EtherCAT Software connection Tip: The following description assumes that an EtherCAT master from Beckhoff with the TwinCAT software is used. Connect the EtherCAT master to the controller, see . Supply the controller with voltage. Obtain the ESI file that corresponds exactly to the used firmware version from the following sources: From the Nanotec website us.nanotec.com. The current version of the firmware and the ESI file can be found in the Plug & Drive Studio download folder. From Nanotec support. Close the TwinCAT system manager if it is open. Then copy the ESI file to the TwinCAT subfolder: If you use TwinCAT version 2, use folder <TWINCAT INSTALL DIR>/Io/EtherCAT If you use TwinCAT version 3, use folder <TWINCAT INSTALL DIR>/3.1/Config/Io/EtherCAT Example Example: If TwinCAT 2 is installed on your computer under path C:\TwinCAT\, copy the ESI file to path C:\TwinCAT\Io\EtherCAT\. Open the ESI file with an editor. Find the AddInfo parameter. Enter: the value "2" if you would like to integrate the controller as Box (factory settings) the value "0" if you would like to integrate the controller as NC-Axis Save and close the file. Now restart the TwinCAT system manager. The ESI files are read in again following a restart. Note: The cycle time of the sync signal must always be set to 1 ms. You can set the bus cycle time (and, consequently, the interpolation time in 60C2h) to integer multiples of 1 ms.
EtherCAT Software connection Tip: The following description assumes that an EtherCAT master from Beckhoff with the TwinCAT software is used. Connect the EtherCAT master to the controller, see . Supply the controller with voltage. Obtain the ESI file that corresponds exactly to the used firmware version from the following sources: From the Nanotec website us.nanotec.com. The current version of the firmware and the ESI file can be found in the Plug & Drive Studio download folder. From Nanotec support. Close the TwinCAT system manager if it is open. Then copy the ESI file to the TwinCAT subfolder: If you use TwinCAT version 2, use folder <TWINCAT INSTALL DIR>/Io/EtherCAT If you use TwinCAT version 3, use folder <TWINCAT INSTALL DIR>/3.1/Config/Io/EtherCAT Example Example: If TwinCAT 2 is installed on your computer under path C:\TwinCAT\, copy the ESI file to path C:\TwinCAT\Io\EtherCAT\. Open the ESI file with an editor. Find the AddInfo parameter. Enter: the value "2" if you would like to integrate the controller as Box (factory settings) the value "0" if you would like to integrate the controller as NC-Axis Save and close the file. Now restart the TwinCAT system manager. The ESI files are read in again following a restart. Note: The cycle time of the sync signal must always be set to 1 ms. You can set the bus cycle time (and, consequently, the interpolation time in 60C2h) to integer multiples of 1 ms.
Software connection Tip: The following description assumes that an EtherCAT master from Beckhoff with the TwinCAT software is used. Connect the EtherCAT master to the controller, see . Supply the controller with voltage. Obtain the ESI file that corresponds exactly to the used firmware version from the following sources: From the Nanotec website us.nanotec.com. The current version of the firmware and the ESI file can be found in the Plug & Drive Studio download folder. From Nanotec support. Close the TwinCAT system manager if it is open. Then copy the ESI file to the TwinCAT subfolder: If you use TwinCAT version 2, use folder <TWINCAT INSTALL DIR>/Io/EtherCAT If you use TwinCAT version 3, use folder <TWINCAT INSTALL DIR>/3.1/Config/Io/EtherCAT Example Example: If TwinCAT 2 is installed on your computer under path C:\TwinCAT\, copy the ESI file to path C:\TwinCAT\Io\EtherCAT\. Open the ESI file with an editor. Find the AddInfo parameter. Enter: the value "2" if you would like to integrate the controller as Box (factory settings) the value "0" if you would like to integrate the controller as NC-Axis Save and close the file. Now restart the TwinCAT system manager. The ESI files are read in again following a restart. Note: The cycle time of the sync signal must always be set to 1 ms. You can set the bus cycle time (and, consequently, the interpolation time in 60C2h) to integer multiples of 1 ms.
