iRJ45 / SoM - uGOAL Examples

01_ethercat

This example implements an EtherCAT slave. It supports dynamic PDO mapping and dynamic PDO assignment.

Configuration

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):

  • TxPDOs: 0x1A00, 0x1A01

  • RxPDOs: 0x1600, 0x1601

The default PDO mapping is following:

  • RxPDO 0x1600:

    • Object 0x6200:0x01 (digital Outputs 1 – 8)

  • RxPDO 0x1601:

    • Empty

  • TxPDO 0x1A00:

    • Object 0x6200:0x01 (digital Inputs 1-8)

  • TxPDO 0x1A01:

    • Empty

Content of the receive and transmit frame

Receive frame as following:

Position

Content

Position

Content

0 .. 3

CTC header

4 .. 7

Generic Data Provider

8 .. 8

Object 0x6200:0x01

Transmit frame as following:

Position

Content

Position

Content

0 .. 3

CTC header

4 .. 4

Object 0x6000:0x01

Supported Platforms

Platform

Supported

Platform

Supported

atmega2560

NO*

stm32f103rb

YES

linux

YES

rl78/g14

YES (disable logging)

lpc55s69

YES

*This example doesn’t start properly due to insufficient RAM.

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.

  • Click right on your network interface and choose “Enable EtherCAT” as shown in the figure.

  • Click the button “Scan Network” to find the device.

  • Choose the found device in “Network Navigator” and click “Refresh Device Info”.

  • Choose the tab “Object Dictionary” and click “Read Object Dictionary Info” and “Read all object values”.

You can change the default mapping in the tab “PDO Mapping”.

  • Run a cyclic connection through choosing the tab “I/O Data” and clicking “Start process data exchange”.

You can edit the PDO by writing a value in the textbox. The value will be accepted if you click “Update RxPDO data”.


02_profinet

This is a simple profinet example which creates two modules with each 128 byte of input data and output data. Data from slot 2 is mirrored to slot 1. The modules are handled by RPC calls, thus a update cycle of only 100ms is possible. The cyclic channel is only used for the LEDs.

Configuration

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/".

Content of the receive frame and transmit frame

Receive frame as following:

Position

Content

Position

Content

0 .. 3

CTC header

4 .. 7

Generic Data Provider

Transmit frame as following:

Position

Content

Position

Content

0 .. 3

CTC header

Supported Platforms

Platform

Supported

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.

  • Click the button “Scan Network” to find the device.

  • Choose the found device in “Network Navigator”, choose the tab “PNIO Master” and click “Scan Device”.

You’ll now see the “Device Data”. On this window you’re able to configure the device. Please make sure that the device has correct ip settings.

  • Choose the tab “I/O” on the bottom side and click “Load GSDML File” - choosing the file “projects/ugoal/02_profinet/gsdml/*.xml”.

  • Plug the 128 bytes Input and Output module into the device slots per drag and drop according to shown figure.

  • Expand the modules in the bottom view, click the PC/CS “0/128” and choose “Edit”. Change the “IOPS Data State” into “Good” and accept with “OK”.

You can now manipulate the cyclic process data by click into “Output Data”.


03_eip

This example demonstrates an EtherNet/IP slave. It supports operating with or without
the data mapper.

If the datamapper is enabled, operation of process data is executed within the EtherNet/IP
callback routine main_eipCallback.

If the datamapper is not enabled, process data is operated within the simple api specific callback function som_dataCb, which gives access to the raw SPI frame.

Configuration

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".

Content of the receive frame and transmit frame

Receive frame as following:

Position

Content

Position

Content

0 .. 3

CTC header

4 .. 7

Generic Data Provider

8 .. 39

Output Data of assembly

Transmit frame as following:

Position

Content

Position

Content

0 .. 3

CTC header

4 .. 35

Input Data of assembly

Supported Platforms

Platform

Supported

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.

  • Click the button “Scan Network” to find the device.

  • Choose the found device in “Network Navigator”, choose the tab “EtherNet/IP Master” and click “Scan Device”.

You’ll now see the “Device Data”.

  • Choose the tab “I/O Data” on the bottom side and click “Connect” to establish a connection.

You can now manipulate the cyclic process data by click into “I/O Data O->T”. Accept data by checking “Enable Run” and clicking “Apply”.


04_profinet_dyn_modules

This example demonstrates dynamic module handling. The modules process data is handles over RPC.

Configuration

By default no IP address is set. Using a configuration tool (e.g. Industrial Communication Explorer) a valid configuration must be provided

To operate the following modules need to be plugged:

Slot

Module

Slot

Module

1

64 bytes Input

2

64 bytes Output

The cyclic channel is used for the LED status.

