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Beckhoff EL3692 Documentation

Beckhoff EL3692 Documentation

2 channel resistance measurement terminal
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EL3692
2 channel resistance measurement terminal, high-precision
Version:
Date:
2.1
2016-11-18

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Summary of Contents for Beckhoff EL3692

  • Page 1 Documentation EL3692 2 channel resistance measurement terminal, high-precision Version: Date: 2016-11-18...

  • Page 3: Table Of Contents

    Installation on mounting rails ...................... 25 Installation instructions for enhanced mechanical load capacity .......... 27 Connection system ........................ 28 Installation positions ........................ 31 Mounting of Passive Terminals.....................  32 EL3692 ............................ 34 4.6.1 LEDs and connection...................... 34 4.6.2 Electrical connection ...................... 35 5 Commissioning............................ 37 TwinCAT Quick Start ........................
  • Page 4 5.12.8 Information and diagnostic data.................. 138 5.12.9 Standard objects (0x1000-0x1FFF) ................... 139 6 Appendix .............................. 144 EtherCAT AL Status Codes ...................... 144 UL notice.............................  144 Firmware Update EL/ES/EM/EPxxxx.................. 146 Firmware compatibility ........................  156 Restoring the delivery state ...................... 156 Support and Service ........................ 158 Version: 2.1 EL3692...

  • Page 5: Foreword

    The TwinCAT Technology is covered, including but not limited to the following patent applications and patents: EP0851348, US6167425 with corresponding applications or registrations in various other countries. ® EtherCAT is registered trademark and patented technology, licensed by Beckhoff Automation GmbH, Germany Copyright © Beckhoff Automation GmbH & Co. KG, Germany.

  • Page 6: Safety Instructions

    All the components are supplied in particular hardware and software configurations appropriate for the application. Modifications to hardware or software configurations other than those described in the documentation are not permitted, and nullify the liability of Beckhoff Automation GmbH & Co. KG. Personnel qualification This description is only intended for trained specialists in control, automation and drive engineering who are familiar with the applicable national standards.

  • Page 7: Documentation Issue Status

    • Addenda • Addenda • First publication • Preliminary documentation for EL3692 Version identification of EtherCAT devices Designation A Beckhoff EtherCAT device has a 14-digit designation, made up of • family key • type • version • revision Example Family...
  • Page 8 Production lot/batch number/serial number/date code/D number The serial number for Beckhoff IO devices is usually the 8-digit number printed on the device or on a sticker. The serial number indicates the configuration in delivery state and therefore refers to a whole production batch, without distinguishing the individual modules of a batch.

  • Page 9: Fig. 1 El5021 El Terminal, Standard Ip20 Io Device With Batch Number And Revision Id (Since 2014/01)

    Foreword Examples of markings: Fig. 1: EL5021 EL terminal, standard IP20 IO device with batch number and revision ID (since 2014/01) Fig. 2: EK1100 EtherCAT coupler, standard IP20 IO device with batch number Fig. 3: CU2016 switch with batch number EL3692 Version: 2.1...

  • Page 10: Fig. 4 El3202-0020 With Batch Numbers 26131006 And Unique Id-Number 204418

    Fig. 5: EP1258-00001 IP67 EtherCAT Box with batch number 22090101 and unique serial number 158102 Fig. 6: EP1908-0002 IP76 EtherCAT Safety Box with batch number 071201FF and unique serial number 00346070 Fig. 7: EL2904 IP20 safety terminal with batch number/date code 50110302 and unique serial number 00331701 Version: 2.1 EL3692...

  • Page 11: Product Overview

    Fig. 8: EL3692 2 channel resistance measurement terminal The analog EL3692 input terminal enables direct resistance measurement in a wide range between 10 mΩ and 10 MΩ. The circuitry of the EtherCAT Terminal enables measurement in 2- and 4-wire versions. The EL3692 offers measuring range selection, either automatic or through the controller.

  • Page 12: Fig. 9 Principle Of Operation

    To measure a resistance at short intervals, the EL3692 should be used in single-channel mode. For measuring inductive/capacitive loads it should be noted that transition processes influence the result. A delay time can be specified in the channel settings in the CoE.

  • Page 13: Technical Data

    Installation position variable Approval cULus [} 144] Start For commissioning: • Install the EL3692 as described in chapter Mounting and wiring [} 25]. • configure the EL3692 in TwinCAT or another EtherCAT Master as described in the chapter Commissioning [} 37]. EL3692 Version: 2.1...

  • Page 14: Basics Communication

    Due to automatic cable detection (auto-crossing) symmetric (1:1) or cross-over cables can be used between EtherCAT devices from Beckhoff. Recommended cables Suitable cables for the connection of EtherCAT devices can be found on the Beckhoff web- site! Note E-Bus supply A bus coupler can supply the EL terminals added to it with the E-bus system voltage of 5 V;...

  • Page 15: General Notes For Setting The Watchdog

    The PDI watchdog can be used to monitor this communication for failure. The PDI watchdog monitors correct and timely process data communication with the ESC from the application side. The settings of the SM- and PDI-watchdog must be done for each slave separately in the TwinCAT System Manager. EL3692 Version: 2.1...

