Change PDO mapping in EtherCAT

[daniel59]

Hi,

is it possible to change the PDO mapping of an EtherCAT slave during runtime ? The questions was already asked at the post Setting the PDOs in an EtherCAT Slave. But it is nor clear if it is now possible or not. 

[a_clucker]

Not with an NI EtherCAT slave (i.e. 9144 / 9145).

[daniel59]

And it is possible to change it for third party EtherCAT slave? 

[Yin_W]

Yeap, please refer to this KB for details: http://digital.ni.com/public.nsf/allkb/d0496c451057975586257b9800740a07

[daniel59]

This method i allready now. But I will change my PDO mapping during runtime. If you go through the post i added in my first answer you will find the following message:

"You do not do this by changing or modifying the XML file. If fact, the file should never be changed.

In TwinCAT, you can change the PDO selection with a few mouse clicks and this does not change the XML file whatsoever.

....

In order to reach the full features of a bus terminal, you must be able to change the PDOs. Otherwise, the end customer will not be able to use all of the features of EtherCAT."

The post is 4 years old and my question is if it is now possible to change the PDO mapping and find the changed PDOs then programmatically during runtime. Because if I change the PDO mapping during runtime using SDO commands then by searching for the changed PDO i am not able to find them.

best regards,

Daniel

[Yin_W · Accepted solution]

Sorry for missing your original post. In that case, I am afraid there is still not a method to change the PDO mapping of an EtherCAT slave during runtime.

[toddy]

I know this is an old post, but did you find a work-around for this problem?

[f.dellagnello]

any update about this old but really interesting issue?

Let us know,

Thanks,

FDA