kino_ethercat

# EtherCAT Introduction

```elixir
Mix.install([
  {:kino_ethercat, "~> 0.4.0"}
])
```

## The Ring

One master. Three slaves.

```mermaid
%%{init: {'deterministicIds': true, 'deterministicIDSeed': 'ethercat-intro-ring'}}%%
flowchart LR
  M[Master] --> C

  subgraph S[Slaves]
    C[Coupler]
    I[Inputs]
    O[Outputs]
    C --> I
    I --> O
  end
```

## One Cycle

The master uses cyclic EtherCAT frames.

```mermaid
%%{init: {'deterministicIds': true, 'deterministicIDSeed': 'ethercat-intro-cycle'}}%%
sequenceDiagram
  participant M as Master
  participant R as EtherCAT ring
  M->>R: cyclic EtherCAT frame
  R-->>M: inputs + working counter
  M->>M: check the cycle
```

## Start The Simulator

Evaluate the simulator cell, then follow the short instructions in the `Introduction` tab.

<!-- livebook:{"attrs":"eyJjb25uZWN0aW9ucyI6W3sic291cmNlX2lkIjoiMyIsInNvdXJjZV9zaWduYWwiOiJjaDEiLCJ0YXJnZXRfaWQiOiIyIiwidGFyZ2V0X3NpZ25hbCI6ImNoMSJ9XSwiZXhwZXJ0X21vZGUiOmZhbHNlLCJzZWxlY3RlZCI6W3siZHJpdmVyIjoiS2lub0V0aGVyQ0FULkRyaXZlci5FSzExMDAiLCJpZCI6IjEiLCJuYW1lIjoiY291cGxlciJ9LHsiZHJpdmVyIjoiS2lub0V0aGVyQ0FULkRyaXZlci5FTDE4MDkiLCJpZCI6IjIiLCJuYW1lIjoiaW5wdXRzIn0seyJkcml2ZXIiOiJLaW5vRXRoZXJDQVQuRHJpdmVyLkVMMjgwOSIsImlkIjoiMyIsIm5hbWUiOiJvdXRwdXRzIn1dfQ","chunks":null,"kind":"Elixir.KinoEtherCAT.SmartCells.Simulator","livebook_object":"smart_cell"} -->

```elixir
alias EtherCAT.Simulator
alias EtherCAT.Simulator.Slave

simulator_ip = {127, 0, 0, 2}

_ = Simulator.stop()

devices = [
  Slave.from_driver(KinoEtherCAT.Driver.EK1100, name: :coupler),
  Slave.from_driver(KinoEtherCAT.Driver.EL1809, name: :inputs),
  Slave.from_driver(KinoEtherCAT.Driver.EL2809, name: :outputs)
]

{:ok, _supervisor} = Simulator.start(devices: devices, udp: [ip: simulator_ip, port: 34980])

:ok = Slave.connect({:outputs, :ch1}, {:inputs, :ch1})

Kino.Layout.tabs(
  Introduction: KinoEtherCAT.introduction(),
  Simulator: KinoEtherCAT.simulator(),
  Faults: KinoEtherCAT.simulator_faults()
)
```

```mermaid
%%{init: {'deterministicIds': true, 'deterministicIDSeed': 'ethercat-intro-loopback'}}%%
flowchart LR
  O[outputs.ch1] --> I[inputs.ch1]
```

This is the small path we will use later:

* `outputs.ch1 -> inputs.ch1`

## Use The Setup Cell

Now do what the simulator `Introduction` tab tells you:

1. Add an `EtherCAT Setup` smart cell below.
2. Keep the default ring names: `coupler`, `inputs`, `outputs`.
3. Evaluate the generated setup code.

That starts the real EtherCAT master session.

## Use The Visualizer

After setup is running, add an `EtherCAT Visualizer` smart cell.

Select only:

* `outputs.ch1`
* `inputs.ch1`

Evaluate the generated widget cell.

## Try ch1

Now use the visualizer.

When you toggle the output, `inputs.ch1` should change too.

```mermaid
%%{init: {'deterministicIds': true, 'deterministicIDSeed': 'ethercat-intro-ch1-sequence'}}%%
sequenceDiagram
  participant M as Master
  participant O as outputs.ch1
  participant I as inputs.ch1
  M->>O: write output bit
  O->>I: loopback wiring
  I-->>M: input bit in next cycle
```