107 lines
2.8 KiB
Plaintext
107 lines
2.8 KiB
Plaintext
Overview
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========
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This example demonstrates how to use the Simple Open EtherCAT Master (SOEM) Library to communicate with EhterCAT devices.
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In this example there are three EhterCAT devices, one EtherCAT Coupler EK1100, one EtherCAT Terminal EL2008 (slave0),
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and one EtherCAT Terminal EL1018 (slave1).
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This example controls a stepper motor system using two outputs and one input remote IO:
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Outputs:
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-Pluse: The pulse signal with the period of 200us and the duty cycle of 50%.
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-Dir: The direction signal.
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Inputs:
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-Limit signal: This signal comes from the Limit Switchs on the stepper motor system.
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The Dir signal changes once when one of the Limit Switchs has been touched.
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Toolchain supported
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===================
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- IAR embedded Workbench 9.30.1
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- Keil MDK 5.37
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- GCC ARM Embedded 10.3.1
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- MCUXpresso 11.6.0
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Hardware requirements
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=====================
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- Mini/micro USB cable
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- Network cable RJ45 standard
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- EVK-MIMXRT1020 board
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- One BECKHOFF EK1100 EtherCAT Coupler
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- Personal Computer
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Board settings
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==============
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No special settings are required.
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Prepare the Demo
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================
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1. Connect a USB cable between the host PC and the OpenSDA USB port on the target board.
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2. Power up the EtherCAT Coupler and connect it to the target board via an Ethernet Cable.
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3. Open a serial terminal with the following settings:
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- 115200 baud rate
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- 8 data bits
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- No parity
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- One stop bit
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- No flow control
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4. Write the program to the flash of the target board.
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5. Press the reset button on your board to start the demo.
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Running the demo
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================
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If the test passes, the led2 of slave0 lights up at 50% brightness.
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If the stepper motor system is not setup properly, you can get information from
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the console log and the led4 status of slave0.
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When the demo is running, the serial port will output:
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Start the soem_gpio_pulse baremetal example...
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ec_init on enet0 succeeded.
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ec_config_init 0
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3 slaves found and configured.
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ec_config_map_group IOmap:80000089 group:0
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>Slave 1, configadr 1001, state 12
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>Slave 2, configadr 1002, state 12
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>Slave 3, configadr 1003, state 12
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SII Isize:0
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SII Osize:0
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ISIZE:0 0 OSIZE:0
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SM programming
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SII Isize:0
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SII Osize:8
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SM0 length 8
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ISIZE:0 0 OSIZE:8
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SM programming
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SM0 Type:3 StartAddr: f00 Flags: 90044
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SII Isize:8
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SM0 length 8
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SII Osize:0
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ISIZE:8 8 OSIZE:0
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SM programming
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SM0 Type:4 StartAddr:1000 Flags: 10000
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OUTPUT MAPPING
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FMMU 0
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SM0
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slave 2 Outputs 80000089 startbit 0
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=Slave 3, INPUT MAPPING
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FMMU 0
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SM0
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Inputs 8000008A startbit 0
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IOmapSize 2
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Slaves mapped, state to SAFE_OP.
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oloop = 1, iloop = 1
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segments : 1 : 2 0 0 0
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Request operational state for all slaves
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Calculated workcounter 3
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Operational state reached for all slaves.
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