NRMKEtherCAT Configuration Tool - Tutorials

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NRMKEtherCAT Configuration Tool - Tutorial

In this section, we use our Elmo kit to guide user how to use NRMKEtherCAT Configuration Tool (NRMKEcatTool). The kit consists of 6 Elmo CoE drives, 3 Beckhoff Digital Inputs and 3 Beckhoff Digital Outputs. By working through this tutorial, user will be able to

  • Retrieve EtherCAT system's topology
  • Do EtherCAT configuration
  • Generate EtherCAT system interface and control code in C++
  • Compile and execute control code with Eclipse
  • Monitor system operation and execute advanced control commands with NRMKEcatTool

System requirements

  • One STEP device. In the scope of this document, STEP-PC is used to execute example control code although the general process is almost same for other STEP platforms.
  • User's host PC running Windows OS where NRMKFoundation and NRMKPlatform were installed.

This tutorial includes 5 steps which was designed for user to understand the configuration process and every specific features of NRMKEcatTool.


Step 1 - Working with NRMKEcatService

NRMKEcatService is an application installed on every STEP device, which is able to scan all slaves appeared on EtherCAT line. Moreover, It automatically sends those information to NRMKEcatTool for further configuration.

Watch and follow this video clip for more details:

  • Note: In order for NRMKEcatTool to recognize any EtherCAT slave, its ESI file (EtherCAT System Information) must be put into <install_dir>/NRMKFoundation/bin/NRMKEcatTool/resources directory.


Step 2 - Setting EtherCAT Slave

This step requires user a basic knowledge of EtherCAT PDO, entries and EtherCAT domains. In this tutorial, we work with both Elmo CoE slaves and Digital Input and Output from Beckhoff which will complete user's understanding of different kinds of EtherCAT slaves. In detail, user is guided to set slaves' properties (name, icon...) and to map PDO entries to EtherCAT domains.

Watch and follow this video clip for more details:


Step 3 - Generate System Interface code and Eclipse project

EtherCAT system interface and Eclipse project should be generated after user finishes all suitable EtherCAT configuration in above steps.

In this step, user can specify

  • whether DC mode is used or not
  • which STEP platform to execute EtherCAT application
  • the directory where Eclipse project is located

Watch and follow this video clip for more details:


Step 4 - Working with Eclipse

This section shows how to import Eclipse project, to compile and to execute EtherCAT application as well. After passing this section, user is expected to be familiar with Eclipse SDK and to get started with cross-platform technique.

Watch and follow this video clip for more details:


Step 5 - Working with System Monitor

System Monitor is an additional feature in NRMKEcatTool which help users to visually monitor and control their EtherCAT system. System Monitor supports controlling CoE slaves as well as Digital Input Output modules.

In case of CoE slaves, those below control modes are supported.

  • Cyclic Synchronization Position in combination with NRMKFoundation's trajectory interpolation libraries.
  • Cyclic Synchronization Torque
  • Cyclic Synchronization Velocity

Watch and follow this video clip for more details:

Code Explanation

NRMKEtherCAT Configuration Tool - Code Explanation


Frequently Asked Questions

For further questions or troubleshooting, please refer to the page of NRMKEtherCAT Configuration Tool - FAQ