Hello,
I was trying to configure a Beckhoff module (EL3356-0010) for load
cell, and part of the configuration XML I get is this:
<RxPdo Sm="2" Fixed="1" Mandatory="1">
<Index>#x1600</Index>
<Name>RMB RxPDO-Map Control</Name>
....
<Entry>
<Index>#x7000</Index>
<SubIndex>5</SubIndex>
<BitLen>1</BitLen>
<Name></Name>
<DataType>BOOL</DataType>
</Entry>
<Entry>
<Index>#x0000</Index>
<BitLen>11</BitLen>
</Entry>
</RxPdo>
<TxPdo Sm="3" Fixed="1" Mandatory="1">
<Index>#x1a00</Index>
<Name>RMB TxPDO-Map Status</Name>
<Entry>
<Index>#x0000</Index>
<BitLen>1</BitLen>
</Entry>
<Entry>
<Index>#x6000</Index>
<SubIndex>2</SubIndex>
<BitLen>1</BitLen>
<Name></Name>
<DataType>BOOL</DataType>
</Entry>
<Entry>
<Index>#x0000</Index>
<BitLen>1</BitLen>
</Entry>
<Entry>
<Index>#x6000</Index>
<SubIndex>4</SubIndex>
<BitLen>1</BitLen>
<Name></Name>
<DataType>BOOL</DataType>
</Entry>
<Entry>
<Index>#x0000</Index>
<BitLen>2</BitLen>
</Entry>
<Entry>
<Index>#x6000</Index>
<SubIndex>7</SubIndex>
<BitLen>1</BitLen>
<Name></Name>
<DataType>BOOL</DataType>
</Entry>
...
As you can see there are several PDO-Entry with 0x0 index, they are
simply GAPs in the data array.
The problem comes when I try to set the PDO's, master does not
correctly calculate offsets because in the function
ecrt_domain_reg_pdo_entry_list, the loop exit condition while going
through the ec_pdo_entry_reg_t list is "reg-> index", so it stops the
loop when it finds the first one of these GAPs, so NOT having gone
through all the records.
int ecrt_domain_reg_pdo_entry_list(ec_domain_t *domain,
const ec_pdo_entry_reg_t *regs)
{
...
EC_MASTER_DBG(domain->master, 1,
"ecrt_domain_reg_pdo_entry_list("
"domain = 0x%p, regs = 0x%p)\n", domain, regs);
for (reg = regs; reg->index; reg++) {
sc = ecrt_master_slave_config_err(domain->master, reg->alias,
reg->position, reg->vendor_id, reg->product_code);
...
return 0;
}
In my case, changing the GAP index to 0x1 works, but is this finish
condition correct? How do you deal with these GAPs in the list?
Thank you very much.
--
Jordi Blanch Carles
Unidad de Ensayo y Control
ENCOPIM S.L.
Carretera de Ripollet a Santiga, 104.
P.I. Els Pinetons
E-08291 RIPOLLET (Barcelona)
Tel: (+34) 935 94 23 47
Fax: (+34) 935 94 64 15
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