linuxcnc-ethercat

Leadshine R2EC / R3EC modular bus couplers

The lcec_leadshine_ec driver supports the Leadshine R2EC and R3EC EtherCAT bus couplers. A coupler is a single EtherCAT slave that hosts up to 32 (R2EC) or 64 (R3EC) pluggable modules on a passive backplane: digital input, digital output, mixed I/O, analog input/output, and encoder modules.

Each populated slot is described with a <subModule> tag inside the <slave>, identifying the backplane slot (id) and the module type (ident):

<slave idx="0" type="R2EC" name="io">
  <subModule id="0" ident="0x61100025" name="in0">
    <modParam name="inputFilter0" value="20"/>
  </subModule>
  <subModule id="1" ident="0x61100205" name="out0">
    <modParam name="safeState" value="0"/>
  </subModule>
</slave>

For every slot the driver builds the dynamic PDO layout, exports HAL pins through the standard lcec_class_* helpers, applies the module’s <modParam>s, and writes the configured module ident list (0xF030) so the coupler accepts the PDO mapping.

HAL pins

Pin names are <master>.<slave>.<submodule-name>-<kind>-<n>, where <submodule-name> is the subModule name (default: the slot id):

• digital input modules: ...-din-<n> (bit)
• digital output modules: ...-dout-<n> (bit)
• analog modules: ...-ain-<n>-value / ...-aout-<n>-value (s32)
• encoder modules: the standard lcec_class_enc pins (...-enc-<n>-count, …)

Module idents

The ident is the module’s type identifier as listed in the vendor ESI (R3EC v2.4, available from Leadshine). The driver validates every ident at parse time against its module table (leadshine_ec_module_table in src/devices/lcec_leadshine_ec.h), which is the source of truth. Common modules:

ident	module	type	channels
0x61100025	PM-1600	digital in	16
0x61100045	PM-3200	digital in	32
0x61100205	PM-0016-N	digital out (NPN)	16
0x61110205	PM-0016-P	digital out (PNP)	16
0x61100405	PM-0032-N	digital out (NPN)	32
0x61100225	PM-1616-N	mixed I/O	16+16
0x61000025	PM-A0400-IV	analog in	4
0x61000205	PM-A0004-IV	analog out	4
0x61300025	PM-E0200-S	encoder (single-ended)	2
0x61300125	PM-E0200-D	encoder (differential)	2

R3-* (R3EC backplane) and R3-*-V20 variants of the same modules have their own idents; see the table in the header.

Module modParams

Set inside the <subModule> tag; writes go to the module’s config object (0x8000 + slot) at startup.

Digital modules:

• safeState (U32, default 0): output value when the link is lost. Bits 0-15 at sub 1, bits 16-31 (32-channel modules) at sub 2.
• inputFilter0 .. inputFilter3 (U32, default 10): input filter time in ms, one per group of 8 channels.

Analog modules:

• ch0Config .. ch3Config (U32, default 0): per-channel range/mode (AD/DA config), per the ESI DT8000 layout.

Encoder modules (applied to every channel of the module):

• encoderMode (U32, default 0): operation mode.
• abPhase (U32, default 0): AB phase configuration.
• minValue / maxValue (S32, default -100000 / 100000).
• countMode (U32, default 0).
• encoderFilter (U32, default 2).

Notes

• Slot ids are validated at startup: an out-of-range slot, a duplicate slot id, or a duplicate module name is a configuration error.
• A sparse slot layout (e.g. modules in slots 0 and 3 only) is supported; gap entries in the coupler’s module list are cleared explicitly so the configured-vs-detected check still passes.
• The driver writes the SM2/SM3 PDO assignment (0x1C12/0x1C13) explicitly, matching the built sync layout; the master’s automatic assignment does not enable this coupler’s input sync manager.

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