[etherlab-users] First Steps with ethercat

[Graichen Michael]

Hey,


I'm trying to get started with ethercat. Therfore I have installed the EtherCAT-Master on my Linux PC and connected a EK1100, EL2008 and EL1008 to it.


I can see the slaves with

dev at bvpc-kbl-dev-2:~$ ethercat slaves
0  0:0  OP  +  EK1100 EtherCAT Coupler (2A E-Bus)
1  0:1  OP  +  EL2008 8K. Dig. Ausgang 24V, 0.5A
2  0:2  OP  +  EL1008 8K. Dig. Eingang 24V, 3ms

and get more Information when i read out the PDOs


dev at bvpc-kbl-dev-2:~$ ethercat pdos -p1
SM0: PhysAddr 0x0f00, DefaultSize    0, ControlRegister 0x44, Enable 9
  RxPDO 0x1600 "Channel 1"
    PDO entry 0x7000:01,  1 bit, "Output"
  RxPDO 0x1601 "Channel 2"
    PDO entry 0x7010:01,  1 bit, "Output"
  RxPDO 0x1602 "Channel 3"
    PDO entry 0x7020:01,  1 bit, "Output"
  RxPDO 0x1603 "Channel 4"
    PDO entry 0x7030:01,  1 bit, "Output"
  RxPDO 0x1604 "Channel 5"
    PDO entry 0x7040:01,  1 bit, "Output"
  RxPDO 0x1605 "Channel 6"
    PDO entry 0x7050:01,  1 bit, "Output"
  RxPDO 0x1606 "Channel 7"
    PDO entry 0x7060:01,  1 bit, "Output"
  RxPDO 0x1607 "Channel 8"
    PDO entry 0x7070:01,  1 bit, "Output"


and


dev at bvpc-kbl-dev-2:~$ ethercat pdos -p2
SM0: PhysAddr 0x1000, DefaultSize    1, ControlRegister 0x00, Enable 1
  TxPDO 0x1a00 "Channel 1"
    PDO entry 0x6000:01,  1 bit, "Input"
  TxPDO 0x1a01 "Channel 2"
    PDO entry 0x6010:01,  1 bit, "Input"
  TxPDO 0x1a02 "Channel 3"
    PDO entry 0x6020:01,  1 bit, "Input"
  TxPDO 0x1a03 "Channel 4"
    PDO entry 0x6030:01,  1 bit, "Input"
  TxPDO 0x1a04 "Channel 5"
    PDO entry 0x6040:01,  1 bit, "Input"
  TxPDO 0x1a05 "Channel 6"
    PDO entry 0x6050:01,  1 bit, "Input"
  TxPDO 0x1a06 "Channel 7"
    PDO entry 0x6060:01,  1 bit, "Input"
  TxPDO 0x1a07 "Channel 8"
    PDO entry 0x6070:01,  1 bit, "Input"


but how can I actually set the outputs and read the inputs?


Thanks for your help


Michael








Michael Graichen
Research & Development

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