Beaglebone Black上使用Codesys开发EtherCAT（三）
配置EtherCat主站1.在https://img-blog.csdn.net/20170729151408442?watermark/2/text/aHR0cDovL2Jsb2cuY3Nkbi5uZXQvZ3Bfc2NvcHJpdXM=/font/5a6L5L2T/fontsize/400/fill/I0JBQkFCMA==/dissolve/70/gravity/SouthEast右键选择添加设备，添加etherCAT主站https://img-blog.csdn.net/20170729151457228?watermark/2/text/aHR0cDovL2Jsb2cuY3Nkbi5uZXQvZ3Bfc2NvcHJpdXM=/font/5a6L5L2T/fontsize/400/fill/I0JBQkFCMA==/dissolve/70/gravity/SouthEast
2. 双击https://img-blog.csdn.net/20170729151408442?watermark/2/text/aHR0cDovL2Jsb2cuY3Nkbi5uZXQvZ3Bfc2NvcHJpdXM=/font/5a6L5L2T/fontsize/400/fill/I0JBQkFCMA==/dissolve/70/gravity/SouthEast打开device配置界面
3. 点击扫描网络，获取当前在线的beaglebone设备
https://img-blog.csdn.net/20170729151622309?watermark/2/text/aHR0cDovL2Jsb2cuY3Nkbi5uZXQvZ3Bfc2NvcHJpdXM=/font/5a6L5L2T/fontsize/400/fill/I0JBQkFCMA==/dissolve/70/gravity/SouthEast
4. 选择beaglebone设备
https://img-blog.csdn.net/20170729151721590?watermark/2/text/aHR0cDovL2Jsb2cuY3Nkbi5uZXQvZ3Bfc2NvcHJpdXM=/font/5a6L5L2T/fontsize/400/fill/I0JBQkFCMA==/dissolve/70/gravity/SouthEast
5. 双击https://img-blog.csdn.net/20170729151935121?watermark/2/text/aHR0cDovL2Jsb2cuY3Nkbi5uZXQvZ3Bfc2NvcHJpdXM=/font/5a6L5L2T/fontsize/400/fill/I0JBQkFCMA==/dissolve/70/gravity/SouthEast打开主站配置界面，配置资源地址为eth0
6. 点击编译->编译对当前工程进行编译
7. 点击在线->登录到下载当前程序到beaglebone，点击调试->启动按钮运行
https://img-blog.csdn.net/20170729152104784?watermark/2/text/aHR0cDovL2Jsb2cuY3Nkbi5uZXQvZ3Bfc2NvcHJpdXM=/font/5a6L5L2T/fontsize/400/fill/I0JBQkFCMA==/dissolve/70/gravity/SouthEast
配置EtherCat从站1. 右键https://img-blog.csdn.net/20170729151935121?watermark/2/text/aHR0cDovL2Jsb2cuY3Nkbi5uZXQvZ3Bfc2NvcHJpdXM=/font/5a6L5L2T/fontsize/400/fill/I0JBQkFCMA==/dissolve/70/gravity/SouthEast选择“扫描设备”，扫描当前的ethercat从站（确认从站正确连接）
https://img-blog.csdn.net/20170729152321666?watermark/2/text/aHR0cDovL2Jsb2cuY3Nkbi5uZXQvZ3Bfc2NvcHJpdXM=/font/5a6L5L2T/fontsize/400/fill/I0JBQkFCMA==/dissolve/70/gravity/SouthEast
2. 点击“复制所有设备到工程中”
https://img-blog.csdn.net/20170729152518838?watermark/2/text/aHR0cDovL2Jsb2cuY3Nkbi5uZXQvZ3Bfc2NvcHJpdXM=/font/5a6L5L2T/fontsize/400/fill/I0JBQkFCMA==/dissolve/70/gravity/SouthEast
3 点击在线->退出，退出登录
4. 双击Ethercat从站设备，进入编辑界面
5. 选择Ethercat I/O映射，配置一直更新变量为“启用2（总是在总线循环任务）”
6. 重新编译，登录，运行程序
https://img-blog.csdn.net/20170729152717917?watermark/2/text/aHR0cDovL2Jsb2cuY3Nkbi5uZXQvZ3Bfc2NvcHJpdXM=/font/5a6L5L2T/fontsize/400/fill/I0JBQkFCMA==/dissolve/70/gravity/SouthEast
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