EtherCAT® Design Tool User Manual
Contents
1. Version 1 1 0 EtherCAT Design Tool Page 9 of 35 pert for the supported EtherCAT line The global ESI EDS resp XDD parameters are parameters such as manufacturer name and product designation which are identical for every EtherCAT line The individual line entries are split into e Device Identity Settings e Object dictionary 2 2 1 Hardware configurations The EtherCAT Design Tool can manage several hardware configurations A hardware configuration consists of e CPU Settings Choice and configuration of the CPU or the operating system e Compiler Settings Choice and configuration of the used compiler e EEPROM Settings Configuration of EtherCAT Slave Controllers ESC By setting the hardware configuration defines in the file ecat_conf h are set that config ure the Driver Package 2 2 2 Object dictionary The object dictionary is divided into different branches for the separate segments e data types Indices 0001 025F e communication data Indices 1000 1 FFF e manufacturer specific data Indices 2000 5FFF e standardized device profile segment data Indices 6000 9FFF in blocks of 800 e reserved area A000 FFFF The division of the area for standardized device profiles into blocks of 800 was carried out under special regard to the multi device profile Operations as doubling identical segments can be implemented simply by the representation of every device profile a2. A hardware configuration can be renamed duplicated deleted imported and exported by its action menu The active configuration is marked with a pair of asterisks in the project tree The parameters of the sub sections are explained in the context help for each mask 2 4 5 Mask view These forms are a wizard for the communication parameters In this way the input of the parameters is facilitated since the bit values coded are converted into text outputs Con tiguous entities are also parameterized transparently for the operator Please regard that the mask view is only available for some objects 2 4 6 Structure view The structure view is the universal editor with that all entity parameters can be changed It is distinguished into a view for the index parameters and one for the sub index parame ters Page 12 of 35 EtherCAT Design Tool Version 1 1 0 pert Name Description Index Number of index hexadecimal Data Type data type according to EtherCAT Object Code Kind of object according to EtherCAT specification allowed values Variable Array Record Domain Object name name of the object in XDD EDS ESI file Description description of the object for the documentation and for the parameter description in XDD files Table 1 Elements of the structure view for indices The data type and the object code are fixed for communication objects in the object range 1000 to 1
3. example OxFFFFFFFF e for string objects without quotation tags example Test string Pv default value e for numerical objects in decimal format example 1614872592 e for string objects without quotation tags example Test string oz enumeration counter of the object in decimal format counting starts with 0 example 12 i e it is the 12th object Table 6 format descriptors 5 2 Example for HTML documentation Each object in the object dictionary is listed with index sub index in bold text style and the object description The following example only refers to object 1000h and 1001h list conf lt p gt lt b gt object Ih S lt b gt T lt p gt userList txt lt p gt lt b gt object 1000h 0 lt b gt The device type specifies the kind of device The lower 16 bit contain the device profile number and the upper 16 bit an additional informa tion lt p gt lt p gt lt b gt object 1001h 0 lt b gt The error register is a field of 8 bits each for a cer tain error type If an error occurs the bit has to be set Bit O generic error Bit 1 current Bit 2 voltage Bit 3 temperature Bit 4 communication error overrun error state Bit 5 device profile specific Bit 6 reserved Bit 7 manufacturer spe cific lt p gt Page 26 of 35 EtherCAT Design Tool Version 1 1 0 pert indication in the web browser object 1000h 0 The device type specifies the kind of device
4. All rights reserved The programs boards and documentations supplied by port GmbH are created with due diligence checked carefully and tested on several applications Nevertheless port GmbH can not take over no guarantee and no assume del credere lia bility that the program the hardware board and the documentation are error free respec tive are suitable to serve the special purpose In particular performance characteristics and technical data given in this document may not be constituted to be guaranteed product features in any legal sense For consequential damages which are emerged on the strength of use the program and the hardware boards therefore every legal responsibility or liability is excluded port has the right to modify the products described or their documentation at any time without prior warning as long as these changes are made for reasons of reliability or technical improvement All rights of this documentation lie with port The transfer of rights to third parties or duplication of this document in any form whole or in part is subject to written approval by port Copies of this document may however be made exclusively for the use of the user and his engineers The user is thereby responsible that third parties do not obtain access to these copies The soft and hardware designations used are mostly registered and are subject to copy right CANopen is registered trademark licensed by CiA CAN in Automation
