[etherlab-dev] EtherCAT bridge

Anders Bach Madsen abm at rogd.dk
Fri Dec 10 14:11:04 CET 2010

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:

/* Master 0, Slave 1, "EL6692"
 * Vendor ID:       0x00000002
 * Product code:    0x1a243052
 * Revision number: 0x00100000

ec_pdo_entry_info_t slave_1_pdo_entries[] = {
    {0x10f4, 0x02, 2}, /* SubIndex 002 */
    {0x0000, 0x00, 6},
    {0x0000, 0x00, 3},
    {0x1800, 0x09, 1}, /* TxPDO toggle */
    {0x1800, 0x07, 1}, /* TxPDO state */
    {0x10f4, 0x0e, 1}, /* Control value update toggle */
    {0x10f4, 0x0f, 1}, /* Time stamp update toggle */
    {0x10f4, 0x10, 1}, /* External device not connected */

ec_pdo_info_t slave_1_pdos[] = {
    {0x1600, 0, NULL}, /* RxPDO-Map */
    {0x1a01, 8, slave_1_pdo_entries + 0}, /* TxPDO-Map External Sync Compact */
    {0x1a00, 0, NULL}, /* TxPDO-Map */

ec_sync_info_t slave_1_syncs[] = {
    {2, EC_DIR_OUTPUT, 1, slave_1_pdos + 0, EC_WD_DISABLE},
    {3, EC_DIR_INPUT, 2, slave_1_pdos + 1, EC_WD_DISABLE},

How do I add my own pdo’s?
How do I tell which are input and which are output pdo’s?
How do I map these so that I can write to them in my cyclic_task?

I hope that somebody can help ;-)


Fra: Henry Bausley [mailto:hbausley at deltatau.com]
Sendt: 8. december 2010 17:04
Til: Anders Bach Madsen
Cc: etherlab-dev at etherlab.org
Emne: Re: [etherlab-dev] EtherCAT bridge

I have successfully used the EL6692 to communicate between two different Linux based Etherlab Ethercat masters.

The first master is attached via the EBUS and the slave will show up as a  EtherCAT Bridge terminal (Primary)

The second master you attach to the RJ45 connector and that slave will show up as the secondary.

Create PDO mappings at 0x1600 and 0x1a00 and add our own PDOs.

On Wed, 2010-12-08 at 15:22 +0100, Anders Bach Madsen wrote:

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.

Has anyone successfully used a bridge (like EL6692) to turn one master into a client for the other network?

If so, how should it be connected (both the components and the cables)?

And last but not least, are there any configuration specific things that one needs to remember?

If somebody has done this including the Etherlab Ethercat master code, we would really like to know.

Hope that somebody out there has gotten this to work or knows of a different way to accomplish the same thing.

Best regards / Med venlig hilsen

Anders Bach Madsen

PhD Computer Science, Software Developer

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