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Please refer to the application note regarding configuration of the RPC buffers. Initially those buffers are set to sufficient sizes for simple applications. This is done to support smaller targets. If the application requires handling of larger data buffers, those configuration options need to be configured by the user.
10_ethercat_rpc
This EtherCAT example demonstates extending process data beyond the capacity of the data mapper (64 byte). It is possible to map up to 124 Bytes in each communication direction. It contains two each 32 bit wide arrays (0x2000, 0x2001) with 4 subindices. Beside that there are two each 31 byte wide arrays (0x2002, 0x2003) with 4 subindices.
Supported Platforms
Platform | Supported |
|---|---|
atmega2560 | NO |
stm32f103rb | YES |
linux | YES |
YES |
Process data mapping
Within the application the values of objects which can be mapped to PDOs are mirrored in the following order:
0x2003:1...4 -> 0x2002:1...4 (except the byte representing the subindex, this byte is set to 0x00)
0x2001:1...4 -> 0x2000:1...4
Establish a connection
To establish a cyclic connection you can use the Industrial Communication Explorer. Flash the device, connect it to your computer and start the Industrial Communication Explorer.
| Note |
|---|
The following instructions are very similar to application 01_ethercat, which is why they are described only briefly. Please refer to chapter 01_ethercat if you need more detailed instructions. |
Click right on your network interface and choose “Enable EtherCAT” as shown in the figure.
Click the button “Scan Network” to find the device.
Choose the found device in “Network Navigator” and click “Refresh Device Info”.
Choose the tab “Object Dictionary” and click “Read Object Dictionary Info” and “Read all object values”.
| Info |
|---|
You can change the default mapping in the tab “PDO Mapping”. |
Run a cyclic connection through choosing the tab “I/O Data” and clicking “Start process data exchange”.
| Info |
|---|
You can edit the PDO by writing a value in the textbox. The value will be accepted if you click “Update RxPDO data”. |
11_eip_rpc
This example demonstrates the maximum of transferrable data via EtherNet/IP. It processes 509 Byte T-->O and 505 Byte O-->T of data over RPC and mirrors the output into the input module. For further informations see also the application note 008 - Extending process data using RPC transport.
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Position | Content |
|---|---|
0 .. 3 | CTC header |
4 .. 35 | Input Data of assembly |
Supported Platforms
Platform | Supported |
|---|---|
atmega2560 | No (insufficient RAM) |
stm32f103rb | Yes |
linux | Yes |
rl78/g14 | Yes (double CONFIG_UGOAL_HEAP_BUFFER_SIZE) |
Establish a connection
To establish a cyclic connection you can use the Industrial Communication Explorer. Flash the device, connect it to your computer and start the Industrial Communication Explorer.
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