I am trying to use a cia402 generic driver what as digital input that is exposed 0x60FD:00 which is a bit for each input signal 16-31 (I only have 9 so bits 16-25). see:
infosys.beckhoff.com/english.php?content...18798074891.html&id=
How do I assign the digital input states to hal pins using the generic type driver and the ethercat-conf.xml? All the sample I find are using custom defined types. The pins are exposed to the hal in halshow, but they do not follow their state and also are low, so my guess the config is wrong and not reading the inputs states correctly.
Thanks!!!!!!
here is my sniplet of the slave config:
Code:
<slave idx="1" name="Y" type="generic" vid="00000a88" pid="0a880617" configPdos="true">
<dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="0" />
<syncManager idx="2" dir="out">
<pdo idx="1600">
<pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="controlword" halType="u32" />
<pdoEntry idx="6060" subIdx="00" bitLen="8" halPin="opmode" halType="s32" />
<pdoEntry idx="607A" subIdx="00" bitLen="32" halPin="target-position" halType="s32" />
<pdoEntry idx="60FF" subIdx="00" bitLen="32" halPin="target-velocity" halType="s32" />
<pdoEntry idx="60FD" subIdx="00" bitLen="1" halPin="pos-neg" halType="bit" />
<pdoEntry idx="60FD" subIdx="01" bitLen="1" halPin="pos-pos" halType="bit" />
<pdoEntry idx="60FD" subIdx="10" bitLen="1" halPin="din1" halType="bit" />
<pdoEntry idx="60FD" subIdx="11" bitLen="1" halPin="din2" halType="bit" />
<pdoEntry idx="60FD" subIdx="12" bitLen="1" halPin="din3" halType="bit" />
</pdo>
</syncManager>
<syncManager idx="3" dir="in">
<pdo idx="1a00">
<pdoEntry idx="6041" subIdx="00" bitLen="16" halPin="statusword" halType="u32" />
<pdoEntry idx="6061" subIdx="00" bitLen="8" halPin="opmode-display" halType="s32" />
<pdoEntry idx="6064" subIdx="00" bitLen="32" halPin="actual-position" halType="s32" />
<pdoEntry idx="60FF" subIdx="00" bitLen="32" halPin="actual-velocity" halType="s32" />
</pdo>
</syncManager>
</slave>
