Home

EtherCAT® Device Monitor User Manual

1. Description Creates an additional tab on the right side of the EtherCAT Device Monitor It is predefined for organizing test scripts It contains a wid get with several check boxes for selecting test scripts Number and names of the check boxes are read from the configuration file lt work ing directory gt lt t_confl n gt Additional buttons are available for starting stopping and global selection of test scripts If tab_name is not given the name is built as Test counting from 1 for each new tab Parameters t_conf name of the file containing the names of the test scripts defaults to t_files tab_name name for labeling the tab Return internal name of the tab Format of the lt working directory gt t_files Lines beginning with are comments and are ignored Each line describes one addi tional check box lt script gt tel lt label gt Tcl procedure name script tcl Name of the Tcl script that is to be executed label Name label for the check box Tcl procedure name Tcl procedure that carries out the test If the test was com pleted successfully the procedure shall return 0 Any other return value means an error occured If the proce dure has a parameter the test description from the t_files is passed in this parameter Script name label and Tcl procedure are separated by space or tab In addition special Tcl procedures can be registered for Start of a test run Abort of a test run Error of a
2. Parameters nothing Results nothing cdm commentInput lt wtitle gt lt cancelstring gt Description user input for comments Parameters wtitle window title cancelstring cancel string Results nothing cdm userDialog lt title gt lt type gt Description user response dialog if a dialaog is finished with Not Ok another dialogbox for giving a reason is opened Parameters title additional text for displaying to the user type specifies the type of dialogue O only wait for OK 1 decide between OK and NotOk 2 decide between OK NotOk and Abort 3 decide between OK and NotOk without comment 4 decide between list of given choices Results 0 decided for OK 1 decided for Not OK 2 decided for Abort or selected button text for type 4 Version 1 1 EtherCAT Device Monitor Page 57 of 75 pert 22 3 cdm getObjectType lt node gt lt index gt Description Returns the objectType Parameters node node ID means current node ID as d or 0x x index index as X or Ox x Results Returns objectType VARIABLE ARRAY RECORD DOMAIN throws an error if the index does not exist cdm getDataType lt node gt lt index gt lt sub gt Description Returns the data type of a sub index Parameters node node ID means current node ID as d or 0x x index index as X or Ox x sub subindex opt as 03d 0x or 0x x Results Returns DataTyp
3. 18 3 Tab set can be deleted with the command edm deleteTab lt pos gt Description deletes an additional tab Parameters pos position of the tab in the display starting with 0 Return nothing Version 1 1 EtherCAT Device Monitor Page 43 of 75 pert 19 The Console can be activated via View gt Console In the console Tcl commands can be executed as well as user scripts and procedures tkcon 2 4 Main mE File Console Edit Prefs History Help software 3 0 102 2 software 3 0 102 2 a little proc that writes data from one node to anothe r software 3 0 102 2 proc readllrite read input value of node 64 set val 64 r 0x6000 1 u8 send it to node 1 w x6200 1 u8 val software 3 0 102 2 try it software 3 0 102 readWrite K software 3 0 103 do this forever software 3 0 103 while 1 readllrite cdmtipause 100 Figure 38 Console 19 1 A description of the Tel script language exceeds the scope of this manual To illustrate some special features and basics some simple examples will be given for using Tel com mands in the Console window The bibliography refers to books and web pages for the Tcl language EXAMPLE set val 5 set the variable val to the value 5 set val show the current value of the variable val puts Hello put the word Hello at the Console comment set myarray baud 19200 define
4. E E 6000 Read State 8 Input Lines Ea a fest EY 000 Number of Elements 1 my first test A 001 digital Inputs 1 8 2 my second test 002 digital Inputs 9 16 3 O scan the network a 6200 Write State 8 Output Lines 000 Number of Elements 001 digital Outputs 1 8 002 digital Outputs 9 16 I 6400 Read Analog Input 8 Bit a 6401 Read Analog Input 16 Bit A 6402 Read Analog Input 32 Bit 6410 Write Analog Output 8 Bit 000 Number of Elements 001 8 Bit analog Output 1 15 a E test on failure 002 8 Bit analog Output 2 003 8 Bit analog Output 3 Reset Tests 004 8 Bit analog Output 4 005 8 Bit analog Output 5 Salei l SelectNone stattet M 006 8 Bit analog Output 6 online connected to 194 173 33 141 0 0 0 E o Figure 29 User Defined Tabbed Field with Test Scripts An example can be found in the directory lt working directory gt demo_t Configuration of the predefined tab for test organization is done by configuration files e lt working directory gt demo_t t_start tcl and e lt working directory gt demo_t t_ lt confl n gt tcl The file lt working directory gt demo_t t_start tcl configures all preconditions for testing It also defines all additional tab using the command edm addTestTab Figure 29 shows an example for an additional tab Page 38 of 75 EtherCAT Device Monitor Version 1 1 pert edm addTestTab t_conf lt tab_name gt
5. gy Node taja7 lt se 13 28 42 47 60m al Figure 8 Connect button in tool bar I After the connection is established the EtherCAT gateway validates the license on the gateway If the license is not valid the EtherCAT Device Monitor can only commu nicate with a few nodes demo functionality Version 1 1 EtherCAT Device Monitor Page 7 of 75 pert The EtherCAT Device Monitor connects to the EtherCAT server now and at success the online status is displayed in the status bar and the background of the entry field turns pink Device Monitor Node 32 Generic minimum capability device File Edit View Connection Extras Windows Help SF 5 Node ta sz E ize ie 18 a Sl Communication Segment LSS Chart Process 3 1000 Device Type Description PDO 1001 Error Register 1018 Identity Object Value Entry Frame R Action Frame Receive from Object online Figure 3 EtherCAT Device Monitor H A valid configuration of the hardware interface is saved by the EtherCAT Device Monitor and can be reused at the next start of the program Additionally it is possible to activate Extras gt Options gt Auto Connect so that the EtherCAT Device Monitor con nects automatically at every start of the program 2 2 Adjust the node ID of the EtherCAT device in the tool bar first Please take into account that t
6. 0000 11 00 02 00 08 08 0010 06 10 00 00 00 00 0020 00 00 00 00 00 00 0030 00 00 00 00 00 00 0040 00 00 00 00 00 00 0050 00 00 00 00 00 00 0060 00 00 00 00 00 00 0070 00 00 00 00 00 00 0080 00 00 00 00 00 00 0090 00 00 00 00 00 00 Interpretation Address 0007 Length 1 Port Descriptor Da Port 0 EBUS Port 1 EBUS Port 2 Port 3 Figure 27 ESC Tab A register of the ESC can be interpreted by highlighting a byte in the raw register view Thereafter the interpretation of this register is shown in the field at the bottom of the tab To use the ESC services from scripts the functions esc regRead lt addr gt and esc regWrite lt addr gt lt value gt can be used Version 1 1 EtherCATO Device Monitor Page 31 of 75 pert 15 The EtherCAT Device Monitor supports reading and writing of data of the EEPROM By pressing the Read EEPROM button 512 words from the EEPROM are read starting at the specified start address Overview Process Chart PDO Conf EEPROM View Start Address 0x0500 Read EEPROM EEPROMOO 01 02 03 04 05 06 07 08 09 Da Ob Oc Od Oe OF 0500 65 72 71 65 74 53 61 75 5f 49 69 20 63 65 74 64 0510 53 61 75 5f 42 66 65 20 75 602 53 61 75 5f 50 72 0520 74 20 72 6f 15 74 74 73 5f 72 6d be 20 72 6f 15 0530 74 74 73 5f 76 72 75 20 72 6f 14 74 74 73 5f Ge 0540 75 20 65 67 68 4f 74 75 73 43 72 Oa 61 61 4f 74 0550 30
7. SDO write and compare the expected result the returned value is compared with the expected one typical a write can return OK or some errors beginning with error one or two lines with the command and the result are printed to std out the last line contains a right justified flag for OK the returned value matches the expected FAILURE the returned value does not matche the expected In case of an error the global variable test_error is set to 1 Parameters index object index subindex object subindex typ datatype of object val value expected the expected return string Results 0 received value is equal to the expected value 1 received value differs from the expected value wwe lt index gt lt subindex gt lt typ gt lt val gt Version 1 1 EtherCAT Device Monitor Page 53 of 75 pert Description SDO write and message error type out the SDO write command type out the answer from the device and check the received value Parameters index object index subindex object subindex typ datatype of object val value Results 0 received no SDO abort code 1 received SDO abort code Page 54 of 75 EtherCAT Device Monitor Version 1 1 pert 22 2 cdm addTab lt titel gt lt pos gt Description adds a tab into the Tabset of the right side Parameters titel name of the Tab displayed at the pos position starting with 0 can be end Results frame the window name of the top level frame wi
