TIDUF42 January   2024

 

  1.   1
  2.   Description
  3.   Resources
  4.   Features
  5.   Applications
  6.   6
  7. 1System Description
    1. 1.1 Terminology
    2. 1.2 Key System Specifications
  8. 2System Overview
    1. 2.1 Block Diagram
    2. 2.2 Design Considerations
    3. 2.3 Highlighted Products
      1. 2.3.1 EnDAT 2.2 Interface
      2. 2.3.2 SDFM Interface
      3. 2.3.3 EPWM Interface
      4. 2.3.4 ICSS-PRU IEP
      5. 2.3.5 EtherCAT CiA402 Velocity Control
  9. 3System Design
  10. 4Hardware, Software, Testing Requirements, and Test Results
    1. 4.1 Hardware Requirements
    2. 4.2 Software Requirements
    3. 4.3 Test Setup
    4. 4.4 Test Results
  11. 5Design and Documentation Support
    1. 5.1 Design Files
      1. 5.1.1 Schematics
      2. 5.1.2 BOM
    2. 5.2 Tools and Software
    3. 5.3 Documentation Support
    4. 5.4 Support Resources
    5. 5.5 Trademarks
  12. 6About the Author

2.3.5 EtherCAT CiA402 Velocity Control

Target Velocity (EtherCAT controller → EtherCAT subordinate → AL243x LP):

  • gCurTargetVelocity[3] (in .gEtherCatCia402) in non-cached on chip RAM
  • Set by EtherCAT controller via GUI
  • Transmitted to EtherCAT subordinate
  • Saved to gCurTargetVelocity[3] via EC_SLV_APP_CSV
  • Used in pruEncoderIrqHandler or pruEncoderIrqHandler2 for velocity control

Actual Velocity (EtherCAT controller ← EtherCAT subordinate ← AL243x LP):

  • gCurActualVelocity[3] (in .gEtherCatCia402) in non-cached on chip RAM
  • Saved to gCurTargetVelocity[3] by pruEncoderIrqHandler or pruEncoderIrqHandler2 for actual velocity
  • Transmitted to EtherCAT controller via EC_SLV_APP_CSV
  • Displayed in GUI by EtherCAT controller