Environment Setup

1 Code Composer Studio 6.1.2

                Thissoftware could be get from TI website. It is used tocompile and debug sysbios projects.

2 sysbios_ind_sdk_2.1.1.2

                Thissoftware is provided by TI, which implementEtherCAT slave applications.

3 TC31-Full-Setup

                Thissoftware could be get from ETG website, which helpsEtherCAT deployment and development.

                Note: After installation, TI xml file(such as TI_ESC.xml)should be copied to the directory C:\TwinCAT\3.1\Config\Io\EtherCAT

                Note: some configuration need to be settled as followinginstructions, otherwise network adapter won’t work.

                http://wenku.baidu.com/link?url=x7TsIEViHB3fL1j1M5afmLINYecXHrRFRmtQ_MfMDoUSr7CQd0ADP3j7AFV-KFOURXc4cSXQjXIml2kPs39q-YWlhLs9-qywVMKPSa76h8a

Deployment Setup

0     Make sure ICE is already running, and theconnection is OK

1     Run TwinCAT XAE(VS2015)

2     Createa TwinCAT project

3.1  The system should be run at Config mode(bluebutton is activated)

3.2  Choose “IO –> Devices –> Scan”  to discovery new Slave

Apply a new ESI file

                0 makemodification to C:\TwinCAT\3.1\Config\Io\EtherCAT\TI_ESC.xml

                1Clean existing device of IO in TwinCAT XAE

                2 Restart TwinCAT XAE & CCS

                3Choose “IO -> Devices -> Scan” to discovery new Slave - the new slaveshould appear as new ESI defined.

                4Double click the “Box” to open Box property page, choose “Advanced Settings”

                5Choose “ESC Access -> E2PROM -> Hex Editor”, click “Write to File…” togenerate a binary file.

                6Use bin2header tool provide at C:\ti\sysbios_ind_sdk_2.1.1.2\sdk\tools\bin2headerto generate a header file.

Example:

                C:\ti\sysbios_ind_sdk_2.1.1.2\sdk\tools\bin2header>bin2header.exe"F:\DailyWork\

20160304-TECHICE use\ICE project\xml2header\Box 1 (JiangBo-001).bin" "F:\DailyW

ork\20160304-TECHICE use\ICE project\xml2header\Box 1 (JiangBo-001).h" tiesc_eeprom

                7Update C:\ti\sysbios_ind_sdk_2.1.1.2\sdk\protocols\ethercat_slave\ecat_appl\EcatStack\tiesc_eeprom.h according to the new header file.

                Note: TI current implementation would ignore tiesc_eeprom.hif the content in E2PROM is valid.

Please refer to tiescbsp.c

    //if(1 == invalid_crc_flag)                    comment this line would force tiesc_eeprom.hto be used

    {

    #endif

        for(itr = 0; itr <TIESC_EEPROM_SIZE; itr++)

        {

            eeprom_cache[itr] =tiesc_eeprom[itr];

        }

        #ifdef EEPROM_SPI

    }