The CODESYS software from https://de.codesys.com/ is a powerful and simple-to-use choice for running PLC software without special hardware requirements. Therefore, it can be easily used for establishing a network communication to GOAL network stacks.

Table of content

1 Requirements
2 Initial Setup and configuration
- 2.1 (Optional) Enabling Distributed Clocks
3 Running PLC software

Requirements

GOAL dut (device under test)
https://de.codesys.com/ V3.5 SP16 Patch 4
Windows PC
https://npcap.com/ v1.31

CODESYS example Project

This CODESYS PLC project is designed to work with GOAL EtherCAT application 01_simple_io.

Initial Setup and configuration

Open the windows properties for interface of choice and disable all options except NPCAP.

Run CODESYS Control Win V3 - x64 SysTray and choose Run PLC from the symbol menu
Run CODESYS Control Win V3 - x64 and choose Run Gateway from the symbol menu
The red element on the symbol signs active software.

Gateway and PLC in RUN mode

start CODESYS V3.5 SP16 Patch 4 and open the provided example project from above.
choose Tools->Device Repositority… and Install (1) the xml file of the GOAL device, which is located at the platform specific edt directory at projects/goal_ecat*/<sample project>/. Afterwards, it is available in the list of Installed Device Descriptions (2)

choose device configuration (1) and Scan Network (2) for detecting the local PLC (3) after confirming the controller by OK, the state switches from grey to green (4)

Open EtherCAT_Master configuration (1) and Browse… (2) the network port on your local machine.

update the slave (1) by searching the previously imported xml description in the list and confirm via Update Device.

Open the Slave configuration (1) and choose EtherCAT I/O Mapping (2) to map the PLC variables to IOs (3) as listed in table below.

Variable	Description

Variable	Description
Application.PLC_PRG.applVarU32Output	applVarU32Output
Application.PLC_PRG.applVarU8Output	applU8LedOutput
Application.PLC_PRG.applVarU32Input	applVarU32Input
Application.PLC_PRG.applVarU8Input	applU8ButtonInput

(Optional) Enabling Distributed Clocks

Open the General tab (1) in the slave configuration and select Expert settings (2). Confirm that Distributed Clock is enabled and DC-Synchron (3)

Running PLC software

Build (1) the PLC software and Login (2) afterwards.

Confirm requests about performing a download resp. Login with download if PLC program is already running.

Open the PLC_PRG (1) and start it by clicking the left symbol (2). The connection will be established, exchanging application data (3).