[etherlab-users] EPOS Library for EtherLab

Andreas Stewering-Bone Andreas.Stewering-Bone at gmx.de
Wed Jun 12 09:17:42 CEST 2013

Hello Ankit,

A good starting point is the genric slave block.
You have to set
Master id
Slave id

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.

You can generate a base structure with the command

ethercat pdos -Px -s etherlab

Store the output in an m-Script (example: myslave.m)
Add the missing configuration parts (Sdos,...) (the generic slave block 
documentation will help you)

Call the script at model update or load time (model properties) example: 
ab = myslave

Set ab for slavestruct parameter in the generic slave block.

That all.

But notice, Servo drives are very complex slaves, but please try.

Best regards


Am 11.06.2013 18:51, schrieb Ankit Goila:
> Hi all,
> I am working on setting up a real-time control framework on my machine 
> with RT-Preempt kernel on Ubuntu 12.04 LTS. I have a functioning 
> EtherCAT master set up on the machine and am able to communicate with 
> the EPOS3 slaves by writing executable files.
> I also have set up EtherLab and integrated it with Matlab/Simulink. 
> 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.
> I would like to know how to configure my EPOS device using EtherLab in 
> Linux (a similar thing exists for Windows - xPC EtherCAT library)
> Thanks,
> Ankit
> -- 
> Ankit Goila
> U-M ID: 83509056
> Graduate Student (2012-2014)
> M.S.E Mechanical Engineering
> University of Michigan, Ann Arbor
> Contact: 734-747-0829
> _______________________________________________
> etherlab-users mailing list
> etherlab-users at etherlab.org
> http://lists.etherlab.org/mailman/listinfo/etherlab-users

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