...
Table 2‑1: Directory structure of the Remote Station SDK
Writing an Application for the Remote Station SDK
Overview
An application for the Remote Station SDK is a GOAL application. It consists of three functions that are called by GOAL: appl_init, appl_setup, appl_loop.
...
The application must include goal_includes.h and goal_ccl_ie_tsn.h.
Configuration of the CC-Link IE TSN protocol stack
The function appl_setup is called by GOAL during initialization. Within this function all functions listed in this chapter can be used to configure the behavior of the Remote Station. All Functions must be called before calling goal_cclIeTsnNew.
...
Table 2‑2: Configuration Functions of the Remote Station protocol stack
Creating a new instance of the CC-Link IE TSN protocol stack
After the stack has been configured the function goal_cclIeTsnNew must be invoked to create a new instance of the protocol stack. It is also used to register a callback handler for processing events from the stack. The callback handler will be explained in detail in a later chapter.
...
This function creates a handle (in this example it is called pCcl) that must be used for all other function calls to reference the stack instance.
Runtime behavior of the CC-Link IE TSN Remote Station stack
The functions in this chapter influence the runtime behaviour of the CC-Link IE TSN Remote Station. The functions must be called after goal_cclIeTsnNew returned successfully and before goal_cclIeTsnStart is called. These functions can be directly called within appl_setup or at a later point in time.
...
Table 2‑3: Runtime behavior functions of the Remote Station stack
Starting the CC-Link IE TSN Remote Station Stack
After finishing all settings of the runtime behavior and the expected Remote Station configuration the stack must be started by calling goal_cclIeTsnStart.
...
Table 2‑4: Functions used during Run phase in the Remote Station SDK
Application Callback
During initialization, the application can register a callback handler with the function goal_cclIeTsnNew.
...
Figure 2.3: Sample implementation of the application callback
Data Access with CANopen
The Remote Station SDK can be extended with a CANopen package which provides an additional approach to configure the data transfer, using methods known originally adapted from the CANopen specification. Specifically, this uses the concepts of RPDO and TPDO configuration and PDO or SDO data transfer.
...
Table 2‑7: CANopen Data Access Functions
Tabelle fehlt
Supported Platforms
Since the CC-Link IE TSN Protocol stack runs on GOAL, it can run on any platform supported by GOAL.
...
Table 2‑8: Confirmed Supported Hardware of the Remote Station SDK
Conformance Test
To perform the conformance test, several configurations must be tested. All of them where tested with the example application appl/goal_ccl_ie_tsn/02_slave. The respective master device or PLC is responsible for setting up the remote station for a specific test.