The GSDML file for this example is located beside the application code: "projects/ugoal/04_profinet_dyn_modules/gsdml/*.xml"

Content of the receive frame and transmit frame

Receive frame as following:

Position

Content

Position

Content

0 .. 3

CTC header

4 .. 7

Generic Data Provider

Transmit frame as following:

Position

Content

Position

Content

0 .. 3

CTC header

Supported Platforms

Platform

Supported

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.

The following instructions are very similar to application 02_profinet, which is why they are described only briefly. Please refer to chapter 02_profinet if you need more detailed instructions.

  • Click the button “Scan Network” to find the device.

  • Choose the found device in “Network Navigator”, choose the tab “PNIO Master” and click “Scan Device”.

  • Choose the tab “I/O” on the bottom side and click “Load GSDML File” - choosing the file “ugoal/example/04_profinet_dyn_modules/gsdml/*.xml”.

  • Plug the 64 bytes Input and Output module into the device slots per drag and drop.

  • Expand the modules in the bottom view, click the PC/CS “0/64” and choose “Edit”. Change the “IOPS Data State” into “Good” and accept with “OK”.

You can now manipulate the cyclic process data by click into “Output Data”.


05_ccm

This example shows a very basic application. No fieldbus is started. The application reads and writes some CM variables.

Supported Platforms

Platform

Supported

Platform

Supported

atmega2560

YES

stm32f103rb

YES

linux

YES

rl78/g14

YES

lpc55s69

YES


06_ethercat_minimal

This EtherCAT example demonstates a simple EtherCAT slave. It contains five each 32 bit wide objects (0x2000, 0x2001, 0x200D, 0x200E, 0x200F) - 0x2000 and 0x2001 are 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.

Content of the receive frame and transmit frame

Receive frame as following:

Position

Content

Position

Content

0 .. 3

CTC header

4 .. 7

Generic Data Provider

8 .. 11

Output Data

Transmit frame as following:

Position

Content

Position

Content

0 .. 3

CTC header

4 .. 7

Input Data

Supported Platforms

Platform

Supported

Platform

Supported

atmega2560

YES

stm32f103rb

YES

linux

YES

rl78/g14

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.

The following instructions are very similar to application 01_ethercat, which is why they are described only briefly. Please refer to chapter 01_ethercat if you need more detailed instructions.

  • Click right on your network interface and choose “Enable EtherCAT” as shown in the figure.

  • Click the button “Scan Network” to find the device.

  • Choose the found device in “Network Navigator” and click “Refresh Device Info”.

  • Choose the tab “Object Dictionary” and click “Read Object Dictionary Info” and “Read all object values”.

You can change the default mapping in the tab “PDO Mapping”.

  • Run a cyclic connection through choosing the tab “I/O Data” and clicking “Start process data exchange”.

You can edit the PDO by writing a value in the textbox. The value will be accepted if you click “Update RxPDO data”.


07_http_ip_management

This example demonstrates usage of the web server. The example provides a web site which shows the current IP configuration of the device. Beside that a configuration of the IP configuration is possible. Either a static IP address of DHCP can be configured. Just fill in the values in the form and submit the configuration using the “Configure “ button.

IP configuration using the example 07_http_ip_management

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

Platform

Supported

atmega2560

No (insufficient RAM)

rl78/g14

No (insufficient RAM)

linux

YES

stm32g01/stm32f103

YES

lpc55s69

YES


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.

Configuration

By default no IP address is set. Using a configuration tool (e.g. Industrial Communication Explorer) a valid configuration must be provided,

To operate the following modules need to be plugged:

Slot

Module

Slot

Module

1

1434 bytes Input

2

1434 bytes Output

The cyclic channel is used for the LED status.

The GSDML file for this example is located beside the application code: "projects/ugoal/08_pnio_max_data_rpc/gsdml/*.xml"

Content of the receive frame and transmit frame

Receive frame as following:

Position

Content

Position

Content

0 .. 3

CTC header

4 .. 7

Generic Data Provider

Transmit frame as following:

Position

Content

Position

Content

0 .. 3

CTC header

Supported Platforms

Platform

Supported

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.

The following instructions are very similar to application 02_profinet, which is why they are described only briefly. Please refer to chapter 02_profinet if you need more detailed instructions.

  • Click the button “Scan Network” to find the device.

  • Choose the found device in “Network Navigator”, choose the tab “PNIO Master” and click “Scan Device”.

