Hi Michele, I use ecrt_master_create_domain() to create three domains. One for general modules and the other two for the modules that require LRD & LWR.
I configure each slaves PDO’s by calling ecrt_slave_config_pdos() and then ecrt_slave_config_reg_pdo_entry() for each PDO entry I want to attach too. ecrt_slave_config_reg_pdo_entry() takes a domain parameter, so this is where you choose which domain is suitable for the entry. From what I understand, the first entry from a sync group to be placed into a domain will place all entries from that sync group into the domain. The master will return an error if you try to put entries from the same sync group into different domains. In the realtime loop you call: ecrt_master_receive() ecrt_domain_process() <- called for each of your three domains ecrt_domain_queue() <- called for each of your three domains ecrt_master_send() Regards, Graeme. From: Etherlab-users <etherlab-users-boun...@etherlab.org> On Behalf Of michele.barsac...@libero.it Sent: Tuesday, 12 January 2021 5:16 am To: etherlab-users@etherlab.org Subject: [Etherlab-users] Etherlab-master & linuxcnc Hi, i'am using etherlab-master with linuxcnc-ethercat project with good results. I try to configure a new drive (ESTUN ED3M) that has the "enablenotLRW=yes" flag setted. I should probably configure two domains, one LRD and one LWR. Do you have some examples to configure multiple domains? Is there documentation to explain this feature? I have consulted on the subject several forums but I have not found anything concrete. I'm not very expert, i'm new of ethercat! Thanks, Michele
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