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ET9300
User Manual
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BECKHOFF ET9300 User Manual

Application Note ET9300 (EtherCAT Slave Stack Code)
Version 1.7 Date: 2015-01-13
LEGAL NOTICE
II Application Note ET9300
Version
Comment
1.0
Start document
1.1
Chapter 4 “Hardware access”. Define descriptions; prototypes changed
1.2
Add chapter 5 Application Add chapter 9 Tool Add chapter 9 TestApplication Enhance Hardware access (chapter 4) update name references Enhance EoE chapter
1.3
TestApplication; chapter9 :Update object/entry description (0x2020.1, 0x3003, 0x3004 and 0x3007) Update “HW_GetTimer()” description SSC Tool: Edit file information Update SSC Structure Add “Find Setting” dialog description Update naming in Object chapter
1.4
SSCTool:
- Remove Wizard
- Add Configuration handling
1.5
Editorial changes Add “Getting Started” chapter Add description for hardware adaption Test Application:
- Add new test description
- Enhance/update application description
- Describe mechanism to control the behaviors
Enhance Application chapter
- Add setting description
- Interface variables
- Guide to create an application Add “Synchronization” chapter Hardware chapter: Sync1_Isr() description added Update SSC configuration references Add “EEPROM Handling” chapter
- EEPORM Emulation
- EEPROM Programming
1.6
Editorial changes Update object list of test application Update SSC Tool description (chapter 12) according version 1.3.1
1.7
Chapter 6.5.2 : Add offline object dictionary enhancement Add new mailbox test behaviors Indicate obsolete hardware functions Editorial changes Update SSC Tool screenshots and GUI description Add further test object in the test application Add object design rules Update references if TwinCAT 3 is used Add SSC OD Tool description Add optional EEPROM interface functions. Add Bootloader information
DOCUMENT HISTORY
Stack Code. For annotations or comments to this document please send an email to
EthercatSSC@beckhoff.com.
Application Note ET9300 1
NOTE: This document makes no claim to be complete regarding to the containing topics or the Slave
CONTENTS 1 References 7 2 Terms, Definition, Abbreviation 8
2.1 Abbreviation 8
3 Getting Started 9
3.1 SSC Tool 9
3.2 Default SSC files 9 4 Code Structure 11 5 Hardware Access 12
5.1 Interrupt Handler 16
5.2 Interface Functions/Macros 16
5.2.1 Generic 17
5.2.2 Read Access 20
5.2.3 Write Access 23
6 Application 26
6.1 Application Settings 26
6.2 SSC Functions 26
6.3 Interface Functions 27
6.3.1 Generic 27
6.3.2 EtherCAT State Machine 28
6.3.3 Process data handling 30
6.4 Interface Variables 30
6.5 Create an Application 31
6.5.1 Adding a new Application 31
6.5.2 Examples 31
7 Objects 41
7.1 Design/Structure Rules 41
7.2 Define local memory 41
7.3 Entry descriptions 42
7.4 Object name 42
7.5 Object description 43
7.6 Index Ranges 44
7.7 Implementation examples 45
7.7.1 Usage of Object Deftype ENUM 45
8 Mailbox 47
8.1 FoE (File Transfer over EtherCAT) 47
8.1.1 Testing FoE 47
8.2 EoE (Ethernet over EtherCAT) 47
8.2.1 Implementation 47
8.2.2 EoE Examples 49
9 Synchronization 55 2 Application Note ET9300
9.1 Supported Sync Modes 55
9.1.1 FreeRun 57
9.1.2 SyncManager 57
9.1.3 SyncManager/Sync0 58
9.1.4 SyncManager/Sync0/Sync1 58
9.1.5 Sync0 59
9.1.6 Sync0/Sync1 59
9.1.7 Subordinated Cycles 59
10 CiA402 drive profile 61
10.1 Objects 61
10.2 State machine 62
10.3 Operation modes 64
10.4 TwinCAT setup 65
10.4.1 Automatic network setup 66
10.4.2 Manual network setup 67
10.4.3 NC parameter setup 69
11 TestApplication 71
11.1 Slave Behavior Control 71
11.1.1 Test Control Object 71
11.1.2 User RAM 0xF80:0xF83 72
11.2 ESM Tests (0x2000 – 0x200F) 72
11.3 Mailbox Tests (0x2010 – 0x201F) 73
11.4 CoE Tests (0x2020 – 0x202F) 73
11.5 FoE Tests (0x2030 – 0x203F) 73
11.6 Generic Objects 74 12 Tool 77
12.1 Default Startup Dialogs 77
12.2 Main User Interface Elements 78
12.2.1 Tool Bar 78
12.2.2 Windows 82
12.3 Create Files 83
12.4 Local SSC Update 84
12.5 Project Update 85
12.6 Import Configurations 85 13 OD Tool 87
13.1 Console application 87
13.2 SSC Tool Integration 87
13.3 PDO mapping and SM assign objects 88
13.4 Syntax 88
13.4.1 Comment 88
13.4.2 Object Index 88
Application Note ET9300 3
13.4.3 ObjectCode 88
13.4.4 SI (Subindex) 89
13.4.5 DataType 89
13.4.6 Default/Min/Max 90
13.4.7 M/O/C, B/S and rx/tx 90
13.4.8 Access 90
13.5 ENUM 90 14 EEPROM Handling 92
14.1 EEPROM Emulation 92
14.2 EEPROM Programming 92
14.2.1 EEPROM Programmer User Elements 92 15 Bootloader 94 Appendix 95
Support and Service 95 Beckhoff’s branch offices and representatives 95 Beckhoff Headquarters 95 Beckhoff Support 95 Beckhoff Service 95 EtherCAT Technology Group (ETG) Headquarters 95
4 Application Note ET9300
FIGURES
Figure 1: EtherCAT Slave Stack Code .................................................................................................. 11
Figure 2: File-Stack Association ............................................................................................................ 11
Figure 3: RxPdo data of an EtherCAT slave ......................................................................................... 36
Figure 4: EL9800 Application object ranges.......................................................................................... 45
Figure 5: Send EoE datagram ............................................................................................................... 48
Figure 6: Receive EoE datagram .......................................................................................................... 49
Figure 7: EoE Example 1 (Schema) ...................................................................................................... 50
Figure 8: Network card settings ............................................................................................................. 51
Figure 9: Access EtherCAT Slave Settings ........................................................................................... 51
Figure 10: EoE EtherCAT Slave Settings .............................................................................................. 52
Figure 11: Ping Command Window ....................................................................................................... 52
Figure 12: EoE Example 2 (Schema) .................................................................................................... 53
Figure 13: Enable IP Routing WinXP .................................................................................................... 53
Figure 14: Enable IP Routing WinCE .................................................................................................... 54
Figure 15: ESC Interrupt Signals ........................................................................................................... 55
Figure 16: Free Run .............................................................................................................................. 57
Figure 17: SyncManager Synchronization ............................................................................................ 57
Figure 18: SM/Sync0 Synchronization .................................................................................................. 58
Figure 19: SM/Sync0/Sync1 Synchronization ....................................................................................... 58
Figure 20: Sync0 Synchronization ......................................................................................................... 59
Figure 21: Sync0/Sync1 Synchronization .............................................................................................. 59
Figure 22: Subordinated Cycles ............................................................................................................ 60
Figure 23: CiA402 state transitions and option codes ........................................................................... 63
Figure 24: Axis configuration ................................................................................................................. 65
Figure 25: Set device variable without PLC link .................................................................................... 66
