文件名称:
德国赫优讯(Hilscher)基于netX技术的EtherCAT主站协议接口手册.pdf
开发工具:
文件大小: 788kb
下载次数: 0
上传时间: 2019-10-31
详细说明：德国赫优讯(Hilscher)基于netX技术的EtherCAT主站协议接口手册pdf,德国赫优讯(Hilscher)基于netX技术的EtherCAT主站协议接口手册Ether CAT Master
All rights reserved No part of this publication may be reproduced
The author makes no warranty of any kind with regard to this material, including but not limited to the
implied warranties of merchantability and fitness for a particular purpose. The Author assumes also no
responsibility for any errors that may appear in this document
Although this software has been developed with great care and was intensively tested, Hilscher
Gesellschaft fur Systemautomation mbh cannot guarantee the suitability of this software for any
purpose not confirmed by us in written form
Guarantee claims shall be limited to the right to require rectification. Liability for any damages which
may have arisen from the use of this software or its documentation shall be limited to cases of intent
We reserve the right to modify our products and their specifications at any time in as far as this
contribute to technical progress. The version of the manual supplied with the software applies
Please notice: Windows 95/98/ME and windows nt 2000/cE/XP/Vista are registered trademarks of
Microsoft Corporation
Hilscher Gesellschaft fur Systemautomation mbH-Rheinstr 15-D-65795 Hattersheim
Edition 5-aPl: EtherCat Master#en-2008/03
Ether CAT Master
Table of contents
Introduction.…
1.1 Abstract
1.2 Functional overview
1.3 System Requirements
1.4 Intended Audience
1.5 Specifications
10
1.5.1 Technical Data
10
1.6 Terms, Abbreviations and definitions
1.7 References
2 Fundamentals…12
2.1 Overview over the ether cat Master stack architecture
2.2 General access mechanisms on netX systems
13
2.3 Accessing the Protocol Stack by Programming the AP Tasks Queue
14
2.3.1 Meaning of Source- and Destination-related Parameters
2.3.2 The ethercat Master ap-task
14
2.3.3 The etherCat Master Task
2.4 Accessing the Protocol Stack via the Dual Port Memory Interface
16
2.4.1 Communication via mailboxes
2. 4.2 Using Source and Destination Variables correctly
17
2.4.3 Obtaining useful Information about the Communication Channel
20
3Dual- Port Memory……
2
3.1 Cyclic Data(Input/Output Data)
3.1.1 Input Process Data
3.1.2 Output Process Data
23
3.2 Acyclic Data( Mailboxes)
3.2.1 General Structure of Messages or Packets for Non-Cyclic Data Exchange
3.2.2 Status Error codes
3.2.3 Differences between System and Channel Mailboxes
3.2 4 Send mailbox
3.2.5R
Mailer
3. 2.6 Channel Mailboxes(Details of Send and Receive Mailboxes)
29
3.3S1
30
3.3.1 Common status
3.3.2 Extended status
3.4 Control block
38
4G。 figuration Parameters..…
39
4.1 Configuration of the Master
39
4.1.1 XML-Input
4.2 Configuration of the Master using a Packet
(ETHERCAT MASTER CMD SET BUSPARAM REQ/CNF- Set the bus parameters)
40
5 EtherCAT Master Application Interface
5.1 Startup Sequence
47
5.2 Register at the Master Task….,…
51
5.3 Controlling the Master State
54
5.3.1 ETHERCAT MASTER CMD BUS ON REC/CNF-Start the Bus
5.3.2 ETHERCAT MASTER CMD BUS OFF REQ/CNF -Stop the bus
5.3.3 ETHERCAT MASTER CMD CST WDG I IMEOUT REQ/CNE- Announce a Watchdog Error.. 58
5.3.4 CONFT GURATTON RFTOAD RFQ/CNF -Restarting the Stack
61
5.4 Stack Indications
63
5. 4.1 ETIIERCAT MASTER CMD U=DATE COMMUNICATION STATE IND/RES-Notify about changed