  • Page 16: Fig. 11 Ethercat Tab -> Advanced Settings -> Behavior -> Watchdog

    The standard setting of 1000 for the SM watchdog corresponds to a release time of 100 ms. The value in multiplier + 2 corresponds to the number of basic 40 ns ticks representing a watchdog tick. The multiplier can be modified in order to adjust the watchdog time over a larger range. Version: 2.1 EL3692...

  • Page 17: Ethercat State Machine

    EtherCAT master to the device in each state, particularly during the bootup of the slave. A distinction is made between the following states: • Init • Pre-Operational • Safe-Operational and • Operational • Boot The regular state of each EtherCAT slave after bootup is the OP state. EL3692 Version: 2.1...

  • Page 18: Fig. 12 States Of The Ethercat State Machine

    SAFEOP state. Operational (Op) Before the EtherCAT master switches the EtherCAT slave from Safe-Op to Op it must transfer valid output data. Version: 2.1 EL3692...

  • Page 19: Coe Interface

    CoE list. Note If a device has a CoE list, it is shown in the TwinCAT System Manager as a separate tab with a listing of the elements: EL3692 Version: 2.1...

  • Page 20: Fig. 13 "Coe Online " Tab

    This is recommended for modifications while the system is running or if no System Manager or operating staff are available. If slave CoE parameters are modified online, Beckhoff devices store any changes in a fail-safe manner in the EEPROM, i.e. the modified CoE parameters are still available after a restart. The situation may be different with other manufacturers.

  • Page 21: Fig. 14 Startup List In The Twincat System Manager

    Startup list Changes in the local CoE list of the terminal are lost if the terminal is replaced. If a terminal is replaced with a new Beckhoff terminal, it will have the default settings. It is therefore ad- Note visable to link all changes in the CoE list of an EtherCAT slave with the Startup list of the slave, which is processed whenever the EtherCAT fieldbus is started.

  • Page 22: Fig. 15 Offline List

    ◦ The actual current slave list is read. This may take several seconds, depending on the size and cycle time. ◦ The actual identity is displayed ◦ The firmware and hardware version of the equipment according to the electronic information is displayed ◦ Online is shown in green. Version: 2.1 EL3692...

  • Page 23: Fig. 16 Online List

    • Channel 1: parameter range 0x8010:00 ... 0x801F:255 • Channel 2: parameter range 0x8020:00 ... 0x802F:255 • ... This is generally written as 0x80n0. Detailed information on the CoE interface can be found in the EtherCAT system documentation on the Beckhoff website. EL3692 Version: 2.1...

  • Page 24: Distributed Clock

    4.2 seconds) • The EtherCAT master automatically synchronizes the local clock with the master clock in the EtherCAT bus with a precision of < 100 ns. For detailed information please refer to the EtherCAT system description. Version: 2.1 EL3692...

  • Page 25: Installation

    Note flict with the fixing bolts of the mounting rail. To mount the mounting rails with a height of 7.5 mm under the terminals and couplers, you should use flat mounting connections (e.g. countersunk screws or blind rivets). EL3692 Version: 2.1...

  • Page 26: Fig. 18 Disassembling Of Terminal

    PE power contact The power contact labeled PE can be used as a protective earth. For safety reasons this contact mates first when plugging together, and can ground short-circuit currents of up to 125 A. Version: 2.1 EL3692...

  • Page 27: Installation Instructions For Enhanced Mechanical Load Capacity

    Vibration 10 frequency runs in 3 axes 6 Hz < f < 60 Hz displacement 0.35 mm, constant amplitude 60.1 Hz < f < 500 Hz acceleration 5 g, constant amplitude Shocks 1000 shocks in each direction, in 3 axes 25 g, 6 ms EL3692 Version: 2.1...

  • Page 28: Connection System

    Standard wiring Fig. 20: Standard wiring The terminals of KLxxxx and ELxxxx series have been tried and tested for years. They feature integrated screwless spring force technology for fast and simple assembly. Version: 2.1 EL3692...

  • Page 29: Fig. 21 Pluggable Wiring

    Ultrasonically "bonded" (ultrasonically welded) conductors Ultrasonically “bonded" conductors It is also possible to connect the Standard and High Density Terminals with ultrasonically "bonded" (ultrasonically welded) conductors. In this case, please note the tables concern- Note ing the wire-size width [} 30] below! EL3692 Version: 2.1...

  • Page 30: Fig. 23 Mounting A Cable On A Terminal Connection

    Wire size width (conductors with a wire end sleeve) 0.14... 0.75 mm Wire size width (single core wires) 0.08 ... 1.5 mm Wire size width (fine-wire conductors) 0.25 ... 1.5 mm Wire size width (ultrasonically “bonded" conductors) only 1.5 mm (see notice [} 29]!) Wire stripping length 8 ... 9 mm Version: 2.1 EL3692...