Figure 26: Scan for new EtherCAT devices with TwinCAT 2 ................................................................ 66
Figure 27: Scan for new EtherCAT devices with TwinCAT 3 ................................................................ 67
Figure 28: TwinCAT 2 CiA402 axis setup ............................................................................................. 67
Figure 29: TwinCAT 3 CiA402 axis setup ............................................................................................. 68
Figure 30: Add CiA402 device ............................................................................................................... 68
Figure 31: Link multiple variables .......................................................................................................... 69
Figure 32: Encoder scaling .................................................................................................................... 70
Figure 33: Velocity scaling..................................................................................................................... 70
Figure 34: Configurator Main User Interface ......................................................................................... 77
Figure 35: Configurator File Menu ......................................................................................................... 78
Figure 36: Create New Project .............................................................................................................. 78
Figure 37: Configurator Project Menu ................................................................................................... 78
Figure 38: Find Setting Dialog ............................................................................................................... 79
Figure 39: Tool Menu ............................................................................................................................ 79
Figure 40: Tool Options ......................................................................................................................... 80
Figure 41: Configurator Locked Setting ................................................................................................. 80
Figure 42: Configurations List................................................................................................................ 81
Figure 43: Configurator Help Menu ....................................................................................................... 81
Figure 44: Configurator Project Information .......................................................................................... 82
Figure 45: Configurator File Context Menu ........................................................................................... 82
Figure 46: Configurator Slave Settings ................................................................................................. 83
Figure 47: Configurator Create Files ..................................................................................................... 84
Figure 48: Configurator Slave Stack Code Update ............................................................................... 84
Figure 49: Configurator Project Update Dialog ..................................................................................... 85
Figure 50: New Project | Import Configuration ...................................................................................... 86
Figure 51: Options | Import Configuration ............................................................................................. 86
Figure 52: SSC OD Tool workflow ........................................................................................................ 87
Figure 53: Excel application definition example .................................................................................... 87
Figure 54: Application file comment ...................................................................................................... 88
Figure 55: EEPROM Programming Tool ............................................................................................... 92
Figure 56: EEPROM Programmer | File ................................................................................................ 93
Figure 57: EEPROM Programmer | Slaves ........................................................................................... 93
Figure 58: EEPROM Programmer | List Elements ................................................................................ 93
Application Note ET9300 5
TABLES
Table 1: Hardware Related Settings ..................................................................................................... 12
Table 2: Recommended Hardware Configurations ............................................................................... 14
Table 3: Application Related Settings ................................................................................................... 26
Table 4: TSDOINFOENTRYDESC member variables .......................................................................... 42
Table 5: "TOBJECT" member variables ................................................................................................ 43
Table 6: Basic object index ranges ....................................................................................................... 44
Table 7: Supported Sync Modes ........................................................................................................... 56
Table 8: Object definitions in file cia402appl.h ................................................................................ 61
Table 9: State machine .......................................................................................................................... 64
Table 10: Linking of device and NC variables ....................................................................................... 68
Table 11: Test Object ............................................................................................................................ 71
Table 12: Test Object Entry ................................................................................................................... 71
Table 13: Test Control Object................................................................................................................ 71
Table 14: Test Control Object Entries ................................................................................................... 72
Table 15: Test Application | ESC Register 0xF80:0xF83 ...................................................................... 72
Table 16: Test Object 0x2000 (ESM Group 1) ...................................................................................... 72
Table 17: Test Object 0x2010 (Mailbox Group 1) ................................................................................. 73
Table 18: Test Object 0x2020 (CoE Group 1) ....................................................................................... 73
Table 19: Test Object 0x2030 (FoE Group 1) ....................................................................................... 73
Table 20: Generic Objects ..................................................................................................................... 74
Table 21: PDO mapping and SM assign object generation .................................................................. 88
Table 22: Base Data Types ................................................................................................................... 89
Table 23: Entry access rights ................................................................................................................ 90
Table 24: Enum definition ...................................................................................................................... 91
Table 25: Enum usage .......................................................................................................................... 91
Table 26: EEPROM Emulation Settings ................................................................................................ 92
6 Application Note ET9300

