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 NXP EVK board: SOEM as EtherCAT MainDevice running on EVK board(i.MXRT1180/i.MX943) ecat_servo_motor example as EtherCAT SubDevice running on i.MXRT1180 EVK board 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 … 1 slaves found and configured. ec_config_map_group IOmap:20000664 group:0
Slave 1, configadr 1001, state 2 … Slaves mapped, state to SAFE_OP. 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.