soem_gpio_pulse_freertos#
Overview#
This example demonstrates how to use the Simple Open EtherCAT MainDevice (SOEM) Library to communicate with EhterCAT devices.
In this example there are three EhterCAT devices, one EtherCAT Coupler EK1100, one EtherCAT Terminal EL2008 (SubDevice0), and one EtherCAT Terminal EL1018 (SubDevice1).
This example controls a stepper motor system using two outputs and one input remote IO:
Outputs:
- Pluse: The pulse signal with the period of 200us and the duty cycle of 50%.
- Dir: The direction signal.
Inputs:
- Limit signal: This signal comes from the Limit Switchs on the stepper motor system.
- The Dir signal changes once when one of the Limit Switchs has been touched.
Running the demo#
If the test passes, the led2 of SubDevice0 lights up at 50% brightness.
If the stepper motor system is not setup properly, you can get information from the console log and the led4 status of SubDevice0.
When the demo is running, the serial port will output:
Start the soem_gpio_pulse FreeRTOS example...
ec_init on enet0 succeeded.
ec_config_init 0
3 slaves found and configured.
ec_config_map_group IOmap:80000089 group:0
>Slave 1, configadr 1001, state 12
>Slave 2, configadr 1002, state 12
>Slave 3, configadr 1003, state 12
SII Isize:0
SII Osize:0
ISIZE:0 0 OSIZE:0
SM programming
SII Isize:0
SII Osize:8
SM0 length 8
ISIZE:0 0 OSIZE:8
SM programming
SM0 Type:3 StartAddr: f00 Flags: 90044
SII Isize:8
SM0 length 8
SII Osize:0
ISIZE:8 8 OSIZE:0
SM programming
SM0 Type:4 StartAddr:1000 Flags: 10000
OUTPUT MAPPING
FMMU 0
SM0
slave 2 Outputs 80000089 startbit 0
=Slave 3, INPUT MAPPING
FMMU 0
SM0
Inputs 8000008A startbit 0
IOmapSize 2
Slaves mapped, state to SAFE_OP.
oloop = 1, iloop = 1
segments : 1 : 2 0 0 0
Request operational state for all slaves
Calculated workcounter 3
Operational state reached for all slaves.
Supported Boards#
EVKB-IMXRT1050
Hardware requirements
Mini/micro USB cable
Network cable RJ45 standard
EVKB-IMXRT1050 board
BECKHOFF EK1100 EtherCAT Coupler *1
BECKHOFF EL2008 *1
BECKHOFF EL1018 *1
Personal Computer
Board settings
No special settings are required.
Prepare the Demo
Connect a USB cable between the host PC and the OpenSDA USB port on the target board.
Power up the EtherCAT Coupler and connect it to the target board via an Ethernet Cable.
Open a serial terminal with the following settings:
115200 baud rate
8 data bits
No parity
One stop bit
No flow control
Write the program to the flash of the target board.
Press the reset button on your board to start the demo.
MIMXRT1060-EVKB
Hardware requirements
Mini/micro USB cable
Network cable RJ45 standard
EVKB-MIMXRT1060 board
BECKHOFF EK1100 EtherCAT Coupler *1
BECKHOFF EL2008 *1
BECKHOFF EL1018 *1
Personal Computer
Board settings
No special settings are required.
Prepare the Demo
Connect a USB cable between the host PC and the OpenSDA USB port on the target board.
Power up the EtherCAT Coupler and connect it to the target board via an Ethernet Cable.
Open a serial terminal with the following settings:
115200 baud rate
8 data bits
No parity
One stop bit
No flow control
Write the program to the flash of the target board.
Press the reset button on your board to start the demo.
MIMXRT1170-EVKB
Hardware requirements
Mini/micro USB cable
Network cable RJ45 standard
MIMXRT1170-EVKB board
BECKHOFF EK1100 EtherCAT Coupler *1
BECKHOFF EL2008 *1
BECKHOFF EL1018 *1
Personal Computer
Board settings
On MIMXRT1170-EVKB REVC board, GPIO_AD_32 uses as ENET_MDC in this example which is muxed with the SD1_CD_B, please check the R1926 and R136 connected to SD1_CD_B. If they are populated with resistor and SD card is inserted, this time enet can’t access PHY.
Prepare the Demo
Connect a USB cable between the host PC and the OpenSDA USB port on the target board.
Power up the EtherCAT Coupler and connect it to the target board via an Ethernet Cable.
Open a serial terminal with the following settings:
115200 baud rate
8 data bits
No parity
One stop bit
No flow control
Write the program to the flash of the target board.
Press the reset button on your board to start the demo.
MIMXRT1060-EVKC
Hardware requirements
Mini/micro USB cable
Network cable RJ45 standard
MIMXRT1060-EVKC board
BECKHOFF EK1100 EtherCAT Coupler *1
BECKHOFF EL2008 *1
BECKHOFF EL1018 *1
Personal Computer
Board settings
No special settings are required.
