module_pdrouting

This robotkernel module does process data routing. It enables handles process data devices in two connection methods.

Multiplexing

With multiplexing the modules enables that many source process data devices are *multiplexed* into one target process data device. For this the source pd's are serialized consecutively into a new or arleady exting target pd.

Demultiplexing

The opposite method of multiplexing. Here one source process data devices is splitted into many target process data devices. It it always splitted at byte boundaries

Configuration

# Configuration file for module_pdrouting.
#
# vi: set ft=yaml nowrap:
# -*- mode: yaml -*-

#########################################################
# logging settings

# Standard robotkernel module local loglevel.
#loglevel: verbose

#########################################################
# Process data demuxer configuration.
demux:
- # Demuxer name (prefix for demuxed process data).
  name: elmo_0_fsoe_demux

  # Process data device to demux.
  pd_input_device: ethercat.slave_0.inputs.pd

  # Demux data outputs.
  outputs:
  - # Demuxed process data infix name.
    name: fsoe

    # Demuxing next <len> bytes.
    len: 11

  - # Demuxed process data infix name.
    name: axis

    # Demuxing next <len> bytes.
    len: 6 

#########################################################
# Process data Muxer configuration.
mux:
- # Muxer name (prefix for muxed process data)
  name: elmo_0_fsoe_mux

  # Process data device to mux
  pd_output_device: ethercat.slave_0.outputs.pd

  # Trigger device to be trigger when all muxing devices have data.
  trigger_name: ethercat.slave_0.inputs.trigger
  
  # Mux data outputs.
  outputs:
  - # Muxed process data infix name.
    name: fsoe

    # Muxing next <len> bytes.
    len: 11

  - # Muxed process data infix name.
    name: axis

    # Muxing next <len> bytes.
    len: 6 
         
#########################################################
# Process data one-to-many relationship
one_to_many:
  # Process data device containing inputs to distribute to 
  # all specified outputs.
  pd_input_device: <name>.inputs.pd

  # Process data outputs devices. 
  pd_output_devices:
  - <output_1>.outputs.pd
  - <output_2>.outputs.pd
  - <output_3>.outputs.pd
  - <output_4>.outputs.pd

Process data

[[Category:robotkernel-5|pdrouting]]