EtherCAT Setup

ESI File Installation

The TK EtherCAT Slave Information (ESI) file is included in the firmware package at $TKND_FIRMWARE_PKG/esi/Tendonkindle_TK_Series.xml. Copy it to your EtherCAT master's ESI directory:

sudo cp Tendonkindle_TK_Series.xml \
  /etc/ethercat/esi/

The ESI file covers all three TK models. Object dictionary entries differ by model — check Device.Name = TK-120 / TK-240 / TK-480 in the file.

Bus Scan with IgH

After connecting actuators in daisy-chain topology and applying 48 VDC:

ethercat slaves
# Output:
# 0  0:0  PREOP  +  Tendonkindle TK-120
# 1  0:1  PREOP  +  Tendonkindle TK-240
# 2  0:2  PREOP  +  Tendonkindle TK-480

Each slave comes up in PREOP state. Request SAFEOP and then OP:

ethercat states -a OP

CoE Object Dictionary (Key Entries)

SOEM Example (C++)

#include <soem/ethercat.h>
#include <cstdio>

int main() {
  char iface[] = "eth0";
  if (ec_init(iface) > 0) {
    if (ec_config_init(FALSE) > 0) {
      ec_config_map(&IOmap);
      ec_configdc();
      ec_statecheck(0, EC_STATE_SAFE_OP, EC_TIMEOUTSTATE);
      ec_slave[0].state = EC_STATE_OPERATIONAL;
      ec_writestate(0);
      int8_t *mode = (int8_t*)ec_slave[1].outputs;
      *mode = 10; // cyclic sync torque mode
      ec_send_processdata();
      ec_receive_processdata(EC_TIMEOUTRET);
    }
    ec_close();
  }
  return 0;
}

Mode 8 = cyclic sync position; Mode 9 = cyclic sync velocity; Mode 10 = cyclic sync torque. Set via object 0x6060.

IgH EtherCAT Master Config

Add to /etc/ethercat.conf:

MASTER0_DEVICE="eth0"
MASTER0_BACKUP=""
DEVICE_MODULES="generic"

Then restart the master and verify slaves are detected:

sudo systemctl restart ethercat
ethercat slaves