not able to adjust bipolar torque/force limit value

[AndroidzZ]

I want to adjust the bipolar torque/force limit value (S-0-0092) in the drive from my PLC program. I send the parameter as data type UINT with the EtherCat communication, see attachment. There are no error messages or other messages whatsover but the value from my PLC program is not transferred into the drive. The value in the drive remains at 0.

What causes this issue, any help is welcome.

[CodeShepherd]

As a hint: You can also use the CXA_ETHERCAT library to read/write data acyclic to the drives.

[AndroidzZ · Accepted solution]

The problem was that the addresses that are automatically configured in the plc programm do not match the real addresses in ethercat communication. See image.

[CodeShepherd]

The offset is only valid in the MDT/DT of the drive itself and is not the address of the datum. So it will start from 0 at each drive/slave connected:

Also the addresses are also free chooseable in the PLC engineering tool: