Configuration

The following configuration settings are required to use the PM motion module.

Modules.ini

The PMMotion.rtdll module must be loaded. Append the following to the end of the Modules.ini file in the folder containing the WMX3 engine (WMX3Engine.rtss), replacing X with the last module number plus 1.

[Module X]
DllName = PMMotion.rtdll
disable = 0

See Module.ini for additional information on Modules.ini.

ec_network.def

The platform must be configured to operate in profile mode. Add the following line to the ec_network.def file in the same folder as the EcPlatform.rtdll file.

PPMode = 1

If one or more masters are defined using the [Master X] heading, add PPMode = 1 after the master to enable profile mode, as follows (X is the master number):

[Master X]
PPMode = 1

The EtherCAT network containing PM motion axes cannot operate in DC mode. The DCMode = 1 setting will be ignored by masters operating in profile mode.

Controlling PM Motion Axes and Cyclic Axes Concurrently

An EtherCAT network cannot contain both PM motion axes and normal cyclic mode axes. If both types of axes must be controlled at the same time, two EtherCAT masters must be defined and a network interface card (NIC) must be assigned to each master.

To do so, configure ec_network.def as follows:

[Master 0]

[Master 1]
PPMode = 1

In this configuration, master 0 will control the normal cyclic mode axes, and master 1 will control the PM motion axes. The normal cyclic mode axes should be connected to the first EtherCAT NIC and the PM motion axes should be connected to the second EtherCAT NIC. (Other configurations, such as setting master 0 to control the PM motion axes, or setting both masters to control PM motion axes, are also possible.)

EtherCAT NICs can be configured using the WMX3 installer, the ConfigureNIC utility, or manually. See the WMX3 Setup Guide and the WMX3 Operating Station and Utility Help for more details.

When configuring the EtherCAT NICs, make sure that the RtxTcpIp.ini file (in the same folder as ec_network.def) is also updated. This file can be updated using the WMX3 installer, the ConfigureNIC utility, or manually. Also see the discussion of the NumOfMaster parameter in Configuration.