Slave Stack Code (SSC)read.pudn.com/downloads713/ebook/2858774/1. EL9800_SW_works… · Code configuration (ecat_def.h) State machine (ecatslv.) Process data (ecatappl.) User application

Slave Stack Code(SSC)

1107

Agenda

Introduction

EtherCAT State Machine (ESM)

Mailbox

Process Data

Synchronisation

CiA402 Sample Implementation (CiA402)

Conformance Test Tool (CTT)

•Introduction

•ESM

•Mailbox

•Process Data

•Synchronisation

•CiA402

•CTT

Features

Structure

Prinzipal Components

SSC Introduction

SSC Features

Handling of the EtherCAT State Machine (ESM)

Distributed Clocks (DC)

Mailbox handling

Protocol handling for:

CoE (CAN Application Protocol over EtherCAT)

FoE (File Access over EtherCAT)

EoE (Ethernet over EtherCAT)

SoE (Servo Drive Profile over EtherCAT)

AoE (ADS over EtherCAT)

CIA402 Drive Profile (Sample Implementation)

SSC Structure

ESC address space (DPRAM)0x1000Register0x0000

Process dataMailbox

User Application

Generic EtherCAT stack

EtherCAT Slave Controller (extract)

Process Data Interface / IRQ

EtherCAT State

Machine

Process data

Mailbox

Application (e.g. CiA402 Drive Profile)

PDI/ Hardware Access

Application function set

Hardware function set

SSC Structure | File Stack

DL

AL

ESC

Process data interface (PDI) and hardware specific files (XXXXhw.*)

Code

confi

gura

tion (

ecat_

def.h

)

State machine (ecatslv.*) Process data (ecatappl.*)

User application (el9800appl.*, cia402appl.*, ….) VoE

Mailbox (mailbox.*)

Emer

genc

y (em

cy.*)

AoE

(eca

taoe.*

)

CoE

(eca

tcoe.*

)

FoE

(eca

tfoe.*

)

EoE

(eca

teoe.*

)

SoE

(eca

tsoe.*

)

sdos

erv.*

aoea

ppl.*

objde

f.*

foeap

pl.*

eoea

ppl.*

coea

ppl.*

IRQPDI

SSC Principal Components

Initialization

Hardware HW_INIT() [XXXhw.*]

Stack initialization MainInit() [ecatappl.*]

Mainloop MainLoop() [ecatappl.*]

Process data handling (in Freerun mode)

EtherCAT State Machine handling AL_ControlInd() [ecatslv.*]

Mailbox handling

(CiA402 State Machine CiA402_StateMachine() [cia402appl.*])

Interrupt handling [ecatappl.c]

Process data interface

Distributed Clocks

•Introduction

•ESM

•Mailbox

•Process Data

•Synchronisation

•CiA402

•CTT

EtherCAT State Machine Structure

State Transition ProcedureState RequestTransition FunctionsState Response

03.03.2012 8

EtherCAT State Machine (ESM)

ESM | Schema

(IP)

(OP)

(PI)

(PS) (SP)

(OS)(SO)

(SI)

(OI)

(IB) (BI)

Init

Pre-Operational

Safe-Operational

Bootstrap*

Operational

*optional

State Transition Procedure

Conditional: Master sends required configuration data

Master writes requested state to register 0x120 (AL Control)

Slave checks if written setup is valid and exectues transition specific operations

Slave writes result of the state transition to register 0x130 (AL Status)

If error occurs while state transition register 0x134 (AL Status Code)

shall be written

[1]

[2]

State Request

Master send state request [1]

Resulting ESC register values [2]

Bit 0 triggered by 0x120

AL_ControlInd() | Overview

SM OK?

Check SM settings

IP

PS

SO

OS/OP/OI

SP/SI

PI

Start Mailbox handler

Stop Output handler

Start Input handler

Stop Input handler

Start Output handler

Stop Mailbox handler

yes

no

no

no

no

no

yes

yes

yes

yes

yes

yes

Write register 0x130/0x134

no

successful

failed

failed

failed

successful

successful

no(IP)

(OP)

(PI)

(PS) (SP)

(OS)(SO)

(SI)

(OI)

Init

Pre-OP

Safe-OP

Operational

Start / Stop Mailbox Handler

Start Mailbox Handler MBX_StartMailboxHandler()

State transition: Init to PreOP (IP)

Check mailbox SyncManager (SM0 and SM1) settings

Enable mailbox SyncManager HW_EnableSyncManChannel()

Stop Mailbox Handler MBX_StopMailboxHandler()

State transition: PreOP to Init (PI)

Disable mailbox SyncManager HW_DisableSyncManChannel()

Free mailbox Queue buffer

Global indication variable: bMbxRunning

UserInterface: APPL_StartMailboxHandler()

APPL_StopMailboxHandler()

