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Connect PC and servo drive

Install the INGENIA MotionLab3 software. You can download it here: Downloads.

This process also installs the necessary drivers.

In order to use Ethernet connection between the PC and the Driver you need to set the Network Card in the same subnet than the Driver. Remember that the Driver comes by default with IP 192.168.2.22. Please find a step by step guide on how to configure the Network Card here: Configuring adaptor for Ethernet connection

EtherCAT Connection

MotionLab3 uses Ethernet over EtherCAT (EoE) to establish a connection with the driver, which means that an EtherCAT master is always required.

It could be done using:

  • An external EtherCAT master (i.e. Twincat)

  • Using Ingenia’s EoE Service

Please, find below a step by step guide on how to connect to the driver using MotionLab3.

Using an External Master (TwinCAT)

This is a step by step guide to configure the servo drive using MotionLab3:

  1. Download (https://www.beckhoff.com/twincat/) and install TwinCAT3 on your computer.

  2. Copy the appropriate ESI file (according to the firmware version that you have in your drive) in the following folder: C:\TwinCAT\3.1\Config\Io\EtherCAT.

  3. Check the following link to scan the network: Connecting TwinCAT to Ingenia EtherCAT slave

  4. Double-click the slave that you want to config, and press Advanced Settings in the "EtherCAT" tab.

  5. Go to "EoE" tab inside "Mailbox", and configure the IP Address that you want for the slave. Important note, it needs to be in the same domain as the IP that you configured for the Ethernet port or it will not be detected by MotionLab3. In this case we use "192.168.2.22":



  6. Go to "TwinCAT" menu tab, and click "Reload Devices" option. Discard the option to enter "Free run mode". The drive needs to be in Pre-operational state before attempting to connect to MotionLab3.



  7. Open the newest version of MotionLab3.



  8. Click on "Configuration Tools" > "Configure your system through the Wizard tool



  9. Once the Wizard starts press Next to go to Communication page



  10. Select "EtherCAT EoE (using external Master)" connection, enter the IP 192.168.2.22, and press "Connect"

Important

Your driver and your network adapter should be in the same network subnet.

  1. After that, your Drive description will appear on Drive overview page. You have been successfully connected to your drive!

Using EoE Service (available since MotionLab3 v1.6.1)

Beta version

This is a feature still under development that could include some potential issues.


Posible problems when connecting through SOEM service

  • Make sure that the EoE service has administrative privileges.

  • Prove that the interface network adapter that you are selecting is the correct one.

  • You don't need to configure a static IP for the interface network adapter that you will use to connect to your slaves.

  • Make sure that you don't have any EtherCAT master running in your PC (TwinCAT, Accontis...).

  • WinPCap should be installed before using the SOEM service.

  • Another software, like some anti-virus, could block communications, we recommend using Windows Task Manager in order to find suspicious processes that could block them.

  1. Open the newest version of MotionLab3.

  2. Click on "Configuration Tools" > "Configure your system through the Wizard tool

  3. Once the Wizard starts press Next to go to Communication page

  4. Select "EtherCAT EoE (using SOEM service) - Beta" connection, choose the network adapter, and press the "EoE Service" button. If EoE Service is already running skip this step and go to step 7.

  5. A pop-up asking for admin privileges will appear. Fill it with the credentials if necessary, and press Yes.

  6. EoE Service will start in a new window. The EoE Service is independent of ML3, if ML3 closes, EoE Service will keep running.

  7. Go to ML3 again and press “Scan“, ECat drives connected to the target adapter will be detected.

  8. Select the slave index in “Found slaves“ and press “Connect”

  9. After that, your Drive description will appear on Drive overview page. You have been successfully connected to your drive!

Ethernet connection

In order to use Ethernet connection between the PC and the Driver we need to set the Network Card in the same subnet than the Driver. Remember that the Driver comes by default with IP 192.168.2.22.  Please find a step by step guide on how to configure the Network Card here: Configuring adaptor for Ethernet connection

Please, find below a step by step guide on how to connect to the driver using MotionLab3.

  1. Open MotionLab3.

    Before starting

    This tutorial assumes that you have connected your driver an external DC power source inside the allowed voltage range and an Ethernet cable between your computer and Port ECAT0 (if you do not know which port is ECAT0, please refer to the following section of the manual).


  2. Click on "Configuration Tools" > "Configure your system through the Wizard tool



  3. Once the Wizard starts press Next to go to Communication page



  4. Select "Ethernet - Not valid for EtherCAT devices" connection, enter the IP 192.168.2.22, and press "Connect".

Important

Your driver and your network adapter should be in the same network subnet.

  1. After that, your Drive description will appear on Drive overview page. You have been successfully connected to your drive!

CANopen connection

  1. Open the Wizard and click "Next".


  2. Select "CANopen" connection, choose the CAN Device, Baudrate, Channel, and press "Scan". If you know the Node Id of your driver, you can alternatively select "Connect" in the "Connection mode" instead of using the scan Scan method. 


  3. After that, your Drive description will appear on Drive overview page. You have been successfully connected to your drive!


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