Ethercat HAL driver
01 Apr 2013 15:38 #32146
by sascha
Replied by sascha on topic Ethercat HAL driver
OK, I've fixed the Makefile (was the tribute to try a fast action 
).
In case of EL41x2 to EL40x2 just the output object ID's are changed. EL31x2 to EL30x2 is
not such simple, as the state information differs a little (I think you mean EL3062?).
If you have such a device, it would be fine if you try. Keep asking when I could help.
The warnings you see come from the missing "extern" keyword on the
function declaration in ecrt.h (in my opinion), but I haven't testet it yet.
I will have to do it and send the developers a notice. But the warning has no
functional impact. It also appears when you build the EtherCAT RT demo apps.
).In case of EL41x2 to EL40x2 just the output object ID's are changed. EL31x2 to EL30x2 is
not such simple, as the state information differs a little (I think you mean EL3062?).
If you have such a device, it would be fine if you try. Keep asking when I could help.
The warnings you see come from the missing "extern" keyword on the
function declaration in ecrt.h (in my opinion), but I haven't testet it yet.
I will have to do it and send the developers a notice. But the warning has no
functional impact. It also appears when you build the EtherCAT RT demo apps.
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02 Apr 2013 04:29 #32167
by sascha
Replied by sascha on topic Ethercat HAL driver
You have to load as follows:
so that the real time part is loaded just after the config parser is ready.
Then add read/write function. For example:
The xml file in the simples case is just a list of slaves. Please note
that "appTimePeriod" has to match the period of the servo-thread in
the example above.
Here a more complex example with DC config, generic device, dynamic PDO mapping
and SDO initialization:
You are right. Pin names are generated pending on the type of devide (except the
generic one). There is also a attribtute "name" for masters & slaves to override
the default index based naming.
I should do some work an docs
loadusr -W emcec_conf ethercat-conf.xml
loadrt emcecso that the real time part is loaded just after the config parser is ready.
Then add read/write function. For example:
addf emcec.read-all servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
addf emcec.write-all servo-threadThe xml file in the simples case is just a list of slaves. Please note
that "appTimePeriod" has to match the period of the servo-thread in
the example above.
<master idx="0" appTimePeriod="1000000" refClockSyncCycles="10">
<slave idx="0" type="EK1100"/>
<slave idx="1" type="EL1008"/>
<slave idx="2" type="EL1808"/>
<slave idx="3" type="EL2808"/>
<slave idx="4" type="EL2808"/>
<slave idx="5" type="EL3162"/>
<slave idx="6" type="EL4132"/>
<slave idx="7" type="EL4132"/>
<slave idx="8" type="EL5151"/>
<slave idx="9" type="EL5152"/>
<slave idx="10" type="EL5101"/>
<slave idx="11" type="EL2521"/>
</master>Here a more complex example with DC config, generic device, dynamic PDO mapping
and SDO initialization:
<master idx="0" appTimePeriod="1000000" refClockSyncCycles="10">
<slave idx="0" type="EK1100"/>
<slave idx="1" type="EL1809"/>
<slave idx="2" type="EL1809"/>
<slave idx="3" type="EL2809"/>
<slave idx="4" type="EL4002"/>
<slave idx="5" type="EL4002"/>
<!-- EL6751 CANopen slave -->
<slave idx="6" type="generic" vid="00000002" pid="1a5f3052" configPdos="true">
<sdoConfig idx="f800" subIdx="complete">
<sdoDataRaw data="0A 00 05 02 80 00 1E 00"/>
<sdoDataRaw data="01 00 12 80 64 00"/>
</sdoConfig>
<sdoConfig idx="8000" subIdx="complete">
<sdoDataRaw data="2B 00 05 00 00 00 00 00"/>
<sdoDataRaw data="00 00 00 00 00 00 00 00"/>
<sdoDataRaw data="00 00 00 00 05 04 00 00"/>
<sdoDataRaw data="02 00 00 00 5F 1A 00 00"/>
<sdoDataRaw data="00 00 00 00 00 00 00 00"/>
<sdoDataRaw data="00 00 00 00 00 00 00 00"/>
<sdoDataRaw data="00 00 02 00 64 00 03 00"/>
<sdoDataRaw data="D0 07 00 00 01 01 00 00"/>
<sdoDataRaw data="0A 00"/>
</sdoConfig>
<sdoConfig idx="8001" subIdx="complete">
<sdoDataRaw data="01 00 01 00 00 00 FF 02"/>
<sdoDataRaw data="85 01 00 00 00 00 00 18"/>
</sdoConfig>
<sdoConfig idx="8002" subIdx="complete">
<sdoDataRaw data="01 00 00 00 00 00 FF 02"/>
<sdoDataRaw data="05 02 00 00 00 00 00 14"/>
</sdoConfig>
<syncManager idx="0" dir="out">
</syncManager>
<syncManager idx="1" dir="in">
</syncManager>
<syncManager idx="2" dir="out">
<pdo idx="1600">
<pdoEntry idx="7000" subIdx="01" bitLen="16" halPin="can-out" halType="bit"/>
</pdo>
</syncManager>
<syncManager idx="3" dir="in">
<pdo idx="1a00">
<pdoEntry idx="6000" subIdx="01" bitLen="16" halPin="can-in" halType="bit"/>
</pdo>
<pdo idx="1a80">
<pdoEntry idx="a000" subIdx="01" bitLen="8" halPin="can-slave-nodestate" halType="u32"/>
<pdoEntry idx="f100" subIdx="01" bitLen="8" halPin="can-error" halType="u32"/>
<pdoEntry idx="f100" subIdx="03" bitLen="16" halPin="can-state" halType="u32"/>
<pdoEntry idx="f100" subIdx="02" bitLen="1" halPin="can-diagflag" halType="bit"/>
<pdoEntry idx="a000" subIdx="02" bitLen="1" halPin="can-slave-diagflag" halType="bit"/>
<pdoEntry idx="0000" subIdx="00" bitLen="6"/>
</pdo>
</syncManager>
</slave>
<slave idx="7" type="EL2809"/>
<slave idx="8" type="EL7342">
<dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="-25000"/>
<watchdog divider="2498" intervals="2000"/>
</slave>
<slave idx="9" type="EL7342">
<dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="-25000"/>
<watchdog divider="2498" intervals="2000"/>
</slave>
<slave idx="10" type="EL9505"/>
</master>You are right. Pin names are generated pending on the type of devide (except the
generic one). There is also a attribtute "name" for masters & slaves to override
the default index based naming.
I should do some work an docs
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03 Apr 2013 04:00 - 03 Apr 2013 04:00 #32190
by willrat
Replied by willrat on topic Ethercat HAL driver
Thanks for that very much appreciated, I've got a basic functioning system now. 
The notes you've just posted is enough docs for starters!
One thing we are interested in for the future is the EL6224 which is for IO-Link devices; I don't know if you've come across this technology; its another consortium arrangement; it allows traditionally analog devices to be connected serially and device configuration can be done over the network also.
The notes you've just posted is enough docs for starters!
One thing we are interested in for the future is the EL6224 which is for IO-Link devices; I don't know if you've come across this technology; its another consortium arrangement; it allows traditionally analog devices to be connected serially and device configuration can be done over the network also.
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