A test EtherCat/EtherLab based application that turns LEDs on and off (based on EtherLab/examples/user/main.c).
The code here assumes the following setup for the ethercat slaves (ethercat slaves command):
0 0:0 PREOP + EK1100 EtherCAT-Koppler (2A E-Bus)
1 0:1 PREOP + EL2202 2K. Dig. Ausgang 24V, 0.5A
2 0:2 PREOP + EL1252 2K. Fast Dig. Eingang 24V, 1us, DC Latch
3 0:3 PREOP + EL1252 2K. Fast Dig. Eingang 24V, 1us, DC Latch
4 0:4 PREOP + EL2252 2K. Dig. Ausgang 24V, 0.5A, DC Time Stamp
The application sets a timer to run the cyclic_task() routine FREQUENCY times per second.
This routine should normally check the current input and output states.
A call to ecrt_master_send(master) also needs to be made this frequently to avoid a watchdog timeout.
Note that the EL2202 will reset its outputs to 0 after 100ms if not updated.