5.4.2 ETHERCAT MASTER CMD UEDATE GLOBAL SLAVE INEO IND/RES- Notify about changed.69
Communication state
Slave Information
5.5 Slave Diagnosis….
5.6 Master d
5.7 Bus sca
Hilscher Gesellschaft fur Systemautomation mbH-Rheinstr 15-D-65795 Hattersheim
Edition 5-aPl: EtherCat Master#en-2008/03
Ether CAT Master
5.7.1 ETHERCAT MASTER CMD SIART BUS SCAN REQ/CNF-( Restart the Bus Scan
78
5.7.2 ETHERCAT MASTER CMD GET BUS SCAN INFO REQ/CNE-Get Results from bus scan . .......82
5.8 CANopen over EtherCAT(CoE
5.8.1 ETHERCAT MASTER CMD SDO DOWNLCAD REQ/CNF-Download an sdo object to a slave..88
5.8.2 F.THERCAT MASTER CMD SDO UPLOAD RFQ/CNF-Upload an SDo Object from a Slave...92
5.8.3 ETIIERCAT MASTER CMD GET ODLIST REQ/CNP-Get the Od List of a slave
97
5.8.4 ETHERCAT MASTER CMD GET OBUECTDESC REC/ CNE -Read an object Description from a
Slave 103
5.8.5 F.THERCAT MASTE,R CMD GFT ENTRYDFSC RFQ/CNF-Get an Entry Description from a slave
108
5.8.6 ETHERCAT MASTER CMD READ EMERGENCY REQ/CNF-Read Slave Emergencies
5.9 ETHERCAT MASTER CMD GET DC DEVIATION REQ/CNF Read the Dc Deviations
119
5.10 Behaviour during Stack Reset.
124
6 Status/Error codes overview
∴125
6.1 Error codes of the ethercat Master task
125
6.2 Error codes of the ethercat Master AP-task
127
7 Contact
∴…128
Hilscher Gesellschaft fur Systemautomation mbH-Rheinstr 15-D-65795 Hattersheim
Edition 5-aPl: EtherCat Master#en-2008/03
Ether CAT Master
List of Figures
Figure 1- Internal state machine of the EthercAT Master.
12
Figure 2- The 3 different Ways to access a Protocol Stack running on a netX System
13
Figure 3-Use of ulDest in Channel and System Mailbox
Figure 4-Using u1 Src and u1SrcTd.
8
Hilscher Gesellschaft fur Systemautomation mbH-Rheinstr 15-D-65795 Hattersheim
Edition 5-aPl: EtherCat Master#en-2008/03
Ether CAT Master
List of tables
Table 1: Terms. Abbreviations and definitions .
Table 2: References
11
Table 3: Meaning of Source- and Destination -related parameters
14
Table 4: EtherCAT Master AP-task Process Queue
Table 5: Ether CAT Master-task Process Queue
15
Table 6: Meaning of Destination Parameter ulDest
Table 7: Example for correct Use of Source- and Destination- related Parameters
19
Table 8: Input Data Image
Table 9: Output Data Image.
Table 10: General Structure of Packets for non-cyclic Data Exchange
Table 11: Status and Error codes
2222
3589
Table 12: Channel mailboxes
Table 13: Common Status block
31
Table 14: Master status structure definition
36
Table 15: status and error codes
Table 16: communication Control block
Table 17: Meaning and allowed values for Bus parameters
3344
Table 18: FTHERCAT MASTER CMD SET BUSPARAM RFO- Set the Bus parameters
Table 19: ETIIERCAT MASTER CMD SET BUSPARAM REQ-Packet Status/Error.
Table 20: Parameter ulSystemFlags...
