soem_servo_motor_bm#
Overview#
This example demonstrates how to use the Simple Open EtherCAT Master (SOEM) Library to control servo-motor.
In this example there are 2 servo-motor:
DELTA_ASDA_B3 * 1
INOVANCE_SV680 * 1
Running the demo#
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
...
2 slaves found and configured.
ec_config_map_group IOmap:20000664 group:0
>Slave 1, configadr 1001, state 2
...
SM programming
SM2 Type:3
StartAddr:1200 Flags: 10064
...
Slaves mapped, state to SAFE_OP.
Request operational state for all slaves
Calculated workcounter 6
Request operational state for all slaves
Calculated workcounter 6
Operational state reached for all slaves.
Note: Detailed SOEM performance please refter to EtherCAT Benchamrk.