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Introduction

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Variable

Description

Default value

SPI_TYPE

SPI master/slave configuration

1 = SLAVE

SPI_MODE

SPI timing mode

0 = MODE0

SPI_UNITWIDTH

SPI single transfer size

0 = 8 BIT

SPI_BITORDER

SPI bit transfer direction

0 = MSB

SPI_TRANSFERSIZE

SPI packet transfer size

128

Table 3 SPI configuration
The module does only support SPI_TYPE slave.
The module does only support SPI_UNITWIDTH of 8 bit.
The module does only support SPI_TRANSFERSIZE of 128 byte.
The SPI mode can be configured according to Table 4.
The SPI bitorder can be configured according to Table 5.

Value

SPI MODE

0

Mode 0

1

Mode 1

2

Mode 2

3

Mode 3

Table 4 SPI Mode configuration

Value

SPI BITORDER

0

MSB

1

LSB

Table 5 SPI bitorder configuration

Basic application setup


A basic application consists of the optional function calls appl_init, appl_setup and appl_loop. It follows the design philosphy of the GOAL middleware.

...

Set Id

Description

GOAL_DD_ACCESS_FILTER_SET_ALL

Complete access to all variables

GOAL_DD_ACCESS_FILTER_SET_BASIC

Filter for minimal
function of the management tool

GOAL_DD_ACCESS_FILTER_SET_HIDDEN

Filter for hiding critial information

Table 6 DD Filter IDs
Please refer to the API documentation of DD for detailed information.

...


For fieldbus communication applications a generic data provider is available, which contains gneralized information and led status for the application.

Data Provider Information

PROFINET

EtherNet/IP

EtherCAT

GOAL_MCTC_DP_STATUS_FLG_CONN

Connection

Connection

Connection (ESM-State == OP)

GOAL_MCTC_DP_STATUS_FLG_ERR

Error

Error

Application Layer Error

GOAL_MCTC_DP_STATUS_FLG_VALID

-

Process data valid

Process data valid





GOAL_MCTC_DP_LED_WINK

DCP blink signaling

-

-

GOAL_MCTC_DP_LED_RED1

Error

Module Status red

EC ERR Led May be configured to a STATUS Indicator, wher only LED_GREEN1 and LED_RED_1 are used.

GOAL_MCTC_DP_LED_RED2

Maintainance

Network Status red

-

(optional: part of the STATUS indicator)

GOAL_MCTC_DP_LED_GREEN1

Connection

Module Status green

EC RUN Led

GOAL_MCTC_DP_LED_GREEN2

DCP blink signaling

Network Status green

-

Table 7 MCTC Status information
The LED status information are a recommendation regarding conformance/usability of a device implementation. The delivered examples show usage of this feature.

...

Timeout value

function

0

default timeout enabled (5 seconds)

1 ... 254

value determines timeout in seconds

255

timeout disabled

Table 8 ethernet timeout configuration
If powering of the application controller and establishing of the communication between AC and CC take longer then the configured timeout, it needs to be increased.

...

Step

Action

Remark

1

Set CM Variable GOAL_ID_NET:IP

Configure IP address

2

Set CM Variable GOAL_ID_NET:NETMASK

Configure Netmask

3

Set CM Variable GOAL_ID_NET:GW

Configure Gateway

4

Set CM Variable GOAL_ID_NET:Valid to 1

Set IP configuration to valid

5

Set CM Variable GOAL_ID_NET:DHCP_ENABLED to 0

Disable DHCP

6

Set CM Variable GOAL_ID_NET:COMMIT to 1

Apply IP settings

Table 9 IP configuration with CM
To enable DHCP set the CM Variable GOAL_ID_NET:DHCP_ENABLED to 1 and perform a power cycle.

...

MODULENAME

0

GOAL_CM_STRING

20

Customer specific name of the module

CUSTOMERID

1

GOAL_CM_UINT32

4

Customer Id

RESERVED

2

GOAL_CM_UINT8

1

-

FEATURE_DISABLE

3

GOAL_CM_UINT32

4

Each bit disables a function: bit 0, disable "HELLO DETECTION"bit 1, disable WINKbit 2, disable GETLISTbit 3, disable GET VALUEbit 4, disable SET VALUE

Table 10 DD management interface

PNIO

Module Id = GOAL_ID_PNIO (27)

...

Variable Name

Variable ID

Type

Max. Size

Long description

VERSION

0

GOAL_CM_UINT8

1

Version information for LM interface

READBUFFER

1000

GOAL_CM_GENERIC

128

Buffer for reading online logging from deivce

CNT

1001

GOAL_CM_UINT16

2

Control word for online log access

EXLOG_READBUFFER

1002

GOAL_CM_GENERIC

128

Buffer for reading exception logging from deivce

EXLOG_CNT

1003

GOAL_CM_UINT16

2

Control word for exception log access

EXLOG_SIZE

1004

GOAL_CM_UINT32

4

Indicator for exception log size

EXLOG_USAGE

1005

GOAL_CM_UINT8

1

Indicator for exception log usage

EXLOG_ERASE

1006

GOAL_CM_UINT8

1

Command:*, Erase Exception Log

Table 11 LM Management interface

NET


Module Id = GOAL_ID_NET (12)

Variable Name

Variable ID

Type

Max. Size

Long description

IP

0

GOAL_CM_IPV4

4

IP address of first interface

NETMASK

1

GOAL_CM_IPV4

4

NETMASK of first interface

GW

2

GOAL_CM_IPV4

4

GATEWAY of first interface

VALID

3

GOAL_CM_UINT8

1

Validity of IP address:0, Stored IP address is not valid, interface settings originate from network stack of system1, Stored IP address is valid, will be applied to interface at start of device

