Ethercat HAL driver

Ok,Thanks! From what I gather, as long as you can pull the info required for the .hal file and the PDO's match that's what matters. I looked at the .xml provided by Delta and see that the initial pdo's are configured in there and they correspond to what I see in Twincat. I am guessing that it would also be possible to edit that file manually, i.e. add the pdo's you want, rather then manipulate/add/load through Twincat? Either way should work no? Manually editing does sound risky though...and error correction could eat up the eprom memory...I think?

Thanks again
Dan

sqmathlete wrote: Ok,Thanks! From what I gather, as long as you can pull the info required for the .hal file and the PDO's match that's what matters. I looked at the .xml provided by Delta and see that the initial pdo's are configured in there and they correspond to what I see in Twincat. I am guessing that it would also be possible to edit that file manually, i.e. add the pdo's you want, rather then manipulate/add/load through Twincat? Either way should work no? Manually editing does sound risky though...and error correction could eat up the eprom memory...I think?

Thanks again
Dan

Normally you should not edit either .xml provided by Delta or slave's EEPROM.

I thought Twincat were able to do PDO mapping. The mapped PDOs remain until you power cycle the slave. So PDO mapping is not
the same as EEPROM editing.

To be honest this where I am a bit unclear still. In TwinCat I can add to the PDO's to the sync manager idx 2 and 3. I'm just not sure how the amp knows that I have modified them. I think you have to go Generate, Check, Activate (in Twincat) and that loads the sdo configuration into the amp...rewritting the eprom. I read in the manual that there is a limited number of times you can do this. Perhaps, I am confused about the finer points of TwinCat...?

In terms of editing the Delta file, you can see which PDO's are configured by default in the Delta file. just thought you might be able to add to these, similar to the indramat setup tutorial docs.google.com/document/d/1GiB065ZIAaoM...xGQl2X9DM9-THNM/edit .

Attached is the delta .xml file

PDO mapping can be done without TwinCAT and solely by the means of EtherLAB master.

Interesting...I'm obviously missing something.