没有合适的资源?快使用搜索试试~ 我知道了~
首页EtherCAT协议栈代码详解
资源详情
资源评论
资源推荐
Version 1.5
Date: 2013-04-30
Application Note ET9300
(EtherCAT Slave Stack Code)
II Application Note ET9300
LEGAL NOTICE
Trademarks
Beckhoff®, TwinCAT®, EtherCAT®, Safety over EtherCAT®, TwinSAFE® and
XFC® are registered trademarks of and licensed by Beckhoff Automation GmbH.
Other designations used in this publication may be trademarks whose use by third
parties for their own purposes could violate the rights of the owners.
Patent Pending
The EtherCAT Technology is covered, including but not limited to the following
German patent applications and patents: DE10304637, DE102004044764,
DE102005009224, DE102007017835 with corresponding applications or
registrations in various other countries.
Disclaimer
The documentation has been prepared with care. The products described are,
however, constantly under development. For that reason the documentation is not in
every case checked for consistency with performance data, standards or other
characteristics. In the event that it contains technical or editorial errors, we retain the
right to make alterations at any time and without warning. No claims for the
modification of products that have already been supplied may be made on the basis
of the data, diagrams and descriptions in this documentation.
Copyright
© Beckhoff Automation GmbH
The reproduction, distribution and utilization of this document as well as the
communication of its contents to others without express authorization are prohibited.
Offenders will be held liable for the payment of damages. All rights reserved in the
event of the grant of a patent, utility model or design.
Application Note ET9300 1
DOCUMENT HISTORY
Version
Comment
1.0
Start document
1.1
Chapter 4 “Hardware access”.
Define descriptions; prototypes changed
1.2
Add chapter 5 Application
Add chapter 9 Tool
Add chapter 9 TestApplication
Enhance Hardware access (chapter 4)
update name references
Enhance EoE chapter
1.3
TestApplication; chapter9 :Update object/entry description (0x2020.1, 0x3003, 0x3004 and
0x3007)
Update “HW_GetTimer()” description
SSC Tool: Edit file information
Update SSC Structure
Add “Find Setting” dialog description
Update naming in Object chapter
1.4
SSCTool:
- Remove Wizard
- Add Configuration handling
1.5
Editorial changes
Add “Getting Started” chapter
Add description for hardware adaption
Test Application:
- Add new test description
- Enhance/update application description
- Describe mechanism to control the behaviors
Enhance Application chapter
- Add setting description
- Interface variables
- Guide to create an application
Add “Synchronization” chapter
Hardware chapter: Sync1_Isr() description added
Update SSC configuration references
Add “EEPROM Handling” chapter
- EEPORM Emulation
- EEPROM Programming
NOTE: This document makes no claim to be complete regarding to the containing topics or the Slave
Stack Code. For annotations or comments to this document please send an email to
EthercatSSC@beckhoff.com.
2 Application Note ET9300
CONTENTS
1 References 7
2 Terms, Definition, Abbreviation 8
2.1 Abbreviation 8
3 Getting Started 9
3.1 SSC Tool 9
3.2 Default SSC files: 9
4 Code Structure 11
5 Hardware Access 12
5.1 Interrupt Handler 12
5.2 Interface Functions/Macros 12
5.2.1 Generic 13
5.2.2 Read Access 16
5.2.3 Write Access 19
6 Application 22
6.1 Application Settings 22
6.2 SSC Functions 22
6.3 Interface Functions 23
6.3.1 Generic 23
6.3.2 EtherCAT State Machine 23
6.3.3 Process data handling 25
6.4 Interface Variables 25
6.5 Create an Application 26
6.5.1 Adding a new Application 26
6.5.2 Examples 26
7 Objects 35
7.1 Define local memory 35
7.2 Entry descriptions 36
7.3 Object name 37
7.4 Object description 37
7.5 Index Ranges 39
7.6 Implementation examples 40
7.6.1 Usage of Object Deftype ENUM 40
8 Mailbox 41
8.1 FoE (File Transfer over EtherCAT) 41
8.1.1 Testing FoE 41
8.2 EoE (Ethernet over EtherCAT) 41
8.2.1 Implementation 41
8.2.2 EoE Examples 43
9 Synchronization 49
9.1 Supported Sync Modes 49
Application Note ET9300 3
9.1.1 FreeRun 51
9.1.2 SyncManager 51
9.1.3 SyncManager/Sync0 52
9.1.4 SyncManager/Sync0/Sync1 52
9.1.5 Sync0 53
9.1.6 Sync0/Sync1 53
9.1.7 Subordinated Cycles 54
10 CiA402 drive profile 55
10.1 Objects 55
10.2 State machine 57
10.3 Operation modes 58
10.4 TwinCAT setup 59
10.4.1 Automatic network setup 60
10.4.2 Manual network setup 60
10.4.3 NC parameter setup 62
11 TestApplication 64
11.1 Slave Behavior Control 64
11.1.1 Test Control Object 64
11.1.2 User RAM 0xF80:0xF83 65
11.2 ESM Tests (0x2000 – 0x200F) 65
11.3 CoE Tests (0x2020 – 0x202F) 65
11.4 Generic Objects 66
12 Tool 68
12.1 Default Startup Dialogs 68
12.2 Main User Interface Elements 69
12.2.1 Tool Bar 69
12.2.2 Windows 73
12.3 Create Files 74
12.4 Local SSC Update 75
12.5 Project Update 76
12.6 Import Configurations 77
13 EEPROM Handling 78
13.1 EEPROM Emulation 78
13.2 EEPROM Programming 78
13.2.1 EEPROM Programmer User Elements 78
Appendix 80
Support and Service 80
Beckhoff’s branch offices and representatives 80
Beckhoff Headquarters 80
Beckhoff Support 80
Beckhoff Service 80
剩余83页未读,继续阅读
省身求是
- 粉丝: 70
- 资源: 15
上传资源 快速赚钱
- 我的内容管理 收起
- 我的资源 快来上传第一个资源
- 我的收益 登录查看自己的收益
- 我的积分 登录查看自己的积分
- 我的C币 登录后查看C币余额
- 我的收藏
- 我的下载
- 下载帮助
会员权益专享
最新资源
- ExcelVBA中的Range和Cells用法说明.pdf
- 基于单片机的电梯控制模型设计.doc
- 主成分分析和因子分析.pptx
- 共享笔记服务系统论文.doc
- 基于数据治理体系的数据中台实践分享.pptx
- 变压器的铭牌和额定值.pptx
- 计算机网络课程设计报告--用winsock设计Ping应用程序.doc
- 高电压技术课件:第03章 液体和固体介质的电气特性.pdf
- Oracle商务智能精华介绍.pptx
- 基于单片机的输液滴速控制系统设计文档.doc
- dw考试题 5套.pdf
- 学生档案管理系统详细设计说明书.doc
- 操作系统PPT课件.pptx
- 智慧路边停车管理系统方案.pptx
- 【企业内控系列】企业内部控制之人力资源管理控制(17页).doc
- 温度传感器分类与特点.pptx
资源上传下载、课程学习等过程中有任何疑问或建议,欢迎提出宝贵意见哦~我们会及时处理!
点击此处反馈
安全验证
文档复制为VIP权益,开通VIP直接复制
信息提交成功
评论5