Dear all, I got a set yaskawa servopack, it works well with Twincat.Now I am struggling with etherlab master version 1.52. First step, I tried ethercat command line, when i change the state from PREOP->SAFEOP->OP, control word 0x6040 always shows 0, can not be changed.
I do some research from website, I found I got the same issue as follow posts: http://lists.etherlab.org/pipermail/etherlab-users/2010/000941.html http://thread.gmane.org/gmane.network.etherlab.user/676/focus=683 http://lists.etherlab.org/pipermail/etherlab-users/2012/001581.html As I checked my firmware version is 3.01 is OK. I also got reply from yaskawa, the suggested me to change the mapping as follow: Original: Inputs mapped to -> FMMU0 Outputs mapped to -> FMMU1 Change - Need to be mapped as: Outputs mapped to -> FMMU0 Inputs mapped to -> FMMU1 I am a newbie in this field, anyone knows how to change this mapping? What is more, as Henry Bausley mentioned in above post, his solution is using two domains, input domain and output domain. How to implement it? Any ideas? Thanks in advance! Best regards! -chengxi
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