Texas Instruments | Industrial Communication Protocols Supported on Sitara™ Processors (Rev. B) | Application notes | Texas Instruments Industrial Communication Protocols Supported on Sitara™ Processors (Rev. B) Application notes

Texas Instruments Industrial Communication Protocols Supported on Sitara™ Processors (Rev. B) Application notes
Application Report
SPRACH6B – July 2018 – Revised January 2019
Industrial Communication Protocols Supported on
Sitara™ Processors
ABSTRACT
This document shows the industrial communication protocols supported by each of the devices in the
Sitara™ Arm® Cortex®-A processor portfolio, as well as where and how to get these protocols.
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Contents
Introduction ...................................................................................................................
Industrial Communication Partners ........................................................................................
Ethernet-Based Protocols ..................................................................................................
Position Encoders ...........................................................................................................
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3
3
6
List of Figures
1
Typical Software Implementation Using the PRU-ICSS ................................................................ 2
1
PROFINET Supporting Devices ........................................................................................... 3
2
EtherCAT Supporting Devices ............................................................................................. 4
3
EtherNet/IP Supporting Devices ........................................................................................... 4
4
Supported Devices for OPC UA ........................................................................................... 5
5
CC-Link IE Field Basic Supporting Devices .............................................................................. 5
6
Mechatrolink III Supporting Devices....................................................................................... 5
7
SORTE Supporting Devices ................................................................................................ 6
8
PRP Supporting Devices
List of Tables
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10
11
12
13
...................................................................................................
HSR Supporting Devices ...................................................................................................
EnDat 2.2 Supporting Devices .............................................................................................
HIPERFACE DSL Supporting Devices ...................................................................................
Tamagawa Supporting Devices............................................................................................
BiSS C Supporting Devices ................................................................................................
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Trademarks
Sitara is a trademark of Texas Instruments.
Arm, Cortex are registered trademarks of Arm Limited.
EtherCAT is a registered trademark of Beckhoff Automation GmbH.
EtherNet/IP is a registered trademark of ODVA, INC.
PROFINET is a registered trademark of PROFIBUS.
HIPERFACE DSL is a registered trademark of SICK STEGMANN GmbH.
BiSS is a registered trademark of iC-Haus.
All other trademarks are the property of their respective owners.
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1
Introduction
1
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Introduction
Industrial communication is typically handled by the Programmable Real-Time Unit Industrial
Communication Subsystem (PRU-ICSS) in Sitara processors. The PRU-ICSS is a co-processor
subsystem containing Programmable Real-Time (PRU) cores and Ethernet media access controllers
(EMACs), which implement industrial Ethernet and fieldbus protocols through firmware. PRU cores are
primarily used for industrial communication, and can also be used for other applications such as motor
control and custom interfaces. The PRU-ICSS frees up the main Arm cores in the device for other
functions, such as control and data processing.
This document describes both protocols directly supported by TI, as well as several other protocols
supported by third party partners. This document is not a comprehensive list of all possible protocols that
can be supported by the PRU-ICSS. The PRU-ICSS is flexible and powerful enough to support most
industrial communications protocols. Most of the Sitara devices only support 100-Mb protocols, but the
AM6x family features an upgraded PRU-ICSS that supports gigabit speeds. TI is continuously working
both at TI and with their third party partners to expand their offerings, so if a specific protocol is not
explicitly shown in this document, reach out to TI through E2E or contact your local TI sales
representative.
For TI-supported protocols, firmware and drivers are available directly from TI as add-on packages that
run on top of the Processor SDK-RTOS, or come integrated as part of the Processor SDK-Linux. Protocol
stacks are typically purchased through one of TI’s third party partners. Figure 1 shows a typical use case
for industrial communications on Sitara processors.
Figure 1. Typical Software Implementation Using the PRU-ICSS
2
Industrial Communication Protocols Supported on Sitara™ Processors
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Industrial Communication Partners
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2
Industrial Communication Partners
KUNBUS – KUNBUS offers the broadest support of multiple industrial communication protocols in one
package. KUNBUS offers a full suite of services and expertise related to industrial communication
applications, including hardware evaluation kits, hardware modules, software customization, and
certification support for Sitara processors.
Acontis – Acontis offers EtherCAT master solutions for Sitara processors. The solutions can be found
here.
Matrikon – Matrikon offers the OPC UA stack for Sitara processors on Linux RT.
Be.Services – Be.Services offers openPowerlink on Sitara processors through Codesys on Linux RT.
CC-Link Partner Association (CLPA) – The CLPA provides the stack for CC-Link IE Field Basic for
Linux RT and RTOS.
Systec – Systec offers the entire Mechatrolink III solution, including firmware and software stack on
RTOS. Macnica offers these services for Systec outside of Japan. For licensing, contact
AtdSpl@macnica.co.jp.
