This build level uses the same
precompiled executable of CM that is used in the previous build level. Here, CM is
used as a conduit to pass information between TwinCAT and drive controller.
Note: Any modifications to the
requirement given in demo will require the generation of new slave stack files via
the SSC tool and also corresponding changes to the application source code. This
will have to be rebuilt to get a new executable for loading into the CM.
Here are the
steps to follow:
- Ensure that CPU1 is actively
running the project (described in Section 13.1) handing off the EtherCAT ownership to CM
- Besides USB connection between
controlCARD and computer for JTAG purposes, connect an Ethernet cable between
controlCARD RJ45 Port 0 and computer
- From within the CCS debug
perspective, click Run --> Load --> Load Program and browse to the
executable fcl_f2838x_ecat_cm.out available at
\solutions\tmdxiddk379d\f2838x\\ssc_configuration\cm
- Run the code. This will configure
the ECAT slave controller and the IPC on CM side for data transfer between CM
and CPU1.
Now the ECAT slave controller is ready
to connect to ECAT master, which is the TwinCAT running on user's development
computer.