1 References

[1] ETG.6010 Implementation Guideline for the CiA402 Drive Profile
(www.ethercat.org/ETG6010) [2] ETG.1000 part 6 Application Layer protocol specification (www.ethercat.org/ETG1000) [3] Application Note EL9800 [4] ETG.2000 Slave Information Specification (www.ethercat.org/ETG2000) [5] ETG 5001 Modular Device Profile Specification (www.ethercat.org/ETG5001) [6] ET1100 Datasheet [7] ETG.1020 Protocol Enhancements (www.ethercat.org/ETG1020) [8] EtherCAT Slave Quick Design Guide
(http://download.beckhoff.com/download/Document/EtherCAT/Development_products/EtherC
AT_Slave_Design_Quick_Guide.pdf)
Application Note ET9300 7
Abbreviation
Description
AL
Application Layer
CoE
CANopen application profile over EtherCAT CANopen™ is a registered trademark of CAN in Automation e.V., Nuremberg, Germany
CiA402
CANopen™ Drive Profile specified in IEC 61800-7-201;
CANopen™ and CiA™ are registered trademarks of CAN
in Automation e.V., Nuremberg, Germany
csp
cycle synchronous position
csv
cycle synchronous velocity
DC
Distributed Clocks
EoE
Ethernet over EtherCAT
ESC
EtherCAT Slave Controller
FoE
File Transfer over EtherCAT
GPO
General Purpose Output
NC
Numeric Control
PDI
Process data interface
PDO
Process Data Object
PLC
Programmable Logic Controller
SI
SubIndex
SII
Slave Information Interface
SM
Sync Manager
SPI
Serial Peripheral Interface
SSC
Slave Stack Code

2 Terms, Definition, Abbreviation

Base Datatypes -- CoE Datatypes defined in ETG.1000.6 Entry – in conclusion with object single element,
in conclusion with object dictionary the objects
Subindex -- describes a single element (entry) of an object Object dictionary – the object dictionary is a list of objects. Within this list each object is uniquely
identified by an (object) index.

2.1 Abbreviation

8 Application Note ET9300

3 Getting Started

This is a step by step instruction how to start the EtherCAT slave development with the Slave Stack Code (SSC). There is also an EtherCAT Slave Design Quick Guide available in the downloaded SSC archive. In general two possibilities are available either using the SSC Tool (3.1 SSC Tool) or the default SSC files (3.2 Default SSC files).

3.1 SSC Tool

1. Download the Slave Stack Code here.
NOTE: To download the SSC the ETG member login and an EtherCAT Vendor ID is required.
If you are not an ETG member click here or if you do not have an EtherCAT Vendor ID click
here.
2. Unzip the downloaded archive.
3. Install "EtherCAT Slave Stack Code Tool.msi".
4. Start the SSC Tool (Start -> Program Files -> EtherCAT Slave Stack Code Tool -> SSC Tool).
5. Acknowledge the usage agreement.
6. Enter your Vendor ID and company name.
7. Create a new project (File -> New)
8. Select ...
a. the default SSC configuration. b. a custom platform/application configuration. If a configuration file is available it can
also be added via the "Import" button.
NOTE: If the SSC shall be executed on a third party platform, e.g. Texas Instruments AM335x
or Renesas R-IN32M3, it is recommended to use the corresponding configuration.
9. If the default SSC configuration was selected the hardware settings should be adapted
according to the target platform (Project Navigation -> "Hardware").
10. Select the slave application (Project Navigation -> "Application").
11. Save the project (File -> Save).
12. If Doxygen is installed a source code documentation can be created automatically (Tool ->
Options -> Create Files -> Create Documentation).
13. Create the slave files (Project -> Create new Slave Files).
14. Click "Start".
15. Create a slave project with the target platform specific IDE, import the generated source files
and run the slave binary. For further details see the IDE/SDK documentation of the platform
vendor.
16. Make the ESI file available in the ESI cache of the EtherCAT configuration tool/master.
17. Connect the slave platform and the EtherCAT configuration tool and create a network.
18. Run the network configuration.

3.2 Default SSC files

1. Download the Slave Stack Code here.
NOTE: To download the SSC the ETG member login and an EtherCAT Vendor ID is required.
If you are not an ETG member click here or if you do not have an EtherCAT Vendor ID click
here.
2. Unzip the downloaded archive.
3. Create a slave project with the target platform specific IDE, import the SSC files and run the
slave binary. For further details see the IDE/SDK documentation of the platform vendor.
4. Adapt the settings in ecat_def.h to the target platform and application.
Application Note ET9300 9
5. Create an ESI file according to the settings in step 4.
6. Make the ESI file available in the ESI cache of the EtherCAT configuration tool/master.
7. Connect the slave platform and the EtherCAT configuration tool and create a network.
8. Run the network configuration.
10 Application Note ET9300
PDI and hardware abstraction
EtherCAT
State
Machine
Mailbox
Process
data
AoE
CoE
FoE
SoE
VoE
EoE
Application
e.g. CiA402 Drive Profile
Mailbox Process data
Register ESC address space (DPRAM)
0x0000 0x1000
User
Application
Generic
EtherCAT stack
Hardware
access
EtherCAT Slave
Controller (extract)
Application function set
Hardware function set
User application files (el9800appl.*,cia402appl.*,... )
PDI and hardware access functions (el9800hw.*; mcihw.*;fc1100hw.*)
Sate machine (ecatslv.*)
Slave configuration header (ecat_def.h)
Mailbox handling (mailbox.*)Process data handling (ecatappl.*)
Emergency (emcy.*)
AoE (ecataoe.*)
CoE (ecatcoe.*)
FoE (ecatfoe.*)
SoE (ecatsoe.*)
VoE
sdoserv.* objdef.*
aoeappl.*
coeappl.*
foeappl.*
EoE (ecateoe.*)
eoeappl.*

