Sometimes it is needed to configure a EtherCAT device via the manufacturers software, while keeping the EtherCAT topology intact (e.g. configuring a drive with integrated safety with the FSoE master located in the GCC). Normally this would mean unplugging the EtherCAT cable from the EtherCAT master and plugging it into a laptop, however in the case of a GCC this would mean opening the cabinet. Since this is laborious action involving opening the GCC, an alternative is made available by switching the MotorCortex Controller into bridge-mode, passing all data from front port “EN” directly to the EtherCAT network.
Switching on Bridge mode
Log into the system from the console using a screen or keyboard or through ssh as described in Remote Access & File Transfer
Use the following command to turn on bridge mode.
sudo mcx-bridge on
After this you will be able to scan the EtherCAT network with your manufacturers software (directly via your PC or with an other EtherCAT master device) via the ENET port on the GCC.
It might be needed to change the network adapter IP settings if you use your PC with the manufacturers software
Switching off Bridge mode
There are two methods to switch off bridge mode and return the control to the MotorCortex Controller:
- Restarting the Motion Controller
Directly in the controller (requires keyboard and screen) The controller is not available via SSH, since the system is now in bridge mode. However it is possible to access the console of the controller directly via a keyboard and screen.
Use the following command:
sudo mcx-bridge off
You might need to restore the network adapter IP settings to use your PC with MotorCortex again
For more options type.
sudo mcx-bridge --help
The current version of mcx-bridge has the following options:
usage: sudo mcx-bridge on [-s SOURCE] [-t TARGET] [-b BRIDGE] [-i IP/MSK] SOURCE: Source device, e.g. eth0 (eth0 = default) TARGET: Target device, e.g. eth1 (eth1 = default) BRIDGE: Bridge device, e.g. br0 (br0 = default) IP/MSK: IP and Mask, e.g. 192.168.2.100/24 (192.168.2.100/24 = default) usage: sudo mcx-bridge off [-b BRIDGE] [-s SOURCE] [-i IP/MSK] BRIDGE: Bridge device, e.g. br0 (br0 = default) SOURCE: Source device, e.g. eth0 (eth0 = default) IP/MSK: IP and Mask, e.g. 192.168.2.100/24 (192.168.2.100/24 = default)