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PROCESSOR-SDK-AM437X: EtherCAT Full application won't be tested in TwinCAT

Part Number: PROCESSOR-SDK-AM437X

Dear All,

Hi, I'm using an IDK AM437x from TI, and I want to test the ethercat_slave_full_AM437x_arm application on my device.

I downloaded and installed the Beckhoff source stack code, and I followed the instructions on http://software-dl.ti.com/processor-industrial-sw/esd/docs/indsw/EtherCAT_Slave/01_00_07/PRU_ICSS_EtherCAT.html#running-ethercat-slave-application .

First I tried the ethercat_slave_demo and it worked, with that application I can change the LED on the device.

Than I tried ethercat_slave_full_AM437x_arm, it compile without errors, I loaded it on the device and run the application, but when I use TwinCAT (v. 3) It would recognize the device without see the Box to toggle LEDS.

The device in the latter case remains in INIT state, while in the demo application runs in OP state.

I had generated the source files with SSC tool and copied them in

[install_path]\protocols\ethercat_slave\ecat_appl\EcatStack

I also copied TI_ESC.xml in C:\TwinCAT\3.1\Config\Io\EtherCAT.

I use Windows 8.1

thank you for your help

Giulio

  • Giulio,

    Just make sure you follow the instruction to apply patch in user guide section 1.1.10. Building full feature EtherCAT Slave Application
    also "Ensure that TIESC_HW is set to 1, For running default application, set TIESC_APPLICATION to 1 and CiA402_DEVICE to 0"

    >>The device in the latter case remains in INIT state,
    If you manually change the device from 'INIT' to 'OP' in TwinCAT, what would happen?

    Regards,
    Garrett

  • Hi Garrett,

    thank you for replying, yes I followed the user guide step by step.

    I checked in the file "ecat_def.h" and I can say that TIESC_HW is 1, TIESC_APPLICATION is defined as a symbol in the project as "TIESC_APPLICATION=1", CiA402_DEVICE is 0 and all others Beckhoff applications as TEST_APPLICATION, EL9800_APPLICATION, SAMPLE_APPLICATION and SAMPLE_APPLICATION_INTERFACE are 0.

    >>If you manually change the device from 'INIT' to 'OP' in TwinCAT, what would happen?

    I cannot change the state because I don't have that option on TwinCAT:

    Moreover I have done some test on the code and I know that it runs the "LEDtask" and the "APPL_Application(void)" at least one.

    Regards,

    Giulio

  • Thank you for the support, in the end I figured out that the problem was twinCat:
    I had a problem with the installation of the drivers.
    Thanks,
    Giulio