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Starting EtherCAT master 1.5.2  done
init example 0.
init ethercat start.
Print ethercat devices and retrieve device data vector.
No alias given, alias -

pdo entry registration:

         Name:EL2124 4K. Dig. Ausgang 5V, 20mA
         Slave Alias: 0
         Position: 1
         Vendor ID: 2
         Product Code: #x084c3052
         PDO Entry Index: #x7000
         PDO Entry Subindex: 1

         Name:EL2124 4K. Dig. Ausgang 5V, 20mA
         Slave Alias: 0
         Position: 2
         Vendor ID: 2
         Product Code: #x084c3052
         PDO Entry Index: #x7000
         PDO Entry Subindex: 1

         Name:EL2124 4K. Dig. Ausgang 5V, 20mA
         Slave Alias: 0
         Position: 3
         Vendor ID: 2
         Product Code: #x084c3052
         PDO Entry Index: #x7000
         PDO Entry Subindex: 1

         Name:EL1004 4K. Dig. Eingang 24V, 3ms
         Slave Alias: 0
         Position: 4
         Vendor ID: 2
         Product Code: #x03ec3052
         PDO Entry Index: #x6000
         PDO Entry Subindex: 1

         Name:EL2794 4K. Dig. Ausgang 24V AC/DC, 2A, kurzschlussfest
         Slave Alias: 0
         Position: 5
         Vendor ID: 2
         Product Code: #x0aea3052
         PDO Entry Index: #x7000
         PDO Entry Subindex: 1

         Name:EL2808 8K. Dig. Ausgang 24V, 0.5A
         Slave Alias: 0
         Position: 6
         Vendor ID: 2
         Product Code: #x0af83052
         PDO Entry Index: #x7000
         PDO Entry Subindex: 1

         Name:EL3162 2K. Ana. Eingang 0-10V
         Slave Alias: 0
         Position: 7
         Vendor ID: 2
         Product Code: #x0c5a3052
         PDO Entry Index: #x3101
         PDO Entry Subindex: 1

         Name:EL3162 2K. Ana. Eingang 0-10V
         Slave Alias: 0
         Position: 7
         Vendor ID: 2
         Product Code: #x0c5a3052
         PDO Entry Index: #x3101
         PDO Entry Subindex: 2

         Name:EL3162 2K. Ana. Eingang 0-10V
         Slave Alias: 0
         Position: 7
         Vendor ID: 2
         Product Code: #x0c5a3052
         PDO Entry Index: #x3102
         PDO Entry Subindex: 1

         Name:EL3162 2K. Ana. Eingang 0-10V
         Slave Alias: 0
         Position: 7
         Vendor ID: 2
         Product Code: #x0c5a3052
         PDO Entry Index: #x3102
         PDO Entry Subindex: 2

         Name: empty
         Slave Alias: 0
         Position: 0
         Vendor ID: 0
         Product Code: #x00000000
         PDO Entry Index: #x0000
         PDO Entry Subindex: 0

halpin names:

         EL2124_1_0_0_IN_BOOL
         EL2124_1_1_0_IN_BOOL
         EL2124_1_2_0_IN_BOOL
         EL2124_1_3_0_IN_BOOL
         EL2124_2_0_0_IN_BOOL
         EL2124_2_1_0_IN_BOOL
         EL2124_2_2_0_IN_BOOL
         EL2124_2_3_0_IN_BOOL
         EL2124_3_0_0_IN_BOOL
         EL2124_3_1_0_IN_BOOL
         EL2124_3_2_0_IN_BOOL
         EL2124_3_3_0_IN_BOOL
         EL1004_4_0_0_OUT_BOOL
         EL1004_4_1_0_OUT_BOOL
         EL1004_4_2_0_OUT_BOOL
         EL1004_4_3_0_OUT_BOOL
         EL2794_5_0_0_IN_BOOL
         EL2794_5_1_0_IN_BOOL
         EL2794_5_2_0_IN_BOOL
         EL2794_5_3_0_IN_BOOL
         EL2808_6_0_0_IN_BOOL
         EL2808_6_1_0_IN_BOOL
         EL2808_6_2_0_IN_BOOL
         EL2808_6_3_0_IN_BOOL
         EL2808_6_4_0_IN_BOOL
         EL2808_6_5_0_IN_BOOL
         EL2808_6_6_0_IN_BOOL
         EL2808_6_7_0_IN_BOOL
         EL3162_7_0_0_OUT_UINT
         EL3162_7_0_1_OUT_UINT
         EL3162_7_1_0_OUT_UINT
         EL3162_7_1_1_OUT_UINT

PDO entry registration ok.
Master ok.
domain1_pd ok.
init ethercat succes.

Starting EtherCAT master 1.5.2  done
init example 0.
init ethercat start.
Print ethercat devices and retrieve device data vector.
No alias given, alias -

pdo entry registration:

         Name:EL2124 4K. Dig. Ausgang 5V, 20mA
         Slave Alias: 0
         Position: 1
         Vendor ID: 2
         Product Code: #x084c3052
         PDO Entry Index: #x7000
         PDO Entry Subindex: 1

         Name:EL2124 4K. Dig. Ausgang 5V, 20mA
         Slave Alias: 0
         Position: 2
         Vendor ID: 2
         Product Code: #x084c3052
         PDO Entry Index: #x7000
         PDO Entry Subindex: 1

         Name:EL2124 4K. Dig. Ausgang 5V, 20mA
         Slave Alias: 0
         Position: 3
         Vendor ID: 2
         Product Code: #x084c3052
         PDO Entry Index: #x7000
         PDO Entry Subindex: 1

