Why need to use EtherCAT to Modbus TCP gateway solution? Modbus TCP is NOT a real-time network, since the Modbus TCP/IP ADU (Application Data Unit) data is embedded inside the TCP/IP frames of standard Ethernet packets. Designers can use AX58200 EtherCAT to Modbus TCP Gateway solution to integrate Non-real-time Modbus TCP network (with longer than 100ms cycle time) into Real-time EtherCAT network (with less than 1ms cycle time)!! AX58200 EtherCAT Slave Controller SoC supports two embedded Fast Ethernet PHY for EtherCAT network connection; AX58200 also supports another embedded Ethernet MAC controller, which can be connected with an external RMII Fast Ethernet PHY for Modbus TCP network connection. AX58200 EtherCAT to Modbus TCP Gateway firmware can realize the gateway functionalities by parsing EtherCAT RxPDO, TxPDO and Modbus commands based on the pre-defined Modbus commands mapping table. This AX58200 EtherCAT to Modbus TCP gateway demonstration uses AX58200 TwinCAT PLC Modbus TCP demo utility and Modbus TCP Server Simulator to demonstrate digital I/O remote control functionalities between EtherCAT and Modbus TCP networks. ASIX offers AX58200 EtherCAT to Modbus TCP gateway development kit for designers to easily evaluate AX58200 EtherCAT to Modbus TCP gateway functionalities. ASIX has outstanding engineering teams to provide customers the professional and timely technical services. For more information, please contact ASIX Electronics Corp. via e-mail: sales@asix.com.tw, or visit ASIX website: https://www.asix.com.tw/.

1. AX58200 EtherCAT to Modbus TCP Gateway
Solution Demonstration
Aug. 2021

2. AX58200 EtherCAT to Modbus TCP Gateway Solution Demonstration
Topics
 AX58200 EtherCAT to Modbus TCP Gateway Solution
 AX58200 EtherCAT to Modbus TCP Gateway Solution Demonstration
Step 1. Install Modbus TCP Server Simulator on Modbus TCP Server
Step 2. Download AX58200 Firmware onto Flash
Step 3. Program Modbus Mapping Table onto Flash
Step 4. Create TwinCAT Project & Update AX58200 EEPROM via new ESI File
Step 5. Build TwinCAT PLC Source
Step 6. Run TwinCAT PLC Demo and Modbus TCP Server Simulator
 AX58200 EtherCAT Slave Controller SoC

3. Why needs EtherCAT to Modbus TCP Gateway?
Power Meter
I/O Module Flow Meter
Modbus RTU Slave Devices
RS-485
Modbus TCP Server (Slave) Devices
Modbus TCP
to RTU Gateway
PLC Power Meter
I/O Module Flow Meter
Ethernet
Using AX58200 EtherCAT to Modbus TCP Gateway to integrate
Modbus TCP Non-real-time network into EtherCAT Real-time network!!
Modbus TCP
Non Real-Time network
Cycle time > 100ms
EtherCAT
Real-Time network
Cycle time < 1ms
AX58200
Gateway
AX58200 EtherCAT to
Modbus TCP Gateway
EtherCAT
Master
EtherCAT
Slave 1
EtherCAT
Slave Device
Modbus TCP
Client (Master)
EtherCAT
Slave 2

4. AX58200
EtherCAT Slave Controller SoC

5. ETG Product Guide – AX58200 On-line now!
https://www.ethercat.org/en/products/A23EFC1037774756B0BD2FDE3004BCF3.htm
Development Systems, Tools > EtherCAT Slave Controller > AX58200
AX58200 2/3-Port EtherCAT Slave Controller SoC

6. AX58200 EtherCAT Slave Controller SoC
Key Features
Processor
On-chip
Flash
(Bytes)
On-chip
Data RAM
(Bytes)
On-chip
Boot Loader
ROM (Bytes)
Security
Protection
ROM (Bytes)
USB OTG
Ethernet
MAC (EMAC)
ARM Cortex-M4F
192MHz
512K
Dual bank
160K 32K 4K HS
10/100 Mbps
(w/ RMII)
ESC Fast
Ethernet
ESC RAM
(Kbytes)
ESC
FMMU
ESC Sync
Managers
ESC Distributed
Clock
CAN LPUART
2 x Internal PHY
1 x MII
9 8 8 64-bit 2 6
ISO-7816-3 Quad-SPI I2C I2S USCI
SD Host
Controller
SPI
Flash I/F
3 1 3 1 2 2 1
Timers PWM ECAP QEI ADC DAC
Analog
Comparator
4*32-bit 24*16-bit 1 2 1*12-bit 2*12-bit 2
Operational
Amplifier
Die Temperature
Sensor (DTS)
Watchdog
Timer
RTC Secure Boot
Package/
Size
Temperature
Range (°C)
2 1 Yes Yes Yes
HSFBGA-144
10x10 mm
0.8 mm pitch
-40 ~ +85
-40 ~ +105
Small
package
Modbus TCP
LAN Port
EtherCAT
LAN Ports

