BECKHOFF EL9800 - Manual (Page 19)

Application Note EL9800 I-17
4.2 Standard Slave
The standard EtherCAT slave includes an uController connected to the ESC which handles the
EtherCAT related software stack. In this example the Slave Stack Code is used as the EtherCAT
slave software. In this example the stack supports 8Digital I/O and one Analog Input.
The Slave Stack Code is free of charge a can be downloaded
here .
To get a quick startup only the already compiled binary is programmed in the uController. If the
software should be compiled in DEBUG configuration or under debugger control please refer to
chapter 6.
For this configuration the piggyback board FB1111-0142 and FB1111-0141 can be used. For the
FB1111-0141 the jumper J1202 needs to be set (see EL9800 datasheet for further information).
a. Download and install MPLAB IDE (chapter 5.1)
b. Power off the EL9800 Evaluation board
c. Set PDI selector to position 0
d. Connect the “PIC Programmer” via USB with the PC.
e. Switch on PIC Programmer (SW600)
f. Power on the EL9800 Evaluation board
g. Install the MPLAB ICD2 driver (chapter 5.5).
h. Copy the ESI (SlaveStackCode.xml) from the “EL9800 product CD
\SlaveStackCode\VX.XX\esi\ ” to “c:\TwinCAT\IO\EtherCAT”
i. Restart the TwinCAT System Manager
j. Scan the network (chapter 3.3.1)
k. Download t he device description “EL9800 | 8Bit Digital I/O, 16Bit Analog Input_VXiXX” ()
to the EEPROM.
See chapter 3.3.2 for detailed information about EEPROM programming.
Figure 19: EL9800 | 8Bit Digital I/O, 16Bit Analog Input_VXiXX Device Description
l. Power off the EL9800 Evaluation board
m. Set PDI selector to position 7 (position 5 for EL9800_2).
n. Power on the EL9800 evaluation board.
o. Open MPLAB IDE (installation is described in chapter 5.1)