Setup of CODESYS soft-PLC for an industrial automation setup with an EtherCAT master running on Raspberry Pi.
Setup Raspberry PI
You need a Raspberry PI with Raspbian up and running. If not, download the Raspbian image and install it on an SD card following the official installation guide
You should be able to connect to your PI and, if on a Raspberry PI 3, you should have the onboard WiFi set up so it can be used for the CODESYS – Raspberry PI communication while the wired LAN will be used for the connection to the EtherCAT slave. See:
Setup CODESYS and Raspberry Pi device
CODESYS configuration and the device description files
The CODESYS runtime can be configured to run as the master in an EtherCAT network. To interact with the devices connected on the network the EtherCAT master must know their details. This is achieved by adding the devices to the CODESYS project device tree via their descriptor files. Some “slaves” are alread know by CODEYS, as they’re distributed with the software, but in general the desciptor file for a particular device (or a family of them) is provided by the manufacturer in the form of an XML file that can be imported in CODESYS
The list of the device known by CODESYS can be accessed from Tools > Device Manager
Beckhoff EtherCAT coupler and IO modules
- Beckhoff EK1100 EtherCAT Coupler
- Beckhoff EL1008 – 8x Digital Input
- Beckhoff EL2008 – 8x Digital Output
The XML description files of the EtherCAT modules from Beckhoff EK1100 webpage (select XML device description from the tree on the left and then right click and Save link as… on the archive file – around 15MB ).
The archive contains the descriptors for all the Beckhoff hardware including EKxxxx, EL1xxx and EK2xxx.
Bonfiglioli ACU drive with EtherCAT interface
Wago EtherCAT coupler
EtherCAT advanced topics
Distributed Clocks (DCs)