EtherCAT Master with RevPi Codesys and Slave RevPi EtherCAT Gateway

Test Condition:

1. RevPi Connect + RevPi Gate EtherCAT Slave

2. RevPi Connect

Both RevPis are running CoDeSys runtime with RevolutionPiBridgeV1.1.0.0 and CODESYS Control for Raspberry Pi 4.0.1.0.

RevPi 1 has the RevPi Gate EtherCAT Slave on the left hand side and codesys has been configured as such.
RevPi 2 acts as an EtherCAT Master on eth1 and we imported the ESI file of the RevPi Gate EtherCAT Slave; the master port eth1 si connected to the RevPi Gate EtherCAT Slave upper port.

Mapping:
To configure the gateway component, you have to perform the appropriate settings with the configuration software of your EtherCAT Master

https://revolution.kunbus.com/tutorials/revpi-gates/revpi-gate-fuer-ethercat-konfigurieren/?noredirect=en_US

Mapped RxPDO in Codesys:

Open

Mapped TxPDO in Codesys:

Open

Input/Output Process Data in Codesys:

Appplication Description:

Attached Example consists of Revpi Connect Codesys running EtherCAT Master with above mapping and

Revpi Connect Codesys and RevPi Gate (EtherCAT Slave).

The EtherCATMaster application writes the 31 entries (mapped TxPDO count) bytes the output buffer values [32,33,…62 ]

The EtherCATGateway application writes the 31 entries (Gateway output) bytes the output buffer values [63,64,…94 ]

Online values of EtherCAT Gateway Input/Output Process Image “EtherCATGateway” application project:

Attachment: Codesys Projects
EtherCATMaster
EtherCATGateway