[etherlab-users] How to communicate with slave (IO modules & Servo Drive)

[zhaoweihaligong]

Hi all,

First, I should say I am new to both EtherCAT and CANopen ,and also linux. so please excuse and correct any misunderstandings.

I am trying to get an copley drive and TI AM3359ICE board (a IO slave) working using CoE. I have installed the EtherCAT master(1.5.0) and can get a response from the drive(or IO).  The responses like "ethercat master", "ethercat slaves" can be showed.
But,next step,I don't know how to use the master. what i need to do with the appliacation example "user" or "dc_user",what need to do when i mofify the code depend on the slave i have.Can any body give me a answer like this procedure:
1.Depending on the example code , which contents i need to modify according to my slave ?(pdo mapping, domain,pdo entry or something else)
2.After modified, how to load the example module to the master.(how to use command "insmod" , or how to use userspace instead of using application module) ? I really don't know this process.
3.At last , how to communicate with slave like control the digital input/output ?

I have vendor produced XML file.  

I really need your help! Thank you in advance!
David

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