Molex – Molex supplies production master stacks for PROFINET and EtherNet/IP on Sitara processors on
RTOS.
TMG – TMG TE supplies production slave stacks for PROFINET and EtherNet/IP on Sitara processors on
RTOS. For more information on the products visit www.tmgte.de/en, or for licensing contact
willems@tmgte.de.
CouthIT – CouthIT offers integration of the BiSS C encoder for Sitara processors. For more information,
contact Krishna@CouthIT.com.
The following sections show currently released protocol stack solutions, and do not include solutions in
development.
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Ethernet-Based Protocols
3.1
PROFINET®
Sitara processor families currently have support for PROFINET® RT and IRT, as specified in Table 1. An
evaluation version of the device stack is available through the PROFINET firmware add-on package for
the TI-RTOS version of Processor SDK. For production licenses, contact TMG.
Table 1. PROFINET Supporting Devices
OS
Linux
AMIC
AM335x
AM437x
Controller
AM57x
66AK2G
All
All
All
All
Device
RTOS
Controller
Device
All
AM3356/7/8/9
AM4376/7/8/9
Additional resources:
• White paper
• TI Design
• Firmware data sheet (myTI account required for access)
• PROFINET specification
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3
Ethernet-Based Protocols
3.2
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®
EtherCAT
Sitara processors currently have support for EtherCAT®, as specified in Table 2. An evaluation version of
the slave stack is available in the EtherCAT slave firmware add-on package for the TI-RTOS version of
the Processor SDK. The EtherCAT slave stack is available for free for EtherCAT Group (ETG) members,
and can be found on their website. Optionally, integration partners such as KUNBUS and TMG can
provide full EtherCAT slave solutions for the PRU-ICSS to simplify the development process. The
EtherCAT master stack is available for both the PRU-ICSS (AM335x, AM57x) and CPSW (AM335x,
AM437x, AM57x) Ethernet peripherals through Acontis.
Table 2. EtherCAT Supporting Devices
OS
AMIC
Linux
Master
AM335x
AM437x
AM57x (1)
AM3357/9
AM4377/9
All
AM3357/9
AM4377/9
All
AM3357/9
AM4377/9
All
66AK2G (1)
Slave
RTOS
Master
Slave
(1)
All
All
For EtherCAT support, you must use the EtherCAT version of each device. Consult the data sheet for EtherCAT-enabled device
nomenclature.
Additional resources:
• White paper
• TI Design
• Firmware data sheet (myTI account required for access)
• EtherCAT specification
3.3
EtherNet/IP®
Sitara processors currently support EtherNet/IP®, as specified in Table 3. An evaluation version of the
adapter stack is available in the EtherNet/IP firmware add-on package for the TI-RTOS version of the
Processor SDK. For production licenses, contact TMG.
Table 3. EtherNet/IP Supporting Devices
OS
Linux
RTOS
AMIC
AM335x
AM437x
AM57x
66AK2G
All
AM3356/7/8/9
AM4376/7/8/9
All
All
Scanner
Adapter
Scanner
Adapter
Additional Resources:
• White paper
• TI Design
• EtherNet/IP Overview
3.4
OPC UA
Sitara processors currently support OPC UA server, as specified in Table 4. Matrikon provides an
evaluation version as well as the production version of the required software. For more information on the
OPC UA server support on Sitara, visit Matrikon’s website.
4
Industrial Communication Protocols Supported on Sitara™ Processors
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Ethernet-Based Protocols
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Table 4. Supported Devices for OPC UA
OS
AMIC
Linux
AM335x
AM437x
AM57x
66AK2G
Master
Slave
RTOS
All
Master
Slave
Additional Resources:
• TI Design
3.5
CC-Link IE Field Basic
Sitara processors currently support CC-Link IE Field Basic, as specified in Table 5. The CC-Link Partner
Association provides an evaluation version as well as the production version of the stacks. For an
overview of the product development process with CC-Link, see the CLPA website.
Table 5. CC-Link IE Field Basic Supporting Devices
OS
Linux
RTOS
3.6
AMIC
AM335x
AM437x
AM57x
66AK2G
Master
All
AM3356/7/8/9
AM4376/7/8/9
All
All
Slave
All
AM3356/7/8/9
AM4376/7/8/9
All
All
Master
All
AM3356/7/8/9
AM4376/7/8/9
All
All
Slave
All
AM3356/7/8/9
AM4376/7/8/9
All
All
Mechatrolink III
Sitara processors currently support Mechatrolink III, as specified in Table 6. The solution is available from
Systec in Japan, or Macnica for outside of Japan. For more information, contact Macnica at
AtdSpl@macnica.co.jp.
