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

1. 2.

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3.

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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

7

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

1

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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1

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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

4 4

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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Generating Slave Stack Code and ESI file

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Click on Project >> Create

new Slave Files

to start file generation.

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In this step the destination

folder for the EtherCAT Slave

Stack Code and the ESI file can be adapted. For this example it is recommended to take the

default settings.

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Find and use your result

After the generation process the respective

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files are inside the project space:

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Check the availability of the generated slave stack code

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Check the availability of the ESI-file and download to the host by these 3 steps:

1. Stop TwinCAT System Manager

2. Copy the ESI file to resp. destination

for TwinCAT2:

C:\TwinCAT\Io\EtherCAT for TwinCAT3: C:\TwinCAT\3.1\Config\Io\EtherCAT

3. Restart TwinCAT System Manager to start re-work of the device description cache.

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Rebuild the DAVE project with the new files.

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1

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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

7

How to test – using TwinCAT3 as host

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Copy data from/to local data to/from ESC

memory

Inside the generated file XMC_ESC.c the link to your application must be implemented. Modify the source code accordingly which copies the application data to/from ESC memory to the local application memory:

Originally generated code: Modified code:

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Implement application specific slave node

behaviour

Inside the generated file XMC_ESC.c file the function APPL_Application is implemented. This function implements the application specific code to handle input and output…

A) … from mainloop or

B) … if synchronisation is active from ISR

Inside main.c of the example, the function

void process_app(TOBJ7000 *OUT_GENERIC, TOBJ6000 *IN_GENERIC);

implements the mapping of the input/output data to buttons and

LEDs. Therefore please modify the function APPL_Application to call

process_app in the following way:

Originally generated code: Modified code:

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Description – process of input and output

Within the slave stack code the function process_app is called. This process_app function process the binary output data (master->slave)

to set the LED1 to LED8 level on the XMC EtherCAT PHY Board. The

integer output data is used to set the duty cycle of the dimmable LED2. The states of the buttons are checked and propagated to the input data (slave->master).

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Description – Overview on used APPs

The ECAT_SSC APP assigns the system resources (automatically done

by DAVE by using the respective lower level apps) and pins (by

manual configuration) to setup a proper EtherCAT communication. The EVENT_DETECTOR, EVENT_GENERATOR and INTERRUPT APPs are used inside this example to connect the sync_out_0 and sync_out_1 of the ECAT_SSC APP to the interrupt service routines of the SSCstack.

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Description – Overview on used APPs

PWM_CCU8 APP is used to control the dimming level of the LED2 on

your Relax Kit and to assign the PWM output to the respective pin.

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Description – EtherCat ports and physical

connection

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Right click on the ECAT_SSC APP. From the context menu select „Manual Pin Allocator“ to open the

pin allocation for the EtherCAT

module.

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Inside Manual Pin Allocator you

can configure the EtherCAT ports for your application. For the example provided, the configuration fits to

the XMC4800 Relax EtherCAT Kit.

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Description – Distributed clock support

INTERRUPT(sync0)

sr_irq

ECAT_SSC0

sync_out_0

sync_out_1

EVENT_DETECTOR

signal_b trigger_out

EVENT_GENERATOR

trigger_in iout

EVENT_DETECTOR

signal_a

trigger_out

EVENT_GENERATOR

trigger_in iout

INTERRUPT(sync1)

sr_irq

For distributed clock support, the sync0 and sync1 signals coming from the ethercat peripheral are used to trigger interrupts. Inside the

interrupt service routines the respective API functions of the SSC

protocol stack are called.

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Description – Overview on propagating the

sync0 and sync1 signals to ISR

INTERRUPT(sync0)

sr_irq

ECAT_SSC0

sync_out_0

sync_out_1

EVENT_DETECTOR

signal_b trigger_out

EVENT_GENERATOR

trigger_in iout

EVENT_DETECTOR

signal_a

trigger_out

EVENT_GENERATOR

trigger_in iout

INTERRUPT(sync1)

sr_irq

EVENT_DETECTOR and EVENT_GENERATOR APPs are instances of the event request unit (ERU) peripheral. Inside this example the ERU is

used to propagate the signals sync0 and sync1 to the interrupt service

routines. Please see next slides how to setup this configuration inside DAVE™.

ATTENTION: With the same approach sync0 and sync1 signals can

also be connected to other resources. For example: ADC, ports and

timers.

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Description – DAVE™settings for distributed

clock support

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Right click on the ECAT_SSC APP. From the context menu select „HW Signal Connections “ to open the

HW Signal Connection dialog of the

ECAT_SSC APP.

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Connect the sync_out_0 and

sync_out_1 signal to the a/b input of the event detection units.

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Description – DAVE™settings for distributed

clock support

3

Double click on the EVENT_DETECTOR APP for SYNC0 and EVENT_DETECTOR APP for

SYNC1.

