Difference between revisions of "EtherCAT:EC REMAP MINIMUM PDOS"
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|DESCRIPTION= | |DESCRIPTION= | ||
| − | This subroutine remaps the PDO's of a certain drive to the required minimum objects that allow sync position mode. | + | This subroutine remaps the PDO's of a certain drive to the required minimum objects that allow sync position mode.<br/> |
| − | These objects are: | + | These objects are:<br/> |
| − | Rx - Control Word 0x6040;0x0, Position Command 0x607A;0x0 | + | Rx - Control Word 0x6040;0x0, Position Command 0x607A;0x0<br/> |
| − | Tx - Status Word 0x6041;0x0, Position Feedback 0x6064;0x0, Digital Inputs 0x60FD;0x0 | + | Tx - Status Word 0x6041;0x0, Position Feedback 0x6064;0x0, Digital Inputs 0x60FD;0x0<br/> |
Use this subroutine when integrating a softMC with a new or unknown motion drive to make sure it has the required minimum PDO entries to allow sync position motion. | Use this subroutine when integrating a softMC with a new or unknown motion drive to make sure it has the required minimum PDO entries to allow sync position motion. | ||
Revision as of 10:37, 28 February 2016
This subroutine remaps the PDO's of a certain drive to the required minimum objects that allow sync position mode.
These objects are:
Rx - Control Word 0x6040;0x0, Position Command 0x607A;0x0
Tx - Status Word 0x6041;0x0, Position Feedback 0x6064;0x0, Digital Inputs 0x60FD;0x0
Use this subroutine when integrating a softMC with a new or unknown motion drive to make sure it has the required minimum PDO entries to allow sync position motion.
 | NOTE |
| Use this subroutine as an example how to create you own PDO mapping |
 | IMPORTANT |
| This subroutine must be invoked before EC_SETUP.PRG is executed, or right at the beginning of it, to allow MC to first rescan the slaves and get updated with the new PDO mapping of the devices |
Input
Slave address
Output
None
Return Value
None
Declaration
Public Sub EC_REMAP_MINIMUM_PDOS(byval drive_addr as long)
Syntax
call EC_REMAP_MINIMUM_PDOS(<Slave address>)
Examples
call EC_REMAP_MINIMUM_PDOS(2)
See Also
- Setup EtherCAT - How to setup EtherCAT