TMDXIDK437X: EtherCAT Slave issue

R2d2

Expert 1130 points

Part Number: TMDXIDK437X

Hi ,

when I use TwinCat , it can find the ethercat device , but when I scan for boxes , I get an error

"unknown device type found"

vendor id 0 , product id 0 , revision number 0

what am I doing wrong?

over 5 years ago

0 Garrett Ding over 5 years ago

TI__Mastermind 43296 points

Hi Yuval,

You might miss to copy the ESI file to TwinCAT, see: http://software-dl.ti.com/processor-industrial-sw/esd/docs/indsw/EtherCAT_Slave/01_00_07/PRU_ICSS_EtherCAT.html#ti-esc-slave-setup-with-twincat3

1.1.8.1. TI_ESC slave setup with TwinCAT3

Install TwinCAT3. A 7 days free trial license (can be renewed indefinitely for evaluation purpose) is available for free download from the Beckoff website TwinCAT 3 Download. Select the eXtended Automation Engineering (XAE) mode of installation.
Copy the ESI file to <Drive>:\TwinCAT\3.1\Config\Io\EtherCAT folder

ESI file for EtherCAT Slave demo application is [INSTALL-DIR]/examples/ethercat_slave/esi/TiEtherCATLib.xml
ESI file for EtherCAT Slave full application is [INSTALL-DIR]/protocols/ethercat_slave/ecat_appl/esi/TI_ESC.xml

Regards,

Garrett

0 R2d2 over 5 years ago in reply to Garrett Ding

Expert 1130 points

thanks four your help,

indeed , initially I forgot to copy the xml to the correct location. (where all other beckhoff xml files are ..twincat\3.1\config\io\ethercat folder)

I than copied the file , restarted Twincat and opened a new project. device is found , but search for boxes returns the above failiure.

(I am using the ethercat slave demo project).

How do I make twincat read the xml file ? assuming this is the issue

0 R2d2 over 5 years ago in reply to R2d2

Expert 1130 points

some more data :

when I go to twincat -> Ethercat Devces -> Reload device descriptions I get the following :

MSG | 14-Apr-20 9:56:14 PM 088 ms | 'TwinCAT XAE': device 'TIESC-001 (0x54490001|0x00000011)' (file 'C:\TwinCAT\3.1\Config\Io\EtherCAT\TI_ESC_CTT.xml') already exists in file 'C:\TwinCAT\3.1\Config\Io\EtherCAT\TI_ESC.xml'
MSG | 14-Apr-20 9:56:14 PM 088 ms | 'TwinCAT XAE': device 'TIESC-002 (0x54490002|0x00000011)' (file 'C:\TwinCAT\3.1\Config\Io\EtherCAT\TI_ESC_CTT.xml') already exists in file 'C:\TwinCAT\3.1\Config\Io\EtherCAT\TI_ESC.xml'
MSG | 14-Apr-20 9:56:14 PM 088 ms | 'TwinCAT XAE': device 'TIESC-003 (0x54490003|0x00000011)' (file 'C:\TwinCAT\3.1\Config\Io\EtherCAT\TI_ESC_CTT.xml') already exists in file 'C:\TwinCAT\3.1\Config\Io\EtherCAT\TI_ESC.xml'
MSG | 14-Apr-20 9:56:14 PM 088 ms | 'TwinCAT XAE': device 'TIESC-004 (0x54490004|0x00000011)' (file 'C:\TwinCAT\3.1\Config\Io\EtherCAT\TI_ESC_CTT.xml') already exists in file 'C:\TwinCAT\3.1\Config\Io\EtherCAT\TI_ESC.xml'

note that TiEtherCATLib.xml does not appear ?!?

0 R2d2 over 5 years ago in reply to R2d2

Expert 1130 points

another obervation is that the device2 I find appears in the property windows as a ethrecat master ?!?

0 Garrett Ding over 5 years ago in reply to R2d2

TI__Mastermind 43296 points

Have you tried to remove TI_ESC.xml from twincat\3.1\config\io\ethercat folder and just copy TiEtherCATLib.xml as you are running Slave demo application? and then reload device descriptions.

Regards,
Garrett

0 R2d2 over 5 years ago in reply to Garrett Ding

Expert 1130 points

Yes I have, but it seems to have not affect . device2 was not identified as associated with the TiEtherCATLib.xml

could this be related to the TI slave demo compilation ? maybe pdk tools are mot the same ? I am using pdk create.1.0.16 which were available to download @ IDK product page , yet I noticed that all projectcreate batch files are with pdk 1.0.10

maybe a define needs to be set before compilation ? other ?

0 R2d2 over 5 years ago in reply to R2d2

Expert 1130 points

also - maybe HW related jumper etc?

if you think this is , maybe you can provide pre-compiled app file I can copy to my sd card and test ?

0 Garrett Ding over 5 years ago in reply to R2d2

TI__Mastermind 43296 points

You can get pre-built binary here - http://software-dl.ti.com/processor-industrial-sw/esd/PRU-ICSS-ETHERCAT-SLAVE/latest/index_FDS.html

The PDK version should be 1.0.12 from PRSDK v5.1 - http://software-dl.ti.com/processor-industrial-sw/esd/docs/indsw/EtherCAT_Slave/01_00_07/PRU_ICSS_EtherCAT.html#release-01-00-07

Regards,

Garrett

0 R2d2 over 5 years ago in reply to Garrett Ding

Expert 1130 points

it seems that with the pre-built binary file it works better:

I can scan for boxes with no error and get into OP state

Twincat message "MSG | 16-Apr-20 10:03:43 AM 260 ms | 'Box 1 (TIESC-002)' (1001): state change to 'OP' finished"

However , unlike the example which shows motor all inputs ; DO outputs etc , I only see TXPDO and RXPDO sub menus nor can I control the LEDs on the board (IDK am437x board)

questions

1) How can I make the setup work as described in the ti Ethercat slave application ? what is still missing ?

2) as it seems the issue is associated with PDK version : why? is it because part of the project is pre-compiled with a different pdk tools (Ethercat stack) should I downgrade my PDK tools ? if yes - that how ? do I need to uninstalled ? do I need to recreate project with project create bath file ? once I get the Ethercat stack and switch to the full slave application - which PDK version should I use ?