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OpenEtherCATsociety / SOEM

Simple Open Source EtherCAT Master
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PDO assign OR PDO config #768

Closed Edphoenixmax closed 9 months ago

Edphoenixmax commented 10 months ago

289a18d82b7c5be2bd1aca3ce46d6dc Here is the RxPDO and TxPDO of codesys ,and it is optional. How can I achieve this by using SOEM , should I use PDO assign or PDO config ? Is there any difference between the 2 options?

ArthurKetels commented 10 months ago

This is not a SOEM question but a general about how EtherCAT works. PDO assign means that you can choose from a set of pre-configured PDO elements. PDO config means you can select you own set of elements in every order you like. And those do not need to be mutually exclusive, although they mostly are. It depends on the slave implementation.

SOEM supports both modes. It just depends how you configure your slave. Multiple examples have been discussed here.

Edphoenixmax commented 9 months ago

ok I get it! Thanks for your help!