Hilscher基于netX的 EtherCAT Master协议接口手册：V2.0详解

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德国赫优讯(Hilscher)的基于netX技术的 EtherCAT 主站协议接口手册是一份详细的文档，专为工程师和系统集成者设计，提供对 EtherCAT 技术在工业自动化领域的深入理解。 EtherCAT 是一种实时工业以太网通信标准，主要用于设备间高速、可靠的数据交换，特别适用于对响应速度和同步性有高要求的制造过程。该手册首先介绍了 Hilscher 公司作为协议的主要开发者，位于德国 Hattersheim 的 Rheinstr.15。手册版本历经了多次迭代，从最初的 V0.96.1 到后来的 V2.0.655，反映了对功能、错误代码、CoE（Communication Object）支持、双端口内存和配置参数处理等关键要素的不断优化和完善。其中，V2.0 版本显著增加了对网络扫描和技术数据审查的部分，表明其在适应实际应用环境中的进步。主要内容包括： 1. **基本概念**：介绍了 EtherCATMaster（主站控制器）的核心原理和技术基础，帮助用户理解和构建 EtherCAT 网络架构。 2. **编程接口**：提供了使用 netX 技术开发 EtherCAT 主站应用的API，覆盖了初始化、数据传输、错误处理、以及与EtherCAT 设备间的交互操作。 3. **功能模块**： - **双端口内存**：阐述了如何利用 EtherCAT 网络中的共享内存进行高效数据交换。 - **配置参数**：指导用户如何设置和管理主站与从站之间的通信参数，确保系统性能和稳定性。 - **错误码和行为处理**：列出了可能遇到的错误代码及相应的解决方案，增强了系统的故障诊断能力。 - **bus scan**：涵盖了如何通过 EtherCAT 主站实现对网络中所有从站的自动扫描，这对于设备管理和监控至关重要。 4. **安全性与合规性**：强调了版权保护，并声明所有内容受法律保护，同时指出作者不对材料的任何用途做出保证，特别是关于适销性和特定目的的适用性。这份手册对于希望通过 EtherCAT 技术实现智能制造和自动化应用的工程师来说，是一份不可或缺的参考文档，它不仅提供了技术细节，还体现了Hilscher 在工业通信领域持续的技术更新和创新。

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Hilscher Gesellschaft für Systemautomation mbH – Rheinstr. 15 – D-65795 Hattersheim

Edition 5 – API:EtherCAT Master#EN – 2008/03

2.4 Accessing the Protocol Stack via the Dual Port Memory

Interface

This chapter defines the mailbox-oriented application interface of the EtherCAT Master Stack.

2.4.1 Communication via Mailboxes

The mailbox of each communication channel has two areas that are used for non-cyclic message

transfer to and from the netX.

 Send Mailbox

Packet transfer from host system to netX firmware

 Receive Mailbox

Packet transfer from netX firmware to host system

For more details about acyclic data transfer via mailboxes see section 3.2. Acyclic Data (Mailboxes) in

this context, is described in detail in section 3.2.1 “General Structure of Messages or Packets for Non-

Cyclic Data Exchange” while the possible codes that may appear are listed in section 3.2.2. “Status &

Error Codes”.

However, this section concentrates on correct addressing the mailboxes.

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Hilscher Gesellschaft für Systemautomation mbH – Rheinstr. 15 – D-65795 Hattersheim

Edition 5 – API:EtherCAT Master#EN – 2008/03

Example:

This example applies to command messages initiated by a process in the context of the host

application. If the process #22 sends a packet through the channel mailbox to the AP task, the packet

header has to be filled in as follows:

Object Variable

Name

Numeric Value Explanation

Destination

Queue

Handle

ulDest = 32

(0x00000020)

This value needs always to be set to 0x00000020 (the channel

token) when accessing the protocol stack via the local

communication channel mailbox.

Source

Queue

Handle

ulSrc = 444

Denotes the host application (#444).

Destination

Identifier

ulDestId = 0

In this example it is not necessary to use the destination identifier.

Source

Identifier

ulSrcId = 22

Denotes the process number of the process within the host

application and needs therefore to be supplied by the programmer

of the host application.

Table 7: Example for correct Use of Source- and Destination-related Parameters.

For packets through the channel mailbox, the application uses 32 (= 0x20, Channel Token) for the

destination queue handler ulDest. The source queue handler ulSrc and the source identifier ulSrcId

are used to identify the originator of a packet. The destination identifier ulDestId can be used to

address certain resources in the protocol stack. It is not used in this example. The source queue

handler ulSrc has to be filled in. Therefore its use is mandatory; the use of ulSrcId is optional.

The netX operating system passes the request packet to the protocol stack's AP task. The protocol

stack then builds a reply to the packet and returns it to the mailbox. The application has to make sure

that the packet finds its way back to the originator (process #22 in the example).

2.4.2.3 How to Route rcX Packets

To route an rcX packet the source identifier ulSrcId and the source queues handler ulSrc in the packet

header hold the identification of the originating process. The router saves the original handle from

ulSrcId and ulSrc. The router uses a handle of its own choices for ulSrcId and ulSrc before it sends the

packet to the receiving process. That way the router can identify the corresponding reply packet and

matches the handle from that packet with the one stored earlier. Now the router replaces its handles

with the original handles and returns the packet to the originating process.

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Hilscher Gesellschaft für Systemautomation mbH – Rheinstr. 15 – D-65795 Hattersheim

Edition 5 – API:EtherCAT Master#EN – 2008/03

2.4.3 Obtaining useful Information about the Communication Channel

A communication channel represents a part of the Dual Port Memory and usually consists of the

following elements:

• Output Data Image

is used to transfer cyclic process data to the network (normal or high-priority)

• Input Data Image

is used to transfer cyclic process data from the network (normal or high-priority)

• Send Mailbox

is used to transfer non-cyclic data to the netX

• Receive Mailbox

is used to transfer non-cyclic data from the netX

• Control Block

allows the host system to control certain channel functions

• Common Status Block

holds information common to all protocol stacks

• Extended Status Block

holds protocol specific network status information

This section describes a procedure how to obtain useful information for accessing the communication

channel(s) of your netX device and to check if it is ready for correct operation.

Proceed as follows:

1) Start with reading the channel information block within the system channel (usually starting at

address 0x0030).

2) Then you should check the hardware assembly options of your netX device. They are located

within the system information block following offset 0x0010 and stored as data type UINT16.

The following table explains the relationship between the offsets and the corresponding xC

Ports of the netX device:

0x0010

Hardware Assembly Options for xC Port[0]

0x0012

Hardware Assembly Options for xC Port[1]

0x0014

Hardware Assembly Options for xC Port[2]

0x0016

Hardware Assembly Options for xC Port[3]

Check each of the hardware assembly options whether its value has been set to

RCX_HW_ASSEMBLY_ETHERNET = 0x0080. If true, this denotes that this xCPort is suitable

for running the EtherCAT master protocol stack. Otherwise, this port is designed for another

communication protocol. In most cases, xC Port[2] will be used for field bus systems, while xC

Port[0] and xC Port[1] are normally used for Ethernet communication.

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