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  1. Data Management
  2. DM-34529

Rewrite the PDOs Mapping in Rotator Controller

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      Rewrite the PDOs mapping in rotator controller. Right now, the MOOG developers used the 0x2240 instead of 0x6064 in the fixed PDO: 0x1B00 and 0x1B40, which is not allowed. However, there is the servo frequency requirement in the Simulink model calculation, and we do need to use the 0x2240 for the drive configuration. Therefore, we could not use the non-fixed PODs instead as an easy solution. Instead, to fix this, the overhaul of the PDOs mapping (use fixed + non-fixed PDOs with the correct PDO entries) is required.

      This ticket should try to fix the 0x1702 as well.

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            ttsai Te-Wei Tsai created issue -
            ttsai Te-Wei Tsai made changes -
            Field Original Value New Value
            Link This issue is triggered by DM-34347 [ DM-34347 ]
            ttsai Te-Wei Tsai made changes -
            Description Rewrite the PDOs mapping in rotator controller. Right now, the MOOG developers used the *0x2240* instead of *0x6064* in the fixed PDO: *0x1B00* and *0x1B40*, which is not allowed. However, there is the servo frequency requirement in the Simulink model calculation. Therefore, we could not use the non-fixed PODs instead. To fix this, the overhaul of the PDOs mapping is required. Rewrite the PDOs mapping in rotator controller. Right now, the MOOG developers used the *0x2240* instead of *0x6064* in the fixed PDO: *0x1B00* and *0x1B40*, which is not allowed. However, there is the servo frequency requirement in the Simulink model calculation, and we do need to use the *0x2240* for the drive configuration. Therefore, we could not use the non-fixed PODs instead as an easy solution. Instead, to fix this, the overhaul of the PDOs mapping (use fixed + non-fixed PDOs with the correct PDO entries) is required.
            ttsai Te-Wei Tsai made changes -
            Description Rewrite the PDOs mapping in rotator controller. Right now, the MOOG developers used the *0x2240* instead of *0x6064* in the fixed PDO: *0x1B00* and *0x1B40*, which is not allowed. However, there is the servo frequency requirement in the Simulink model calculation, and we do need to use the *0x2240* for the drive configuration. Therefore, we could not use the non-fixed PODs instead as an easy solution. Instead, to fix this, the overhaul of the PDOs mapping (use fixed + non-fixed PDOs with the correct PDO entries) is required. Rewrite the PDOs mapping in rotator controller. Right now, the MOOG developers used the *0x2240* instead of *0x6064* in the fixed PDO: *0x1B00* and *0x1B40*, which is not allowed. However, there is the servo frequency requirement in the Simulink model calculation, and we do need to use the *0x2240* for the drive configuration. Therefore, we could not use the non-fixed PODs instead as an easy solution. Instead, to fix this, the overhaul of the PDOs mapping (use fixed + non-fixed PDOs with the correct PDO entries) is required.

            This ticket should try to fix the *0x1702* as well.
            ttsai Te-Wei Tsai made changes -
            Link This issue is triggering DM-34605 [ DM-34605 ]
            aclements Andy Clements made changes -
            Epic Link DM-27719 [ 442124 ] DM-27720 [ 442125 ]
            aclements Andy Clements made changes -
            Epic Link DM-27720 [ 442125 ] DM-27721 [ 442128 ]

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              ttsai Te-Wei Tsai
              ttsai Te-Wei Tsai
              Te-Wei Tsai
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