4 Code Structure

The EtherCAT slave stack as seen in Figure 1 consists of three parts:
- PDI/Hardware abstraction
- Generic EtherCAT stack
- User application The functions and macros which shall be provided by the hardware access layer (Hardware function set) are defined in chapter 5 Hardware Access. The behavior of the generic EtherCAT stack is described in ETG.1000 Specification [2] . The functions which shall be provided by the application (Application function set) are defined in chapter 6 Application.
Figure 1: EtherCAT Slave Stack Code
Figure 2 shows the association between the Slave Stack Code layers and the source files.
The structure of the code can be adapted to the application specific requirements by using the Slave Stack Code Tool (chapter 12).
Figure 2: File-Stack Association
Application Note ET9300 11
Define
Description
EL9800_HW
Hardware access if the slave code is executed on the PIC mounted on EL9800 EtherCAT Evaluation Kit from Beckhoff Automation GmbH. It includes PIC initialization and ESC access via SPI. This configuration could also be used if the SSC needs to be adapted to any other 8 or 16Bit µC which accesses the ESC via SPI.
PIC24
Activates the configuration for the Microchip PCI24HJ128GP306 µC which is mounted on the EL9800 EtherCAT Evaluation board since
Revision 4A. This setting shall only active if define “EL9800_HW” is
also set.
PIC18
Activates the configuration for the Microchip PIC18F452 µC which is mounted on the EL9800 EtherCAT Evaluation board, Revision 2. This setting shall only active if define “EL9800_HW” is also set.
MCI_HW
Generic MCI implementation. Can be used if any kind of memory interface face is used to access the ESC.
FC1100_HW
Specific hardware implementation for the FC1100 PCI EtherCAT slave card from Beckhoff. Used on Win32 operating system.
CONTROLLER_16BIT This setting shall be used if the slave code is built for a 16Bit µC.
CONTROLLER_32BIT
This setting shall be used if the slave code is built for a 32Bit µC.
ESC_16BIT_ACCESS
If this setting is set, then only 16Bit aligned accesses will be performed on the ESC.
ESC_32BIT_ACCESS
If this setting is set, then only 32Bit aligned accesses will be performed on the ESC.
MBX_16BIT_ACCESS
If this setting is set, then the slave code will only access mailbox data 16Bit aligned. If the mailbox data is copied to the local µC memory and
the define “CONTROLLER_16BIT” is set, then this define should also
be set.
BIG_ENDIAN_16BIT
These define needs to be set if the µC always accesses external memory 16Bit wise. It works in big endian format and the switching of Low Byte and High Byte is done in hardware.
BIG_ENDIAN_FORMAT
This setting shall be set if the µC works in big endian format.

