EtherCAT

danger

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://github.com/VILLASframework/node/blob/master/lib/nodes/ethercat.cpp

Configuration

rate	number
	object (Input configuration (received by VILLASnode))
	object (Output configuration (sent out by VILLASnode))
vectorize	integer Default: 1 This setting allows to send multiple samples in a single message to the destination nodes. The value of this setting determines how many samples will be combined into one packet.
	Array of Hook Object (object) or Hook Name (string) (hook_list)
builtin	boolean (Builtin hook functions) Default: true By default, each node and paths has a couple of default hooks attached to them. With this setting the attachment of built-in hooks can be disabled.

{

• "rate": 0,
• "in": {

  • "num_channels": 0,
  • "range": 0,
  • "product_code": 0,
  • "vendor_id": 0,
  • "signals": [

    • {

      • "name": "tap_position",
      • "type": "integer",
      • "init": 0

      },
    • {

      • "name": "voltage",
      • "type": "float",
      • "unit": "V",
      • "init": 230

      }

    ],
  • "vectorize": 1,
  • "hooks": [

    • "print",
    • {

      • "type": "limit_rate",
      • "rate": 1000

      }

    ]

  },
• "out": {

  • "num_channels": 0,
  • "range": 0,
  • "product_code": 0,
  • "vendor_id": 0,
  • "vectorize": 0,
  • "hooks": [

    • "print",
    • {

      • "type": "limit_rate",
      • "rate": 1000

      }

    ]

  },
• "vectorize": 1,
• "hooks": [

  • "print",
  • {

    • "type": "limit_rate",
    • "rate": 1000

    }

  ],
• "builtin": true

}

Example

node/etc/examples/nodes/ethercat.conf

ethercat = {
    coupler = {
        position = 0
        vendor_id = 0x00000002    # Beckhoff
        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!
        }
    }
}