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OpenEtherCATsociety / SOES

Simple Open Source EtherCAT Slave
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soes for ROS2 #114

Closed KennyRAS closed 2 years ago

KennyRAS commented 2 years ago

Dear Reader,

So i want to simulate an ethercat connection between device 1 and a motor_driver by using two computers. Computer 1 will have a SOEM_for_ROS2 library that supposedly can make a master_node.

But is it possible that Computer 2 can connect to Computer 1 with EtherCAT? If so, do i need a specific library or can i just use SOEM library? and can I connect to Computer 1, even if Computer 1 is running SOEM like it is in ROS2?

I was thinking of sending a very basic message, so that i can test if it works. But i'm kinda stuck where to go from here. Could someone give me a general guidance or suggestions?

Thanks for reading my problem.

Kenny

nakarlsson commented 2 years ago

EtherCAT slaves are run on dedicated HW, the ESC (EtherCAT Slave Controller). For SOEM running on Computer 1 to be able to talk to something on Computer 2 ujsing EtherCAT would require some ESC device on in Computer 2.

There might be ways forward, like having some SPI device on a Linux machine beeing Computer 2. Or Using the FC1100 from Beckhoff on a Windows PC.

On those kind of devices you can run for example SOES acting as the "Motor" slave.

nakarlsson commented 2 years ago

To connect SOEM on Computer1 to Computer 2 not using EtherCAT would mean implementing a new transport layer.

nakarlsson commented 2 years ago

@KennyRAS , can we close this?

KennyRAS commented 2 years ago

Yes we can close it. Thnx for all the help!

I've learned a lot about ROS and communication protocols.

On Thu, Jun 9, 2022, 14:38 nakarlsson @.***> wrote:

@KennyRAS https://github.com/KennyRAS , can we close this?

— Reply to this email directly, view it on GitHub https://github.com/OpenEtherCATsociety/SOES/issues/114#issuecomment-1151067514, or unsubscribe https://github.com/notifications/unsubscribe-auth/AMAIEBCWWTAL65RSHM242RTVOHQSXANCNFSM5R3CCL3A . You are receiving this because you were mentioned.Message ID: @.***>