8. 194 173 33 202 set value in Action tab Value Entry Frame execute SDO transfer by Action gt Send to Object Read object select the object in the tree execute SDO transfer by Action gt Receive from Object the received value is shown in Action Value Entry Frame Page 10 of 75 EtherCAT Device Monitor pert Because of the fact that reading an object may trigger an unwanted reaction an object is only read on request But if Extras gt Options Read object on selection is active the selection of an object triggers the SDO transfer to read this object Value Entry Frame Hexadecimal values are designated by the prefix Ox example 0x10 Enter strings consisting of one or more parts without quotation marks Spaces at the end of the string will be ignored Is this field empty the value O will be sent lt DEL gt deletes the contents of this field lt ENTER gt sends the value lt Shift ENTER gt If an URL is in this entry the web browser is started The last word of the value in the entry field is evaluated as a mathematical expres sion before sending it with an SDO transfer Try to put something like 0x 80 0 in it Component of DCF file By this checkbutton the object is marked for DCF file handling see chapter Data Management with DCF File Used for saving configuration If this check box is activated the EtherCAT Device Monitor marks this object for storing its value in
9. a 72 o 5 gk 3 RG he RO a ee ee eo ee Ge nk ee Se 73 Page 4 of 75 EtherCAT Device Monitor Version 1 1 pert 1 1 The EtherCAT Device Monitor EDM communicates with EtherCAT devices in EtherCAT networks by using of various EtherCAT services Therewith the Device Monitor supports development e diagnostic e implementation and configuration of EtherCAT devices The EtherCAT Device Monitor uses an EtherCAT server to communicate with the EtherCAT devices The communication between the graphical user interface and the server is done by the TCP IP protocol The EtherCAT server is as an EtherCAT Master and it can run on the local PC as the EtherCAT Device Monitor or on a separate device Computer Computer TCP IP TCP IP Gateway EtherCATServer EtherCATServer EtherCAT Master EtherCAT Master Figure 1 Structure of the EtherCAT Device Monitor The EtherCAT Device Monitor is available in two variations e full edition and e Starter Kit edition The StarterKit edition has the following limitations e no console for work with scripts e no device configuration by DCF file support of only some fixed node IDs Version 1 1 EtherCAT Device Monitor Page 5 of 75 pert e no support for FoE and EEPROM access e run time limited to 30 minutes The EtherCAT Device Monitor has the capability to execute scripts in full edition A script can contain vari
10. a object configuration ocf file see chapter Object Data Man agement with ocf File Cyclic update If this check box is activated the value is read and updated cyclically Active bit boxes and slider displaying the value of this object are updated too Receive from Object The object value will be requested by SDO Send to Object The object value will be set written by SDO The value in the field Value Entry Frame will be decremented by 1 Thereafter it will be sent to the device automatically The value in the field Value Entry Frame will be incremented by 1 Thereafter it will be sent to the device automatically Version 1 1 EtherCAT Device Monitor Page 11 of 75 pert 4 4 1 Load EDS ETRL L Load default EDS Recent EDs files Load device configuration save device configuration Project F Exit CTRL Load Project a Save Project Load EDS Loads an EDS file Load default EDS Loads an EDS file with mandatory objects Recent EDS files List of recently used EDS files Load device configuration Save device configuration New Project Load Project Save Project Exit 4 2 Cut Copy Paste Page 12 of 75 Loads OCF or DCF files Saves OCF or DCF files Starts a new project Loads an existing project Saves a project Exits EtherCAT Device Monitor Copy ETRL E Paste CTRL Y Cuts selected text into clipboard Copies selected text into clipboard Pastes text from clipboard Eth
11. an error the global variable test_error is set to 1 Version 1 1 EtherCAT Device Monitor Page 51 of 75 pert Parameters index object index subindex object subindex typ datatype of object ref reference value Results 0 received value is equal to the reference value 1 received value differs from the reference value rre lt index gt lt subindex gt lt typ gt Description SDO read and message error type out the SDO read command type out the answer from the device and check the received value Parameters index object index subindex object subindex typ datatype of object Results 0 received no SDO abort domain transfer 1 received SDO abort domain transfer w lt index gt lt subindex gt lt typ gt lt val gt Description SDO write procedure Parameters index object index subindex object subindex typ datatype of object lt u8lu16lu321i8li1 6l132Ir32lvs gt val value Results OK value has been written to the object ERROR CiA 309 3 error code if SDO transfer failed ww lt index gt lt subindex gt lt typ gt lt val gt Page 52 of 75 EtherCAT Device Monitor Version 1 1 pert Description SDO write procedure type out the SDO write command and the answer from the device Parameters index object index subindex object subindex typ datatype of object val value to write Results nothing wwe lt index gt lt subindex gt lt typ gt lt val gt lt expected gt Description
12. at TPDOs of the device 10 1 After pressing the button Show in Chart the following dialog window is opened Chart configuration Title Device state Title Y axis Values Title X axis sed Update interval msj 1000 Values Hame Color Status 1 blue Status E red SDO Counter black Figure 21 Chart configuration mask Page 26 of 75 EtherCAT Device Monitor Version 1 1 pert The title of the chart and of the axes and the names of the data can be configured there If the update interval is not O the chart is updated by a time trigger mechanism Le arriving data are written into a buffer and after a certain amount of time the values of the buffer are displayed in the chart If the update interval is 0 the chart is updated at every arriving PDO It it s an asynchronous PDO the information about the time of the arrival of the data is lost At Color the color of a signal can be configured Every color that is supported by Tcl Tk can be used Otherwise the colors can be specified in hexadecimal notation like ffaal1 Version 1 1 EtherCAT Device Monitor Page 27 of 75 pert 11 The process image Tab serves the observation of process quantities of different nodes The values of the individual objects are queried and updated cyclically by SDO every 1000 ms per default Normally the values are read only if the tab is active To update the values in every cycle activate Update even in background
13. e Device Monitor Node 64 Icla DOB5 Process Node Index Sub Name Value 64 6000 1 Read Input 1h to 6h hex w OxeO 8 64 6000 2 Read Input 9h to 10h hex w 0x1d Ol 64 6401 1 Analog Input 1h hex w 0x7b80 Q 64 6401 2 Analog Input 2h hex w Ox2c60 Ol 28 6040 o control word hex se 0x0 Ol 26 6041 0 status word hex w 0x40 Ol 20 6064 0 position actual value hex w Oxb fc 26 606c 0 velocity actual value hex w 0x0 oO 28 607a l0 target position hex e 0x0 oO Figure 23 Process image Add single objects by Drag amp Drop from the EDS tree The small button besides the value of the object serves for deleting Whole arrays or records can be added by adding the main index The display format hexadecimal decimal binary or ASCII can be con figured at the combobox in front of the value It is ignored by string values The settings of the process image can be saved with the complete EtherCAT Device Monitor project via File gt Project Save Project When the project is opened again the process image settings are restored Page 28 of 75 EtherCAT Device Monitor Version 1 1 pert 12 The PDO Process Image tab displays the data of TPDOs from the EtherCAT network There are 2 ways to add Transmit PDOs of the EtherCAT nodes to the PDO process image e Drag amp Drop the PDO object from the object tree into the PDO process image e via the button Add to PDO Image in th
14. file is loaded the EtherCAT Device Monitor looks for a file with the same name as the EDS but with the extension txt If such a file is found it is loaded as object description file for this EDS Otherwise only the data type or the object code is displayed The EtherCAT DesignTool by port creates object description files automatically Version 1 1 EtherCAT Device Monitor Page 23 of 75 pert 9 1 With the object overview tab all sub indices of an array or record an be read or written at once PDO Image Overview Process 1 Chart 1 Object overview 1016 Sub Name Value PA 000 number of entries Ox4 002 Product Code 0x0 0x0 004 Serial number Read values Send values Figure 19 Index overview Some rescritions exist when reading or writing sub indices Sub indices with the data type domain cannot be read or written and PDO and PDO mapping cannot be written from the overview tab For these objects it is required to meet a specific order when writ ing to them but they can be configured by the PDO configuration tab Page 24 of 75 EtherCAT Device Monitor Version 1 1 pert 10 The PDO tab simplifies the configuration of PDOs At the selection of a PDO object in the EDS tree the mask is updated with values from the EDS The PDO parameters sim ply can be adjusted over the mask New objects can be moved from the EDS tree into the mapping table by drag amp drop A double click deletes t
