Igh EtherCAT Master 的使用
EtherCAT Mater 的启动
输入命令行:/etc/init.d/ethercat start
ethercat master
Master0
Phase: Idle
Active: no
Slaves: 1
Ethernet devices:
Main: b0:0c:d1:30:b6:fb (attached)
Link: UP
Tx frames: 332406
Tx bytes: 19947112
Rx frames: 332405
Rx bytes: 19947052
Tx errors: 0
Tx frame rate [1/s]: 243 244 244
Tx rate [KByte/s]: 14.2 14.3 14.3
Rx frame rate [1/s]: 243 244 244
Rx rate [KByte/s]: 14.2 14.3 14.3
Common:
Tx frames: 332406
Tx bytes: 19947112
Rx frames: 332405
Rx bytes: 19947052
Lost frames: 0
Tx frame rate [1/s]: 243 244 244
Tx rate [KByte/s]: 14.2 14.3 14.3
Rx frame rate [1/s]: 243 244 244
Rx rate [KByte/s]: 14.2 14.3 14.3
Loss rate [1/s]: 0 0 0
Frame loss [%]: 0.0 0.0 0.0
Distributed clocks:
Reference clock: Slave 0
DC reference time: 0
Application time: 0
2000-01-01 00:00:00.000000000
显示主站信息,包括状态,网卡信息等等
ethercat slaves
0 0:0 PREOP + ET-Cia402-SPI
显示主站的简略信息
ethercat cstruct
/* Master 0, Slave 0, "ET-Cia402-SPI"
* Vendor ID: 0x00000153
* Product code: 0x36483054
* Revision number: 0x00020211
*/
ec_pdo_entry_info_t slave_0_pdo_entries[] = {
{0x6040, 0x00, 16},
{0x60ff, 0x00, 32},
{0x6041, 0x00, 16},
{0x6064, 0x00, 32},
};
ec_pdo_info_t slave_0_pdos[] = {
{0x1602, 2, slave_0_pdo_entries + 0},
{0x1a02, 2, slave_0_pdo_entries + 2},
};
ec_sync_info_t slave_0_syncs[] = {
{0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE},
{1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE},
{2, EC_DIR_OUTPUT, 1, slave_0_pdos + 0, EC_WD_ENABLE},
{3, EC_DIR_INPUT, 1, slave_0_pdos + 1, EC_WD_DISABLE},
{0xff}
};
显示从站的详细信息