I am looking at a sensor that has ethercat, and assuming I could add it as a slave on the bus. But I am wondering what happens if I turn this on an off. I have other slave devices, and if I turn them off, I have to hit the reset button in the I/O driver. Can this be done programmatically?
ethercat question
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wes_mcgee -
May 2, 2014 at 10:10 PM -
Thread is Resolved
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I THINK so. I don't have my manuals in reach, but usually there's a way to programatically drop slaves of the bus then bring them back. Usually used for too change situations.
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Hm. I'm not finding one. Which is odd... I know from previous experience that dis/re-connecting slaves to a bus uses an IOCTL function in KRL. The KSS 8.x Compatibility manual mentions briefly that the IOCTL function has been updated for KRC4s to use the bus name rather than an integer handle, but that's pretty much all the docs say. I've found specific uses for EIP, ProfiBus, DeviceNet in KRC4s, but nothing for EtherCat.
Given that the KLI bus is taking the "integral I/O" place that the MFC DeviceNet held in the KRC2, I'd be shocked if there's no IOCTL commands for it. But there doesn't appear to be any mention in the standard docs package.
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I havent tried it but you must be able to do it as the emd runs on ethercat and gets connected and disconnected ?
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In WV in topolgy for the Extension bus if you right click the B to A line on the out feed from the krc you can select Dissconnectable ?
Give the module an alias address thats as far i got lol
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Cool
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It is possible to toggle between manual and automatic restart of EtherCAT nodes. In the file C:\KRC\ROBOTER\Config\User\Common\ECAT_SYS_X44.xml you can set this.
RestartMode="auto"
RestartMode="manual"
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