Table 21: Parameter ulBrokcnslavcBchaviour
Table 22: ETHERCAT MASTER CMD SET BUSPARAM CNF- Setting the Bus Parameters
Table 23: ETHERCAT MASTER CMD SET BUSPARAM CNE-Packet Status/Error
Table 24: ETHERCAT MASTER CMD REGISTER AT STACK REQ -Register at the master task Request
51
Table 25: F.THFRCAT MASTER CMD REGTSTER AT STACK RFQ Packet Status/Error
Table 26: ETIERCAT MASTER CMD REGISTER AT STACK CNF-Register at the master T ask Confirmation. 53
Table 27: ETHERCAT MASTER CMD REGISTER AT STACK CNF-Packet Status/Error
Table 28: ETHERCAT MASTER CMD BUS ON REQ-Start the Bus Request
54
Table 29: ETHERCAT MASTER CMD BUS ON REQ-Packet Status/Error
.54
Table 30: ETHERCAT MASTER CMD BUS ON CNF-Start the Bus Confirmation
Table 31: ETHERCAT MAster CMD BUs ON CNf- Packet status/Error
Table 32: F.THERCAT MASTER CMD BUS OFF RFC-Stop the bus Request ..
Table 33: ETIIERCAT MASTER CMD BUS OFF REC -Packet Status /Error.................... 56
Table 34: ETHERCAT MASTER CMD BUS OFF CNF-Stop the Bus Confirmation..
57
Table 35: ETHERCAT MASTER CMD BUS OFE CNE -Packet Status/Error
Table 36: ETHERCAT MASTER CMD HOST WDG TIMEOUT REQ- Announce a Watchdog Error Request...58
Table 37: ETHERCAT MASTER CMD HOST WDG TIMEOUT REQ-Packet Status/Error
Table 38: F.THFRCAT MASTER CMD HOST WDG TTMF OUT CNF -Packet Status/Error
Table 39: CONTI GURATION RELOAD REQ-Restarting the Stack Request...
Table 40: CONFI GURATION RELOAD REO-Packet Status/Error
66
Table 41: CONFIGURATION RELOAD CNF'-Restarting the Stack Confirmation
…62
Tabe42: CONFIGURAT工○NREL○ AD CNF- Packet status/ Error
62
Table 43: ETHERCAT MASTER CMD UPDATE COMMUNICATICN STATE IND-Notify about changed
Communication state Indication
Table 44: ETHERCAT MASTER CMD UPDATE COMMUNICATION STATE IND-Packet Status/Error
64
Table 45: ETHERCAT MASTER CMD UPDATE COMMUNICATICN STATE RES-Response to Notification about
changed Communication State
65
Table 46: ETHERCAT MASTER CMD UPDATE COMMUNICATICN STATE RES -Packet status/Error
65
Table 47: ETIIERCAT MASTER CMD UPDAT GLOBAL SLAVE INFO IND-Notify about changed Slave
Information Indication
67
Table 48: ETHERCAT MASTER CMD UPDATE GLOBAL SLAVE INFO IND-Packet Status/Error
68
Table 49: ETHERCAT MASTER CMD UPDATE GLOBAL SLAVE INFO RES -Response to Notification about
changed Slave Information
Table 50: ETHERCAT MASTER CMD UPLATE GLOBAL SLAVE INFO RES -Packet Status/Error....... 69
Table 51: Structure ETHERCAT MASTER DIAG GET SLAVE DIAG T
70
Table 52: Status/Error Codes Overview
76
Table 53: ETIIERCAT MASTER CMD START BUS SCAN REQ-(Re]start the bus scan Request
Table 54: ETHERCAT MASTER CMD START BUS SCAN REQ- Packet Status/Error
Table 55: ETHERCAT MASTER. CMD START BUS SCAN CNF-(Restart the bus scan Confirmation
Table 56 ETHERCAT MASTER CMD START BUS SCAN CNF- Packet Status/Error
81
Table 57: ETHERCAT MASTER CMD GET BUS SCAN INFO REQ-get results from bus scan Request
83
Hilscher Gesellschaft fur Systemautomation mbH-Rheinstr 15-D-65795 Hattersheim
Edition 5-aPl: EtherCat Master#en-2008/03
Ether Cat Master
Introduction●8
Table 58: ETHERCAT MASTER CMD GET BUS SCAN INFO REQ-Packet Status/Error
83
Table 59: ETHERCAT MASTER CMD GET BUS SCAN INFO CNF-get results from bus scan Confirmation .....85
Table 60: ETHERCAT MAsteR CMD ET BUS SCAN INFO CNF-Packet status/Error
T able 61: FTHERCAT MASTER CMD SDC DONT OAD RFQ- Download an sdo object to a slave request..89
Table 62: ETIIERCAT MASTER CMD SDC DOWNLOAD REQ-Packet Status/Error.
