Recent changes to Home

Home modified by mlamp

mlamp — Mon, 28 Sep 2020 11:36:07 -0000

--- v4
+++ v5
@@ -81,7 +81,8 @@
 | --- | ----------- |
 |**Programming System**                | CODESYS Development System Version 3.5.14.0 or higher|
 |**Runtime System**                    | CODESYS Control Version 3.5.14.0|
-|**AdditionalRequirements**            | **ServoDrive over EtherCAT:** Rexroth IndraDrive Basic Cs (or any other device which uses ServoDrive| overEtherCAT).To run the example with a CoDeSys Control Win V3 the WinPcap library must beinstalled (for a free download look at winpcap.org).Add the component “Component.5=SysEthernet” into“~\3SCoDeSys\GatewayPLC\CoDeSysControl.cfg”.**File over EtherCAT:** EtherCAT Beckhoff EK 1100EL4132 | 2-channel analog output terminal -10...+10 V, 16 bitsEL3142 | 2-channel analog supply terminal 0...20 mA, single-ended, 16 bitsIn the example a CoDeSys Control Win V3 is used, but it should run everywhere, wherethe EtherCAT master runs.In order to understand abort codes, when an error occurs, the CANOpen Spec isneeded.To run the example with a CoDeSys Control Win V3 the WinPcap library must beinstalled (for a free download look at winpcap.org).Add into “~\3S CoDeSys\GatewayPLC\CoDeSysControl.cfg” the component“Component.5=SysEthernet”|
+|**AdditionalRequirements**            | **ServoDrive over EtherCAT:** Rexroth IndraDrive Basic Cs (or any other device which uses ServoDrive over EtherCAT). To run the example with a CoDeSys Control Win V3 the WinPcap library must be installed (for a free download look at winpcap.org) .Add the component “Component.5=SysEthernet” into“~\3SCoDeSys\GatewayPLC\CoDeSysControl.cfg”.**File over EtherCAT:** EtherCAT Beckhoff EK 1100EL4132 | 2-channel analog output terminal -10...+10 V, 16 bitsEL3142 | 2-channel analog supply terminal 0...20 mA, single-ended, 16 bitsIn the example a CoDeSys Control Win V3 is used, but it should run everywhere, wherethe EtherCAT master runs.In order to understand abort codes, when an error occurs, the CANOpen Spec is needed.To run the example with a CoDeSys Control Win V3 the WinPcap library must be installed (for a free download look at winpcap.org).Add into “~\3S CoDeSys\GatewayPLC\CoDeSysControl.cfg” the component “Component.5=SysEthernet”|
+
 |**Required Accessories**              | -|

 [[project_screenshots]]

Home modified by mlamp

mlamp — Mon, 28 Sep 2020 11:27:28 -0000

--- v3
+++ v4
@@ -2,12 +2,12 @@

 [TOC]

-#EtherCAT Example
+# EtherCAT Example
 This example shows how to read and write IDN"s with ServoDrive over EtherCAT. 
 Another example shows how to read and write SDO"s with CAN over EtherCAT as well as downloading 
 a firmware file with File over EtherCAT.

-##Product description
+## Product description

 **ServoDrive over EtherCAT**
 This example shows how to read and write IDN"s with ServoDrive over EtherCAT. As hardware a 
@@ -30,7 +30,7 @@
 the value as number or byte array with a maximum of four bytes.


-##More information
+## More information

 **ServoDrive over EtherCAT**
 Several startup parameters can be set as device configuration. These parameters are called IDN"s 
@@ -76,6 +76,12 @@
 The upload function has no direct relation to the firmware example it shall only demonstrate how the 
 instance is called.

-
+## System requirements and restrictions
+|System requirements and restrictions  | Info|
+| --- | ----------- |
+|**Programming System**                | CODESYS Development System Version 3.5.14.0 or higher|
+|**Runtime System**                    | CODESYS Control Version 3.5.14.0|
+|**AdditionalRequirements**            | **ServoDrive over EtherCAT:** Rexroth IndraDrive Basic Cs (or any other device which uses ServoDrive| overEtherCAT).To run the example with a CoDeSys Control Win V3 the WinPcap library must beinstalled (for a free download look at winpcap.org).Add the component “Component.5=SysEthernet” into“~\3SCoDeSys\GatewayPLC\CoDeSysControl.cfg”.**File over EtherCAT:** EtherCAT Beckhoff EK 1100EL4132 | 2-channel analog output terminal -10...+10 V, 16 bitsEL3142 | 2-channel analog supply terminal 0...20 mA, single-ended, 16 bitsIn the example a CoDeSys Control Win V3 is used, but it should run everywhere, wherethe EtherCAT master runs.In order to understand abort codes, when an error occurs, the CANOpen Spec isneeded.To run the example with a CoDeSys Control Win V3 the WinPcap library must beinstalled (for a free download look at winpcap.org).Add into “~\3S CoDeSys\GatewayPLC\CoDeSysControl.cfg” the component“Component.5=SysEthernet”|
+|**Required Accessories**              | -|

 [[project_screenshots]]