  • Page 31: Installation Positions

    The terminals are ventilated from below, which enables optimum cooling of the electronics through convection. "From below" is relative to the acceleration of gravity. Fig. 24: Recommended distances for standard installation position Compliance with the distances shown in Fig. “Recommended distances for standard installation position” is recommended. EL3692 Version: 2.1...

  • Page 32: Mounting Of Passive Terminals

    Passive Terminals. The Passive Terminals Note have no current consumption out of the E-Bus To ensure an optimal data transfer, you must not directly string together more than 2 Passive Terminals! Version: 2.1 EL3692...

  • Page 33: Fig. 26 Correct Configuration

    Installation Examples for mounting passive terminals (highlighted) Fig. 26: Correct configuration Fig. 27: Incorrect configuration EL3692 Version: 2.1...

  • Page 34: Leds And Connection

    This section contains an overview of the terminal, followed by a table with a description of the connection at the terminal. This is followed by a table with possible LED states. The following figure shows the terminal overview including the connection options: Fig. 28: Connection diagram EL3692 pin assignment Terminal point Comment Input +R1 Input +R1...

  • Page 35: Electrical Connection

    DIN rail near the terminal. 2/4-wire connection Fig. 29: Connection Both channels of the EL3692 are in 4-wire mode as standard. Measurements on live objects Measurement of live test specimens (DuT) is only permitted if no current flows through the test specimen.

  • Page 36: Fig. 30 Connection Options

    Installation Otherwise the device may be damaged. The two channels of the EL3692 are not electrically isolated. Measurements on live objects should therefore be carried out in single-channel mode. Attention The following figure shows three potential applications; only the first two cases are possible. In the last case either no measurement takes place since the terminal detects overvoltages at its inputs, or the measurement is erroneous if the voltage at the DuT is still within the measurement limits of the terminal.

  • Page 37: Commissioning

    • "offline": The configuration can be customized by adding and positioning individual components. These can be selected from a directory and configured. ◦ The procedure for offline mode can be found under http://infosys.beckhoff.com: TwinCAT 2 → TwinCAT System Manager → IO - Configuration → Adding an I/O Device •...

  • Page 38: Fig. 31 Relationship Between User Side (Commissioning) And Installation

    • Linked via the X001 port (RJ-45): EK1100 EtherCAT Coupler • Connected to the EK1100 EtherCAT coupler on the right (E-bus): EL2008 (8-channel digital output terminal 24 V DC; 0.5 A) • (Optional via X000: a link to an external PC for the user interface) Version: 2.1 EL3692...

  • Page 39: Fig. 32 Control Configuration With An Embedded Pc And Input (El1004) And Output (El2008)

    The starting point is the TwinCAT System Manager. After successful installation of the TwinCAT system on the PC to be used for development, the TwinCAT 2 System Manager displays the following user interface after startup: Fig. 33: Initial TwinCAT 2 user interface EL3692 Version: 2.1...

  • Page 40: Fig. 34 Selection Of The Target System

    Fig. 35: Specify the PLC for access by the TwinCAT System Manager: selection of the target system Once the target system has been entered, it is available for selection as follows (a password may have to be entered): Version: 2.1 EL3692...

  • Page 41: Fig. 36 Select "Scan Devices

    Confirm the message "Find new boxes", in order to determine the terminals connected to the devices. "Free Run" enables manipulation of input and output values in "Config mode" and should also be acknowledged. Based on the sample configuration [} 38] described at the beginning of this section, the result is as follows: EL3692 Version: 2.1...

  • Page 42: Fig. 38 Mapping Of The Configuration In The Twincat 2 System Manager

    TwinCAT PLC Control is the development environment for the creation of the controller in different program environments: TwinCAT PLC Control supports all languages described in IEC 61131-3. There are two text- based languages and three graphical languages. • Text-based languages ◦ Instruction List (IL) Version: 2.1 EL3692...

  • Page 43: Fig. 40 Twincat Plc Control After Startup

    The following section refers to Structured Text (ST). After starting TwinCAT PLC Control, the following user interface is shown for an initial project: Fig. 40: TwinCAT PLC Control after startup Sample variables and a sample program have been created and stored under the name "PLC_example.pro": EL3692 Version: 2.1...

  • Page 44: Fig. 41 Sample Program With Variables After A Compile Process (Without Variable Integration)

