Hello,
please see the idn functions in ecrt.h
** Add an SoE IDN configuration.
*
* A configuration for a Sercos-over-EtherCAT IDN is stored in the slave
* configuration object and is written to the slave whenever the slave is
* being configured by the master. This usually happens once on master
* activation, but can be repeated subsequently, for example after the
slave's
* power supply failed.
*
* The \a idn parameter can be separated into serveral sections:
* - Bit 15: Standard data (0) or Product data (1)
* - Bit 14 - 12: Parameter set (0 - 7)
* - Bit 11 - 0: Data block number (0 - 4095)
*
* Please note that the this function does not do any endianess correction.
* Multi-byte data have to be passed in EtherCAT endianess (little-endian).
*
* \retval 0 Success.
* \retval <0 Error code.
*/
int ecrt_slave_config_idn(
ec_slave_config_t *sc, /**< Slave configuration. */
uint8_t drive_no, /**< Drive number. */
uint16_t idn, /**< SoE IDN. */
ec_al_state_t state, /**< AL state in which to write the IDN
(PREOP or
SAFEOP). */
const uint8_t *data, /**< Pointer to the data. */
size_t size /**< Size of the \a data. */
);
It is handled like a sdo request.
Please note you should take the idn export list from twincat to
configure your slave, because idn paramers can have a very complicated
structure.
Please also note, Beckhoff will switch to sdo and DS402 in future
products, SOE seems to be dead in the future products!!!!
Best regards
Andreas
Am 03.07.2011 22:07, schrieb Cleverson:
Recently i was started to develop an application using as base the
example mini.c
Now i have 3 EL1008, 1 EL2008 ,1 EL3062 and 1 EL 4002 working very
fine, but
i'm trying to control two servo drivers AX 5206, and i'm having
dificulties because
have no examples to use functions, config, write and read IDN.
If someone have some experience like this, i will stay very
gratefull for one help.
Cleverson Deotti
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Mit freundlichem Gruß
Andreas Stewering-Bone
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