RK ALL EtherCAT

Preface

IgH EtherCAT is an open-source EtherCAT master station program running on the Linux system. The IgH EtherCAT master station communicates with the EtherCAT master module by constructing a Linux character device,  the application program achieves this communication through accessing the character device.
The IgH EtherCAT development package comes with EtherCAT tools. These tools provide various commands that can run in the Linux user layer, enabling direct access and configuration of slave stations, such as setting slave station addresses, displaying bus configuration, displaying PDO data, reading and writing SDO parameters, etc.

Install

The customer downloads the customized version of the image (including EtherCAT)

EtherCAT IgH Software Environment

EtherCAT: Kernel space, User space, EtherCAT application.

Layer	built-in	purpose
KernelSpace	Y	Provide a real-time driven environment. RT-patch and ethercat driver
UserSpace	Y	ethercat, libethercat.so
Applicaton	N	Customer Application

     

EtherCAT IgH Test

Using the "ethercat --help" command allows you to view the EtherCAT IgH tools. These tools can provide various information about the slaves connected to the master station, which can be helpful for writing the master station application programs. The following introduces the usage of several commonly used commands and parameters. The [] brackets indicate mandatory parameters, while the <> brackets represent optional parameters.

Set alias address

ethercat alias -p 0 0

Set alias address (The following example represents changing the alias of location 0 to 1)

ethercat alias -a 0 1

Output PDO information in C language format

ethercat cstruct

Output the identified slave stations

ethercat slaves 0 0(别名)):0（位置） PREOP + MADHT1505BA1

Output PDO information

ethercat pdos

Official document

https://docs.etherlab.org/ethercat/1.5/doxygen/index.html