RX72M Group
Single-Chip Motor Control via EtherCAT Communications
R01AN5434EJ0110 Rev.1.10
Page 67 of 85
Aug.31.2020
6.6 Connection with TwinCAT (Writing the ESI File)
(1)
Before starting TwinCAT, copy the ESI file included in the release folder to "/TwinCAT / 3.x / Config / IO
/ EtherCAT".
"ecat_cia402_motor_rsskrx72m\src\smc_gen\r_ecat_rx\utilities\rx72m\esi\ RX72M EtherCAT
MotorSolution.xml"
(2)
Add the TwinCAT driver through the following procedure. This is only required the first time.
From the Start menu, select [TWINCAT] → [Show Realtime Ethernet Compatible Devices...].
Select the connected Ethernet port from among the communications ports and press [Install].
(3)
Select the connected Ethernet port from among the communications ports to display its properties.
Only enable [TwinCAT Ethernet Protocol for All Network Adapters] from among the properties and close
the dialog box.