Hi,
I don't know the answer to the question, but as a workaround you could set up reading the value via PDO and write the value via an SDO. Writing via SDOs take approx 30ms for CoE. Regards, Graeme. ________________________________ From: [email protected] [mailto:[email protected]] On Behalf Of Thomas Nelson Sent: Thursday, 24 January 2013 16:15 To: [email protected] Subject: [etherlab-users] Accessing same PDO for both read and write All, My client has a robotics system using Copley Controls Accelnet Plus drives with a digital input-triggered capture capability that we're trying to use for positioning calibration. This feature requires the ability to map the same slave CoE object for both read to detect the capture event and write to subsequently rearm the trigger. Mapping this object to both Tx and Rx PDOs appears to work correctly from the PDO mapping info returned from the master. However, when I attempt to register the corresponding mapped PDO entries in the domain, I get the same domain offset for both PDOs, preventing the application from managing them independently. The ecrt_slave_config_reg_pdo_entry() function doesn't have an argument to distinguish the direction of the PDO mapping, so is this capability not supported by the master? We're using the 1.5.0 release. Thanks, Tom Nelson Consulting Engineer Granite Computer Sciences, LLC
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