PROCESSOR-SDK-AMIC110: ETHERCAT PDO Assignment in TwinCAT file

Akash Babu

Prodigy 170 points

Part Number: PROCESSOR-SDK-AMIC110
Other Parts Discussed in Thread: AMIC110

Hi,

TwinCAT version - 3.1

We are configuring AMIC110 as EtherCAT slave Device.

It works well with example provided by TI and TwinCAT software.

Now we need additional PDO's in TwinCAT software which needs to be added in .xml file.

Could somebody suggest how to add PDO's in .xml file for TwinCAT configuration.

Regards,

Akash

over 4 years ago

0 Dhaval Khandla over 4 years ago

TI__Mastermind 28314 points

Hi
Please check the following documents for more details:

Regards
Dhaval Khandla

0 Akash Babu over 4 years ago in reply to Dhaval Khandla

Prodigy 170 points

Hi Dhaval,

could I get more details on ESI.xml file generation or editing of .xml file

Regards,

Akash

0 Dhaval Khandla over 4 years ago in reply to Akash Babu

TI__Mastermind 28314 points

Dhaval Khandla said:
EtherCAT Slave Design Quick Guide from Beckhoff

If you use the SSC tool, this is one option. When you generate files, the xml file will also be generated along with it.

Regards
Dhaval Khandla

0 Akash Babu over 4 years ago in reply to Dhaval Khandla

Prodigy 170 points

Hi Dhaval,

I followed the guide -- EtherCAT Slave Design Quick Guide from Beckhoff, but sml file is not generated.

Regards,

Akash

0 Dhaval Khandla over 4 years ago in reply to Akash Babu

TI__Mastermind 28314 points

Akash Babu said:
sml file is not generated.

Are you sure that you followed all the steps correctly?

Please note that :

In step 3, you need to import TI's xml first and select that option in Custom. See https://software-dl.ti.com/processor-industrial-sw/esd/docs/indsw/EtherCAT_Slave/01_00_08/PRU_ICSS_EtherCAT.html#generating-ethercat-sources-using-beckhoff-ssc-tool-option-2 for more details.
In step 7, you need to provide the PDO configuration according to your need.
After step 10, you should see the stack sources and XML being generated in the folder you select.
Step 12, 13 and 14 should be applied in "protocols\ethercat_slave\ecat_appl\EcatStack\tiescappl.c" file.

Regards
Dhaval Khandla

0 Akash Babu over 4 years ago in reply to Dhaval Khandla

Prodigy 170 points

Hi Dhaval,

Sorry i missed importing .xml file in step3. Now xml file is generated.

Could you send any filled sample excel files.

Regards,

Akash

0 Akash Babu over 4 years ago in reply to Akash Babu

Prodigy 170 points

Hi Dhaval,

I tried with the default excel PDO assignments as mentioned in

EtherCAT Slave Design Quick Guide from Beckhoff

But when tried to flash the code, the foloowing error occurs.

Is ther any other field, which i could have missed.

Regards,

Akash

0 Dhaval Khandla over 4 years ago in reply to Akash Babu

TI__Mastermind 28314 points

Hi
It is possible that some changes regarding the PDO modification were missed. Can you confirm again by checking the EtherCAT Slave Design Quick Guide from Beckhoff ? I would also suggest that you check relevant sections in Application Note ET9300 (EtherCAT Slave Stack Code)

for more details.

Also, please check the Appendix C of PRU-ICSS EtherCAT Slave Troubleshooting Guide which provides an example showing how you can modify the code manually.

Regards
Dhaval Khandla

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PROCESSOR-SDK-AMIC110: ETHERCAT PDO Assignment in TwinCAT file