Hello Lucas,
I am not sure to what "code syntax" you refer to. I think it is best to
start with a basic Simulink model to read/write all the slave data.
So I guess you would "write code" in Simulink using function blocks. So:
*
|/opt/etherlab/bin/ethercat pdos --skin etherlab|||
*
|create matlab functions from that|
* |create a simulink model with either generic slave blocks pointing
to these Matlab functions or use pre-defined Beckhoff slave blocks,
if applicable|
* |you have to configure the slave blocks according to your
configuration, which you read out with the `ethercat pdos` command|
* |you have to create a test manager application to see the signals of
the Simulink model|
I wrote a basic tutorial for my team, unfortunately in German, but the
code should stand for itself:
*
|a few commands to start working:
https://github.com/SchapplM/etherlab-examples/blob/master/README.MD#eigene-modelle-erstellen|
* Basic model to read out one slave:
https://github.com/SchapplM/etherlab-examples/tree/master/ixxat
Perhaps this helps you.
Best regards,
Moritz
On 07.04.20 17:54, Lucas Gregorio wrote:
> Hello to all,
> I am a beginner on Etherlab and I have six Delta motors. Previously, I
> got them working regularly on TwinCAT (Windows). Turns out I need them
> working on Linux and I could successfully install Etherlab on my
> Ubuntu 18.04 with 4.19 kernel, and all sysconfig commands from
> tutorial worked just fine.
> But now I want to write the code for my servos using the user example
> file, but I can't find any good documentation explaining the code
> syntax (what are the command variables, feedback and so on). Could
> anyone please give me a light on how to start? Any documentation or
> guidance should help me a lot.
> Thank you,
> Lucas.
>
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> etherlab-users@etherlab.org
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--
__________________________________________________________
M. Sc. Moritz Schappler
Wissenschaftlicher Mitarbeiter und Gruppenleiter
Robotik & autonome Systeme
Gottfried Wilhelm Leibniz Universität Hannover
Institut für Mechatronische Systeme
An der Universität 1, Gebäude 8142 (Etage 1, Raum 108)
30823 Garbsen
Fon: +49 (0)511 762-4116
Fax: +49 (0)511 762-19976
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