EtherCAT示例文档

------------------------------------------------------------------------------- EtherCAT Explorer base on SOEM lib ------------------------------------------------------------------------------- 1. INTRO 1.1 ABOUT EtherCAT is a graphical windows program for exploring and navigating EtherCAT slaves devices. The project was created in order to teach/learn the protocol. It's a fast developped code without any ambition of speed, stability, beauty of code. It just wrap 'Simple Open EtherCAT Master' native C code for .NET and then use it. SOEM is by Arthur Ketels, all the complex work is done in his lib, not in my graphical interface. This document is subject to change. Winpcap must be installed on the Pc : do it with Wireshark. .NET Framework 4.0 also, and Visual C++ 10 redistribuable (both should be OK on a not so old PC). 1.2 CREDITS The project was created by F. Chaxel, in 2016. Base on simple Open EtherCAT Master, by Arthur Ketels : http://openethercatsociety.github.io/ EtherCAT specifications are available on https://www.ethercat.org for EtherCAT members. Graphics are the usual FamFamFam: http://www.famfamfam.com/ It is, of course, inspired by the best Bacnet Explorer, Yabe : http://sourceforge.net/projects/yetanotherbacnetexplorer/ also by Profinet Explorer http://sourceforge.net/projects/profinetexplorer/ and my own EtherNet/IP Explorer http://sourceforge.net/projects/enipexplorer/ 2. USAGE 2.1 Exploration - Start EtherCAT - Important : Remove the master from your EtherCAT network - Select "Open Interface" under "Functions". 2.2 Read Slaves Input data Inputs are displayed in the corresponding grid. 2.3 Write Slaves Input data Outputs are displayed in the corresponding grid. Values modifications are sent to the slave (hit enter key). 2.4 State Managment EtherCATExplorer try to put all slaves in Operational Mode on startup. State Managment menu could be use to change it individualy. 2.5 Read & Write PDO Slave must support CoE -CAN over EtherCAT- mailbox protocol. Index is in hexadecimal, subIndex in decimal (could be -1 for all values). For writing you must respect the same format as read (2 digit hex values and 1 space). If a database of devices description is filled with the manufacturer XML files, the object dictionary help to get the Index (just click on it). 2.4 Devices Database A database file could be associate. After this, the XML device files could be upload inside. The database become the default one and is open without any user action. No maintenance operation can be done. So make copy of the file (or keep the XML files). 2.5 Slave EEPROM Read the EEPROM from the current selected device, or from a file. Read size is limited to 32Ko. Don't know if more is required. Can show it in Hex or Ascii : hit the Button on top of the Textbox. I've no way to test write, so it's not implemented. Moreover it's an option for hw/fw developpers and sure each one has a tool for that. Beckhoff TwinCat 3.0 can do it safely, even with the 7 days "infinitely renewable" trial licence. 3. SETTINGS OPTIONS 3.1 RefreshStatePeriod - In seconds : read back slaves status & update the associated icons. Set to -1 for nothing. 3.1 DelayUpMs - In milliseconds, max time allows to "discover" the slaves. 3.2 InputRefreshPeriod - In milliseconds (more than 100 ms) 3.3 ReadOnly & ReadWrite colors are used in the Acyclic dialogBox to shows objects attributs status. 4. TESTS The EtherCAT has been tested with : - Wago 750-354 I/O (vendor ID 0x00000021) - Infranor XtrapulsPac servo-controller (vendor ID 0x00000082) 5. SUPPORT There's no support for the project at this time, and certainly never. If you write to me, I'm unlikely to answer. 6. REPORT ERRORS Yes, there be errors alright. There always are. Many won't be interesting though. Eg. if you find a computer that behaves differently from others, I'm unlikely to care. This is not a commercial project and I'm not trying to push it to the greater good of the GPL world. (This may change though.) If you find a device that doesn't work with it, it might be interesting. But in order for me to fix it, I need either access to the physical device or printouts from programs like Wireshark, that displays the error. Write to me using the Sourceforge link. 7. CONTRIBUTE Really? You think it's missing something? It's not really meant as a huge project, but if you really must, try contacting me using the Sourceforge link. 8. MISC Project web page is located at: http://sourceforge.net/projects/ethercat-explorer/ The EtherCAT Technology, the trade name and logo "EtherCAT" are the intellectual property of, and protected by Beckhoff Automation GmbH. You can use EtherCATExplorer for the sole purpose of creating, using and/or selling or otherwise distributing an EtherCAT network master provided that an EtherCAT Master License is obtained from Beckhoff Automation GmbH. In case you did not receive a copy of the EtherCAT Master License write to Beckhoff Automation GmbH, Eiserstrasse 5, D-33415 Verl, Germany (www.beckhoff.com). This tool is realized in the field of the IUT Nancy/Brabois ETG membership.