5. DEVIN e s REA A RRA Bee a we O 7 CSV Import Plugin 2 2 2 we eee eB Tale Usages s a s a oe oe oe ee oe ch e we MS ee Se ee we ew ll Tela EXBMIPI S s amp lo e A Oe E be we a owe koe wee we em 682 8 Different versions 94 sn amp we ew we ea w BF 8 1 Standard version o ke 200 ew ee He ee we ew 39 G2 Light version s a 4 Bw amp amp HB we we wie amp 3S 8 2 1 Limitations ee we e el me ee oe ee GR ek eR ee 33 Boe SABE 4 oe a we oe ee ee EB ee As BD Page 4 of 35 EtherCAT Design Tool Version 1 1 0 pert Version 1 1 0 EtherCAT Design Tool Page 5 of 35 pert Page 6 of 35 EtherCAT Design Tool Version 1 1 0 pert 1 Introduction 1 1 Product Overview The EtherCAT Design Tool of port is a software tool for the development of Ether CAT applications devices It manages device data bases from which an Object Dictio nary configuration and initialization files in C code an Electronic Data Sheet a XML description and a HTML documentation are created automatically Furthermore the driver packages can be configured by the EtherCAT Design Tool and several hardware configurations can be managed within one project With the EtherCAT Design Tool an instrument is available which frees the developer of error prone activities repeating itself It ensures consistency of implemented functional ity Electronic Data Sheet ESI and device documenta
6. 0 not valid 1 valid od data type according to CiA 309 3 example u32 he EDS name of the object index WF default value in EDS valid O not valid 1 valid og size in bytes in decimal format example 12 Jol object index in hexadecimal format without prefix example 1A00 i object index in decimal format example 4096 PL line number in hexadecimal format without prefix example A l line number in decimal format example 12 M limits in EDS valid O not valid 1 valid m lower minimum limit e for numerical objects in hexadecimal format with prefix Ox example OxFFFFFFFF e for string objects lt empty string gt Jon name of the object index in C code op PDO mapping allowed 0 not valid 1 valid O refuses Read on scan 0 not valid 1 valid PR valid after reset O not valid 1 valid PS sub index in hexadecimal format without prefix example A os sub index in decimal format example 12 T description of the object Take note that the Design Tool can not convert special characters because it does not know the desired document type Version 1 1 0 EtherCAT Design Tool Page 25 of 35 pert format description descriptor U upper limit e for numerical objects in hexadecimal format with prefix 0x example Ox FFFFFFFE e for string objects lt empty string gt Jou unit example 100 ms TON default value e for numerical objects in hexadecimal format with prefix 0x
7. General Settings e Hardware Configuration To configure the EtherCAT Library according to the used EtherCAT services the fol lowing procedure is recommended e Create the desired lines e In every line the communication segment has to be filled completely When the configuration is complete the file ecat_conf h can be created by Generate all Files The project file of EtherCAT Design Tool light has to be saved too because it is not possible to import the Library configuration from a ecat_conf h The project file can be reused in the standard version of the EtherCAT Design Tool Version 1 1 0 EtherCAT Design Tool Page 33 of 35 pert Page 34 of 35 EtherCAT Design Tool Version 1 1 0 pert Appendix 1 Abbreviations CAN Controller Area Network CAL CAN Application Layer CANopen base CiA CAN in Automation international users and manufacturers group e V COB Communication Object CAN Message COB ID Communication Object Identifier DDE Device Description Entry EMCY Emergency Object EPL Ethernet POWERLINK EPSG Ethernet POWERLINK Standardization Group KSI EtherCAT Slave Information XML device description for EtherCAT slaves ETG EtherCAT Technology Group NMT Network Management PDO Process Data Objects they are messages in a unconfirmed service They are used for the transfer of real time data to and from the device RPDO Receive PDO SDO Service Data Objects they are messages in a confirmed se
8. The lower 16 bit con tain the device profile number and the upper 16 bit an additional information object 1001h 0 The error register is a field of 8 bits each for a certain error type If an error occurs the bit has to be set Bit O generic error Bit 1 current Bit 2 volt age Bit 3 temperature Bit 4 communication error overrun error state Bit 5 device profile specific Bit 6 reserved Bit 7 manufacturer specific 5 3 Example for Tcl scripts A list of all objects is created The entry for each object starts with a comment including the enumeration counter The enumeration counter is also used as list index for the list objTab The index sub index and the default value are listed for each object The fol lowing example only refers to object 1000h and 1001h list conf object z set objNum z set objTab objNum indexHex Ox lI set objTab objNum subHex S set objTab objNum defValHex V userList txt object 0 set objNum 0 set objTab objNum indexHex 0x 1000 set obj Tab objNum subHex 0 set objTab objNum defValHex 0x00000000 object 1 set objNum 1 set objTab objNum indexHex 0x1001 set objTab objNum subHex 0 set objTab objNum defValHex 0x00 The generated object list can be used after sourcing in a Tcl scripts especially in the frame for testing in the Console of the CANopen Device Monitor Version 1 1 0 EtherCAT Design Tool Page 27 of 35 pert Page 28 of 35 EtherCAT De
