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Ethercat SDK Provided by Rt-Labs: Visit Us at

The document provides instructions for using the EtherCAT SDK from rt-labs to create an EtherCAT slave application. It outlines steps such as installing DAVE and the EtherCAT SDK, adding the SOES slave stack project, creating an EtherCAT slave application in DAVE, configuring the slave description using the slave editor, generating output files, finalizing the slave application, and debugging using the EtherCAT explorer. The overall process allows developing and testing an EtherCAT slave application using the rt-labs tools.

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Behzad Mahboubi
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176 views28 pages

Ethercat SDK Provided by Rt-Labs: Visit Us at

The document provides instructions for using the EtherCAT SDK from rt-labs to create an EtherCAT slave application. It outlines steps such as installing DAVE and the EtherCAT SDK, adding the SOES slave stack project, creating an EtherCAT slave application in DAVE, configuring the slave description using the slave editor, generating output files, finalizing the slave application, and debugging using the EtherCAT explorer. The overall process allows developing and testing an EtherCAT slave application using the rt-labs tools.

Uploaded by

Behzad Mahboubi
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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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-labs
Help-> Install New Software-> Select EtherCAT SDK ZIP

Get here:
Add the SOES slave stack project
File->Import->General->Existing Projects into workspace->Select archive file

Get here:
Create the EtherCAT slave application
File->New->DAVE Project-><Projet Type of your choice>
Choose XMC4300 or XMC4800
Link the the slave stack project
File->Import->General->File system, check ”Create links in workspace”
Add slave stack includes
<Project>->Properties->C/C++ Build->Settings
EtherCAT SDK - Slave editor project
File->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 Application
Add calls to the SOES slave stack , soes_init and soes.

Stack generated application code need


to be defined, cb_set_LEDs &
cb_get_Buttons.

The emulated EEPROM needs to be


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

linked
Create linkable EEPROM and link
Add 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 file


to the linker.
Continue, Build and Debug, Edit, Build
and Debug
• The whole idea with the slave editor is to keep EEPROM, ESI and OD aligned, you
should 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 Explorer
Window->Perspective->Open perspective->Other->EtherCAT Explorer

Select NIC, available adapters, Ethercat Explorer require Winpcap.


EtherCAT SDK - EtherCAT Explorer
Start the master with the arrow. An started master is shutdown with the arrow.
EtherCAT SDK - EtherCAT Explorer
Exlpore the slave process data, button press =1.
EtherCAT SDK - EtherCAT Explorer
Exlpore the slave Object Dictionary. Refresh values with arrow
Final step – run CTT

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