EtherCAT Bus Coupler - Enable Enhanced Mode
| Version Number | Description |
|---|---|
| 1.0 | Initial version, Explains how to setup a SLIO bus coupler in enhanced mode |
| 1.1 | Updates to the earlier version |
| 2.0 | Added the 2nd method of enabling Enhanced mode. |
This section shows how to switch the 053-1EC01 EtherCAT Coupler to Enhanced Mode with iCube Engineer to allow FSoE communication.
1. Supported Components
| Component Name | Version |
|---|---|
| iCube Engineer | ≥ 2023.9 |
| 053-1EC01 EtherCAT SLIO Bus Coupler | ≥ 7.32 |
| iC9226M-EC / iC9226M-FSoE Controller | ≥ 2023.9 |
2. Solution details
2.1 Overview
Enabling Enhanced Mode on the SLIO EtherCAT Bus Coupler (053-1EC01) is done by setting the Coupler Parameter object 0x3000.1 = 1. This can be done through the iCube Engineer following the procedures below.
2.2 Possible methods to enable Enhanced Mode on EtherCAT Bus Coupler 053-1EC01
There are 2 possible methods to enable the Enhanced mode in the EtherCAT coupler. In the next subsections, the 2 methods are mentioned.
Note: if a project already has the hardware configuration done with a 053-1EC01 in Enhanced Mode, open a new empty project and follow the procedure explained here to enable the Enhanced Mode. After this, it's possible to go back to the main project and connect directly.
2.2.1 Enable Enhanced Mode on EtherCAT Bus Coupler 053-1EC01 via CoE data
- Open iCube Engineer and start a new project. Either a blank one, and add the controller to the plant manually, or use a template. Make sure the controller and the EtherCAT Bus Coupler are physically connected in their respective networks.
- Right click on the EtherCAT option of the controller and click on "EtherCAT bus scan".
- The non-enhanced EtherCAT bus coupler should be listed in the EtherCAT network of the project.
- Navigate to and update object 0x3000.4
- Double-click on the EtherCAT bus coupler to open the full details of the device
- Select "CoE Data" from the available tabs. Find Index 0x3000 (Coupler Parameter) and press the left arrow to show all the information
- Click on the 4th item (subindex 4, Operating Mode) to have access to edit the values with the built-in editor at the bottom (see highlighted area in the image below)
- Change the value of Subindex 4 from 0x00 to 0x01 and click "Apply"
- The value in the list should also show 0x01
- Go to the Init Commands tab and check if the modified value of 0x3000:4 is present.
- Connect to the controller and download the project. With this step the change to Enhanced Mode should be done.
- To confirm the change and to have the correct device in the EtherCAT configuration, disconnect from the controller and scan the EtherCAT network. The device now should show in the name "Enhanced Mode".
The procedure to revert the changes and use the coupler in non-Enhanced Mode is the same, changing the value of Operation Mode in the CoE Data from 0x01 to 0x00.
2.2.2 Enable Enhanced Mode using the Online Function in EtherCAT.
- Open iCube Engineer and start a new project. Either a blank one, and add the controller to the plant manually, or use a template. Make sure the controller and the EtherCAT Bus Coupler are physically connected in their respective networks.
- Right click on the EtherCAT option of the controller and click on "EtherCAT bus scan".
- The non-enhanced EtherCAT bus coupler should be listed in the project's EtherCAT network.
- Write and start the project.
- Go to the Online Functions tab in EtherCAT and change the EtherCAT Bus Coupler state to Pre-OP.
- Open the CoE data in online functions and change the value of object 0x3000.4 from 0 to 1. For this, follow the below mentioned steps below:
- Double-click on the EtherCAT bus coupler and go to the Online Functions tab.
- Select "CoE Data" from the available tabs. Find Index 0x3000 (Coupler Parameter) and press the left arrow to show all the information
- Click on the 4th item (subindex 4, Operating Mode) to have access to edit the values with the built-in editor at the bottom (see highlighted area in the image below)
- Change the value of Subindex 4 from 0x00 to 0x01 and click "Apply."
- The value in the list should also show 0x01
- When prompted, ensure you click 'Yes' to initiate the rescue scan.
- This will lead to a warning pop-up up and after a successful rescan, the EtherCAT master and slave will go to Safe-Op.
- Then select the Change State to Op for EtherCAT Master to have ethercat devices to the Operational state. The Bus coupler slave will show that it is in enhanced mode.
- To confirm the change and to have the correct device in the EtherCAT configuration, disconnect from the controller and scan the EtherCAT network. The device should now show in the name "Enhanced Mode".
The procedure to revert the changes and use the coupler in non-Enhanced Mode is the same, changing the value of Operation Mode in the CoE Data from 0x01 to 0x00.