You have to add the gaps to the configuration but you cannot map them to
a variable! I think you are confusing configuration and mapping.
Configuration is done using ecrt_slave_config_pdos() to inform the
master how the slave PDO is constructed. This configuration may include
gaps which are used to align PDO's to natural borders.
However, gaps can not be mapped to a process variable inside your
program i.e. with ecrt_domain_reg_pdo_entry(). That means you can not
access the values in these gaps.
Thus I was wrong last time. Since ecrt_domain_reg_pdo_entry_list() can
only access real PDO's (having a non-zero index), the functionality
inside the master is correct.
- Richard
Am 11/06/2013 09:17 AM, schrieb Jordi Blanch:
Hello,
we thought that it was necessary to add GAPs entries to the list,
otherwise the master couldn't calculate the bit offset of the data
received from ethercat frames because every ec_pdo_entry_reg_t relates
it's data position to the previous ec_pdo_entry_reg_t item, isn't it?
Also, I think I remember we already tried not to register GAPs and then
we were not receiving the data correctly (but I'm talking from my
memory...).
Thank you.
On Tue, 5 Nov 2013 17:48:03 +0100, Florian Pose <[email protected]> wrote:
Hello,
On Tue, Nov 05, 2013 at 04:36:26PM +0100, Richard Hacker wrote:
I understand your problem when registering gaps. Actually the code
in the ethercat master does not do the right thing by testing on
index. Actually it should be testing for reg->bit_position instead.
I will communicate this with the developer.
sorry Richard. I have to be contradictory. ;-)
Please let me clarify this: There should be no gaps in the list passed
to ecrt_domain_reg_pdo_entry(), because gaps are no actual PDO entries
and can not be uniquely identified via PDO entry index and
subindex, and thus can not be registered.
Note that gaps are perfectly valid in context of the PDO configuration
(see ecrt_slave_config_pdos() and friends).
Best regards,
Florian
_______________________________________________
etherlab-users mailing list
[email protected]
http://lists.etherlab.org/mailman/listinfo/etherlab-users
Mit freundlichem Gruß
Richard Hacker
--
------------------------------------------------------------------------
Richard Hacker M.Sc.
[email protected]
Tel.: +49 201 / 36014-16
Ingenieurgemeinschaft IgH
Gesellschaft für Ingenieurleistungen mbH
Heinz-Bäcker-Str. 34
D-45356 Essen
Amtsgericht Essen HRB 11500
USt-Id.-Nr.: DE 174 626 722
Geschäftsführung:
- Dr.-Ing. T. Finke,
- Dr.-Ing. W. Hagemeister
Tel.: +49 201 / 360-14-0
http://www.igh-essen.com
------------------------------------------------------------------------
_______________________________________________
etherlab-users mailing list
[email protected]
http://lists.etherlab.org/mailman/listinfo/etherlab-users
