Sample programs

	Using the sample programs This document contains sample applications of our products for certain areas of application. The application notices provided here are based on typical features of our products and only serve as samples. The notices contained in this document explicitly do not refer to specific applications. The customer is therefore responsible for assessing and deciding whether the product is suitable for a particular application. We accept no responsibility for the completeness and correctness of the source code contained in this document. We reserve the right to modify the content of this document at any time and accept no responsibility for errors and missing information.

Sample 1: Determine Publisher/Subscriber data throughput

Sample programs 2: Sample program (Download)

With appropriate EtherCAT cycle time and depending on the scale and number of the publishers/subscribers configured in the EL66xx, real-time cycle times down to 500 µs or below are possible.

Typical throughput values for EL6601, FW08, Rev. EL6601-0000-0018 are

1 publisher with 1000 bytes, 1 subscriber with 1000 bytes, simultaneous bidirectional operation: 2 ms
1 publisher with 100 bytes, 1 subscriber with 100 bytes, simultaneous bidirectional operation: 300 µs

Both characteristic values were determined with this sample program. TwinCAT from version 2.11 is required for the *.tsm System Manager file.

The EL6601 is used as a sample to explain configuration as publisher or subscriber for network variables. The dialogs under TwinCAT 2.10 and TwinCAT 2.11 here are slightly different.

Sample 2: Online diagnostics

Sample programs 3: Sample program (Download)

The following objects are available for initial diagnostic in the CoE directory:

0xFA01, subindex 01: Frame Counter Rx (incoming to RJ45 socket)
0xFA01, subindex 02: Frame Counter Tx (outgoing from RJ45 socket)

The values can be read from the controller using PLC function blocks (FB_EcCoeSdoRead in TcEtherCAT.lib).

This and further diagnostic information from the CoE of the EL66xx are accessible via this sample PLC block.