Quick Start
1.4 Sample Slave Application
The sample applications are installed as source code only. Please refer to the Slave Stack manual
for details on how to build it. This document refers to the “
complex.c
” sample.
This sample application contains input and output variables:
- Input variables are set by the application, i.e. they will be read by the Workbench.
- Output variables are written by the Workbench (and the sample application displays them when
changed).
The Slave and all its variables etc. are described in the Slave’s ESI (EtherCAT Slave Information).
This ESI exists as binary within the card’s EtherCAT EEPROM and as
.xml
file for configuration
tools such as the EtherCAT Workbench.
In case of changes to the application the EEPROM content and
.xml
ESI file have to be adapted
accordingly.
1.5 Testing the Sample App. with the Workbench
At first the
.xml
ESI file has to be imported into the Workbench:
(It’s installed in the Slave Stack’s “
driver\ECS-...\ESI\”
folder.)
When the Workbench is running, this can be done by the menu entry
Copy ESI file(s) to slave
library
(under menu item
Tools
), see Figure: 3. Otherwise the Workbench's start menu entry
Open
slave library
can be used to copy the file manually.
Figure 3:
Installing ESI to EtherCAT Workbench (picture detail)
After the Workbench was (re)started a slave scan can be performed. Use the
Online
button to let
the Workbench connect to its included Master and click the
Scan
button then:
Figure 4:
Scan result showing “Slave 1 (ECS-XMC/FPGA)”, (picture detail)
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Hardware Manual • Doc. No.: E.1102.21 / Rev. 1.3
ECS-XMC/FPGA
