How to access SigmaWin+ or sub device web pages using Ethernet over EtherCAT (EoE)

Version Number	Description
1.0	Initial version: Steps to access SigmaWin+, or sub device web page using Ethernet over EtherCAT on the iCube Control platform

This application note shows how to access an EtherCAT servopack, or an EtherCAT sub device connected to the iC922x controller using the Ethernet over EtherCAT feature in iCube Engineer

1. Supported Components

Component Name	Version
iC922x Controller	≥ 2024.3
iCube Engineer	≥ 2024.3
SigmaWin +	>= 7.43

2. Solution Details

Add the EtherCAT sub devices to the plant in the project. This can be done by performing a bus scan or by adding the devices in the EtherCAT device list manually.

2.1 EoE with manual IP settings (on different subnets)
In manual IP settings mode, the user specifies the IP address to be used on the sub device.

Note: iCube Engineer checks if the configured IP Address is unique. iCube Engineer does not check if the combination of IP address and subnet mask is unique for all sub devices. For the MAC address, iCube Engineer checks if the address is in a valid format, but not if it is unique.

The screenshot below shows how the user sets the IP address of the sub device to 192.168.206.4. The IP address of the iC922x is 192.168.207.187. Note the subnet setting and the gateway setting. The controller IP address is used in the gateway field.Save the project, build the project. Download and go online with the project.

Set the IP address of the PC appropriately.

Try to ping the device from the command prompt.

In a web browser, type in the assigned IP address and try to open the web server page of the sub device on a different subnet than the controller.

SigmaWin+ over EoE for a servo on a different subnet.

Set up the manual IP configuration as shown. 192.168.207.187 is the controller's IP address. The controller is used as a gateway. Download the project and get the controller running.

Make sure the PCs adapter settings are set up.

In SigmaWin+ select Ethernet Connection.

Set up communications settings based on the adapter selected in the step above.

Make sure that the PC 's ethernet adapter is ready as shown in the communication platform.

Ping the servo IP using the command prompt.

The SigmaWin+ ping should show that communication is OK.

Click on search for servopack. The servo should be discovered and ready for use.

2.2 EoE with manual IP settings (on the same subnet)

In manual IP settings mode, the user specifies the IP address to be used on the sub device.

Note: iCube Engineer checks if the configured IP Address is unique. iCube Engineer does not check if the combination of IP address and subnet mask is unique for all sub devices. For the MAC address, iCube Engineer checks if the address is in a valid format, but not if it is unique.

The screenshot below shows how the user sets the IP address of the servo to 192.168.207.1. The IP address of the iC922x is 192.168.207.187. Save the project, build the project. Download and go online with the project.

Launch SigmaWin+ from the parameters page.

In SigmaWn+ , try to connect to the servo.

The user will have to make sure that the Yaskawa communication app from the task bar has the desired communication port in a ready state and in position No.1 to 4 as shown below.

Select Ethernet Connection' as the method for searching. Set up the PC's communications setting. Also, make sure that the IP address assigned to the servos is included in the search criteria as sown below. Click on 'Search for servopacks'.

The search result should provide the discovered servo as shown below.

2.3 EoE with Automatic IP settings

If the Automatic IP setting is used, the iC9226 will assign IP addresses to the devices. This can be seen in the screen shot below. The iC922x IP address is 192.168.207.187 in this case and EtherCAT sub device 2 was given an IP address of 192.168.207.189. The IP address allocation scheme is to autoincrement by one.

Note: The auto addressing scheme does not check for any conflicts in IP address. It is the user's responsibility to make sure that there are no devices whose IP addresses are in conflict with the autoincremented autogenerated IP addresses.

In the EoE configuration tab of the device, make sure that the settings are appropriate. EoE is active by default. Verify the station address of the servo. Auto virtual MAC ID is set up. Automatic IP address setting is also set up.Save the project, build the project. Download and go online with the project.

Select the parameters tab on the servo page. Launch SigmaWin+.

In SigmaWin+ connect the servopack.

The user will have to make sure that the Yaskawa communication app from the task bar has the desired communication port in a ready state and in position No.1 to 4 as shown below.

Note :

Once the servopacks are found, the user is asked to choose which servo connection is required. It may take about a minute for the servos to be found on the network. Click connect.