soem_servo_motor_rt1180_bm#
Overview#
This example demonstrates how to use the Simple Open EtherCAT Master (SOEM) Library to control motor.
In this example there are 2 NXP EVK board:
SOEM as EtherCAT MainDevice running on EVK board(i.MXRT1180/FRDM-1186/i.MX943)
ecat_servo_motor example as EtherCAT SubDevice running on i.MXRT1180 EVK board
Note:
ecat_servo_motor path: .../boards/evkmimxrt1180/ecat_examples/servo_motor
Running the demo#
If the test passes, the motor will start to retate.
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
...
1 slaves found and configured.
ec_config_map_group IOmap:20000664 group:0
>Slave 1, configadr 1001, state 2
...
Slaves mapped, state to SAFE_OP.
Request operational state for all slaves
Calculated workcounter 3
Request operational state for all slaves
Calculated workcounter 3
Operational state reached for all slaves.
Note: Modify GPT timer frequncy >= 200MHz to get more accurate timer.
Note: Detailed SOEM performance please refter to EtherCAT Benchamrk.