EtherCAT SDO request and 'Expedited-Flag' = False the writing of the mapping parameters (0x1C12, 0x1C13) does not work (corrected from V01.06.04)
Corrected from:
Servo-Inverter i950 FW: from V01.06.02.xxxx (in planning)
Response of the new version:
Also the mapping indices 0x1C12 and 0x1C13 can now be written correctly via EtherCAT SDO segmented download..
What happens?
During the 'Segmented Transfer' of the EtherCAT the data for the parameters 0x1C12 or 0x1C13 (length: 4 bytes) are not transferred correctly. As a consequence the mapping of the parameters is not correct and the EtherCAT state change from Pre-Op to Safe-Op does not take place. By reading back the written values the described problem can not be recognized, because here the correct values are returned.
When does the behaviour occur?
Use of the EtherCAT SDO segmented download (segmented transfer) instead of the expedited procedure used by default for parameters with length <= 4 bytes and describe the parameters 0x1C12 or 0x1C13.
When using the EtherCAT SDO Expedited Transfer the described behavior does not occur.
By default EtherCAT uses the so-called 'expedited transfer' when writing parameters with a length of 4 bytes or less.
The 'segmented transfer' requires more overhead in the telegram, but in principle it is possible to use the 'segmented transfer' instead of the standard.