15. gt Description Loads an EDS file for a node and after that it looks for a description file with a matching name and loads it If there is a matching device specific rc file it is sourced to This file must contain valid Tcl or CDM commands Parameters fileName path to EDS file POSIX style Results setMessageLoghimit lt limit gt Description Set a new limit of lines for the message log Parameters limit max number of lines in message log Results Returns OK if limit is ok otherwise a verbose error cdm h hideGUI lt Llag gt Description Hides the CDM GUI This function is useful for scripts that build their own user interface Parameters flag opt use noconsole to exclude the console window Page 60 of 75 EtherCAT Device Monitor Version 1 1 pert Results cdm showGul lt flag gt Description Shows the CDM GUI Counterpart of cdm hideGUI This function is useful for scripts that build their own user interface Parameters flag opt use noconsole to exclude the console window Results Version 1 1 EtherCAT Device Monitor Page 61 of 75 pert isColor lt color gt Description Checks if a color is a valid tcl color Parameters color color name or hex expression Results 1 is valid color 0 is no valid color int2asc lt i gt Description Converts an unsinged char value into a ASCII representation Parameters 1
16. of possible errors and may ask around for an information We will go all the way to verify such hints fastest Copyright 0 port GmbH Regensburger Stra e 7 D 06132 Halle Tel 49 345 777 55 0 Fax 49 345 777 55 20 E Mail service port de Internet http www port de Page 2 of 75 EtherCAT Device Monitor Version 1 1 Switch Box Display of Objects 2 2 0 a 37 User Specified Tabs s soa s ok bk ee ae EG ERR EERE BS we EG 38 User specified tabs with support of test 2 a a 0 a 38 User specified tabs without contents o 0 a a a a a 42 Erasing User Specified Tab sets 00 0 0 0 o 43 Console eo a ad rn HO RR Aa OR OE oe o 44 T l Commands sa E poa BABS SD EEE er A 44 SED is A A A A 45 DSP 402 ext sion 2 oks bi a whe As dd OO 46 State Machete Beh ew dee wee he E ac e KS 46 Profile velocity mode tab 2 0 2 2 e 47 Profile position mode tab 2 2 a 47 Object extensions y dm de ed om a oe ee Ow Em ee a 48 About amp Release Info Dialog 2a Gs 50 Abg t Dialog e pa Re ES ee PARE a ee 50 Latest Release Info Dialog 0 54 2h eee ee eee a 50 EDM Command syntax 2 eck go oe Ge EA a poe be oe eS 51 SDO commands e aoe we ye ee GSR a BHR Boe Kg ce Hing ele eh A 51 Test commands 6k gk hee desd 55 EDM commands 2 aaa eA Ew EL ee we Les 58 DSP402 commands DSP402 Extension 2 2 02 0202002 65 ASI Ak ae ce as Oe ee ee Be ee ee a ee
17. test and End of a test run The Tcl procedures are specified as follows and are only executed for the test tab they were specified for start lt Tcl Procedure gt abort lt Tcl Procedure gt error lt Tcl Procedure gt end lt Tcl Procedure gt EXAMPLE Two additional tab are created The first is named with the default name Test the second one gets the name Some Test Both tabs are assigned different example scripts Figure 29 shows the result Version 1 1 EtherCAT Device Monitor Page 39 of 75 pert t_start tcl add the test selection frames use standard values for the file t_files and name Test edm addTestTab use user defined values for the file t_files2 and name Some Tests edm addTestTab t_files2 Some Tests proc my_startHandler args cdm banner proc my_stopHandler args puts Anininin puts date sign puts n END n t_files the first set of test scripts using the standard filename start my_startHandler stop my_stopHandler t_myfirst tcl my first test my_lst_test t_mysec tcl my second test my_2nd_test scanning the network for EtherCAT devices t_scan tcl scan the network scan_test t_files2 all testfiles for the second set of tests comments allowed after Here we do not specify start and stop handlers so they won t be called t scan tel scan
18. the network scan_test t_myfirst tcl my first test my_1st_test t_mysec tcl my second test my_2nd_test t_mythird tcl another my_3rd_test Page 40 of 75 EtherCAT Device Monitor Version 1 1 pert t_myfirst tcl Write Heartbeat Producer and check if value can be read back proc my_lst_test args wwe 0x1017 0 ul6 1000 OK if global_stop return Canceled rrc 0x1017 0 ul6 1000 return 0 The tabs are visible after loading the file with the tab specification Loading can be done via the menu File gt Load File gt t_start tcl or by issuing the source command in the Console source t_start tcl Once after loading the new tab any changes at the files lt working directory gt t_start tcl and lt working directory gt t_ lt t_confl n gt are only recognized and valid after a restart of the EtherCAT Device Monitor and reloading of lt working directory gt t_start tcl The tabs for testing contain the following additional control buttons Select All mark all scripts for execution Select None deselect all check boxes remove all scripts from execution Start Test start loading and executing of the selected test scripts Abort Test stop execution of test scripts Normally the execution stops at the end of the currently running script If a running script has to abort immediately it must do some preperations The script must look for the state
19. unsigned char value Results Returns an ascii value int2bits lt i gt lt digits gt Description Converts an integer value into a binary representation like 0b01010101 Parameters i integer value digits length of the returned value opt Results Returns a binary value common every lt script gt lt ms gt Description This proc runs a script cyclically The global variable every script stores the after id for each script Page 62 of 75 EtherCAT Device Monitor Version 1 1 pert Parameters script script to run ms interval in ms opt defaults to 1000 Results clear_messagelog Description This proc deletes the content of the message log Parameters Results save_messagelog lt filePath gt Description This proc saves the content of the message log into a file Parameters filePath path to writable file Results clear Description This proc deletes the content of the CDM console Parameters Results Version 1 1 EtherCAT Device Monitor Page 63 of 75 pert tkcon save lt filePath gt lt spec gt Description This command saves the content of the CDM console to a file Parameters filePath path to writeable file spec content specifier use all for all content Results Page 64 of 75 EtherCAT Device Monitor Version 1 1 pert 22 4 402 ret Description List of possible return values Parameters Results
20. variable p402 ret p402 modeStop lt delayTime gt Description This function stops a motion by the CiA 402 state transition from the CiA 402 state OPERATION ENABLED into the CiA 402 state SWITCHED ON The drive is stopped The communication is done via SDO This function can only be used for single drive devices Note The operation mode is not changed to NO_MODE because not all drives support NO_MODE Parameters delayTime maximal time for state changing in ms Version 1 1 EtherCAT Device Monitor Page 67 of 75 pert Results ret see variable p402 ret p402 pvStart lt targetVelocity gt lt profileAcceleration gt lt delayTime gt Description This function starts a motion in the Profile Velocity mode The Profile Velocity mode is configured by the mandatory objects of the pv mode The operation mode is set to Profile Velocity The motion is started by the change into the CiA 402 state OPERATION ENABLED The communication is done via SDO This function can only be used for single drive devices Parameters target Velocity value of object Ox60FF profileAcceleration value of object 0x6083 delayTime maximal time for state changing in ms Results ret see variable p402 ret p402 pvChange lt targetVelocity gt Description This function changes the velocity of the movement in the Profile Velocity mode The communication is done via SDO This function can only be used for single d
