EP9128 commissioning

The following chapter describes the commissioning and implementation of the EP9128-0021 in TwinCAT and TIA. Because the EP9128-0021 contains three EtherCAT slave controllers (ESC) to provide eight EtherCAT interfaces, three EP9128s must also be implemented during configuration. In the automation software project these are represented once each with the ending -0037, with -1037 and with -2037. For more information on the process image, refer to the documentation of EP9128-0021.

Each ESC or IO module has four ports. Some of these ports are used internally as interfaces to each other, which are not accessible to the user. The others are available as interfaces to the connectors on the EP box. The following illustration shows the assignment of the connectors to the ports of the I/O modules.

If the configuration is created offline, the user must know at which port or at which connector the EtherCAT devices are present at the EP9128 in which number and in which order.

The sequence of the EtherCAT devices to be configured at the EP9128 starts with all EtherCAT devices at connector 2, then with all at connector 3, ..., 7 and ends with the last EtherCAT device at connector 8. If there are no EtherCAT device(s) at a port, this port is omitted or skipped.

Sample configuration