JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 245
10.2 Setting up the Ethernet at the PC
10.2.2 Setting up the Ethernet at the PC (EtherCAT).
With EtherCAT it is not allowed to connect Mactalk directly to the JVL motor(s) via
Ethernet. As this protocol is a master-slave protocol it is only allowed to connect Mactalk
to the Master which then routes the Mactalk frames to the motor(s), and response
frames back to Mactalk. This is done via a special protocol named EoE (Ethernet over
EtherCAT), by which the normal Ethernet frames are send on the EtherCAT network in
between the real-time frames. Please see the illustration below.
The IP addresses shown on the figure is just an example of a working configuration.
The EtherCAT master needs to be setup to act as a router between Mactalk and the
slaves on the EtherCAT network. The EtherCAT master has to be setup first, to know
what to setup in the Mactalk-PC and in the JVL motor slaves. Below is shown the steps
for configuring a Beckhoff TwinCAT master to route normal Ethernet frames to the JVL
slaves on the EtherCAT network.
Step 1-3.
Select the I/O Device, then select the “EtherCAT” tab and press the “Advanced Settings”
button.
TT3105-01GB
Mactalk
EtherCAT
master
JVL
Motor
JVL
Motor
EtherCAT network
Normal Ethernet
IP: 172.16.17.100
GW:172.16.17.1
IP: 172.16.17.1
IP: 10.10.10.20
IP: 10.10.10.233
GW: 10.10.10.20
IP: 10.10.10.234
GW: 10.10.10.20
IP: 10.10.10.xxx
GW: 10.10.10.20
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