21. 0 OK 1 Drive in wrong state 2 Transition not possible 3 SDO abort occured 4 No setpoint acknowledge p402 ppHandleNewSetpoint lt delayTime gt Description This function handles a new setpoint in the Profile Position mode The function initiates an absolute movement in the single setpoint mode If this function returns with an error it is possible that the mode specific bits in object 0x6041 controlword and object 0x6041 statusword are not cleared Each drive needs a specific time for the transfer of a new setpoint This time can be specified by the argument delayTime The communication is done via SDO This function can only be used for single drive devices This function is used by other functions of this namespace Parameters delayTime time for transfer in ms Results ret see variable p402 ret p402 getState Version 1 1 EtherCAT Device Monitor Page 65 of 75 pert Description This function gets the actual CiA 402 state of the drive The actual CiA 402 state is returned in the format of object 0x6041 statusword The communication is done via SDO This function can only be used for single drive devices This function returns a list with the following elements retsee vari able p402 ret stateactual CiA 402 state in statusword format The state is only valid if this function returns with ok Example for usage set retList p402 getState set retVal lindex SretList 0 if set r
22. 44 74 20 75 20 Oa 61 61 4f 74 32 44 74 20 75 0560 20 Oa 61 61 4f 74 34 44 74 20 75 20 Oa 61 61 4f 0570 74 36 44 74 20 75 20 Qa 61 61 4f 74 38 44 74 20 0580 75 20 Ob 61 61 4f 74 31 Ob 61 61 4f 74 31 Ob Gl 0590 61 4f 74 31 Ob 61 61 4f 74 31 Ob 61 61 4f 74 31 Interpretation No interpretation found for address 0500 65 72 71 65 74 53 61 75 5f Figure 28 EEPROM Tab To use the EEPROM services from scripts the functions eeprom siiRead lt addr gt and eeprom siWrite lt addr gt lt value gt can be used Page 32 of 75 EtherCAT Device Monitor Version 1 1 pert 16 For data visualization the pre installed Chart tab can be used It shows as an example the usage of a strip chart After opening the Chart tab a strip chart is displayed Besides for the visualization of PDO data it can be also used by scripts Values are given to it by calling the Tcl proce dure edm addChartData The procedure is defined as follows proc edm addChartData valueList add new values to the strip chart window valueList contains a list of values for the strip chart EDS 9 edm addChartData 1 2 3 EDS 10 edm addChartData 1 2 3 e Device Monitor Node 32 CO4011A0 Values from Mode 32 Figure 29 strip chart after two calls to edm addChartData Version 1 1 EtherCAT Device Monitor Page 33 of 75 pert With little effort you can write your own simple scr
23. EEPROM Overview Process Chart PDO Conf A 1C12 RxPDO assign Action NMT Description PDO Image FoE ESC A 1C13 TxPDO assign ESC View 1032 SM output parameter eye 1033 SM input parameter a Manufacturer Segment ea Network 3002 Outputs Deal Node 6 006 A 3101 Inputs 0074 User scripts A 3102 Inputs Interp Script 1 Script 2 Script 3 Script 4 Test 3103 Inputs O Seen A 4070 Data bytes in send buffer gt 7 8 So E 4071 Data bytes in receive buffe 13 14 15 16 17 18 19 20 21 22 23 24 q Aaa ara oe A 4072 Diagnostic 37 38 39 40 41 42 43 44 45 46 47 48 4073 Baudrate as 50 51 52 53 54 55 56 57 58 59 60 4074 Data frame Wa Gi 62 ean 0639 0659 Ree are 560 5690 5700 ee rz A 4075 Feature bits 73 74 75 76 an 78 79 60 61 62 63 64 i Ea ANTR Dy huiffar full notification A 85 86 87 88 63 30 31 32 33 34 95 36 omli e connected to 194 173 33 202 97 98 99 100 101 102 103 104 105 106 107 108 RE 113 j 114 115 116 117 118 119 120 121 122 123 124 125 126 127 Figure 6 Separation of a tab The upper command bar serves for sending the NMT commands to the whole network and with the lower one the current node is addressed The current node can be changed quickly by the node buttons in the lower part of the NMT tab Version 1 1 EtherCAT Device Monitor Page 9 of 75 pe
24. Page 18 of 75 EtherCAT Device Monitor Version 1 1 pert SDO Timeout ms SDO timeout in ms EtherCAT Cycle Time ms Cycle time of the EtherCAT network in ms Allow old style OD Scan If scanning of the object dictionary using the ser vice SDO Info is not supported the tool can also try to read each object by object Rescan of network automatically if topology has Auto re scan of network changed 6 4 Options General Settings Colors DCF settings TN CO constant indices Configure Colors Fonts RO read only indices Configure WO write only indices RW read write indices OK Cancel This dialogue allows the configuration of specific colors for objects with different access types 6 5 Options PES DCF Settings Network Settings EDS Tree connate Colors _Confgure Received Messages Configure Configure Sent Messages Description Tab o OK Cancel This dialogue allows the configuration of specific fonts for different GUI elements Version 1 1 EtherCAT Device Monitor Page 19 of 75 pert 7 7 1 For the execution of NMT services this tab provides some buttons Button Description Start Network Set all nodes in the state OPERATIONAL Start Node Set the node with the active node id in the state OPERA TIONAL Preop Network Set all nodes in the state PRE OPERATIONAL Preop Node S
25. ables and control structures just like in every modern structured language Complete master applications can be developed using the language Tcl Tk http www tcl tk The Device Monitor has the following requirements to the system it is running on Operating System Windows Vista UNIX LINUX RAM 512 MByte Hard Disk 25 MByte 1 2 This manual uses the following conventions OPERATIONAL Communication states are written in capital letters tcl_command Tcl commands appear in Courier constant width font Exceeds the length of a Tcl command line the paper width this line is finished with a backslash and continued in the following line example Fragments of code and examples appear in Courier con stant width font Ox lt value gt Hexadecimal values are designated by the prefix Ox lt key gt Keys are designated by lt gt braces lt set_value gt Replace set_value by the desired value if this term is a part of a functional description option Replace option by an option of the function directory Directories are signified with quotation marks Console gt Save gt All the users way through menus 1 3 port supports the user by telephone hot line and by seminars Additionally port offers consultations in the whole field of EtherCAT e g network planning network configura tion selection of devices and EtherCAT and CANopen Profile implementations Page 6 of 75 EtherCAT Device Moni
26. ant license has been purchased 20 1 e Device Monitor Node 28 Generic minimum capability device Configure DSP 402 State Machine Not ready to switch on Switch on disabled Ready to switch on Operation enabled m Fault Reaction Active Quick aweks Cyclic read via 5SDO Drive State 0x0023 Figure 45 DSP402 state machine The state deposited green is the current state of the drive Pale brown fields indicate pos sible next states and gray fields aren t obtainable directly from the current state The cur rent value of the status word is displayed under the state machine down on the right Page 46 of 75 EtherCAT Device Monitor Version 1 1 pert The configuration dialog can be opened by the button Configure This dialog allows the configuration of the acces mode to the device and the axle of the device These set tings are also valid for the other DSP402 extensions 20 2 The profile velocity mode tab simplifies controlling EtherCAT drives in the profile velocity mode e Device Monitor Velocity Of x y Profile Velocity Mode Mode settings Profile velocity 8242 Profile acceleration 10000 Profile deceleration 10000 Target Velocity 8242 als Actual Velocity set new Velocity Halt Fault Reset Figure 46 Profile velocity mode tab 20 3 The Position Mode Tab simplifies the test and the commisioning of a device The spe
27. ased on its position Luli Shortcut to the last active nodes Start Try to set all slaves into OPERATIONAL SafeOp Try to set all slaves into SAFE OPER ATIONAL PreOp Try to set all slaves into PRE OPERATIONAL Refresh Re initialization of the EtherCATserver and update of the PDO config uration of the slaves If the PDO mapping or assignment has been changed these data have to be read again by the EtherCATserver This might also be neccessary during the development of EtherCAT slaves The EtherCATserver does not recognize if a CPU is stopped in the debugger but the ESC continues to work In this case the Ether CATserver has to be re initialized Abort Stop processes that take a long time see also global_stop Query Fetch information about updates from the internet EtherCAT Opens the EtherCAT page on port s website Page 16 of 75 EtherCATO Device Monitor Version 1 1 pert 6 6 1 Options BIE General Settings DCF Settings General Settings Network Settings E Read object on selection Colors E Auto Connect Fonts _ lt Del gt deletes complete input field Reload last project file at start up E Save all settings at exit _ Reuse last EDS file for empty nodes E Copy EDS files to project directory EDS repository Configure Ri N OK Cancel Read object on selection read object immediately on selection Auto Connect Connect to server at start up lt Del gt deletes complete e
