In order to generally check the connection to the slave, we suggest connecting the cRIO ECAT S to a (simulated) master in e.g. TwinCAT. To do this, proceed as follows:
Note: |
Please start the cRIO ECAT S similar to the process mentioned in the GettingStarted manual .
Run the programme „cRIO ECAT S Getting Started_DC(FPGA).vi“ from the project.
Start TwinCAT
Create a new project and navigate in the sidebar in I/O
to Devices
for scanning for Boxes.
Select the network interface which the cRIO is connected to. (opt. If unsure, please select all interfaces)
Set DC mode in TwinCAT.
Change to Box
and select the EtherCAT
tab.
open Advanced Settings...
Select Distributed Clock
and set it up as shown in the screenshot below.
Get back to Box
and navigate to the online
tab.
In this tab the current status of the connected/selected slave will be displayed.
The slave device will be detected incl. its PDO configuration. If one expands the Box, all detected input PDOs and output PDOs will be listed there.
The master switches in Operational Mode. The green NET LED at the left side of the cRIO ECAT S indicates the established connection to the master.
Finally the slave vi shows the updated cRIO ECAT S properties and "Status Info".
Entries to the cRIO ECAT S would be displayed in the array “PDO-Data” and mirrored back.
The connection between cRIO ECAT S and master is been set up properly.
Not all PC network interfaces are qualified for RT usage by TwinCAT. |