  • Choose the tab “I/O” on the bottom side and click “Load GSDML File” - choosing the file “projects/ugoal/08_pnio_max_data_rpc/gsdml/GSDML-V2.35-portGmbH-irj45-20200717.xml”.

  • Plug 1434 bytes Input module in slot 1 and Plug 1434 byte Output module in Slot 2

  • Expand the modules in the bottom view, click the PC/CS “0/64” and choose “Edit”. Change the “IOPS Data State” into “Good” and accept with “OK”.

You can now manipulate the cyclic process data by click into “Output Data”.

To establish a cyclic connection you can also use the software CODESYS.

09_pnio_io_mirror_new_api

This profinet slave example contains a fully functional profinet slave. There are 4 modules (slot 1 to 4) pre-allocated with modules which are mapped. Thus these modules are updated in a 1 ms cycle.

The function goal_pnioDmSubmodPlug maps the ioxs status and the process data of the given module to the cyclic channel. This example expects a input module with 32 bytes on slot 5 and an output module with 32 bytes in slot 6. Then data from slot 6 is mirrored to slot 5.

Content of the receive frame and transmit frame

Receive frame as following:

Position

Content

Position

Content

0 .. 3

CTC header

4 .. 7

Generic Data Provider

TODO

 

Transmit frame as following:

Position

Content

Position

Content

0 .. 3

CTC header

TODO

 

Supported Platforms

Platform

Supported

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.

The following instructions are very similar to application 02_profinet, which is why they are described only briefly. Please refer to chapter 02_profinet if you need more detailed instructions.

  • Click the button “Scan Network” to find the device.

  • Choose the found device in “Network Navigator”, choose the tab “PNIO Master” and click “Scan Device”.

  • Choose the tab “I/O” on the bottom side and click “Load GSDML File” - choosing the file “projects/ugoal/09_pnio_io_mirror_new_api/gsdml/GSDML-V2.35-portGmbH-irj45-20200717.xml”.

  • Plug 32 bytes Input module in slot 5 and Plug 32 byte Output module in Slot 6

  • Expand the modules in the bottom view, click the PC/CS “0/64” and choose “Edit”. Change the “IOPS Data State” into “Good” and accept with “OK”.

You can now manipulate the cyclic process data by click into “Output Data”.

Configuration of buffer sizes for data handling

Please refer to the application note regarding configuration of the RPC buffers. Initially those buffers are set to sufficient sizes for simple applications. This is done to support smaller targets. If the application requires handling of larger data buffers, those configuration options need to be configured by the user.

10_ethercat_rpc

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

Platform

Supported

atmega2560

NO

stm32f103rb

YES

linux

YES

rl78/g14

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:

 

0x2003:1...4 -> 0x2002:1...4 (except the byte representing the subindex, this byte is set to 0x00)

0x2001:1...4  -> 0x2000:1...4

 

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.

The following instructions are very similar to application 01_ethercat, which is why they are described only briefly. Please refer to chapter 01_ethercat if you need more detailed instructions.

  • Click right on your network interface and choose “Enable EtherCAT” as shown in the figure.

  • Click the button “Scan Network” to find the device.

  • Choose the found device in “Network Navigator” and click “Refresh Device Info”.

  • Choose the tab “Object Dictionary” and click “Read Object Dictionary Info” and “Read all object values”.

You can change the default mapping in the tab “PDO Mapping”.

  • Run a cyclic connection through choosing the tab “I/O Data” and clicking “Start process data exchange”.

You can edit the PDO by writing a value in the textbox. The value will be accepted if you click “Update RxPDO data”.

11_eip_rpc

This example demonstrates the maximum of transferrable data via EtherNet/IP. It processes 509 Byte T-->O and 505 Byte O-->T of data 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.

Configuration

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".

Content of the receive frame and transmit frame

Receive frame as following:

Position

Content

Position

Content

0 .. 3

CTC header

4 .. 7

Generic Data Provider

8 .. 39

Output Data of assembly

Transmit frame as following:

Position

Content

Position

Content

0 .. 3

CTC header

4 .. 35

Input Data of assembly

Supported Platforms

Platform

Supported

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.

The following instructions are very similar to application 03_eip, which is why they are described only briefly. Please refer to chapter 03_eip if you need more detailed instructions.

  • Click the button “Scan Network” to find the device.

  • Choose the found device in “Network Navigator”, choose the tab “EtherNet/IP Master” and click “Scan Device”.

You’ll now see the “Device Data”.

  • Choose the tab “I/O Data” on the bottom side and click “Connect” to establish a connection.

You can now manipulate the cyclic process data by click into “I/O Data O->T”. Accept data by checking “Enable Run” and clicking “Apply”.