<html xmlns:v="urn:schemas-microsoft-com:vml" xmlns:o="urn:schemas-microsoft-com:office:office" xmlns:w="urn:schemas-microsoft-com:office:word" xmlns:m="http://schemas.microsoft.com/office/2004/12/omml" xmlns="http://www.w3.org/TR/REC-html40">
<head>
<meta http-equiv=Content-Type content="text/html; charset=utf-8">
<meta name=Generator content="Microsoft Word 12 (filtered medium)">
<!--[if !mso]>
<style>
v\:* {behavior:url(#default#VML);}
o\:* {behavior:url(#default#VML);}
w\:* {behavior:url(#default#VML);}
.shape {behavior:url(#default#VML);}
</style>
<![endif]-->
<style>
<!--
/* Font Definitions */
@font-face
{font-family:Calibri;
panose-1:2 15 5 2 2 2 4 3 2 4;}
@font-face
{font-family:Tahoma;
panose-1:2 11 6 4 3 5 4 4 2 4;}
@font-face
{font-family:Consolas;
panose-1:2 11 6 9 2 2 4 3 2 4;}
/* Style Definitions */
p.MsoNormal, li.MsoNormal, div.MsoNormal
{margin:0cm;
margin-bottom:.0001pt;
font-size:12.0pt;
font-family:"Times New Roman","serif";}
a:link, span.MsoHyperlink
{mso-style-priority:99;
color:blue;
text-decoration:underline;}
a:visited, span.MsoHyperlinkFollowed
{mso-style-priority:99;
color:purple;
text-decoration:underline;}
pre
{mso-style-priority:99;
mso-style-link:"Formateret HTML Tegn";
margin:0cm;
margin-bottom:.0001pt;
font-size:10.0pt;
font-family:"Courier New";}
span.FormateretHTMLTegn
{mso-style-name:"Formateret HTML Tegn";
mso-style-priority:99;
mso-style-link:"Formateret HTML ";
font-family:"Consolas","serif";}
span.EmailStyle19
{mso-style-type:personal-reply;
font-family:"Calibri","sans-serif";
color:#1F497D;}
.MsoChpDefault
{mso-style-type:export-only;
font-size:10.0pt;}
@page WordSection1
{size:612.0pt 792.0pt;
margin:3.0cm 2.0cm 3.0cm 2.0cm;}
div.WordSection1
{page:WordSection1;}
-->
</style>
<!--[if gte mso 9]><xml>
<o:shapedefaults v:ext="edit" spidmax="1026" />
</xml><![endif]--><!--[if gte mso 9]><xml>
<o:shapelayout v:ext="edit">
<o:idmap v:ext="edit" data="1" />
</o:shapelayout></xml><![endif]-->
</head>
<body lang=DA link=blue vlink=purple>
<div class=WordSection1>
<p class=MsoNormal><span lang=EN-US style='font-size:11.0pt;font-family:"Calibri","sans-serif";
color:#1F497D'>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:<o:p></o:p></span></p>
<p class=MsoNormal><span lang=EN-US style='font-size:11.0pt;font-family:"Calibri","sans-serif";
color:#1F497D'><o:p> </o:p></span></p>
<p class=MsoNormal><span lang=EN-US style='font-size:11.0pt;font-family:"Calibri","sans-serif";
color:#1F497D'>/* Master 0, Slave 1, "EL6692"<o:p></o:p></span></p>
<p class=MsoNormal><span lang=EN-US style='font-size:11.0pt;font-family:"Calibri","sans-serif";
color:#1F497D'> * Vendor ID: 0x00000002<o:p></o:p></span></p>
<p class=MsoNormal><span lang=EN-US style='font-size:11.0pt;font-family:"Calibri","sans-serif";
color:#1F497D'> * Product code: 0x1a243052<o:p></o:p></span></p>
<p class=MsoNormal><span lang=EN-US style='font-size:11.0pt;font-family:"Calibri","sans-serif";
color:#1F497D'> * Revision number: 0x00100000<o:p></o:p></span></p>
<p class=MsoNormal><span lang=EN-US style='font-size:11.0pt;font-family:"Calibri","sans-serif";
color:#1F497D'> */<o:p></o:p></span></p>
<p class=MsoNormal><span lang=EN-US style='font-size:11.0pt;font-family:"Calibri","sans-serif";
color:#1F497D'><o:p> </o:p></span></p>
<p class=MsoNormal><span lang=EN-US style='font-size:11.0pt;font-family:"Calibri","sans-serif";
