EnIP DX200 Simulator

Overview

An ESP32-P4 EtherNet/IP simulator that emulates a Motoman DX200 robot controller. This project provides a development tool for testing and developing EtherNet/IP scanner applications without requiring access to an actual robot controller.

The simulator implements the EtherNet/IP (CIP) protocol stack and emulates the vendor-specific CIP classes used by Yaskawa Motoman DX200 robot controllers. It runs on the ESP32-P4 microcontroller with Ethernet connectivity and provides a web-based configuration interface.

This simulator is designed to help in the development of EtherNet/IP scanner applications by providing a consistent, controllable test target that behaves like a real Motoman robot controller.

Hardware Platform

This project targets the Waveshare ESP32-P4-WIFI6-POE-ETH with the following requirements:

• Board: Waveshare ESP32-P4-WIFI6-POE-ETH (or compatible ESP32-P4 with Ethernet)
• PSRAM: 32 MB PSRAM (required for large data arrays)
• Ethernet: 10/100 Mbps Ethernet connection

The 32 MB PSRAM is essential for storing large data arrays including I/O signals, registers, variables, and position data that would be present in a real robot controller.

Supported CIP Classes

The simulator implements all Motoman vendor-specific CIP classes:

Class	Hex	Decimal	Name	Description
0x70	112	MotomanAlarm	Active Alarms
0x71	113	MotomanAlarmHistory	Alarm History
0x72	114	MotomanStatus	Robot Status
0x73	115	MotomanJobInfo	Job Information
0x74	116	MotomanAxisConfig	Axis Configuration
0x75	117	MotomanPosition	Robot Position
0x76	118	MotomanPositionDeviation	Position Deviation
0x77	119	MotomanTorque	Axis Torque
0x78	120	MotomanIO	I/O Signals
0x79	121	MotomanRegister	Registers
0x7A	122	MotomanVariableB	Byte Variables
0x7B	123	MotomanVariableI	Integer Variables
0x7C	124	MotomanVariableD	Double Integer Variables
0x7D	125	MotomanVariableR	Real Variables
0x7F	127	MotomanVariableP	Position Variables
0x80	128	MotomanVariableBP	Base Position Variables
0x81	129	MotomanVariableEX	External Axis Variables
0x8C	140	MotomanVariableS	String Variables

Pre-Initialized Data

The simulator comes with pre-initialized robot data to facilitate immediate testing:

• Status Data: Robot status bits (Auto mode, Play mode, Servo On)
• Job Info: Current job name, line number, step number, speed override
• Axis Configuration: 6-axis robot configuration
• Position Data: Robot position (pulse values) for multiple instances
• Position Deviation: Axis position deviation values
• Torque Data: Axis torque values
• I/O Signals: Pre-configured I/O signal states
• Registers: Pre-initialized register values (M000-M999)
• Variables: Pre-initialized values for B, I, D, R, S, P, BP, EX variables

Device Identity

The simulator presents itself as:

• Vendor ID: 44 (Yaskawa Electric America, Inc.)
• Device Type: 12 (Communications Adapter)
• Product Code: 1281
• Product Name: "DX200 EtherNet/IP Module"
• Revision: 1.1

Web-Based Configuration

The simulator includes a web-based configuration interface:

• Network Configuration: Configure DHCP or static IP settings
• Device Management: View device status and configuration
• Access: Open a web browser and navigate to http://<device-ip>

Note: Network configuration changes require a device reboot to take effect.

Testing with EtherNet/IP Scanner

The simulator is compatible with EtherNet/IP Explorer and other CIP diagnostic tools:

1. Connect your EtherNet/IP scanner application to the simulator's IP address
2. Use your scanner to read from any of the supported CIP classes
3. All classes support Get_Attribute_Single and many support Get_Attribute_All
4. Compare the data returned by the simulator with expected values from the pre-initialized data reference

Software Requirements

• ESP-IDF: Version 5.1 or later
• Python: 3.8 or later
• CMake: 3.16 or later

Development Use Cases

This simulator is designed to help in the development of EtherNet/IP scanner applications:

• Consistent Test Target: Provides a stable, predictable test environment
• Realistic Data: Pre-initialized with realistic robot data
• Full Protocol Support: Implements all Motoman CIP classes used by real controllers
• Easy Configuration: Web interface for network and device settings
• Debugging Support: Serial logging for troubleshooting