Ethercat, EL6751 and CANOpen

here they are, take a look... component is not finished yet... I will upload them when I will have an update ...

.xml config are only for this configuration... but it is clearly vissible how it works... where what is and timing are very important

setup from my attachments has about 330us scan time on profibus which are less then 1ms for lcnc default scan time period ... there are 4 slaves

Unfortunately I get a Config error, when trying to use the startup SDO stuff.
Here the error in Twincat, obviously via ethercat xml I get a similar one (SDO download 0x8000 (58 bytes9 aborted

 'Klemme 4 (EL6731)' (1004) 'PS': CoE ('InitDown' 0x8000:00) - SDO Abort ('Value range of parameter exceeded (only for write access).', 0x06090030): 'EL67xx CoE Init Cmd 3 (8000:00)'.                

BR Franz

Cau you share your twincat3 project ... Which stuff you need to run? I can check it and create working configuration of ethercat-conf.xml... 

That should be more helpful then writing a tons of posts...

Wow, this would be great!Here are 2 projects:

• profibus_latest was working without any SDOs, see ethercat-config from my previous posted project. But here I do have the described timing issues.
• profibus_mit_startup is the thing I tried today. I do not get a working sdo config... I simply exported 'startup' of the el6731 in Twincat as csv, then  I added the sdos to the ethercat config.

In the end I do want a ethercat config for 4 servostar axis, ids 11,12,13,14

BR Franz

this is dry setup...You ve done them in tc build 4026.60 and I have 4024.59 and downloading yours... you do not use a legacy mapping but that else? why?tomorrow I check them live on my koppler and will exact customize mapping if it does not work... dmesg -v me with ethercat debug 1regards

Thanks a lot. I'll have a try as soon as possible.
If I understand your question right: I do use the MDP mapping (not the legacy) since I thought that then I do not need any SDO configuration in the ethercat conf, all the startup stuff is then stored at the EL6731 itself -- but I just followed some advice in this Forum, clearly I do not know what's really happening.

BR Franz