Hi: I've got a Beckhoff Serialport module EL6002, and want to use it under CoE protocol with 1000hz scan rate in RTAI platform (Master: ethercat-1.4.0-rc3).
I have read documents come with the master package and RTAI examples (in c/c++ code, but there is no usage example of serial port). I want to access some PDO data such as "Init request", "Transmit request", "Input length" etc to do serial port initialization, reading and sending. Should I use "ecrt_slave_config_reg_pdo_entry( ) " to get some offset and be able to access those PDO contents? Should this function be called before " * ecrt_domain_data( ) " or after. How to config the Baudrate, Parity, etc? I need some directions on this. Any c code example will be great. Thanks in advance. -- Jason Xu Motion Design Ltd New Zealand Tel: +64 9 411 8230 Fax: +64 9 411 8237 Email: [email protected]
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