ecat_srvr
Purpose:
-
Manage EtherCAT devices to enable access for other tasks, using tools to discover devices and handle PDO transfers at a specified rate.
Enter:
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ecat_srvr [priority_level] [PDO_update_rate] [-d] [-v] [m=number of masters]
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 in microseconds. The default is 1000.
d
Optional. Specify this flag to enable debug mode.
v
Optional. Specify this flag to enable verbose mode.
m=
Optional. Specify the number of EtherCat masters. The default is 1.
e=
Optional. Specify the number of errors before doing a restart on the device. default is 150 errors before reconnect.
Example:
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ecat_srvr 24 &
This create an ethercat connection using 1 master and will reconnect after 150 errors.
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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 attribute tasks and supports debugging and verbose output for testing.