Table 63: ETHERCAT MASTER CMD SDC DOWNLOAD CNF-Confirmation of download an sdo object to a Slave
90
Table 64: ETHERCAT MAster CMD SDC DoWNlOAd CNE-Packet status/Error
91
Table 65: ETHERCAT MASTER CMD SDC UPLOAD REQ-Upload an Sdo object from a Slave Request
93
Table 66: ETHERCAT MASTER CMD SDC UPLOAD REQ- Packet Status/Error
93
Table 67: ETHERCAT MASTER CMD SDC UPLOAD CNF-Upload an SDo Object from a Slave Confirmation. 95
Table 69: ETHERCAT MASTER CMD GET ODLIST REQ- Get OD List of a Slave Reques
Table 68 ETHERCAT MASTER CMD SDC UPLOAD CNF-Packet Status/Error
Table 70: ETHERCAT MASTER CMD GET ODLIST REQ- Packet Status/Error
98
Table 71: Meaning of LlListType
99
Table 72: ETHERCAT MASTER CMD GET ODLIST CNF- Confirmation of get Od List of a slave
10
Table 73 ETHERCAT MASTER CMD GET ODLIST CNF-Packet Status/Error
102
Table 74: ETHERCAT MASTER CMD GET OBJECTDESC REQ-Read an object Description from a Slave request
104
Table 75: ETHERCAT MASTER CMD GET OBJECTDESC REQ-Packet Status/Error
104
Table 76: F.THERCAT MASTER CMD GF.T OBECTDESC CNF-Confirmation of Read an Object Description from
a slave
106
Table 77: ETHERCAT MASTER CMD GET OBJECTDESC CNF- Packet Status/Error
107
Table 78: ETHERCAT MASTER CMD GET ENTRYDESC REQ-Get an Entry Description from a Slave Request 109
Table 79: FTHERCAT MASTER CMD GFT FNTRYDFSC RFo- Packet Status/Error
Table 80: Parameter ulAccess mask
110
Table 81: ETHERCAT MASTER CMD GET ENTRYDESC CNF-Confirmation of Get an Entry Description from a
112
Table 82: ETHERCAT MASTER CMD GET ENTRYDESC CNF-Packet Status/ Error
113
Table 83: F.THERCAT MASTER CMD READ FMERGENCY RFQ- Read Slave Emergencies Request
115
Table 84: ETIIERCAT MASTER CMD READ EMERGENCY REQ -Packet Status/Error
115
Table 85: ETHERCAT MASTER CMD READ EMERGENCY CNF-Read slave Emergencies Confirmation
117
Table 86: structure ETHERCAT MASTER SLAVE EMERGENCY T
117
Table 87: ETHERCAT MASTER CMD READ EMERGENCY CNF-Packet Status/Error
118
Table 88: ETHERCAT MASTER CMD GET DC DEVIATION REQ-Read the dC Deviations Request
119
Table 8 9: ETHERCAT MASTER CMD GET DC DEVIATION REQ-Packet status/Error
120
Table 90: FTHERCAT MAStFR CMD GET DC DFVTATTOn CNF- Confirmation of read the dc deviations.. 122
Table 91: ETHERCAT MASTER CMD GET DC DEVIATION CNF-Packet status/ Error ..