9. object dictionary By selecting the menu option Generate all Files within the menu Generate the Object Dictionary electronic device description and the configuration file ecat_conf h is generated If Generate Documentation is selected the documentation in HTML and as plain text will be generated Via the menu option Show all the generated files can be viewed The HTML Documentation is displayed with the standard browser The Options menu organizes the options for the following e Generation of electronic device descriptions e Default selection of mask or structure view for objects e Object description structures e object c generation e Font configuration View options are saved user specific in the registry or in a rc file under Linux and generation options are saved project specific in the project file In the Help menu the help for the current mask or the manual can be viewed It is shown in the standard browser IO oe E By amp m oo E Figure 2 Toolbar The toolbar below the menu provides a fast access to the following functions new project open save cut copy paste generate add new service objects and query new releases 2 2 Object tree The object tree is central administrative element for all EtherCAT entities as well as all further device parameters and for the hardware configurations It consists of branches for the global device parameters branches for the hardware configurations and the branch
10. F FF to be compliant to the specification Version 1 1 0 EtherCAT Design Tool Page 13 of 35 pert ble Name Description Scope Lib EDS ESI Doc Index Number of index hexadecimal xX X x X Sub Index number of sub index decimal PDO Mapping if selected the object can be mapped to a PDO Object Name object name for sub index x x x Unit measurement unit of the object Access access permissions seen from Ether x x x CAT according to device type Data Type type of object X X x x Size size of object in Bytes x x Value defaultvalue of the variable X x X x Lower Limit lower limit for numerical values X x X Upper Limit upper limit for numerical values x x x Backup Backup flag of the object x x Setting Setting flag of the object x x C Implementation Implementation type of the object Man x aged Constant Managed Variable Appli cation Variable Application Array C Name Variable name of the object if applica x Table 2 Elements of the structure view for Sub indices Within the Object Name entries internal variables can be used They will be replaced with the their current value at generation E g s stores the value of the current sub index and an XDD name like Output s will be replaced with Output 0 Output 1 or Output 254 With these substitutions it becomes much more easier to copy or duplicate objects All variables are des
11. actions are possible e data import from files profile or EDS XDD e data export to profile files e creating new objects indices e creating of a sub segment For sub segments the following actions are available e data import from files profile or EDS XDD e data export to profile files e creating new objects indices e configuration of the sub segment 2 4 Forms Forms and input masks simplify the data input Additionally to the following documenta tion there is a online help for each mask available about lt F1 gt Version 1 1 0 EtherCAT Design Tool Page 11 of 35 pert 2 4 1 General Settings The general settings are meant to define global device settings With these settings the EtherCAT library is configured with the help of the file ecat_conf h 2 4 2 General EDS ESI XDD settings The global EDS ESI XDD form is used for processing all device global entities that are device manufacturer and ordering data 2 4 3 Advanced configuration This mask provides access to special user defines in the configuration file ecat_conf h This file is included in all EtherCAT files and should be included in every Ether CAT related project file So compiler directives changed here will affect the whole project Please enter valid C code like e g define CONFIG_BIG_RAM_VERSION 1 undefine printf define PRINTF Be carefully with these settings 2 4 4 Hardware configurations
12. ally to the communication object data base profile files for other Ether CAT device profiles are available from port By means of these profiles standard Version 1 1 0 EtherCAT Design Tool Page 17 of 35 pert applications can be implemented in shortest time For demonstration purpose some device profile data bases are delivered with the Ether CAT Design Tool Objects from such a device profile data base can be imported but without a valid license for this data base the output cannot be created To order a license for a device profile please contact service port de service port de If parts of a project are to be used in later projects the data can be exported into a sepa rate file Page 18 of 35 EtherCAT Design Tool Version 1 1 0 pert 4 Project editing This chapter describes the working flow for creating and editing projects The order of the flow is not mandatory but very useful Basic parameter like the number of Ether CAT lines and the kind of the device Slave or Master should be clear at the beginning of the development The necessary steps are the following e configuration of global parameter e configuration of global ESI resp EDS parameter e configuration of the hardware settings e configuration of standard and additional settings e definition of application variables e parameterization of application variables e definition of communication variables e parameterization of communicat
