You can drown in documentation here
github.com/linuxcnc-ethercat/linuxcnc-ethercat
But you should treat is any new EtherCAT board, no-one knows you made it.
usually gives a good starting point. And then you add pdos and sdos
as you progress with the project. The naming/numbering scheme is pretty obvious when you see one.
Some general items you should have is
Code:
<master idx="0" appTimePeriod="1000000" refClockSyncCycles="1000" syncToRefClock="True">
or if syncToRefClock isn't recognized
Code:
<master idx="0" appTimePeriod="1000000" refClockSyncCycles="-1000">
That "1000" is how frequent the clocks in the DC slaves are synchronized by the master. I use every 1000 cycle ( 1 sec)
In between the slaves calculate drift and offset themselves and run pretty darn accurate so it isn't necessary to do it more often than that. I Haven't seen a penalty for too seldom or too often so the important thing it's there.
And when you use DC sync for the slave, which you soon can do, you add this line to the slave.
Code:
<dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="0"/>
300 is the important, means DC synchronization. 000 means free-run, as does removing the dcConf statetment, and 200 means SM2 synchronization. Those are the common modes, there are also 700, 100 and other modes, but the manual or the ESI file will tell you.