PreOP

InitIP PI

OP

SafeOP

Start Input Process Data handler

Calculate process data size APPL_GenerateMapping()

Start Input Handler StartInputHandler()

State transition: PreOP to SafeOP (PS)

Check process data SyncManger settings (SM2 and SM3)

Check distributed clocks settings (if enabled)

Setup process data watchdog (if enabled)

Enable output and input process data SyncManger

Set AL Event Mask (register 0x204:0x207)

Set global variable: bEcatInputUpdateRunning

User interface: APPL_StartInputHandler()

PreOP

Init

OP

SafeOPPS

Stop Input Process Data Handler

Stop Input Handler StopInputHandler()

State transitions:

OP to Init (OI)

OP to PreOP (OP)

SafeOP to PreOP (SP)

SafeOP to Init (SI)

Disable output process data SyncManger

Reset AL Event Mask (register 0x204:0x207)

Clear global variable: bEcatInputUpdateRunning

User interface: APPL_StopInputHandler()

PreOP

Init

OP

SafeOPSP

OI

OP

SI

Start / Stop Output Process Data Handler

Start Output Handler StartOutputHandler()

State transition: SafeOP to OP (SO)

Set global variable: bEcatOutputUpdateRunning

User interface: APPL_StartOutputHandler()

Stop Output Handler StopOutputHandler()

State transition:

OP to SafeOP (OS)

OP to PreOP (OP)

OP to Init (OI)

Clear global variable: bEcatOutputUpdateRunning

User interface: APPL_StopOutputHandler()

PreOP

Init

OP

SafeOP

OI

OP

SOOS

[3]

TwinCAT logger window

State Response

Master send read command for AL Status register (0x130) [3]

AL Status Code shall be set

•Introduction

•ESM

•Mailbox

•Process Data

•Synchronisation

•CiA402

•CTT

Mailbox Communication

Supported Protocols

Mailbox SyncManager Configuration

Mailbox handling within the SSCExample CoE

Mailbox | Supported Protocols

CoE (CAN Application Protocol over EtherCAT) COE_SUPPORTED

FoE (File Access over EtherCAT) FOE_SUPPORTED

EoE (Ethernet over EtherCAT) EOE_SUPPORTED

SoE (Servo Drive Profile over EtherCAT) SOE_SUPPORTED

AoE (ADS over EtherCAT) AOE_SUPPORTED

Example: ESI Mailbox Entry

Mailbox | ESI SyncManager Entry

SyncManager settings and information are located in ESC register 0x0800+y*8

y = number of SM

SyncManager mailbox settings

Size definition of SyncManager buffer

StartAddress in physical memory

ControlByte written on startup to register

ES

C A

L S

tatu

s re

gist

er

SyncManager 0 config datagram

Mailbox | SM Configuration

Mailbox Sync Manager are written during state change (Init to PreOP)

Mailbox | SM Configuration

Mailbox Sync Manager are written during state change (Init to PreOP)

SyncManager 0 config datagram

Master send request

Write to Out mailbox (SM0)

SDO Info of object 0x1008

Write last byte of SM buffer to set write complete bit(0x220.8)

CoE protocolMailbox header

CoE | SDO Info Request (1)

8Length

0x0000

Address0

Priority3

Type3

Counter0

Number8

Type0x03

OpCode0

FragLeft0x1008Obj Index

SyncManger 0 Buffer


Poll SM0 Event bit (AL Event register 0x220.8) ECAT_Main()

SM0 Event bit is set

Copy mailbox content to local buffer MBX_CheckAndCopyMailbox()

Request can be handled

Check received mailbox header MailboxServiceInd()

Mailbox protocol type 3 (CoE)

[ecatslv.*]

[mailbox.*]

[mailbox.*]

DPRAM

0x220.8

RegisterPDSM0 SM1

Mailbox

PDI abstraction layer

Get CoE service type

Get Object description

polling

SM0 Buffer

80x0000

03 Type3

8 Type0x03 OpCode

00x1008 Obj Index

0


Get type of CoE Service COE_ServiceInd()

CoE service type 8: „SDO Info“

Get SDO Info Service SDOS_SdoInfoInd()

SDO Info service OpCode 0x03: „Get Object Description“

Get object description from object dictionary OBJ_GetDesc() [objdef.*]

[ecatcoe.*]

[sdoserv.*]

DPRAM

0x220.8

RegisterPDSM1

Mailbox




polling

SM0 Buffer

80x0000

03 Type3

8 Type0x03 OpCode

00x1008 Obj Index

0

SM0

CoE | SDO Info Response (1)

Create reponse Adapt existing data MBX_MailboxSendReq()

Write response to In mailbox (SM1) [mailbox.*]

