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The number just after "dataInExchanger=" represents the position of slave in the EtherCAT chain topology. The value 0 is reserved for the EtherCAT master, therefore it is never used. Numbering starts at 1, for the first slave connected to the simulator and it increments for each slave connected in the network (following a daisy chain topology). If ever in doubt, the user can activate the verbose mode of the driver, re-load the simulation at which point the entire slave network topology will be outputted in RT-LAB's display. Each slave's information will be displayed, along with its index (address) within the EtherCAT network. This is the index that needs to be used in the connections.opal file.
The name that follows the index in the "dataInExchanger" item is characteristic to the type of the module at that position in the network. For a full description of what names are possible, please consult the table in the following section.
For the "dataInProcess" item, the names that come after "OpInput:" and "OpOutput:" refer to the names of OpInput and OpOutput Simulink blocks. Therefore, it is important to make sure that those names are unique in the model.
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The modules listed in the table below have been tested and proved to be compatible with the present EtherCAT master driver. Support of more modules is possible. Please contact Opal-RT Technologies for more information.
The description of supported EtherCAT slave modules and their possible connection points is as follows:
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