LP-AM243: industrial_comms/ethercat_slave_demo, it's RxPDO and TxPDO can be mapped same object ?

Tomoya Oyama

Part Number: LP-AM243

Tool/software:

Hi, Hi team,

About the am243x industrial communication sdk example, examples/industrial_comms/ethercat_slave_demo/device_profiles/401_simple/ecSlvSimple.c,

when the cb function EC_SLV_APP_SS_applicationRun() in ecSlvSimple.c is empty, it might be able to communicate through PDO and it's entry object.

But after changed TxPDO mapping same as RxPDO mapping, like below table, PDO and SDO communication wouldn't work right.

Is it the specification? Is there any way to do correct in this case?

RxPDO
Index 1600:01	0x7000110
Index 1600:02	0x7000210
TxPDO
Index 1A00:01	0x7000110
Index 1A00:02	0x7000210

Do you have any document about EtherCAT communication sequence of this program?

Best Regards,

Oyama

3 months ago

+1 Harsha Begihally Shanmukhaswamy 3 months ago

TI__Intellectual 1920 points

Hello,

The function EC_SLV_APP_SS_applicationRun() is EtherCAT slave application function which is synchronized with EtherCAT frames. Even if this application function is empty the EtherCAT slave stack would be able to communicate with the EtherCAT master.

Typically, same object entry is not mapped to both TxPDO and RxPDO. If in case, the inputs need to be looped back to outputs or vice versa then this shall happen in the PLC logic or in slave application side.

You can find the details of the example here at EtherCAT Simple Demo.

Kind Regards,

0 Tomoya Oyama 3 months ago in reply to Harsha Begihally Shanmukhaswamy

Prodigy 180 points

Thank you for answering my questions Harsha, I understand it.

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LP-AM243: industrial_comms/ethercat_slave_demo, it's RxPDO and TxPDO can be mapped same object ?