EtherCAT サンプルプログラムの実装ガイド(R-IN …

1 R01AN3071JJ0110 Page 1 of 28 RZ/T1 EtherCAT (R-IN Engine ) PLC AC Eth erCAT EtherCAT RZ/T1 Cortex -R4 Cortex -M3 Cortex-M3 EtherCAT Cortex-R4 EtherCAT LED CPU EtherCAT Beckhoff EtherCAT SSC Tool SSC Tool ESI RZ/T1 (1)32 I/O I/O (2)CiA402 CiA402 2 RZ/T1 (R-IN ) R01AN3071JJ0110 RZ/T1 EtherCAT (R-IN Engine ) R01AN3071JJ0110 Page 2 of 28 1.. 3 2.. 4 3.. 5 4.. 6 .. 6 .. 8 5.. 10.

2 10 .. 10 Cortex-M3 .. 10 Cortex-R4 .. 11 .. 11 I/O .. 11 CiA402 .. 14 6.. 16 I/O .. 16 CiA402 .. 17 7. TwinCAT .. 19 ESI .. 19 TwinCAT .. 19 ESI .. 19 I/O .. 20 EEPROM .. 22 .. 23 .. 24 I/O .. 24 CiA402 .. 25 8.. 27 9.. 27 10.. 28 RZ/T1 EtherCAT (R-IN Engine ) R01AN3071JJ0110 Page 3 of 28 1. CPU EtherCAT EtherCAT MAC(ETHERC) EtherCAT ICUA EtherCATS lave EtherCAT EtherCAT Sync0 CMI0 CMI1 CMT RAM Data RAM Cortex-M3 Instruction RAM ECM ERROROUT# LED ) EtherCAT LAN J1 EtherCAT1 RZ/T1 EtherCAT (R-IN Engine ) R01AN3071JJ0110 Page 4 of 28 2.

3 RZ/T1 RTK7910022C00000BR CPU RZ/T1 (R-IN ) R7S910017 CPU (CPUCLK) 450 MHz (Cortex-R4) (ICLK) 150 MHz (Cortex-M3) 16 SPI NOR Macronix MX29GL512 FLT2I-10Q Macronix MX25L51245 GMI-10G EEPROM R1EX24016 ASAS0 Ethernet PHY Micrel KSZ8041TL EtherCAT IAR Embedded Workbench for Arm Version IAR I-jet SSC Tool EtherCAT Technology Group (ETG) Slave Stack Code (SSC) Tool Version PLC Beckhoff Automation TwinCAT 3 RZ/T1 EtherCAT (R-IN Engine ) R01AN3071JJ0110 Page 5 of 28 3. EtherCAT MAC(ETHERC) ICUA CMT ECM RAM RZ/T1 RZ/T1 EtherCAT (R-IN Engine ) R01AN3071JJ0110 Page 6 of 28 4.

4 I/O CiA402 (I/O ) LED3 LED0 LED1 LED2 EEPROM (16k bit) MII:8 ch0 PF7 P56 P77 PA0 CMT Ch0 I/O Port ICUA Interrupt Control Unit A Cortex-R4 RZ/T1 MAC(ETHERC) CMT Ch1 Coretex-M3 RAM PHY PHY MII:8 ch1 EtherCAT EtherCAT LED CATI2C CATLED CATLINKAC RZ/T1 EtherCAT (R-IN Engine ) R01AN3071JJ0110 Page 7 of 28 (CiA402 ) SW1 LED1 EEPROM (16k bit) MII:8 ch0 P56 P35 I/O Port ICUA Interrupt Control Unit A Cortex-R4 RZ/T1 MAC(ETHERC) CMT Ch0 Coretex-M3 RAM PHY PHY MII:8 ch1 EtherCAT EtherCAT LED CATI2C CATLED CATLINKAC RZ/T1 EtherCAT (R-IN Engine ) R01AN3071JJ0110 Page 8 of 28 MD0 MD0= L MD1= L MD2= L SPI MD0= L MD1= H MD2= L 16 MD1 MD2 ETH_MDIO ETH_MDC ETH0_RXC ETH1_RXC ETH0_RXER ETH1_RXER ETH0_RXDV ETH1_RXDV ETH0_RXD0~3 ETH1_RXD0~3 ETH0_TXC 10 M 100 M MHz / 25 MHz ETH1_TXC ETH0_TXER ETH1_TXER ETH0_TXEN ETH1_TXEN ETH0_TXD0~3 ETH1_TXD0~3 ETH0_COL ETH1_COL ETH0_CRS ETH1_CRS CLKOUT25M0 Ethernet PHY CLKOUT25M1 PHYRESETOUT# PHY RESETOUT PHYLINK0 PHY Link Ether Switch PHYLINK1 ETHSWSECOUT Ether Switch 1 ETH0_INT Ethernet PHY RZ/T1

5 EtherCAT (R-IN Engine ) R01AN3071JJ0110 Page 9 of 28 ETH1_INT CATI2 CCLK EtherCAT EEPROM I2C CATI2 CDATA EtherCAT EEPROM I2C CATLINKACT1 EtherCAT Link Activity LED CATLINKACT0 CATLEDRUN EtherCAT RUN LED CATLEDSTER EtherCAT Dual-color LED CATLEDERR EtherCAT Error LED PF7 LED0 P56 LED1 P77 LED2 PA0 LED3 P35 SW1 RZ/T1 EtherCAT (R-IN Engine ) R01AN3071JJ0110 Page 10 of 28 5. Note 1. Renesas provides the EtherCAT SSC projects that has reflected the hardware-dependent processing and necessary modifications. Note 2. SSC Tool: EtherCAT control program generation tool provided by Beckhoff Cortex-M3 \workspace\iccarm\Cortex-M3\ Cortex-M3.

