I read lcec_deasda.c file.... seems was set for CSV only and not possible set for CSP mode ....
Code:
static ec_pdo_entry_info_t lcec_deasda_in[] = {
{0x6041, 0x00, 16}, // Status Word
{0x606C, 0x00, 32}, // Current Velocity
{0x6064, 0x00, 32}, // Current Position
{0x2511, 0x00, 32} // external encoder
};
static ec_pdo_entry_info_t lcec_deasda_out[] = {
{0x6040, 0x00, 16}, // Control Word
{0x60FF, 0x00, 32} // Target Velocity
};
static ec_pdo_info_t lcec_deasda_pdos_out[] = {
{0x1602, 2, lcec_deasda_out}
};
static ec_pdo_info_t lcec_deasda_pdos_in[] = {
{0x1a02, 4, lcec_deasda_in}
};
static ec_sync_info_t lcec_deasda_syncs[] = {
{0, EC_DIR_OUTPUT, 0, NULL},
{1, EC_DIR_INPUT, 0, NULL},
{2, EC_DIR_OUTPUT, 1, lcec_deasda_pdos_out},
{3, EC_DIR_INPUT, 1, lcec_deasda_pdos_in},
{0xff}
};
there are not code for pdo idx=1600 and pdo idx 1a00 ..... so only cyclic position mode is possible with these drive .... ok .... previously think was possible set somethings .... my error
It would be interesting to create the drive for position mode with PDO 1600 and 1A00 ... even just to learn.