28. ce Write File to Device File Name on Device linerization_tables bin Local File Name Ciprojectsi2009404boardWinerization_tables bin a FoE Password 06150001 Write File to Device Figure 26 FoE Tab The FoE tab consits of 2 parts The upper part controls reading files from the device and the lower part controls writing files to the device For both services the same set of parameters is required A file name for the local file on the PC a file name on the device and a password to enable the FoE access on the device The password must be a 32 bit hexadecimal value as e g 012 3ABCD The file transfer may take a noticeable time especially when transfering large files The process is indicated using a progress bar and the EtherCAT Device Monitor is locked during this time To use FoE services from scripts the functions foe readFile lt deviceFile Name gt lt password gt lt localFileName gt and foe writeFile lt deviceFileName gt lt password gt lt localFileName gt can be used Page 30 of 75 EtherCAT Device Monitor Version 1 1 pert 14 The EtherCAT Device Monitor supports reading and writing of registers of the Ether CAT Slave Controller ESC By pressing the Read ESC button 512 bytes from the ESC are read starting at the specified start address Action NMT Description PDO Image FoE ESC View start Address 0x0000 Read ESC ESC 00 01 02 03 04 05
29. d by the argument delay Time The communication is done via SDO This function can only be used for single drive devices Parameters targetPosition value of object Ox607A delay Time transfer time in ms Version 1 1 EtherCAT Device Monitor Page 69 of 75 pert Results ret see variable p402 ret Page 70 of 75 EtherCAT Device Monitor Version 1 1 pert Literature 1 Tcl and the Tk Toolkit Ousterhout John K Addison Wesley 1994 ISBN 0 201 63337 X Practical Programming in Tcl and Tk 2d ed Welch Brent Prentice Hall 1997 Tcl Tk Tools Harrison Mark O Reilly amp Associates 1997 Effective Tcl Tk Programming Harrison Mark McLennan Michael Addison Wesley 1998 Literature in the Internet http www tcl tk http wiki tcl tk http www activestate com solutions tcl http incrtcl sourceforge net blt index html The BLT Toolkit BLT is an extension to the Tk toolkit adding new widgets geometry managers and miscellaneous commands Version 1 1 EtherCAT Device Monitor Page 71 of 75 pert CAN CAL CDM CiA CN COB COB ID CSDO EDM EDS ESI EMCY EPSG ETG MN NMT OD PDO RPDO RTR PDM PRMS SDO SSDO SYNC Tel TCP IP TIME TPDO Widget Page 72 of 75 Controller Area Network CAN Application Layer CANopen base CANopen Device Monitor CAN in Automation international users and manufacturers group e V Controlled Node Communication Object CAN Message Comm
30. e u8lu16lu32li8li 16lu32lr32lvs throws an error if the index does not exist cdm getName lt node gt lt index gt lt sub gt Description Returns the parameter name of an object from the EDS Parameters node node ID index index sub sub index opt as 03d 0x or 0x x Results returns the parameter name or throws an error if the object does not exist Page 58 of 75 EtherCAT Device Monitor Version 1 1 pert cdm getl DefaultValue lt node gt lt index gt lt sub gt Description Returns the default value of an object from the EDS Parameters node index sub Results returns node ID index sub index opt as 03d 0x or 0x x the default value throws an error if the object does not exist cdm existObject lt node gt lt index gt lt sub gt Description Checks if an object exists in the EDS file Parameters node index sub Results 1 0 cdm getRemoteID node ID means current node ID as d or 0x x index as X or Ox x subindex opt as d 0x x object exists object does not exist Description Returns the current remote ID Parameters Results Returns the remote id cdm setRemoteID lt id gt Description Sets the remote id and updates the OD tree Version 1 1 EtherCAT Device Monitor Page 59 of 75 pert Parameters id remote node id Results 1 success 0 invalid ID cdm loadEds lt fileName
31. e PDO configuration tab To delete all PDOs press the right mouse button and select Clear PDO Process Image This also resets the PDO settings in the EtherCAT server The display of the data is updated every 1000 ms when the PDO process image tab is active To update the values even when the tab is not visible activate Update even in background e Device Monitor Node 64 PDO Image y PDO Process Image Data Node 72 PDO 1 AIO 2944 AI1 29248 Node 64 PDO 2 Analog Input 1h 19232 Analog Input 2h 1600 Node 32 PDO 1 12th Application Variable 0x0000124c Node 32 PDO 2 7th Application Variable Ox00000004 E Update even in background Figure 24 PDO Process image The settings of the process image can be saved with the complete EtherCAT Device Monitor project via File gt Project gt Save Project When the project is opened again the process image settings are restored Version 1 1 EtherCAT Device Monitor Page 29 of 75 pert 13 Using the EtherCAT service File over EtherCAT FoE files of an arbitrary size can be transfered from or to EtherCAT devices The FoE tab is only active if the selected device supports the FoE service Otherwise it is disabled Action NMT Description PDO Image Read File from Device File Name on Device logging tt Local File Name C projects 2009 404board vogging_20091 002 txt 9 FoE Password 06150002 Read File from Devi
32. e g useful to add dynamic OD entries Exports a scanned object dictionary as EDS file Transmits the values of all objects with DCF compo nent flag to the device Reads the values of all objects with DCF compo nent flag from the device Store or restores the configuration of the device in its non volatile memory Converts DCF files into the concise format Menu to load plug ins Opens the option dialog The exported file can be read again by the EtherCAT Device Monitor but it is no complete EDS file according to the standard Page 14 of 75 EtherCAT Device Monitor Version 1 1 pert 4 6 Cascade Tile vertical Tile horizontal Clear All Clears the console and the log window except of Cascade Cascades all open windows the main Tile vertical Tiles all open windows vertically window Tile horizontal Tiles all open windows horizontally 4 7 Help Fl about Latest Release Info Help Shows the on line help About Shows version and licence information Latest Release Info Fetch information about updates from the internet Version 1 1 EtherCAT Device Monitor Page 15 of 75 pert 5 The toolbar is explained in the following illustration i SF Position 7 z Set Wee GR E o gt O Ethercat Figure 16 Toolbar Icon Description Connect Connect to EtherCAT network EtherCAT server Disconnect Disconnect connection to EtherCAT network Position Selection of the active node b
33. ed the acceleration and the delay as well as the target position can be configured comfort ably Limiting values for these parameters are read from the objects of the device at the initialization of the tab and can t be exceeded After pushing the start button the drive executes the predefined movement The communication with the device is carried out via SDOs Version 1 1 EtherCAT Device Monitor Page 47 of 75 pert e Device Monitor X Profile Position Mode Icl4 D065 Mode settings Profile velocity Profile acceleration Profile deceleration Target position Trajectory settings Mode single set point v E abs Target position 2000 mmj Actual position 9561 uf Status 0x1227 Start Halt Last Emergency none Stan Figure 47 DSP402 Position Mode 20 4 Status 6041 0 ME manu 15 _ manu 14 _ following error W setpoint ack _ limit active _ target reached MI remote _ warning _ voltage disabled state OPERATION ENABLED mode Profile Position Delete Object Action Receive Figure 48 Status word bit box Page 48 of 75 EtherCAT Device Monitor Version 1 1 pert Control 6040 0 ME Shutdown _ mode_4 Switch On E models E Disable Voltage mode_b _ Guick Stop _ halt al _ Disable Operation El _ Enable Operation _ Fault Reset Figure 46 Control word bit box These extensions are special bit boxes for the status and the control
34. erCATO Device Monitor Version 1 1 pert 4 3 W Status Bar F Console Message Log FP Network Overview Toolbar Toggles the view of the toolbar Status Bar Toggles the view of the statusbar Console Toggles the view of the console only full version 4 4 Online A Offline Interface Connect Connects to the EtherCAT server Disconnect Closes the connection to the EtherCAT server Online Read and write accesses are performed directly with the device Offline Read and write accesses are performed with the DCF data buffer Interface Opens the dialog to configure the EtherCAT inter face 4 5 Version 1 1 EtherCAT Device Monitor Page 13 of 75 pert Scan Obj Dict Comm Scan Obj Dict Device Edit Obj Dict Show EDS File Export EDS File Ci amp 306 3 format Send object values to device Read object values from device Set DCF component flag for all objects Unset DCF component flag for all objects Store Restore non volatile parameters Convert to concise DCF Plug ins Options Scan Obj Dict Comm Scan Obj Dict Device Edit Obj Dict Export EDS File Send object values to device Read object values from device Store Restore non volatile parameters Convert to concise DCF Plug ins Options Scans the communication profile segment of the object dictionary Scans the device profile segment of the object dictio nary Opens a simple OD Editor It is