Prepare the Demo
Connect a USB cable between the host PC and the OpenSDA USB port on the target board.
Power up the EtherCAT Coupler and connect it to the target board via an Ethernet Cable.
Open a serial terminal with the following settings:
115200 baud rate
8 data bits
No parity
One stop bit
No flow control
Write the program to the flash of the target board.
Press the reset button on your board to start the demo.
FRDM-IMXRT1152
Hardware requirements
Type-C USB cable
Network cable RJ45 standard
FRDM-IMXRT1152 board
BECKHOFF EK1100 EtherCAT Coupler *1
BECKHOFF EL2008 *1
BECKHOFF EL1018 *1
Personal Computer
Board settings
Use the Gigabit Ethernet RJ45 port (J54).
Set JP2 to position 1-2.
Prepare the Demo
Connect a USB cable between the host PC and the OpenSDA USB port on the target board.
Power up the EtherCAT Coupler and connect it to the target board via an Ethernet Cable.
Open a serial terminal with the following settings:
115200 baud rate
8 data bits
No parity
One stop bit
No flow control
Write the program to the flash of the target board.
Press the reset button on your board to start the demo.
EVK-MIMXRT1020
Hardware requirements
Mini/micro USB cable
Network cable RJ45 standard
EVK-MIMXRT1020 board
BECKHOFF EK1100 EtherCAT Coupler *1
BECKHOFF EL2008 *1
BECKHOFF EL1018 *1
Personal Computer
Board settings
No special settings are required.
Prepare the Demo
Connect a USB cable between the host PC and the OpenSDA USB port on the target board.
Power up the EtherCAT Coupler and connect it to the target board via an Ethernet Cable.
Open a serial terminal with the following settings:
115200 baud rate
8 data bits
No parity
One stop bit
No flow control
Write the program to the flash of the target board.
Press the reset button on your board to start the demo.
MIMXRT1024-EVK
Hardware requirements
Mini/micro USB cable
Network cable RJ45 standard
MIMXRT1024-EVK board
BECKHOFF EK1100 EtherCAT Coupler *1
BECKHOFF EL2008 *1
BECKHOFF EL1018 *1
Personal Computer
Board settings
No special settings are required.
Prepare the Demo
Connect a USB cable between the host PC and the OpenSDA USB port on the target board.
Power up the EtherCAT Coupler and connect it to the target board via an Ethernet Cable.
Open a serial terminal with the following settings:
115200 baud rate
8 data bits
No parity
One stop bit
No flow control
Write the program to the flash of the target board.
Press the reset button on your board to start the demo.
MIMXRT1040-EVK
Hardware requirements
Mini/micro USB cable
Network cable RJ45 standard
EVK-MIMXRT1040 board
BECKHOFF EK1100 EtherCAT Coupler *1
BECKHOFF EL2008 *1
BECKHOFF EL1018 *1
Personal Computer
Board settings
No special settings are required.
Prepare the Demo
Connect a USB cable between the host PC and the OpenSDA USB port on the target board.
Power up the EtherCAT Coupler and connect it to the target board via an Ethernet Cable.
Open a serial terminal with the following settings:
115200 baud rate
8 data bits
No parity
One stop bit
No flow control
Write the program to the flash of the target board.
Press the reset button on your board to start the demo.
EVK-MIMXRT1064
Hardware requirements
Mini/micro USB cable
Network cable RJ45 standard
EVK-MIMXRT1064 board
BECKHOFF EK1100 EtherCAT Coupler *1
BECKHOFF EL2008 *1
BECKHOFF EL1018 *1
Personal Computer
Board settings
No special settings are required.
Prepare the Demo
Connect a USB cable between the host PC and the OpenSDA USB port on the target board.
Power up the EtherCAT Coupler and connect it to the target board via an Ethernet Cable.
Open a serial terminal with the following settings:
115200 baud rate
8 data bits
No parity
One stop bit
No flow control
Write the program to the flash of the target board.
Press the reset button on your board to start the demo.
MIMXRT1160-EVK
Hardware requirements
Mini/micro USB cable
Network cable RJ45 standard
MIMXRT1160-EVK board
BECKHOFF EK1100 EtherCAT Coupler *1
BECKHOFF EL2008 *1
BECKHOFF EL1018 *1
Personal Computer
Board settings
No special settings are required.
Prepare the Demo
Connect a USB cable between the host PC and the OpenSDA USB port on the target board.
Power up the EtherCAT Coupler and connect it to the target board via an Ethernet Cable.
Open a serial terminal with the following settings:
115200 baud rate
8 data bits
No parity
One stop bit
No flow control
Write the program to the flash of the target board.
Press the reset button on your board to start the demo.