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Necessary hardware and sotware for this training
The same like in ECS SimpleConfig Example exercise. Follow the steps 1 till 3 and use here now netX 90 - EtherCAT Slave - dynamicPDO V3.0.0.0
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#define ECS_NUMBER_OF_RX_SUBINDX_INCL_SUB0 4 |
Hint:
The slave application allways needs to decide if the requested PDO data from EtherCAT master is possbil or is not possible.
For example, if If the slave has plugable input and output hardware, the application need to check what is connectd. If the slave has only connected input hardware and in the EtherCAT master project is choosen output hardware, than the EtherCAT slave can handle only input data and no output data.
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