Usage

Start EtherCAT Master

First start the EtherCAT Master

$ sudo /etc/init.d/ethercat start

it should print

Starting EtherCAT master 1.5.2  done

You can check connected slaves:

$ ethercat slaves

It should print information of connected slave device:

<id>  <alias>:<position>  <device_state>  +  <device_name>

Note

If nothing is displayed or some slave modules are missing, it means that your EtherCAT Master is either not well configured, or that the connection on your field-bus is interrupted.

Launch configuration

Once the EtherCAT Master is running you can go on and launch your configuration package.

$ ros2 launch [package] [launchfile]