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embedded_systems:ethercat:ethercatinterface [2019-06-26 15:44]
Graf Urs
embedded_systems:ethercat:ethercatinterface [2019-06-26 15:47]
Graf Urs
Zeile 9: Zeile 9:
   * **ecmasterlib**:​ This library provides an easy interface to the EtherCAT stack. The library initializes the stack and takes over the periodic sending and receiving of the bus data. It provides the following basic interface: **[[embedded_systems:​ethercat:​ethercatinterface:​EtherCATInterfaceBase]]**   * **ecmasterlib**:​ This library provides an easy interface to the EtherCAT stack. The library initializes the stack and takes over the periodic sending and receiving of the bus data. It provides the following basic interface: **[[embedded_systems:​ethercat:​ethercatinterface:​EtherCATInterfaceBase]]**
   * **EtherCATInterfaceElmo**:​ An interface based on //​EtherCATInterfaceBase//​ designed for Elmo drives. See **[[embedded_systems:​ethercat:​ethercatinterface:​EtherCATInterfaceElmo]]** for details. You may need to implement your own interface for different drives. the interface further includes to EEROS blocks for the control system:   * **EtherCATInterfaceElmo**:​ An interface based on //​EtherCATInterfaceBase//​ designed for Elmo drives. See **[[embedded_systems:​ethercat:​ethercatinterface:​EtherCATInterfaceElmo]]** for details. You may need to implement your own interface for different drives. the interface further includes to EEROS blocks for the control system:
-    * **getDrivesBlock**: ​has a signal output for every PDO input value (i.e. encoder values). You may need to modify this block in your application. +    * **getDrivesBlock**: ​It has a signal output for every PDO input value (i.e. encoder values). You may need to modify this block in your application. 
-    * **setDrivesBlock**: ​has a signal input for every PDO output value (i.e. setTorque). You may need to modify this block in your application.+    * **setDrivesBlock**: ​It has a signal input for every PDO output value (i.e. setTorque). You may need to modify this block in your application.
    
  
Zeile 31: Zeile 31:
 $ cp ''<​classB_path>''/​SDK/​LIB/​Linux/​x64/​libAtemRasSrv.a externalLib $ cp ''<​classB_path>''/​SDK/​LIB/​Linux/​x64/​libAtemRasSrv.a externalLib
 $ cp ''<​classB_path>''/​SDK/​LIB/​Linux/​x64/​libEcMaster.a externalLib $ cp ''<​classB_path>''/​SDK/​LIB/​Linux/​x64/​libEcMaster.a externalLib
 +$ mkdir build-x86-64
 +$ cd build-x86-64
 +$ cmake -DCMAKE_INSTALL_PREFIX=/​absolute/​path/​to/​working/​directory/​install-x86-64 ..
 +$ make
 +$ make install
 +</​code>​
 +
 +==== Install EtherCATInterfaceElmo ====
 +<​code>​
 +$ cd path/​to/​working/​directory
 +$ git clone https://​github.com/​ntb-ch/​ethercatinterfaceelmo.git
 +$ cd EtherCATInterfaceElmo
 $ mkdir build-x86-64 $ mkdir build-x86-64
 $ cd build-x86-64 $ cd build-x86-64