Hello Ankit,
A good starting point is the genric slave block.
You have to set
Master id
Slave id
slavestruct
The slave struct is a description for Sm,Pdo,Pdo Entries, Sdo
configuration and the mapping of the Entries to the Inputs and Outputs
of the block.
You can generate a base structure with the command
ethercat pdos -Px -s etherlab
Store the output in an m-Script (example: myslave.m)
Add the missing configuration parts (Sdos,...) (the generic slave block
documentation will help you)
Call the script at model update or load time (model properties) example:
ab = myslave
Set ab for slavestruct parameter in the generic slave block.
That all.
But notice, Servo drives are very complex slaves, but please try.
Best regards
Andreas
Am 11.06.2013 18:51, schrieb Ankit Goila:
Hi all,
I am working on setting up a real-time control framework on my machine
with RT-Preempt kernel on Ubuntu 12.04 LTS. I have a functioning
EtherCAT master set up on the machine and am able to communicate with
the EPOS3 slaves by writing executable files.
I also have set up EtherLab and integrated it with Matlab/Simulink.
The EtherLab provides access to Beckhoff library, in specific the
Beckhoff infrastructure block to configure the Master, but there is no
generic block which could work with the EPOS from Maxon.
I would like to know how to configure my EPOS device using EtherLab in
Linux (a similar thing exists for Windows - xPC EtherCAT library)
Thanks,
Ankit
--
Ankit Goila
U-M ID: 83509056
Graduate Student (2012-2014)
M.S.E Mechanical Engineering
University of Michigan, Ann Arbor
Contact: 734-747-0829
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