EtherCAT Example

This example shows how to read and write IDN’s with ServoDrive over EtherCAT. Another example shows how to read and write SDO’s with CAN over EtherCAT as well as downloading a firmware file with File over EtherCAT.

Version: 
1.0.0.1  
Order number: 
000008
€0.00 plus VAT

EtherCAT Example

EtherCAT Example

ServoDrive over EtherCAT


This example shows how to read and write IDN’s with ServoDrive over EtherCAT. As hardware a Rexroth IndraDrive is used. It is also possible to switch the device to another one which uses ServoDrive over EtherCAT.


Several startup parameters can be set as device configuration. These parameters are called IDN’s for devices using ServoDrive over EtherCAT. For each IDN the name, attribute, unit, minimum, maximum and value can be set as number or byte array with a maximum of four bytes.


File over EtherCAT


This example shows how to read and write SDO’s with CAN over EtherCAT as well as downloading a firmware file with File over EtherCAT. It is also demonstrated how to get information about the master and slaves, like the number of active slaves or the state of the slave. As hardware two analog terminals with CAN over EtherCAT are used. The File over EtherCAT functions are implemented theoretically, without hardware.


For device configuration several startup parameters can be set. For devices which use CAN over EtherCAT an index and sub index is used for each parameter. For each parameter it is possible to read or write the value as number or byte array with a maximum of four bytes.


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System Requirements and Restrictions  
   
Programming System CODESYS Development System V3.5.6.0 or higher
Target System CODESYS Control V3.5.6.0 or higher
Supported Platforms / Devices

All


Notice: Use the project ‘Device Reader’ to find out the supported features of your device. ‘Device Reader’ is available for free in the CODESYS Store.


Additional Requirements

ServoDrive over EtherCAT


Rexroth IndraDrive Basic Cs (or any other device which uses ServoDrive over EtherCAT).


To run the example with a CoDeSys Control Win V3 the WinPcap library must be installed (for a free download look at winpcap.org).


Add the component “Component.5=SysEthernet” into “~\3SCoDeSys\GatewayPLC\CoDeSysControl.cfg”.


File over EtherCAT


EtherCAT Beckhoff EK 1100


EL4132 | 2-channel analog output terminal -10…+10 V, 16 bits


EL3142 | 2-channel analog supply terminal 0…20 mA, single-ended, 16 bits


In the example a CoDeSys Control Win V3 is used, but it should run everywhere, where the EtherCAT master runs.


In order to understand abort codes, when an error occurs, the CANOpen Spec is needed.


To run the example with a CoDeSys Control Win V3 the WinPcap library must be installed (for a free download look at winpcap.org).


Add into “~\3S CoDeSys\GatewayPLC\CoDeSysControl.cfg” the component “Component.5=SysEthernet”


Restrictions

Licensing No license required
Required Accessory


Version history

Version Release Notes
Release Date
1.0.0.1 - 07.08.2018

2 Review(s)

ok Review by alan.souza
Functionality
Quality
ok (Posted on 06/03/2017)
ethercat Review by olteanu_eu
Functionality
Quality
ok (Posted on 15/06/2016)

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