ebpfcat/ebpfcat.py

@@ -163,8 +163,10 @@ class Struct:
 
 
 class StructDesc:
-    def __init__(self, struct, sm3=0, sm2=0):
+    def __init__(self, struct, sm3=0, sm2=None):
         self.struct = struct
+        if sm2 is None:
+            sm2 = sm3
         self.position_offset = {SyncManager.OUT: sm2, SyncManager.IN: sm3}
 
     def __get__(self, instance, owner):
@@ -253,6 +255,8 @@ class EBPFTerminal(Terminal):
     compatibility = None
     position_offset = {SyncManager.OUT: 0, SyncManager.IN: 0}
     use_fmmu = True
+    out_pdos = None
+    in_pdos = None
 
     async def apply_eeprom(self):
         await super().apply_eeprom()
@@ -261,6 +265,10 @@ class EBPFTerminal(Terminal):
             raise EtherCatError(
                 f"Incompatible Terminal: {self.vendorId}:{self.productCode}")
         await self.to_operational(MachineState.PRE_OPERATIONAL)
+        if self.out_pdos is not None:
+            await self.write_pdos(0x1c12, self.out_pdos)
+        if self.in_pdos is not None:
+            await self.write_pdos(0x1c13, self.in_pdos)
         self.pdos = {}
         outbits, inbits = await self.parse_pdos()
         self.pdo_out_sz = int((outbits + 7) // 8)
@@ -269,6 +277,13 @@ class EBPFTerminal(Terminal):
         assert not self.pdo_in_sz or self.pdo_in_off
         await self.write_pdo_sm()
 
+    async def write_pdos(self, index, values):
+        await self.sdo_write(pack('B', 0), index, 0)
+        for i, v in enumerate(values, 1):
+            await self.sdo_write(pack('<H', v), index, i)
+        await self.sdo_write(pack('<H', 0), index, i + 1)
+        await self.sdo_write(pack('B', len(values)), index, 0)
+
     def allocate(self, packet, readwrite):
         """allocate space in packet for the pdos of this terminal
 

ebpfcat/terminals.py

@@ -159,13 +159,17 @@ class EL6022(EBPFTerminal):
 
 class EL7041(EBPFTerminal):
     compatibility = {(2, 461451346), (2, 461455442), (2, 460795986)}
+    out_pdos = [0x1600, 0x1602, 0x1604]
+    in_pdos = [0x1A00, 0x1A03, 0x1A07]
     velocity = ProcessDesc(0x7010, 0x21, "h")
     enable = ProcessDesc(0x7010, 1)
+    reset = ProcessDesc(0x7010, 2)
     reduced_current = ProcessDesc(0x7010, 3)
     status = ProcessDesc(0x6010, 1, "H")
+    error = ProcessDesc(0x6010, 4)
     low_switch = ProcessDesc(0x6010, 0xc)
     high_switch = ProcessDesc(0x6010, 0xd)
-
+    stepcounter = ProcessDesc(0x6010, 0x14)
 
 
 class EL7332(EBPFTerminal):