[etherlab-users] Regarding etherlab connection

[Richard Hacker]

Hi,

please use the mailing list for your correspondence.

What does the command
ethercat slaves
output?

In simulink, you will need a block for every ethercat slave, one for the 
EK1101 and one for your drive.

The EK1101 has output PDO's which might be useful.

As far as the drive is concerned, you will need to use the generic 
ethercat slave block and write a matlab function that will output a 
structure as defined in the help of that block. It is quite a daunting 
task though!

As a start, try (assuming your drive has position 2)
ethercat pdos -s etherlab -p 2
which outputs (in this case for a normal Beckhoff ethercat slave)

========== snip =============
%
% Master 0, Slave 2, "EL2622"
%
function rv = slave2()

% Slave configuration

rv.SlaveConfig.vendor = 2;
rv.SlaveConfig.product = hex2dec('0a3e3052');
rv.SlaveConfig.description = 'EL2622';
rv.SlaveConfig.sm = { ...
     {0, 0, {
         {hex2dec('1600'), [
             hex2dec('7000'), hex2dec('01'),   1; ...
             ]}, ...
         {hex2dec('1601'), [
             hex2dec('7010'), hex2dec('01'),   1; ...
             ]}, ...
         }}, ...
     };

% Port configuration

rv.PortConfig.input(1).pdo = [0, 0, 0, 0];
rv.PortConfig.input(1).pdo_data_type = 1001;

rv.PortConfig.input(2).pdo = [0, 1, 0, 0];
rv.PortConfig.input(2).pdo_data_type = 1001;

end
========== snip =============

Save this into a matlab script, test it and use it in the "EtherCAT 
Slave Configuration struct" for the generic ethercat slave block.

Study this file, the generic slave documentation and the drive's 
documentation to get going.

Good luck
Richard

On 24.02.2015 15:08, Dogacan Bilgili wrote:
> Dear Sylvia Schlüter,
>
> I have been working on Ether Lab for the last few days and managed to
> establish the connection between my motor driver MAXPOS 50/5 and
> openSuSe computer through Beckhoff EK1101 module.
>
> So, my linux computer is connected to Beckhoff EK1101 module and this
> module is connected to MAXPOS 50/5 motor driver, which has ther EtherCat
> technology.
>
> However, I'm having some problems on the simulink side;
>
> In the etherlab_lib, under Beckhoff section there is an Infrastructure
> node called "EK1101" and this one can be configured as "EK1101" once it
> is copied to another simulink model. And when I set it as EK1101, it
> gets an output port.
>
> My beckhoff module works as master and has no I/O module on it. It is
> only connected to MAXPOS driver through ethernet cable and I'm trying to
> send the signal over ethernet cable.
>
> I would really appreciate any help you can provide.
>
> Thank you.
>

Mit freundlichem Gruß

Richard Hacker

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Richard Hacker M.Sc.
richard.hacker at igh-essen.com
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