5 Hardware Access

The Slave Stack Code is executable on multiple platforms and controller architectures. This chapter describes the available hardware implementations/settings and how to implement a new user specific hardware access. To support multiple hardware architectures the SSC includes multiple settings to fulfill the specific hardware requirements. Table 1: Hardware Related Settings includes a list of the defined hardware settings (located in ecat_def.h or in the SSC Tool).
Table 1: Hardware Related Settings
The settings “EL9800_HW”, “PIC24”, “PIC18”, MCI_HW”, “FC1100_HW” are used to activate a predefined hardware access implementation. An extract of platforms/ µC is listed in Table 2: Recommended Hardware Configurations including the recommended settings. Some of the configurations can also be selected if a new project is created with the SSC Tool (see comment). If none of these settings are used, then user specific hardware access files need to be added to the
12 Application Note ET9300
slave project. In general the hardware access implementation needs to support the following features:
- ESC read/write access
- Timer supply (at least 1ms base tick)
- Calling of timer handler every 1ms (only required if timer interrupt handling is supported
,“ECAT_TIMER_INT” set to 1)
- Calling the interrupt specific functions (only required if synchronization is supported)
o PDI ISR (required if “AL_EVENT_SUPPORTED” set to 1) o SYNC0 ISR (required if “DC_SUPPORTED” set to 1)
Application Note ET9300 13
Platform
EL9800
_HW
PIC24 PIC18 MCI_HW FC1100_HW CONTROLLER_16BIT CONTROLLER_32BIT ESC_16BIT_ACCESS ESC_32BIT_ACCESS MBX_16BIT_ACCESS BIG_ENDIAN_16BIT BIG_ENDIAN_FORMAT
Comment
Microchip PIC18F452 Generic : 8Bit µC ; SPI ESC access
1 0 1 0 0 0 0 0 0 0 0 0 The stack is ready to use if the PIC 18 on the EL9800 EtherCAT Evaluation board is used. Otherwise there might be requirements to adapt the hardware access
Microchip PIC24HJ128GP306 Generic: 16Bit µC; SPI ESC access
1 1 0 0 0 1 0 1 0 1 0 0 The stack is ready to use if the PIC 24 on the EL9800 EtherCAT Evaluation board is used. Otherwise there might be requirements to adapt the hardware access.
x86 (OS Windows)
0 0 0 0 1 0 1 0 1 0 0 0 The stack is ready to use if the stack shall run on a Win32 OS in user mode. Otherwise changes in hardware access might be required. The setting “FC1100_HW” is a adapted implementation based on “MCI_HW
Texas Instruments Sitara AM335x
0 0 0 0 0 0 0 0 0 0 0 0 To use the SSC on TI AM335x chips the hardware access files from the TI SDK need to be added to the project. The files can be added to the slave project via the patch file (delivered with the SDK), by selecting the TI configuration in the SSC Tool or by adding the files manually.
Altera® NIOS®II (ESC connected via Avalon bus)
0 0 0 1 0 x x x x x 0 0 x: depends on the NIOS® configuration in the SOPC builder. In general the following points need to be adapted:
- define “MAKE_PTR_TO_ESC”
- ISRs for Timer/PDI interrupt and Sync0 (depends on the supported features)
- Implement timer access functions and macros Depending on the platform configuration further changes may be required.
Table 2: Recommended Hardware Configurations
14 Application Note ET9300
Platform
EL9800
_HW
PIC24 PIC18 MCI_HW FC1100_HW CONTROLLER_16BIT CONTROLLER_32BIT ESC_16BIT_ACCESS ESC_32BIT_ACCESS MBX_16BIT_ACCESS BIG_ENDIAN_16BIT BIG_ENDIAN_FORMAT
Comment
Xilinx Microblaze™ (ESC connected via PLB)
0 0 0 1 0 x x x x x x 0 x: depends on the Microblaze™ configuration. In general the following points need to be adapted:
- define “MAKE_PTR_TO_ESC”
- ISRs for Timer/PDI interrupt and Sync0 (depends on the supported features)
- Implement timer access functions and macros Depending on the platform configuration further changes may be required.
Renesas - RIN32M3
0 0 0 0 0 0 0 0 0 0 0 0 To use the SSC on Renesas RIN32M3 chip the chip specific hardware access files need to be added to the project. The files are added automatically if the Renesas PIN32M3 configuration is selected in the SSC Tool.
Application Note ET9300 15
Prototype:
void ECAT_CheckTimer (void)
Parameter
void
Return
void
Description
This function needs to be called every 1ms from a timer ISR (ECAT_TIMER_INT = 1). If no timer interrupt is supported this function is called automatically when 1ms is elapsed (based on the provided timer).
Prototype:
void PDI_Isr (void)
Parameter
void
Return
void
Description
This function need to be called from the PDI ISR. For the PDI specific pin naming and the interrupt generation logic please refer to [6] . To support PDI interrupt handling it is also required to set “AL_EVENT_ENABLED” to 1.
Prototype:
void Sync0_Isr (void)
Parameter
void
Return
void
Description
This function needs to be called from the Sync0 ISR. The Sync0 interrupt is generated by the DC Unit of the ESC. It is currently not supported by default to map the Sync0 signal to the PDI interrupt. To support Dc synchronization “DC_SUPPORTED” need to be set.
Prototype:
void Sync1_Isr (void)
Parameter
void
Return
void
Description
This function needs to be called from the Sync1 ISR. The Sync1 interrupt is generated by the DC Unit of the ESC. It is currently not supported by default to map the Sync1 signal to the PDI interrupt. To support Dc synchronization “DC_SUPPORTED” need to be set.

5.1 Interrupt Handler

The following functions are provided by the generic Slave Stack Code (defined in ecatappl.h) and need to be called from the hardware access layer.

5.2 Interface Functions/Macros

The functions and macros listed in this chapter need to be implemented by the hardware access layer.
16 Application Note ET9300

