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TMS320F28379D: TMDSECATCNCD379D ET1100, Codesys not recognizing ESC

Willi Konrad
Prodigy 170 points
Part Number: TMS320F28379D
Other Parts Discussed in Thread: TMDSECATCNCD379D, CONTROLSUITE

Hello,

i´m working with Codesys V3.5 SP11 and the TMDSECATCNCD379D ET1100 (EtherCAT Slave and C2000 Delfino MCU controlCARD Kit).

This are my configurations on the board:

In this pic the ethernet cable to the PC is removed. Normally it is plugged into PORT0-IN.

I want to communicate between my Ethercat Master and the ESC but if i´m scanning for devices, Codesys doesn´t find the ESC. 

Thats what i get:

I already tried to include the ESI, which is in the Echoback Demo (TMDSECATCNCD379D EtherCAT slave (SPI).xml) but the Productcode und Revision doesn´t fit to the ESC i have.

In the documentation it´s all described for TwinCat3. Maybe for Codesys i have to do other steps?

I also discovered that my escRegs are different like in the documentation using the pdi_hal_test_app project and the configuration with SPIC_RAM.

Any ideas what i did wrong?

I hope you can help me.

Best regards

Willi Konrad

  • 0
    TI__Mastermind 19810 points
    Hi Willi,

    looks like you are able to detect the TMDSECATCNCD379D in your scan. The first entry shows the device, it looks like the master is picking up what is programmed in the EEPROM and the EEPROM is programmed with binary for PDI Test APP.

    I don't think you are doing anything wrong, as the next step you will have to select the scanned slave and program the EEPROM on slave node using the ESI file. I assume codesys etherCAT master provides a way of doing this.

    Once you program the EEPROM on slave node then restart and scan the network, it should show up and connect to the ESI file submitted to the master.

    I assume you went through the documentation or know how to program the demo out file to the Delfino MCU using CCS, once you do this you should be able to set the slave node to OP mode and execute the data transfer.

    Please let me know if you have any further questions.

    Best Regards
    Santosh Athuru
  • 0 in reply to Santosh Athuru
    Prodigy 170 points

    Hi Santosh,

    thanks for your reply. In Codesys i didn´t yet find a way to solve this problem. So i installed TwinCat 3 and it worked. My next question is how to communicate between TwinCat and the ESC? I would like to send for example a ASCII message in CCS and see it in TwinCat? Do i have to get the SSC tool or is it possible with the Echoback Demo? If its possible with the Echoback Demo, where do i have to change in the code?

    Thanks.

    Best regards

    Willi Konrad

  • 0 in reply to Willi Konrad
    TI__Mastermind 19810 points
    Hi Willi ,
    I'm surprised that codeSys master doesn't allow for ESI programmation, did you check with CodeSys team? I haven't used this master so I'm not sure about this.

    on your next questions:
    the SW collateral provided with TMDSECATCNCD379D kit comes with a demo. You will have to program the DEMO OUT(COFF) file as per the PDI (SPI or ASYNC16) interface your are using, the OUT file needs to be programmed on the MCU using code composer studio.

    Section 4.2 of SPRUIF9.pdf provided in controlSuite (C:\ti\controlSUITE\development_kits\TMDSECATCND379D_V1.0) talks about this.

    The demo has few input and output variables that are predefined. EtherCAT master should be able to set the outputs and read back the value in inputs (echoed back), after the slave node is in OP mode.

    SPRUIG9 document in the same folder talks about how you can get to full source level debug/development with EtherCAT stack, for this you will have to be ETG member and download the SSC tool v5.11 and apply the C28 patches. The procedure is well explained with screen shots in this guide.

    To be able to send an ascii message from slave node, the transfer has to be initiated by master, usually an EtherCAT slave only responds to master reads, it is not capable of coming up alive and send a message by itself. You should be able to define such application and define the input/output parameters for your application as needed. At this point the echo back example is the only examples that TI provides.


    Hope this helps.


    Best Regards
    Santosh Athuru
  • 0 in reply to Santosh Athuru
    Prodigy 170 points
    Hi Santosh,

    thanks, this helps a lot.
    One last question than we can close this post: Is there any chance to get the schematic circuit diagramm of the EtherCat Slave board?

    Best regards
    Willi Konrad
  • 0 in reply to Willi Konrad
    TI__Mastermind 19810 points
    Willi,
    we are waiting on controlSuite update to get the schematics into the same controlSuite folder as SW. Till then the schematics can be found in TI Design link as below, look for Design files->*Schematic*

    www.ti.com/.../TIDM-DELFINO-ETHERCAT


    Best Regards
    Santosh Athuru
  • 0 in reply to Santosh Athuru
    Prodigy 170 points
    Hi Santosh,

    thank you very much for support.

    Best regards
    Willi Konrad
  • 0 in reply to Willi Konrad
    TI__Mastermind 19810 points
    Hi Willi ,

    thanks for verifying the answers, I will close this thread. Please open a new thread when you have more questions or need to exchange any ideas.

    Best Regards
    Santosh Athuru