soem_servo_motor_rt1180_bm
Overview
This example demonstrates how to use the Simple Open EtherCAT Master (SOEM) Library to control motor.
In this example there are 2 i.MIMXRT1180 board: SOEM as EtherCAT MainDevice running on 1st i.MIMXRT1180 ecat_servo_motor example as EtherCAT SubDevice running on 2st i.MIMXRT1180 Note: ecat_servo_motor path: …/boards/evkmimxrt1180/ecat_examples/servo_motor ecat_servo_motor User Guide path: …/docs/ecatServoMotor
Running the demo
If the test passes, the motor will start to retate.
When the demo is running, the serial port will output:
NETC EP frame loopback example start. Starting motion task ec_init on netc0 succeeded. ec_config_init 0 Copy SII slave 2 from 1. Copy SII slave 3 from 1. … 31 slaves found and configured. ec_config_map_group IOmap:20000664 group:0
Slave 1, configadr 1001, state 2 CoE Osize:56 Isize:88 … SM programming SM2 Type:3 StartAddr:1200 Flags: 10064 … IOmapSize 24 Slaves mapped, state to SAFE_OP. segments : 1 : 24 0 0 0 Request operational state for all slaves Calculated workcounter 3 Request operational state for all slaves Calculated workcounter 3 Operational state reached for all slaves.
Note: Detailed SOEM performance please refter to EtherCAT Benchamrk.