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Select the respective source

signal („A“ for SYNC0 and „B“ for SYNC1) and edge detection „Rising Edge“.

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Description – DAVE™settings for distributed

clock support

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Right click on the EVENT_DETECTOR APP for SYNC0 and SYNC1. From the context menu

select „HW Signal Connections “ to

open the HW Signal Connection dialog of the ECAT_SSC APP.

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Connect the trigger_out signals

of the event detection units to the trigger_in signals of the event generation units.

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Description – DAVE™settings for distributed

clock support

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Right click on EVENT_GENERATOR for sync0 and sync1. From the context menu

select „HW Signal Connections “ to

open the HW Signal Connection dialog of the EVENT_GENERATOR APP.

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Connect the iout of the EVENT_GENERATOR APP for sync0 to INTERRUPT APP of sync0.

Proceed respectively for sync1.

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Description – DAVE™settings for distributed

clock support

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Double click on the INTERRUPT APP for sync0 and INTERRUPT for sync1.

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Set the interrupt service routine

for sync0 and sync1 inside the

configuration of the respective INTERRUPT APP.

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Description – DAVE™settings for distributed

clock support

Inside main() the interrupt handlers for sync0 and sync1 are

implemented. The implementation is calling the respective

functions of the SSC protocol stack.

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Description – Setup PWM for dimmable LED2

on P5.8

For driving the dimmable LED2

on the XMC4800 Relax EtherCAT Kit the DAVE App PWM_CCU8 is used. The PWM is set to start during

initialization, frequency is

500Hz and the initial duty cycle is set to 50%. The pin P5.8 is allocated to channel1 of CCU8

inside the manual pin allocator

(right-click PWM_CCU8 APP).

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Description – SSC specific enabling/disabling

of interrupts [1/2]

Please see ET9300 application note published by the ETG on details about the SSC code structure and interrupt handling (chapter 4).

In v1.8/2017-11-14 of this document inside chapter 5/hardware

access it is specified:

„If interrupts are used also two macros shall be defined “ENABLE_ESC_INT” and “DISABLE_ESC_INT”. These shall

enable/disable all four interrupt sources”.

These macros are implemented inside ECAT_APP. Timer- and PDIinterrupt are handled by the ECAT_APP. As Sync0 and Sync1 are routed through ERU (see before) these interrupts need to be

handled in addition by the user.

For this purpose ECAT_APP is implementing a callback function for user specific implementation: ENABLE_ESC_INT_USER and DISABLE_ESC_INT_USER.

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Description – SSC specific enabling/disabling

of interrupts [2/2]

Within this example you find the implementation of ENABLE_ESC_INT_USER and DISABLE_ESC_INT_USER inside main.c:

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Description – initialization inside main.c

Inside main() DAVE and its APPs (PWM_CCU8, ECAT_SSC) are

initialized. InitECAT_Adapt_LED() and Init_Relax-Button() are used to

initialize the buttons and LED1 to 8 of the „XMC EtherCAT PHY Board“. Finally the MainLoop is called cyclically to process the state machine of the slave stack code.

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1

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5

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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

7

How to test – using TwinCAT3 as host

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How to test – start the slave to run

ACTIONS

1. Build and download the example application software to the XMC4800 and start the debugger

2. Start the software by the run button

OBSERVATIONS

1. The ERR-LED on the "XMC EtherCAT PHY Board" will turn on and

immediately turn off again.

2. The LED2 on the "XMC4800 Relax EtherCAT Kit" will remain turned on.

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How to test – start the TwinCAT 2 master to

run (1/4)

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2

ACTIONS

After starting the TwinCAT System Manager from

windows start menu:

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1 Right Click I/O-Devices and select „Append Device…“

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2 Create an EtherCAT

master device by double click

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How to test – start the TwinCAT 2 master to

run (2/4)

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ACTIONS

3

3 Select the network adapter you want to use (search and

select).

Application hint: In case the device is not found please install the respective device driver by following the instructions given by TwinCAT through the „Compatible Devices…“ button.

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4 Right Click EtherCAT master and select „Scan Boxes…“

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How to test – start the TwinCAT 2 master to

run (3/4)

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2

OBSERVATIONS

1

The slave appears as a node on the EtherCAT master bus.

2

The RUN-LED is flashing

indicating PREOP-state

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How to test – start the TwinCAT 2 master to

run (4/4)

3

OBSERVATIONS

3

EtherCAT master view: Inside the EtherCAT master

online state you see the

queued frames counting up, the connected slave and its PREOP state.

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EtherCAT slave view:

4

The PREOP-state of the slave is indicated within the TwinCAT system manager .

