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Can I use custom ESI for TMDXICE3359?

taeyun kwak
Prodigy 240 points
Other Parts Discussed in Thread: SYSBIOS

Hi, 

I am using TMDXICE3359 and running custom ethercat motion source(cia402 profile) based on sys/bios sdk example.

I used to use "Append box" menu to add box in twincat device list, but this isn't convenient.

I read this article to implement "Scan box" feature in use TwinCAT.
http://processors.wiki.ti.com/index.php/AM335x_SYSBIOS_Industrial_SDK_01.00.00.05_User_Guide#Generating_ESI_Header_file_From_ESI_xml

I used bin2header.exe to convert an ESI binary file to header file.

Then I replaced tiesc_eeprom.h and rebuild project.

But when I clicked "Scan box", TwinCAT can't read PDO and ECAT Statemachine can't reach OP State..

My question is modified tiesc_eeprom.h is avaliable or not??

sorry for my english.

thankyou
-teyun 

  • 0
    TI__Mastermind 44306 points

    Taeyun,

    of course you can implement different EtherCAT slace applications and associated ESI info on ICE. This is shown by the two different examples we provide in the IA-SDK.

    I assume that in your you missed to do all the changes required to implement the new app. There are several checks in the stack that could prevent a device to go to OP state. You should see some error messages on the master side in that case.

    You may also be aware that we have features to save the ESI info to the SPI FLASH on the board. If you use TwinCAT to update the ESI from master side your app may write the ESI to FLASH. If then a restart of the app happens and it finds a valid ESI in FLASH it might use that one instead the one from the (newer) header. So you carefully need to check your options in the application and if the write to ESI FLASH is enabled or not. This has led to issue in my development so I usually disable the feature for debug purposes.

    Regards.

  • 0 in reply to Frank Walzer
    Prodigy 240 points

    I don't know what I missed.

    When I add box manually using "append box" with modified XML, the slave(TMDXICE3359) works fine.

    But when I use "scan box"(with modified tiesc_eeprom.h), it works abnormally...( can't read PDO list )

    Well... I would write new XML file and retry all procedure...

    By the way to disable "eeprom to spi emulation" feature, is it correct "ESC_EEPROM_EMULATION" to 0 in ecat_def.h?

  • 0 in reply to taeyun kwak
    TI__Mastermind 44306 points

    No, you should not change that define.

    EEPROM_SPI is the one that controls ESI update writes to SPI FLASH.

    Regards.