Chapter 8 Motion Control Function
8.5 FoE(File Access over EtherCAT) Function
8.5.1 Overview of FoE Function
FoE is a function that supports firmware download from the motion controller to the slave which is in bootloader state through the
EtherCAT network as a simple file access protocol provided by EtherCAT communication. In order to use the FoE function, both
master and slave should support the FoE protocol. Therefore, it is necessary to check whether the FoE is supported prior to using the
function.
8.5.2 FoE Download
The slave operates as a state machine depending on the functions it actually supports. Since the FoE function is supported only in
Boot (Bootstrap) mode, which is the bootloader state, the salve state should be converted to the Boot mode in order to use the FoE
function. If the motion controller performs a network connection with full servo connection command, the state of all the connected
slaves will be changed from Init to Op (Operational) mode. Therefore, the mode should be switched in the order of Op->Init->Boot to
switch from the Op mode to the Boot mode. The FoE download is executed while the Boot mode is running. After the FoE download
is completed, you should perform a mode switch to Boot->Init again
Init
Pre-Operational
Bootstrap
(optional)
Safe-Operational
Operational
(1) StateMachine Setting
The StateMachine setting is executed by selecting the slave in a project tree while the slave is connected, the Shortcut
Menus>> Registered Information and the Online Service tab from the slave information dialog box. The current slave’s
StateMachine state and the entered requests are displayed on the screen. Since the Bootstrap is not supported depending on
the slave in most cases, it is necessary to check whether the slave supports the Bootstrap mode. If the Bootstrap mode is set
in the slave that does not support the Bootstrap mode, it may cause malfunction.
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