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Hi team,
I used the 28388D Ethercat (evaluation version) provided by TI whose model is TMDSCNCD28388D, and connected it with my power driver board to form a servo development platform. Under stand-alone control, the electric motor could run smoothly. I am now trying to use the Ethercat routine provided by TI, and used the TwinCat 3.1 program installed on the PC to create the Ethercat master station, and I want to realize simple control of the electric motor on the master station interface, so as to better understand and learn Ethercat related functions.
Among the routines provided by TI, I used the f2838x_cpu1_allocate_ecat_to_cm project and the f2838x_cm_cia402_solution project. After compilation, I loaded CPU1 and CM cores in the CCS environment and then ran it. The operation was smooth. This was based on TI's document, namely “build level8” in spracm9b.pdf (the previous “build level7, level 6, etc.” have passed). But this TI document ends thereafter. As for how to connect with twincat, how to set up, and how to perform simple operations, no relevant references have been found.
In the TwinCat interface, I established the main station project according to third-party related documents, and successfully established a connection with the 28388D board. And the LED next to J5 on the board was always on; the status in the “online” interface in the Twincat box was also displayed as op.
However, my current problem is that there are no relevant references guiding me to continue debugging on the master station interface and perform preliminary operations on the electric motor. I found some documents about TwinCat settings, all of which are designed for the operation of ordinary servo drivers. It seems that they’re not the same as the slave station formed by the 28388 routine.
So, I don’t know how to proceed now. How to perform simple operations on the slave station under the premise that the twincat master station interface has been successfully connected? Does TI have any posts or documents related to such routines explaining the settings and operations on the twincat master interface?
Thank you.
Best regards,
Katherine
