...
Following all configured objects:
Index | SubIndex | Name | DataType | Description |
0x200c | 0x00 | application object | UINT32 | example object |
0x200d | 0x00 | application object | UINT32 | example object |
0x200e | 0x00 | application object | UINT32 | example object |
0x200f | 0x00 | application object | UINT32 | example object |
0x6000 | 0x01 | Read State 8 Input Lines (SI1) | UINT8 | digital input data |
0x6000 | 0x02 | Read State Input Lines (SI2) | UINT8 | digital input data |
0x6200 | 0x01 | Write State 8 Output Lines (SI1) | UINT8 | digital output data |
0x6200 | 0x02 | Write State 8 Output Lines (SI2) | UINT8 | digital output data |
0x6401 | 0x01 | Read Analog Input 16 Bit (SI1) | UINT16 | analog input data |
0x6401 | 0x02 | Read Analog Input 16 Bit (SI2) | UINT16 | analog input data |
0x6411 | 0x01 | Write Analog Output 16 Bit (SI1) | UINT16 | analog output data |
0x6411 | 0x02 | Write Analog Output 16 Bit (SI2) | UINT16 | analog output data |
By default all PDOs are active (objects 0x1C12, 0x1C13):
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Receive frame as following:
Position | Content |
|---|---|
0 .. 3 | CTC header |
4 .. 7 | Generic Data Provider |
8 .. 8 | Object 0x6200:0x01 |
Transmit frame as following:
Position | Content |
|---|---|
0 .. 3 | CTC header |
4 .. 4 | Object 0x6000:0x01 |
Supported Platforms
Platform | Supported |
|---|---|
YES | |
YES | |
linux | YES |
YES (disable logging) | |
lpc55s69 | YES |
Establish a connection
To establish a cyclic connection you can use the Industrial Communication Explorer. Flash the device (see here), connect it to your computer and start the Industrial Communication Explorer.
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The device configuration is following:
Slot | Subslot | Module |
1 | 1 | 128 Byte Input data |
2 | 1 | 128 Byte Output data |
Record Index | Data |
0x7000 | 3 byte of parameter data (read/write) |
The GSDML file for this example is located beside the application code: "projects/ugoal/02_profinet/gsdml/".
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Receive frame as following:
Position | Content |
|---|---|
0 .. 3 | CTC header |
4 .. 7 | Generic Data Provider |
Transmit frame as following:
Position | Content |
|---|---|
0 .. 3 | CTC header |
Supported Platforms
Platform | Supported |
|---|---|
atmega2560 | YES |
stm32f103rb | YES |
linux | YES |
rl78/g14 | YES |
lpc55s69 | YES |
Establish a connection
To establish a cyclic connection you can use the Industrial Communication Explorer. Flash the device (see here), connect it to your computer and start the Industrial Communication Explorer.
...
This example requires a DHCP server to obtain an IP address. The device configuration is following:
Assembly ID | Size | Properties |
150 | 32 | Output Data |
100 | 32 | Input Data |
151 | 10 | Configuration Data |
The EDS file for this example is located beside the application code: "ugoal\example\03_eip".
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Receive frame as following:
Position | Content |
|---|---|
0 .. 3 | CTC header |
4 .. 7 | Generic Data Provider |
8 .. 39 | Output Data of assembly |
Transmit frame as following:
Position | Content |
|---|---|
0 .. 3 | CTC header |
4 .. 35 | Input Data of assembly |
Supported Platforms
Platform | Supported |
|---|---|
atmega2560 | YES |
stm32f103rb | YES |
linux | YES |
rl78/g14 | YES |
lpc55s69 | YES |
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.
...
To operate the following modules need to be plugged:
Slot | Module |
|---|---|
1 | 64 bytes Input |
2 | 64 bytes Output |
The cyclic channel is used for the LED status.
