EtherCAT SDK provided by rt-labs

Visit us at :

http://www.rt-labs.com/

https://github.com/OpenEtherCATsociety

EtherCAT the simple way

1. Install DAVE , get @

2. Install EtherCAT SDK , get@

3. EtherCAT slave stack SOES for XMC4, get @

4. Create your application

Run DAVE

Install EtherCAT SDK from rt-labsHelp-> Install New Software-> Select EtherCAT SDK ZIP

Get here:

Add the SOES slave stack projectFile->Import->General->Existing Projects into workspace->Select archive file

Get here:

Create the EtherCAT slave applicationFile->New->DAVE Project-><Projet Type of your choice>

Choose XMC4300 or XMC4800

Link the the slave stack projectFile->Import->General->File system, check ”Create links in workspace”

Add slave stack includes<Project>->Properties->C/C++ Build->Settings

EtherCAT SDK - Slave editor projectFile->Other->EtherCAT->EtherCAT Slave Description

Slave editor project (2)Create a slave description project file and whre to place it.

Slave editor project (3)Enter the base parameters

Slave editor project (4)Slave TAB: Edit and add base parameters

Slave editor project (5)Configuartion TAB: Basic configuration setting

Slave editor project (6)EEPROM TAB: Use this PDI Control settings, they’re aligned with ReadOnly ESC values.

Slave editor project (7)Application TAB: Add application IO for PDO range 0x6000 and 0x7000, parameters for 0x8000.

Slave editor project (8)Object Dictionary TAB: Overview of the resulting Object Dictinay

Slave editor project (9)Generate output: - for ESI data XML & EEPROM, - C code, Object Dictionary & Slave application

Slave editor project (10)Generated output:

• utypes, typesfor user defined application data

• <slave_editor project>_objectlist.c, Object Dictionary

• <slave_editor project>_slave.[c,h], slave stack application

functions and declarations

• <slave_editor project>_slave.bin, EEPROM

• <slave_editor project>_slave.xml, ESI file

Don’t EDIT this files since the will be overwritten if

Code is generated again.

Finialize the Slave ApplicationAdd calls to the SOES slave stack , soes_init and soes.

Stack generated application code needto be defined, cb_set_LEDs & cb_get_Buttons.

The emulated EEPROM needs to be linked

Finialize the Slave ApplicationAdd application code in a NOT generated file. We add the xmc4300 LED and Buttons.

linked

Create linkable EEPROM and linkAdd and pre-build option to copy and create a linkable object file.

The only required change is to add your EEPROM bin in the copy command, eg. replace xmc4300_slave.bin with your name.

Add the resulting object fileto the linker.

Continue, Build and Debug, Edit, Buildand Debug

• The whole idea with the slave editor is to keep EEPROM, ESI and OD aligned, youshould always be CTT ready.

• To continue editing, just double click the Slave Editor project file, re-generate the code, build and debug.

• Test the slave with EherCAT SDK – EthcerCAT Explorer

EtherCAT SDK - EtherCAT ExplorerWindow->Perspective->Open perspective->Other->EtherCAT Explorer

Select NIC, available adapters, Ethercat Explorer require Winpcap.

EtherCAT SDK - EtherCAT ExplorerStart the master with the arrow. An started master is shutdown with the arrow.

EtherCAT SDK - EtherCAT ExplorerExlpore the slave process data, button press =1.

EtherCAT SDK - EtherCAT ExplorerExlpore the slave Object Dictionary. Refresh values with arrow

Final step – run CTT