Igh EtherCAT Master Station Case Study Based on Allwinner T507-H

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Igh EtherCAT Master Station Case Study Based on Allwinner T507-H [Copy link]

 

## Linux-RT + IgH EtherCAT Master Station Demonstration Based on Allwinner T507-H The following mainly introduces the case based on Allwinner T507-H (hardware platform: Chuanglong Technology TLT507-EVM evaluation board), and the test results are obtained by following the case user manual provided by Chuanglong Technology. The development environment of this demonstration is as follows: - Windows development environment: Windows 7 64bit, Windows 10 64bit - Linux development environment: Ubuntu18.04.4 64bit - Virtual machine: VMware16.2.5 - U-Boot: U-Boot 2018 - Kernel: Linux-RT-4.9.170 - LinuxSDK: LinuxSDK-[version number].tar.gz (based on Allwinner official V2.0_20220618) - IgH EtherCAT: ethercat-stable-1.5-gcd0d17d-20210723 - Servo drive: Delta ASD-A2-0121-E - Servo motor: Delta ECMA-C10401GS - Hardware platform: TLT507-EVM evaluation board (based on Allwinner T507-H) ## IgH EtherCAT IntroductionIgH EtherCAT is a free and open source EtherCAT master program that runs on the Linux system. The framework is as follows.  The IgH EtherCAT master station builds a Linux character device, and the application communicates with the EtherCAT master module by accessing the character device. The IgH EtherCAT development kit provides EtherCAT tools, which provide various commands that can be run in the Linux user layer, and can directly access and set the slave, such as setting the slave address, displaying the bus configuration, displaying PDO data, reading and writing SDO parameters, etc. ## Case Description Case function: The EtherCAT communication cycle time is 1ms, controlling the servo motor to rotate forward and reverse, and printing the maximum and minimum values of the EtherCAT communication cycle time through the serial port loop. (1) Forward: The servo motor target speed accelerates from 0 to 10000. When it reaches 10000, the servo motor is controlled to decelerate to 0 and the cycle continues. (2) Reverse: The servo motor target speed accelerates from 0 to -10000. When it reaches -10000, the servo motor is controlled to decelerate to 0 and the cycle continues.  To facilitate testing, our company provides verified kernel image files and kernel modules compiled based on Linux-RT, which are located in the product information "4-Software Information\Linux\Kernel\image\linux-4.9.170-[Version Number]-[Git Series Number]\" directory. Please copy the 4.9.170-[version number]-[Git series number].tar.gz compressed package in the modules-rt directory of the Linux-RT kernel image boot-rt.fex and the kernel module of the Linux-RT kernel to the evaluation board file system directory. Execute the following command to rename boot-rt.fex to boot.fex and decompress the kernel module compressed package. ```cpp Target#mv boot-rt.fex boot.fex Target#tar -zxf 4.9.170-rt129-g4c65c66.tar.gz ```  Execute the following command to replace the kernel image and kernel module, and the evaluation board will restart to take effect. Note: mmcblk1 is the device node corresponding to Micro SD. If you need to fix it to eMMC, please change the device node to mmcblk0. ```cpp Target#dd if=boot.fex of=/dev/mmcblk1p3 conv=fsync Target#rm /lib/modules/* -rf Target#cp $(uname -r) /lib/modules/ -r Target#sync Target#reboot ```   ## Case test Please use a network cable to connect the ETH0 RGMII network port of the evaluation board and the IN network port of servo drive A as shown in the figure below, and connect the OUT network port of servo drive A to the IN network port of servo drive B using a network cable.   For the convenience of testing, the verified IgH EtherCAT master program provided by our company is the ethercat-stable-1.5-gcd0d17d.tar.gz compressed package in the "igh_ethercat\images\" directory of the example. Copy it to any directory in the evaluation board file system. Execute the following command to decompress the ethercat-stable-1.5-gcd0d17d.tar.gz compressed package to get the _install folder. ```cpp Target#tar -zxf ethercat-stable-1.5-gcd0d17d.tar.gz ```  Execute the following command and query the physical address of the evaluation board network card. ```cpp Target#ifconfig ```  Execute the following command to load the driver module. ```cpp Target#insmod -f /root/_install/modules/ec_master.ko main_devices=46:99:F6:AB:1F:19 ```  Execute the following command to copy the EtherCAT master station related files to the evaluation board file system. ```cpp Target#mkdir /etc/sysconfig Target#cp /root/_install/etc/sysconfig/ethercat /etc/sysconfig Target#ls /lib/modules/$(uname -r)//Check whether the modules directory has been created Target#cp ./_install/modules/ec_master.ko /lib/modules/$(uname -r) Target#depmod -a //Synchronize module dependencies. Please ignore the warnings printed during synchronization.```  Execute the following command to start the EtherCAT master station. ```cpp Target#/root/_install/etc/init.d/ethercat start ```  Execute the following command to load the ec_generic.ko driver file. ```cpp Target#insmod -f /root/_install/modules/ec_generic.ko ```  Execute the following command to add the IgH dynamic link library path. ```cpp Target#export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/root/_install/lib ```  Copy the igh_ethercat_dc_motor executable file in the bin directory of the example to the evaluation board file system and execute the following command to view the parameter information. ```cpp Target#./igh_ethercat_dc_motor --help ```  Execute the following command to control the two servo motors to rotate forward at the same time. ```cpp Target#./igh_ethercat_dc_motor -d 0 ```   Press "Ctrl + C" to stop the program.  Execute the following command to control the two servo motors to reverse at the same time. ```cpp Target#./igh_ethercat_dc_motor -d 1 ```  Press "Ctrl + C" to stop running the program. [Insert image description here](https://file1.elecfans.com/web2/M00/C6/05/wKgZomYEySWAe4wAAABb4rjZGqo823.png)  Press "Ctrl + C" to stop the program.  Execute the following command to control the two servo motors to reverse at the same time. ```cpp Target#./igh_ethercat_dc_motor -d 1 ```  Press "Ctrl + C" to stop running the program. [Insert image description here](https://file1.elecfans.com/web2/M00/C6/05/wKgZomYEySWAe4wAAABb4rjZGqo823.png)  Press "Ctrl + C" to stop the program.  Execute the following command to control the two servo motors to reverse at the same time. ```cpp Target#./igh_ethercat_dc_motor -d 1 ```  Press "Ctrl + C" to stop running the program.