    Manager has been notified, the warning no longer appears. First, integrate the TwinCAT PLC Control project in the System Manager via the context menu of the PLC configuration; right-click and select "Append PLC Project…": Fig. 42: Appending the TwinCAT PLC Control project Version: 2.1 EL3692...
  • Page 45 "PLC_example" and via "Modify Link..." "Standard": Fig. 44: Creating the links between PLC variables and process objects In the window that opens, the process object for the variable “bEL1004_Ch4” of type BOOL can be selected from the PLC configuration tree: EL3692 Version: 2.1...
  • Page 46 The links can also be checked by selecting a "Goto Link Variable” from the context menu of a variable. The object opposite, in this case the PDO, is automatically selected: Version: 2.1 EL3692...
  • Page 47 The PLC system can then be started as described below. Starting the controller Starting from a remote system, the PLC control has to be linked with the Embedded PC over Ethernet via "Online" → “Choose Run-Time System…": EL3692 Version: 2.1...
  • Page 48 This results in the message "No program on the controller! Should the new program be loaded?", which should be acknowledged with "Yes". The runtime environment is ready for the program start: Version: 2.1 EL3692...
  • Page 49 (cf. "TwinCAT System Manager" of TwinCAT 2) for communication with the electromechanical components. After successful installation of the TwinCAT system on the PC to be used for development, TwinCAT 3 (shell) displays the following user interface after startup: EL3692 Version: 2.1...
  • Page 50 First create a new project via (or under "File"→“New"→ "Project…"). In the following dialog make the corresponding entries as required (as shown in the diagram): Fig. 51: Create new TwinCAT project The new project is then available in the project folder explorer: Version: 2.1 EL3692...
  • Page 51 If the intention is to address the TwinCAT runtime environment installed on a PLC as development environment remotely from another system, the target system must be made known first. Via the symbol in the menu bar: expand the pull-down menu: and open the following window: Fig. 53: Selection dialog: Choose the target system EL3692 Version: 2.1...
  • Page 52 The TwinCAT System Manager may first have to be set to "Config mode" via or via the menu "TwinCAT" → "Restart TwinCAT (Config mode)". Fig. 55: Select "Scan" Confirm the warning message, which follows, and select "EtherCAT" in the dialog: Version: 2.1 EL3692...
  • Page 53 The whole process consists of two stages, which may be performed separately (first determine the devices, then determine the connected elements such as boxes, terminals, etc.). A scan can also be initiated by selecting "Device ..." from the context menu, which then reads the elements present in the configuration below: EL3692 Version: 2.1...
  • Page 54 The following section refers to Structured Text (ST). In order to create a programming environment, a PLC subproject is added to the project sample via the context menu of "PLC" in the project folder explorer by selecting "Add New Item….": Version: 2.1 EL3692...
  • Page 55 Fig. 60: Specifying the name and directory for the PLC programming environment The "Main" program, which already exists by selecting "Standard PLC project", can be opened by double- clicking on "PLC_example_project" in "POUs”. The following user interface is shown for an initial project: EL3692 Version: 2.1...
  • Page 56 Commissioning Fig. 61: Initial "Main" program of the standard PLC project To continue, sample variables and a sample program have now been created: Version: 2.1 EL3692...
  • Page 57 "Assignments" in the project folder explorer: Assigning variables Via the menu of an instance - variables in the "PLC” context, use the "Modify Link…" option to open a window for selecting a suitable process object (PDO) for linking: EL3692 Version: 2.1...
  • Page 58 4 of the EL1004 terminal is selected for linking. In contrast, the checkbox "All types" must be ticked for creating the link for the output variables, in order to allocate a set of eight separate output bits to a byte variable. The following diagram shows the whole process: Version: 2.1 EL3692...
  • Page 59 PDO, it is possible to allocate this a set of bit-standardised variables (type "BOOL"). Here, too, a "Goto Link Variable” from the context menu of a PDO can be executed in the other direction, so that the respective PLC instance can then be selected. EL3692 Version: 2.1...
  • Page 60 Fig. 68: TwinCAT development environment (VS shell): logged-in, after program startup The two operator control elements for stopping and logout result in the required action (accordingly also for stop "Shift + F5", or both actions can be selected via the PLC menu). Version: 2.1 EL3692...

  • Page 61: Twincat 2

    5.2.1 Installation of the TwinCAT real-time driver In order to assign real-time capability to a standard Ethernet port of an IPC controller, the Beckhoff real-time driver has to be installed on this port under Windows. This can be done in several ways. One option is described here.
  • Page 62 Alternatively an EtherCAT-device can be inserted first of all as described in chapter Offline configuration creation, section “Creating the EtherCAT device” [} 72] in order to view the compatible ethernet ports via its EtherCAT properties (tab „Adapter“, button „Compatible Devices…“): Version: 2.1 EL3692...
  • Page 63 After the installation the driver appears activated in the Windows overview for the network interface (Windows Start → System Properties → Network) Fig. 73: Windows properties of the network interface A correct setting of the driver could be: EL3692 Version: 2.1...
  • Page 64 Commissioning Fig. 74: Exemplary correct driver setting for the Ethernet port Other possible settings have to be avoided: Version: 2.1 EL3692...
  • Page 65 DHCP. In this way the delay associated with the DHCP client for the Ethernet port assigning itself a default IP address in the absence of a DHCP server is avoided. A suitable address space is 192.168.x.x, for example. EL3692 Version: 2.1...
  • Page 66 Commissioning Fig. 76: TCP/IP setting for the Ethernet port Version: 2.1 EL3692...

