Beckhoff EL9800 User Manual

Version 1.4 Date: 2014-11-18 Application Note EL9800

I-8 Application Note EL9800 3 TwinCAT Setup This chapter describes how to install and use TwinCAT for EtherCAT networks. 3.1 Install the soft

Application Note EL9800 I-9 3.2 Install the Ethernet real-time driver a. Start TwinCAT System Manager Figure 4: Start TwinCAT System Manager

I-10 Application Note EL9800 NOTE: “Installed and ready to use devices” NICs for which the “TwinCAT RT-Ethernet intermediate driver”* or the “B

Application Note EL9800 I-11 3.3 Additional Basics For a step-by-step instruction of a slave configuration proceed with chapter 4. The follow

I-12 Application Note EL9800 Figure 9: EtherCAT Slave Advanced Settings f. Select the node “ESC Access” -> “E2PROM” -> “Smart view” g.

Application Note EL9800 I-13 3.3.3 Distributed Clocks If the slave supports DC the master requires a “sync task” to trigger cyclic events. Thi

I-14 Application Note EL9800 Figure 13: Insert variable c. Select variable a type, e.g. “BIT”, and click [OK] Figure 14: Variable type d. C

Application Note EL9800 I-15 Figure 16: Enable Auto start f. Reload device to apply changes: [Actions]  [Reload Devices] Figure 17: Reload

I-16 Application Note EL9800 4 Slave Configuration This chapter describes how to create an EtherCAT slave configuration using TwinCAT and the

Application Note EL9800 I-17 4.2 Standard Slave The standard EtherCAT slave includes an uController connected to the ESC which handles the Eth

I-II Application Note EL9800 LEGAL NOTICETrademarks Beckhoff®, TwinCAT®, EtherCAT®, Safety over EtherCAT®, TwinSAFE® and XFC® are registered t

I-18 Application Note EL9800 p. Select ICD2 Programmer o “Programmer” -> “Select Programmer” -> “MPLAB ICD2” o Select the following op

Application Note EL9800 I-19 5 Slave Stack Code IDE Software This chapter contains the installation instructions of the MPLAB IDE which is use

I-20 Application Note EL9800 5.2 HI-TECH PICC-18 STD compiler This step is only required if the revision EL9800_2 is used. Otherwise go to cha

Application Note EL9800 I-21 5.3 HI-TECH Universal Toolsuite plugin for MPLAB (optional) The Toolsuite is recommended if the MPLAB IDE is used

I-22 Application Note EL9800 6 Slave Stack Code Project This chapter introduces how to create, download and run a local slave application usin

Application Note EL9800 I-23 e. To add the SSC source files select [Project]  [Add Files to Project…] in menu bar. Figure 30: Add source fil

I-24 Application Note EL9800 6.2 Project settings a. To select the compiler, linker and assembler choose [Project]  [Select Language Toolsui

Application Note EL9800 I-25 Figure 34: Selection of the controller 6.2.1 Compiler/PIC specific settings  Microchip XC16 compiler (PIC24):

I-26 Application Note EL9800  HI-TECH PICC-18 STD compiler (PIC18): Increment the “identifier length” > 60 and disable code optimization (

Application Note EL9800 I-27 b. To compile the SSC select [Project]  [Rebuild] in menu bar. (Since MPLAB version 8.46 “Rebuild” is renamed to

Application Note EL9800 I-1 DOCUMENT HISTORY Version Comment 0.1 Documentation based on EL9800_2 (PIC18) 0.2 Add EtherCAT piggyback notes Addit

I-28 Application Note EL9800 The following instructions refer to the fixed connected onboard ICD 2 debugger. a. Enable the on board debugger i

Application Note EL9800 I-29 Figure 43: Power supply selection f. Don’t check automatic connection Figure 44: Auto connect g. Check automat

I-30 Application Note EL9800 h. Connect to debugger Figure 46: Connect to debugger i. Acknowledge the download warning with [OK] Figure 47:

Application Note EL9800 I-31 k. Download the binary file Figure 49: Program PIC memory Output if programming succeeds Figure 50: Output win

I-32 Application Note EL9800 l. Select [Debugger]  [Run] Figure 51: Run binary

Application Note EL9800 I-33 7 Known issues Issue Possible workaround Software / Platform Compiler / Code Editor Compiler warning: “… redefini

I-34 Application Note EL9800 Appendix Support and Service Beckhoff and their partners around the world offer comprehensive support and service,

I-2 Application Note EL9800 CONTENTS 1 GENERAL NOTES 6 2 EL9800 revisions 7 3 TwinCAT Setup 8 3.1 Install the software 8 3.2 Install t

Application Note EL9800 I-3 FIGURES Figure 1: EL9800_4A EtherCAT Evaluation board ...

I-4 Application Note EL9800 Table Table 1: Used Software ...

Application Note EL9800 I-5 ABBREVIATIONS DC Distributed Clocks EEPROM Electrically Erasable Programmable Read Only Memory I/O Input/Output

I-6 Application Note EL9800 1 GENERAL NOTES This document is a guideline to start working with the EL9800 EtherCAT Evaluation board. Workshops

Application Note EL9800 I-7 2 EL9800 revisions The actual revision EL9800_4A is available (Figure 1: EL9800_4A EtherCAT Evaluation board). The