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--- realtime_control_environment_setup [24.07.2019 18:03] – [Boot the target and test xPC] Guoping Zhao
+++ realtime_control_environment_setup [27.11.2022 22:58] (aktuell) – Externe Bearbeitung 127.0.0.1
@@ Zeile 1: / Zeile 1: @@
 ====== Realtime control environment setup ======
+**Author**: Guoping Zhao, Lauflabor (www.lauflabor.de), TU Darmstadt, Germany
+**Date**: July, 2019
+----
 There are lots of different ways to set up a realtime control environment for a robotic system. Here, we choose **Matlab simulink realtime toolbox** (xPC) as the software framework because:
@@ Zeile 183: / Zeile 189: @@
 ==== EtherCAT slave configuration ====
+This part is well documented by Mathworks. Please find the detailed info [[https://www.mathworks.com/help/xpc/ug/generate-eni-files-for-ethercat-devices.html|here]].
+===== Run Simulink in Realtime =====
+In order to run the simulink in realtime (on the target machine) with EtherCAT, the EtherCAT Init block is needed. The configure file, PCI bus number, and the PCI slot number has to be configured correctly according to the setup.
+{{:ethercatinitblock.png?500|}}
+In addition, the solver of the simulink model has to be configured as "Fixed-step" and "discrete". The "fixed-step size" has to be configured the same as the EtherCAT communication frequency. E.g. 0.001 denote 1kHz control frequency.
-* Connect EtherCAT slave to your host computer with ethernet cable.
+{{:simulinkmodelconfig2.png?800|}}
-* Open ET9000 software.
-h2. Test xPC with EtherCAT
+And the "System target file" in the "Code Generation" has to be configured as "slrt.tlc".
-h3. Demo1: Digital IO
+{{:simulinkmodelconfig1.png?800|}}
-!simulinkmodelconfig1.png!
-!simulinkmodelconfig2.png!
-!ethercatinitblock.png!
-h3. Demo2: Analog IO
-h3. Demo3: Motor Current Control