Install EtherCAT Network for Execution

For TwinCAT 3 requirements, see Hardware Setup Requirements for TwinCAT 3. To install the EtherCAT® Network for execution by using the target computer as main device node:

  1. Run the Ethernet configuration tool. In the MATLAB Command Window, type:

    speedgoat.configureEthernet

    This tool lets you select either an IP address or reserve for EtherCAT each of the Ethernet ports that is not the host-target link port. In the EtherCAT Init block, you need an Ethernet port number. There, the number 1 refers to the first device listed in the configuration tool (Host port is number 0), and goes continuously. For more information, see the Speedgoat documentation. The table demonstrates one way that the Ethernet and EtherCAT configuration could appear on a Speedgoat® target machine.

    Linux-based RTOS Ethernet Ports and EtherCAT Configurations

    Configuration

    Ports

    Host

    0

    Ecat

    1

    IP

    2

    Ecat

    3

    IP

    4

    Ecat

    5

  2. Connect your EtherCAT network to the target computer Ethernet port dedicated to EtherCAT. Turn on the network.