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embedded_systems:ethercat:ethercatinterface:understanding_ethercatinterface [2019-04-16 10:53] – mgehrig2 | embedded_systems:ethercat:ethercatinterface:understanding_ethercatinterface [2019-06-24 16:49] (aktuell) – gelöscht graf | ||
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- | ====== Understanding EtherCatInterface ====== | ||
- | ===== ecmasterlib ===== | ||
- | The //" | ||
- | This method: | ||
- | * Copies the received data from the stack into the receive buffer of //" | ||
- | * Copies the data to be sent from the send buffer of //" | ||
- | |||
- | The receive and send buffers of //" | ||
- | |||
- | The //" | ||
- | |||
- | When an //" | ||
- | The stack is started exactly as in the //" | ||
- | |||
- | |||
- | ===== EtherCatInterfaceBase ===== | ||
- | This is the base class for all interface classes. | ||
- | It mainly provides '' | ||
- | The get methods calculate the correct offset of the receive buffer of the //" | ||
- | The set methods also calculate the offset and write the data into the transmit buffer of //" | ||
- | |||
- | ==== EtherCatInterfaceBase_config.hpp ==== | ||
- | |||
- | |||
- | ===== EtherCatInterfaceElmo ===== | ||
- | The //" | ||
- | It consists of the following components: | ||
- | * EtherCatInterfaceElmo.hpp | ||
- | * EtherCatInterfaceElmo.cpp | ||
- | * EtherCatInterfaceElmo_config.hpp | ||
- | |||
- | The //" | ||
- | The low level methods (' | ||
- | |||
- | These low level methods read and write individual data objects to/from the stack. | ||
- | Which objects are available and their file type must be read from the documentation of the manufacturer of the EtherCAT slave. | ||
- | Each data object has its own method. | ||
- | |||
- | Where a data object is located in the PDO depends on the ENI file used. | ||
- | These offsets must be read from the ENI file and configured in //" | ||
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- | All methods above the low level methods are optional. | ||
- | They contain a certain degree of intelligence and simplify the interface to the user application. | ||
- | |||
- | ==== Blocking functions ==== | ||
- | Methods in the interface must never be **blocking**. | ||
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- | Some advanced functions may take several cycles. | ||
- | They are only completed when they return '' | ||
- | These methods must be called again in each cycle until they return '' | ||
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- | ==== 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. | ||
- | Before you start your application, | ||
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- | 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. | ||
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- | If a variable is not available, the offset is set to ' | ||
- | The methods which would use a unavailable variable will throw an error if called. | ||