EtherCAT Client

EtherCAT Client Architecture

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Code documentation

It’s possible to generate the doxygen documentation to read the code of the EtherCAT client:

doxygen Doxyfile

Link to the documentation

Slave Configuration files

The suggestion is to create a directory with this sub-directories:

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joint_config: Here it’s possible to save different slaves configuration files.
joint_map: File of the slave map (id—>name).
“robot_file”: This is an optional file where there are the links to urdf,srdf, model_type and is_model_floating_base information. If this file is present and the user wants to use it, it’s better to save the main directory into a workspace where it’s possible to find the urdf and srdf.

Motor Setup