13. ata are loaded from the communica tion object database That means the structure of the created variables is already defined and all parameter entries are preset For EtherCAT conform devices one has to define at least the objects e Device Type 1000 e Identity Object 1018 and more The EtherCAT standard requires these objects There are special menus for the creation of communication parameter These can be reached via the button Add new Communication Service in the action menu of the Com munication Segment For each EtherCAT service e g PDOs these menus are prepared On this menus the user has only to make design decisions No knowledge about the encoding and the con texts between communication objects is necessary 4 4 1 Parameterization For parameterization of communication variables the mask view can be used With these forms the parameterization of more complex data like PDO parameter and PDO mapping is very easy 4 5 Generation of source code When the button Generate is pressed the object dictionary implementation in C code the initialization and configuration files and furthermore an EDS resp ESI file for each Ether CAT line lt ProjectName gt line lt lineNo gt eds and if activated a documentation lt project name gt html are generated These files are always consistent and contain the date and the time of generation Another file generate err contains warnings and errors It is recommended to h
14. ave a look to this file by means of Show after each genera tion 4 6 Variables variables can be used in object names and variable names of indices and object names of sub indices In the file objects c in the EDS files and in the documentation and also in the object tree they are replaced by their current values Page 22 of 35 EtherCAT Design Tool Version 1 1 0 pert Name Description i number of the index s number of the sub index l number of the line of number of the service SSDO CSDO RPDO RPDO Mapping TPDO Mapping SRDO SRDO Mapping starting at 1 op index start of segment starting at 0 oq index start of segment 1 starting at 1 ou index start of sub segment starting at 0 TON index start of sub segment 1 starting at 1 Tot short name of data type Table 5 variables When using lower case letters for the variables a decimal value is returned Otherwise a hexadecimal value without leading Ox Variables that are undefined in the current con text e g s at an index return an empty string Examples fiir the usage of these variables can be found at the SDO or PDO objects in the communication profile 4 7 Expressions The expressions allow the usage of variables and mathematical operators Inside of the braces variables constants decimal hexadecimal and the operators and can be used Examples for valid obj
15. by means of their index from an profile Databases for the standardized EtherCAT device profiles are available from port If a database doesn t exist yet all entries can be created by hand It is distinguished in parameter for the index and for parameter describing the sub index The index parameter defines the structure of the variable That means their type kind Variable Array Record Domain the number of sub indices the C implementation type and a variable name if applicable and an object name Furthermore the variable can be commented This comment will be a part of the documentation for this object The parameters for sub indices contain an object name for record or array members size and type and access permissions For each a unit can be assigned If application specific data types for records are used they have to be defined in the data type section of the object directory in advance of their usage Import File Ln A xi Select objects 6000 Read State 6 Input Lines m 6002 Polarity 8 Input Lines J 6 3 6003 Filter Constant 6 Input Lines UY 6005 Enable Digital Input Interrupts a 6006 Input Interrupt Mask 8 any change AO 6007 Input Interrupt Mask 8 low to high a 6006 Input Interrupt Mask 6 high to low ao 6020 Read State 1 Input Line 1 126 aA 6030 Polarity 1 Input Line 1 128 Ma RNA Cikar Canetant 1 Innit linen d 192 f Index Offset Ox080q Import Cancel Figure 7 import mask for profiles 4 3 1 Param
16. cribed in section variables in chapter 4 7 Page 14 of 35 EtherCAT Design Tool Version 1 1 0 pert Structure Optimization a Index FthercaT Add new Sub Index Index 6200 Object Name Write State 8 Output Lines Data Type UNSIGNEDS 7 Object Code Array 4 Documentation Sets a group of 6 output lines as a byte of information A maximum of PA 255 bit output blocks are addressable In a byte group it is possible to address 2040 outputs per module Figure 4 structure view of an object 2 5 Program control The operation of the entire program is done mostly with the mouse Changed values are taken over only at leaving of the mask E g continuous actions such as computation of new sizes during type variation Modifications at a mask can be reset before the mask has been left by pressing the button Reset If default values are available for a mask these values can be loaded by the but ton Default Version 1 1 0 EtherCAT Design Tool Page 15 of 35 pert Page 16 of 35 EtherCAT Design Tool Version 1 1 0 pert 3 File structure 3 1 Project structure 3 1 1 Project file All data of an project are stored in the project file Nevertheless it is useful to have a directory for every project because the generated files will be stored in the project direc tory The directory projects under the program directory contains some example projec
