A test EtherCat/EtherLab based application that turns LEDs on and off (based on EtherLab/examples/user/main.c).
The code here assumes the following setup for the ethercat slaves (ethercat slaves command):
0:0 EK1100 0:1 EL1252 0:2 EL2202 0:3 EL2202 0:4 EL1252 0:5 EL2202 0:6 EL1252
The application sets a timer to run the cyclic_task() routine FREQUENCY times per second.
This routine should normally check the current input and output states.
A call to ecrt_master_send(master) also needs to be made this frequently to avoid a watchdog timeout.
Note that the EL2202 will reset its outputs to 0 after 100ms if not updated.