Infineon XMC4800 Getting Started

XMC4800

EtherCAT APP SSC

Slave Example

Getting Started V3.0

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Overview and Requirements

Setup

Defining the interface of EtherCAT slave node

Generating Slave Stack Code and ESI file

Implementation of the application

How to test – using TwinCAT2 as host

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How to test – using TwinCAT3 as host

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Overview and Requirements

Setup

Defining the interface of EtherCAT slave node

Generating Slave Stack Code and ESI file

Implementation of the application

How to test – using TwinCAT2 as host

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How to test – using TwinCAT3 as host

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Overview

This example demonstrates the implementation of a EtherCAT slave node using the Beckhoff SSC Tool to generate the slave stack code for „XMC4800 Relax EtherCAT Kit“.

While reviewing this example you will see in output direction the EtherCAT

master controlling the 8 LEDs on the „XMC EtherCAT PHY Board“

and dimming LED2 of the Relax Kit. In input direction you will

monitor inside the master device the status of the buttons available on the Relax Kit. You will observe inside the source code how to modify the mapping of the data structures to the I/Os for your own

evaluations and testing. Furthermore you will learn how to modify

the data structures and generate a slave stack code which fits to your needs. In this example we will demonstrate how easy it is to setup a proper EtherCAT communication by using the EtherCAT APP.

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Requirements

XMC4800 Relax EtherCAT Kit

RJ45 Ethernet Cable

Windows Laptop installed

- DAVE v4 (Version4.1.4 or higher)

- TwinCAT2 or TwinCAT3 Master PLC

- Slave Stack Code Tool Version 5.12

Micro USB Cable (Debugger connector)

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Requirements - free downloads

TwinCAT2 (30 day trial; 32bit Windows

only)

Link: Download TwinCAT2

or

TwinCAT3 (no trial period; usability limited;

32bit and 64bit Windows)

Link: Download TwinCAT3

ATTENTION: According our experience TwinCAT is best compatible with Intel™ ethernet chipset. For details on compatibility with your hardware, additional driver and

general installation support please get into contact with your local

BECKHOFF support.

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Requirements - free downloads

DAVE (v4.1.4 or higher)

Link: Download DAVE (Version 4)

EtherCAT Slave Stack Code Tool Version 5.12

(ETG membership obligatory)

Link: Slave Stack Code Tool

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Overview and Requirements

Setup

Defining the interface of EtherCAT slave node

Generating Slave Stack Code and ESI file

Implementation of the application

How to test – using TwinCAT2 as host

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How to test – using TwinCAT3 as host

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Setup – Hardware

Micro USB cable Debugger connected to

X101 debug

connector

Ethernet Cable

connected to IN-port

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Setup – Import example project into DAVE

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Setup – Import example project into DAVE

After the project import you will find this project folder structure.

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The project is nearly complete for building, it only misses the

EtherCAT slave stack code. For

these files the Src folder has been already prepared.

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The EtherCAT slave stack code

for the XMC4800 can be generated

by configuration files. These

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configuration files are included in

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the project already.

The following slides show in detail

how to define your EtherCAT slave node interface and to generate the slave stack code.

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Overview and Requirements

Setup

Defining the interface of EtherCAT slave node

Generating Slave Stack Code and ESI file

Implementation of the application

How to test – using TwinCAT2 as host

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How to test – using TwinCAT3 as host

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The flow to define the EtherCAT slave node

interface

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Take the Excel Worksheet provided inside the example project to define your EtherCAT slave node interface.

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The Beckhoff SSC-tool uses

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the excel sheet as an input to generate the output-files.

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The generated EtherCAT slave stack code does apply for the XMC4800.

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The generated EtherCAT Slave Information file (ESI) does apply for the EtherCAT host. There the relevant interface information about the slave is stored.

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Defining the interface of EtherCAT slave node

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Double click on the excel file

to open it.

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Check the content of the file. The data defined in both I/O

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directions is 4x16bit integers

and 8x1bit booleans.

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For further details on how to define your own interface you may want to follow the

instructions inside EtherCAT Slave Design Quick Guide.pdf inside SSC

tool.

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Overview and Requirements

Setup

Defining the interface of EtherCAT slave node

Generating Slave Stack Code and ESI file

Implementation of the application

How to test – using TwinCAT2 as host

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How to test – using TwinCAT3 as host

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Generating Slave Stack Code and ESI file

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Start the tool and create a

new project File >> New

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Select the configuration file which you find inside the example project.

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Generating Slave Stack Code and ESI file

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Select the Infineon device

inside the drop down list and confirm with the OK button. Your project will be created.

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Generating Slave Stack Code and ESI file

› Check the settings inside SlaveInformation: vendor ID, vendor name,

product ID and product code are customer specific and are used by the host

to identify the slave.

› Define revision number, serial number, device name, HW/SW version

according to your needs.

› The vendor ID/name and product code assigned to infineon may be used for

evaluation purpose only. For productive purpose your own vendor ID/name

assigned by the EtherCAt Technology Group is obligatory.

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Generating Slave Stack Code and ESI file

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Import the EXCEL-sheet

which defines the interface of your EtherCAT node.

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Select the EXCEL-file

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provided inside the example project.

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Infineon XMC4800 Getting Started

Specifications and Main Features

Frequently Asked Questions

User Manual