17. e V Germany EtherCAT is registered trademark and patented technology licensed by Beckhoff Automation GmbH Germany We are thankful for hints of possible errors and may ask around for an information We will go all the way to verify such hints fastest Copyright 2013 port GmbH Regensburger Stra e 7 D 06132 Halle Tel 49 345 777 550 Fax 49 345 777 55 20 E Mail service O port de Internet http www port de pert Table of Contents 1 Introduction 7 1 1 Product Overview 7 1 2 Product Delivery T 1 3 System requirements 7 1 4 Installation 7 1 5 Support by port 8 2 Usage of the EtherCAT Design Tool 9 2 1 Main menu 2 4 2 4 2 4 amp e amp BS eRe ee Se SG 9 2 2 Object tree 4 a Ag Ge ee oe Ge oe ee gow eS 9 2 2 1 Hardware configurations 10 2 2 2 Object dictionary 6 2 6 amp IO 2 3 Action menus e em vo exa 2k amp woe sa e 10 2 4 Forms 2 dae os E A 2 amp amp J 2 4 1 General Settings amp 6 bh fe 4 oe we es se 12 2 4 2 General EDS ESI XDD settings 2 2 2 12 2 4 3 Advanced configuration 12 2 4 4 Hardware configurations 212 2 4 5 Mask view e amp amp amp Bid bw amp amp a FW 2 4 6 Structure view e 2 6 e amp amp amp 4 dl 2 3 Program control 2 8 2 2 we be ee w
18. e we 0 l 3 File structure 2 5 2 2 amp 2S Be SS e Ewe Ge 7 3 1 Project structure e o s Me s s amp s s ee e or s s a gt a I7 3 1 1 Project ile 00a aa O 7 3 1 2 Generated files 2 amp a amp 2 ke So 2 6 ee ow 1 3 2 Prone Giles s e w Gea e e eee e a M 4 Project editing 2 2 4 gt es 2 64 amp amp 4 a w 19 4 1 Beginning a project 2 ee ee 9 Version 1 1 0 EtherCAT Design Tool Page 3 of 35 pert 4 2 Hardware configuration eee eee OD 4 3 Application variables 2 2 eee eee OD 4 3 1 Parameterization of application variables 20 4 3 2 C Implementation i a e 20 4 4 Communication variables a 22 4 4 1 Parameterization a a 0 0 0 0 2 020 22 4 5 Generation of source code 2 22 4 6 Variables 42 4 amp amp amp hk ee Es ee eB we we ee 22 4 7 Expressions de Go ow esas 23 4 8 Post Generation command 2 2 23 5 Generation of user specific object descriptions 25 5 1 Format descriptors a a ee ee o DS 5 2 Example for HTML documentation 26 5 3 Example for Tel scripts e 4 css 2 27 6 EtherCAT Merge Plugin 9 G1 Project View y 2 bae E 2 amp amp e 8 oe ew ew 2 6 2
19. ect names with expressions e output i 0x100 e state p 100 at device l 4 8 Post Generation command At Generation Post Generation Settings the post generation command can be config ured The post generation command is executed after the generation of the output files The command may be a shell script or a batch file or you may run e g make all or start an arbitrary executable file e g the EDS checker or your compiler The output of the command is written into the file generate err Version 1 1 0 EtherCAT Design Tool Page 23 of 35 pert Page 24 of 35 EtherCAT Design Tool Version 1 1 0 pert 5 Generation of user specific object descriptions The Design Tool provides format descriptors for the generation of user specific object descriptions in ASCII format for different document types The description template is a text in ASCII Format including format descriptors for object specific information and has to be stored in file list conf in the working directory During the generation of all files the description template is applied to each object The Design Tool stores the object list in the file userList txt in the working directory 5 1 Format descriptors The Design Tool supports the following format descriptors format description descriptor a access type RO WO RW RWW RWR CONST D refuses write on download
20. eterization of application variables The parameterization of application variables is done in the structure view for the sub index elements 4 3 2 C Implementation There are different possibilities of the C implementation of an object These possibilities are explained in the following table Page 20 of 35 EtherCAT Design Tool Version 1 1 0 pert Type Description Managed Constant The value of the object cannot be changed and it is managed by the CoE library Managed Variable The value of the object can be modified at run time from EtherCAT according to the access right and from the appli cation using the function putObj The memory for this object is allocated by the CoE library Application Variable An variable of the application is used for this object If the value of the object is changed via EtherCAT the variable is updated automatically The value of the object can be changed from EtherCAT or from the application using the function put Obj or directly using the variable name If the optimization option Create Variable is active the variable is defined created by the EtherCAT Design Tool Otherwise an existing variable can be reused Application Array This setting is only valid for Array objects The object object an C array of the application is used If the values of the objects are changed via EtherCAT the array elements are updated automatically The