Table 6. Mechatrolink III Supporting Devices
OS
Linux
AMIC
AM335x
AM437x
AM57x
66AK2G
Master
Slave
RTOS
Master
Slave
AMIC110
Additional Resources:
• Macnica’s Mechatrolink III IP specifications
3.7
Modbus TCP/IP
Though not yet certified on Sitara, Modbus TCP/IP can be implemented on any Sitara processor through
the use of open source stacks, and TI's EMAC example for the PRU-ICSS located in the Processor SDK.
Linked below are examples of open source stacks that could potentially be used. For help in getting this
running in your design, ask our experts at e2e.ti.com.
Additional resources:
• Modbus for Linux: https://libmodbus.org/
• Modbus for RTOS: https://github.com/cwalter-at/freemodbus
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Ethernet-Based Protocols
3.8
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Simple Open Real-Time Ethernet (SORTE)
Sitara processors currently support SORTE, as specified in Table 7. SORTE is an open-source protocol
developed by TI and available through the Processor SDK.
Table 7. SORTE Supporting Devices
OS
Linux
AMIC
AM335x
AM437x
AM57x
66AK2G
Master
Slave
RTOS
3.9
Master
AM3356/7/8/9
All
Slave
AM3356/7/8/9
All
Parallel Redundancy Protocol (PRP)
Sitara processors currently support PRP, as specified in Table 8. Evaluation and production software is
available through the HSR/PRP firmware add-on package for the TI-RTOS version of the Processor SDK,
or through the Linux version of the Processor SDK.
Table 8. PRP Supporting Devices
OS
AMIC
Linux
RTOS
All
AM335x
AM437x
AM57x
66AK2G
AM3356/7/8/9
AM4376/7/8/9
All
All
AM3356/7/8/9
AM4376/7/8/9
All
All
Additional resources:
• http://www.ti.com/tool/TIDEP0054 (RTOS TI Design)
• http://www.ti.com/tool/TIDEP-0103 (Linux TI Design)
3.10 High-Availability Seamless Redundancy (HSR)
Sitara processors currently support HSR, as specified in Table 9. Evaluation and production software is
available through the HSR/PRP firmware add-on package for the TI-RTOS version of the Processor SDK,
or through the Linux version of the Processor SDK.
Table 9. HSR Supporting Devices
OS
AMIC
Linux
RTOS
All
AM335x
AM437x
AM57x
66AK2G
AM3356/7/8/9
AM4376/7/8/9
All
All
AM3356/7/8/9
AM4376/7/8/9
All
All
Additional resources:
• http://www.ti.com/tool/TIDEP0053 (RTOS TI Design)
• http://www.ti.com/tool/TIDEP-0096 (Linux TI Design)
4
Position Encoders
The firmware for each of the supported encoders below is offered as open source.
4.1
EnDat 2.2
Sitara processors currently support EnDat, 2.2 as specified in Table 10. Evaluation and production
software is available through the industrial drives firmware add-on package for the TI-RTOS version of the
Processor SDK.
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Position Encoders
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Table 10. EnDat 2.2 Supporting Devices
OS
AMIC
AM335x
AM437x
AM57x
66AK2G
Linux
RTOS
4.2
AMIC120
AM4376/7/8/9
HIPERFACE DSL®
Sitara processors currently support HIPERFACE DSL®, as specified in Table 11. Evaluation and
production software is available through the industrial drives firmware add-on package for the TI-RTOS
version of the Processor SDK.
Table 11. HIPERFACE DSL Supporting Devices
OS
AMIC
AM335x
AM437x
AM57x
66AK2G
Linux
RTOS
4.3
AMIC120
AM4376/7/8/9
Tamagawa
Sitara processors currently support Tamagawa, as specified in Table 12. Evaluation and production
software is available through the industrial drives firmware add-on package for the TI-RTOS version of the
Processor SDK.
Table 12. Tamagawa Supporting Devices
OS
AMIC
AM335x
AM437x
AM57x
66AK2G
Linux
RTOS
4.4
AMIC120
AM4376/7/8/9
BiSS®- C
Sitara processors currently support BiSS, as specified in Table 13. The BiSS® C encoder solution is
available from CouthIT. For licensing or evaluation, contact CouthIT.
Table 13. BiSS C Supporting Devices
OS
AMIC
AM335x
AM437x
AM57x
66AK2G
Linux
RTOS
AMIC120
AM4376/7/8/9
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7
Revision History
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Revision History
NOTE: Page numbers for previous revisions may differ from page numbers in the current version.
Changes from A Revision (September 2018) to B Revision .......................................................................................... Page
•
•
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•
•
•
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Added Acontis to Industrial Communication Partners section. ......................................................................
Added CouthIT to Industrial Communication Partners section. .....................................................................
Updated KUNBUS, Systec, and TMG entries in Industrial Communication Partners section. ..................................
Updated EtherCAT section. ..............................................................................................................
Added Modbus TCP/IP section. .........................................................................................................
Added BiSS-C section. ...................................................................................................................
Revision History
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