npm install node-soem
Make sure to have git and cmake installed on you system. The installation process builds a shared library from the Simple Open EtherCAT Master.
Basically following the C API.
var soem = require('node-soem').NodeSoemMaster,
master = soem(); // uses eth0 initially
// initiate socket and stuff
if (master.init()) {
// send out some ethercat frames to configure slaves
master.configInit();
// map the slave pdos to the internal ioMap
master.configMap();
// configure distributed clocks
master.configDC();
// take a look at the bus configuration
var slaves = master.getSlaves();
console.log(slaves);
// get ready to send some initial data befor going to operational state
master.sendProcessdata();
maste.receiveProcessdata();
// go to operational state
master.writeState(0, 4); // 0=all slaves, 4=operational state
// wait for the master to reach operational state
var waitForOp = function () {
var intv = setInterval(function () {
master.sendProcessdata();
master.receiveProcessdata();
var state = master.statecheck(0, 4);
// operational state reached
if (state === 4) {
clearInterval(intv);
loop();
}
}, 50);
}
var loop = function () {
var counter = 0,
slaves = master.getSlaves(),
dv = new DataView(slaves[0].outputs);
var intv = setInterval(function () {
master.sendProcessdata();
master.receiveProcessdata();
dv.setUint16(0, counter++);
}, 50);
}
waitForOp();
}
Copyright (C) 2016 Stefan Poeter (Stefan.Poeter[at]cloud-automation.de)
Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
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