Quick Start
ECS-CPCIs/FPGA
Hardware Manual Doc.-Nr.: E.1108.21/ 1.0
Page 13 of 28
Figure 5:
Process data view with “Slave 1 (ECS-CPCIs/FPGA)”, (picture detail)
Double click the output
(“Slave 1 (ECS-CPCIs/FPGA).RxPDO1.Output1”) to write a new value to
the slave. The Slave sample application shows the new value in its console output, for example:
“
[Application] *** output1 changed to 1234
”
The value for the input is changed every second by the sample application, but it becomes visible
only by manual updates in the Workbench (the
Reread all
buttons etc.).
Study the Workbench and Slave Stack manuals to get more details about the steps performed
here. Then try to map the other variables (that already exist in the application and ESI) too and
finally add your own variables.
Do not forget to update the ESI accordingly. While many EtherCAT masters acquire most of the
slave information needed from the
.xml
ESI, others might rely solely on EEPROM ESI! (The
binary ESI can be created by the
.xml
ESI, e.g. with the Workbench. The
.xml
ESI is described
in the ETG.2000 document.)
You also must follow the ETG requirements defined in the EtherCAT Conformance Guide which
can be downloaded for free from the website of the EtherCAT Technology Group
. This includes using your own EtherCAT vendor ID and testing the final product
with the EtherCAT CTT (Conformance Test Tool).
1.6 Further Steps