21. gure 10 EtherCAT Merge diff window displaying differences of 2 sub indices The detail view displays differences of global settings indices and sub indices Attributes of indices and sub indices can be modified directly within this view Modifica tions have to be confirmed by the button SAVE in the tool bar A plausibility check is per formed when saving these settings Page 30 of 35 EtherCAT Design Tool Version 1 1 0 pert 7 CSV Import PlugIn 7 1 Usage With the CVS Import PlugIn objects of the object dictionary can be imported from CSV files Thus it is possible to export object definitions from other sources e g data bases as a CSV file and import it into the EtherCAT Design Tool The format of the CSV file can be specified using an Input Description Specifier It allows to select only some columns of a csv file Additionally an object offset can be speficied for the import The CSV Import extension module is an optional PlugIn which is activated by the license file of the EtherCAT Design Tool If a valid license is present CSV Import can be started by the CSV Import menu in the menu bar of the EtherCAT Design Tool GSV Object Import Index Offset 0x2000 Line INS Import Description Specifier index sub edsname access defaultidatatype objectcode Path to CSYV File 122 local 0 0 640 software objects csv 4 OK Figure 11 CVS Import configuration mask Cancel T
22. he following table describes all tokens that can be used for the Input Description Speci fier and their value range for the corresponding column in the CSV file Commas semi colons or tab stops can be used as separator between the tokens but only one of them Element Value range index index in the range between 0x2000 and Ox9FFF sub sub index in the range between 0 and 254 edsname arbitrary string varname valid C variable name access RO RW WO CONST RWR RWW or as lower case letters unit arbitrary string min max default numbers using C notation datatype EtherCAT datatype as decimal number see object dictionary objectcode VARIABLE default ARRAY or SUB desc arbitrary string only for VARIABLE or ARRAY createvar flag if the c variable shall be created 0 or 1 Version 1 1 0 EtherCAT Design Tool Page 31 of 35 pert Element Value range pdomapping flag if it can be mapped into a PDO 0 or 1 7 2 Examples This examples shows a standard configuration of manufacturer specific objects Input Description Specifier index sub varname edsname unit access min max default datatype objectcode createvar pdomapping CSV File 0x3000 0 man_eins EDSName_1 ro 0 0xff OxF0 5 VARIABLE 1 0 0x3001 0 man_zwei Variable_2 ro 0 0xff OxF0 5 VARIABLE 1 0 0x3002 0 man_drei Ohne_Create_Var ro 0 0xff 0xF0 5 VARIABLE 0 1 0x4000 min_a
23. ion variables e optimization of each object if needed e generation of outputs 4 1 Beginning a project A project is created by the menu File New Project Existing projects are opened by the button Open Project or the menu File Each EtherCAT line can be preset with data from a profile or an EDS file 4 2 Hardware configuration At first the target hardware has to be configured The most important decision is to choose a CPU resp an operating system These configuration files conf_xxxx h can be imported via Import Configuration If the CPU is set the other CPU settings are set to CPU specific default values These default values are suitable in the majority of cases At Compiler Settings the used com piler can be selected If the application shall be used on different hardware plattforms more than one hardware configuration can be created If no configuration is marked as active the define CON FIG_USE_TARGET_x must be set to 1 in the makefile or in the compiler 4 3 Application variables Definition of application variables is the creation of objects with indices in the range of 2000 5FFF for manufacturer specific profiles or in the range of 6000 9F FF for standardized device profile objects There are two ways for the definition e loading from a profile e creation by hand Version 1 1 0 EtherCAT Design Tool Page 19 of 35 pert The first way is easier Certain objects can be selected
24. ojects contains delivered example projects For each project a separate directory is recommended The data bases are in the directory profiles for the communi cation profiles and the EtherCAT device profiles In this directory own profiles can also be generated The directory help serves internal purposes After an installation on a Windows system the EtherCAT Design Tool can be started by the icon on the desktop or via the start menu 1 5 Support by port The senior engineers at port support the user by a telephone hot line and by training cour ses Additionally the user can have consultations in the whole field of EtherCAT e g network planning network configuration message distribution selection of devices and EtherCAT Profile implementations Please ask at our email address E mail service port de phone 49 345 777 55 0 Fax 49 345 777 55 20 The engineers at port react as soon as possible to your message Page 8 of 35 EtherCAT Design Tool Version 1 1 0 pert 2 Usage of the EtherCAT Design Tool The EtherCAT Design Tool is controlled via menus toolbars treeviews and masks 2 1 Main menu The Main menu consists of the following entries File Edit Generate Show Options Help Via the menu option File the projects are created loaded and closed Fur ther in this menu the program can be terminated The menu options below Edit are meant to copy cut or paste objects in the
