> > > Not all devices allow changing the PDO Mapping entries. ... Then adding pin it does not matter how mapping was created though it is of course good with configuration options to configure mapping if needed, at least some PLCs do it like this.
> For example let's take a look at an object dictionary for a RPDO: Here I > read each of the RPDO3 OD locations of Node 0x1A. > ###6###,19/03/10,10:55:34,r,0A,1402:00,05,(5) We have > 5 entries > ###6###,19/03/10,10:55:36,r,0A,1402:01,0000041A,( 1050) It > responds to 0x41A > ###6###,19/03/10,10:55:39,r,0A,1402:02,FF,(255) > Processed immediately > ###6###,19/03/10,10:55:41,r,0A,1402:03,0000,(0) No > inhibit time > ###6###,19/03/10,10:55:44,r,0A,1402:04,06090011,(101253137) Invalid read > error > ###6###,19/03/10,10:55:46,r,0A,1402:05,0000,(0) Event > timer is not used > ###6###,19/03/10,10:55:57,r,0A,1602:00,03,(3) The > RPDO will have three values > ###6###,19/03/10,10:56:08,r,0A,1602:01,60710010,( 1618018320) The first two > bytes go to 0x6071:00 > ###6###,19/03/10,10:56:11,r,0A,1602:02,60010008,( 1610678280) The next byte > goes to 0x6001:00 > ###6###,19/03/10,10:56:15,r,0A,1602:03,22720020,( 577896480) The last 4 > bytes go to 0x2272:00 0x1600 - 0x17FF are RPDO pins and end up as input pins. 0x1400 - 0x15FF are communication parameters and these may require som more thinking. Read out these mapping and adding pins should be rather simple but naming is a little bit more complicated. Without an *.eds or *.dcf file for CAN networks or an esi? *.xml file for Ethercat pins adding pins which end with the (index, subindex) numbers are probably a good choice. I suspect there will be cases then manually accessing the dictionary of devices is useful and discovered I already added a probably incomplete implementation of CiA 309-3 ASCII server in the linuxcnc driver. This may be used to read what is needed from dictionary and for configuration using the manual and/or a *.eds/*.dcf or esi *.xml file if available. I did not find binary protocol. Do anybody know about a configuration tool which use or may use an CiA 309-3 gateway for communication? Or parse dictionary files? Nicklas Karlsson _______________________________________________ Emc-users mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-users