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Receive frame as following:
Position | Content |
|---|---|
0 .. 3 | CTC header |
4 .. 7 | Generic Data Provider |
Transmit frame as following:
Position | Content |
|---|---|
0 .. 3 | CTC header |
Supported Platforms
Platform | Supported |
|---|---|
atmega2560 | YES |
stm32f103rb | YES |
linux | YES |
rl78/g14 | YES |
lpc55s69 | YES |
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.
...
This example shows a very basic application. No fieldbus is started. The application reads and writes some CM variables.
Supported Platforms
Platform | Supported |
|---|---|
atmega2560 | YES |
stm32f103rb | YES |
linux | YES |
rl78/g14 | YES |
lpc55s69 | YES |
...
06_ethercat_minimal
This EtherCAT example demonstates a simple EtherCAT slave. By default no data mapper is used. It contains two each 32 bit wide objects (0x2000, 0x2001) mapped to each a receive and a transmit PDO. Additionally, the feature EtherCAT Distributed Clocks (DC) will be activated, if the platform supports it. The DC Sync signals increment two application variables triggered by an interrupt on the platform.
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Receive frame as following:
Position | Content |
|---|---|
0 .. 3 | CTC header |
4 .. 7 | Generic Data Provider |
8 .. 11 | Output Data |
Transmit frame as following:
Position | Content |
|---|---|
0 .. 3 | CTC header |
4 .. 7 | Input Data |
Supported Platforms
Platform | Supported |
|---|---|
atmega2560 | YES |
stm32f103rb | YES |
linux | YES |
YES (including EtherCAT DC) | |
lpc55s69 | YES (including EtherCAT DC) |
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.
...
| Info |
|---|
Please note: After changing the IP configuration the device will no longer be reachable under the old IP address, therefore establish a new connection to the newly configured IP address. |
Supported Platforms
Platform | Supported |
|---|---|
atmega2560 | No (insufficient RAM) |
rl78/g14 | No (insufficient RAM) |
linux | YES |
stm32g01/stm32f103 | YES |
lpc55s69 | YES |
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08_pnio_max_data_rpc
This example demonstrates the maximum of transferrable data via Profinet. It processes 1434 Byte of data per direction (input and output) 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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To operate the following modules need to be plugged:
Slot | Module |
|---|---|
1 | 1434 bytes Input |
2 | 1434 bytes Output |
The cyclic channel is used for the LED status.
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Receive frame as following:
Position | Content |
|---|---|
0 .. 3 | CTC header |
4 .. 7 | Generic Data Provider |
Transmit frame as following:
Position | Content |
|---|---|
0 .. 3 | CTC header |
Supported Platforms
Platform | Supported |
|---|---|
atmega2560 | NO (insufficient RAM) |
stm32f103rb | YES |
linux | YES |
rl78/g14 | YES (double CONFIG_UGOAL_HEAP_BUFFER_SIZE) |
lpc55s69 | YES |
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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Receive frame as following:
Position | Content |
|---|---|
0 .. 3 | CTC header |
4 .. 7 | Generic Data Provider |
TODO |
Transmit frame as following:
Position | Content |
|---|---|
0 .. 3 | CTC header |
TODO |
Supported Platforms
Platform | Supported |
|---|---|
atmega2560 | YES |
stm32f103rb | YES |
linux | YES |
rl78/g14 | YES |
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.
...
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 (disable logging) | |
lpc55s69 | YES |
Process data mapping
Within the application the values of objects which can be mapped to PDOs are mirrored in the following order:
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This example requires a DHCP server to obtain an IP address. The device configuration is following:
Assembly ID | Size | Properties |
150 | 505 | Output Data |
100 | 509 | Input Data |
151 | 10 | Configuration Data |
The EDS file for this example is located beside the application code: "ugoal\example\11_eip_rpc".
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Receive frame as following:
Position | Content |
|---|---|
0 .. 3 | CTC header |
4 .. 7 | Generic Data Provider |
8 .. 39 | Output Data of assembly |
Transmit frame as following:
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) |
lpc55s69 | YES |
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.
...