Hier werden die Unterschiede zwischen zwei Versionen angezeigt.
Nächste ÜberarbeitungBeide Seiten der Revision | |||
embedded_systems:ethercat:ethercatinterface:understanding_ethercatinterface [2019-03-05 15:41] – angelegt mgehrig2 | embedded_systems:ethercat:ethercatinterface:understanding_ethercatinterface [2019-04-16 10:31] – mgehrig2 | ||
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Zeile 8: | Zeile 8: | ||
The receive and send buffers of //" | The receive and send buffers of //" | ||
- | The //" | + | The //" |
When an //" | When an //" | ||
Zeile 31: | Zeile 31: | ||
The //" | The //" | ||
- | The low level methods are at the bottom of the page. | + | The low level methods |
These low level methods read and write individual data objects to/from the stack. | These low level methods read and write individual data objects to/from the stack. | ||
Zeile 46: | Zeile 46: | ||
Methods in the interface must never be **blocking**. | Methods in the interface must never be **blocking**. | ||
- | All advanced functions | + | Some advanced functions |
They are only completed when they return '' | They are only completed when they return '' | ||
These methods must be called again in each cycle until they return '' | These methods must be called again in each cycle until they return '' | ||
+ | |||
+ | ==== EtherCatInterfaceElmo_config.hpp ==== | ||
+ | This is configuration file has do be adapted depending on the EtherCAT network. | ||
+ | |||
+ | The most important part of this file is the offset definition of all PDO offset. | ||
+ | Befor you start your application, | ||
+ | |||
+ | Be aware that EtherCATInterface assumes that all drives send the identical variables via PDO. | ||
+ | With the current implementation it is not possible to send different variables for different drives. | ||
+ | |||
+ | If a variable is not available, the offset is set to ' | ||
+ | The methodes which would use a unavailable variable will throw an error if called. | ||
+ |