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LP-AM243: LP-AM243

kvsancak
Prodigy 120 points
Part Number: LP-AM243

Tool/software:

Hi,

I have AM243x-LP and modified sample code. "C:\ti\motor_control_sdk_am243x_09_02_00_09\examples\position_sense\bissc_diagnostic\single_channel\am243x-lp".  I use one motor and run  r5fss0-0.+ r5fss1-0 Ethercat. Twincat3 is running on a seperate PC, connected via Beckhoff orginal EThercat cable. When we scan devices Twincat does not see anything. We use TI AM243X.R5F CiA402.xml file. Is there a static IP ?

Regards,

Vedat

  • 0
    TI__Genius 9105 points

    Hi Vedat,

    Couple of clarifications:

    1. Which ICSS instance are you using for EtherCAT? ICSSG0 or ICSSG1?
    2. Do you see bits set in the MDIO Alive Register ?
      • You can refer to 0x30032408 if you're using ICSSG0 instance or 0x300B2408 if you're using ICSSG1 instance.
    3. If the above mentioned Register has bits set, then are you configuring the bit position as the MDIO PHY Address of the corresponding port?
    4. Is EnhancedLink enabled in your application?: 
      • #define ECAT_PHYUSERXLINK_IN       (true/false)
#define ECAT_PHYUSERXLINK_OUT      (true/false)
  • +1 in reply to Aaron Thomas
    Prodigy 120 points

    Hi Aaron,

    Thanks for your reply.

    1 -> I use ICSSG1 for Ethercat, it is default.

    4 -> They are enabled.

    I did not check 2 and 3 because we were realizing step in pages 19-21 in "TIDUF42 – JANUARY 2024" pdf. Since we were not able to connect direct ( in document Local mode is used) from PC to LP-AM243, we connected through Beckhoff C6030 IPC and we scanned and found the board.

    When operation mode, velocity etc. are set in Twincat the BuildLevel should be "CLOSED_LOOP_SPEED" ? When CLOSED_LOOP_CIA402 is used there are undefined variables like relativeMechTheta and operation mode should be position...

    (UTC/GMT +03:00 ) 13:11 PM, I can write / read PDO 's, it is running.

    Thanks.

    Vedat

  • 0 in reply to kvsancak
    TI__Genius 9105 points

    Hi Vedat,

    kvsancak said:
    we connected through Beckhoff C6030 IPC and we scanned and found the board
    • So you mean the Device is getting scanned using Beckhoff PLC? 
    kvsancak said:
    Since we were not able to connect direct ( in document Local mode is used) from PC to LP-AM243
    kvsancak said:
    When operation mode, velocity etc. are set in Twincat the BuildLevel should be "CLOSED_LOOP_SPEED" ? When CLOSED_LOOP_CIA402 is used there are undefined variables like relativeMechTheta and operation mode should be position...
    • I'll assign the thread to the corresponding expert to comment on the build issue when using CLOSED_LOOP_CIA402 instead of default CLOSED_LOOP_SPEED as the BuildLevel. Or you can create a new thread since the original issue is resolved.

    Regards,
    Aaron

  • +1 in reply to kvsancak
    TI__Genius 9105 points
    kvsancak said:
    (UTC/GMT +03:00 ) 13:11 PM, I can write / read PDO 's, it is running.

    Thank you for the information.

    Since EtherCAT related query is resolved, recommend you to create a new thread for tracking the build issue observed in the application when changing BuildLevel  to CLOSED_LOOP_CIA402.

    Regards,
    Aaron