Fanuc robot EtherCAT communication configuration involves several steps. Firstly, connect the EtherCAT cables properly. Then, in the robot’s control system, access the network settings and select the EtherCAT option. Configure the communication parameters like baud rate and node address. After setup, it allows efficient data exchange for better control and operation of the robot.
- Introduction
EtherCAT is an open architecture, Ethernet-based fieldbus system. The CAT in its name is the abbreviation of Control Automation Technology. EtherCAT is a deterministic industrial Ethernet, first developed by Beckhoff in Germany. No IP address is required, and it has the characteristics of fast speed (each node receives and transmits data in less than 1 microsecond) and large data volume. Fanuc’s EtherCAT board only supports slave stations, not master stations. Beckhoff’s PLC is generally used as the master station. The maximum number of input and output bytes is 512 bytes.
This article explains the configuration method of EtherCAT network communication. - Configuration preparation
2.1 Hardware preparation
1) Robot: Use EtherCAT Slave Board (EtherCAT slave board), number A20B-8101-0821, use a shielded network cable to connect the board and the PLC network port, the network interface used this time is EC-IN (CD38Y).
2.2 Software preparation
1) The robot needs to install this option software: 1A05B-2600-J743 ! EtherCAT. To use this communication method, the robot system must be at version 7DC2/11 or above. If it is a Mate cabinet, the robot system must be at version 7DC3 or above.
The above software number can be found in MENU-next page-version ID-next-order document. If not, you need to add the option function. For each version of the flash package and option addition, you can reply to FANUC flash in the background for more details.
2.3 Communication ESI file
1) It is necessary to provide the robot EtherCAT communication ESI file to the PLC engineer. The file can be exported in the robot EtherCAT configuration interface “Output ESI file”, the export address is the directory under menu-file, and the exported file name is FANUC_RS_ESI0001.xml.
2) The specific operation is as follows: On the EtherCAT configuration interface, move the cursor to the fifth item “Output ESI file: Execute” and press the ENTER key. The ESI file can be exported. If the export is successful, the words “Save to FANUC_RS_ESI0001.XML” will be displayed at the bottom of the screen, and then the ESI file can be found at the exported address. - EtherCAT configuration
3.1 EtherCAT configuration interface
1) menu—Settings—EtherCAT enters the configuration interface
2) Set the number of input points and output points according to the actual communication requirements
3) After each change of the EtherCAT configuration interface parameters, the robot needs to be cold-started to take effect
Below is the description of each setting on the interface.
Single error: need to be changed to “invalid” after normal communication. If you need to move the robot before configuring EtherCAT, this item can be changed to “valid” to reset the “PRIO-801 EtherCAT offline” alarm.
I/O safety value: cleared by default.
Input points, output points: click F4 [Select], you can choose from 128, 256, 512, 1024, 2048, 4096. When selecting a value above 512, you can adjust the maximum DIDO number in Control Start-menu-next page-program settings.
Output ESI file: export the xml configuration file to the directory in menu-file.
3.2 Related variables
$ECAT.$ASGUOP default 1: Automatically assign UOP to EtherCAT network; 0: Do not automatically assign UOP
3.3 Signal assignment
Rack number: 106 Slot number: Fixed to 1 - PLC side configuration example
Take Beckhoff PLC as an example, load the FANUC_RS_ESI0001.xml document exported above, input and output variables can be created as 16/32/64/128/256/512 Bytes respectively, and modify them in PDO Assignment. - Common alarms and responses
Alarm: PRIO-801 EtherCAT offline
Response: Check EtherCAT settings or network cable connection