SwitchToEtherCat

This command will enable EtherCAT and disable the other three protocols (EtherCAT is an exclusive protocol that cannot be used at the same time as other Ethernet-based protocols).

Note

Enabling EtherCAT will disable all other communication protocols (TCP/IP, EtherNet/IP, PROFINET). The MecaPortal is not accessible while the robot is in EtherCAT mode.

This enabling of EtherCAT is persistent and retained after a power cycle (a reboot). To disable EtherCAT (and thus re-enable another communication protocol), perform one of the following actions:

1. Reset the DisableEtherCAT subindex of the Robot control object.

2. Perform a network configuration reset (see the robot’s user manual for the procedure).

Syntax

SwitchToEtherCat()

Usage restrictions

This command can be executed in any robot state.

Cyclic protocols

In cyclic protocols, set the DisableEtherCAT bit in the Robot Control data to 1 to disable the EtherCAT protocol and switch back to TCP/IP protocol. See Table 4 for more details.