Hi,
Servo drives have configurable PDO: they have different PDOs for Torque,
Velocity or Position Mode.
You have to setup a SDO startup list to enable the PDO before mapping them.
You can use either 'ethercat download' or TwinCAT to find the appropriate
startup list, then you can implement it in your program in C.
To illustrate the procedure, you can read my example for Kollmorgen AKD Servo
Drive
http://www.iram.fr/~blanchet/ethercat/akd/examples/
Regards,
--
Sebastien BLANCHET
On 4/8/19 11:56 AM, [email protected] wrote:
Hi, all
I have 2 Panasonic drivers link to Etherlab Master.
When I put './ethercat-tool cstructs' in the terminal, I got the pdo mapping of
the 2 slaves,
but I find that the 2 slaves pdo are not the same，listed in mail-attachment
nane 'cstruct.txt'.
How can I make the 2 pdos share the same struct?
Thanks any way.
demon.
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