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Hier werden die Unterschiede zwischen zwei Versionen angezeigt.
| Beide Seiten der vorigen RevisionVorhergehende ÜberarbeitungNächste Überarbeitung | Vorhergehende Überarbeitung | ||
| embedded_systems:ethercatinterface:ethercatinterfaceelmo [2019-05-21 09:03] – mgehrig2 | embedded_systems:ethercatinterface:ethercatinterfaceelmo [2019-06-26 15:30] (aktuell) – gelöscht graf | ||
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| - | ====== EtherCATInterfaceElmo ===== | ||
| - | ===== Summary ===== | ||
| - | 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. | ||
| - | These are the only methodes which use the low level get/set methodes from //" | ||
| - | |||
| - | 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 //" | ||
| - | |||
| - | 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**. | ||
| - | |||
| - | 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 '' | ||
| - | |||
| - | ===== 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, | ||
| - | |||
| - | 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 a negative number like ' | ||
| - | The methods which would use a unavailable variable will throw an error if called. | ||