EtherCAT サンプルプログラムの実装ガイド(R-IN Engine搭載 …

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)

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 .. 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.

3 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 )

4 EtherCAT LAN J1 EtherCAT1 RZ/T1 EtherCAT (R-IN Engine ) R01AN3071JJ0110 Page 4 of 28 2. 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.

5 EtherCAT MAC(ETHERC) ICUA CMT ECM RAM RZ/T1 RZ/T1 EtherCAT (R-IN Engine ) R01AN3071JJ0110 Page 6 of 28 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.

6 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

7 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 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.

8 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 ../CMSIS Cortex-M3 CMSIS ../Device/Renesas/RIN_Engine/Include ../Device/Renesas/RIN_Engine/Library.

9 /Device/Renesas/RIN_Engine/Source/Board ../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 )

10 R01AN3071JJ0110 Page 11 of 28 Cortex-R4 \workspace\iccarm\Cortex-R4 Cortex-R4 ../ 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