Changelog

Version	Remark

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

Scope

This document describes the process of running EtherCAT® using the ccm module.
It describes the initial setup of the device and the usage of the example application.

EtherCAT® is a registered trademark and patented technology, licensed by Beckhoff Automation GmbH, Germany.

Document structure

Chapter	Content

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

EtherCAT® evaluation hardware

A working setup with an Application Controller (AC) - e.g. Synergy S7G2SK - and Communication Controller (CC) - iRJ45 or SoM - is required.

It is required to run the EtherCAT® example on the target device.

The additional board shown in the figure below provides an ID switch for Explicit Device Identification. The switch can be set to a value between 0 and 15.

The binary coded value can be seen on the LEDs on the board.

Following table shows the description of the available ports:

Port	Function

Port	Function
X1	EtherCAT IN
X2	EtherCAT OUT

Table: Ports of evaluation system

Logging (S7G2SK)

To get feedback from the application, all log messages from AC and CC are transmitted to the UART of the AC. This is an option used for the EtherCAT® example s09_ecat_slave. It is achieved using an RPC function call at application setup time:

/****************************************************************************/
/** Application Setup
 *
 * Setup the application.
 */
GOAL_STATUS_T appl_setup(
    void
)
{
    GOAL_STATUS_T res;                          /* result */
    char strVersion[APPL_VERSION_LEN];          /* version string */
    uint16_t devType = 0;                       /* device type */
    GOAL_ETH_MAC_ADDR_T mac;                    /* mac address */
    uint8_t fwSignature[16];                    /* firmware signature */
    uint32_t valObj = 0;                        /* object dictionary value */

    /* enable logging from AC to CC */
    res = appl_ccmLogToAcEnable();
    if (GOAL_RES_ERR(res)) {
        goal_logErr("failed to enable logging from CC to AC");
    }

    ...
}

For the Synergy S7G2SK an USB to Serial Adapter is required, e.g. the FTDI. To use the UART on the Synergy S7G2SK, please also check the user manual on the Renesas website.

Please set jumper J9 to 3-5 and 4-6 (RS485 mode). Then the UART TX line from the Synergy CPU will be connected to Pin 4 of J10. This is where the RX line from the USB-Serial converter needs to be connected. The UART is configured with baudrate 115200 and settings 8N1.

If everything is connected correctly, the following serial log will be shown:

...
[AC_I|appl_httpSetup:93] setup web server
[AC_I|goal_httpNewAc:951] HTTP Application Core successfully started
[CC_I|goal_httpNewCc:861] HTTP Communication Core successfully started
[CC_I|goal_httpResRegCc:767] called
[CC_I|goal_httpResRegCc:767] called
[CC_I|goal_httpResRegCc:767] called
[CC_I|goal_httpResRegCc:767] called
[CC_I|goal_httpResRegCc:767] called
[AC_I|appl_httpSetup:138] web server setup done
[CC_I|goal_httpResRegCc:767] called
[AC_I|appl_setup:430] CCM version : 1.2.0.35
[AC_I|appl_setup:431] CCM device : 1
[AC_I|appl_setup:433] CCM Serial : 2e:09:0a:03:df:f5
[AC_I|appl_setup:452] CCM fw signature: cb:02:ff:62:31:3b:85:da:24:cd:63:11:ec:12:44:32
[AC_I|appl_setup:477] cfg variable (dd:customer id) changed to 12345678.
[AC_I|appl_setup:491] cfg variable (dd:customer id) changed to 0.
[AC_I|goal_miMctcRpcSyncLoop:1094] local setup done
[AC_I|goal_memInitDone:152] fixed memory usage: 74860/262144 bytes bytes
[AC_I|goal_memInitDone:157] fixed memory usage: (29%)
[CC_I|goal_memInitDone:152] fixed memory usage: 152518/259072 bytes bytes
[CC_I|goal_memInitDone:157] fixed memory usage: (59%)

Initial setup of the EtherCAT® device

Preparations

For the Renesas RIN32M3 module the following EtherCAT® example is prepared in the software delivery: projects/2015013_irj45/ac/09_ecat_slave

The associated device description for configuration tools is located here: appl/2015013_irj45/ac/09_ecat_slave/esi/09_evat_slave_renesas.xml

Setup from the application controller

Initially the EEPROM of the EtherCAT® device, which stores the SII information for configuration and identification, is empty. For an EtherCAT® slave to correctly operate its identification must be configured, which is stored in the EEPROM connected to the EtherCAT® controller. Programming of this memory is
possible in different ways. For convenience it is possible to configure these information initially using the application controller.

It is not recommended to overwrite those information with each start of the application controller. The data also contains addressing information which can be written by the EtherCAT® master. By overwriting this data, addressing of the EtherCAT® slave may fail in certain scenarios.

