canopen over ethercat

[Smrgol]

Greetings,

I have an NI 9144 chassis incorporated into our EtherCAT system (non-LabView, 3rd party master) and I would like to make use of the FPGA embedded in the chassis to monitor some data from a different device on the network. Our system is using CANOpen over EtherCAT (CoE) so I know the hard way will be to write some code to dig into the CoE frame. I was hoping there would be some tools to help with this or even some nice examples to guide the way.

I know that there is a CANOpen LabView library. Can I use this library to write an FPGA application on the 9144?

Thanks.

Dan

[Cody C]

Good Morning,

I haven't seen any tools/examples that we have written that would provide you with help in this area.  Also, doing some research I don't believe that you would be able to use the CANOpen LabVIEW Library on the EtherCAT since you are using a non-LabVIEW 3rd party master.  However, I found this document that describes how to use an EtherCAT with a 3rd party master.  The only problem is that it uses File over EtherCAT protocol but it may be useful.  I hope this helps!

-Cody C

[Smrgol]

Cody,

Thanks for the reply but I have that part of the integration covered :). That document describes how to generate an ESI XML document that includes the module definitions installed on the 9144 chassis. We have all that working and are sampling I/O off of the 9144 in our master stack application just fine.

My problem is that I want to use the FPGA embedded in the 9144 to sample data from other slaves on the network, not its local I/O.

This morning I did discover this document. This appears to describe a pure VI implementation of CANOpen that does not use the NI CAN Driver. I think this may have what I want but I need to explore it some more.