7. AX58200 EtherCAT Slave Controller SoC
Block Diagram

8. AX58200 EtherCAT to Modbus TCP
Gateway Solution

9. AX58200 EtherCAT to Modbus TCP Gateway
Application Diagram
AX58200 EtherCAT
to Modbus TCP Client
(Master) Gateway
EtherCAT
Slave 1
EtherCAT
Slave 2
P0 P1
EMAC
PHY
RMII
EtherCAT
Master
PHY
TX
RX
ABZ
PWM
Motion
Control
Driver
Increment
Encoder
M
Motor/Motion Control
Applications
P0 P1
Modbus TCP Server (Slave) Devices
Modbus TCP
to RTU Gateway
PLC Power Meter
I/O Module Flow Meter
Ethernet
Power Meter
I/O Module Flow Meter
Modbus RTU Slave Devices
RS-485

10. AX58200 Ethernet MAC (EMAC) Hardware Configuration
for Modbus TCP LAN Port
AX58200 EtherCAT to
Modbus TCP Gateway Demo Kit
Ethernet
Modbus TCP Server
(Slave) Simulator
AX58200
Ethernet
MAC
Controller
(EMAC)
Fast
Ethernet
PHY
MDC
MDIO
MDC
MDIO
TXD0
TXD1
TXEN
TXD0
TXD1
TXEN
REFCLK REFCLK
RXD0
RXD1
CSR_DV
RXER
RXD0
RXD1
CSR_DV
RXER
RMII
EtherCAT
LAN Port 0
Modbus TCP
LAN Port
PHY
EMAC RMII I/F
EMAC RMII I/F
Modbus TCP
LAN Port
EtherCAT
Master
PHY

11. AX58200 Ethernet MAC Controller (EMAC)
RMII Interface Hardware Configuration
J10
HEADER 30X2
2
4
6
8
10
12
14
16
18
20
22
24
26
28
30
32
34
36
38
40
42
44
46
48
50
52
54
56
58
60
1
3
5
7
9
11
13
15
17
19
21
23
25
27
29
31
33
35
37
39
41
43
45
47
49
51
53
55
57
59
C28
22uF
C27
0.1uF
VCC
GND
GND
GND
VCC
GND
GND
GND
GND GND
GPE_2_DO0
GPE_7_DO5
GPE_1_SW3
GPIO_23_TX_EN EMAC_TXEN
GPIO_21_TXD2
GPE_3_DO1
GPIO_22_TXD3
GPE_0_SW2
GPA_4_SW6
GPA_3_SW5
GPA_5_SW7
GPA_2_SW4
GPH_8_SW1
GPH_9_SW0
GPA_0_AO_ST
EMAC_MDC
GPIO_18_MDC
GPIO_19_TXD0
EMAC_TXD0
GPE_6_DO4 GPIO_20_TXD1 EMAC_TXD1
GPE_4_DO2
GPB_2_DI2
EMAC_MDIO
GPIO_17_MDIO
EMAC_CRSDV
GPC_0_DO6
EMAC_RXD1
GPB_3_DI3
GPC_3_UART2_nRTS
GPE_5_DO3
GPIO_16_LINK
GPC_1_DO7
GPC_2_UART2_nCTS
GPC_5_UART2_TXD
GPC_4_UART2_RXD
EMAC_MDIO
C18
22uF
C19
0.1uF
VCC
EMAC_REFCLK
R50 22
EMAC_RXD0
GPIO_24_RXD0
GND
GND
VCC
GND
GND
GND
GND GND
GPF_4_X32_OUT
GPIO_25_RXD1 EMAC_RXD1
RESETN
EMAC_RXD0
EMAC_TXD1
GPB_8_DI6
GPB_0_DI0
GPB_6_DI4
GND
EMAC_TXEN GPB_7_DI5
GPB_9_DI7
EMAC_TXD0
GPF_5_X32_IN_AI_ST
GPIO_29_RX_DV
GPB_1_DI1
EMAC_RXERR
GPIO_27_RXD3
EMAC_RXERR GPIO_28_RX_ER
GPIO_31_MCLK
GPIO_30_RX_CLK
EMAC_MDC GPB_11_AI GPIO_26_RXD2
GPB_12_AO
J11
HEADER 30X2
2
4
6
8
10
12
14
16
18
20
22
24
26
28
30
32
34
36
38
40
42
44
46
48
50
52
54
56
58
60
1
3
5
7
9
11
13
15
17
19
21
23
25
27
29
31
33
35
37
39
41
43
45
47
49
51
53
55
57
59
Please refer to “AX58200-EXB-ADIO-1 EMAC MODE
SCHEMATIC” for details.

