EtherCAT Conformance Test Tool 1.20.80.0
TR-Electronic GmbH 2016, All Rights Reserved
Printed in the Federal Republic of Germany
Page 152 of 153
TR-EMO-BA-GB-0022 v03
09/29/2020
14 EtherCAT Conformance Test Tool 1.20.80.0
The EtherCAT Conformance Test Tool or ECTT with the version 1.20.80.0 is a little bit buggy; so it
needs some tricks for running the check with EncoTRive devices:
The EncoTRive device must have a firmware, that is compiled with the define ECTT_STRINGFIX.
This clips the length of all EtherCAT string objects to 25 characters. Otherwise the upload of the
Online Object Directory will fail.
If the TwinCAT system is running, stop it with the symbol in the taskbar. Otherwise the ECTT can
access the LAN port for the EtherCAT bus.
Copy the ESI files for the EncoTRive devices into the ECTT subdirectory "DeviceDescriptions".
The EncoTRive device, that shall be tested, is call DUT = Device under Test.
Now it must be attached to the EtherCAT bus and powered up.
Start the ECTT. Add the proper EtherCAT master device and select the proper LAN adapter. Scan
the boxes. The DUT should appear below the master in the tree-view to the left. Select it, so that its
tabs for communication and testing appear to the right.
Select the tab of the device and below the tab "Startup".
Enter the SDO commands for setting up the sync masters and PDOs. Otherwise the "TF-2300_AL
CoE SDO information test" will fail, because it can't switch the device to the states SAFE-OP
and OP.
SDO startup commands required for EncoTRive RELC:
T = Transition: PS = PreOp to SafeOp
I = Index (hexadecimal, 2 byte)
S = Subindex (hexadecimal, 1 byte)
CA = Complete Access: f = false, t = true
Data (hexadecimal, list of bytes - little endian)
T, I, S, CA, Data // Comment
PS, 0x1600, 0, t, 0200100040602000ff60 // set RPDO1
PS, 0x1601, 0, t, 0000 // set RPDO2
PS, 0x1A00, 0, t, 02001000416020006460 // set TPDO1
PS, 0x1A01, 0, t, 0000 // set TPDO2
PS, 0x1c12, 0, t, 01000016 // set SM2
PS, 0x1c13, 0, t, 0100001A // set SM3
Complete access means, that a whole array or record is written at one time, and not element by
element.
Save the project file. If you load it later, you can repeat the tests without typing the startup commands
again.
