Am 2014-11-18 09:07, schrieb Ruika You:
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?
There is no remapping in the slave. You define which FMMU (aka
syncmanager) using the index field of ec_sync_info_t.
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?
Create 2 domains with ecrt_master_create_domain() and register TxPDO's
in the one and RxPDO's in the other.
Any ideas?
Thanks in advance!
Best regards!
-chengxi
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