EtherCAT:EC REMAP MINIMUM PDOS
Language: | English • 中文(简体) |
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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