EtherCAT CSV Mode Motor Control Demo

Introduction

This is a motor control demo program based on IGH EtherCAT Master, demonstrating how to control a servo motor in CSV (Cyclic Synchronous Velocity) mode using EtherCAT communication.

System Requirements

• Ubuntu 20.04/22.04/24.04
• IGH EtherCAT Master (v1.5.3)
• Servo drive supporting CiA402 protocol

Installation

1. Install Required Tools

sudo apt-get update
sudo apt-get upgrade
sudo apt-get install git autoconf libtool pkg-config make build-essential net-tools

2. Install IGH EtherCAT Master

git clone https://gitlab.com/etherlab.org/ethercat.git
cd ethercat
git checkout stable-1.5
./bootstrap
./configure --prefix=/usr/local/etherlab --disable-8139too --disable-eoe --enable-generic
make all modules
sudo make modules_install install
sudo depmod

3. Configure System

sudo ln -s /usr/local/etherlab/bin/ethercat /usr/bin/
sudo ln -s /usr/local/etherlab/etc/init.d/ethercat /etc/init.d/ethercat
sudo mkdir -p /etc/sysconfig
sudo cp /usr/local/etherlab/etc/sysconfig/ethercat /etc/sysconfig/ethercat

4. Network Configuration

1. Create udev rule:

echo 'KERNEL=="EtherCAT[0-9]*", MODE="0666"' | sudo tee /etc/udev/rules.d/99-EtherCAT.rules

2. Configure EtherCAT network adapter:

sudo gedit /etc/sysconfig/ethercat

Modify MAC address and driver in the configuration file:

MASTER0_DEVICE="xx:xx:xx:xx:xx:xx"  # Replace with your network card's MAC address
DEVICE_MODULES="generic"

Usage

1. Start EtherCAT Master

sudo /etc/init.d/ethercat start

2. Build the Program

git clone https://github.com/ZeroErrControl/eRob_IGH_EtherCAT.git
cd eRob_IGH_EtherCAT
mkdir build
cd build
cmake ..
make

3. Run the Program

./igh_driver

Program Features

• Automatic state machine transition for slave devices (from INIT to OPERATION ENABLED)
• In OPERATION ENABLED state, the motor will run at target velocity 10000 (units depend on drive configuration)
• Real-time display of actual motor velocity and status information

Important Notes

1. Ensure EtherCAT master is properly started before running the program
2. Verify network configuration and slave device detection
3. Check slave status using:

ethercat slaves

Safety Precautions

• Ensure the motor is securely mounted before first run
• Start with lower velocity values for testing
• Make sure emergency stop measures are in place

Troubleshooting

If you encounter issues, check:

1. EtherCAT master status
2. Network connection
3. Slave device status
4. Program execution permissions (sudo required)

License

This project is open source and provided for reference only. Please use with caution. The author is not responsible for any damages or losses.