35. et the node with the active node id in the state PRE OPERA TIONAL Stop Network Set all nodes in the state STOPPED Stop Node Set the node with the active node id in the state STOPPED Safe Op Set the node into the state SAFE OP Init Send the NMT command Init Node The control of the state machine is also possible by the console 7 2 By pressing the buttons Script 1 to Script 4 scripts with the file names scriptl tcl script4 tcl are started if this files can be found in the current working directory or in the program directory Test starts the script t_start tcl if it exists Modify these scripts to match your needs and use them to automate repetitious tasks like configurating a device Tooltips over each button show the first line of the corresponding script file So the first line of a script contains a comment about the content of the scripts Additionally the last word of the first line of a script can be a valid color definition e g red or ffaal1 to modify the background color of the specific button Within these scripts all EDM com mands are available This function is only available in the full version Using the eval version only integrated demo scripts can be loaded Page 20 of 75 EtherCAT Device Monitor Version 1 1 pert 7 3 After scanning the network the buttons for the nodes get different colors Color Meaning background color no node found blue node found yellow active node during
36. etVal set p402 ret OK puts Error getState returns with set retVal set actualState lindex retList 1 If actualState is Ox0027 the drive is in the state OPERATION ENABLED Parameters Results retList value of p402 ret actual CiA 402 state p402 changeState lt state gt lt delayTime gt Description This function changes into the desired CiA 402 state The desired CiA 402 state must be input in the format of object 0x6041 statusword Each drive needs a specific time to change the CiA 402 state This time is set by the argument delayTime The communication is done via SDO This function can only be used for single drive devices Example The argument state must be 0x0027 for a change into the CiA 402 state OPERATION ENABLED Page 66 of 75 EtherCAT Device Monitor Version 1 1 pert Parameters state desired CiA 402 state delayTime maximal time for state changing in ms Results ret see variable p402 ret p402 halt Description This function activates the halt function 1 e the motion is halted The Halt bit in object 0x6040 controlword is set To reset Halt use the function p402 lt mode gt Change because the necessary functionality to reset Halt is mode specific The communication is done via SDO This function can only be used for single drive devices Example for reset Halt use p402 ppChange for the pp mode Parameters Results ret see
37. he choice must be confirmed with Set s Node ta 32 3 se JH 1 32 a ga Figure 4 Toolbar As a second step the EDS file of the device can be loaded via File gt Load EDS Alterna tively the mandatory objects can be accessed by the default EDS After the selection of an object in the EDS tree you can access it for reading and writing on the action tab depending on the access type When pressing Send to object only the expression after the last blank is transmitted It is possible to write mathematical expressions into the entry field as well The EtherCAT Device Monitor calculates them Page 8 of 75 EtherCAT Device Monitor Version 1 1 pert and transmits the result to the device However the expression may not contain any blanks Value Entry Frame 100 5 4 used for saving configuration _ component of DCF file Figure 5 Formulas in the entry The NMT tab serves for sending NMT commands This tab can be torn off like every tab from the anchorage in the EtherCAT Device Monitor out into a separate window To tear it off click on the dashed line above the tab le EtherCAT Device Monitor Node 6 EL6001 Interface RS232 Ole File Edit View Connection Extras Windows Help sy Postions ser 1 2 3 4 s o sesos rr O O Etherar 1C00 Sync manager type
38. hem within the mapping table The table is unalterable at a static mapping PDO Configuration Frame Object Mapping Table 0x3002 Data Out 1 0x3002 Data Out 3 PDO Data 52 60 61 jez es 73 Pob BS Sy Sl a yy La a Ty Read from EDS Send PDO Store to DCF data Read from Device show PDO in Chart Send to Device Figure 20 PDO Tab After a modification of the PDO mapping or PDO assignment the network PDO configu ration has to be updated by clicking at the icon Reload Network Configuration in the toolbar This is necessary to use the modified PDOs Version 1 1 EtherCAT Device Monitor Page 25 of 75 pert The following table describes the buttons in the lower part of the mask Option Description Read from EDS Reads the values from the EDS file Read from Device Reads the current values from the device Send to Device Transfers the entered values to the device Store to DCF data Store the entered values into the DCF data buffer Send PDO Sends the current PDO to the device The values of the PDO are taken from the entries above Take into account that PDOs only can be sent or received in the state OPERATIONAL Only at RPDOs of the device Show PDO in Chart A PDO Indication function is configured so that the values of this PDO are displayed in the chart Tab The device must be configured correspondingly before Take into account that PDOs only can be sent in the state OPERATIONAL by the device Only
39. ipt that reads values from a device and displays them in the chart proc readAndShow index sub dataType set value r Sindex Ssub SdataType edm addChartData list value 0 0 0 oe oe Call this procedur very second common every readAndShow 0x6401 0x01 116 1000 oe op Windows gt Clear All edm clearChart or F7 clears the chart and the lt space gt key pauses the display The console or script command edm saveChart lt fileName gt saves the con tent of the chart to a postscript file The chart can be zoomed by the right resp left mouse button The context menu provides the following actions Menu entry Description Clear Chart Deletes all values from the chart Save Chart Saves the current picture as PostScript file Save Data Saves all vales as CSV file Stop Updating Stops the update of the chart Page 34 of 75 EtherCAT Device Monitor Version 1 1 pert 17 17 1 Optionally the tabbed field Action can be extended by further elements A possible ele ment is a slider Figure 30 Action Frame Receive from Object Send to Object Object send value 0 0 63 126 19 252 Figure 30 Tabbed field Action with slider A slider consists of a regulator and a scale The regulator is moving For operating use the following keys If the left mouse button is pressed in the trough the scale s value will be incre men
40. it box in a top level window receive i All object extension can be activated by pressing the right mouse button in the object tree 6000 Read Input o Bit Q 000 Number of Input 6 Bit 9 001 Read Input 1h to 8h F 002 Read Input 9h I Bitbox 6200 Write Output amp CA 6206 Error Mode Oute Slider window 6207 Error Value Cut 6401 Read Analogue b421 Analogue Input Set object action Delete object action Figure 33 Configuration of the GUI Extension The assignment of slider and bit boxes to particular objects can be saved in a OCF file Version 1 1 EtherCAT Device Monitor Page 37 of 75 pert 18 In addition to the predefined tabbed fields or tabs at the right side it is possible that you add your own tabbed fields to EtherCAT Device Monitor There are 2 kinds of tabs available e User specified tabs with support of tests e User specified tabs without contents 18 1 One of an additional tab is also predefined but only installed on request It is used to organize test scripts to be controlled by the EtherCAT Device Monitor It provides lists of check boxes for the user defined test scripts POWERLINK Device Monitor Node 47 10 Device ES File Edit View Connection Extras Windows Help gy Node iafas set 13 28 42 47 19 a Q Communication Segment Action NMT PDO C Manufacturer Segment Process Chart Test El Gi Device Profile I ce
41. ject This object contains general information about the device Sub Index 1 contains a unique value allocated each manufacturer Sub Index 2 identifies the manufacturer specific product code device version Sub Index 3 contains the revision number Bit 31 16 is the major revision number and Bit 15 0 the minor revision number Sub Index 4 identifies a manufacturer specific serial number Object type RECORD Figure 18 object description The object description contains additional information about the selected index of the object dictionary Beside the actual description the object code for complex objects or the data type and the default value is shown too The object description for each index is read from the object description file 8 2 Because of the restrictions of the old CANopen based EDS format it is not possible to add object descriptions to an EDS file Therefore this additional information is stored in a separated object description file See file structure below indexl object name description line 1 description line 2 description line n Page 22 of 75 EtherCATO Device Monitor Version 1 1 pert index2 object name 2 description line 1 description line 2 description line n The data format for the indices is hexadecimal without leading Ox An example object description file is Lib ds301 txt with descriptions for the objects from the commu nication profile When an EDS
