ethercat seminar document.pdf
TRANSCRIPT
- 1 -
제1장 Introduction
EtherCAT
2014. 12. 22
- 2 -
제1장 Introduction
목차
EtherCAT Overview
Slave Implementation Guide
ARM Board Guide
- 3 -
제1장 Introduction
EtherCAT Overview
Layer Model: Physical, Data Link, and Application Layer
- 4 -
제1장 Introduction
EtherCAT Overview
Physical Layer
Shielded twisted pair of wires
RJ45 connector standard
PHY for auto negotiation and auto crossover recommended
Frame Processing: Auto Forwarder and Loop Back
- 5 -
제1장 Introduction
EtherCAT Overview
Data Link Layer
Links physical and application layer
Operate based on EtherCAT Slave Controller (ESC)
EtherCAT Processing Unit
FMMU
SyncManager
EtherCAT Address SpaceProcess Data
Interface
Microcontroller
SPI interface/
Parallel interface
PHY
Management
PHY
EtherCAT Slave Controller
(ESC)
Block diagram of EtherCAT slave contronller
- 6 -
제1장 Introduction
EtherCAT Overview
Data Link Layer
Frame Structure
- 7 -
제1장 Introduction
EtherCAT Overview
Data Link Layer
Memory/Registers: Divided into registers and DPRAM
Registers: first 4 kByte of memory
DPRAM: up to 60 kByte, start at 1000h
- 8 -
제1장 Introduction
EtherCAT Overview
Data Link Layer
SyncManager
Both master and local microcontroller access DPRAM in the ESC
SyncManager is a mechanism to protect data in the DPRAM from
being accessed simultaneously
FMMU(Fieldbus Memory Management Unit)
FMMU map data from the logical address in the master to the
physical memory in the slave devices
- 9 -
제1장 Introduction
Application Layer
State Machine: Init, Pre-Op, Safe-Op, and Op
Slave checks ESC register settings received from master and
mailbox. When appropriate, go next sate in AL status register
- 10 -
제1장 Introduction
Application Layer
EtherCAT State Machine Registers
- 11 -
제1장 Introduction
EtherCAT
Slave Implementation Guide
- 12 -
제1장 Introduction
Slave Implementation Guide
Component to develop for EtherCAT Devices
- 13 -
제1장 Introduction
Slave Implementation Guide
Application Layer Communication Protocol
CoE, SoE, EoE, FoE and AoE
ESC Structure for CAN Application Slave Stack Code Overview
- 14 -
제1장 Introduction
Slave Implementation Guide
Object Dictionary
- 15 -
제1장 Introduction
Slave Implementation Guide
Process Data Interface
SPI: PDI type is set to 0x05 in PDI control register 0x1400
Parallel: PDI type is set to 0x05 in PDI control register 0x1400
MicrocontrollerEtherCAT Slave
Controller (ESC)
ET100ARM Cortex-M3
MOSI
SPI_SEL
SPI_CLK
SPI_IRQ
MIS0
EEPROM_LOADED
SPI Interconnection
MicrocontrollerEtherCAT Slave
Controller (ESC)
ET100ARM Cortex-M3
DATA [15:0]
CS
ADR [15:0]
WR
RD
BUSY
IRQ
16 bit asynchronous interconnection
- 16 -
제1장 Introduction
EtherCAT
ARM Board Guide
- 17 -
제1장 Introduction
ARM Board Guide
Modify XML file of FASTECH from SPI interface to 16 bit
asynchronous interface
Copy this file to EtherCAT folder of TwinCAT
SPI Interconnection 16 bit asynchronous interconnection
- 18 -
제1장 Introduction
ARM Board Guide
Open TwinCAT and Configure ESI (EtherCAT Slave
Information) for EEPROM via TwinCAT
Chose Slave EtherCAT tab Advanced Settings
Slave
- 19 -
제1장 Introduction
ARM Board Guide
In Advance Settings, chose ESC Access EEPROM
Hex Editor Download from List Download file
After downloading, close TwinCAT and Open again
- 20 -
제1장 Introduction
ARM Board Guide
After configuring ESI, download EtherCAT slave source
code to ARM
Change Position Demand Value in TwinCAT by changing
in COE_InputMapping function of chnappl.h
- 21 -
제1장 Introduction
ARM Board Guide
In TwinCAT, Chose Action tab set and reset TwinCAT
to Config Mode
- 22 -
제1장 Introduction
감사합니다.