Ethercat SDOS to XML

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rodw
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Away
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02 Apr 2026 02:25 #345041 by rodw

Ethercat SDOS to XML was created by rodw

I'm trying to set the catio-a I/O module to talk to a VFD via Modbus but I am at a bit of a loss.
Excerpt from Ethercat sdos

SDO 0x3000, "Set Modbus reg W"
  0x3000:00, r-r-r-, uint8, 8 bit, "SubIndex 000"
  0x3000:01, rwrwrw, uint16, 16 bit, "SubIndex 001"
  0x3000:02, rwrwrw, uint16, 16 bit, ""
  0x3000:03, rwrwrw, uint8, 8 bit, ""
  0x3000:04, rwrwrw, uint8, 8 bit, ""
  0x3000:05, rwrwrw, uint8, 8 bit, ""
  0x3000:06, rwrwrw, uint8, 8 bit, ""
  0x3000:07, rwrwrw, uint16, 16 bit, "�"

I got this for the xml file but I get errors reported but eventually axis opens without any syntax issues with
Failed to Execute SDO download size 1, byte0=0 error -5, abort code 06010000

<sdoConfig idx="3000" subIdx="2"><sdoDataRaw data="00 10"/></sdoConfig> <!-- Address 0x1000 (Swapped) -->
<sdoConfig idx="3000" subIdx="3"><sdoDataRaw data="10"/></sdoConfig>    <!-- Length: 16 (Hex 10) -->
<sdoConfig idx="3000" subIdx="4"><sdoDataRaw data="01"/></sdoConfig>    <!-- Slave ID: 1 -->
<sdoConfig idx="3000" subIdx="5"><sdoDataRaw data="04"/></sdoConfig>    <!-- Type: 4 (Holding Register) -->
<sdoConfig idx="3000" subIdx="6"><sdoDataRaw data="01"/></sdoConfig>    <!-- Enable: 1 -->

subIdx 0 = read only
subIdx 1 is a PDO so no need to set in SDOs, PDO definition works
SubIdx 7 is a error count

If you have ideas, please have a go.

Would the VFD need to be connected via rs485? I have not done that yet.

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Hakan
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02 Apr 2026 02:35 #345042 by Hakan

Replied by Hakan on topic Ethercat SDOS to XML

Does it work when you set the values with ethercat download/ethercat upload?

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rodw
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02 Apr 2026 03:06 #345043 by rodw

Replied by rodw on topic Ethercat SDOS to XML

cnc@linuxcnc:~/linuxcnc/configs/catioa$ ethercat slaves
0  0:0  PREOP  +  IMC IO MODEL with EtherCAT
cnc@linuxcnc:~/linuxcnc/configs/catioa$ ethercat download -p 0 3000 2 0x1000 -t uint16
SDO transfer aborted with code 0x06020000: This object does not exist in the object directory

Apparently not. Looks like I have to lug a spindle into my office. Is the syntax right?

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Hakan
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02 Apr 2026 03:18 #345044 by Hakan

Replied by Hakan on topic Ethercat SDOS to XML

0x3000 perhaps? Try upload to read the register.

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rodw
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02 Apr 2026 03:20 #345045 by rodw

Replied by rodw on topic Ethercat SDOS to XML

yeh, I tried 0x3000 and had no more luck (it is a hex value)

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Hakan
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02 Apr 2026 03:41 #345046 by Hakan

Replied by Hakan on topic Ethercat SDOS to XML

Strange. If it's in the sdos listing I have always been able to read the value with
ethercat upload -p 0 0x3000 2
for example.

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rodw
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02 Apr 2026 04:21 #345048 by rodw

Replied by rodw on topic Ethercat SDOS to XML

I've always set the SDOs in the xml
So I had a play when I worked out I needed to use 0x3000 and despite all of linuxcnc's complaining, the entries were set correctly.
Do SDO's persist on power cycles?

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