Hello, I'm currently trying to configure the EL6751(CANOpen-Master) to switch into "Raw-CAN-Mode", so that I am able to send CAN-Messages via the EtherCAT-master. According to the documentation at
http://infosys.beckhoff.com/english.php?content=../content/1033/el6751/html/el6751_layer2_statemachine.htm&id=10383 one has to do two SDO downloads to configure and activate the CAN controller of the EL6751: Download 0xF800 and 0x8000. As I have just little experience with the etherlab EtherCAT master and EtherCAT in general I have some questions concerning the actual procedure: One of the objects, which must be downloaded, contains a gap of five bit in between the configuration data:([ http://infosys.beckhoff.com/content/1033/el6751/html/Bt_EL6751_ObjectDescription.htm#Index_F800] index F800, subindex 09) Assume I have a buffer of uint8_t which represents the sdo object: uint8_t sdo_data[] = { 0x11, 0x7F, ..., /* 5-BitGap-Here */, ...}; When downloading the object via complete access(ecrt_master_sdo_download_complete), how do I model the 5 bit gap? Can I just use a value of uint8_t instead? Or is the gap ignored at all and I can just omit the value? Does the same apply then writing the value individually via ecrt_master_sdo_download to 0xF800:09? Futhermore the documentation says "The PDO mapping of the EtherCAT PDOs is automatically calculated by the EL6751 after the download of the object 0x8000 and can be read". I am not quite sure where to read it from. The mapping objects 0x1600 and 0x1700? Can I just sdo-upload the mappings from there and then configure the pdos? Or do I have to configure the mappings beforehand? How do I know which objects are actually getting mapped? Thanks, Matze
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