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AM2434: PDO Configuration in the EtherCAT SubDevice Solution

Hideaki Matsumoto
Genius 9540 points
Part Number: AM2434


Hi,

 

Could you help to answer my customer’s inquiry below ?

 

----------------------------------------------

As described in the official documentation, I was able to modify the PDO configuration from the main device.

SyncManager configuration in EtherCAT SubDevice Document in Industrial Communications SDK

 

However, the underlying mechanism appears to differ from my initial understanding.

I had assumed that the PDO configuration change would be achieved by updating object 0x1C12. However, it seems that the value of 0x1C12 has not actually been modified.

In this case, could you please explain the mechanism by which the PDO configuration is being changed?

For further details, please refer to the attached sheet.

Question.xlsx 

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Thanks and regards,

Hideaki

  • 0
    TI__Expert 3670 points

    Hi Hideaki,

    I will check the information attached and provide the feedback.

    Kind Regards,

  • 0 in reply to Harsha Begihally Shanmukhaswamy
    TI__Expert 3670 points

    Hello Hideaki,

    When the PDO assignments are changed in TwinCAT, PDO assignment objects 0x1C12/0x1C13 are also updated accordingly. In TwinCAT, when 'Reload Devices' is performed or 'Restart TwinCAT (Config Mode)' is done after the assignment changes, 'CoE-Online' tab is updated and can observe the corresponding changes.

    Kind Regards,

  • 0 in reply to Harsha Begihally Shanmukhaswamy
    TI__Genius 9540 points

    Hi Harsha,

    Thank you for your response.

    They tried both “Reload Devices” and “Restart TwinCAT (Config Mode)”, but the “CoE-Online” tab was not updated. In your environment, can you confirm whether the object 0x1C12:0 has been modified from the “CoE-Online” tab?

    Thanks and regards,

    Hideaki

  • 0 in reply to Hideaki Matsumoto
    TI__Expert 3670 points

    Hello Hideaki,

    The issue in this case could be that the PDO assignments are fixed (not configurable). The PDO assignments can be made configurable by using EC_API_SLV_PDO_setAssignment() as described in the EtherCAT documentation.

    Kind Regards,

  • 0 in reply to Harsha Begihally Shanmukhaswamy
    TI__Genius 9540 points

    Hi Harsha,

    Thank you for your response, and sorry for my delayed response.

    Here are comments from the customer below.

    -----------------------------------------------------------------------------------

    I’m sorry, but I don’t understand the intent of your response.
    As mentioned at the beginning, EC_SLV_APP_CIA_applicationInit() has already been added. If the procedure is incorrect, please point it out specifically.
    I would also appreciate your response to the previous question:
    (Can you confirm whether the object 0x1C12:0 has been modified from the “CoE-Online” tab?)
     
    -----------------------------------------------------------------------------------
    Thanks and regards,
    Hideaki
  • +1 in reply to Hideaki Matsumoto
    TI__Expert 3670 points

    Hello Hideaki,

    As mentioned, if the SM assignment objects are fixed (read only access) then PDO assignments from the EtherCAT MainDevice is not possible. Please refer the customer's TwinCAT screenshot below. It can be seen that SM assignment objects 0x1C12 and 0x1C13 are fixed (read only). Hence, PDO assignments are not possible.

    Harsha Begihally Shanmukhaswamy said:
    The issue in this case could be that the PDO assignments are fixed (not configurable). The PDO assignments can be made configurable by using EC_API_SLV_PDO_setAssignment() as described in the EtherCAT documentation.

    As suggested earlier, customer should follow the instructions provided in the documentation to allow the PDO assignments.

    Please call the API EC_API_SLV_PDO_setAssignment() as shown in the screenshot below. 

    I believe that the customer had done the above step to allow the PDO assignments to 0x1C12/0x1C13 objects from the EtherCAT MainDevice. Please refer the customer's TwinCAT screenshot below.

    Hideaki Matsumoto said:
    (Can you confirm whether the object 0x1C12:0 has been modified from the “CoE-Online” tab?)

    Yes. When the SM assignments objects 0x1C12/0x1C13 are not fixed (with read-write access), it is possible to update the PDO assignments to these objects from the 'Process Data' tab and modified assignments objects 0x1C12/0x1C13 can be observed from the 'CoE-Online' tab in TwinCAT.

    Harsha Begihally Shanmukhaswamy said:
    When the PDO assignments are changed in TwinCAT, PDO assignment objects 0x1C12/0x1C13 are also updated accordingly. In TwinCAT, when 'Reload Devices' is performed or 'Restart TwinCAT (Config Mode)' is done after the assignment changes, 'CoE-Online' tab is updated and can observe the corresponding changes.

    Perform 'Reload Devices' after the assignment changes. Also make sure to check the 'PDO Assignment' under 'Download' in 'Process Data' tab.

    Kind Regards,