ID : 10945

Master Setting

Obtaining an ESI File

If you perform master configuration using an ESI file, obtain the ESI file and load it into the network configurator software in the following way.

ESI file is stored in a robot controller. When WINCAPSIII receives "I/O" data from a robot controller, the data is stored in the project folder of WINCAPSIII. The following shows the destination folder path.

ESI file name and its location

Folder Path	...\"Project Name"\Data\Controller\IO\EtherCAT\
File Name	Beckhoff EL66xx.xml

Obtaining the Input/Output Size

At the time of loading the ESI file, the input/output size of RC9 is not set.

By obtaining the PDO information from the device with the network configurator software, the input/output size is set.

PDO Assignment

PDO mapping of input/output is as shown in the below.

Output

	Default size (Byte)	Name	Description	Remarks
0x1608	0	IO Outputs	PDO mapping of declared output process data

Default size

(Byte)

Name

Description

Remarks

0x1608

IO Outputs

PDO mapping of declared output process data

Input

	Default size (Byte)	Name	Description	Remarks
0x1A01	2	SYNC Inputs	External synchronization	(Note 1)
0x1A05	2	FOE Info	FoE information	(Note 2)
0x1A08	0	IO Inputs	PDO mapping of declared input process data

Default size

(Byte)

Name

Description

Remarks

0x1A01

SYNC Inputs

External synchronization

(Note 1)

0x1A05

FOE Info

FoE information

(Note 2)

0x1A08

IO Inputs

PDO mapping of declared input process data

(Note 1) Although this is selected, this item is not in IO allocation of RC9, so this is not used for communication with RC9.

(Note 2) Not selected.

Download (EtherCAT option function)

When loading the ESI file, if the check box of the download item is selected, the input/output size can be set by loading the PDO information.

Operation procedure

By obtaining the PDO information in the following procedure, the input/output size is set.

In this procedure, we describes when setting input/output size of RC9 to 32-Byte for each with an example using BECKHOFF TwinCAT XAE.

1

Both input and output are 0-Byte right after loading the ESI file.

Outputs size display	0 Byte
Inputs size display	2 Byte

(Note) 2-Byte of “external synchronization” that is not used for communication with RC9 is included in Inputs size display.

2

Click “Load PDO info from device”.

3

The input/output size is set.

Outputs size display	32 Byte
Inputs size display	34 Byte

(Note) 2-Byte of “external synchronization” that is not used for communication with RC9 is included in Inputs size.

ID : 10945

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