This repository contains example code (orginiated from and similar to the examples in IgH EtherCAT Master library),
written for motion control of two servomotors connected to LS Mecapion L7N servo drives in CSP mode. The codes are extensively
commented to facilitate the conversion process to accommodate different setups.
Additionally, in Documentation folder, you will find step-by-step procedures for installing:
and a few suggestions for improving the real-time properties of PREEMPT_RT.
To run the programs, after installing the IgH Master library, copy-and-replace each in the examples
folder, and
~/stable-1.5/examples/usr
,
make clean
make
./ec_user_example
to run the userspace process. /usr/local/src/ethercat/examples/rtai
,
make clean
make modules
insmod ec_rtai_sample.ko
to load the kernel module (and start the hard real-time task).