AM243x MCU+ SDK  08.01.00
Industrial Communications Toolkit

Introduction

The Industrial Communications Toolkit enables real-time industrial communications for TI processors. Industrial communication is typically handled by the Programmable Real-Time Unit Industrial Communication Subsystem (PRU-ICSS). The PRU-ICSS is a co-processor subsystem containing Programmable Real-Time (PRU) cores and Ethernet media access controllers (EMACs), which implement the low level industrial Ethernet and fieldbus protocols through firmware. The upper layers of the protocols stacks are implemented in software running on Arm cores.

Three models for this protocol software are supported:

  • Full protocol stacks from TI
  • 3rd party protocol stacks
  • Customer can use their own stack

PRU cores are primarily used for industrial communication, and can also be used for other applications such as motor control and custom interfaces. The PRU-ICSS frees up the main Arm cores in the device for other functions, such as control and data processing.

Full Protocol Stacks from TI

Industrial protocol stacks and examples included in this SDK are supported directly by TI powered by Kunbus technology.

Following industrial communication protocols are supported:

EtherCAT Slave

EtherCAT (Ethernet for Control Automation Technology) is a real-time industrial Ethernet standard for industrial automation applications, such as input/output (I/O) devices, sensors and programmable logic controllers (PLCs). It was originally developed by Beckhoff Automation GmbH but is now overseen by the EtherCAT Technology Group that was set up to help with proliferation of the EtherCAT standard. EtherCAT technology adds certain features on Ethernet and enforces certain configurations to make it a very efficient network technology for automation while fully conforming to the Ethernet specifications. The design of EtherCAT enables any standard PC to be used as an EtherCAT master and communicate with EtherCAT slaves, which are specialized devices compliant with the EtherCAT specification. Together, the master and slave EtherCAT devices can be used in all devices in the factory network – automation controllers, operator interfaces, remote input/output units, sensors, actuators, drives and others.

Data Sheet

For information about supported features and key performance parameters, see EtherCAT Slave Data Sheet

Examples

For more details regarding the pre-integrated stack and example applications, see EtherCAT Slave Demos.

EtherNet/IP Adapter

EtherNet/IP is a member of a family of network protocols that implements the Common Industrial Protocol (CIP) at its upper layers. EtherNet/IP is the name given to CIP when it is implemented over standard Ethernet as defined by IEEE 802.3. EtherNet/IP is managed by the Open DeviceNet Vendor Association, Inc. (ODVA), which also has responsibility for publishing The EtherNet/IP Specification and coordinating conformance testing. Because EtherNet/IP uses standard Ethernet and TCP/IP technologies, compatibility and coexistence with other applications and protocols is assured.

Data Sheet

For information about supported features and key performance parameters, see EtherNet/IP Adapter Data Sheet

Examples

For more details regarding the pre-integrated stack and example applications, see EtherNet/IP Adapter Demos.

IO-Link Master

IO-Link (International Electrotechnical Commission [IEC] 61131-9) is an open standards protocol that addresses the need for intelligent control of small devices such as sensors and actuators. This standard provides lowspeed point-to-point serial communication between a device and a master that normally serves as a gateway to a fieldbus and PLC. The intelligent link established enables ease of communication for data exchange, configuration, and diagnostics. The many advantages of an IO-Link system include standardized wiring, increased data availability, remote monitoring and configuration, simple replacement of devices and advanced diagnostics.

Data Sheet

For information about supported features and key performance parameters, see IO-Link Master Data Sheet

Examples

For more details regarding the pre-integrated stack and example applications, see IO-Link Master Demo.

Profinet Device

PROFINET is a real-time Ethernet standard for the high-speed, deterministic communications required for a wide range of industrial applications including factory automation, process automation and building automation. Originally developed under the leadership of Siemens GmbH as a network extension to the popular PROFIBUS fieldbus technology, PROFINET is now supported by PROFIBUS & PROFINET International. In 2003, PROFINET was integrated into the IEC 61158 and IEC 61784 standards.

Data Sheet

For information about supported features and key performance parameters, see Profinet Device Data Sheet

Examples

For more details regarding the pre-integrated stack and example applications, see Profinet Device Demos.

Third Party Protocol Stacks or Customers using their own Stacks

In this model, the adaptation of stack to PRU-ICSS on TI SoCs needs to be done by third party vendors or customers themselves. SDK provides the PRU-ICSS firmware for protocols and the hardware abstraction layer APIs to communicate with thr firmware.

Industrial Communications FWHAL

FWHAL(Firmware and Hardware Abstraction Layer) implements the key interface between protocol specific PRU-ICSS firmware and protocol stack. The PRU-ICSS firmware runs on the PRU cores, offloading the time-critical link layer processing from the main ARM processor, running FreeRTOS. The FW HAL provides simple access to the PRU-ICSS resources and integrates easily with the protocol stack and application software running on the ARM core.

FWHAL for following industrial communication protocols are present:

Examples

EtherCAT Slave Beckhoff SSC Demo example for EtherCAT Slave is based on Beckhoff SSC. The stack sources should be added manually and patched to build this example. Files for adapting the stack to EtherCAT Slave FWHAL are present in ${SDK_INSTALL_PATH}/source/industrial_comms/ethercat_slave/beckhoff_stack/stack_hal folder.

Additional References

Document Description
Industrial Communication Protocols Supported on Sitara Processors Application Report by TI describing the industrial communication protocols supported on Sitara Processors.
EtherCAT on Sitara Processors Application note by TI on the EtherCAT slave implementation on Sitara Processors.
EtherNet/IP on TI's Sitara processors Application note by TI on the EtherNet/IP Adapter implementation on TI's Sitara Processors.
PROFINET on TI's Sitara processors Application note by TI on the Profinet implementation on TI's Sitara Processors.
Ethernet PHY Configuration Using MDIO for Industrial Applications This document intends to expedite the development of industrial Ethernet applications on custom boards with migration and troubleshooting guides for the Ethernet PHYs.