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AM2432: EtherCAT slave Daisy Chain not working

Chockalingam N
Intellectual 321 points
Part Number: AM2432

Tool/software:

Hi Team,

we are working on AM2432 Sitara Custom board (Slave Device) with DP83822 PHY for Ether CAT protocol. 

We used two ethernet ports in our board.

We are able to assign IP address for both MAC and able to ping it. Post that we loaded the slave device with Ether CAT code and checked with Ether CAT master Twin CAT (Individual ports) it works perfectly.

For the Ether CAT Daisy chain connection, we take the two custom boards and made the below connection

Our custom boards PHY address for port 1 address is: 3 and Port 2 address is: 1, we configured port 2 as Input.

1'st Board ---- Port 2 (Input) to PC

1'st Board ---- Port 1 (output) to 2nd Board (Port 2) Input port.

After made this connection, scanned the device in Twin CAT master only one box only detected. We attempt multiple combination of connection as well.

Is that any specific configuration required for daisy chain of Ether CAT Am2432 slave devices.?

Regards,

Chockalingam

  • 0
    TI__Expert 8945 points

    Hi Chockalingam,

    Chockalingam N said:
    We attempt multiple combination of connection as well.
    • Did you try PC <> Port1 (of 1st board) <> Port2 (of 1st board) <> Port1 (of 2nd board) just to make sure there is no port mismatch in the current test scenario?

    I needed to check the ESC DL Status Register (ESC Register offset 0x110) for the first device in the daisy chain to see if the communication is established on the output port and the corresponding loop status. To be precise, the memory space I'm referring to is 0x30010110 (if you're using ICSSG0 instance) or 0x30090110 (if you're using ICSSG1 instance).

    Also, wireshark capture will be helpful to see if the second device in daisy chain is responding to the MainDevice commands for initialisation of the EtherCAT network.

    Additionally, could you provide the complete ICSSG Memory dump of the first device in the daisy chain? I'm referring to the memory space from 0x30000000 to 0x30040000 (if you're using ICSSG0 instance). If you're using ICSSG1 instance, then 0x30080000 to 0x300C0000.

    Regards,
    Aaron

  • 0 in reply to Aaron Thomas
    Intellectual 321 points

    Hi Aaron,

    Thanks for your response.

    Aaron Thomas said:

    • Did you try PC <> Port1 (of 1st board) <> Port2 (of 1st board) <> Port1 (of 2nd board) just to make sure there is no port mismatch in the current test scenario?

    Yes, we made the connection as you mentioned above, one box only detected while scanning from the ECAT master.

    We are using ICSSG1 instance. Pls find the attached ECAT Wireshark frames, ICSSG1 memory dump file FYR.

    Regards,

    Chockalingam

    Memory_Dump_PRU_ICSSG1.txt

    Wireshark_Frames.zip

  • 0 in reply to Chockalingam N
    TI__Expert 8945 points

    Thank you for the wireshark logs and the memory dump. I'll analyze them and get back to you. Also looks like PRU_ICSSG1_RAM_SLV_RAM_RAM__SLV__RAM_RAM_REG space is not completely captured. Could you share the values for the same? (0x30090000 to 0x30090ED0). 

    This memory space has the ESC Registers - Refer TI EtherCAT SubDevice Controller Register List

    Regards,
    Aaron

  • 0 in reply to Aaron Thomas
    Prodigy 140 points

    Hi Aaron, 

    Here is the register data from 0x30090000 to 0x30090ED0

    reg.dat

    Regards,

    D.Jenita

  • 0 in reply to Jenita David
    TI__Expert 8945 points

    Thank you Jenita.

    Regards,
    Aaron

  • 0 in reply to Aaron Thomas
    Intellectual 321 points

    Hello Aaron,

    My teammate Jenita has mentioned the same problem in a different thread, so I'm closing this one. so I'll keep going with that thread.

    Keep continue your support to close as soon.

    Regards, 

    Chockalingam N