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Documentation EtherCAT Library LabVIEW 2.9.docx page 1 of 20
Documentation EtherCAT Library for LabVIEW 2.9
This document describes the usage and installation of the “EtherCAT Library for LabVIEW“
version 2.9.
1 General Information ........................................................................................................................ 2
2 System Requirements...................................................................................................................... 3
2.1 Operating system .................................................................................................................... 3
2.2 PC System ................................................................................................................................ 3
2.3 Network adapter ..................................................................................................................... 3
2.4 LabVIEW .................................................................................................................................. 3
3 Installation ....................................................................................................................................... 4
3.1 LabVIEW Library ...................................................................................................................... 4
3.2 LabVIEW Examples .................................................................................................................. 4
3.3 Tools And Documents.............................................................................................................. 4
3.4 Network Card Driver ................................................................................................................ 5
4 Basic Programming .......................................................................................................................... 6
4.1 System Driver .......................................................................................................................... 6
4.2 EtherCAT Master ..................................................................................................................... 6
4.3 Bus State .................................................................................................................................. 8
4.4 Reading And Writing Cyclic Process Data (PDO) ..................................................................... 9
4.5 Buffered Reading Cyclic Process Data (PDO) ........................................................................... 9
4.6 Buffered Writing Cyclic Process Data (PDO).......................................................................... 10
4.7 Topology And Slave Information ........................................................................................... 11
4.8 Object Dictionary ................................................................................................................... 12
4.9 Reading and Writing Service Data Objects (SDO).................................................................. 12
4.10 EtherCAT Master Events ........................................................................................................ 12
5 Data Processing Functions ............................................................................................................. 13
5.1 Bit Copy ................................................................................................................................. 13
5.2 Analog Copy ........................................................................................................................... 13
5.3 Limit Monitor ......................................................................................................................... 14
5.4 Bool Logic .............................................................................................................................. 14
6 ENI Files ......................................................................................................................................... 15
6.1 Creation with LabVIEW .......................................................................................................... 15
6.2 Creation with TwinCAT .......................................................................................................... 16
6.3 Creation with EC Engineer ..................................................................................................... 16
7 Licensing ........................................................................................................................................ 18
8 Getting Started .............................................................................................................................. 19
9 Support .......................................................................................................................................... 20
Documentation EtherCAT Library LabVIEW 2.9.docx page 2 of 20
1 General Information
The “EtherCAT Library for LabVIEW” allows direct data exchange with EtherCAT slaves. LabVIEW acts
as an EtherCAT Master and controls the slaves in the EtherCAT topology. A Connection can be made
with a normal network adapter (NIC). The EtherCAT Master can be run with a realtime driver for
controlling the NIC. This allows a deterministic bus rate of up to 10 kHz and the usage of Distributed
Clocks. As an alternative, the EtherCAT Master can also be run in Windows mode without realtime
behavior.
The library provides a wide set of EtherCAT functionality like:
Cyclic process data exchange
CAN over EtherCAT (CoE)
Servo Profile over EtherCAT (SoE) protocol
Access to Slave EEPROM and Registers
File Transfer over EtherCAT (FoE) mailbox protocol
Synchronization with Distributed Clocks (DC) including Master Synchronization (DCM)
Documentation EtherCAT Library LabVIEW 2.9.docx page 3 of 20
2 System Requirements
2.1 Operating system
The library can be used on Windows XP, 7, 8.1 and 10 with 32 and 64 bit.
2.2 PC System
In Realtime Mode
The realtime driver requires PC Systems with ACPI (Advanced Configuration and Power Interface) or
APIC (Advanced Programmable Interrupt Controller).
In Windows Mode
No restrictions regarding PC hardware.
2.3 Network adapter
In Realtime Mode
EtherCAT protocol is run on a normal network adapter, which is controlled by a realtime
environment. This requires the installation of a realtime driver for the NIC and limits the supported
network adapters to chipsets from Intel and Realtek.
In Windows Mode
No restrictions regarding Network adapter.
2.4 LabVIEW
The library can be used with LabVIEW 2009 to LabVIEW 2016 in 32 bit.
Documentation EtherCAT Library LabVIEW 2.9.docx page 4 of 20
3 Installation
3.1 LabVIEW Library
The installer installs files directly to the LabVIEW folder (..\program files\National
Instruments\LabVIEW xx\..)
The library is installed into the intr.lib folder in the subfolder "_Ackermann Automation\EtherCAT
Acquisition".
The functions palette is installed under Instrument Drivers.
3.2 LabVIEW Examples
The examples are installed in the LabVIEW examples folder “..\Program Files\National
Instruments\LabVIEW xx\examples\Ackermann Automation\EtherCAT Acquisition “.
3.3 Tools And Documents
All further tools and documents can be found in:
“..\Program Files\Ackermann Automation\EtherCAT Acquisition Library\2.x“
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