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贝福 EtherCAT 开发板 应用手册
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贝福 EtherCAT 开发板 EL9800 应用手册,解释说明了 EL9800如何使用的步骤
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Version 1.7
Date: 2018-07-11
Application Note EL9800
I-II Application Note EL9800
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 05/2009.
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 EL9800 I-1
DOCUMENT HISTORY
Version
Comment
0.1
Documentation based on EL9800_2 (PIC18)
0.2
Add EtherCAT piggyback notes
Additional Instructions for PIC24 Evaluation board (EL9800_4A)
Note for EL9800 / FB1111-014x setup
1.0
Add Section II Chapter 2 “Slave Sample Code”
1.1
Update “create project” instructions
Update file references
Section II is moved to Application Note ET9300
Add chapter “Testing Slave Sample Code”
1.2
Update document structure (guideline to configure slaves)
Update file references
1.3
Editorial changes due to new naming in SSC 5.10
Update MPLAB 8 screenshot
1.4
Update compiler reference (changed from C30 to XC16)
Update screenshots
Update EL9800 related EEPROM update settings
1.5
Add MPLAB X and EL9800_6 related information
1.6
editorial changes
1.7
Move obsolete (related to old Evaluation boards) Information to the appendix section,
reference ETG dowuments how to setup the EtherCAT master and program the EEPROM
I-2 Application Note EL9800
CONTENTS
1 GENERAL NOTES 6
2 EL9800 revision 7
3 TwinCAT (EtherCAT Master) 8
4 Slave Configuration 9
4.1 Digital I/O Slave 9
4.2 Standard Slave 10
5 Slave Stack Code Project 11
5.1 Create Project 11
5.2 Microchip XC16 Compiler specific setting 11
5.3 Download binary 12
5.3.1 Debugger 12
Appendix A 14
Previous Board Versions 14
Slave Stack Code IDE Software 14
MPLAB IDE 8 15
Microchip XC16 compiler 16
MPLAB ICD2 driver 16
Slave Stack Code Project in MPLAB 8 16
Create Project 16
Project settings 19
Download binary 22
Appendix B 28
Support and Service 28
Beckhoff’s branch offices and representatives 28
Beckhoff Headquarters 28
Beckhoff Support 28
Beckhoff Service 28
EtherCAT Technology Group (ETG) Headquarters 28
Application Note EL9800 I-3
FIGURES
Figure 1: EL9800_6 EtherCAT Evaluation board ................................................................................... 7
Figure 18: 16Bit Digital I/O Device Description ....................................................................................... 9
Figure 49: Create a new MPLAB X Project ........................................................................................... 11
Figure 50: MPLAB X Sample Project name and folder ......................................................................... 11
Figure 51: Heap setting for Microchip XC16 compiler .......................................................................... 12
Figure 52: Rebuild Project..................................................................................................................... 12
Figure 53: MPLAB X Debug Main Project ............................................................................................. 13
Figure 1: EL9800_4A EtherCAT Evaluation board ............................................................................... 14
Figure 2: EL9800_2 EtherCAT Evaluation board ................................................................................. 14
Figure 20: Execute Installation file ........................................................................................................ 15
Figure 21: Select setup type ................................................................................................................. 15
Figure 22: Compiler installation............................................................................................................. 16
Figure 23: Driver installation ................................................................................................................. 16
Figure 24: Create a new MPLAB 8 Project ........................................................................................... 17
Figure 25: Project Details ...................................................................................................................... 17
Figure 26: Activate Project Manager ..................................................................................................... 17
Figure 27: Add source files ................................................................................................................... 18
Figure 28: Select source files ................................................................................................................ 18
Figure 29: Select tools .......................................................................................................................... 19
Figure 30: Microchip XC16 Toolsuite .................................................................................................... 19
Figure 31: Selection of the controller .................................................................................................... 20
Figure 32: Heap setting for Microchip XC16 compiler .......................................................................... 20
Figure 33: Compiler Settings................................................................................................................. 21
Figure 34: PIC define ............................................................................................................................ 21
Figure 35: Rebuild Project..................................................................................................................... 22
Figure 36: Build succeed output ........................................................................................................... 22
Figure 37: Select "MPLAB ICD 2" ......................................................................................................... 23
Figure 38: ICD 2 setup wizard............................................................................................................... 23
Figure 39: Communication interface selection ...................................................................................... 23
Figure 40: Power supply selection ........................................................................................................ 24
Figure 41: Auto connect ........................................................................................................................ 24
Figure 42: Download OS ....................................................................................................................... 24
Figure 43: Connect to debugger ........................................................................................................... 25
Figure 44: Download warning ............................................................................................................... 25
Figure 45: Output window: connection successful ................................................................................ 25
Figure 46: Program PIC memory .......................................................................................................... 26
Figure 47: Output window: Programming successful ........................................................................... 26
Figure 48: Run binary ............................................................................................................................ 27
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