RTOS/AM3359: How to change or add PDO on ethercat slave

小白很小白

Intellectual 320 points

Part Number: AM3359

Tool/software: TI-RTOS

Hello!

I have saw the file named PRU-ICSS EtherCAT Slave Troubleshooting Guide. I got some questions:

How many ways to change or add PDO?

Why does the second method do not use xml file?

How does the second method config the esc's registers?

Where can I find the details of the first method? Of course I have browsed the Beckhoff's page and I did not find details.

Last ,I want to use the first method to realize the CIA402 part .The first method need to use SSC,but, the file PRU ICSS EtherCAT Slave User Guide said that Option #2 <PRU_ICSS_EtherCAT.html#generating-ethercat-sources-using-beckhoff-ssc-tool-option-2>`__ will NOT work for CiA402 application. I do not know if CIA402 can work with the first method.

Than you for your help and forgive me for my terrible Eglish!!!!!!!

over 6 years ago

0 Paula Carrillo over 6 years ago

TI__Mastermind 39250 points

Hi, as you mentioned PRU-ICSS EtherCAT slave troubleshooting guide shows two possible ways to add/Modify PDO elements to Ethercat slave stack.

For Method1 you can check ET9300 chapter 12 and 13 ilustrates how to use SSC tool.

Method2, manually modify stack files for adding PDO.. maybe there is another way to do it with XML, not sure..

About your last comment, PRU-ICSS EtherCAT slave User Guide recommends to use manual patching of Beckhoff stack (option#1) in order to create PRU-ICSS Full EtherCAT slave example. Just want to clarify, this patching is for enabling Full EtherCAT slave demo.. this is different to add/modify Tx_PDO/Rx_PDO (your first questions).

One option for your workflow could be, first patch the demo manually (option#1), and then you can explore how to modify PDO with SSC tool.

thank you,

Paula

0 小白很小白 over 6 years ago in reply to Paula Carrillo

Intellectual 320 points

thank you

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RTOS/AM3359: How to change or add PDO on ethercat slave