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TIDM-DELFINO-ETHERCAT: Application of the CiA402 profile


Thank you for the answer and I apologize for the late reaction. After a long time, I went back to the EtherCat project.
I generated the necessary files for the CiA 402. However, there is a problem with communication with TwinCat3.
It seems that TwinCat3 incorrectly reads the data sent from the development kit.

Please, can you help me with this?
The images show the shift of bytes between the development kit and the TwinCat3.

Thank you very much.

  • Hello

    The data is likely not being stored into ESC memory correctly (it could be read from device memory fine). This can be fixed within the input mapping, if you refer to how the F28379D EtherCAT solution handles it, you can see it is grabbing words and bytes to pack them together.

    Best regards