  • Page 67: Notes Regarding Esi Device Description

    The files are read (once) when a new System Manager window is opened, if they have changed since the last time the System Manager window was opened. A TwinCAT installation includes the set of Beckhoff ESI files that was current at the time when the TwinCAT build was created.
  • Page 68 1018 in the configuration. This is also stated by the Beckhoff compatibility rule. Refer in particular to the chapter ‘General notes on the use of Beckhoff EtherCAT IO components’ and for manual configuration to the chapter ‘Offline configuration creation’ [} 72].
  • Page 69 Faulty ESI file If an ESI file is faulty and the System Manager is unable to read it, the System Manager brings up an information window. Fig. 82: Information window for faulty ESI file (left: TwinCAT 2; right: TwinCAT 3) EL3692 Version: 2.1...
  • Page 70 Commissioning Reasons may include: • Structure of the *.xml does not correspond to the associated *.xsd file → check your schematics • Contents cannot be translated into a device description → contact the file manufacturer Version: 2.1 EL3692...

  • Page 71: Twincat Esi Updater

    Commissioning 5.2.3 TwinCAT ESI Updater For TwinCAT 2.11 and higher, the System Manager can search for current Beckhoff ESI files automatically, if an online connection is available: Fig. 83: Using the ESI Updater (>= TwinCAT 2.11) The call up takes place under: “Options” → "Update EtherCAT Device Descriptions"...

  • Page 72: Offline Configuration Creation

    EL6601/EL6614 terminal select “EtherCAT Automation Protocol via EL6601”. Fig. 86: Selecting the EtherCAT connection (TwinCAT 2.11, TwinCAT 3) Then assign a real Ethernet port to this virtual device in the runtime system. Fig. 87: Selecting the Ethernet port Version: 2.1 EL3692...
  • Page 73 Fig. “Selection dialog for new EtherCAT device”. If the preceding device has several free ports (e.g. EK1122 or EK1100), the required port can be selected on the right-hand side (A). Overview of physical layer • “Ethernet”: cable-based 100BASE-TX: EK couplers, EP boxes, devices with RJ45/M8/M12 connector EL3692 Version: 2.1...
  • Page 74 (i.e. highest) revision and therefore the latest state of production is displayed in the selection dialog for Beckhoff devices. To show all device revisions available in the system as ESI descriptions tick the “Show Hidden Devices” check box, see Fig. “Display of previous revisions”.
  • Page 75 If current ESI descriptions are available in the TwinCAT system, the last revision offered in the selection dialog matches the Beckhoff state of production. It is recommended to use the last device revision when creating a new configuration, if current Beckhoff devices are used in the real application. Older revisions should only be used if older devices from stock are to be used in the application.
  • Page 76 Commissioning Fig. 94: EtherCAT terminal in the TwinCAT tree (left: TwinCAT 2; right: TwinCAT 3) Version: 2.1 EL3692...

  • Page 77: Online Configuration Creation

    Fig. 96: Scan Devices (left: TwinCAT 2; right: TwinCAT 3) This scan mode attempts to find not only EtherCAT devices (or Ethernet ports that are usable as such), but also NOVRAM, fieldbus cards, SMB etc. However, not all devices can be found automatically. EL3692 Version: 2.1...
  • Page 78 [} 82] with the defined initial configura- tion.Background: since Beckhoff occasionally increases the revision version of the deliv- ered products for product maintenance reasons, a configuration can be created by such a scan which (with an identical machine construction) is identical according to the device list;...
  • Page 79 Likewise, A might create spare parts stores worldwide for the coming series-produced machines with EL2521-0025-1018 terminals. After some time Beckhoff extends the EL2521-0025 by a new feature C. Therefore the FW is changed, outwardly recognizable by a higher FW version and a new revision -1019. Nevertheless the new device naturally supports functions and interfaces of the predecessor version(s);...
  • Page 80 Fig. 106: Displaying of “Free Run” and “Config Mode” toggling right below in the status bar Fig. 107: TwinCAT can also be switched to this state by using a button (left: TwinCAT 2; right: TwinCAT 3) The EtherCAT system should then be in a functional cyclic state, as shown in Fig. “Online display example”. Version: 2.1 EL3692...

  • Page 81: Troubleshooting

    The connections and devices should be checked in a targeted manner, e.g. via the emergency scan. Then re-run the scan. Fig. 109: Faulty identification In the System Manager such devices may be set up as EK0000 or unknown devices. Operation is not possible or meaningful. EL3692 Version: 2.1...
  • Page 82 A ‘ChangeTo’ or ‘Copy’ should only be Attention carried out with care, taking into consideration the Beckhoff IO compatibility rule (see above). The device configuration is then replaced by the revision found; this can affect the supported process data and functions.
  • Page 83 If current ESI descriptions are available in the TwinCAT system, the last revision offered in the selection dialog matches the Beckhoff state of production. It is recommended to use the last device revision when creating a new configuration, if current Beckhoff devices are used in the real application. Older revisions should only be used if older devices from stock are to be used in the application.
  • Page 84 This function is preferably to be used on AX5000 devices. If called, the System Manager suggests the devices that it finds in the associated sub-folder; in the case of the AX5000, for example, in \TwinCAT\IO \EtherCAT\Beckhoff AX5xxx. Change to Alternative Type The TwinCAT System Manager offers a function for the exchange of a device: Change to Alternative Type Fig. 115: TwinCAT 2 Dialog Change to Alternative Type...