25. pert EtherCAT Design Tool User Manual port EtherCAT Design Tool 22 2009 projects kba baseio ect File Edit Generate Show Options EtherCAT Merge CS Import IDs ml relo General Settings Device Identity Settings Hardware Configuration B E Lineo 8 Object Dictionary Data Types Communication Segment A Manufacturer Segment B U Device Profile Segment E 6000 Read State 8 Input Lines E 6002 Polarity 8 Input Lines a f 6200 Write State 8 Output Lines E 000 Number of Elements E 001 1st digital Output port E 002 digital Outputs 9 16 E 003 digital Outputs 17 24 E 004 digital Outputs 25 32 E 6202 Polarity 8 Output Lines E 6401 Read Analog Input 16 Bit E 6411 Write Analog Output 16 Bit Dynamic Variables Segment A Reserved Area hex Sub Index Index 6200 Sub Index 001 CoE Properties Structure Optimization Property Object Name 1st digital Output port Data Type UNSIGNED8 Size byte 1 Lower Limit 0x00 Default Value 0x00 Upper Limit OxFF Access PRE OP Read Write Access SAFE OP Read Write Access OPERATIONAL Read Write PDO Mapping RxPDO Category optional Backup no Setting no Unit Implementation Properties Property Value C Implementation Application Variable C Name ilmage outputs 0 Default Values __ Value port GmbH Halle 2013 02 05 EtherCAT Design Tool Version 1 1 0 pert Disclaimer
26. rray Lufthupen rw 6 ARRAY 0 0 0x4000 1 Lufthupe_1 wo 0 0xf1 0x01 6 SUB 1 1 0x4000 2 Lufthupe_2 ro 0 0xf2 0x02 6 SUB 1 1 0x4000 3 Lufthupe_3 rwr 0 0xf3 0x03 6 SUB 1 1 The next example shows how to ignore some columns from the CSV file Input Description Specifier 7 index varname access default datatype objectcode edsname CSV File whatever ign 0x2001 0 0 test_1 ro 0 6 VARIABLE Number of Inputs whatever ign 0x2002 0 0 test_2 ro 0 6 VARIABLE Number of Outputs whatever ign 0x2003 0 0 test_3 ro 0 6 VARIABLE Number of Variables Page 32 of 35 EtherCATO Design Tool Version 1 1 0 pert 8 Different versions 8 1 Standard version The standard version provides the functions as described herein 8 2 Light version In the light version the number of objects is limited to 15 per line Using the light version it is not possible to generate output files if a line consists of more than 15 objects 8 2 1 Limitations If the number of objects is below 15 all output files of the EtherCAT Design Tool are generated If the limit is exceeded the Light version is only able to generate the library configuration file ecat_conf h 8 2 2 Usage If no future use of the project files in the standard version of the EtherCAT Design Tool is intended only the following masks and input fields have to be completed e
27. rvice They are used for the access to entries of the object dictionary CSDO Client SDO SSDO Server SDO SYNC Sychronization Object TIME Time Stamp Object TPDO Transmit PDO XDD XML Device Description device description files for POWERLINK or CANopen XML eXtensible Markup Language Version 1 1 0 EtherCAT Design Tool Page 35 of 35
28. s a separate segment The individual branches of the object dictionary contain the EtherCAT objects These entities are in turn divided into their sub index elements On activation of the individual components in the tree action menus are displayed in the right frame e g for the data import or the accordant object forms 2 3 Action menus The action menus differ for every branch of the object tree Menus are available for e operations for the hardware settings e operations referring to one EtherCAT line Page 10 of 35 EtherCAT Design Tool Version 1 1 0 pert e operations referring to the object dictionary e operations referring to communication parameters e operations referring to manufacturer specific parameters e operations referring to device profile parameters Hardware configuration can be e added e copied e deleted e imported and exported For the object dictionary the following actions are available e data import from profile files e data export to profile files One can execute for the segment with communication parameters e data import from files profile or EDS XDD e data export to profile files e creating of new objects indices e creating of new communication service objects The vendor specific segment has action buttons for e data import from files profile or EDS XDD e data export to profile files e creating new objects indices For the device profile segment the following
29. sign Tool Version 1 1 0 pert 6 EtherCAT Merge PlugIn EtherCAT Merge provides functions to visualize and modify differences between differ ent EtherCAT Design Tool projects The EtherCAT Merge extension module is an optional PlugIn which is activated by the license file of the EtherCAT Design Tool Ifa valid license is present EtherCAT Merge can be started by the EtherCAT Merge menu in the menu bar of the EtherCAT Design Tool M merae iaixl File Options Merge Ga ep loin F QS A General Settings A General Settings A General EDS Settings A General EDS Settings A Hardware Configuration A Hardware Configuration A Special Settings A Special Settings E Line 0 o Line 0 A EDS Settings 2 EDS Settings A Standard Settings 2 Standard Settings A Additional Settings A Additional Settings 2 13 Object Dictionary B 2 Object Dictionary A Data Types A Data Types Communication Segment 2 3 Communication Segment 1000 Device Type 1000 Device Type A 1001 Error Register A 1001 Error Register B 4 1008 Manufacturer Device Name 2 4 1008 Manufacturer Device Name 000 Manufacturer Device Name 000 Manufacturer Device Name 1017 Producer Heartbeat Time 1017 Producer Heartbeat Time 2 3 1018 Identity Object 2 3 1018 Identity Object A 000 number of entries 000 number of entries 3 001 Vendor ld 001 Vendor ld 3 002 Product Code O02 Product Code CA 003 Revision number 6 60d Re
