Ethercat HAL driver

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22 Jul 2022 08:10 #248013 by foxington
Replied by foxington on topic Ethercat HAL driver
hello, 

I am struggling around setup a ethercat driver for working in CSP. I found some commands which are different then others in this topic. Is it my .xml code right please?

Have anybody idea of red rectangles in the picture please? Other stuff is clear to me.
    <!-- SETUP FREE MAPPING PDOs via objects 0x1C12 and 0x1C13 -->

      <!-- Clear SM PDOs -->
      <sdoConfig idx="1C12" subIdx="00">
        <sdoDataRaw data="00"/>
      </sdoConfig>
      
      <!-- Clear SM PDOs -->
      <sdoConfig idx="1C13" subIdx="00">
        <sdoDataRaw data="00"/>
      </sdoConfig>
      
      
          <!-- Clear RX PDO -->
          <sdoConfig idx="1A00" subIdx="00">
            <sdoDataRaw data="00 63 6C 65"/>
          </sdoConfig>
      
          <!-- Map status word lenght 0x10 == 16 bit to TX-PDO1 -->
           <!-- 0x6041 0010 == register 0x6041 + value 0x10(16bit decimal) -->
          <sdoConfig idx="1A00" subIdx="01">
            <sdoDataRaw data="10 00 41 60"/>
          </sdoConfig>
          
          <!-- Map position feedback double word lenght to TX-PDO1 -->
          <!-- 0x6064 0020 == 0x20 == 0d32 bit -->
          <sdoConfig idx="1A00" subIdx="02">
            <sdoDataRaw data="20 00 64 60"/>
          </sdoConfig>
          
          <!-- Set TX-PDO1 total count to 2 -->
          <sdoConfig idx="1A00" subIdx="00">
            <sdoDataRaw data="02 64 6F 77"/>
          </sdoConfig>
          
      
          <!-- Clear RX-PDO -->
          <sdoConfig idx="1600" subIdx="00">
            <sdoDataRaw data="00 63 6C 65"/>
          </sdoConfig>
          
          <!-- Map control word lenght 0x10 == 16 bit to RX-PDO1 -->
          <!-- 0x6040 0010 == 16bit -->
          <sdoConfig idx="1600" subIdx="01">
            <sdoDataRaw data="10 00 40 60"/>
          </sdoConfig>
          
          <!-- Map position command double word lenght to RX-PDO1 -->
          <!-- 0x607A 0020 == 0x20 == 0d32 bit -->
          <sdoConfig idx="1600" subIdx="02">
            <sdoDataRaw data="20 00 7A 60"/>
          </sdoConfig>
          
          <!-- Set RX-PDO1 count to 2 -->
          <sdoConfig idx="1600" subIdx="00">
            <sdoDataRaw data="02 64 6F 77"/>
          </sdoConfig>
              
              
      <!-- Download PDO 0x1C12:01 index -->
      <!-- 0x1600 -->
      <sdoConfig idx="1C12" subIdx="01">
        <sdoDataRaw data="00 16"/>
      </sdoConfig>
      
      <!-- Download PDO 0x1C12 count -->
      <sdoConfig idx="1C12" subIdx="00">
        <sdoDataRaw data="01"/>
      </sdoConfig>


      <!-- Download PDO 0x1C13:01 index -->
      <!-- 0x1A00 -->
      <sdoConfig idx="1C13" subIdx="01">
        <sdoDataRaw data="00 1A"/>
      </sdoConfig>
      
      
      <!-- Download PDO 0x1C13 count -->
      <sdoConfig idx="1C13" subIdx="00">
        <sdoDataRaw data="01"/>
      </sdoConfig> 
      
  
<!--     S300 - 4.8 Supported operation modes
    The following values are used for selection and feedback operating modes:
    cyclic synchronous position mode 0x08(0d08) und 0xFA(0d-06)
    cyclic synchronous velocity mode 0x09 und 0xFE
    cyclic synchronous torque mode 0x0A und 0xFD
    homing mode 0x06 und 0xF9
    Negative values correspond to manufacturer-specific settings in 6060 of size 8bit .-->

      
      <!-- Set OpMode to Cyclic Synchronous Position IN MY CASE 0x08(0d08) und 0xFA(0d-06) -->
      <sdoConfig idx="6060" subIdx="00">
        <sdoDataRaw data="08"/>  
      </sdoConfig>
      
      <!-- Set Cycle Time IN MY CASE 0x02(0d02) und 0xFD(0d-03)-->
      <sdoConfig idx="60C2" subIdx="01">
        <sdoDataRaw data="02"/> 
      </sdoConfig>
      
      <!-- Set Cycle exp -->
      <sdoConfig idx="60C2" subIdx="02">
        <sdoDataRaw data="FD"/> 
      </sdoConfig>

Regards foxington
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