Hello all, I have a Beckhoff servo drive(AX5201), it supports only SoE. it's default pdo mapping is like this:
ec_pdo_entry_info_t slave_0_pdo_entries[] = { {0x0086, 0x00, 16}, /* Master control word */ {0x0024, 0x00, 32}, /* Velocity command value */ {0x0086, 0x00, 16}, /* Master control word */ {0x0024, 0x00, 32}, /* Velocity command value */ {0x0087, 0x00, 16}, /* Drive status word */ {0x0033, 0x00, 32}, /* Position feedback 1 value */ {0x0087, 0x00, 16}, /* Drive status word */ {0x0033, 0x00, 32}, /* Position feedback 1 value */ }; I added more pdo entries in this structure, but when I used ecrt_slave_config_pdos(drive0, EC_END, slave_0_syncs) to configure the new pdo mapping, I got the error"Slave does not support changing the PDO mapping!". I checked the source code and found only CoE slave can change PDO mapping. Could Anybody tell me What I can do now? Regards Maggie
_______________________________________________ etherlab-users mailing list etherlab-users@etherlab.org http://lists.etherlab.org/mailman/listinfo/etherlab-users