Changelog
Version | Remark |
|---|---|
1.0 | Initial Release |
1.1 | Update to version 1.2.018 of the sample code |
1.2 | Update to version 1.2.0.35 of the sample code |
1.3 | Extended documentation of example functions |
1.4 | Added EtherCAT® trademark |
Table: Changelog
Introduction
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EtherCAT® is a registered trademark and patented technology, licensed by Beckhoff Automation GmbH, Germany.
Document structure
Chapter | Content |
|---|---|
Introduction | Introduction of this document |
EtherCAT® Evaluation | Basic information for evaluation |
Logging | How to get log messages |
Initial Setup | How to initially setup the EtherCAT device |
Firmware Update | How to do a firmware update of the communication module |
Example features | Description of features of the example application |
Table: Content of this document
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Following table shows the description of the available ports:
Port | Function |
|---|---|
X1 | EtherCAT IN |
X2 | EtherCAT OUT |
Table: Ports of evaluation system
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The example application 09_ecat_slave sets the following properties for FoE firmware update of the communication module:
Firmware Update property | Value |
|---|---|
Update requires BOOT state | YES |
Filename | ccm.efw |
Password | 0 |
Table: FoE update properties
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When the transfer is done, enter INIT state. This will trigger the verification and update process of the firmware. After some time (> 60 seconds) the device will be returning to normal operation.
| Info |
|---|
Please take also a look at the Firmware Update Appliction Note for further informations. |
Example features
This chapter describes the example application features. For the example a set of available PDOs and mappable objects are provided. This is just for demonstration purposes. A customer specific application can create additional PDOs, mapping entries, mappable and non mappable objects. The required API is
documented in the EtherCAT® stack documentation.
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This table shows all mappable objects of the example project.
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 |
0x6200 | 0x01 | Write State 8 Output Lines (SI1) | UINT8 | digital output data |
0x6200 | 0x02 | Write State 8 Output Lines (SI2) | UINT8 | digital output 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 |
0x6000 | 0x01 | Read State 8 Input Lines (SI1) | UINT8 | digital input data |
0x6000 | 0x02 | Read State 8 Input Lines (SI2) | UINT8 | digital input 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 |
Table: Example mappable objects
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The example project implements some functionality. The following table gives an overview.
Index | SubIndex | Object function |
|---|---|---|
0x200C | 0x00 | each SDO Upload request (read) will increment the object value |
0x200D | 0x00 | contains number of SYNC0 DC events when in DC mode |
0x200E | 0x00 | contains number of SYNC1 DC events when in DC mode |
0x200F | 0x00 | contains 1 when in DC mode, else 0 |
0x6200 | 0x01 | pdo output data |
0x6200 | 0x02 | pdo output data |
0x6411 | 0x01 | pdo output data |
0x6411 | 0x02 | pdo output data |
0x6000 | 0x01 | mirrors value of 0x6200:0x01 process data |
0x6000 | 0x02 | mirrors value of 0x6200:0x02 process data |
0x6401 | 0x01 | mirrors value of 0x6411:0x01 process data |
0x6401 | 0x02 | mirrors value of 0x6411:0x02 process data |
Table: Example object functions
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In order to operate the slave in Distibuted Clocks (DC) mode, one of the available DC sync modes must be selected:
Sync Mode | Operation |
|---|---|
FeeRun/SM-Synchron | Application controller does not get sync information |
DC-Synchron | Application controller gets SYNC0 event, device operates in DC mode |
DC-Synchron with SYNC0 and SYNC1 | Application controller gets both SYNC events, device operates in DC mode |
Table: Available sync modes of example application
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FoE read and write access is supported by the device. A buffer of 1840 acts as a local file, which can be read or written. The following properties have to be set:
FoE Property | Value |
|---|---|
Filename | test.txt |
Password | 123456 |
Table: FoE example settings
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