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ET9000, ET9200, ET9300 | EtherCAT development software

ET9000 | EtherCAT configurator

Through clear definition of the interfaces in the EtherCAT specification an EtherCAT master can be developed without having to develop a configurator at the same time. The EtherCAT configurator is aimed at EtherCAT master developers who want to use it or integrate and distribute it with their software package.

The Windows software for configuring an EtherCAT network includes a configurator for:

  • reading XML device descriptions (ESI)
  • generating XML configuration descriptions (ENI)

 

Properties

  • online features
    • scanning of EtherCAT networks
    • diagnostics
    • free-run online mode for commissioning
  • topology representation
  • Automation software interface starts the configurator as COM server.
    • COM interface
    • XML interface for parameter exchange between client and server
    • Safety configuration, EL69xx Safety PLC (Safety over EtherCAT)
  • including embedded graphical user interface
  • EXE file, executable under Windows XP, Vista and Windows 7 (32 bit)

The EtherCAT configurator is not required if the TwinCAT software from Beckhoff is used.

 

ET9200 | EtherCAT Master Sample Code

The EtherCAT Master Sample Code is a user mode Windows application that demonstrates implementation of the EtherCAT master. The TR8200 workshop for EtherCAT master developers is based on the ET9200.

 

Features

  • boot-up and configuration
  • sending and receiving of “raw” EtherCAT frames to/from a network adapter
  • management of EtherCAT slave states
  • reading of XML configuration descriptions
  • sending of the initialisation commands that are defined for the different state changes to the slave device
  • mailbox communication
    • CoE (CAN Application Protocol over EtherCAT)
    • SoE (Servodrive Profile over EtherCAT)
    • EoE (Ethernet over EtherCAT)
    • FoE (File Access over EtherCAT)
    • AoE (ADS over EtherCAT)
  • integrated virtual switch functionality
  • cyclical process data communication
  • distributed clocks state machine

The software is sent as source code and can be adapted to the hardware environment (Ethernet controller) and integrated in a real-time environment.

 

ET9300 | EtherCAT Slave Stack Code

The EtherCAT Slave Stack Code (SSC) is a code written in ANSI C. Its modular and simple structure enables fast entry into slave development.

A large number of EtherCAT slaves can be realised with the SSC, from the I/Os to the drives. The stack can be easily adapted to different platforms since it provides a defined hardware access layer and also supports different controller architectures.

The SSC, which has been available since 2004 and has been continously maintained and enhanced in collaboration with the EtherCAT Technology Group, is considered to a certain extent to be the reference for an EtherCAT slave device implementation. Particular attention was paid to the conformity with the protocol specification.

The slave stack code tool provided offers the possibility to generate a slave stack code, device description files (ESI) and individual source code documentation to suit the developer’s own needs.

 

Functionality (excerpt)

  • ESM (EtherCAT State Machine)
  • mailbox protocols:
    • CoE (CAN application protocol over EtherCAT)
    • AoE (ADS over EtherCAT)
    • EoE (Ethernet over EtherCAT)
    • FoE (File Transfer over EtherCAT)
  • preparation for SoE (Servo drive profile over EtherCAT)
  • preparation for boot loader support
  • various synchronisations (e.g. DC), including Sync Watchdog
  • example implementation of the CiA402 drive profile according to ETG.6010 specification

 

For further information and download please see www.ethercat.org (ETG membership necessary)

 

Technical data  
ET9000 licence for using the EtherCAT configurator
ET9200 licence for using the EtherCAT Master Sample Code
ET9300 licence for using the EtherCAT Slave Stack Code(free download from the member’s section of the EtherCAT Technology Group web page)

 

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