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

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

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.

Thus the windows core is reserved for TwinCAT real-time operations. In the next step the real-time operation will be activated.

Activate Configuration (Motion Task)

Activate configuration.

Enter the License code which is generated.
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.

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)

Modes of Operation as PDO in (Firmware v208)
Enable Controller and Feed Fw/Bw

Motion → Axes → Axis X → Tab Online → Enabling → Set → All
Use Jog Control Buttons to move the axis X.