5.2.1 Generic

Prototype:
UINT16 HW_Init(void)
Parameter
void
Return
0 if initialization was successful > 0 if error has occurred while initialization
Description
Initializes the host controller, process data interface (PDI) and allocates resources which are required for hardware access.
Prototype:
void HW_Release(void)
Parameter
void
Return
void
Description
Release allocated resources.
Prototype:
UINT16 HW_GetALEventRegister(void)
Parameter
void
Return
Content of register 0x220-0x221
Description
Get the first two bytes of the AL Event register (0x220-0x221).
Prototype:
UINT16 HW_GetALEventRegister_Isr(void)
Parameter
void
Return
Content of register 0x220-0x221
Description
This function should be implemented if a special function for ESC access from interrupt service routines is required; otherwise this function is defined as HW_GetALEventRegister. Get the first two bytes of the AL Event register (0x220-0x221).
Prototype:
void HW_ResetALEventMask(UINT16 intMask)
Parameter
“intMask” Interrupt mask (disabled interrupt shall be zero)
Return
void
Description
Performs a logical AND with the AL Event Mask register (0x0204 : 0x0205). This function is only required if “AL_EVENT_ENABLED” is set.
NOTE: This function is only required for SSC 5.10 or older.
Application Note ET9300 17
Prototype:
void HW_SetALEventMask(UINT16 intMask)
Parameter
“intMask” Interrupt mask (enabled interrupt shall be one)
Return
void
Description
Performs a logical OR with the AL Event Mask register (0x0204 : 0x0205). This function is only required if “AL_EVENT_ENABLED” is set.
NOTE: This function is only required for SSC 5.10 or older.
Prototype:
void HW_SetLed(UINT8 RunLed,UINT8 ErrLed)
Parameter
“RunLed” EtherCAT Run LED state “ErrLed” EtherCAT Error LED state
Return
void
Description
Updates the EtherCAT Run and Error LEDs (or EtherCAT Status LED).
Prototype:
void HW_RestartTarget(void)
Parameter
void
Return
void
Description
Resets the hardware. This function is only required if “BOOTSTRAPMODE_SUPPORTED” is set.
Prototype:
void HW_DisableSyncManChannel(UINT8 channel)
Parameter
“channel” SyncManager channel
Return
void
Description
Disables selected SyncManager channel. Sets bit 0 of the corresponding 0x807 register.
NOTE: This function is only required for SSC 5.10 or older.
Prototype:
void HW_EnableSyncManChannel (UINT8 channel)
Parameter
“channel” SyncManager channel
Return
void
Description
Enables selected SyncManager channel. Resets bit 0 of the corresponding 0x807 register.
NOTE: This function is only required for SSC 5.10 or older.
18 Application Note ET9300
Prototype:
TSYNCMAN * HW_GetSyncMan(UINT8 channel)
Parameter
“channel” SyncManager channel
Return
Pointer to the SyncManager channel description. The SyncManager description structure size is always 8 Byte, the content of “TSYNCMAN” differs depending on the supported ESC access.
Description
Gets the content of the SyncManager register from the stated channel. Reads 8 Bytes starting at 0x800 + 8*channel.
NOTE: This function is only required for SSC 5.10 or older.
Prototype:
UINT32 HW_GetTimer(void)
Parameter
void
Return
Current timer value
Description
Reads the current register value of the hardware timer. If no hardware timer is available the function shall return the counter value of a multimedia timer. The timer ticks value (increments / ms) is defined in “ECAT_TIMER_INC_P_MS”. This function is required if no timer interrupt is supported (“ECAT_TIMER_INT” = 0) and to calculate the bus cycle time.
Prototype:
void HW_ClearTimer(void)
Parameter
void
Return
void
Description
Clears the hardware timer value.
Prototype:
UINT16 HW_EepromReload (void)
Parameter
void
Return
0 <> Error during EEPORM reload 0 = EEPROM load correct
Description
This function is called if an EEPROM reload request is triggered by the master. Only required if EEPROM Emulation is supported and the function pointer “pAPPL_EEPROM_Reload” is not set.
Application Note ET9300 19
Prototype:
void HW_EscRead(MEM_ADDR *pData, UINT16 Address, UINT16 Len )
Parameter
“pData”
Pointer to local destination buffer. Type of the pointer depends on the host controller architecture (specified in ecat_def.h or the SSC Tool).
“Address”
EtherCAT Slave Controller address. Specifies the offset within the ESC memory area in Bytes. Only valid addresses are used depending on 8Bit/16Bit or 32 Bit ESC access (specified in ecat_def.h or the SSC Tool).
“Len”
Access size in Bytes
Return
void
Description
Reads from the EtherCAT Slave Controller. This function is used to access ESC registers and the DPRAM area.
Prototype:
void HW_EscReadIsr(MEM_ADDR *pData, UINT16 Address, UINT16 Len )
Parameter
“pData”
Pointer to local destination buffer. Type of the pointer depends on the host controller architecture (specified in ecat_def.h or the SSC Tool).
“Address”
EtherCAT Slave Controller address. Specifies the offset within the ESC memory area in Bytes. Only valid addresses are used depending on 8Bit/16Bit or 32 Bit ESC access (specified in ecat_def.h or the SSC Tool).
“Len”
Access size in Bytes
Return
void
Description
This function should be implemented if a special function for ESC access from interrupt service routines is required; otherwise this function is defined as “HW_EscRead”. Reads from the EtherCAT Slave Controller. This function is used to access ESC registers and the DPRAM area.
Prototype:
void HW_EscReadDWord(UINT32 DWordValue, UINT16 Address)
Parameter
“DWordValue”
Local 32Bit variable where the register value shall be stored.
“Address”
EtherCAT Slave Controller address. Specifies the offset within the ESC memory area in Bytes. Only valid 32Bit addresses are used..
Return
void
Description
Reads two words from the specified address of the EtherCAT Slave Controller.

5.2.2 Read Access

20 Application Note ET9300
Prototype:
void HW_EscReadDWordIsr(UINT32 DWordValue, UINT16 Address)
Parameter
“DWordValue”
Local 32Bit variable where the register value shall be stored.
“Address”
EtherCAT Slave Controller address. Specifies the offset within the ESC memory area in Bytes. Only valid 32Bit addresses are used.
Return
void
Description
This function should be implemented if a special function for ESC access from interrupt service routines is required; otherwise this function is defined as “HW_EscReadWord”. Reads two words from the specified address of the EtherCAT Slave Controller.
Prototype:
void HW_EscReadWord(UINT16 WordValue, UINT16 Address)
Parameter
“WordValue”
Local 16Bit variable where the register value shall be stored.
“Address”
EtherCAT Slave Controller address. Specifies the offset within the ESC memory area in Bytes. Only valid 16Bit addresses are used.
Return
void
Description
Reads one word from the specified address of the EtherCAT Slave Controller. Only required if “ESC_32BIT_ACCESS” is not set.
Prototype:
void HW_EscReadWordIsr(UINT16 WordValue, UINT16 Address)
Parameter
“WordValue”
Local 16Bit variable where the register value shall be stored.
“Address”
EtherCAT Slave Controller address. Specifies the offset within the ESC memory area in Bytes. Only valid 16Bit addresses are used.
Return
void
Description
This function should be implemented if a special function for ESC access from interrupt service routines is required; otherwise this function is defined as “HW_EscReadWord”. Reads one word from the specified address of the EtherCAT Slave Controller. Only required if “ESC_32_BIT_ACCESS” is not set.
Application Note ET9300 21
Prototype:
void HW_EscReadByte(UINT8 ByteValue, UINT16 Address)
Parameter
“ByteValue”
Local 8Bit variable where the register value shall be stored.
“Address”
EtherCAT Slave Controller address. Specifies the offset within the ESC memory area in Bytes.
Return
void
Description
Reads one byte from the EtherCAT Slave Controller. Only required if “ESC_16BIT_ACCESS” and “ESC_32BIT_ACCESS” are not set.
Prototype:
void HW_EscReadByteIsr(UINT8 ByteValue, UINT16 Address)
Parameter
“ByteValue”
Local 8Bit variable where the register value shall be stored.
“Address”
EtherCAT Slave Controller address. Specifies the offset within the ESC memory area in Bytes.
Return
void
Description
This function should be implemented if a special function for ESC access from interrupt service routines is required; otherwise this function is defined as “HW_EscReadByte”. Reads one byte from the EtherCAT Slave Controller. Only required if “ESC_16BIT_ACCESS” and “ESC_32BIT_ACCESS” are not set.
Prototype:
void HW_EscReadMbxMem(MEM_ADDR *pData, UINT16 Address, UINT16 Len )
Parameter
“pData”
Pointer to local destination mailbox buffer. Type of the pointer depends on the host controller architecture (specified in ecat_def.h or the SSC Tool).
“Address”
EtherCAT Slave Controller address. Specifies the offset within the ESC memory area in Bytes. Only valid addresses are used depending on 8Bit/16Bit or 32 Bit ESC access (specified in ecat_def.h or the SSC Tool).
“Len”
Access size in Bytes
Return
void
Description
Reads data from the ESC and copies to slave mailbox memory. If the local mailbox memory is also located in the application memory this function is equal to “HW_EscRead”.
22 Application Note ET9300

