Bridge-mode

How to set the motorcortex controller in bridge mode.

  2 minute read  

This page is applicable for the latest image version mcx-rtos-v.2024.01. For other mcx-rtos-images checkout: Older versions.

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, 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

  1. Log into the system from the console using a screen or keyboard or through ssh as described in Remote Access & File Transfer.

  2. Use the following commands to add eth1 to bridge:

    Stop motorcortex:

    sudo motorcortex stop

    Stop ethercat:

    sudo /etc/init.d/ethercat stop

    Bring eth1 down:

    sudo ip link set eth1 down

    Add eth1 to existing bridge br0:

    sudo ip link set eth1 master br0

    Bring eth1 up:

    sudo ip link set eth1 up

  3. 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.

Switching off Bridge mode

  1. Use the following commands to remove eth1 from bridge:

    Bring eth1 down:

    sudo ip link set eth1 down

    Remove eth1 from bridge:

    sudo ip link set eth1 nomaster

    Bring eth1 up:

    sudo ip link set eth1 up

    Start ethercat:

    sudo /etc/init.d/ethercat start

    Start motorcortex:

    sudo motorcortex start

  2. After this you will be able to use motorcortex again.

Older Version