RTOS/AM3359: How can I realize CIA402 on AM3359 ICE V2 with TI RTOS???

小白很小白

Part Number: AM3359
Other Parts Discussed in Thread: AM3357

Tool/software: TI-RTOS

As you can see,I am using AM3359 ICE V2 with TI RTOS and I want to realize CIA402.Following the guide of PRU-ICSS Industrial Software for Sitara Processors,I have successfully realize the EtherCAT_slave_full.Unfortunately CIA402 project generating supported only for AM437x.Then what can I do ?

Forgive me for my terrible English and thank you !

over 6 years ago

0 Jason Reeder over 6 years ago

TI__Genius 10440 points

Hi,

Currently we only support the EtherCAT CiA402 drive profile as part of our Single-Chip Motor Control demo on the AM437x because that is our only board that we can show motor control on (www.ti.com/.../TIDEP0025).

Can you give more information about the use case where you are wanting to support the CiA402 drive profile on the AM3359? Is there another device in the system that will drive the motor, or do you plan to drive the motor with the AM3359 as well?

Jason Reeder

0 小白很小白 over 6 years ago in reply to Jason Reeder

Intellectual 320 points

I want to drive the PMSM Motor.There is a DSP with current loop.The speed loop and current loop are on AM3359.Of course l need AM3359 to be ethercat slave.

0 Jason Reeder over 6 years ago in reply to 小白很小白

TI__Genius 10440 points

I have asked my colleagues for more information on how to enable this for AM3359 and I will let you know when they respond.

Jason Reeder

0 小白很小白 over 6 years ago in reply to Jason Reeder

Intellectual 320 points

I waited until the flowers were gone

0 Jason Reeder over 6 years ago in reply to 小白很小白

TI__Genius 10440 points

Hi,

My colleague has responded and said that enabling the CiA402 stack on the AM3359 should be possible with the following steps:

Begin with the EtherCAT full mode application: http://software-dl.ti.com/processor-industrial-sw/esd/docs/indsw/EtherCAT_Slave/01_00_07/PRU_ICSS_EtherCAT.html#building-full-feature-ethercat-slave-application
Set TIESC_APPLICATION to 0 and set CiA402_DEVICE to 1
You will then need to update the application and the dummy control loop to incorporate you interface to your DSP

Jason Reeder

0 小白很小白 over 6 years ago in reply to Jason Reeder

Intellectual 320 points

I have tried the method and I have build the project successfully.Then,I download the project to the am3359 ice v2,but it is failed to communicate with twincat like the picture.TwinCAT can not find the device.I checked the xml file and I find 9 devices.Is there any thing need to be changed in xml file to use the device "AM3357/AM3359 CIA402 Drive".

0 Paula Carrillo over 6 years ago in reply to 小白很小白

TI__Mastermind 39780 points

Hi, a question, If you haven't, could you please check OOB EtherCAT slave on AM3359 ICEv2 board works with TwinCAT in your setup?

For a quick test, you can download OOB pre-build binary from PRU-ICSS Ethercat slave download page

You probably already installed TI-RTOS PSDK AM335X 05_01_00_11, but if not please do it.

For running this pre-build binary, you need to create a bootable SD card and copy inside “MLO” and “app”. You can find image to create SD card, and “MLO” from C:\TI\processor_sdk_rtos_am335x_5_01_00_11\prebuilt-sdcards\

Copy C:\TI\PRU-ICSS-EtherCAT_Slave_01.00.07.02\protocols\ethercat_slave\ecat_appl\esi\TI_ESC.xml to C:\TwinCAT\3.1\Config\Io\EtherCAT

Let us know if OOB EtherCAT slave on ICEv2 works with your TwinCAT setup, and we will go from there.

thank you,

Paula

0 小白很小白 over 6 years ago in reply to Paula Carrillo

Intellectual 320 points

I have successfully run EtherCAT_slave_full application.Then I changed the ecat_def.h file.But TwinCAT can not find the device.

0 Paula Carrillo over 6 years ago in reply to 小白很小白

TI__Mastermind 39780 points

Hi, could you please let us know what are the changes you did in ecat_def.h? could you please attach the file?

thank you,
Paula

0 小白很小白 over 6 years ago in reply to Paula Carrillo

Intellectual 320 points

I just changed the value of CIA402_DEVICE and TIEXC_HW.7041.ecat_def.h

0 Paula Carrillo over 6 years ago in reply to 小白很小白

TI__Mastermind 39780 points

Hi, a couple of things
1) Please set to "1" TIESC_APPLICATION, as mentioned by Jason above.
2) Why did you change TIESC_HW to "0"? could you try first set it to "1"

On the other hand, if you can share with me your whole project, it might be easier. Could be here or via E2E private message.

thank you,
Paula

0 小白很小白 over 6 years ago in reply to Paula Carrillo

Intellectual 320 points

Thank you for your help，and sorry for my being late

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RTOS/AM3359: How can I realize CIA402 on AM3359 ICE V2 with TI RTOS???