color:#1F497D'>ec_pdo_entry_info_t slave_1_pdo_entries[] = {<o:p></o:p></span></p>
<p class=MsoNormal><span lang=EN-US style='font-size:11.0pt;font-family:"Calibri","sans-serif";
color:#1F497D'> {0x10f4, 0x02, 2}, /* SubIndex 002 */<o:p></o:p></span></p>
<p class=MsoNormal><span lang=EN-US style='font-size:11.0pt;font-family:"Calibri","sans-serif";
color:#1F497D'> {0x0000, 0x00, 6},<o:p></o:p></span></p>
<p class=MsoNormal><span lang=EN-US style='font-size:11.0pt;font-family:"Calibri","sans-serif";
color:#1F497D'> {0x0000, 0x00, 3},<o:p></o:p></span></p>
<p class=MsoNormal><span lang=EN-US style='font-size:11.0pt;font-family:"Calibri","sans-serif";
color:#1F497D'> {0x1800, 0x09, 1}, /* TxPDO toggle */<o:p></o:p></span></p>
<p class=MsoNormal><span lang=EN-US style='font-size:11.0pt;font-family:"Calibri","sans-serif";
color:#1F497D'> {0x1800, 0x07, 1}, /* TxPDO state */<o:p></o:p></span></p>
<p class=MsoNormal><span lang=EN-US style='font-size:11.0pt;font-family:"Calibri","sans-serif";
color:#1F497D'> {0x10f4, 0x0e, 1}, /* Control value update toggle */<o:p></o:p></span></p>
<p class=MsoNormal><span lang=EN-US style='font-size:11.0pt;font-family:"Calibri","sans-serif";
color:#1F497D'> {0x10f4, 0x0f, 1}, /* Time stamp update toggle */<o:p></o:p></span></p>
<p class=MsoNormal><span lang=EN-US style='font-size:11.0pt;font-family:"Calibri","sans-serif";
color:#1F497D'> {0x10f4, 0x10, 1}, /* External device not connected */<o:p></o:p></span></p>
<p class=MsoNormal><span lang=EN-US style='font-size:11.0pt;font-family:"Calibri","sans-serif";
color:#1F497D'>};<o:p></o:p></span></p>
<p class=MsoNormal><span lang=EN-US style='font-size:11.0pt;font-family:"Calibri","sans-serif";
color:#1F497D'><o:p> </o:p></span></p>
<p class=MsoNormal><span lang=EN-US style='font-size:11.0pt;font-family:"Calibri","sans-serif";
color:#1F497D'>ec_pdo_info_t slave_1_pdos[] = {<o:p></o:p></span></p>
<p class=MsoNormal><span lang=EN-US style='font-size:11.0pt;font-family:"Calibri","sans-serif";
color:#1F497D'> {0x1600, 0, NULL}, /* RxPDO-Map */<o:p></o:p></span></p>
<p class=MsoNormal><span lang=EN-US style='font-size:11.0pt;font-family:"Calibri","sans-serif";
color:#1F497D'> {0x1a01, 8, slave_1_pdo_entries + 0}, /* TxPDO-Map External
Sync Compact */<o:p></o:p></span></p>
<p class=MsoNormal><span lang=EN-US style='font-size:11.0pt;font-family:"Calibri","sans-serif";
color:#1F497D'> {0x1a00, 0, NULL}, /* TxPDO-Map */<o:p></o:p></span></p>
<p class=MsoNormal><span lang=EN-US style='font-size:11.0pt;font-family:"Calibri","sans-serif";
color:#1F497D'>};<o:p></o:p></span></p>
<p class=MsoNormal><span lang=EN-US style='font-size:11.0pt;font-family:"Calibri","sans-serif";
color:#1F497D'><o:p> </o:p></span></p>
<p class=MsoNormal><span lang=EN-US style='font-size:11.0pt;font-family:"Calibri","sans-serif";
color:#1F497D'>ec_sync_info_t slave_1_syncs[] = {<o:p></o:p></span></p>
<p class=MsoNormal><span lang=EN-US style='font-size:11.0pt;font-family:"Calibri","sans-serif";
color:#1F497D'> {0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE},<o:p></o:p></span></p>
<p class=MsoNormal><span lang=EN-US style='font-size:11.0pt;font-family:"Calibri","sans-serif";
color:#1F497D'> {1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE},<o:p></o:p></span></p>
<p class=MsoNormal><span lang=EN-US style='font-size:11.0pt;font-family:"Calibri","sans-serif";