5.2.3 Write Access

Prototype:
void HW_EscWrite(MEM_ADDR *pData, UINT16 Address, UINT16 Len )
Parameter
“pData”
Pointer to local source buffer. Type of the pointer depends on the host controller architecture (specified in ecat_def.h or the SSC Tool).
“Address”
EtherCAT Slave Controller address. Specifies the offset within the ESC memory area in Bytes. Only valid addresses are used depending on 8Bit/16Bit or 32 Bit ESC access (specified in ecat_def.h or the SSC Tool).
“Len”
Access size in Bytes
Return
void
Description
Writes from the EtherCAT Slave Controller. This function is used to access ESC registers and the DPRAM area.
Prototype:
void HW_EscWriteIsr(MEM_ADDR *pData, UINT16 Address, UINT16 Len )
Parameter
“pData”
Pointer to local source buffer. Type of the pointer depends on the host controller architecture (specified in ecat_def.h or the SSC Tool).
“Address”
EtherCAT Slave Controller address. Specifies the offset within the ESC memory area in Bytes. Only valid addresses are used depending on 8Bit/16Bit or 32 Bit ESC access (specified in ecat_def.h or the SSC Tool).
“Len”
Access size in Bytes
Return
void
Description
This function should be implemented if a special function for ESC access from interrupt service routines is required; otherwise this function is defined as “HW_EscWrite”. Writes from the EtherCAT Slave Controller. This function is used to access ESC registers and the DPRAM area.
Prototype:
void HW_EscWriteDWord(UINT32 DWordValue, UINT16 Address)
Parameter
“DWordValue”
Local 32Bit variable which contains the data to be written to the ESC memory area.
“Address”
EtherCAT Slave Controller address. Specifies the offset within the ESC memory area in Bytes. Only valid 32Bit addresses are used.
Return
void
Description
Writes one word to the EtherCAT Slave Controller.
Application Note ET9300 23
Prototype:
void HW_EscWriteDWordIsr(UINT32 DWordValue, UINT16 Address)
Parameter
“DWordValue”
Local 32Bit variable which contains the data to be written to the ESC memory area.
“Address”
EtherCAT Slave Controller address . Specifies the offset within the ESC memory area in Bytes. Only valid 32Bit addresses are used.
Return
void
Description
This function should be implemented if a special function for ESC access from interrupt service routines is required; otherwise this function is defined as “HW_EscWriteWord”. Writes two words to the EtherCAT Slave Controller.
Prototype:
void HW_EscWriteWordIsr(UINT16 WordValue, UINT16 Address)
Parameter
“WordValue”
Local 16Bit variable which contains the data to be written to the ESC memory area.
“Address”
EtherCAT Slave Controller address. Specifies the offset within the ESC memory area in Bytes. Only valid 16Bit addresses are used.
Return
void
Description
This function should be implemented if a special function for ESC access from interrupt service routines is required; otherwise this function is defined as “HW_EscWriteWord”. Writes one word to the EtherCAT Slave Controller. Only required if “ESC_32BIT_ACCESS” is not set.
Prototype:
void HW_EscWriteWord(UINT16 WordValue, UINT16 Address)
Parameter
“WordValue”
Local 16Bit variable which contains the data to be written to the ESC memory area.
“Address”
EtherCAT Slave Controller address. Specifies the offset within the ESC memory area in Bytes. Only valid 16Bit addresses are used.
Return
void
Description
Writes one word to the EtherCAT Slave Controller. Only required if “ESC_32BIT_ACCESS” is not set.
Prototype:
void HW_EscWriteByte (UINT8 ByteValue, UINT16 Address)
Parameter
“ByteValue”
Local 8Bit variable which contains the data to be written to the ESC memory area.
24 Application Note ET9300
Prototype:
void HW_EscWriteByteIsr(UINT8 ByteValue, UINT16 Address)
Parameter
“ByteValue”
Local 8Bit variable which contains the data to be written to the ESC memory area
“Address”
EtherCAT Slave Controller address. Specifies the offset within the ESC memory area in Bytes.
Return
void
Description
This function should be implemented if a special function for ESC access from interrupt service routines is required; otherwise this function is defined as “HW_EscWriteByte”. Writes one byte to the EtherCAT Slave Controller. Only defined if “ESC_16BIT_ACCESS” and “ESC_32BIT_ACCESS” are disabled.
Prototype:
void HW_EscWriteMbxMem(MEM_ADDR *pData, UINT16 Address, UINT16 Len )
Parameter
“pData”
Pointer to local source mailbox buffer. Type of the pointer depends on the host controller architecture (specified in ecat_def.h or the SSC Tool).
“Address”
EtherCAT Slave Controller address. Specifies the offset within the ESC memory area in Bytes. Only valid addresses are used depending on 8Bit/16Bit or 32 Bit ESC access (specified in ecat_def.h or the SSC Tool).
“Len”
Access size in Bytes.
Return
void
Description
Writes data from the slave mailbox memory to ESC memory. If the local mailbox memory is also located in the application memory this function is equal
to “HW_EscWrite”.
“Address”
EtherCAT Slave Controller address.Specifies the offset within the ESC memory area in Bytes.
Return
void
Description
Writes one byte to the EtherCAT Slave Controller. Only defined if “ESC_16BIT_ACCESS” and “ESC_32BIT_ACCESS” are disabled.
Application Note ET9300 25
Define
Description
TEST_APPLICATION
This application supports almost all SSC features. Furthermore it is possible to force specific application behavior (see chapter 9). NOTE: this application shall not be used as basis for the application development.
EL9800_APPLICATION
Application based on the EL9800 EtherCAT Evaluation Board. 8(4) LEDs: 8(4) switches; 16Bit analog input
CiA402_DEVICE
Sample Implementation for the CiA402 Drive Profile. This application supports 2 modular Axis. See chapter 8 for further information.
SAMPLE_APPLICATION
Hardware independent application. Recommend application is if no SSC Tool configuration is available for the target platform.
SAMPLE_APPLICATION_INTERFACE
Sample application for Win32 to create a dynamic link library.
Prototype:
UINT16 MainInit(void)
Parameter
Void
Return
0 if initialization was successful > 0 if error has occurred while initialization
Description
Initialize the generic slave stack. This function should be called after the platform including operating system and ESC is ready to use.
Prototype:
void MainLoop(void)
Parameter
Void
Return
Void
Description
This function handles the low priority function like EtherCAT state machine handling, mailbox protocols and if no synchronization is enabled also the application. This function shall be called cyclically from the application.

