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AM2434: CiA402 State Machine Modifications

Hideaki Matsumoto
Genius 9805 points

Part Number: AM2434

Tool/software:

Hi,

 

My customer has some questions about CiA402 state machine in the example code below. Please help to answer their questions below.

 

https://software-dl.ti.com/processor-industrial-sw/esd/ind_comms_sdk/am243x/11_00_00_13/docs/am243x/ethercat_subdevice/example2.html

 

Is it possible to modify the transition conditions of the state machine?

For example, they would like to add a flag check related to safety confirmation of Servo when transitioning from "Switched on" to "Operation enabled".

If this is possible, could you please explain the implementation steps?

 

Is it possible to add a "Quick Stop" state to the state machine?

If it is possible, could you please tell them how to implement it ?

 

Thanks and regards,

Hideaki

  • 0
    TI__Expert 4430 points

    Hello Hideaki,

    Hideaki Matsumoto said:
    Is it possible to modify the transition conditions of the state machine?

    No. It is not possible to add/modify the transition conditions of the CiA402 state machine. The default CiA402 state machine is a part of the EtherCAT SubDevice stack lib and is not accessible by the end user. But there is an API EC_API_SLV_CiA402_registerStateMachine() to register the user customized CiA402 state machine. Customers can implement this API in EC_SLV_APP_populateCiA402Functions() in ecSubDeviceCiA402.c. The default internal CiA402 state machine is deactivated when the user registers their custom CiA402 state machine.

    Hideaki Matsumoto said:
    Is it possible to add a "Quick Stop" state to the state machine?

    'Quick Stop' state is supported in the stack internal CiA402 state machine.

    Kind Regards,

  • 0 in reply to Harsha Begihally Shanmukhaswamy
    TI__Genius 9805 points

    Hi Harsha,

    Thank you for your response.

    Harsha Begihally Shanmukhaswamy said:
    The default CiA402 state machine is a part of the EtherCAT SubDevice stack lib and is not accessible by the end user. But there is an API EC_API_SLV_CiA402_registerStateMachine() to register the user customized CiA402 state machine. Customers can implement this API in EC_SLV_APP_populateCiA402Functions() in ecSubDeviceCiA402.c. The default internal CiA402 state machine is deactivated when the user registers their custom CiA402 state machine.

    Is it possible for the customer to get the source code of the default CiA402 state machine ?

    or is there any document for developing the user customized CiA402 state machine ?

     

    Thanks and regards,

    Hideaki 

  • 0 in reply to Hideaki Matsumoto
    TI__Expert 4430 points

    Hello Hideaki,

    Customers can check with their regional TI sales team for more information on requesting the stack source code.

    Unfortunately, we do not provide any document for developing the CiA402 state machine, but customers can refer the CiA402 specifications.

    Kind Regards,