Infineon XMC4800 User manual

XMC4800
EtherCAT APP SSC
Slave Example
Getting Started V3.0

Overview and Requirements
Setup
Defining the interface of EtherCAT slave node
Generating Slave Stack Code and ESI file
Implementation of the application
How to test –using TwinCAT2 as host
How to test –using TwinCAT3 as host
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Copyright © Infineon Technologies AG 2016. All rights reserved.

Overview and Requirements
Setup
Defining the interface of EtherCAT slave node
Generating Slave Stack Code and ESI file
Implementation of the application
How to test –using TwinCAT2 as host
How to test –using TwinCAT3 as host
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2
3
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Copyright © Infineon Technologies AG 2016. All rights reserved.

Overview
This example demonstrates the
implementation of a EtherCAT slave node
using the Beckhoff SSC Tool to generate
the slave stack code for „XMC4800 Relax
EtherCAT Kit“.
While reviewing this example you will
see in output direction the EtherCAT
master controlling the 8 LEDs on the „XMC EtherCAT PHY Board“
and dimming LED2 of the Relax Kit. In input direction you will
monitor inside the master device the status of the buttons available
on the Relax Kit. You will observe inside the source code how to
modify the mapping of the data structures to the I/Os for your own
evaluations and testing. Furthermore you will learn how to modify
the data structures and generate a slave stack code which fits to
your needs. In this example we will demonstrate how easy it is to
setup a proper EtherCAT communication by using the EtherCAT APP.
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Copyright © Infineon Technologies AG 2016. All rights reserved.

Requirements
XMC4800 Relax EtherCAT Kit
RJ45 Ethernet Cable
Windows Laptop installed
- DAVE v4 (Version4.1.4 or higher)
- TwinCAT2 or TwinCAT3 Master PLC
- Slave Stack Code Tool Version 5.12
Micro USB Cable (Debugger connector)
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Copyright © Infineon Technologies AG 2016. All rights reserved.

Requirements - free downloads
TwinCAT2 (30 day trial; 32bit Windows
only)
Link: Download TwinCAT2
or
TwinCAT3 (no trial period; usability limited;
32bit and 64bit Windows)
Link: Download TwinCAT3
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Copyright © Infineon Technologies AG 2016. All rights reserved.
ATTENTION: According our experience TwinCAT is best compatible
with Intel™ ethernet chipset.
For details on compatibility with your hardware, additional driver and
general installation support please get into contact with your local
BECKHOFF support.

Requirements - free downloads
DAVE (v4.1.4 or higher)
Link: Download DAVE (Version 4)
EtherCAT Slave Stack Code Tool
Version 5.12
(ETG membership obligatory)
Link: Slave Stack Code Tool
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Copyright © Infineon Technologies AG 2016. All rights reserved.

Overview and Requirements
Setup
Defining the interface of EtherCAT slave node
Generating Slave Stack Code and ESI file
Implementation of the application
How to test –using TwinCAT2 as host
How to test –using TwinCAT3 as host
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2
3
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Copyright © Infineon Technologies AG 2016. All rights reserved.

Setup –Hardware
Ethernet Cable
connected to
IN-port
Micro USB cable
Debugger
connected to
X101 debug
connector
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Copyright © Infineon Technologies AG 2016. All rights reserved.

Setup –Import example project into DAVE
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Copyright © Infineon Technologies AG 2016. All rights reserved.

Setup –Import example project into DAVE
After the project import you will
find this project folder structure.
The project is nearly complete
for building, it only misses the
EtherCAT slave stack code. For
these files the Src folder has been
already prepared.
The EtherCAT slave stack code
for the XMC4800 can be generated
by configuration files. These
configuration files are included in
the project already.
The following slides show in detail
how to define your EtherCAT slave
node interface and to generate the
slave stack code.
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Copyright © Infineon Technologies AG 2016. All rights reserved.

Overview and Requirements
Setup
Defining the interface of EtherCAT slave node
Generating Slave Stack Code and ESI file
Implementation of the application
How to test –using TwinCAT2 as host
How to test –using TwinCAT3 as host
1
2
3
4
5
6
7
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Copyright © Infineon Technologies AG 2016. All rights reserved.

The flow to define the EtherCAT slave node
interface
Take the Excel Worksheet
provided inside the example
project to define your
EtherCAT slave node interface.
The Beckhoff SSC-tool uses
the excel sheet as an input to
generate the output-files.
The generated EtherCAT
slave stack code does apply
for the XMC4800.
The generated EtherCAT
Slave Information file (ESI)
does apply for the EtherCAT
host. There the relevant
interface information about the
slave is stored.
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Copyright © Infineon Technologies AG 2016. All rights reserved.

Defining the interface of EtherCAT slave node
Double click on the excel file
to open it.
Check the content of the file.
The data defined in both I/O
directions is 4x16bit integers
and 8x1bit booleans.
For further details on how to
define your own interface you
may want to follow the
instructions inside EtherCAT Slave
Design Quick Guide.pdf inside SSC
tool.
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Copyright © Infineon Technologies AG 2016. All rights reserved.

Overview and Requirements
Setup
Defining the interface of EtherCAT slave node
Generating Slave Stack Code and ESI file
Implementation of the application
How to test –using TwinCAT2 as host
How to test –using TwinCAT3 as host
1
2
3
4
5
6
7
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Copyright © Infineon Technologies AG 2016. All rights reserved.

Generating Slave Stack Code and ESI file
Start the tool and create a
new project File >> New
Select the configuration file
which you find inside the
example project.
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Copyright © Infineon Technologies AG 2016. All rights reserved.

Generating Slave Stack Code and ESI file
Select the Infineon device
inside the drop down list and
confirm with the OK button.
Your project will be created.
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Copyright © Infineon Technologies AG 2016. All rights reserved.

Generating Slave Stack Code and ESI file
›Check the settings inside SlaveInformation: vendor ID, vendor name,
product ID and product code are customer specific and are used by the host
to identify the slave.
›Define revision number, serial number, device name, HW/SW version
according to your needs.
›The vendor ID/name and product code assigned to infineon may be used for
evaluation purpose only. For productive purpose your own vendor ID/name
assigned by the EtherCAt Technology Group is obligatory.
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Copyright © Infineon Technologies AG 2016. All rights reserved.

Generating Slave Stack Code and ESI file
Import the EXCEL-sheet
which defines the interface of
your EtherCAT node.
Select the EXCEL-file
provided inside the example
project.
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Copyright © Infineon Technologies AG 2016. All rights reserved.

Generating Slave Stack Code and ESI file
Click on Project >> Create
new Slave Files
to start file generation.
In this step the destination
folder for the EtherCAT Slave
Stack Code and the ESI file can
be adapted. For this example it
is recommended to take the
default settings.
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Copyright © Infineon Technologies AG 2016. All rights reserved.
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