IIRC, a PDO 0000:00 means that its just padding, not data. As such you probably shouldnt include it in your PDO mapping structure. I think the master code is smart enough to align it correctly anyway, but I must admit I havent really experimented with that sort of layout.
From: etherlab-dev-boun...@etherlab.org [mailto:etherlab-dev-boun...@etherlab.org] On Behalf Of Jürgen Kunz Sent: Wednesday, 13 March 2013 06:34 To: etherlab-dev@etherlab.org Subject: [etherlab-dev] PDO entry with Index 0x0000, missing PDO registration Hello, I had the problem with a new slave-type that only the first of four slaves worked (OP), all others were in SAFEOP +ERROR. In the debugging output of the master (ethercat debug 1) I saw that only some of the PDOs of the first slave hat been registered in the domain, the PDOs of the other slaves had not been registered. The cause is that one of the PDOs have an entry index of 0x0000 (see pdos.txt), which causes the ecrt_domain_reg_pro_entry_list to quit, so all other PDO entries after that are ignored. With the attached patch (diff.txt) I get all slaves to work. Regards, Jürgen Kunz -- Dipl.-Inform. Jürgen Kunz Technische Universität Darmstadt <http://www.tu-darmstadt.de> FG Simulation, Systemoptimierung und Robotik <http://www.sim.tu-darmstadt.de> Hochschulstr. 10 64289 Darmstadt Tel.: ++49 (0) 6151-16-70383 Fax: ++49 (0) 6151-16-6648 E-Mail: kunz(at)sim.tu-darmstadt.de Homepage: http://www.sim.tu-darmstadt.de
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