| Beide Seiten der vorigen RevisionVorhergehende ÜberarbeitungNächste Überarbeitung | Vorhergehende Überarbeitung |
| embedded_systems:ethercat:ecmasterlib [2021-09-30 16:48] – Urs Graf | embedded_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]]. |
| </code> | </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]] | |
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| [[embedded_systems:ethercat:EtherCatInterface | Detailed description]] | |
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