ethercat CLIThe IgH EtherCAT master provides a command line interface (CLI) which is a very powerful tool. The most common commands will be explained here.
ethercat masterThis will show the state of all masters on the respective host.
The command will show the state of all masters. To limit the command to a single master, make use of the -m parameter.
The -m parameter is available to all ethercat commands, and is even require by some in case of multiple masters. Check the help by issuing ethercat -h for details.
Example:
ethercat master
Master0
Phase: Operation
Active: yes
Slaves: 38
Ethernet devices:
Main: b4:7a:f1:30:7e:d5 (attached)
Link: UP
Tx frames: 133210322
Tx bytes: 11957093893
Rx frames: 133210320
Rx bytes: 11957093737
Tx errors: 0
Tx frame rate [1/s]: 500 500 500
Tx rate [KByte/s]: 43.4 43.4 43.3
Rx frame rate [1/s]: 500 500 500
Rx rate [KByte/s]: 43.4 43.4 43.3
Common:
Tx frames: 737445202
Tx bytes: 114898987125
Rx frames: 737445184
Rx bytes: 114898984314
Lost frames: 18
Tx frame rate [1/s]: 500 500 500
Tx rate [KByte/s]: 43.4 43.4 43.3
Rx frame rate [1/s]: 500 500 500
Rx rate [KByte/s]: 43.4 43.4 43.3
Loss rate [1/s]: 0 0 0
Frame loss [%]: 0.0 0.0 0.0
Distributed clocks:
Reference clock: Slave 0
DC reference time: 708164169043902491
Application time: 708427716430011969
2022-06-13 09:28:36.430011969
In case the numbers mostly zero, check the link state.
Ethernet devices:
Main: b4:7a:f1:30:7e:d5 (attached)
Link: UP <--- HERE
If the link is DOWN, try bringing the network device up manually.
This, can be done with ip link set <nameOfNetworkDevice> up
If the device name is unknown, check with ip link show and search for the MAC the EtherCAT master is bound to.
ethercat slavesAs the command suggest, this will provide a list of the EtherCAT slaves.
Example:
ethercat slaves
0 0:0 PREOP + EK1100 EtherCAT Coupler (2A E-Bus)
1 0:1 PREOP + EL9227-5500 ?berstromschutz 24V DC, 2K., max. 10A (Summe), eins
2 0:2 PREOP + EL1034 4K. Dig. Eingang 24V, potenzialfrei, 10?s
3 0:3 PREOP + EL5042 2Ch. BiSS-C Encoder
4 0:4 PREOP + EL5042 2Ch. BiSS-C Encoder
5 0:5 PREOP + EL9410 E-Bus Netzteilklemme (Diagnose)
6 0:6 PREOP + EL9576 Bremschopper Klemme
7 0:7 PREOP + EL7041 1Ch. Stepper motor output stage (50V, 5A)
8 0:8 PREOP + EL7041 1Ch. Stepper motor output stage (50V, 5A)
9 0:9 PREOP + EL7041 1Ch. Stepper motor output stage (50V, 5A)
10 0:10 PREOP + EL7041 1Ch. Stepper motor output stage (50V, 5A)
11 0:11 PREOP + EK1100 EtherCAT-Koppler (2A E-Bus)
12 0:12 PREOP + EL9227-5500 ?berstromschutz 24V DC, 2K., max. 10A (Summe), eins
13 0:13 PREOP + EL1034 4K. Dig. Eingang 24V, potenzialfrei, 10?s
14 0:14 PREOP + EL1034 4K. Dig. Eingang 24V, potenzialfrei, 10?s
15 0:15 PREOP + EL1034 4K. Dig. Eingang 24V, potenzialfrei, 10?s
16 0:16 PREOP + EL5042 2Ch. BiSS-C Encoder
17 0:17 PREOP + EL5042 2Ch. BiSS-C Encoder
18 0:18 PREOP + EL5042 2Ch. BiSS-C Encoder
19 0:19 PREOP + EL3314 4K. Ana. Eingang Thermoelement (TC)
20 0:20 PREOP + EL9410 E-Bus Netzteilklemme (Diagnose)
21 0:21 PREOP + EL9576 Bremschopper Klemme
22 0:22 PREOP + EL7041 1Ch. Stepper motor output stage (50V, 5A)
23 0:23 PREOP + EL7041 1Ch. Stepper motor output stage (50V, 5A)
24 0:24 PREOP + EL7041 1Ch. Stepper motor output stage (50V, 5A)
25 0:25 PREOP + EL7041 1Ch. Stepper motor output stage (50V, 5A)
26 0:26 PREOP + EL7041 1Ch. Stepper motor output stage (50V, 5A)
27 0:27 PREOP + EL7041 1Ch. Stepper motor output stage (50V, 5A)
28 0:28 PREOP + EKM1101 EtherCAT Coupler (2A E-Bus, ID switch, Diagnostics, is
29 0:29 PREOP + ELM3004-0000 4K. Ana. Eingang +/-30V, 24 bit, hochgenau
30 0:30 PREOP + ELM3146-0000 6Ch. Ana. Input +/-10V, +/-20mA, 24 bit, high prec
31 0:31 PREOP + ELM3602-0002 2Ch. IEPE Sensor, 24 bit, high precision
32 0:32 OP + EP7047-1032 1K. Schrittmotor-Endstufe (50V, 5A)
33 0:33 OP + EP5001-0002 1K. SSI Encoder
34 0:34 PREOP + EP7041-0002 1K. Schrittmotor-Endstufe (50V, 5A)
35 0:35 PREOP + EP7211-0034 1Ch. MDP742 Servo motor output stage with OCT (50V,
36 0:36 PREOP + EP7211-0034 1K. MDP742 Servo-Motor-Endstufe mit OCT (50V, 4,5A
37 0:37 PREOP + EP7211-0034 1K. MDP742 Servo-Motor-Endstufe mit OCT (50V, 4,5A
ethercat sdosDownload and display the service data objects.
Use with caution as this command can take a long time to fetch all data. It is advised to limit the download to the specific slave in question, with the -p <slaveID> parameter.
ethercat pdosSimilar to the sdos counterpart, this command will fetch the currently applied process data objects.
To avoid excessive output, it is advised to limit the command to a single slave.
ethercat uploadWith this command the value of a register can be fetched.
If the type is not explicitly given, first issue ethercat -p <slaveID> sdos. This will allow implicit type handling.
Example:
Fetch content of register 0x8020, sub-register 0x05 from slave 32.
ethercat upload -m0 -p32 0x8020 0x05
0x03e8 1000
ethercat downloadWith this command the value of a register can be set on the slave.
If the type is not explicitly given, first issue ethercat -p <slaveID> sdos. This will allow implicit type handling.
Example:
Set value of register 0x8010, sub-register 0x07 from slave 7 to 314.
ethercat download -m0 -p7 0x8010 0x07 314
ethercat statesWith this command a specific state of a slave can be forced, or at least an attempt to enter the specific state is made.
This is helpful when a slave is stuck, e.g. with an error. Rather than cycle the power of the entire controller, the slave can be set to ‘REBOOT’. This might be enough to recover.
Alternatively, cycling to ‘INIT’ and back to ‘OP’ might also be attempted.
A power cycling of the of the EtherCAT components is the last resort!