6 Application

This chapter includes an overview over the default (sample) applications, the application interface and a guideline how to start the own application development.

6.1 Application Settings

The SSC contains a list of (sample) applications which can be used for master/slave testing or as basis for the application development. The corresponding settings are listed in Table 3: Application Related Settings (located in ecat_def.h or in the SSC Tool).
Table 3: Application Related Settings

6.2 SSC Functions

These functions are provided by the generic stack and shall be called from the application layer. The functions are declared in the header “applInterface.h”.
26 Application Note ET9300
Prototype:
void ECAT_StateChange(UINT8 alStatus, UINT16 alStatusCode)
Parameter
alStatus
Requested Al Status
alStatusCode
AL Status Code. (if != 0 the error flag indication will be set)
Return
Void
Description
This function shall be called by the application to trigger state transition in case of an application error or to complete a pending transition. If the function was called due to an error it shall be again if the error is gone. NOTE: state requests to a higher state than the current state are not allowed.

6.3 Interface Functions

Prototype:
void APPL_Application(void)
Parameter
Void
Return
void
Description
This function is called by the synchronization ISR or from the mainloop if not synchronization is activated.
Prototype:
UINT16 APPL_GetDeviceID (void)
Parameter
Void
Return
Explicit Device ID which is written to the AL Status Code register.
Description
This function is called if the master requests the Explicit Device ID. Only required if the slave supports Explicit Device ID handling (EXPLICIT_DEVICE_ID).
Prototype:
UINT16 (* pAPPL_EEPROM_Read)(UINT32 wordaddr)
Parameter
Wordaddr start word address within the EEPROM memory
Return
0 if the operation was successful. greater 0 an error has occurred
Description
This is an optional function and only required if EEPROM_EMULATION is enabled and no EEPROM content is created (CREATE_EEPROM_CONTENT == 0) This function shall copy EEPROM data to the ESC EEPROM data register (0x508:0x50F/0x50B). The EEPROM data starting at the specified word address and the length specified with "EEPROM_READ_SIZE". The data shall be copied to the ESC EEPROM buffer (ESC offset 0x508)

6.3.1 Generic

Application Note ET9300 27
Prototype:
UINT16 (* pAPPL_EEPROM_Write)(UINT32 wordaddr)
Parameter
Wordaddr start word address within the EEPROM memory
Return
0 if the operation was successful. greater 0 an error has occurred
Description
This is an optional function and only required if EEPROM_EMULATION is enabled and no EEPROM content is created (CREATE_EEPROM_CONTENT == 0) This function shall copy data from the ESC EEPROM data register (0x508:0x50F/0x50B) to the EEPROM memory. The EEPROM data starting at the specified word address and the length specified with "EEPROM_WRITE_SIZE".
Prototype:
UINT16 (* pAPPL_EEPROM_Reload)(void)
Parameter
Void
Return
0 if the operation was successful. greater 0 an error has occurred
Description
This is an optional function and only required if EEPROM_EMULATION is enabled and no EEPROM content is created (CREATE_EEPROM_CONTENT == 0). In case that this function is implemented the function “HW_EepromReload()” is not used. This function shall copy the EEPROM reload information to the ESC EEPROM data register (0x508:0x50F/0x50B). Read the ESC data sheet for the reload information (e.g. Beckhoff IPCore ESC Datasheet section II, clause 3.45.1)
Prototype:
UINT16 APPL_StartMailboxHandler(void)
Parameter
Void
Return
See generic ESM return code description
Description
This function is called during the state transition from INIT to PREOP or INIT to BOOT.

6.3.2 EtherCAT State Machine

Each ESM function returns a 16Bit Value which reflects the result of the state transition. Return value:
0 Indicates a successful transition. Define : ALSTATUSCODE_NOERRO 0xFF Indicates a pending state transition (the application need to complete the transition by
calling ECAT_StateChange). Define : NOERROR_INWORK
Other Indicates the reason for the failed transition. See [2] for a list of valid return codes.
28 Application Note ET9300
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