EtherCAT slave detection using PCIe-8231 on a RealTime LabView PC Target

Hi,
I'm trying to get a Copley controls Xenus Plus (XEl230-40) motor driver to work with a LabView RealTime PC target, using a PCIe-8231 in EtherCAT module. I've uploaded the ESI files for the driver to the host as well as the target, however, the target does not detect the drive. The host-target communication is done over a i1000e onboard NIC (eth0), and the PCIe-8231 is eth1.
Further, I've tried manually adding a Xenus slave, but when I deploy the configuration, I see an error saying the EtherCAT telegram timed out.
Any ideas on what could I be missing?

I trust that you're working with the RT PC set to be in Configuration Mode rather than Active?
It sounds like you're only using the PCIe-8231 to act as a NIC. Are you using it for anything other than transferring the network communication? If not, have you tried reversing the cables to see if you're still able to communicate with the RT PC if you are only connected to the PCIe-8231?
Jeff B.
Applications Engineer
National Instruments

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LabVIEW Interface for third party EtherCAT slaves

I have a third party EtherCAT hardware (slave) and software. I am using and industrial PC with Intel PRO network card as the EtherCAT master. This setup works fine, and I can talk to the EtherCAT modules using the thirdparty software.
Now, I would like to develop a LabVIEW interface to talk to the EtherCAT slaves for testing purposes, since most of my test programs are written in LabVIEW.
Is it possible to write EtherCAT software in standard LabVIEW 2013 using an inustrial PC as Master?
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Hi rosh,
I think it will depend on how the DLLs are designed. If you call the DLL at the right rates, you may be able to avoid using LabVIEW Real-Time. If you want to run LabVIEW Real-Time on your PC, you would need to replace the existing OS with LabVIEW Real-Time. Once you do that, you may be able to run your existing DLLs but compatibility is not guaranteed. This KnowledgeBase article describes the process of determining if your DLL is compatible with LabVIEW Real-Time (NI PharLap ETS is what installs when you replace the OS). For our other Real-Time operating systems on different targets, you would need access to the original source code so you could recompile for the new target.
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There is substantial information concerning operating a PXI system as an EtherCAT master, and there is documentation about how to operate a CompactRIO 9144 chassis as an EtherCAT slave with a PXI or third party master, however there is no information as to whether or not you can run a PXI system as an EtherCAT slave.
I have a distributed real-time system in which I have one entity which controls the system and acts as an EtherCAT master. I would like to use a PXI system for data acquisition and processing however, it would need to work as a slave. Is this possible? EtherCAT slave devices typically require more than a standard NIC, and that gives me pause as to whether a PXI system can operate in this mode.
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DirkW,
Thank you for your prompt replies to both this question, and the one I posed over on the real-time board: "High Speed CANbus on a 9144 Slave." As I am sure you concluded, the two questions are related.
I have a heterogenous distributed real time architecture with a variety of different real time systems performing various tasks (computation, actuation, data acquisition, etc.). Currently, the system incorporates a combination of deterministic shared memory and UDP for communications. For cost, scalability, and simplicity reasons we are reconfiguring the architecture to commonize on EtherCAT.
Relative to data acquisition requirements, I have a variety of configurations that are used based on overall system configuration. The lightest weight versions have a very light I/O load, on the order of 5 analog inputs, 10 digital inputs, and 1 CANbus broadcasting 10 or so messages. The heaviest configuration has significantly higher channel count: ~10 analog in, ~10 digital in, ~20 analog out, ~10 freq/PWM inputs, ~5 freq/PWM out, and 2 CANbus. Overall system communications rate, again, depends on system configuration and target performance. This could be in the range of 500Hz or considerably higher.
Again considering the 9144 slave chassis, I have a feeling that the lightweight I/O configuration should not be a problem (assuming CANbus will work vis-a-vis my other posting). The more complex configuration may be a bit much for the slave chassis to handle relying on just the FPGA. Knowing now that a PXI can only be operated as a master, it is not impossible to consider reconfiguring the system topology to operate in this manner. However, there are still compelling reasons as to why we would want to maintain our current master.
If it is capable, my preference would be to go with a 9144. However, I would also like to "commonize" to a single data acquisition platform and not split between cRIO for lightweight applications, and PXI for heavier burden ones. I suppose this raises the fundamental question, currently is the 9144 the only device in the NI lineup that can operate as an EtherCAT slave?
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Generating SPI using PCIe-6535B

Hi,
I have a data ready signal generated every 100uS or so by a SPI slave.
The SPI master must then generate 96 SPI clocks anhd capture the returned data.
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Solved!
Go to Solution.

Hi PeterRQ,
There should not be any latency issues when running SPI communications on your PCIe-6535B, provided that the application has been programmed sufficiently.
Looking at a simplified situation whereby you are only looking to set up a digital input/output task for the PCIe-6535B, with no need to process the digital data you receive back, the device can be programmed to execute 96 clock pulses within the desired 100 us. Software latency would not be an issue, since the DAQ card will continue to execute its pre-programmed functionality (using the DAQmx driver) until the program is stopped. However, I suspect that you wish to process the data in some way and this can cause issues if not correctly coded for.
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Going back to an earlier post, you asked:
"If the PCIe-6535B requires that the LabView software makes some decision before the 96 bits are sent then this problem boils down to the reaction speed of the LabView software. If software latency is the involved then I would imagine then that I would have to get a real-time version of Labview."
Using the Producer/Consumer architecture, LabVIEW itself would not require any more processing inside software other than the enqueueing of an array of your input data. Everything else is handled by the device driver, which in this case is DAQmx. The limitation here would be the CPU you are using to interface with the drivers.
A real time system could be used to ensure greater determinism on the processing side of your application although this is not necessary.
Our Serial Protocol Communication Reference Design for Digital Waveform Devices tutorial page includes examples of how DAQmx can be used to code for SPI communications on the PCIe-6535B. If you download the "serial_wfm_1_0_1_lv86.zip" file, you will have the option of running the "DAQmx SPI - Internal Clock.vi" example VI. This example VI first builds an SPI waveform and then sets up your DAQmx task to output the digital waveform. You should find this useful to look over and incorporate into the Producer/Consumer architecture of your code.
Let me know if this helps.
Marshall B
Applications Engineer
National Instruments UK & Ireland

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Hi,
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Are you using Traditional DAQ, or DAQmx and which versions are you using?
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I want to use pci 6229 to continuously generate a sine wave by 5000 sampling rate to output to drive a loudspeaker.
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Probiee

Dear Denis,
Thank you for your reply. I have done with this following vi. please see the attachment.
please give me some feedback with my vi.
Many Thanks
Probiee
Attachments:
danforum.JPG ‏119 KB

EtherCAT slave detection using PCIe-8231 on a RealTime LabView PC Target

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