DHCP_ENABLED

4

GOAL_CM_UINT8

1

DHCP enable:0, DHCP disabled1, DHCP enabled

DHCP_STATE

5

GOAL_CM_UINT8

1

DHCP state:0, DHCP initialized1, DHCP server selecting2, DHCP requesting configuration3, DHCP ip address bound4, DHCP renewing configuration5, DHCP rebinding ip address to interface

DNS0

6

GOAL_CM_IPV4

4

First DNS server of first interface

DNS1

7

GOAL_CM_IPV4

4

Second DNS server if first interface

HOSTNAME

8

GOAL_CM_STRING

20

Hostname of first interface

COMMIT

1000

GOAL_CM_UINT8

1

Command:*, Apply IP settings

Table 12 NET Management interface

BOOT


Module Id = GOAL_ID_BOOT (37)

Variable Name

Variable ID

Type

Max. Size

Long description

SIGNATURE

0

GOAL_CM_GENERIC

16

Signature of booted image

BLVERSION

1

GOAL_CM_STRING

16

Bootloader Version

FWVERSION

2

GOAL_CM_STRING

16

Firmware Version

RESET_CAUSE

1000

GOAL_CM_UINT8

1

Reset cause:0, Unspecified1, Firmware Update Requested2, Watchdog3, Firmware Commit Required4, Reserved

IMAGE_NUMBER

1001

GOAL_CM_UINT8

1

Booted image number

IMAGE_COUNTER

1002

GOAL_CM_UINT8

1

Booted image age counter

Table 13 BOOTLOADER Management interface

CM


Module Id = GOAL_ID_CM (2)

Variable Name

Variable ID

Type

Max. Size

Long description

VERSION

0

GOAL_CM_UINT32

4

Version information for CM interface

SAVE

1000

GOAL_CM_UINT8

1

Command:*, Save CM to Flash

Table 14 CM Management interface

ETH


Module Id = GOAL_ID_ETH (4)

Variable Name

Variable ID

Type

Max. Size

Long description

MAC

0

GOAL_CM_GENERIC

6


LINK

1000

GOAL_CM_UINT32

4

Link status mask of interfaces

SPEED

1001

GOAL_CM_UINT32

4

Port speed mask of interfaces

DUPLEX

1002

GOAL_CM_UINT32

4

Port Duplex mask of interfaces

PORTCNT

1003

GOAL_CM_UINT32

4

Number of interfaces

Table 15 ETH Management interface

EIP


Module Id = GOAL_ID_EIP (23)

...

Variable Name

Variable ID

Type

Max. Size

Long description

HTTP_CHANNELS_MAX

0

GOAL_CM_UINT16

2

Determines the number of possible connections to the HTTP server

HTTPS_CHANNELS_MAX

1

GOAL_CM_UINT16

2

Determines the number of possible connections to the HTTPS server

USERLEVEL0

2

GOAL_CM_STRING

32

Authentication data for level 0

USERLEVEL1

3

GOAL_CM_STRING

32

Authentication data for level 1

USERLEVEL2

4

GOAL_CM_STRING

32

Authentication data for level 2

USERLEVEL3

5

GOAL_CM_STRING

32

Authentication data for level 3

Table 16 HTTP Management interface

CCM


Interface for Management Tool for informative and configuration purpose.
Module Id = GOAL_ID_CCM (72)

Variable Name

Variable ID

Type

Max. Size

Long description

SPI_TYPE

0

GOAL_CM_UINT8

1

SPI Type (currently only slave supported):0, SPI Master1, SPI Slave

SPI_MODE

1

GOAL_CM_UINT8

1

SPI Mode:0, CPOL=0; CPHA=01, CPOL=0; CPHA=12, CPOL=1; CPHA=03, CPOL=1; CPHA=1

SPI_SPEED

2

GOAL_CM_UINT8

1

SPI Speed in Master Mode

SPI_UNITWIDTH

3

GOAL_CM_UINT8

1

Bitsize of one single transfer unit:0, 8 Bit1, 16 Bit2, 32 Bit

SPI_BITORDER

4

GOAL_CM_UINT8

1

Bitorder of SPI transfers:0, MSB first1, LSB first

SPI_TRANSFERSIZE

5

GOAL_CM_UINT16

2

Minimum transfer size of single transmission frame

COMM_FAULT_ERROR_STATE

6

GOAL_CM_UINT8

1

Fault action to execute when communication to AC was lost during a cyclic connection:0, Enter fault state (disable connection)1, Keep running (keep connection)

COMM_SYNC_RESET

7

GOAL_CM_UINT8

1

Behaviour when a sync reset request was received from AC:0, Do nothing1, Perform reset of CC controller

FW_UPDATE_COMMIT_DISABLE

8

GOAL_CM_UINT8

1

Optional disable of the additional commit step during firmware update:0, Firmware update requires commit step1, Firmware update doesn't require a commit step

FOE_FILENAME

9

GOAL_CM_STRING

32

EtherCAT FoE update file name

FOE_PASSWORD

10

GOAL_CM_UINT32

4

EtherCAT FoE update password

FOE_UPDATE_REQUIRES_BOOT

11

GOAL_CM_UINT8

1

EtherCAT FoE update required state

FOE_FILENAME_MATCH_LEN

12

GOAL_CM_UINT8

1

EtherCAT FoE update file name match length

ETH_SWITCH_MODE_TIMEOUT

13

GOAL_CM_UINT8

1

General timeout for Ethernet interface activation

UPTIME

1000

GOAL_CM_UINT32

4

Number of seconds since start of device

Table 17 CCM Management interface

Firmware Update

Update the communication controller

...