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How to test – Setting slave to operational

mode

ACTION

Set master device to free run mode

OBSERVATIONS

1

EtherCAT slave view:

1

Online status of slave shows the slave in OP state

2

EtherCAT master view: Online status of master shows the slave in OP state. Frames

2

are no more queued. Cyclic counter is incrementing.

3

„XMC EtherCAT PHY Board“: RUN-LED is static turned on indicating OP-state.

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How to test – Monitoring slave inputs on

master

ACTIONS

While pushing Button1 on „XMC4800 Relax EtherCAT Kit“ the button state is updated on the host.

OBSERVATIONS

State of IN_GEN_Bit1 changes according to the state of BUTTON1. Same is true for

IN_GEN_Bit2 and BUTTON2.

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How to test – Setting slave outputs on master

(1/2)

ACTIONS Right click on OUT_GEN_Bit1 of the slave node and select „Online Write…“ inside the context menu. Change the value from 0 to 1 to switch on LED1/ from 1 to 0 to switch off LED1.

OBSERVATION LED1 „XMC EtherCAT PHY Board“ is turned on/off according to

OUT_GEN_Bit1 setting.

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How to test – Setting slave outputs on master

(2/2)

ACTION

1. Right click on OUT_GEN_INT1 of the slave node and select „Online Write…“ inside the context menu. Change the value from 0 to 50000.

OBSERVATION

1. Brightness of LED2 on „XMC4800 Relax EtherCAT Kit“ is dimmed. The OUT_GEN_INT1 value sets the brightness of LED 2. The lower the value the brighter the LED2. To turn off LED2 just set value to max (65535).

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1

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3

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5

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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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How to test – start the slave to run

ACTIONS

1. Build and download the example application software to the XMC4800 and start the debugger

2. Start the software by the run button

OBSERVATIONS

1. The ERR-LED on the "XMC EtherCAT PHY Board" will turn on and

immediately turn off again.

2. The LED2 on the "XMC4800 Relax EtherCAT Kit" will remain turned on.

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How to test – start the TwinCAT 3 master to

run (1/4)

1

2

ACTIONS

After starting the TwinCAT System Manager from

windows start menu:

1

1 Right Click I/O-Devices and select „Add New Item…“

2

2 Create an EtherCAT

master device by double click

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How to test – start the TwinCAT 3 master to

run (2/4)

3

4

ACTIONS

3

3 Select the network adapter you want to use (search and

select).

Application hint: In case the device is not found please install the respective device driver by following the instructions given by TwinCAT through the „Compatible Devices…“ button.

4

4 Right Click EtherCAT master and select „Scan Boxes…“

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How to test – start the TwinCAT 3 master to

run (3/4)

1

2

OBSERVATIONS

1

The slave appears as a node on the EtherCAT master bus.

2

The RUN-LED is flashing

indicating PREOP-state

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How to test – start the TwinCAT 3 master to

run (4/4)

3

OBSERVATIONS

3

EtherCAT master view: Inside the EtherCAT master

online state you see the

queued frames counting up, the connected slave and its PREOP state.

4

EtherCAT slave view:

4

The PREOP-state of the slave is indicated within the TwinCAT system manager .

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How to test – Setting slave to operational

mode

ACTION

Set master device to free run mode

OBSERVATIONS

1

EtherCAT slave view:

1

Online status of slave shows the slave in OP state

2

EtherCAT master view: Online status of master shows the slave in OP state. Frames

2

are no more queued. Cyclic counter is incrementing.

3

„XMC EtherCAT PHY Board“: RUN-LED is static turned on indicating OP-state.

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How to test – Monitoring slave inputs on

master

ACTIONS

While pushing Button1 on „XMC4800 Relax EtherCAT Kit“ the button state is updated on the host.

OBSERVATIONS

State of IN_GEN_Bit1 changes according to the state of BUTTON1. Same is true for

IN_GEN_Bit2 and BUTTON2.

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How to test – Setting slave outputs on master

(1/2)

ACTIONS Right click on OUT_GEN_Bit1 of the slave node and select „Online Write…“ inside the context menu. Change the value from 0 to 1 to switch on LED1/ from 1 to 0 to switch off LED1.

OBSERVATION LED1 „XMC EtherCAT PHY Board“ is turned on/off according to

OUT_GEN_Bit1 setting.

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How to test – Setting slave outputs on master

(2/2)

ACTION

1. Right click on OUT_GEN_INT1 of the slave node and select „Online Write…“ inside the context menu. Change the value from 0 to 50000.

OBSERVATION

1. Brightness of LED2 on „XMC4800 Relax EtherCAT Kit“ is dimmed. The OUT_GEN_INT1 value sets the brightness of LED 2. The lower the value the brighter the LED2. To turn off LED2 just set value to max (65535).

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Infineon XMC4800 Getting Started

Specifications and Main Features

Frequently Asked Questions

User Manual