SM1 Buffer

80x0000

033

80x03 OpCode

00x1008

0

Device Name0x070x000x09

Info _NameObj CodeMax SubindexData type

DPRAM

0x220.8

RegisterPDSM1SM0

Mailbox




0x04

Length23

CoE | SDO Info Response (2)

Master sends empty datagram INPUT mailbox (SM1)Complete mailbox size

Returning datagram contains slave response SM1 Buffer

230x0000

03

Priority

3

8 Type0x04 OpCode

00x1008 Obj Index

0

Device Name0x070x000x09

Info _NameObj CodeMax SubindexData type

Type

Length

Counter

Address

Number

Frag Left

•Introduction

•ESM

•Mailbox

•Process Data

•Synchronisation

•CiA402

•CTT

Process Data Communication

Process data SyncManger configuration

FMMU configuration

Process data SyncManger content

Process data handling

SM Control Register (ET1100 Datasheet)

Process data SyncManger configuration mostly the same as mailbox SyncManager Initialization during state transition PreOP SafeOPSyncManger is set to buffered operation mode

Process Data | SM Configuration

TwinCAT Init Command window

0x1C00 0x1C051st Buffer

Sync Manager 3

0x1C06 0x1C0B2nd Buffer

0x1C0C 0x1C123rd Buffer

Process Data | TxPDO SM

0x1A00 0x1A02

FMMU Initialisation Datagram

ESI Entry just determines the number of used FMMUs

FMMU setup is calculated by the configurator / master

FMMU 1 setup example:Log address (Input process data image)Physical address

SM3 bufferDirection (input)

Process Data | FMMU Configuration

ESI FMMU Entry

Process Data | Example Datagram

cmd index Log addr Length Interrupt Data

1st Datagram12 0x00 0x01000000 6 0x0000 0x140000000000

TwinCAT Process Data Configuration

Process Data Datagram (LRW)

Process Data | Handling | SM Synchronous (1)

EtherCAT datagram command is 12 (Logical Read / Write)

Data is copied from FMMU0 to SM2 bufferWrite SM2 buffer set SM2 event bit 0x220.10

trigger PDI interrupt

SyncManger2 buffer (process data) is copied to local buffer in PDI ISR

ETG Technical Committee Meeting


1st Datagram12 0x00 0x01000000 6 0x0000 0x140000000000

DPRAM

0x220.10

Register

Mbx SM SM2 SM3

Mailbox


Application

Slave PD stack

FMMU 0 FMMU 1

PDO_OutputMapping() [ecatappl.*]

0x000x14

SM2 BufferIRQ


Map process data to objects APPL_OutputMapping() [XXXappl.*]


IRQ

DPRAM

0x220.10

Register

Mbx SM SM2 SM3

Mailbox


Application

Slave PD stack

FMMU 0 FMMU 1

Local Buffer

8bit Digital Outputs (0x7010) Align Byte SM1 Buffer

PDO (0x1601) Entries

8 bit Digital OutputLED 2 LED 3 LED 4 LED 5 LED 6 LED 7 LED 8LED 1

0x000x14


Execute slave application with updated outputs

Calls user defined applicationCalculate new inputs


DPRAM

0x220.10

Register

Mbx SM SM2 SM3

Mailbox


Application

Slave PD stack

FMMU 0 FMMU 1

ECAT_Application()[ecatappl.*]

EL9800_Application() orCiA402_Application()

e.g.:


Map object values to continuous local buffer

Write new input data to SM3 buffer

FMMU 1 writes data from SM3 buffer to EtherCAT datagramm which addresse 0x01000000


PDO_InputMapping()[ecatappl.c*]

DPRAM

0x220.10

Register

Mbx SM SM3SM2

Mailbox


Application

Slave PD stack

FMMU 0 FMMU 1


1st Datagram12 0x00 0x01000000 6 0x0000 0x1200000000000x00000000AE00

16 bit Analog Input

0xAE0x000x000x00

0x00

0x00

PDO Entries

SM3 Buffer

0x6020.110x1A00 0x1A02

APPL_InputMapping()[XXXappl.c*]

Process Data | Datagram Content


1st Datagram12 0x00 0x01000000 6 0x0000 0x00000000AE00

Datagram (Master to Slave): Output Process Data

Datagram (Slave to Master): Input Process Data

EtherCAT Slave

•Introduction

•ESM

•Mailbox

•Process Data

•Synchronisation

•CiA402

•CTT

Application Synchronisation

Supported Synchronous Mode

DC Synchronous Implementation

Supported Synchronisation Modes

Free Run

Synchronous to SyncManger2

Synchronous to Sync0

DC Synchronous | Implementation

SM2 Event

Copy Outputs from SM2 buffer to local memory PDO_OutputMapping()

Sync0 Event

Execute slave application ECAT_Application()

Copy Inputs from local memory to SM3 buffer PDO_InputMapping()

