MoMo

Based on the content inside, this is obviously not an ESI file. I guess your module is similar to the user-defined memory in PMAC. In other words, it only delimits the data length of ECAT slave PDO communication. You need to reorganize the data through these bytes described in its existing ESI file. For example, if a 32-bit data is mapped on the master side, it corresponds to a 4-byte PDO on the slave side. In other words, you may need to reorganize the data by writing a program in PMAC.

I don’t know much about your device. It may be that it cannot export the modified ESI file. You may need to consult Hilscher about this. I'm also not sure that the Mapping file exported in your picture is an ESI file. But judging from your current situation, it should not be a problem that can be solved by PMAC. I can give you an example. If the Fixed attribute of the 0x1a0 PDO in the ESI file is 1, the PDO group cannot be edited or modified in the IDE. So all your current troubles are caused by the ESI file. PMAC cannot know your mapping information in the slave station. It must be obtained through the ESI file.

From the file name of your picture "HLS_RTA_ENI", I guess that this is not an ESI file, which means that it is not a file used to describe the slave station information, but an ENI file, which is a file used to describe the master station settings.The meaning of the ENI file is "EtherCAT Network Information (ENI) Specification" Usually used to set and notify the master station of its network topology and slave station information.

The PDO items displayed in the IDE are determined by the imported ESI file(Including whether PDO can be edited is determined by the ESI file), so I think your problem is that the IDE does not import the ESI file exported by Sycon.net. It's not clear to me that the difficulty you're having is when importing the ESI file, the IDE reports an error? Or is it another problem? Usually the IDE cannot import ESI files because ESI does not comply with the EtherCATSlaveInformationSpecification standard. If an error occurs when importing an ESI file, usually the IDE software will report.

Usually, for motors whose position loop is controlled by PMAC, Motor[x].CompPos is used to correct the feedback position. For the application of position loop in the driver（EtherCat）, Motor[x].CompDesPos will be used to correct the command position. If your compensation table is effective, observe Motor[x].CompPos or Motor[x].CompDesPos. There should be a numerical change. If there is no change, it means that the compensation table function is not effective. The activation of the compensation table function is determined by Sys.CompEnable and the correct compensation table setting.The compensation table serial numbers must be used continuously and cannot be used at intervals. For detailed setting procedures, please refer to the manual in the attachment. Power PMAC 5-Day Training - December 2016.pdf

Of course, many of our customers who use linear motors use laser interferometer measurement data and the compensation table function to compensate the motors.

You can try this, I tested it on CK3M and it works. TelnetInstall.deb

Hi There are two types of labels in Power PMAC, one is a jumpable label and the other is an indication label. N{constant}:is a jumpable label, and N{constant} is a non-jumpable label. The difference is : . For jumpable labels, as described in your question above, the maximum value used in Power PMAC is 65536. In firmware v2.8.0.0 or later, it will support up to 999999. By default, a program has address pointers reserved for 1024 line jump labels. If more line jump labels are desired, the number of address pointers to reserve must explicitly be declared in the open prog or open plc command that initiates the downloading of the program. In addition, according to the SRM manual, it is obvious that you should have exceeded 1024 jump labels.

If you want a very stable pulse frequency output, please use the open loop command such as #1out10 Since PMAC controls the pulse frequency through the PID algorithm to control the number of pulses, there will be overshoot and frequency jitter. If you want to reduce overshoot, you can adjust Motor[x].Servo.Kvfb=0;Motor[x].Servo.Ki=0 Adjust Motor[x].Servo.Kp with Motor[x].Servo.Kvff=0, then adjust Motor[x].Servo.Kvff precisely The precise velocity and number of pulses are impossible to obtain at the same time unless you use FPGA hardware circuitry

The reason why the IDE failed to scan the slave station may be that the IDE did not import the correct slave ESI file.