This sample demonstrates how to control a physical axis and an I/O module.
- For Axis control: The sample powers on the axis (servo on), commands it to rotate approximately one revolution, and then powers it off (servo off).
- For I/O module control: The sample toggles output bit 0.
Source Files
| File | Description |
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The header file generated when creating the project using the wRTOS Application Template. |
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The source file contains the axis and I/O module control processes. |
Building the Sample
Build the sample in any of the four available configurations: Debug, Release (to build FieldbusEcatAxisIoModule.exe), RTSSDebug, or RTSSRelease (to build FieldbusEcatAxisIoModule.rtss).
Running the Sample
Run the compiled binary without any arguments.
Expected Results
- The axis rotates approximately one revolution.
- The I/O module's output bit 0 is toggled.
Remarks
If no physical axis or I/O module is connected, the system generates a simulated device during startup. However, simulated devices cannot be enabled or rotated using the E-CAT Fieldbus APIs. Therefore, a physical axis is required to run this sample.
