Editing the EtherCAT Topology

Editing the EtherCAT topology refers to adding, removing or re-ordering SubDevices in an existing EtherCAT network. Editing the network is done after the network has initially been created and configured.

Related content:

For information on initially creating an EtherCAT network, see Creating a New EtherCAT Network.
For a general explanation of EtherCAT topologies, see EtherCAT Network Topology.
In addition to the Edit Topology dialog referred to in this topic, the Network Mismatch Analyzer can be used to determine whether and how your physical network differs from the configuration that has been downloaded to the RMC.

Do NOT use Configure Using Network Scan when editing the topology!
Editing the EtherCAT topology involves using the Edit Topology dialog or manually adding, removing or re-ordering in the EtherCAT Explorer. In contrast, creating a new EtherCAT network can be done with the Configure Using Network Scan. Do not use Configure Using Network Scan after the network has been initially created and configured, as all the configuration settings in the SubDevices, such as PDO mapping, I/O mapping, etc. will be reset to default settings.

Editing an Existing EtherCAT Network

To edit an existing network, follow these general steps. Detailed instructions are given further below.

Change the physical network
Change the network in RMCTools to match the physical network
Download the EtherCAT configuration

After downloading, if the EtherCAT network does not restart automatically, you may need to restart it.

Classic View, Flat View, and Topology View Tabs

Editing a network is primarily done in the Classic View tab in the EtherCAT Explorer pane in the EtherCAT Editor. For complicated networks that use EtherCAT junction terminals, the Flat View and Topology tabs in the EtherCAT explorer may provide additional insights into the network structure in order to determine where to add, remove or re-order SubDevices. The Topology tab does not provide editing.

Adding or Removing SubDevices

Follow these steps to add or remove SubDevices in an EtherCAT Network. For re-ordering, see Reordering SubDevices below.

Note: SubDevices added with this method will have default settings. To duplicate existing SubDevices with their configuration settings, see Adding SubDevices with Configuration below.

Make sure that the ESI files for the new SubDevices are installed. See EtherCAT SubDevice Information (ESI) File for details.
Remove and reconnect EtherCAT cables as required to add the SubDevice(s). Keep track of which SubDevices are connected to which.
Make sure RMCTools is online with the RMC.
In the EtherCAT Editor, right-click EtherCAT MainDevice and select Edit Topology.

The Edit Topology dialog opens.

The Configuration box displays the configuration as defined in RMCTools, which now differs from the physical network.
Click Scan. The physical configuration will appear in the Scanned Configuration box.
Use the buttons to make the Configuration box match the Scanned Configuration box:

Add devices as follows:
1. In the Configuration box, click a device next to the location where you want the new device to be located.
2. In the Scanned Configuration box, click the device to be added.
3. Click Add SubDevice Above or Add SubDevice Below.
  
  If you make a mistake, remove the device as described below, then try again.
Replace devices as follows:
1. In the Configuration box, click the device to be replaced.
2. In the Scanned Configuration box, click the device to take its place.
3. Click Replace SubDevice.
  
  If you make a mistake, you will need to click Cancel and start over.
Remove devices as follows:
1. In the Configuration box, click the SubDevice to remove.
2. Click Remove SubDevice.
Once you have completed making changes, click Apply.

If you accidentally placed a SubDevice in the wrong location, follow the steps in Re-ordering SubDevices below.

To add SubDevices identical to SubDevices you have previously configured, see Adding SubDevices with Configuration below for instructions how to add SubDevices together with the same configuration settings.

Note: You can also add and remove SubDevices directly in the EtherCAT Explorer by right-clicking a device and choosing Add SubDevice(s) After or Remove SubDevice(s).

Re-Ordering SubDevices

To move a SubDevice to a different location in an EtherCAT Network, follow these steps:

Remove and reconnect EtherCAT cables as required to move the SubDevice(s). Keep track of which SubDevices are connected to which.
In the EtherCAT Editor, on the Classic View tab, right-click the SubDevice and select Cut SubDevice(s).
Determine where you wish to place the SubDevice. Right-click the device above that location and select Paste SubDevice(s) After.

If you accidentally placed the SubDevice in the wrong location, cut and paste the SubDevice again.

Cutting and pasting a SubDevice within the same controller will keep most of the SubDevice settings. The Station Address and Ethernet settings may automatically be changed to prevent conflicts.

Note: If you use the Add SubDevices buttons in the Edit Topology dialog to re-order SubDevices, it is the same as adding a completely new SubDevice and any configuration settings will be lost. Therefore, re-ordering is best done directly in the EtherCAT Explorer if you wish to keep the configuration settings.

Adding SubDevices with Configuration

You can add SubDevices that you have previously configured, whether in the current RMCTools project, or in other RMCTools projects. Most configuration settings are kept, which can reduce setup time.

The two main methods are:

Copying and pasting. This can also be performed between RMCTools projects that are open at the same time on the same PC.
Exporting a SubDevice Configuration Interface (SCI) file to be used later, or on a different PC.

Copying and Pasting SubDevices

Copying and pasting a SubDevice will keep most of the SubDevice settings. It will not keep the Data Map Address settings on the Process Data tab. The Station Address and Ethernet settings may automatically be changed to prevent conflicts.

To copy and paste SubDevice(s):

In the EtherCAT Editor, right-click a SubDevice and select Copy SubDevice(s).
Determine where you wish to add a SubDevice. Right-click the device above that location and select Paste SubDevice(s) After.

You can also paste into a different controller in the same instance of RMCTools, or into another instance of RMCTools.
Review the SubDevice settings in the tabs to make sure they are correct for your system. Pay special attention to the Station Address, the Process Data tab and the Ethernet tab, as that information may have changed.

Using a SubDevice Configuration Interface (SCI) file

A SubDevice Configuration Interface (SCI) file describes a specific complete configuration for an EtherCAT SubDevice based on the setting options of the device description file (ESI, EtherCAT Slave Information). Unlike the ESI, the SCI does not describe all features and/or possibilities of a device, but instead just one specific configuration made for a specific use case. The description is fixed and cannot be changed in a configuration tool after loading the SCI.

An SCI file provides only the specific configuration of a SubDevice. It does not provide the option to further change all the configuration settings. For example, for SubDevices that support Modules, the SCI file will include the configuration from the selected module , but a SubDevice added based on the SCI file will not provide the option of editing the module. An SCI file cannot be created from a SubDevice that was added from an SCI file.

An SCI file will not keep the Data Map Address settings on the Process Data tab. The Station Address and Ethernet settings may automatically be changed to prevent conflicts.

To export a SubDevice(s) to an SCI file:

In the EtherCAT Editor, right-click a SubDevice and select Export SCI.
Choose a location and filename, then click Save. You will use the filename later to find the SCI file in the EtherCAT ESI Manager.

To add a SubDevice from an SCI file:

On the Tools menu, select EtherCAT ESI Manager.
Click Add File, browse to the SCI file, select it, and click Open.
Close the EtherCAT ESI Manager.
In the EtherCAT Editor, determine where you wish to add the SubDevice. Right-click the device above that location and select Add SubDevice(s) After. The Append EtherCAT SubDevice dialog opens.
Check the Show Hidden SubDevices box.
In the SubDevices list, locate the SCI item you added, select it, and click OK. It will be listed under the Manufacturer’s name. The second column will display the name of the file you chose when you exported to an SCI file.
Review the SubDevice settings in the tabs to make sure they are correct for your system. If you need to change settings, you may need to add the SubDevice from the ESI file, since the SCI file does not offer full configurability.

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