FrameSM2 Event Sync0Event

FrameSM2 Event Sync0Event

EtherCAT Bus Cycle

Sync0 Cycle

•Introduction

•ESM

•Mailbox

•Process Data

•Synchronisation

•CiA402

•CTT

CiA402 Sample Implementation

Structure

Supported Drive Modes

Object Dictionary

EtherCAT Slave Controller

CiA402 Sample Implementation

ESM Process data CoE Mailbox Protocol

Generic EtherCAT stack

CiA402 Application CiA402

Stack

CiA402 state

machine

CiA402 objects

User specific Application

CiA402 drive

structure

Axis specific

Cyclic synchronous position mode (Csp)

Master Slave

Control word (0x6040)Target position (0x607A)

Status word (0x6041)Actual position (0x6064)

Vel

ocity

cont

rol

Torq

ueco

ntro

l

Mas

ter

Appl

icat

ion

DR

IVE

EtherCAT

Pos

ition

cont

rol

Cyclic synchronous velocity mode (Csv)

Master Slave

Control word (0x6040)Target velocity(0x60FF)

Status word (0x6041)Actual position (0x6064)

Velo

city

cont

rol

Torq

ueco

ntro

l

Mas

ter

Appl

icat

ion

DR

IVE

EtherCATPo

sitio

nco

ntro

l

Status word (0x6041)Actual position (0x6064)Actual velocity (0x606C)

Mode of Operation display (0x6061)

Control word (0x6040)Target velocity(0x60FF)Target position (0x607A)

Mode of Operation (0x6060)

Csv / Csp

Master Slave

Vel

ocity

cont

rol

Torq

ueco

ntro

l

Mas

ter

Appl

icat

ion

DR

IVE

EtherCAT

Posi

tion

cont

rol*

Posi

tion

cont

rol*

*Position control can be either located on master or slave side

CiA402 Sample Implementation | Object Dict.

Object dictionary and device description based on the MDP

(Modular Device Profile)

RxPDO (Outputs) 0x1600 - 0x1602

Configuration Area0x1000 – 0x1FFF

Device Parameter0xF000 – 0xFFF

0x1610 - 0x1612

TxPDO (Inputs) 0x1A00 - 0x1A02 0x1A10 - 0x1A12

CiA402 objects* 0x6000 - 0x67FF

* not all objects defined in CiA402 Drive Profile are implemented in this sample application

0x6800 - 0x6FFF

Base Device 1st Axes 2nd Axes

PDO indexincrement 0x10

Object increment 0x800

CiA402 Files / References

Files:

Object dirctionary, Drive structure, Defines cia402appl.h

Drive Functions cia402appl.c

References:

ETG.6010 CiA402 Implementation Guideline

(ethercat.org → download → “EtherCAT Specification”)

•Introduction

•ESM

•Mailbox

•Process Data

•Synchronisation

•CiA402

•CTT

Conformance Test Tool

Layout

Test Files

Test Information

Layout | Home ScreenImproved layout:

(1) Tabbed layout for selected slaves and slave information

(2) Main window shows actual information. Here: overview information of a slave

(3) ESI Cache Browserlists all ESI descriptions loaded by tool

gives information about ESI elements

(4) Project Explorer shows scanned devices and loaded test files

(5) Logger Window shows information during test

(1)

(3)(2)

(4) (5)

CTT Features | Information Test description:

integrated into test cases- Purpose- Pre Condition- Action- Post Condition- References

Output:messages in Logger window:- warningsare highly recommended to fix

- errors have to be fixed

- messages / successinformation

Verbose mode:additional information for test result interpretation

CTT Features | Test Files / Test ID

(1)

(1) CTT lists test files with file ID, file version and name

(2) if single test case is selected the tool shows the Test ID composed of:- TestFile ID

2 Byte- TestGroup ID

2Byte- TestCase ID

2 ByteAdditionally listed:- TestFile Version

12 Byte (4B.4B.4B)- TestCase Name

(2)

TestFile ID TestCase IDTestGroup ID TestFile Version (format: x.x.x)

TestF

ileTe

stGro

upTe

st Ca

se

Annotation

Picture sourcesESC Memory view: TwinCAT selected ”EtherCAT slave” EtherCAT tab

Advanced Settings… button ESC Access MemoryESI view: Xml editor with graphic editor interfaceFrames: Wireshark

Documents

Slave Stack Code (SSC)read.pudn.com/downloads713/ebook/2858774/1. EL9800_SW_works… · Code configuration (ecat_def.h) State machine (ecatslv.*) Process data (ecatappl.*) User application

Slave Stack Code (SSC)read.pudn.com/downloads713/ebook/2858774/1. EL9800_SW_works… · Code configuration (ecat_def.h) State machine (ecatslv.) Process data (ecatappl.) User application