Hi, many thanks for the rapid answer.
i think my problem is the linuxcnc-ethercat module not creating the double domain input/output. I have .xml file where i can configure PDOs but the results is only one domain. "ethercat domains -v" list only one domain. The ecrt_domain_process() call is made in the lcec_main.c of the linuxcnc-ethercat module, but i don't have understood how domains definition works on xml file. I'll read better documentation to understand this point. Thanks. > Il 11/01/2021 21:41 Graeme Foot <graeme.f...@touchcut.com> ha scritto: > > > > 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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