42. network scan To change the active node simply press the button with the desired node id If an EDS file has been loaded already for this node it is displayed in the EDS tree Otherwise an EDS file for this device can be loaded For all nodes different EDS files can be loaded 7 4 Scan Network OE Node ID 1 C0401140 DeviceType 0x70191 0x56 0x1040111 none 101 102 1081104 o El EJE EE BR Ba 8 pon co El E g ajs Sales soles efes 8 8 MN 05 106 107 108 109 110 111 11 121 122 123 124 125 126 127 128 Siajeaslsao 113 114 115 116 117 118 119 120 135 136 130 131 132 133 137 138 133 140 141 142 143 144 145 161 177 193 209 225 148114 108 149180 181 182 162 19 168 168 168 167 10 176 178 180 181 182 188 104 194 196 196 187 196 138 20 aio en 212 218 210 ers A 228 227 228 208 200 2322 153 154 155 156 157 158 159 1 fa 198 100 175 175 192 1 20n 202 209 200 205 200 207 208 27 28 219 220 221 222 228 20 299 24 295 2002572302 156 174 190 Figure 17 Device information When moving the mouse over found nodes device information are displayed as a tool tip Version 1 1 EtherCATO Device Monitor Page 21 of 75 pert 8 1 EEPROM Overview Process Chart PDO Conf Action 1 PDO Image FoE ESC 22 0 0640 software ect_od1l xml Profile O VendorID 0x34 ProductCode 0x0815 Identity Ob
43. ntry field lt Del gt key deletes complete input field in value entry frame Reload last project file at start up The lastly used project file is opened automati cally at start up of the EtherCAT Device Moni tor Save all settings at exit All settings options and connection settings are saved automatically Reuse last EDS for empty nodes The last EDS file is used for other node IDs with out assigned EDS file Copy EDS files to project directory The EDS files are copied from the repository to the project folder if it is saved EDS repository Configuration of the directory for the EDS reposi tory Version 1 1 EtherCAT Device Monitor Page 17 of 75 pert 6 2 Options Iof x General Settings DCF Settings DCF Settings Network Settings _ Set DCF flag on change Colors Download configuration after DCF import Fonts E Update Verify Configuration object after download E Save configuration after download OK Cancel Set DCF flag on change sets the DCF component flag at change of an object Download configuration after Automatic download of the configuration after DCF import DCF import Save configuration after Automatic saving of the configuration after down download load 6 3 Options General Settinc _ ocr setings Network Settings Network Setting Colors 5DO Timeout ms 70 0 Configure Fonts OK Cancel
44. of the global variable global_stop If the Abort Test button is selected the value of global_stop is set to 1 The script on the other side must not block the User Interface event loop so that the user is be able to select the Stop button Ther fore the Tcl function update must be called regularly EXAMPLE Template for testing global_stop in test scripts Version 1 1 EtherCAT Device Monitor Page 41 of 75 pert global variables global global_stop initialize global variables set global_stop xecute application while Sglobal_stop read actual value of global_stop and update the GUI update 18 2 A new tab will created by the following command edm addTab lt title gt lt pos gt Description creates an additional empty tab Parameters title name of the tab pos position of the tab in the display default append as last tab Return internal name of the tab The empty tab can be designed by the application by input of Tcl commands at the Console or by Tcl scripts EXAMPLE Create an empty tab at position 0 with the title Service set name edm addTab Service 0 Create a button in the center of the bottom of the tab with the name OK button name button text OK command w 0x1017 0 ul6 500 pack Sname button side bottom anchor center Page 42 of 75 EtherCAT Device Monitor Version 1 1 pert
45. pert EtherCAT Device Monitor EtherCAT Devi User Manual ce Monitor Node 6 EL6001 Interface RS232 File Edit View Connection Extras Windows 2 3 4 5 6 os BJ es Help GB S vecs O O EthercaT s Postionle set 1 THOS TRIOS mpa 1401 TxPDO Map Inputs 1402 TXPDO Map Inputs 1C00 Sync manager type 1012 RXPDO assign 1013 TxPDO assign 1032 SM output parameter 1033 SM input parameter Manufacturer Segment A 3001 Outputs 3002 Outputs 3003 Outputs 3101 Inputs 3102 Inputs 3103 Inputs a a software 70 2 r 0x1000 0 u32 software 71 2 w 0x4076 0 ul6 0 OK software 72 2 ttnmttspreop software 73 2 1404 COM TxPDO Map Inputs 4070 Data bytes in send buffer 4071 Data bytes in receive buffa EtherCAT Device Monitor Scripting Console Action NMT Description EEPROM Overview Process Chart PDO Configuration Frame Object Mapping Table PDO Image ESC FoE PDO Cont Index 0x3103 0x3103 0x3103 0x3103 0x3103 0x3103 0x3103 0x3103 3 H o PDO Imaje Store to DCF data Send to Device port GmbH Halle 12 03 2012 EtherCAT Device Monitor Version 1 1 pert Disclaimer All rights reserved The programs boards and documentations supplied by port GmbH are created with due diligence checked carefully and tested on
46. r Page 73 of 75 pert Page 74 of 75 EtherCAT Device Monitor Version 1 1 pert Table of Contents Introduction 42 ee bP and Bee eee a a be oe BES 5 Product Overview 40 sae a A RE eS RO RG Do 5 Conventions cn 64 a a Gb oe GA we RE GS ESE REE RG 6 Support by port 2 amp 2 ow eh ne hoe ew ERS da ad e KOS 6 Quick Stat e fig era bre Gee ey Oe Bed RR eg ea Ba de 7 First program start cociendo EWE Oe ee ee ED 7 Communication with a EtherCAT device 0 a a a a a a 8 Object Dictionary Accesses Da A ER RA aa be we eS 10 Menu Structure o wb ye he ee ee we ee ea ee ee Re 12 DS 4 AR OD a ado ee e 12 Edit o a AR AA A eo e a 12 o AA A eh te Se 13 Connection hs add en a dos e da A a a 13 EXASS oo e a ee a a ke 13 Widows 4 Laia Sek o Gree ee de a a A Ses 15 HEID os dur y 2 due os a A ee ae oe ee 15 USO sos arig e a a d AA AR Ad ANA 16 OPHONS xa y iia i ean a Ad e ds A 17 General Settings lt a a a 17 DCF Settings 6 2 ese ds a a ee G a de BE a ee eS 18 Network Settings se ke te ee we he eo ed a BD 18 Color SEIS s s s e s e hE we BOS eR Se ERE E 19 Font Settings i seo ek Ge Bae a Od Ge tee he 19 NMT commands o i posone KE Bk a ee RE RA 20 Userdeiined BCripis s si moea ER Oe ee Boe e eee 20 Network overview 2 1 a a a a 21 Device Information 222 06 6 446408 4454 bE 24 YG RS Oe 21 Description Tab 4 2 6 a aa 4 Oe wee e oe Ee ee 22 Object Description lt lt eds Ed a AER A RA AR A 22 Object De
47. rive devices Parameters targetVelocity value of object Ox60FF Results ret see variable p402 ret p402 ppStart lt targetPos gt lt profileVel gt lt profileAcc gt lt delayTime gt Page 68 of 75 EtherCAT Device Monitor Version 1 1 pert Description This function starts a motion in the Profile Position mode The Profile Position mode is configured by the mandatory objects of the pp mode The operation mode is set to Profile Position This function initiates an absolute movement in the single setpoint mode The motion is started by the change into the CiA 402 state OPERATION ENABLED and the execution of the new setpoint handling Each drive needs a specific time for the transfer of a new setpoint This time can be specified by the argument delayTime The communication is done via SDO This function can only be used for single drive devices Parameters targetPos value of object Ox607A profile Vel value of object 0x6081 profileAcc value of object 0x6083 delay Time transfer time in ms Results ret see variable p402 ret p402 ppChange lt targetPosition gt lt delayTime gt Description This function changes the target position in the Profile Position mode This function initiates an absolute movement in the single setpoint mode The movement is started by the execution of the new setpoint handling Each drive needs a specific time for the transfer of a new setpoint This time can be specifie
48. rt 3 The object dictionary is the data interface between the EtherCAT Device Monitor and the EtherCAT device The EtherCAT Device Monitor can access every object in the object dictionary for reading or writing by index subindex The EtherCAT Device Monitor shows the object dictionary loaded from the Electronic Data Sheet ESI file of the device in a tree structure An ESI can be loaded for each device in the network After the selection of a device its object dictionary is displayed and communcation with the device is possible Using the tab Action objects can be accessed by SDO transfers e EtherCAT Device Monitor Node 7 CoE Example 1 ala File Edit View Connection Extras Windows Help S gy Postton 7 set 2 4 5 6 7 8 thereat Communication Segment O Process Chart PDO Conf a Manufacturer Segment ESC a o 2000 data out NMT Description PDO Image 2001 data_in Value Entry 2002 bool Hex 0x65 Dec 101 a amp 2003 unsigned8 _ used for saving configuration OCF File a component of DCF file G 2004 unsigned16 cyclic update 2005 unsigned32 2006 integers Action Ea 2007 integer16 Receive from Object a 2008 integer32 Send to Object A 2009 real32 Object value i 2004 visstring O 2008 visstring20 0 85 170 Figure 15 Tab Action Write object select the object in the tree online connected to
