AN-054: Ethercat using realtime TC3
Introduction
This appnote shows step by step how to configure realtime operation with TwinCAT3 and ADI Trinamic EtherCAT modules. For example the TMCM-6213 is a six axes controller/driver module for 2-phase bipolar stepper. It supports EtherCAT interface with CoE CiA-402 Drive Profile for all axis. General usage of TwinCAT is not explained.
Preparation
It is recommended to update the ADI Trinamic module:
- Firmware
- EEPROM
- ESI file (.xml)
ADI Trinamic module firmware should be at least v1.09. Example for files notation as follows:
- TMCM-6213.xml
- TMCM-6213_CoE_V109.bin
- TMCM-6213_CoE_V109.hex
The files can be downloaded from the module page: https://www.trinamic.com/products/modules/details/tmcm-6213/
Create a new TwinCAT XAE project
Assign dedicated processor core to TwinCAT
Assignment of processor core needs to be done only once!
The processor core will be used for realtime motion NC_Task
- Read from Target
Figure 1: Available CPU (Windows/Isolated) = 4/0 → no processor core is assigned to TwinCAT yet - Set on target Assign processor core to TwinCAT:
- After restart check the Task Manager -> Resource Monitor
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The core assignment is permanent. In order to unassign processor core again repeat step 2. Using the Set on targe dialog and set Available (Windows/Isolated): 4/0
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For the next steps in this app note, the configuration should be set to Available CPUs (Windows/Isolated): 3/1
Select assigned processor core
- Open TwinCAT Project.
Project → System → Real-Time → Settings Tab
- Choose Isolated CPU core.
- Deactivate Windows CPU core.
Activate Configuration (Motion Task)
- Activate configuration.
- Execute win8settick.bat as administrator if the following Error shows up. This is a TwinCat specific Error.
If the configuration is active, the green logo shows up in the bottom right corner.
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Use Jogging Mode
Axis 1 is driven in Jogging Mode in this section.
- Configure Monitoring
Axis 1 → Parameter → Monitoring → Set Every Value to False (since not provided by the module)
Confirm every value by clicking on Download.
- Set axis 1 to CSP mode. Write 8 to Axis0 Modes of Operation 1
Modes of Operation as SDO (Firmware v207)
- Enable Controller and Feed Fw/Bw
Motion → Axes → Axis X → Tab Online → Enabling → Set → All
- Use Jog Control Buttons to move the axis X.