TMS320F28388D: Single Node EtherCAT Hardware

Abigail Lindquist

Part Number: TMS320F28388D

Tool/software:

We have hardware and firmware working using the F28388D as our ESC for multiple EtherCAT nodes. However, we cannot not get the system to recognize our final EtherCAT node. This uses the same PHY as the other nodes and all connections to ESC0 are the same, the only difference between this node and the others is that the hardware connections to ESC1 have been removed. This includes ESC_RX1[...] ESC_TX1[...] and ESC_PHY1_LINK_STATUS1. We see communication between the PHY and the ESC but the node does not show up on a bus scan. Are there hardware requirements for ESC1 that need to be addressed to get this to work?

7 months ago

0 Kevin Allen18 6 months ago

TI__Mastermind 45606 points

Hi,

Abigail Lindquist said:
This includes ESC_RX1[...] ESC_TX1[...] and ESC_PHY1_LINK_STATUS1

ESC_PHY1_LINK_STATUS1 is unconnected and not allocated? i.e. just left floating.

F2838x ESC may see the port1 as open / connected still. Typically ESC_PHY1_LINK_STATUS1 needs to be seen by ESC as HIGH for the port1 to be closed.

You could force the port closed from eCAT / TwinCAT side by writing to ESC DL Control (0x0100:0x0103) register.

Best,

Kevin

0 Abigail Lindquist 6 months ago in reply to Kevin Allen18

Prodigy 10 points

Hi Kevin,

Thank you for your response. We are doing this in firmware already. The ESC is giving an RX_error but when we compare oscilloscope measurements of a bus scan of all the RX channels between this and an already working EtherCAT node we see no discrepancies. What throws this error?

0 Kevin Allen18 6 months ago in reply to Abigail Lindquist

TI__Mastermind 45606 points

Hi Abigail,

I assume this is your colleagues post below?

https://e2e.ti.com/support/microcontrollers/c2000-microcontrollers-group/c2000/f/c2000-microcontrollers-forum/1522337/tms320f28388d-esc-dl-status-register-reflects-connection-on-port-1-with-only-one-phy-in-design

I think I'll need to try this single port concept with our Eval board on my side at this point, to see if I can find a good work around. If I don't configure the Port1 pins I think it should be equivalent.

In the mean time you could check the AL Status and AL Status Code ESC registers below to see if anything is reported while trying to scan the bus.

Best,

Kevin

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TMS320F28388D: Single Node EtherCAT Hardware