12. AX58200 EtherCAT to Modbus TCP Gateway
System Diagram
RxPDO[0]~[7]
TxPDO[0]~[7]
EtherCAT
Master
EtherCAT
ESC
ESI
EEPROM
I2C
USB
Embedded
Flash
USB ICE
Debugger
Modbus TCP
Mapping Table
Configuration
Modbus TCP
Server (Slave)
Modbus TCP
Client (Master)
Modbus
Command
Data
Bridge
Get EtherCAT Master PDO data from RxPDO
For Modbus Write Single Coil Command
Read Modbus Read Input Register Value
To store into TxPDO for EtherCAT Master process

13. AX58200 EtherCAT to Modbus TCP Gateway
Modbus Command Mapping Table Configuration Example
;AX58200 EtherCAT to Modbus TCP Gateway Mapping Table Example
START;
192.168.000.002; This Gateway IP address
192.168.000.001; This Gateway Gateway IP address
255.255.255.000; This Gateway Netmask IP address
150; Timeout for Modbus command, valid=[0 ~ 255], unit=0.01sec
0; Delay time after Modbus command, valid=[0 ~ 255], unit=0.01sec
0,0; Reserved, default=0
;Vendor Specific Gateway System Commands
RXPDO[0];
000.000.000.000,FF 00 02,00,10,00,00; Write Gateway Control data from RxPDO[0]
TXPDO[0];
000.000.000.000,FF 00 00,00,10,00,00; Read Gateway System State to TxPOD[0]
;EtherCAT to Modbus TCP Device Commands Mapping Table
;(For example: Target Modbus TCP device IP address is 192.168.0.3)
RXPDO[1];
192.168.000.003,01 05 00 00 00 00,00,01,04,00; Modbus Write Single Coil from RxPDO[1].bit0
192.168.000.003,01 05 00 01 00 00,01,01,04,00; Modbus Write Single Coil from RxPDO[1].bit1
192.168.000.003,01 05 00 02 00 00,02,01,04,00; Modbus Write Single Coil from RxPDO[1].bit2
192.168.000.003,01 05 00 03 00 00,03,01,04,00; Modbus Write Single Coil from RxPDO[1].bit3
192.168.000.003,01 05 00 04 00 00,04,01,04,00; Modbus Write Single Coil from RxPDO[1].bit4
192.168.000.003,01 05 00 05 00 00,05,01,04,00; Modbus Write Single Coil from RxPDO[1].bit5
192.168.000.003,01 05 00 06 00 00,06,01,04,00; Modbus Write Single Coil from RxPDO[1].bit6
192.168.000.003,01 05 00 07 00 00,07,01,04,00; Modbus Write Single Coil from RxPDO[1].bit7
TXPDO[1];
192.168.000.003,01 04 00 00 00 01,00,01,00,00; Modbus Read Input Register 0x00 to TxPDO[1]
192.168.000.003,01 04 00 01 00 01,01,01,00,00; Modbus Read Input Register 0x01 to TxPDO[1]
192.168.000.003,01 04 00 02 00 01,02,01,00,00; Modbus Read Input Register 0x02 to TxPDO[1]
192.168.000.003,01 04 00 03 00 01,03,01,00,00; Modbus Read Input Register 0x03 to TxPDO[1]
192.168.000.003,01 04 00 04 00 01,04,01,00,00; Modbus Read Input Register 0x04 to TxPDO[1]
192.168.000.003,01 04 00 05 00 01,05,01,00,00; Modbus Read Input Register 0x05 to TxPDO[1]
192.168.000.003,01 04 00 06 00 01,06,01,00,00; Modbus Read Input Register 0x06 to TxPDO[1]
192.168.000.003,01 04 00 07 00 01,07,01,00,00; Modbus Read Input Register 0x07 to TxPDO[1]
END;
Command Descriptions Comments
Start Mapping table start
End Mapping table end
xxx.xxx.xxx.xxx IP address
RXPDO[n] RxPDO field ID n n is from 0 to 7,
0 is for gateway system command
TXPDO[n] TxPDO field ID n n is from 0 to 7,
0 is for gateway system command
, Field separator
; Field termination
RXPDO[n]/TXPDO[n] fields example: 192.168.000.003,01 05 00 00 00 00,00,01,04,00;

