I think you should fill up your existing .xml file with correct stuff from your terminal
other stuff like cyclic PDOs you are able to create from some existing .xml samples from this forum... lets to search ethercat-conf.xml and take some time for study ... you have to learn what are what and what should be where... its easy
Code:
SM0: PhysAddr 0x1000, DefaultSize 128, ControlRegister 0x26, Enable 1
SM1: PhysAddr 0x1080, DefaultSize 128, ControlRegister 0x22, Enable 1
SM2: PhysAddr 0x1100, DefaultSize 2, ControlRegister 0x64, Enable 1
RxPDO 0x1602 ""
PDO entry 0x6040:00, 16 bit, ""
PDO entry 0x60ff:00, 32 bit, ""
SM3: PhysAddr 0x1400, DefaultSize 6, ControlRegister 0x20, Enable 1
TxPDO 0x1a02 ""
PDO entry 0x6041:00, 16 bit, ""
PDO entry 0x6064:00, 32 bit, ""
PDO entry 0x606c:00, 32 bit, ""
lraja@lraja-desktop:~/lr_r2k/OpenPLC_v3$ sudo ethercat cstruct
/* Master 0, Slave 0, "SD700_ECAT Drive"
* Vendor ID: 0x00850104
* Product code: 0x01030507
* Revision number: 0x02040608
*/
ec_pdo_entry_info_t slave_0_pdo_entries[] = {
{0x6040, 0x00, 16},
{0x60ff, 0x00, 32},
{0x6041, 0x00, 16},
{0x6064, 0x00, 32},
{0x606c, 0x00, 32},
};
Code:
<masters>
<master idx="0" appTimePeriod="1000000" refClockSyncCycles="1000">
<slave idx="0" type="generic" vid="0x00850104" pid=" 0x01030507" name="stuff" configPdos="true">
<!-- Set OpMode to Cyclic Synchronous Velocity -->
<sdoConfig idx="6060" subIdx="00">
<sdoDataRaw data="09 00"/>
</sdoConfig>
<!-- Set Cycle Time -->
<sdoConfig idx="60c2" subIdx="01">
<sdoDataRaw data="01 00"/>
</sdoConfig>
<!-- Set Cycle exp = (-3) == 10^(-3) -->
<sdoConfig idx="60a2" subIdx="02">
<sdoDataRaw data="fd 00"/>
</sdoConfig>
<syncManager idx="0" dir="out"> </syncManager>
<syncManager idx="1" dir="in"> </syncManager>
<syncManager idx="2" dir="out">
<pdo idx="1602">
<pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="target-controlword" halType="u32"/>
<pdoEntry idx="60ff" subIdx="00" bitLen="32" halPin="target-velocity-si" halType="s32"/>
</pdo>
</syncManager>
<syncManager idx="3" dir="in">
<pdo idx="1a02">
<pdoEntry idx="6041" subIdx="00" bitLen="16" halPin="actual-statusword" halType="u32"/>
<pdoEntry idx="6064" subIdx="00" bitLen="32" halPin="actaul-position-si" halType="s32"/>
<pdoEntry idx="606c" subIdx="00" bitLen="32" halPin="actual-velocity-si" halType="s32"/>
</pdo>
</syncManager>
<dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="0"/>
</slave>
</master>
</masters>