         Name:EL1004 4K. Dig. Eingang 24V, 3ms
         Slave Alias: 0
         Position: 4
         Vendor ID: 2
         Product Code: #x03ec3052
         PDO Entry Index: #x6000
         PDO Entry Subindex: 1

         Name:EL2794 4K. Dig. Ausgang 24V AC/DC, 2A, kurzschlussfest
         Slave Alias: 0
         Position: 5
         Vendor ID: 2
         Product Code: #x0aea3052
         PDO Entry Index: #x7000
         PDO Entry Subindex: 1

         Name:EL2808 8K. Dig. Ausgang 24V, 0.5A
         Slave Alias: 0
         Position: 6
         Vendor ID: 2
         Product Code: #x0af83052
         PDO Entry Index: #x7000
         PDO Entry Subindex: 1

         Name:EL3162 2K. Ana. Eingang 0-10V
         Slave Alias: 0
         Position: 7
         Vendor ID: 2
         Product Code: #x0c5a3052
         PDO Entry Index: #x3101
         PDO Entry Subindex: 1

         Name:EL3162 2K. Ana. Eingang 0-10V
         Slave Alias: 0
         Position: 7
         Vendor ID: 2
         Product Code: #x0c5a3052
         PDO Entry Index: #x3101
         PDO Entry Subindex: 2

         Name:EL3162 2K. Ana. Eingang 0-10V
         Slave Alias: 0
         Position: 7
         Vendor ID: 2
         Product Code: #x0c5a3052
         PDO Entry Index: #x3102
         PDO Entry Subindex: 1

         Name:EL3162 2K. Ana. Eingang 0-10V
         Slave Alias: 0
         Position: 7
         Vendor ID: 2
         Product Code: #x0c5a3052
         PDO Entry Index: #x3102
         PDO Entry Subindex: 2

         Name: empty
         Slave Alias: 0
         Position: 0
         Vendor ID: 0
         Product Code: #x00000000
         PDO Entry Index: #x0000
         PDO Entry Subindex: 0

halpin names:

         EL2124_1_0_0_IN_BOOL
         EL2124_1_1_0_IN_BOOL
         EL2124_1_2_0_IN_BOOL
         EL2124_1_3_0_IN_BOOL
         EL2124_2_0_0_IN_BOOL
         EL2124_2_1_0_IN_BOOL
         EL2124_2_2_0_IN_BOOL
         EL2124_2_3_0_IN_BOOL
         EL2124_3_0_0_IN_BOOL
         EL2124_3_1_0_IN_BOOL
         EL2124_3_2_0_IN_BOOL
         EL2124_3_3_0_IN_BOOL
         EL1004_4_0_0_OUT_BOOL
         EL1004_4_1_0_OUT_BOOL
         EL1004_4_2_0_OUT_BOOL
         EL1004_4_3_0_OUT_BOOL
         EL2794_5_0_0_IN_BOOL
         EL2794_5_1_0_IN_BOOL
         EL2794_5_2_0_IN_BOOL
         EL2794_5_3_0_IN_BOOL
         EL2808_6_0_0_IN_BOOL
         EL2808_6_1_0_IN_BOOL
         EL2808_6_2_0_IN_BOOL
         EL2808_6_3_0_IN_BOOL
         EL2808_6_4_0_IN_BOOL
         EL2808_6_5_0_IN_BOOL
         EL2808_6_6_0_IN_BOOL
         EL2808_6_7_0_IN_BOOL
         EL3162_7_0_0_OUT_UINT
         EL3162_7_0_1_OUT_UINT
         EL3162_7_1_0_OUT_UINT
         EL3162_7_1_1_OUT_UINT

PDO entry registration ok.
Master ok.
domain1_pd ok.
init ethercat succes.

#!/usr/bin/env python3
import time
import hal

h = hal.component("interval")
h.newpin("enable", hal.HAL_BIT, hal.HAL_IN) # HIGH enables the interval timer
h.newpin("reset", hal.HAL_BIT, hal.HAL_IN) # On change LOW->HIGH restarts the interval
h.newpin("start-with-pulse", hal.HAL_BIT, hal.HAL_IN) # If TRUE the interval starts with a pulse
h.newpin("out", hal.HAL_BIT, hal.HAL_OUT) # Output of the the interval timer, LOW if 'enable' is LOW
h.newpin("delay-time", hal.HAL_FLOAT, hal.HAL_IN) # Interval low time in milliseconds
h.newpin("pulse-time", hal.HAL_FLOAT, hal.HAL_IN) # Interval high time in milliseconds
h.newpin("time-elapsed", hal.HAL_FLOAT, hal.HAL_OUT) # Elapsed low/high time in milliseconds
h.ready()

running = False
reset = False

try:
    while 1:
        if h['enable']:
            delay_time = h['delay-time']
            pulse_time = h['pulse-time']
            if not h['reset']: reset = False
            if h['reset'] and not reset:
                running = False
                reset = True
            if not running:
                timer = round(time.time()*1000)
                running = True
                h['out'] = h['start-with-pulse']
            else:
                h['time-elapsed'] = round(time.time()*1000) - timer
            if not h['out'] and round(time.time()*1000) >= timer + delay_time:
                h['out'] = True
                timer = round(time.time()*1000)
            if h['out'] and round(time.time()*1000)  >= timer + pulse_time:
                h['out'] = False
                timer = round(time.time()*1000)
        else:
            h['out'] = False
            h['time-elapsed'] = 0
            running = False

except KeyboardInterrupt:
    raise SystemExit

HALCMD = loadusr -W ./interval.py
HALCMD = setp interval.delay-time 2000
HALCMD = setp interval.pulse-time 500