14. MBAP Header PDU
Transaction
ID
Protocol
ID
Length
Unit
ID
Function
Code
Data
2 bytes 2 bytes 2 bytes 1 byte 1 byte n bytes
AX58200 EtherCAT to Modbus TCP Gateway
Modbus TCP Packet Format
Ethernet
Header
IP
Header
TCP
Header
Modbus
TCP/IP ADU
Data FCS
14 bytes 20 bytes 20 bytes Up to 1460 bytes 4 bytes
 The default Modbus TCP port number is 502.
 The Modbus TCP/IP ADU (Application Data Unit)
fields data are encoded in Big-Endian.
Modbus Function Code
MBAP (ModBus Application Protocol) Header

15. AX58200 EtherCAT to Modbus TCP
Gateway Solution Demonstration

16. Modbus TCP Server (Slave) Simulator
AX58200 EtherCAT to Modbus TCP
Client (Master) Gateway PLC Demo
EtherCAT to Modbus TCP Gateway
Digital I/O Remote Control Demo
AX58200 EtherCAT to Modbus TCP Gateway Solution
Demonstration Environment
1
1
Demo #1: EtherCAT OUT  Modbus TCP IN
2
Demo #2: EtherCAT IN  Modbus TCP OUT
2
EtherCAT
Slave
AX58200 EtherCAT to Modbus
TCP Client (Master) Gateway
Modbus TCP
Client (Master)
Ethernet
Modbus TCP Server
(Slave) Simulator
EtherCAT
Master
PHY

17. Step 1. Install Modbus TCP Server Simulator
on Modbus TCP Server

18. Install Modbus TCP Server Simulator
Please download a free Modbus TCP Server Simulator application from Internet
to emulate Modbus TCP Server devices for digital I/O remote control demonstration
(e.g.: http://www.icdt.com.tw/main/index.php/2013-07-09-05-16-50/modbus-free-software/file/57-modbus-tcp-server)
Please see below demonstration…

19. Step 2. Download AX58200 Firmware onto Flash

20. Download AX58200 Firmware onto Flash
1
2
3
Run NuMicro ICP Programming Tool to upgrade AX58200 firmware
Please see below demonstration…

21. Step 3. Program Modbus Command Mapping Table
onto Flash

22. Program Modbus Command Mapping Table
Program Modbus command mapping table onto AX58200 Flash memory
via Nu-Link USB ICE debugger on AX58200 evaluation board
Please see below demonstration…

23. Step 4. Create TwinCAT Project &
Update AX58200 EEPROM via new ESI File

24. Create TwinCAT Project &
Update AX58200 EEPROM with new ESI File
Create TwinCAT project to update AX58200 EEPROM with new ESI file
Please see below demonstration…

25. Step 5. Build TwinCAT PLC Source

26. Build TwinCAT PLC Source
Import and build AX58200 EtherCAT to Modbus TCP Gateway
TwinCAT PLC demo utility source
Please see below demonstration…

27. Step 6. Run TwinCAT PLC Demo and Modbus TCP
Server Simulator

28. Run TwinCAT PLC Demo and Modbus TCP Server Simulator
Run TwinCAT PLC Modbus TCP
Demo and Modbus TCP Server
Simulator for EtherCAT to Modbus
TCP gateway digital I/O remote
control demonstration
Please see below demonstration…

29. Contact ASIX for further supporting
ASIX Electronics Corporation
https://www.asix.com.tw
sales@asix.com.tw
Corporate Headquarters
4F, No. 8, Hsin Ann Rd. Hsinchu Science Park, Hsinchu 30078, Taiwan
TEL : +886-3-5799500
FAX : +886-3-5799558