color:#1F497D'> {2, EC_DIR_OUTPUT, 1, slave_1_pdos + 0, EC_WD_DISABLE},<o:p></o:p></span></p>
<p class=MsoNormal><span lang=EN-US style='font-size:11.0pt;font-family:"Calibri","sans-serif";
color:#1F497D'> {3, EC_DIR_INPUT, 2, slave_1_pdos + 1, EC_WD_DISABLE},<o:p></o:p></span></p>
<p class=MsoNormal><span lang=EN-US style='font-size:11.0pt;font-family:"Calibri","sans-serif";
color:#1F497D'> {0xff}<o:p></o:p></span></p>
<p class=MsoNormal><span lang=EN-US style='font-size:11.0pt;font-family:"Calibri","sans-serif";
color:#1F497D'>};<o:p></o:p></span></p>
<p class=MsoNormal><span lang=EN-US style='font-size:11.0pt;font-family:"Calibri","sans-serif";
color:#1F497D'><o:p> </o:p></span></p>
<p class=MsoNormal><span lang=EN-US style='font-size:11.0pt;font-family:"Calibri","sans-serif";
color:#1F497D'>How do I add my own pdo’s? <o:p></o:p></span></p>
<p class=MsoNormal><span lang=EN-US style='font-size:11.0pt;font-family:"Calibri","sans-serif";
color:#1F497D'>How do I tell which are input and which are output pdo’s?<o:p></o:p></span></p>
<p class=MsoNormal><span lang=EN-US style='font-size:11.0pt;font-family:"Calibri","sans-serif";
color:#1F497D'>How do I map these so that I can write to them in my
cyclic_task?<o:p></o:p></span></p>
<p class=MsoNormal><span lang=EN-US style='font-size:11.0pt;font-family:"Calibri","sans-serif";
color:#1F497D'><o:p> </o:p></span></p>
<p class=MsoNormal><span lang=EN-US style='font-size:11.0pt;font-family:"Calibri","sans-serif";
color:#1F497D'>I hope that somebody can help ;-)<o:p></o:p></span></p>
<p class=MsoNormal><span lang=EN-US style='font-size:11.0pt;font-family:"Calibri","sans-serif";
color:#1F497D'><o:p> </o:p></span></p>
<p class=MsoNormal><span lang=EN-US style='font-size:11.0pt;font-family:"Calibri","sans-serif";
color:#1F497D'>/Anders<o:p></o:p></span></p>
<p class=MsoNormal><span lang=EN-US style='font-size:11.0pt;font-family:"Calibri","sans-serif";
color:#1F497D'><o:p> </o:p></span></p>
<div>
<div style='border:none;border-top:solid #B5C4DF 1.0pt;padding:3.0pt 0cm 0cm 0cm'>
<p class=MsoNormal><b><span style='font-size:10.0pt;font-family:"Tahoma","sans-serif"'>Fra:</span></b><span
style='font-size:10.0pt;font-family:"Tahoma","sans-serif"'> 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<o:p></o:p></span></p>
</div>
</div>
<p class=MsoNormal><o:p> </o:p></p>
<p class=MsoNormal><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: <o:p></o:p></p>
<p class=MsoNormal style='margin-bottom:12.0pt'>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>
<br>
<img width=83 height=51 id="_x0000_i1025"
src="cid:image001.png@01CB9874.14BED4B0" alt=signatur><br>
<br>
Delta 4 <br>
<br>
DK-8382 Hinnerup<br>
<br>
<a href="http://www.rogd.dk/">www.rogd.dk</a><br>
<br>
<br>
<br>
Tlf: +45 8764 0884<br>
<br>
Mobil: +45 2225 1331<br>
<br>
Fax: +45 8764 0844<br>
<br>
<br>
<br>
<o:p></o:p></p>
<blockquote style='margin-top:5.0pt;margin-bottom:5.0pt'><pre><o:p> </o:p></pre><pre>_______________________________________________<o:p></o:p></pre><pre>etherlab-dev mailing list<o:p></o:p></pre><pre><a
href="mailto:etherlab-dev@etherlab.org">etherlab-dev@etherlab.org</a><o:p></o:p></pre><pre><a
href="http://lists.etherlab.org/mailman/listinfo/etherlab-dev">http://lists.etherlab.org/mailman/listinfo/etherlab-dev</a><o:p></o:p></pre></blockquote>
</div>
</body>
</html>