LP-AM243: No Connecttion to CoDeSys

Hi Friedrich, few suggestions:

- Check PLC log for clues. In my case I use Codesys + AM64x, so my log is icodesyscontrol.log

- Which ESL file are you using?. Maybe open it in a text editor and confirm is correct one.

- Is it working OK with another EtherCAT master like TwinCAT?

thank you,

Paula

Hi Paula. Thank you for your resonse.

3. Is it working with another EtherCAT Master like TwinCAT? YES it is recognized and working acording to the description with exactly the same ESI-file as in CoDeSys.

2. The ESI file is the one whis is for the industrial communication SDK for the CoE402 example which worked with TwinCAT. SO it should work - unless CoDeSys is not requiring something different? Ad Yes it was imported into CoDeSys.

1. The PLC-log does not tell me more than what is already known: The slave is not found.

I'd wish that there is a person that uses CoDeSys and the LP-AM243 together to tell me: "Yes it can work and this is your mistake you have to correct."

rgds

Hi Friedrich, I was able to scan AM243x LP Ethecat slave using Codesys + AM64x

My Setup

- Windows PC with Codesys Environment 3.5. PLC Device AM64x running Codesxyx control for Linux ARM64 SL

- AM423x LP running EtherCAT slave. I tired loading via CCS and Flashing the application. Both worked OK

- Everything is connected via a switch to my LAN

I was able to scan AM423x LP slave as shown below

ESD used: ind_comms_sdk_am243x_09_00_00_03\source\industrial_comms\ethercat_slave\stack\esi\TI AM243X.R5F Simple.xml

At first, scan didn't find a slave. I was using an old project. I deleted Ethecat Master, added as device, select Network interface, log in, and re-scan slaves and it worked.. so probably some kind of mistmatch on what I had running on PLC..

Few links in case they help:

- If you want to Flash Ethercat slave instead of using CCS loading: TI AM243X.R5F Simple.xml

- A webinar that showcase Codesys + AM423x LP Ethercat Slave: Process This: Using Codesys Control for PLC Controller Stacks, Enabled by AM64x & RT Linux | Video | TI.com (you can start video from ~24min. They used static IP, I used DHCP)

- FAQ step by step: [FAQ] How to set up an EtherCAT System with AM6xx MainDevice and AM64/AM243 SubDevice using CODESYS Development System - Processors forum - Processors - TI E2E support forums

I hope this helps,

Paula

Hello Paula,

Thank You for your tips and response.

I am a bit further now. I get Codesys to recognize the AM243x CiA402 example now. We assume a driver problem in CoDeSys. Also other boards are recognized.

So after recognizing the slave devices and adding the AM243x-LP to the project we start the bus and CoDeSys returns an error:

"AL Status 16#1E" which is "Invalid input configuration" suggesting that there is something wrong with the ESI file. In paralel the board blinks red/green.

The ESI-file is the same with TwinCAT where there was no problem.

How come? Is there a possibility to narrow that down in more detail?

rgds

Hello! 

is it possible that the ESI file for TwinCAT cannot be used with CoDeSys?

rdgs

Hi Friedrich, are you using ESI file TI AM64X.R5F CiA402.xml? or TI AM243X.R5F Simple.xml?

Which example are you currently running? the one from: C:\ti\ind_comms_sdk_am243x_09_00_00_03\examples\industrial_comms\ethercat_slave_demo\device_profiles\402_cia\am243x-lp\r5fss0-0_freertos\ti-arm-clang? I guess?

thank you,

Paula

Hello Paula,

I use the "TI AM243X.R5F CiA402.xml" esi file under 

"C:\ti\motor_control_sdk_am243x_09_00_00_05\ind_comms_sdk\source\industrial_comms\ethercat_slave\stack\esi".

with the example mentioned by you (CiA402, freertos on core 0-0 on a AM243x-lp).

BTW: I get the same error as in the second picture from you at time 12:16:53: AL error 16#1E.

So what did you do afterwards that resolved this item?

I will investigate further from 27Dec on. Merry Christmas and have a nice time

rgds

Hi Friedrich, I am back from vacations. I was able to reproduce the issue. Let me check with some colleagues and come back to you.

thank you,

Paula 

Hello and Good morning,

thank you Paula thta you could reproduce the issue.

rgds

Hi Friedrich, sorry for my late reply. I am stil trying to get more information about current CiA 402 ESI file from our developers. I will try to be back to you by the end of this week

Paula 

HI Paula,

I will be out of office from Sat on for about 3weeks so you have got time

Hi Friedrich, thanks a lot for let me know

Paula

Hello Paula,

Thank you for your response.

This DID NOT work.

I am able to include the device into the project, stopped the PLC, restarted it to get the device compiled into the project.

But "Load PDO Info from the Device" results in an error: "PDO Upload not successful: Some data could not be read".

The Log shows: "AL Status read from slave address 1001 status 16#1E: Invalid Input configuration".

Also the "PDO List window" as well as the "PDO Contents windows" are empty here.

rgds

Hi Friedrich, to let you know, there is indeed a mismatch between ESI file shared in MCU-SDK and board. This will be fix it in a future release.     

However, I don't recall I get any "PDO Upload not successful: Some data could not be read" when I was testing.  Is your PLC working correctly? maybe worthy to test with another AM243x Ethercat slave (no CIA 402, simple demo is a good candidate ethercat_slave_simple_demo_am243x-lp_r5fss0-0_freertos_ti-arm-clang). After confirming PLC and AM243x subdevice are communicating correctly try "Load PDO Info from the device" and see if it works. To be honest, I tried few times before I got to see "Sync Manager" with correct information instead of zeros.

thank you,

Paula

Hello Paula,

long time no hear

Meanwhile I have the "simple demo" connected to CodeSYS. Load PDO from Device worked now. Working with it to get it up and running, cannot switch to safeOp state. Keep you posted. As long as the CiA402 slave drive imoplementation is not running I want this thread kept active please.

rgds Friedrich