Home modified by mlamp

mlamp — Wed, 23 Sep 2020 10:08:18 -0000

--- v2
+++ v3
@@ -1,4 +1,4 @@
-[[download url= label=project]]
+[[download url=https://forge.codesys.com/svn/prj,codesys-example,ethercat-exampl,code/EtherCat_Exampes.zip label=EtherCat_Exampes.zip]]

 [TOC]

Home modified by mlamp

mlamp — Wed, 23 Sep 2020 09:53:00 -0000

--- v1
+++ v2
@@ -1,7 +1,81 @@
-Welcome to your wiki!
+[[download url= label=project]]

-This is the default page, edit it as you see fit. To add a new page simply reference it within brackets, e.g.: [SamplePage].
+[TOC]

-The wiki uses [Markdown](/prj/codesys-example/ethercat-exampl/home/markdown_syntax/) syntax.
+#EtherCAT Example
+This example shows how to read and write IDN"s with ServoDrive over EtherCAT. 
+Another example shows how to read and write SDO"s with CAN over EtherCAT as well as downloading 
+a firmware file with File over EtherCAT.

-[[members limit=20]]
+##Product description
+
+**ServoDrive over EtherCAT**
+This example shows how to read and write IDN"s with ServoDrive over EtherCAT. As hardware a 
+Rexroth IndraDrive is used. It is also possible to switch the device to another one which uses 
+ServoDrive over EtherCAT.
+
+Several startup parameters can be set as device configuration. These parameters are called IDN"s for 
+devices using ServoDrive over EtherCAT. For each IDN the name, attribute, unit, minimum, maximum and 
+value can be set as number or byte array with a maximum of four bytes.
+
+**File over EtherCAT**
+This example shows how to read and write SDO"s with CAN over EtherCAT as well as downloading a 
+firmware file with File over EtherCAT. It is also demonstrated how to get information about the master 
+and slaves, like the number of active slaves or the state of the slave. 
+As hardware two analog terminals with CAN over EtherCAT are used. The File over EtherCAT functions are 
+implemented theoretically, without hardware.
+
+For device configuration several startup parameters can be set. For devices which use CAN over EtherCAT 
+an index and sub index is used for each parameter. For each parameter it is possible to read or write 
+the value as number or byte array with a maximum of four bytes.
+
+
+##More information
+
+**ServoDrive over EtherCAT**
+Several startup parameters can be set as device configuration. These parameters are called IDN"s 
+for devices using ServoDrive over EtherCAT. For each IDN the name, attribute, unit, minimum, maximum 
+and value can be set as number or byte array with a maximum of four bytes. 
+
+Two startup parameters are already set at the beginning. Look at the "startup parameters" tab on the device. 
+The "slave" tab shows the EtherCAT address which is used to select the device. In the "EtherCAT_Master" 
+device under the "Master" tab the correct source address, where the device is connected must be set.
+
+SoE: First the program has to wait for the EtherCAT master to be ready. Afterwards the IDN number 32 
+is read from device 1001 which was already set at startup. Additionally an IDN is written to the device 
+and afterwards it is read again once as UINT value and as byte array. 
+It is possible to read the name, attribute, unit, minimum, maximum and value of an IDN. Use the specific 
+value at "byElem" for that. The "byDrive"value is not set, because the used device only has one. 
+The index of the EtherCAT master is set at "usiCom" and the address in "uiDevice". Depending on the device, 
+the timeout must be set high enough.
+
+**File over EtherCAT**
+For device configuration several startup parameters can be set. For devices which use CAN over 
+EtherCAT an index and sub index is used for each parameter. For each parameter it is possible to read 
+or write the value as number or byte array with a maximum of four bytes.
+
+Parameters for EL4132 and EL3142 are set before startup. By double click on one of these devices the 
+"Startup parameters" tab is shown. One is already set and with the "New" button, more can be selected. 
+The "Slave" tab shows the EtherCAT address which is later used for selecting the device. In the 
+"EtherCAT_Master" device under the "Master" tab the correct source address, where the device is 
+connected must be set.
+
+CoE: First the program has to wait for the EtherCAT master to be ready. Afterwards the parameter 
+from device 1002 which is already set is read in a byte array and as dword. Additionally a parameter 
+of four bytes is written and read afterwards. A parameter larger than four bytes is also written in this 
+example. 
+So far only the parameter values are used, but it is also possible to read the complete entry into a 
+byte array. These values are device specific.  All function blocks contain an "udiSdoAbort" variable. 
+If an operation is canceled, this variable returns an abort code. The error to this code can be found 
+in the CANOpen Spec.
+
+FoE: This function demonstrates a way how to download a fictional firmware with File over EtherCAT. 
+After the EtherCAT master is ready, memory for the complete firmware will be allocated. Then the specific 
+slave is set to boot mode to download the firmware. When the download is finished, the memory will be 
+released. 
+The upload function has no direct relation to the firmware example it shall only demonstrate how the 
+instance is called.
+
+
+
+[[project_screenshots]]

Home modified by mlamp

mlamp — Wed, 23 Sep 2020 09:23:42 -0000

Welcome to your wiki!

This is the default page, edit it as you see fit. To add a new page simply reference it within brackets, e.g.: [SamplePage].

The wiki uses Markdown syntax.

Project Members:

Ingo (admin)
mlamp (admin)
robert (admin)