EtherCAT:EC REMAP MINIMUM PDOS

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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