8 | Commissioning STOBER
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02/2020 | ID 442516.07
8.3.3 Scanning the hardware environment
If all system components are connected to the EtherCAT network and the network is energized, it is possible to scan for
connected devices automatically. In this scenario, TwinCAT XAE searches for connected devices and terminals and
integrates them into the existing project in accordance with their configuration entries in the accompanying ESI files.
If the actual EtherCAT infrastructure is not available, i.e. you are configuring in offline mode, you must map and project all
connected devices manually in TwinCAT XAE. You can get more detailed information on this in the online help tool of the
TwinCAT XAE software.
ü
You have activated Config mode.
1. In the solution explorer, navigate to I/O > Devices > Context menu Scan.
ð TwinCAT XAE scans the EtherCAT system for the EtherCAT master.
The ... new I/O devices found dialog box opens.
2. Activate the EtherCAT master in question and confirm with OK.
ð The EtherCAT master is created in the solution explorer under I/O > Devices as a device (EtherCAT).
The Scan for boxes? dialog box opens.
3. Confirm with Yes.
ð TwinCAT XAE scans the EtherCAT system for the EtherCAT slaves.
The EtherCAT drive(s) added dialog box opens.
4. Append linked axis to:
In order to activate NC or CNC function, select the desired option and confirm with OK.
ð The EtherCAT slaves are created in the solution explorer.
The Activate Free Run dialog box opens.
5. In order to shift the system components during configuration into free run mode and thereby enable verification of
the signal exchange, confirm with Yes.
ð EtherCAT master and slaves are created in TwinCAT XAE.
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