6 /CMSIS Cortex-M3 CMSIS ../Device/Renesas/RIN_Engine/Include ../Device/Renesas/RIN_Engine/Library ../Device/Renesas/RIN_Engine/Source/Boar d ../Device/Renesas/RIN_Engine/Source/Driv er ../Device/Renesas/RIN_Engine/Source/Proj ect_Dual/EtherCAT_SSC_DC+hwos I/O ../Device/Renesas/RIN_Engine/Source/Proj ect_Dual/EtherCAT_SSC_CiA402+hwos CiA402 ../Device/Renesas/RIN_Engine/Source/Temp lates Cortex-M3 SCIFA(UART)Shared MemorySample Application*1 SimpleI/O Ci A402drive profileDriverProtocolStackApplicationH/W CMTS hared MemorySample Application Simple I/O DummyMotorCortex-M3 Cortex-R4 EtherCAT protocol stack available by usingBeckHoff SSC Tool*1*2H/WInter-CPUC ommunicationRZ/T1 EtherCAT (R-IN Engine ) R01AN3071JJ0110 Page 11 of 28 Cortex-R4 \workspace\iccarm\Cortex-R4 Cortex-R4.

7 / EtherCAT_SSC_DC I/O ../ EtherCAT_SSC_CiA402 CiA402 I/O I/O ~ EtherCAT Cortex-R4 Cortex-M3 RAM Cortex-M3 LED CMT0 CMT1 Cortex-M3 HW-RTOS main_task main_task EtherCAT sub_task EtherCAT Cortex-R4 CMT0 Output 4bit LED3-0 CMT1 Input Cortex-M3 sub_task EtherCAT EtherCAT EtherCAT Sync0 EtherCAT 32bit Output Output Input 32bit Input EtherCAT RZ/T1 EtherCAT (R-IN Engine )

8 R01AN3071JJ0110 Page 12 of 28 I/O 1 Cortex-M3 init_cm3() port_init()ECM ecm_init()CMT cmt_stanbay()CMT R_CMT_Ini t() R_CMT_ClearPeriodic()CPU IRQ mainmainHW-RTOS hwos_setup()main_taskRSK board_init() R_SHM_Ini t() EtherCAT EtherCAT sub sta_tsk(ID_TASK_SUB,0) 2 main_task sub_task Cortex-R4 Cortex-M3 R_SHM_Ini t()RZ/T1 EtherCAT (R-IN Engine ) R01AN3071JJ0110 Page 13 of 28 I/O 2 CMT0 Output 4bi t LED0-3 returnCMT1 Input returnEtherCATSync0 EtherCAT Sync0 Sync0_Isr( )returnOutputCounter( 32bi tOutput)InputCounter(32bit Input)sub_taskEtherCAT MainLoop() EtherCAT EtherCAT PDI_Isr()returnCortex-R4 Cortex-M3 RAMD)RZ/T1 EtherCAT (R-IN Engine )

9 R01AN3071JJ0110 Page 14 of 28 CiA402 CiA402 Cortex-R4 Cortex-M3 RAM Cortex-M3 LED CMT0 Cortex-M3 CPU TargetPosition ActualPosition SW1 LED1 CMT0 SW1 TargetPosition ActualPosition Cortex-M3 HW-RTOS main_task main_task EtherCAT CiA402 EtherCAT EtherCAT EtherCAT Sync0 CiA402 ActualPosition TargetPosition Cortex-R4 CPU RZ/T1 EtherCAT (R-IN Engine ) R01AN3071JJ0110 Page 15 of 28 CiA402 Cortex-M3 init_cm3() port_init()ECM ecm_init()CMT cmt_stanbay()CMT R_CMT_Ini t() R_CMT_ClearPeriodic()CPU IRQ mainCMT0 SW1 LED1 returnmainHW-RTOS hwos_setup() EtherCAT returnmain_taskRSK board_init() R_SHM_Ini t() EtherCAT EtherCAT EtherCATSync0 return 2 main_task Cortex-R4 Cortex-M3 RAMD)Ci A402 EtherCAT MainLoop() EtherCAT PDI_Isr() EtherCAT Sync0 Sync0_Isr( ) R_SHM_Ini t()CPU TargetPositionPositionActualValueTargetV elocityVelocityActualValueCPU DummyMotor()RZ/T1 EtherCAT (R-IN Engine ) R01AN3071JJ0110 Page 16 of 28 6.

10 EtherCAT Slave Stack Code Tool(SSC ) )SSC I/O 1 Windows SSC ( EtherCAT Slave Stack Code Tool SSC Tool) 2 ([File] [New ]) 3 [Import] I/O SSC \workspace\iccarm\Cortex-M3\ Device\Renesas\RIN_Engine\Source\Project _Dual \EtherCAT_SSC_DC +hwos\RenesasSDK\CONFIG\Renesase_RZT1 SSC Custom 4 [OK] ( ) \workspace\iccarm\Cortex-M3\ Device\Renesas\RIN_Engine\Source\Project _Dual \EtherCAT_SSC_DC +hwos\RenesasSDK\ 5 [Project] [Create new Slave Files] 6 Start EtherCAT Slave Stack Code 7 [New files created successfully] \workspace\iccarm\Cortex-M3\ Device\Renesas\RIN_Engine\Source\Project _Dual \EtherCAT_SSC_DC +hwos\RenesasSDK\Src RZ/T1 EtherCAT (R-IN Engine )