123
Table 92: Status/ Error Codes of the ethercat Master ap-task
Table 93: Status/Error Codes of the apm-task
127
Hilscher Gesellschaft fur Systemautomation mbH-Rheinstr 15-D-65795 Hattersheim
Edition 5-aPl: EtherCat Master#en-2008/03
Ether Cat Master
Introduction·9
1 Introduction
1.1 Abstract
This manual describes the application interface of the EtherCAT Master protocol stack. Use this
manual to support and guide you through the integration process of the given stack into your own
application
This stack was developed based upon Hilscher's Task Layer Reference Programming Model. This
programming model is a description of how to develop a task in general, which is a convention
defining a combination of appropriate functions belonging to the same task. Furthermore, it defines
how different tasks have to communicate with each other in order to exchange their data. The
Reference Model is commonly used by all developers at Hilscher and shall be used by you as well
when writing your application task on top of the stack
1.2 Functional overview
The main functionality from application view is
configure master and bus
exchange of cyclic data
■ slave diagnosis
1.3 System Requirements
This software package has following system requirements to its environment
netX-Chip as CPU hardware platform
1.4 Intended audience
This manual is suitable for software developers with the following background
Knowledge of the programming language C
Knowledge of the use of the real-time operating system rcX
Knowledge of the Hilscher Task Layer Reference Model
Knowledge of the netX dPM Interface
Hilscher Gesellschaft fur Systemautomation mbH-Rheinstr 15-D-65795 Hattersheim
Edition 5-aPl: EtherCat Master#en-2008/03
Ether Cat Master
Introduction·10
1.5 Specifications
The data below applies to EtherCAT Master firmware and stack version 2.0.655
1.5.1 Technical data
Technical Data
Maximum number of cyclic input data
5760 bytes
Maximum number of cyclic output data
5760 bytes
Minimum bus cycle time
500 microseconds
Acyclic communication
CoE (CANopen over EtherCAT
CoE-Upload, CoE-Download
Functions
Get od list
Emergency
Slave diagnostics
opology
Ine
Baud rate
100 MBit/s
Data transport layer
Ethernet Il. 802.3
Firmware/stack available for netx
netx 50
netx 100 netx 500
yes
Configuration
Configuration by packets to transfer bus and slave parameters
By XML file generated by the "EtherCAT Configurator available from the EtG or by twinCAT lo too
available from beckhoff
Diagnostic
Firmware supports common diagnostic in the dual-port-memory for loadable firmware
Limitations
The size of the bus configuration file is limited by the size of the RAM disk(1 Megabyte)
Only Ethernet Port 0 of the device is used for communication
All CoE Uploads, Downloads and information services must fit in one TLR-Packet. Fragmentation is
not supported yet
Important Hint
As long there is no final Ether CAT Specification the implementation of the
stack may change in the future. This belongs especially to the coE services
Hilscher Gesellschaft fur Systemautomation mbH-Rheinstr 15-D-65795 Hattersheim
Edition 5-aPl: EtherCat Master#en-2008/03
(系统自动生成,下载前可以参看下载内容)
下载文件列表
相关说明
- 本站资源为会员上传分享交流与学习,如有侵犯您的权益,请联系我们删除.
- 本站是交换下载平台，提供交流渠道，下载内容来自于网络，除下载问题外，其它问题请自行百度。
- 本站已设置防盗链，请勿用迅雷、QQ旋风等多线程下载软件下载资源，下载后用WinRAR最新版进行解压.
- 如果您发现内容无法下载，请稍后再次尝试；或者到消费记录里找到下载记录反馈给我们.
- 下载后发现下载的内容跟说明不相乎，请到消费记录里找到下载记录反馈给我们，经确认后退回积分.
- 如下载前有疑问，可以通过点击"提供者"的名字，查看对方的联系方式，联系对方咨询.
