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TMS320F28388D: Which example code is suited to be migrated into my project as EtherCat application?

user5912823
Intellectual 440 points

Part Number: TMS320F28388D
Other Parts Discussed in Thread: C2000WARE, TMDXIDDK379D

Hi,

I am developing a servo drive & control firmware based on 28388D chip. Now I want to implement the slave Ethercat function in my servo drive.

I find two example codes from TI.

The first one is located at: C2000Ware_4_02_00_00\libraries\communications\Ethercat\f2838x\examples, in the folder, there is a project named "f2838x_cm_cia402_solution" and a project named "f2838x_cpu1_allocate_ecat_to_cm" , using both project, the Ethercat with cia402 function may be realized. 

The second one is located at: C2000Ware_MotorControl_SDK_4_00_00_00\solutions\tmdxiddk379d\f2838x, in the folder, there a project named“fcl_f2838x_tmdxiddk_cpu1”， using the project guided by TI document, the Ethercat function may be also realized.

Therefore, my question is, which exmaple code should I adopt so as to migrate the example code to my firmware project to realize basic EtherCat function?

What is the main difference between the two example code?

Thank you.

  • +1
    TI__Expert 6035 points

    Hi,

    Apologies for the late response.

    The first mentioned example "f2838x_cm_cia402_solution" demonstrates how to integrate a sample CiA402 application from Beckhoff. In case you wish to implement a CiA402 profile, then this would be a good starting point for it. 

    However, if you want to realize basic EtherCAT function, we have an example demonstrating basic communication between the slave and TwinCAT (software acting as EtherCAT master) "f2838x_cm_echoback_solution" .

    The second mentioned example “fcl_f2838x_tmdxiddk_cpu1” is code used to implement a specific use case outlined in the document. 

    The first major difference is that the second example involves code for configuring the rest of the modules required for that application which may not be necessary for your use case. Although the configuration for EtherCAT is same in both examples, in the second example, output mapping has been set based on the application requirements, hence has distinct code. 

    Once you are able to configure the EtherCAT settings and achieve basic function using the first example, you are encouraged to check out how the overall application has been implemented in the second example, in case it provides some useful reference for your particular case. 

    Thanks.

  • 0 in reply to Sahil Deshpande
    Intellectual 440 points

    Thank you. It looks f2838x_cm_cia402_solution is my first choice. Then I will try implement it into my firmware.