To trigger writing of the SII data by the application controller following sequence needs to be proceeded:

Edit the file appl/2015013_irj45/ac/09_ecat_slave/goal_appl.c

/****************************************************************************/
/* Local defines */
/****************************************************************************/
#define APPL_VERSION_LEN 32
#define APPL_ECAT_PDO_BUF_SIZE 12               /**< PDO buffer size */

/**< timeout trigger in ms */
#define APPL_TIMEOUT_TRIGGER_VAL (25 * GOAL_TIMER_MSEC)

/* Note: By setting this define, the SII eeprom will be overwritten. This
   should only be done initially since the PLC can store additional information
   in this area, e.g. the configured station alias. */

/**< set to force overwriting of slaves sii eeprom */
#define APPL_ECAT_SII_INIT 0

Change define APPL_ECAT_SII_INIT

Compile and run the application

The log should now contain the following lines:

Reset the define APPL_ECAT_SII_INIT

Compile and run the application

The device is now ready for operation.

Setup from a Configuration Tool

Initial setup of an EtherCAT® device is also possible over EtherCAT®. This process is shown using CODESYS, see figure below. At first a project with an EtherCAT® master is required. The ESI file 09_ecat_slave_renesas.xml needs to be installed to the device repository of the Configuration Tool.

EtherCAT® masters can determine information about slaves from multiple sources. Initial detection is done using the information in the SII. This is data stored in the device (usually an EEPROM). This data is accessible over EtherCAT®.

To configure the device initially, at first it must be added to the EtherCAT® master manually. This procedure is shown here in figure.

Now writing of the ESI information within the devices EEPROM is possible using “Write E2PROM XML”. After a Power Cycle, the device should work properly in EtherCAT® slave mode.

Setup from Industrial Communication Explorer

Beside the use of CODESYS it is also possible to use the Industrial Communication Explorer (ICE) to flash the EEPROM content.

The scanning for EtherCAT® Nodes is described here. Refer to this page to flash the EEPROM.

Please note, that the ICE shows the modulename (configured at the CM variables) in the “Network Navigator”. This name is independant from the “Manufacturer Device Name” configured in the EEPROM and application.

Firmware Update

This chapter describes the process of updating the firmware over EtherCAT®.

Firmware Update Procedure

If the communication module is in EtherCAT® mode, the HTTP Update method will not work. Thus an update over FoE is possible.

Firmware update is possible using the Industrial Communication Explorer, which will use the firmware package *.pfw for updating a device running in EtherCAT® mode using FoE. Manual update is also possible.

At first the *.pfw file needs to be extracted (it's a zip archive). The containing file irj45_port.bin is required for firmware update.

The example application 09_ecat_slave sets the following properties for FoE firmware update of the communication module:

Firmware Update property	Value

Firmware Update property	Value
Update requires BOOT state	YES
Filename	ccm.efw
Password	0

Table: FoE update properties

To update the firmware, force the slave to enter BOOT state using the EtherCAT® master. Then initiate a FoE download using the file irj45_2port.dat and the given properties for firmware update from the table.

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.

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.

The example slave supports PDO assignment and PDO mapping, thus the provided default configuration can be changed during integration into an EtherCAT® network within the available range.

Mappable Objects

This table shows all mappable objects of the example project.

Index	SubIndex	Name	DataType	Description

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

Default PDO mapping

By default all PDOS are active (objects 0x1C12, 0x1C13):

TxPDOs: 0x1A00, 0x1A01
RxPDOs: 0x1600, 0x1601

By default the following objects are mapped:

RxPDO 0x1A00:
- Object 0x6000:0x01 (digital Inputs 1-8)
RxPDO 0x1A01:
- empty
TxPDO 0x1600:
- Object 6200:0x01 (digital Outputs 1-8)
TxPDO 0x1601:
- empty

Mapping can be changed by the EtherCAT® master (PDO mapping, PDO assignment).

Object functions

The example project implements some functionality. The following table gives an overview.

Index	SubIndex	Object function

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

Distributed Clocks

In order to operate the slave in Distibuted Clocks (DC) mode, one of the available DC sync modes must be selected:

Sync Mode	Operation

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

To detect sync events on the S7G2-SK board, some preparations haveto be made. Please make the following connections on the shield module using a wire bridge:

P6_13 (PD6) -> P2_2 (SYNC1)
P6_8 (PD5) -> P3_3 (SYNC0)

The application propagates the detected DC events in the objects 0x200D and 0x200E. The minimum cycle time for this example is set to 1 ms.

FoE

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

FoE Property	Value
Filename	test.txt
Password	123456

Table: FoE example settings

EoE

When the slave is operating in an EtherCAT® network with a PLC which supports EoE, following IP based services are availabe:

Device Detection Protocol (e.g. for Industrial Communication Explorer):
- Device Detection
- Log Access
- Configuration Variables Access
HTTP
- Sample Website on default port 80

The firmware update of the CC module over HTTP will not work in EtherCAT® mode. Thus if required use the FoE method for firmware update.

The device supports configuration of EoE, however any given MAC address will be ignored. The internal MAC address will be used instead. The IP-Address of the device can either be configured using the Industrial Communication Explorer or configured by the PLC.

SoM/iRJ45

001 - EtherCAT evaluation