EtherCAT

Important: This node-type is currently under development.

Prerequisites

This node-type requires the IgH EtherCAT Master (>= 1.5.2).

Implementation

The source code of the node-type is available here: https://git.rwth-aachen.de/acs/public/villas/node/blob/master/lib/nodes/ethercat.cpp

Configuration

Todo:

Document EtherCAT node-type

Example

ethercat = {
        coupler = {
                position = 0
                vendor_id = 0x00000002    # Backhoff
                product_code = 0x044c2c52 # EK1100
        }

        alias = 0
        master = 0
}

nodes = {
        ethercat_node = {
                type = "ethercat"

                rate = 1000.0 # Rate of master cyclic task

                # Analog Input Slave
                in = {
                        num_channels = 8
                        range = 10.0 # -10.0 V to +10.0 V

                        position = 2
                        vendor_id = 0x00000002    # Beckhoff
                        product_code = 0x0bc03052 # EL3008

                        # PDOs are currently hardcoded!
                }

                # Analog Output Slave
                out = {
                        num_channels = 8
                        range = 10.0 # -10.0 V to +10.0 V

                        position = 1
                        vendor_id = 0x00000002    # Beckhoff
                        product_code = 0x0fc63052 # EL4038

                        # PDOs are currently hardcoded!
                }
        }
}