ecat_srvr
Purpose:
-
Allow other tasks to access to the EtherCAT devices. The program uses etherCAT tools to discover the connected devices and starts a PDO transfer at the specified rate (default is 100 Hz).
Enter:
-
ecat_srvr [priority_level] [PDO_update_rate] [m=number of EtherCat masters] [e=Error Reconnect]
Where:
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priority_level
Optional. Specify the priority level of the task. The default is 27.
PDO_update_rate
Optional. Specify the PDO update rate. The default is 1000 microseconds.
m
Optional. Specify the number of EtherCat masters. The default is 1.
e Optional. Specifies how many errors are detected before issuing a re-connection.
The default is 150
Example:
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ecat_srvr 24 &
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ecat_srvr 24 m=2 e=50 &
This create an ethercat connection using 2 masters, and will reconnect after 50 errors.
-
Notes:
This must be started before device_attr runs and starts the individual channel type drivers (i.e. ai_ecat, di_ecat, do_ecat, ao_ecat).