  • Page 85: Ethercat Subscriber Configuration

    Comment Here you can add a comment (e.g. regarding the system). Disabled Here you can deactivate the EtherCAT device. Create symbols Access to this EtherCAT slave via ADS is only available if this control box is activated. EL3692 Version: 2.1...
  • Page 86 CANopen process data objects (Process Data Objects, PDOs). The user can select a PDO via PDO assignment and modify the content of the individual PDO via this dialog, if the EtherCAT slave supports this function. Version: 2.1 EL3692...
  • Page 87 For Beckhoff EtherCAT EL, ES, EM, EJ and EP slaves the following applies in general: • The input/output process data supported by the device are defined by the manufacturer in the ESI/XML description.
  • Page 88 (CoE) or Servo drive over EtherCAT protocol. This tab indicates which download requests are sent to the mailbox during startup. It is also possible to add new mailbox requests to the list display. The download requests are sent to the slave in the same order as they are shown in the list. Version: 2.1 EL3692...
  • Page 89 (CoE) protocol. This dialog lists the content of the object list of the slave (SDO upload) and enables the user to modify the content of an object from this list. Details for the objects of the individual EtherCAT devices can be found in the device-specific object descriptions. EL3692 Version: 2.1...
  • Page 90 The object can be read, and data can be written to the object (read/write) The object can be read, but no data can be written to the object (read only) An additional P identifies the object as a process data object. Value Value of the object Version: 2.1 EL3692...
  • Page 91 Offline - via EDS File If this option button is selected, the list of the objects included in the object list is read from an EDS file provided by the user. EL3692 Version: 2.1...
  • Page 92 Indicates the current state of the EtherCAT device. Requested State Indicates the state requested for the EtherCAT device. DLL Status Indicates the DLL status (data link layer status) of the individual ports of the EtherCAT slave. The DLL status can have four different states: Version: 2.1 EL3692...
  • Page 93 • DC-Synchron Advanced Settings… Advanced settings for readjustment of the real time determinant TwinCAT- clock Detailed information to Distributed Clocks are specified on http://infosys.beckhoff.com: Fieldbus Components → EtherCAT Terminals → EtherCAT System documentation → EtherCAT basics → Distributed Clocks 5.2.7.1...
  • Page 94 If this check box is selected, the PDO assignment that is configured in the PDO Assignment list is downloaded to the device on startup. The required commands to be sent to the device can be viewed in the Startup [} 88] tab. Version: 2.1 EL3692...

  • Page 95: General Notes - Ethercat Slave Application

    See the corresponding device documentation The colors in Fig. “Selection of the diagnostic information of an EtherCAT Slave” also correspond to the variable colors in the System Manager, see Fig. “Basic EtherCAT Slave Diagnosis in the PLC”. EL3692 Version: 2.1...
  • Page 96 Fig. “Basic EtherCAT Slave Diagnosis in the PLC” shows an example of an implementation of basic EtherCAT Slave Diagnosis. A Beckhoff EL3102 (2-channel analogue input terminal) is used here, as it offers both the communication diagnosis typical of a slave and the functional diagnosis that is specific to a channel.
  • Page 97 The CoE parameter directory (CanOpen-over-EtherCAT) is used to manage the set values for the slave concerned. Changes may, in some circumstances, have to be made here when commissioning a relatively complex EtherCAT Slave. It can be accessed through the TwinCAT System Manager, see Fig. “EL3102, CoE directory”: EL3692 Version: 2.1...
  • Page 98 Commissioning interfaces are being introduced as part of an ongoing process for EL/EP EtherCAT devices. These are available in TwinCAT System Managers from TwinCAT 2.11R2 and above. They are integrated into the System Manager through appropriately extended ESI configuration files. Version: 2.1 EL3692...
  • Page 99 The target state wanted by the user, and which is brought about automatically at start-up by TwinCAT, can be set in the System Manager. As soon as TwinCAT reaches the status RUN, the TwinCAT EtherCAT Master will approach the target states. EL3692 Version: 2.1...
  • Page 100 Fig. 130: Default behaviour of the System Manager In addition, the target state of any particular Slave can be set in the "Advanced Settings" dialogue; the standard setting is again OP. Fig. 131: Default target state in the Slave Version: 2.1 EL3692...

  • Page 101: Fig. 132 Plc Function Blocks

    The pre-calculated theoretical maximum E-Bus current is displayed in the TwinCAT System Manager as a column value. A shortfall is marked by a negative total amount and an exclamation mark; a power feed terminal is to be placed before such a position. EL3692 Version: 2.1...

  • Page 102: Fig. 133 Illegally Exceeding The E-Bus Current

    Fig. 134: Warning message for exceeding E-Bus current Caution! Malfunction possible! The same ground potential must be used for the E-Bus supply of all EtherCAT terminals in a terminal block! Attention Version: 2.1 EL3692...

