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soem_servo_motor_bm

soem_servo_motor_bm#

Overview#

This example demonstrates how to use the Simple Open EtherCAT Master (SOEM) Library to control servo-motor.

In this example there are 2 servo-motor:

DELTA_ASDA_B3  * 1

INOVANCE_SV680 * 1

Running the demo#

When the demo is running, the serial port will output:

NETC EP frame loopback example start.
Starting motion task
ec_init on netc0 succeeded.
ec_config_init 0
...
2 slaves found and configured.
ec_config_map_group IOmap:20000664 group:0
>Slave 1, configadr 1001, state  2
...
SM programming
SM2 Type:3 
StartAddr:1200 Flags:   10064
...
Slaves mapped, state to SAFE_OP.
Request operational state for all slaves
Calculated workcounter 6
Request operational state for all slaves
Calculated workcounter 6
Operational state reached for all slaves.

Note: Detailed SOEM performance please refter to EtherCAT Benchamrk.

Supported Boards#

MIMXRT1180-EVK
Hardware requirements

  • Mini/micro USB cable

  • Network cable RJ45 standard

  • MIMXRT1180-EVK board

  • Personal Computer

  • Servo-Motor

    DELTA_ASDA_B3 * 1

    INOVANCE_SV680 * 1

Board settings

No special settings are required.

Prepare the Demo

  1. Connect a USB cable between the host PC and the OpenSDA USB port on the target board.

  2. Power up the servo-motor and connect it to the target board(ENET4) via an Ethernet Cable.

  3. Open a serial terminal with the following settings:

    • 115200 baud rate

    • 8 data bits

    • No parity

    • One stop bit

    • No flow control

  4. Write the program to the flash of the target board.

  5. Start the demo and test SOEM performance.

FRDM-MIMXRT1186
Hardware requirements

  • Type-C USB cable

  • Network cable RJ45 standard

  • FRDM-IMXRT1186 board

  • BECKHOFF EK1100 EtherCAT Coupler *1

  • BECKHOFF EL2008 *1

  • BECKHOFF EL1018 *1

  • Personal Computer

Board settings

  • J12(1-2)/J13(2-3): ETH0 Function Via J56A.

  • J18(1-2)/J17(2-3): ETH2 Function Via J56B.

Prepare the Demo

  1. Connect a USB cable between the host PC and the OpenSDA USB port on the target board.

  2. Power up the EtherCAT Coupler and connect it to the target board(J56-A) via an Ethernet Cable.

  3. Open a serial terminal with the following settings:

    • 115200 baud rate

    • 8 data bits

    • No parity

    • One stop bit

    • No flow control

  4. Write the program to the flash of the target board.

  5. Press the reset button on your board to start the demo.

IMX943-EVK
Hardware requirements

  • Mini/micro USB cable

  • Network cable RJ45 standard

  • i.MX943-EVK board

  • Personal Computer

  • Servo-Motor DELTA_ASDA_B3 * 1 INOVANCE_SV680 * 1

Board settings

No special settings are required.

Prepare the Demo

  1. Connect a USB cable between the host PC and the OpenSDA USB port on the target board.

  2. Power up the servo-motor and connect it to the target board(J26) via an Ethernet Cable.

  3. Open a serial terminal with the following settings:

    • 115200 baud rate

    • 8 data bits

    • No parity

    • One stop bit

    • No flow control

  4. Write the program to the flash of the target board.

  5. Start the demo and test SOEM performance.

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