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Here is a setup I tested on the primary side. I was able to see this reflected on the secondary.<BR>
<BR>
/* Master 0, Slave 4, "EL6692"<BR>
* Vendor ID: 0x00000002<BR>
* Product code: 0x1a243052<BR>
* Revision number: 0x00100000<BR>
*/<BR>
<BR>
ec_pdo_entry_info_t slave_4_pdo_entries[] = {<BR>
{0x7000, 0x00, 32},<BR>
{0x7000, 0x01, 32},<BR>
{0x6000, 0x00, 32},<BR>
{0x6000, 0x01, 32},<BR>
};<BR>
<BR>
ec_pdo_info_t slave_4_pdos[] = {<BR>
{0x1600, 2, slave_4_pdo_entries + 0}, /* RxPDO-Map */<BR>
{0x1a00, 2, slave_4_pdo_entries + 2}, /* TxPDO-Map */<BR>
};<BR>
<BR>
ec_sync_info_t slave_4_syncs[] = {<BR>
{0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE},<BR>
{1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE},<BR>
{2, EC_DIR_OUTPUT, 1, slave_4_pdos + 0, EC_WD_DISABLE},<BR>
{3, EC_DIR_INPUT, 1, slave_4_pdos + 1, EC_WD_DISABLE},<BR>
{0xff}<BR>
};<BR>
<BR>
<BR>
<BR>
On Fri, 2010-12-10 at 14:11 +0100, Anders Bach Madsen wrote:
<BLOCKQUOTE TYPE=CITE>
Thank you for your answer. We have this setup now (except that our secondary master is a BH Windows Twincat machine). Can anyone show me I can create custom PDO’s on a bridge that I can set from my primary side, so that the master on the secondary side can read them. I am a little confused on how to create the pdo entries for the bridge slave. The structs returned from ethercat cstruct are like follows:<BR>
<BR>
<BR>
<BR>
/* Master 0, Slave 1, "EL6692"<BR>
<BR>
* Vendor ID: 0x00000002<BR>
<BR>
* Product code: 0x1a243052<BR>
<BR>
* Revision number: 0x00100000<BR>
<BR>
*/<BR>
<BR>
<BR>
<BR>
ec_pdo_entry_info_t slave_1_pdo_entries[] = {<BR>
<BR>
{0x10f4, 0x02, 2}, /* SubIndex 002 */<BR>
<BR>
{0x0000, 0x00, 6},<BR>
<BR>
{0x0000, 0x00, 3},<BR>
<BR>
{0x1800, 0x09, 1}, /* TxPDO toggle */<BR>
<BR>
{0x1800, 0x07, 1}, /* TxPDO state */<BR>
<BR>
{0x10f4, 0x0e, 1}, /* Control value update toggle */<BR>
<BR>
{0x10f4, 0x0f, 1}, /* Time stamp update toggle */<BR>
<BR>
{0x10f4, 0x10, 1}, /* External device not connected */<BR>
<BR>
};<BR>
<BR>
<BR>
<BR>
ec_pdo_info_t slave_1_pdos[] = {<BR>
<BR>
{0x1600, 0, NULL}, /* RxPDO-Map */<BR>
<BR>
{0x1a01, 8, slave_1_pdo_entries + 0}, /* TxPDO-Map External Sync Compact */<BR>
<BR>
{0x1a00, 0, NULL}, /* TxPDO-Map */<BR>
<BR>
};<BR>
<BR>
<BR>
<BR>
ec_sync_info_t slave_1_syncs[] = {<BR>
<BR>
{0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE},<BR>
<BR>
{1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE},<BR>
<BR>
{2, EC_DIR_OUTPUT, 1, slave_1_pdos + 0, EC_WD_DISABLE},<BR>
<BR>
{3, EC_DIR_INPUT, 2, slave_1_pdos + 1, EC_WD_DISABLE},<BR>
<BR>
{0xff}<BR>
<BR>
};<BR>
<BR>
<BR>
<BR>
How do I add my own pdo’s? <BR>
<BR>
How do I tell which are input and which are output pdo’s?<BR>
<BR>
How do I map these so that I can write to them in my cyclic_task?<BR>
<BR>
<BR>
<BR>
I hope that somebody can help ;-)<BR>
<BR>
<BR>
<BR>
/Anders<BR>
<BR>
<BR>
<BR>
</BLOCKQUOTE>
<BLOCKQUOTE TYPE=CITE>
<B>Fra:</B> Henry Bausley [mailto:hbausley@deltatau.com] <BR>
<B>Sendt:</B> 8. december 2010 17:04<BR>
<B>Til:</B> Anders Bach Madsen<BR>
<B>Cc:</B> etherlab-dev@etherlab.org<BR>
<B>Emne:</B> Re: [etherlab-dev] EtherCAT bridge<BR>
<BR>
<BR>
</BLOCKQUOTE>
<BLOCKQUOTE TYPE=CITE>
<BR>
<BR>
<BR>
I have successfully used the EL6692 to communicate between two different Linux based Etherlab Ethercat masters.<BR>
<BR>
The first master is attached via the EBUS and the slave will show up as a EtherCAT Bridge terminal (Primary)<BR>
<BR>
The second master you attach to the RJ45 connector and that slave will show up as the secondary.<BR>
<BR>
Create PDO mappings at 0x1600 and 0x1a00 and add our own PDOs.<BR>
<BR>
<BR>
On Wed, 2010-12-08 at 15:22 +0100, Anders Bach Madsen wrote: <BR>
<BR>
Hey<BR>
<BR>
<BR>
<BR>
We have a scenario where we have two master nodes (one Windows based BH Twincat and one Linux based Etherlab Ethercat master) with each their set of input/outputs. Now we would like to use a bridge (BH EL6692) to connect the two system so that one system could send information to the other.<BR>
<BR>
<BR>
<BR>
Has anyone successfully used a bridge (like EL6692) to turn one master into a client for the other network?<BR>
<BR>
<BR>
<BR>
If so, how should it be connected (both the components and the cables)?<BR>
<BR>
<BR>
<BR>
And last but not least, are there any configuration specific things that one needs to remember?<BR>
<BR>
<BR>
<BR>
If somebody has done this including the Etherlab Ethercat master code, we would really like to know.<BR>
<BR>
<BR>
<BR>
Hope that somebody out there has gotten this to work or knows of a different way to accomplish the same thing.<BR>
<BR>
<BR>
<BR>
<B>Best regards / Med venlig hilsen</B><BR>
<BR>
<B> </B><BR>
<BR>
Anders Bach Madsen<BR>
<BR>
PhD Computer Science, Software Developer<BR>
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<BLOCKQUOTE>
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