soem_gpio_pulse_netc_bm#
Overview#
This example demonstrates how to use the Simple Open EtherCAT MainDevice (SOEM) Library to communicate with EhterCAT devices.
In this example there are three EhterCAT devices, one EtherCAT Coupler EK1100, one EtherCAT Terminal EL2008 (SubDevice0), and one EtherCAT Terminal EL1018 (SubDevice1).
This example controls a stepper motor system using two outputs and one input remote IO:
Outputs:
- Pluse: The pulse signal with the period of 200us and the duty cycle of 50%.
- Dir: The direction signal.
Inputs:
- Limit signal: This signal comes from the Limit Switchs on the stepper motor system.
- The Dir signal changes once when one of the Limit Switchs has been touched.
Running the demo#
If the test passes, the led2 of SubDevice0 lights up at 50% brightness.
If the stepper motor system is not setup properly, you can get information from the console log and the led4 status of SubDevice0.
When the demo is running, the serial port will output:
Start the soem_gpio_pulse baremetal example...
ec_init on enet0 succeeded.
ec_config_init 0
3 slaves found and configured.
ec_config_map_group IOmap:80000089 group:0
>Slave 1, configadr 1001, state 12
>Slave 2, configadr 1002, state 12
>Slave 3, configadr 1003, state 12
SII Isize:0
SII Osize:0
ISIZE:0 0 OSIZE:0
SM programming
SII Isize:0
SII Osize:8
SM0 length 8
ISIZE:0 0 OSIZE:8
SM programming
SM0 Type:3 StartAddr: f00 Flags: 90044
SII Isize:8
SM0 length 8
SII Osize:0
ISIZE:8 8 OSIZE:0
SM programming
SM0 Type:4 StartAddr:1000 Flags: 10000
OUTPUT MAPPING
FMMU 0
SM0
slave 2 Outputs 80000089 startbit 0
=Slave 3, INPUT MAPPING
FMMU 0
SM0
Inputs 8000008A startbit 0
IOmapSize 2
Slaves mapped, state to SAFE_OP.
oloop = 1, iloop = 1
segments : 1 : 2 0 0 0
Request operational state for all slaves
Calculated workcounter 3
Operational state reached for all slaves.