Comments (2)
Take a look into CanOpen specs, how to to this. It doesn't work with all slaves though, because they can't be changed
from pysoem.
I think in CANOpen it is not the best direction to look into, there it is a bit different.
For each EtherCAT slave device, PDO change might be implement in another way.
- (fixed PDO mapping:) For some device changing PDO mapping is not possible at all, this is the case when 0x1C12/0x1C13 and 0x1600-0x17FF/0x1A00-0x1BFF are read-only .
- (Selectable PDO mapping:) Others allow PDO change by allowing write access to 0x1C12/0x1C13 where only 0x1600-0x17FF/0x1A00-0x1BFF is read only. This is maybe the most common implementation.
Examples are shown in theelxxxx_setup
functions of the minimal_example.py and basic_example - (Configurable PDO mapping:) Some device allwo complete PDO change by allowing write access to both 0x1C12/0x1C13 and 0x1600-0x17FF/0x1A00-0x1BFF.
- (?:) Devices that are similar to CANopen allow write access to only 0x1600/0x1A00, where 0x1C12/0x1C13 are read only or 0x1C12/0x1C13 are only allowed to map 0x1600/0x1A00 or nothing at all.
from pysoem.
Related Issues (20)
- IO-Link Ethercat module (EL6224) HOT 2
- Returning PDO frame late (Windows) HOT 2
- Handle Safety HOT 2
- ConnectionError: could not open interface on Ubuntu HOT 3
- Motion control HOT 1
- read and write PDOS question HOT 2
- Add meaning of 'network adapter ID' to documentation HOT 3
- Script crashes when Python debugger inspects `CdefSlave` HOT 3
- OD version bug HOT 1
- maybe a BUGm needs deeg in HOT 1
- How to pack / unpack single `BIT`s in PDO `input` / `output` HOT 3
- Open function returns always None HOT 2
- slave.write_eeprom() bug? HOT 2
- Transfer `pysoem` into the `OpenEtherCATsociety` Github group HOT 2
- Code completion / Intellisense not working HOT 3
- Setuptool version clash HOT 1
- no SDO info for slave device
- no SDO info for slave device
- ReadTheDocs documentation is not updating
- Servo State Change
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from pysoem.