[etherlab-users] Using BK1120

[Dr.-Ing. Wilhelm Hagemeister]

Hello,


"ethercat cstruct" tells you the meaning of the mapping (see comments
after the pdo-entries):

Example:

/* Master 0, Slave 0
 * Vendor ID:       0x00000002
 * Product code:    0x04602c22
 * Revision number: 0x00000000
 */

ec_pdo_entry_info_t slave_0_pdo_entries[] = {
    {0xf100, 0x01, 16}, /* CouplerState */
    {0x6020, 0x01, 8}, /* Channel 1 Status */
    {0x0000, 0x00, 8}, /* Gap */
    {0x6020, 0x03, 16}, /* Channel 1 Data */
    {0x6020, 0x04, 8}, /* Channel 2 Status */
    {0x0000, 0x00, 8}, /* Gap */
    {0x6020, 0x06, 16}, /* Channel 2 Data */
    {0x6020, 0x07, 8}, /* Channel 3 Status */
    {0x0000, 0x00, 8}, /* Gap */
    {0x6020, 0x09, 16}, /* Channel 3 Data */
    {0x6020, 0x0a, 8}, /* Channel 4 Status */
    {0x0000, 0x00, 8}, /* Gap */
    {0x6020, 0x0c, 16}, /* Channel 4 Data */
    {0x6030, 0x01, 8}, /* Channel 1 Status */
    {0x0000, 0x00, 8}, /* Gap */

    ...

    {0x6050, 0x04, 8}, /* Channel 2 Status */
    {0x0000, 0x00, 8}, /* Gap */
    {0x6050, 0x06, 16}, /* Channel 2 Data */
    {0x6000, 0x01, 1}, /* Channel 1  */
    {0x6000, 0x02, 1}, /* Channel 2  */
    {0x6000, 0x03, 1}, /* Channel 3  */
    {0x6000, 0x04, 1}, /* Channel 4  */
    {0x6070, 0x01, 1}, /* Channel 1  */
    {0x6070, 0x02, 1}, /* Channel 2  */
    {0x0000, 0x00, 10}, /* Gap */
};

ec_pdo_info_t slave_0_pdos[] = {
    {0x1aff, 1, slave_0_pdo_entries + 0}, /* Status PDO */
    {0x1a02, 12, slave_0_pdo_entries + 1}, /* TxPDO Mapping Terminal 003 */
    {0x1a03, 12, slave_0_pdo_entries + 13}, /* TxPDO Mapping Terminal 004 */
    {0x1a04, 12, slave_0_pdo_entries + 25}, /* TxPDO Mapping Terminal 005 */
    {0x1a05, 6, slave_0_pdo_entries + 37}, /* TxPDO Mapping Terminal 006 */
    {0x1a00, 4, slave_0_pdo_entries + 43}, /* TxPDO Mapping Terminal 001 */
    {0x1a07, 2, slave_0_pdo_entries + 47}, /* TxPDO Mapping Terminal 008 */
    {0x1b01, 1, slave_0_pdo_entries + 49}, /* TxPDO Digital Align */
};

ec_sync_info_t slave_0_syncs[] = {
    {0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE},
    {1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE},
    {2, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE},
    {3, EC_DIR_INPUT, 8, slave_0_pdos + 0, EC_WD_DISABLE},
    {0xff}
};


End of example.

Usually analog-IO is mapped with a status + a fill byte before the value
word. All analog or "complex" IO-Terminals are mapped first and aligned
to 16bit. At the end the digital IO-termials with bit-mapping follow
without gaps of fill bits.

The mapping of a single K-Bus slave is good documented in the Beckhoff
documents for the terminal.

Also TwinCat can be used to find out the mapping.

Regards Wilhelm.

Am 04.09.2014 09:15, schrieb Bilko AS, Oguz Dilmac:
> Hello
> 
> We have a problem with configuring BK1120. We made EK1100 run without a
> problem.
> 
> We found out that they are using different protocols to communicate the
> modules (BK1120 K-Bus, and EK110 E-Bus).
> We searched for information on how to create the cstruct for BK1120 and
> how to map the connected I/0 modules but we couldnt find an answer that
> exactly answers our question.
> 
> Until now we ran "ethercat cstruct" and copy that into our code and it
> goes to run state, fine, but we need an example or explanation of how
> the connected modules match the entries in cstruct, where to read or
> write to the I/O.
> 
> Thanks
>