Hi sirop,
thank you very much for your help
You were right: I hadn't installed the newest ethercat master. I didn't know the ec-debianize git. I reinstalled my system and used that git, but it didn't solve the problem.
sirop wrote: This Arduino slave has no DC functionality,
The EasyCAT-Shield uses a LAN9252 chip (with µC SPI-Interface), which supports distributed clocks. The output of ethercat slaves -v is: "[...]Distributed clocks: yes, 64 bit[...]".
I tried a lot and finally I figured out a solution. I don't know if it's the best way, but it works. And sorry that I didn't write earlier :blush:
In the original ESI-File of the EasyCAT-Shield (
www.bausano.net/images/arduino-easycat/EasyCAT.xml
) the index and subindices of the pdoEntries of the outputs and inputs are equal. So the outputs and inputs are only kept apart by the configured channels.
This shouldn't be a problem!!! But for a try I changed the pdoEntry Index of the Inputs in the ESI-File to another value (e.g. #x0006) and wrote it onto the Slave-EEPROM of the EasyCAT-Shield. Of course I also changed the entries in the ethercat-conf.xml and now it works.
My ESI-File
There shouldn't be any problems with equal pdoEntry Indices on generic slaves on different channels - but unfortunately there might be some.
Best regards and thanks for your help!
P.S.:
I don't know if "channel" is the correct term. In my post "channel" means the PDO-Groups which are defned with indices in the RxPdo or TxPdo tag. For Example
Code:
[...]
<RxPdo [...]>
<Index>[Channelindex]</Index>
[...]
In the EasyCAT case the index of the "output-channel" is #x1600 and of the "input-channel" #x1A00.
