Adding custom PDO entries

RapidCode API
1

Hello team,
I’m integrating a new motor/drive. The motor is from Nanotec, part number: PD4-E601L42-E-65-1 PD4-E601L42-E-65-1 - Stepper motor with… | NANOTEC
Manual can be found here: https://en.nanotec.com/fileadmin/files/Handbuecher/Plug_Drive/PD4-E/fir-v2139/PD4E_EtherCAT_Technical-Manual_V1.5.0.pdf

I have the motor up and running and can command movements from RapidSetup succesfully.
I want to map object 0x6077 (Torque actual value) to PDO. But I can’t get it to show up in RapidSetup → Network data → PDO inputs.
I have edited my EtherCATNodeInfo.xml to include a PDO assignment, see my later link.

I have deleted ESICache.xml and I have checked that object 0x6077 can be PDO-mapped.

Is there any more steps I need to take?

Link to excerpt from my EtherCATNodeInfo.xml https://admin.igems.se/support/files/EtherCATNodeInfo.txt
Link to device ESI file: https://admin.igems.se/support/files/PD4-E601L42-E-65-1.txt

2

Hi Jesper,

Please try the following…

<Vendor Id="0x0000026C">
  <VendorName>Nanotec Electronic GmbH Co. KG</VendorName>
  <Product Code="0x0000003C">
    <ProductName>PD4-Ex-E-65-1 EtherCAT Drive (CoE)</ProductName>
    <ShortName>Nanotech PD4</ShortName>
    <AxisCount>1</AxisCount>
    <ItemSubType>Drive</ItemSubType>
    <StatusWord>Transmit PDO 1 Mapping Parameter.Statusword</StatusWord>
    <PositionActual>Transmit PDO 2 Mapping Parameter.Position actual value</PositionActual>
    <TorqueActual>Transmit PDO 1 Mapping Parameter.Torque actual value</TorqueActual>
    <ControlWord>Receive PDO 1 Mapping Parameter.Controlword</ControlWord>
    <PositionDemand>Receive PDO 2 Mapping Parameter.Target Position</PositionDemand>
    <TorqueActual>Transmit PDO 1 Mapping Parameter.Actual Torque</TorqueActual>
    <PDOs>
      <PDOAssignment Index="0x1A00" IsOutput="False" Include="True">
        <AddEntry Name="Torque actual value" Index="0x6077" SubIndex="0" BitLen="16" DataType="INT" />
      </PDOAssignment>
    </PDOs>
  </Product>
</Vendor>

Areas of note:
You want to wrap PDO manipulations in a Tag.
I recommend using the same strings as those of the ESI file though it isn’t required. (Adjustment made)
I removed the IO block as there was no associated exchanges Digital IO entries.

Please let me know if you have any additional questions.

3

Thank you Jacob,
Your vendor tag looks much better. I copied it and pasted it into my EtherCATNodeInfo.xml but I get this exception in RapidSetup when I “Discover network nodes”.

Error in File: EtherCATNodeInfo.xml and Vendor ID:0x0000026C. 
Error Message: Could not find any recognizable digits.
4

Hi Jesper,

I normally always do hex numbers as 0x. I left the PDO one as x to try to suit your preference but I bet that is it. I’ve edited the above to reflect my thoughts on what went wrong.

5

Thanks alot, I will give it a try Monday.

6

I just wanted to get back to you and confirm that it is now working.

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