  • Page 103: Quick Start

    Proceed as follows for commissioning with the above-mentioned settings: 1. Install the EL3692 as described in section Installation and wiring [} 25]. 2. Activate the EtherCAT master and start the terminal in OP state. In the input variables the EL3692 must supply state=OP and WC=0.

  • Page 104: Fig. 135 Connection Examples

    Commissioning Fig. 135: Connection examples 4. In TwinCAT the EL3692 appears as follows (channel 1 red grouped, channel 2 blue grouped): Version: 2.1 EL3692...

  • Page 105: Fig. 136 El3692 Representation In The Twincat System Manager

    5. for 2-wire measurement: In CoE entry x80n0:0D set the mode to 2 (n stands for the channel: 0 = channel 1, 1 = channel 2). If necessary the EL3692 can be reset to the factory settings via a CoE reset [} 156]. Measured value display The EL3692 can output the current channel-based measured value depending on the PDO option "Predefined PDO assignment"...

  • Page 106: Operating Behavior, Diagnostics

    Explanation: Each of the 9 measuring ranges of the EL3692 extends over 1 decade (e.g. 1 .. 10 Ω). The regular value range of value extends from x0 .. x00 7F FF FF for each measuring range with "x00 7F FF FF ≈...

  • Page 107: Basic Operation

    • Control Word When the 16-bit control word is activated in the PDO settings, the EL3692 will only respond to instructions from the control word: Disable Autorange, Start conversion (SingleShot mode), Range and Mode. The respective CoE entries are then ignored.

  • Page 108: Measuring Mode

    Commissioning The default state of the EL3692 is 4-wire mode. In this mode the measuring current flows via terminal points 1(5) through the resistance to terminal point 3(7). The voltage measurement takes place via terminal points 2(6) and 4(8). 5.5.6 Measuring mode The terminal supports 4 measuring modes.

  • Page 109: Autorange Function

    4/2-wire mode. 5.5.8 Filter In the COE (object 0x80n0:21 [} 136]) the EL3692 has a filter setting option for each channel. The principle is as follows: • the raw resistance value is determined in rapid sequence • the values are averaged over time x •...

  • Page 110: Conversion Time

    0x80n0:31) [} 136]. It applies from the start of the measurement (automatic or single-shot mode) and is calculated as follows: =1 / f conversion filter delay_time Note: in general, the EL3692 terminal operates in a two channel alternating mode, thus the conversion time doubles. Filter setting Conversion time after filtering 2.5 Hz 400 ms...

  • Page 111: Error Codes

    The second channel is analogous. The individual PDOs can be activated or deactivated separately in the TwinCAT System Manager. The "Process data" tab is used for this (visible only if the terminal is selected on the left). EL3692 Version: 2.1...

  • Page 112: Fig. 138 Screenshot Of System Manager, Process Data

    Explanation: Each of the 9 measuring ranges of the EL3692 extends over 1 decade (e.g. 1 .. 10 Ω). The regular value range of value extends from x0 .. x00 7F FF FF for each measuring range with "x00 7F FF FF ≈...

  • Page 113: Fig. 139 Selection Dialog Predefined Pdo

    • as 32-bit fixed-point float-value with mantissa and exponent, measuring range-independent "float" Explanation: This 32-bit variable can be linked directly with a FLOAT variable of the PLC according to IEC61131. The conversion takes place in the EL3692; no measuring range-dependent conversion by the user is required. Predefined PDO Assignment To simplify the configuration typical configurations based on process data are stored in the EtherCAT XML Device Description.
  • Page 114 The format matches the REAL format of IEC 61131-3, which in turn is based on the REAL format of IEC 559. A REAL number (single precision) is defined as follows (See also Beckhoff InfoSys: TwinCAT PLC Control: standard data types).

  • Page 115: Specific Data

    Example Program [} 129]: Decomposition of WORDS into bits. Specific data This section describes various terminal-specific data. 5.7.1 Measuring currents and voltages Measuring currents and voltages used The following measuring currents and voltages are used, depending on the measuring range. EL3692 Version: 2.1...

  • Page 116: Capacitive And Inductive Influences

    All measuring ranges have an option to extend the range by 10% beyond the upper limit. This range is used to allow for the hysteresis of the Autorange function. If the measured value is within extended measuring range, the Extended Range bit is set to TRUE. Version: 2.1 EL3692...
  • Page 117 The following equation is used for calculating the REAL value from the value that has already been offset against the manufacturer and user values (F the respective full scale value (100 mΩ, 1 Ω, 10 Ω, 100 Ω, scal 1 kΩ, 10 kΩ, 100 kΩ, 1 MΩ and 10 MΩ): real scal EL3692 Version: 2.1...

  • Page 118: Error Analysis

    5.7.5 Error analysis The main difference between the EL3692 and other analog EL3xxx input terminals from Beckhoff is the fact that it has not just 1, but 9 consecutive measuring ranges. This opens up new aspects for error and measurement uncertainty analysis.

