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embedded_systems:ethercat:ecmasterlib [2021-09-30 16:38] – Urs Grafembedded_systems:ethercat:ecmasterlib [2021-11-22 15:34] (aktuell) – Urs Graf
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 ===== Overview ===== ===== Overview =====
  
-The //"ecmasterlib"// offer an easy way to use EtherCAT with [[http://eeros.org/|EEROS]] or in a standalone project. +The //"ecmasterlib"// offers an easy way to use EtherCAT with [[http://eeros.org/|EEROS]] or in a standalone project. 
  
   * **EtherCAT stack**: The EtherCAT stack from Acontis, see [[embedded_systems:ethercat:understanding_acontis|The Acontis EtherCAT Stack]].   * **EtherCAT stack**: The EtherCAT stack from Acontis, see [[embedded_systems:ethercat:understanding_acontis|The Acontis EtherCAT Stack]].
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 ===== Functionality ===== ===== Functionality =====
-The //"ecmasterlib"// provides a callback function (''void callbackFct(...)'') which is called by the Acontis stack once per EtherCAT cycle. +The examples show how to use the interfaces, e.g. 
-This method: +<code cpp> 
-  * Copies the received data from the stack into the receive buffer of //"ecmasterlib"// +ecmasterlib::device::beckhoff::EL1008 inputs{}; 
-  * Copies the data to be sent from the send buffer of //"ecmasterlib"// to the stack.+auto &stack = ecmasterlib::EcMasterlibMain::createInstance(argc, argv, inputs);
  
 +std::cout << inputs[0] << std::endl; // reads first digital input channel
 +</code>
 +You create an interface instance which must be passed to the EtherCAT stack. See the examples within [[https://gitlab.ost.ch/tech/inf/public/ecmasterlib|ecmasterlib]]. Elmo drives could be used as follows
 +<code cpp>
 +ecmasterlib::device::Elmo drive{};
 +auto &stack = ecmasterlib::EcMasterlibMain::createInstance(argc, argv, drive);
 +sleep(10);
 +std::cout << "init start\n";
 +drive.init([&stack]() { stack.sync(); });
 +drive.setMode(ecmasterlib::device::Elmo::Mode::PROFILE_VELOCITY);
 +drive.setTargetVelocity(1000);
 +drive.setMaximumTorque(300);
  
 +std::cout << "loop start\n";
 +while(stack.isRunning()) {
 +  std::cout << "Current Position: " << drive.getPosition() << '\n';
 +  sleep(1);
 +}
 +</code>
  
-===== Adaptions ===== +See [[embedded_systems:ethercat:teststand#run_test_program|EtherCat Teststand]] 
-==== Overview ==== +===== Modifications ===== 
-The components //EtherCATInterfaceElmo_config//, //getDrivesBlock// and //setDrivesBlock// need to be adjusted whenever you change the variables, which are transmitted via PDOs (periodic sent/received messages by the EtherCAT bus). +If you switch to other drives or terminals or if you want to transmit a different set of PDOs, you have to undertake the following steps 
-These components must also be adapted when creating a new EEROS application. +  - Create or modify ENI-Files 
- +  - Create or modify interface files accordingly
-==== Steps ==== +
-  - Study produced ENI file carefully (use XML viewer). Under <config><processimage><inputs> and <outputs> you find bitsize and offset of all transmitted values. +
-  - Adjust headerfile accordingly, negative offset values indicate that the entry is not going to be used. +
-  - Make necessary adaptions in //getDrivesBlock// and //setDrivesBlock//. +
- +
-interface is specific for [[https://www.elmomc.com/product/gold-twitter/ | Gold Twitter]] drives from ElmoMC. Other drives (i.e. Maxon Maxpos 50/5) need a different interface. +
-You may copy and adapt ''EtherCATInterfaceElmo'' for your drive type. +
- +
-[[https://github.com/eeros-project/eeros-framework|EEROS]] > ''[[https://github.com/ntb-ch/etherCATInterfaceElmo | EtherCATInterfaceElmo]]'' > ''[[https://github.com/ntb-ch/ecmasterlib | ecmasterlib & EtherCATInterfaceBase]]'' > [[https://www.acontis.com/de/ecmaster.html | Acontis Stack]] +
- +
-[[embedded_systems:ethercat:EtherCatInterface | Detailed description]]+
  

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embedded_systems/ethercat/ecmasterlib.1633012708.txt.gz · Zuletzt geändert: 2021-09-30 16:38 von Urs Graf