30. tion In the scope of delivery a data base with the EtherCAT communication profiles are contained Profile databases are optionally available for various device profiles for example digital I O devices according to CiA 401 or drives according to CiA 402 The created Object Dictionary supports numerous options of the EtherCAT library from port A tree representation of all implemented parameters and data eases the maintenance of device software With the EtherCAT Design Tool the beginning with the Ether CAT protocol is less difficult and the development of a device is accelerated 1 2 Product Delivery The scope of delivery of the EtherCAT Design Tool e User Manual e software for EtherCAT Design Tool e data bases for device profiles optional All components are available for download 1 3 System requirements The EtherCAT Design Tool runs on PC s with Microsoft Windows or Linux Operating System Windows 2000 Windows XP Vista Windows 7 Linux Processor Pentium IV or later RAM 512 MByte Hard disk Space 45 MByte 1 4 Installation The installation is controlled by menus For this purpose unpack the zip file and start setup exe on Windows resp setup sh on Linux After this installation you will find the following directory structure Version 1 1 0 EtherCAT Design Tool Page 7 of 35 pert Design Tool Figure 1 Directory structure of the EtherCAT Design Tool The directory pr
31. ts 3 1 2 Generated files The generated files are described in table 3 File Description ec_od c Implementation of the object dictionary C code ec_objects h generated application variables C code ec_objects c generated application variables C code ecat_conf h configuration file for the library C code ec_init c initialization file for the library C code lt edsFileName gt eds generated CANopen EDS file lt edsFileName gt xml generated XML file ESI lt projectName gt _docu txt documentation as text for implemented objects lt projectName gt html documentation in html for implemented objects lt projectName gt _eeprom bin EtherCAT EEPROM data in binary file generate err information file that contains error and warning messages Table 3 Generated files After generation the files the object dictionary for the EtherCAT source library and a documentation are available If errors occurred the files have not been generated and the errors are listed in generate err 3 2 Profile files Profile files contain parts of an object dictionary with the objects and their attributes The EtherCAT Design Tool is delivered with a profile that contains all communication objects according to the communication profiles If communication objects are set up with the EtherCAT Design Tool the entries will be loaded automatically from this pro file Addition
32. value of the objects can be changed from EtherCAT or from the application using the function putObj or directly using the variable name Sub index 1 of the object corresponds to the array element 0 if the array in C This kind of implementation can only be used if all sub indices starting at 1 share the same default values limits and access rights If the optimization option Create Variable is active the variable is defined created by the EtherCAT Design Tool Otherwise an existing variable can be reused Table 4 C implementation types Hints for migrating from CANopen or Powerlink Design Tool With the CANopen Design Tool only Application Variable resp Application Array was possible and with the Powerlink Design Tool only Managed Constant or Managed Variable The EtherCAT Design Tool supports now all implementation types At the import of existing projects of the other Design Tools the implementation type is set according to the setting Options Import Options Use Application Variables Version 1 1 0 EtherCAT Design Tool Page 21 of 35 pert 4 4 Communication variables As default the implementationtype for communication objects is Managed Variable or Managed Constant but it can be changed to Application Variable as well For defini tion of communication variables the same mechanism is possible as described for the application variables Additionally the necessary d
33. vision number 004 Serial number 004 Serial number 22 0 0260 software source x s1x Both projects are different Figure 9 EtherCAT Merge main window displaying 2 projects 6 1 Project View The project view shows different settings sub segments objects and sub indices with dif ferent colors By using the Merge function in the tool bar these elements can be copied from one project into the other one Via the menu File the modified projects can be saved to disk or imported into the Ether CAT Design Tool The menu entries like Save resp Open refer to the active project tree Via Generate Diff Report an overview about the differences between the projects can be generated This diff report is an XML file containing all differences Via Options several settings can be configured These include the attributes to be com pared or merged and further options Version 1 1 0 EtherCAT Design Tool Page 29 of 35 pert 6 2 Detail View Merge 003 Revision number Diff Merge Ga ep o F P A g save Option AccessType LowerLimit Size Unit UpperLimit Value Data Type Default in EDS EDS Name Limit in EDS List of allowed Access Ty Mandatory Flag PDO Mapping Refuse Read on Scan Obj Refuse Write on Download OxFFFFFFFF 0x0 UNSIGNED32 0 Revision number 0 RO 0 1 0 0 RO 4 OxFFFFFFFF 0x10001 UNSIGNED32 0 Revision number 0 RO 0 1 0 0 Fi
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