BECKHOFF FC1100 User Manual

Application Note FC1100/FC1121
(EtherCAT Slave Card)

Application Note ET9300 I

LEGAL NOTICE

Trademarks
Beckhoff®, TwinCAT®, EtherCAT®, Safety over EtherCAT®, TwinSAFE® and
XFC® are registered trademarks of and licensed by Beckhoff Automation GmbH.
Other designations used in this publication may be trademarks whose use by third
parties for their own purposes could violate the rights of the owners.
Patent Pending
The EtherCAT Technology is covered, including but not limited to the following
German patent applications and patents: DE10304637, DE102004044764,
DE102005009224, DE102007017835 with corresponding applications or
registrations in various other countries.
Disclaimer
The documentation has been prepared with care. The products described are,
however, constantly under development. For that reason the documentation is not in
every case checked for consistency with performance data, standards or other
characteristics. In the event that it contains technical or editorial errors, we retain the
right to make alterations at any time and without warning. No claims for the
modification of products that have already been supplied may be made on the basis
of the data, diagrams and descriptions in this documentation.
Copyright
© Beckhoff Automation GmbH
The reproduction, distribution and utilization of this document as well as the
communication of its contents to others without express authorization are prohibited.
Offenders will be held liable for the payment of damages. All rights reserved in the
event of the grant of a patent, utility model or design.

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DOCUMENT HISTORY

Application Note ET9300 1

CONTENTS
1 Introduction 5
2 Hardware 6

2.1 FC1100 | PCI EtherCAT slave card 6

2.2 FC1121 | PCIe EtherCAT slave card 6

3 Software 8

3.1 TwinCAT 8

3.1.1 Configure Slave System 8

3.1.2 Configure Master System 9

3.2 Slave Sample Code 11

3.2.1 Driver installation 11

3.2.2 Slave Software 12

Appendix 13

Support and Service 13
Beckhoff’s branch offices and representatives 13
Beckhoff Headquarters 13
Beckhoff Support 13
Beckhoff Service 13
EtherCAT Technology Group (ETG) Headquarters 13

FIGURES

Figure 1: Hardware Schema.................................................................................................................... 6

Figure 2: FC1121 BAR0 memory mapping ............................................................................................. 7

Figure 3: Select EtherCAT Slave ............................................................................................................ 8

Figure 4: Add Process Data Manually ..................................................................................................... 8

Figure 5: Create Variable Link ................................................................................................................. 9

Figure 6: Add FC1100 EtherCAT Slave .................................................................................................. 9

Figure 7: Import PDO Configuration ...................................................................................................... 10

Figure 8: Import PDO Configuration Dialog........................................................................................... 10

Figure 9: Select corresponding Slave from tsm file ............................................................................... 10

Figure 10: Driver Installation Window .................................................................................................... 11

Figure 11: Select Driver Location .......................................................................................................... 11

Figure 12: Windows Device Manager ................................................................................................... 12

Application Note ET9300 3