EtherCAT SubDevice Demos

Table of Contents

• Introduction
• Supported Combinations

Introduction

These examples are EtherCAT SubDevice applications based on evaluation stacks provided in the SDK.

• EtherCAT SubDevice Simple Demo
• EtherCAT SubDevice CiA402 Demo
• EtherCAT SubDevice CTT Demo

Note

SDK examples use evaluation version of stack. They will run for 1 hour only. If you want an unlimited version, you need to rebuild the Beckhoff SSC Library used by the examples. Please check "${SDK_INSTALL_PATH}/source/industrial_comms/ethercat_slave/stack/patch/SlaveFiles/src/readme.md" for more details on how to rebuild the library.

Links to important sections in the detailed documentation are provided below:

• Home Page
• Data Sheet
• Certificate
• Release Notes
• Example Quick Start
• API Documentation

Note

Fast link detection using RX_LINK pins (MLINK mode) is required to support complete EtherCAT functionality, and certain conformance tests will fail if fast link detection is not used. Link Polling is not suggested, use it only for debugging if required.

In the E1/E2 revision of am243x-lp board, there are following issues which impact enhanced link detection and RX_ER monitor by ICSSG. Therefore EtherCAT cable redundancy can not be supported in E1/E2 revision.

• "PRG1_PRU0_GPO8" is not connected to "PRG1_CPSW_ETH1_LED_LINK" from Ethernet PHY
• "PRG1_PRU1_GPO8" is not connected to "PRG1_CPSW_ETH2_LED_LINK" from Ethernet PHY
• "PRG1_PRU0_GPO5" is not connected to "PRG1_CPSW_ETH1_LED_1000/RX_ER" from Ethernet PHY
• "PRG1_PRU1_GPO5" is not connected to "PRG1_CPSW_ETH2_LED_1000/RX_ER" from Ethernet PHY

In E3 revision, following connections are available. SDK example does not enable cable redundancy yet, but will work on E3 revision only. For running it on E1/E2 revision, few changes are required. For more details, see Supported Combinations.

Attention

If you need to reload and run the example again, EVM power-cycle is MUST.

Supported Combinations

Parameter	Value
CPU + OS	r5fss0-0 freertos
ICSSG	ICSSG1
Toolchain	ti-arm-clang
Boards	am243x-evm, am243x-lp (E3 Revision)
Example folder	examples/industrial_comms/ethercat_slave_demo

As mentioned above, SDK example does not enable cable redundancy yet, but will work on E3 revision of am243x-lp only. For running it on E1/E2 revision, following changes are needed.

• Disable the pinmux configuration for pins not available in E1/E2 revision
  • In "EtherCAT" module in SysConfig, uncheck following pins from PRU_ICSSG1_MII_G_RT.
    • MII0_RXER(PR1_MII0_RXER)
    • MII0_RXLINK(PR1_MII0_RXLINK)
    • MII1_RXER(PR1_MII1_RXER)
    • MII1_RXLINK(PR1_MII1_RXLINK)
• Handle the pin assgnment change for PHY reset
  • In "GPIO" module in SysConfig, change the pin assignment of "CONFIG_GPIO0_PHYRESET0" from "W20" to "W11".