAT[0].IO[0].Type = 8
ecat ionamewr 0 0
"


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