How to do custom PDO mapping ?

MankaranSingh

Is this done from ecat tool ? I want to add secondary position and velocity values for dual encoder in PDO.

Philippe

MankaranSingh
Yes, you can add PDOs manually if they do not show up when you scan the device. See the device documentation for which PDOs are mappable.

MankaranSingh

from what I observed, the default PDO mapping is being used, these are the pdos:

=== Master 0, Slave 0 ===
SM0: PhysAddr 0x1000, DefaultSize 1024, ControlRegister 0x26, Enable 1
SM1: PhysAddr 0x1400, DefaultSize 1024, ControlRegister 0x22, Enable 1
SM2: PhysAddr 0x1800, DefaultSize   29, ControlRegister 0x64, Enable 1
  RxPDO 0x1600 ""
    PDO entry 0x6040:00, 16 bit, ""
    PDO entry 0x6060:00,  8 bit, ""
    PDO entry 0x6071:00, 16 bit, ""
    PDO entry 0x607a:00, 32 bit, ""
    PDO entry 0x60ff:00, 32 bit, ""
    PDO entry 0x60b2:00, 16 bit, ""
    PDO entry 0x2701:00, 32 bit, ""
    PDO entry 0x2a03:00, 32 bit, ""
SM3: PhysAddr 0x1c00, DefaultSize   45, ControlRegister 0x20, Enable 1
  TxPDO 0x1a00 ""
    PDO entry 0x6041:00, 16 bit, ""
    PDO entry 0x6061:00,  8 bit, ""
    PDO entry 0x6064:00, 32 bit, ""
    PDO entry 0x606c:00, 32 bit, ""
    PDO entry 0x6077:00, 16 bit, ""
  TxPDO 0x1a02 ""
    PDO entry 0x60fd:00, 32 bit, ""

If I add anything other than whats mentioned here in ecat tool, all the subsequent values are wrong.

I want to change this default pdo mapping. With SOEM I used to write the object map at addresses 0x1605 (rx pdo) and 0x1A03 (tx pdo). Want to achieve this using motorcortex.

Philippe

If you already have PDOs configured in the ECAT tool you can click on the menu of a PDO and add a new PDO or an entry to the current PDO: