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Hello Ankit,<br>
<br>
A good starting point is the genric slave block.<br>
You have to set <br>
Master id<br>
Slave id<br>
slavestruct<br>
<br>
The slave struct is a description for Sm,Pdo,Pdo Entries, Sdo
configuration and the mapping of the Entries to the Inputs and Outputs
of the block.<br>
<br>
You can generate a base structure with the command<br>
<br>
ethercat pdos -Px -s etherlab <br>
<br>
Store the output in an m-Script (example: myslave.m)<br>
Add the missing configuration parts (Sdos,...) (the generic slave block
documentation will help you)<br>
<br>
Call the script at model update or load time (model properties)
example: ab = myslave<br>
<br>
Set ab for slavestruct parameter in the generic slave block.<br>
<br>
That all.<br>
<br>
But notice, Servo drives are very complex slaves, but please try.<br>
<br>
Best regards<br>
<br>
Andreas<br>
<br>
Am 11.06.2013 18:51, schrieb Ankit Goila:
<blockquote
cite="mid:CACWvio4xTHh9dLm6cY1KjzascFBgPydVRpDdATwyqzz+KPe5qA@mail.gmail.com"
type="cite">
<div dir="ltr">Hi all,
<div><br>
</div>
<div style="">I am working on setting up a real-time control
framework on my machine with RT-Preempt kernel on Ubuntu 12.04 LTS. <span
style="font-family: arial,sans-serif; font-size: 13px;"> </span><span
style="font-family: arial,sans-serif; font-size: 13px;">I have a
functioning EtherCAT master set up on the machine and am able to
communicate with the EPOS3 slaves by writing executable files. </span></div>
<div style=""><span
style="font-family: arial,sans-serif; font-size: 13px;"><br>
</span></div>
<div style=""><span
style="font-family: arial,sans-serif; font-size: 13px;">I also have
set up EtherLab and integrated it with Matlab/Simulink. </span><span
style="font-family: arial,sans-serif; font-size: 13px;">The EtherLab
provides access to Beckhoff library, in specific the Beckhoff
infrastructure block to configure the Master, but there is no generic
block which could work with the EPOS from Maxon. </span></div>
<div style=""><span
style="font-family: arial,sans-serif; font-size: 13px;"><br>
</span></div>
<div style=""><span
style="font-family: arial,sans-serif; font-size: 13px;">I would like
to know how to configure my EPOS device using EtherLab in Linux (a
similar thing exists for Windows - xPC EtherCAT library) </span></div>
<div style=""><span
style="font-family: arial,sans-serif; font-size: 13px;"><br>
</span></div>
<div style=""><span
style="font-family: arial,sans-serif; font-size: 13px;">Thanks,</span></div>
<div style=""><span
style="font-family: arial,sans-serif; font-size: 13px;"><br>
</span></div>
<div style=""><span
style="font-family: arial,sans-serif; font-size: 13px;">Ankit</span></div>
<div style=""><span
style="font-family: arial,sans-serif; font-size: 13px;"><br>
</span></div>
<div><br clear="all">
<div><br>
</div>
-- <br>
<div dir="ltr">
<div><span
style="font-family: 'courier new',monospace; background-color: rgb(255, 255, 255);">Ankit
Goila</span></div>
<span
style="font-family: 'courier new',monospace; background-color: rgb(255, 255, 255);">U-M
ID: 83509056</span><br>
<div><span style="background-color: rgb(255, 255, 255);"><font
face="courier new, monospace">Graduate Student (2012-2014)</font></span></div>
<div><span style="background-color: rgb(255, 255, 255);"><font
face="courier new, monospace">M.S.E Mechanical Engineering</font></span></div>
<div><span style="background-color: rgb(255, 255, 255);"><font
face="courier new, monospace">University of Michigan, Ann Arbor</font></span></div>
<div><span style="background-color: rgb(255, 255, 255);"><font
face="courier new, monospace">Contact: 734-747-0829</font></span></div>
<div><br>
</div>
</div>
</div>
</div>
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