Configure EtherCAT

  3 minute read  

After successfully Deploying a application it is time to configure your EtherCAT devices. In this section we will use a example to show how to configure your EtherCAT with the Motorcortex ECAT Tool. For this example we have made use of a Beckhoff EP2316-0003 IO module. With your EtherCAT device connected it is time to configure your EtherCAT device(s) using the Motorcortex ECAT tool.

Connect Motorcortex-Ecat tool

In the Motorcortex ECAT tool you can create a master.xml file for your io configuration. This file is needed for Motorcortex to communicate with the EtherCAT devices in the EtherCAT bus.

1. Login to your motorcortex.io account. If you don’t have a account yet make sure to to register for an account.

   

2. Under tools press the Ecat button. This will open the Motorcortex ECAT tool in a new browser tab.

   

3. Connect to your controller via main menu on the top left and choose Connection.

   

4. fill in the connection parameters per default you only have to fill in the IP address 192.168.2.100 in case of the controller having a custom configuration you have to fill in the non-standard ports or/and user authentication.

   

5. press confirm to connect to your controller.

Ethercat configuration

A standard application has a pre configured EtherCAT bus.

6. Press fetch to fetch the current master.xml EtherCAT configuration file on the Controller.

   

7. In the left menu Domains and Devices will show up that are pre-configured. Users of the GCC will need to keep the GCC domain. all other domains can be deleted or disabled.

Add Devices

8. Next add a new domain by clicking the + button.

   

9. In this new domain you have to add a new device by pressing the + button.

   

10. Within the tool a new window will pop up. Press the Scan Bus button to scan for all Available Ethercat Devices.

    

11. The fist 3 devices shown are GCC components. These are already configured so we can uncheck these. If we have checked the devices that we want to add we can push the Add Devices Button.

12. Click on your device. This will show your device configuration.

    

13. Click the 3 dotted button and select desctription file. Every EtherCAT supplier should supply a ESI.xml file. Upload the ESI.xml in the Motorcortex Ecat to have your PDO’s filled in automatically.

Deploy and save configuration

14. Press the deploy button to deploy your new configuration to your machine.

    

15. Congratulations you have configured your EtherCAT devices.