On Sun, Sep 30, 2012 at 8:46 PM, Uwe Fechner <u [dot] fechner [..] ...> wrote:
> Hello,
>
> I installed ROS and OROCOS and the SOEM drivers successfully
> as documented here:
>
> http://www.kieltech.de/uweswiki/ROS
>
> Can anybody provide a basic example of an OROCOS component
> how to use these drivers, e.g.for blinking with an LED
> connected to an output of a EL 2008 digital I/O module?
>
> Where do I configure to which Ethernet port the Ethercat modules are
> connected to?

It's a property of the master component you need to set before calling
configure().

>
> Where do I configure which modules are connected?

They are automatically discovered. The only thing that can go wrong is
that no slave driver is present for your module. In that case it will
report about the slave but tell you the driver is missing. That's the
point where you start writing your own. We typically then also write a
Service which lives in the master component to 'Orocos-ify' the slave
input/output signals.

Peter

2012/9/30 Uwe Fechner <u [dot] fechner [..] ...>

> Hello,
>

Hello,

>
> I installed ROS and OROCOS and the SOEM drivers successfully
> as documented here:
>
> http://www.kieltech.de/uweswiki/ROS
>
> Can anybody provide a basic example of an OROCOS component
> how to use these drivers, e.g.for blinking with an LED
> connected to an output of a EL 2008 digital I/O module?

> Where do I configure to which Ethernet port the Ethercat modules are
> connected to?
>

you should check
soem_master_component.cpp<http://git.mech.kuleuven.be/?p=robotics/soem.git;a=blob_plain;f=soem_master/soem_master_component.cpp;hb=HEAD>:
it has a property named *ifname* who contains the name of the interface to
which the ethercat device is connected

>
> Where do I configure which modules are connected?
>

when you configure the *SoemMasterComponent*, it creates a driver (you will
see them as services) for each slave connected to the EtherCAT Master
(check lines 84-107 of soem_master_component.cpp) that is listed in
ethercatconfiglist.h (inside soem_core) and described in a specific file
inside the soem_beckhoff_drivers/src folder

Best regards:
>
> Uwe Fechner
>

Best regards,
Nicola Preda

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