49. scription File 0 0 0 22 Overview Tab s oe stas do eo t A om Be a A a A 24 ie A A 24 PDO Configuration Tab o coxe e 4 ss us Bo 25 Configuration of PDOs for the chart 0 a a a 2 o 25 Process Tab 3 Ao de se A e ia a e a ea 28 PDO Process Tab s si ar ah aa E Wy hs od AE aa e Se e SE 29 File over EtherCAT Tab aaa a a PR we ee 30 ESC Viewer Tab sudo ys a es BG ew he ood a Ae 31 EEPROM Viewer Tabe s o sgor o A A A oy e Ge a 32 Using Stripcharts 6 6 444 ee kee A ee e ey Bos 33 Extended object configuration a 000000000484 35 1 mer a ode a ORE Se OO ee a ee a aes 35 Slider in a Top Level Window 200200020008 36 Version 1 1 EtherCAT Device Monitor Page 3 of 75
50. 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 e V Germany EtherCAT is registered trademark and patented technology licensed by Beckhoff Automation GmbH Germany We are thankful for hints
51. ted or decremented by the value of the resolution option so that the slider moves in the direction of the cursor If the button is held down the action is repeated e Ifthe left button is pressed over the slider the slider can be dragged with the mouse e Ifthe left button is pressed in the trough with the control key down the slider moves all the way to the end of its range in the direction towards the mouse cursor e The up and left cursor keys move the slider by one to left The down and right cursor keys move the slider by one to right Further a storage of the object values with the option used for saving configuration is possible Version 1 1 EtherCAT Device Monitor Page 35 of 75 pert 17 2 A slider in a top level window can be assigned to an object This window stays at the desktop even if other objects are selected in the tree structure 1 6200 001 J6 Close object window Figure 31 Slider in a top level window The slider actions are the same as described for the Action tab slider above Close object window The top level window can be closed by selecting the button labeled with Close object window Page 36 of 75 EtherCAT Device Monitor Version 1 1 pert 17 3 Each numerical object can be displayed bitwise in a unique window 64 6000 001 ME bit O bit E bitz _ bit 3 _ hita E bits E bit bit send Close object window Figure 32 B
52. the array myarray set myarray parity even variables are referenced by using its name preceeded with S puts Bitrate myarray baud reference of the array myarray Further information can be found at www tcl tk http www tcl tk Page 44 of 75 EtherCAT Device Monitor Version 1 1 pert 19 2 Sequences of Tcl commands inclusive of controlling structures can be created with a text editor These files used to have the extension tcl and can be loaded from the Ether CAT Device Monitor per menu File gt Load File interactively input in the Console source lt file gt tcl Command sequences can be combined to procedures The procedure is executed by call ing the name of the procedure Procedures saved in Tcl files are available after loading the script file EXAMPLE file example tcl show Hello proc showHello name puts Hello Sname puts How are you return load the script with the source command in the Console source example tcl execute the defined procedure in the Console interactively S showHello Heinz Hello Heinz How are you Version 1 1 EtherCAT Device Monitor Page 45 of 75 pert 20 The DSP 402 extension consists of 3 components for the simplification of the work with drives in conformity with the DSP402 This extension can be activated via Extras gt Plug in gt DSP 402 Extension They are only available if the append
53. thin this tab cdm deleteTab lt pos gt Description deletes a tab from the tabset Parameters pos position starting with 0 can be end Results cdm addTestTabOld lt filename gt lt title gt Description adds a special tab on the right side of the device monitor the tab card contains checkbuttons for test scripts the list with scripts is in a file and will set by user Parameters filename name of the file which contains a list of scripts for the spe cial tab title title of the tab Results window path to Tab cdm stringCenter lt string gt lt l gt Version 1 1 EtherCAT Device Monitor Page 55 of 75 pert Description center string prepend spaces to a given string if the result will be printed it looks like it is centered within a line lenght of 1 Parameters string unformated string l desired line length Results centered string cdm stringFill lt string gt lt endword gt lt 1 gt Description append spaces and endword at string until line length 1 Parameters string unformated string endword optional END word defaults to l desired line length defaults to 80 Results formatted string cdm banner Description prints a headline with device and user characteristic Parameters nothing Results nothing cqdm putsDateTime Description prints the current date and time Page 56 of 75 EtherCAT Device Monitor Version 1 1 pert
54. tor Version 1 1 pert 2 1 The most common use case of the EtherCAT Device Monitor is the is that the Ether CATServer is used locally on the same PC as the EtherCAT Device Monitor Prior to the first usage of the tool the must be configured to start the EtherCATServer automati cally To do so open the interface configuration dialog at Connection gt EtherCATO Interface Specify Local EtherCATserver in the field EtherCAT Interface and below the path to the file ecatserver exe has to be entered Finally the physical Ethernet interface device has to be specified which shall be used by the EtherCATO Device Monitor to access the EtherCAT network For the second possible use case using an EtherCATserver whichs runs on a remote PC or embedded device TCP has to be selected as EtherCAT interface and its IP address or host name must be specified at the input field named host For both use cases ensure that the EtherCATserver is connected with the EtherC AT net work with a cable connection and that the right ethernet interface is specified if the PC or embedded device supports more than one interface EtherCAT Interface Configuration EtherCAT Interface TCP Host 194 173 33 202 Advanced Settings OK Figure 7 EtherCAT Interface Configuration After the configuration the connection can be established Click on the first symbol in the toolbar to connect to the device
55. unication Object Identifier Client SDO EtherCAT Device Monitor Electronic Data Sheet EtherCAT Slave Information file Emergency Object Ethernet POWERLINK Standardization Group EtherCAT Technology Group Managing Node Network Management Object Dictionary Process Data Object unconfirmed service for real time communica tion Receive PDO Remote Transmission Request POWERLINK Device Monitor Problem Report Management System Service Data Object Confirmed data transfer service for parameter data Server SDO Sychronization Object Tool Command Language script language Transmission Control Protocol Internet Protocol Time Stamp Object Transmit PDO element of a graphical user interface e g button entry filed menu EtherCAT Device Monitor Version 1 1 pert 24 a Action tab 35 tab set 10 b bitwise representation 37 C commands Tcl 44 e edm addTab 42 edm addTestTab 39 edm deleteTab 43 NMT tab 20 Options 17 p PDO 25 preop 20 Preop All 20 Preop Node 20 procedure 45 agus Scan Network 20 script load 45 slider 35 36 start 20 Start All 20 Start Node 20 stop 20 strip chart 33 subindex 10 system requirements 6 sta t_start tcl 38 tab Action 35 tab NMT 20 tab set Action 10 tabs user specific 38 Tcl commands 44 tree 10 Version 1 1 aye update 41 user specific tabs 38 v variable global_stop 41 EtherCAT Device Monito
56. word Version 1 1 EtherCAT Device Monitor manui manu_12 manu_13 manu_14 manu_15 Delete Object Action send Receive Page 49 of 75 pert 21 21 1 The about dialog provides information about e the current release e the type of this release e the licensee e the license and e the available Tcl Tk packages 21 2 When requesting information about the latest release of the EtherCAT Device Monitor a http connection to our server is established and the data approx 30 bytes are down loaded from the server NOTHING except your IP address IS SENT TO THE SERVER WHEN RETRIEVING THE LATEST RELEASE INFO Page 50 of 75 EtherCAT Device Monitor Version 1 1 pert 22 22 1 r lt index gt lt subindex gt lt typ gt Description SDO read procedure Parameters index object index subindex object subindex typ datatype of object lt uSlu16lu32118111611321r32lvs gt Results read value rr lt index gt lt subindex gt lt typ gt Description SDO read procedure type out the SDO read command and the answer from the device Parameters index object index subindex object subindex typ datatype of object Results read value rrc lt index gt lt subindex gt lt typ gt lt ref gt Description SDO read and compare procedure type out the SDO read command type out the answer from the device and compare the received value with the reference value In case of

EtherCAT® Device Monitor User Manual

Contents

Download Pdf Manuals

Related Search

Related Contents

EtherCAT&reg; Device Monitor User Manual

Contents

Download Pdf Manuals

Related Search

Related Contents

EtherCAT® Device Monitor User Manual