HALCMD | Pin renaming

Hello,

I would like to know what is the best way to "remap" the pin names.

Let's day for example I have lcec.0.7.serv-1-cmd and I would like to rename as motor_2_value.
How I can do that, instead creating a new empty LCEC empty driver?

I tried using net and loadrt parameters as I saw in some examples with a Joystick. but I haven't go that working.



Regards    

There is no way to rename HAL Pins, only recompiling....

You can give them an "alias" with the net command.
You can create an second hal_file "ethercat_io.hal" with all lcec pins and give them nets with "nice" names.

net motor_2_value lcec.0.7.serv-1-cmd
net x-limit-pos-in lcec.xxxx

then you can use that net names in your main hal file for better viewing..

net motor_2_value joint.x.xxxx


Do you know the name command for lcec slaves?

If you add the name to your ethercat-conf.xml :

<slave idx="7" type="EL7342" name"motor_2" />

then the pins from this slave will be named the following way:

lcec.0.motor_2.serv-1-cmd

you can also give the master a name:

lcec.master_name.motor_2.serv-1-cmd

Maybe, this is helpfull.

Many hal components have an option parameter that allows you to designate alternate names for some of their pins. You would need to check the man page for each component you want to rename and see if it is implemented for it and how it works. (It may not give you all the naming flexibility you desire.)

PS. generally I find using these renaming options usually adds more complexity and confusion than they solve.