  • Page 119: Resolution

    1 kΩ - 10 kΩ 1.19 mΩ/Digit 10 kΩ - 100 kΩ 11.9 mΩ/Digit 100 kΩ - 1 MΩ 119 mΩ/Digit 1 MΩ - 10 MΩ 1.19 Ω/Digit Data processing Table of contents • Measurement sequence [} 120] • Processing sequence [} 121] EL3692 Version: 2.1...

  • Page 120: Measurement Sequence

    The following two diagrams illustrate the internal measurement sequence in the terminal. The first diagram shows the route for measurement of a value, the second diagram shows processing of the value in the terminal. Measurement sequence Fig. 142: Measurement sequence Version: 2.1 EL3692...

  • Page 121: Dc Operation Mode

    5.10 Notices on analog specifications Beckhoff I/O devices (terminals, boxes, modules) with analog inputs are characterized by a number of technical characteristic data; refer to the technical data in the respective documents. Some explanations are given below for the correct interpretation of these characteristic data.

  • Page 122: Fig. 144 Full Scale Value, Measuring Span

    Commissioning For analog I/O devices from Beckhoff the rule is that the limit with the largest value is chosen as the full scale value of the respective product (also called the reference value) and is given a positive sign. This applies to both symmetrical and asymmetrical measuring spans.
  • Page 123 "true" value is reproducibly dependent on the ambient/operating temperature. A manufacturer can alleviate this by using components of a higher quality or by software means. The temperature coefficient specified by Beckhoff allows the user to calculate the expected measuring error outside the basic accuracy at 23 °C.

  • Page 124: Fig. 145 Se And Diff Module As 2-Channel Version

    • The term "electrical isolation" should be clarified in advance. Beckhoff IO modules feature 1..8 or more analog channels; with regard to the channel connection a distinction is made in terms of: ◦ how the channels WITHIN a module relate to each other, or ◦...
  • Page 125 Commissioning ◦ Beckhoff terminals always feature electrical isolation between the field/analog side and the bus/EtherCAT side. In other words, if two analog terminals are not connected via the power contacts, the modules are effectively electrically isolated. ◦ If channels within a module are electrically isolated, or if a single-channel module has no power contacts, the channels are effectively always differential.

  • Page 126: Fig. 146 2-Wire Connection

    +signal can be connected to +supply or –signal to –supply. - Yes: then you can connect accordingly to a Beckhoff ‘single-ended’ input. - No: the Beckhoff ‘differential’ input for +Signal and –Signal is to be selected; +Supply and – Supply are to be connected via additional cables.

  • Page 127: Fig. 147 Connection Of Externally Supplied Sensors

    Commissioning Fig. 147: Connection of externally supplied sensors Classification of the Beckhoff terminals - Beckhoff 0/4-20 mA terminals are available as differential and single-ended terminals: Single-ended Differential EL3x4x: 0-20 mA, EL3x5x: 4-20 mA; KL exactly the EL3x1x: 0-20 mA, EL3x2x: 4-20 mA; KL exactly the...

  • Page 128: Fig. 148 2-, 3- And 4-Wire Connection At Single-Ended And Differential Inputs

    Commissioning Single-ended Differential Fig. 148: 2-, 3- and 4-wire connection at single-ended and differential inputs Version: 2.1 EL3692...

  • Page 129: Example Program

    In the two single shot settings a new measurement can be requested by clicking on Start. The Autorange function can be disabled by clicking on "Dis. Autorange". The measuring range can then be selected manually via the numeric field to the right of the range. Download (http://infosys.beckhoff.com/content/1033/el3692/Resources/zip/2079184779.zip) Fig. 149: Example program EL3692...

  • Page 130: Fig. 150 Find Mac Address

    I/O devices, Device (EtherCAT); then on the “Adapter” tab choose “Search...”, select the appropriate adapter and confirm (see Fig. Searching the Ethernet adapter + Selection and confirmation of the Ethernet adapter). Fig. 151: Searching the Ethernet adapter Version: 2.1 EL3692...

  • Page 131: Fig. 152 Selection And Confirmation Of The Ethernet Adapter

    Fig. 153: Activation of the configuration Fig. 154: Confirming the activation of the configuration • Confirm new variable mapping, restart in RUN mode (Fig. Generate variable mapping + Restarting TwinCAT in RUN mode) Fig. 155: Generating variable mapping Fig. 156: Restarting TwinCAT in RUN mode EL3692 Version: 2.1...

  • Page 132: Coe

    Process Data tab (allocation of PDOs). Please note the following general Note CoE information when using/manipulating the CoE parameters: - Keep a startup list if components have to be replaced - Differentiation between online/offline dictionary, existence of current XML description - use “CoE reload” for resetting changes Version: 2.1 EL3692...
  • Page 133 0x00 (0 value apart, the "Steady state" bit is set to TRUE Objects for the user calibration User calibration offers the option to process the value of the terminal further after manufacturer calibration. This can relieve the PLC. EL3692 Version: 2.1...

  • Page 134: Object Description And Parameterization

    Parameterization The terminal is parameterized via the CoE - Online tab [} 89] (double-click on the respec- tive object) or via the Process Data tab [} 86](allocation of PDOs). Note Version: 2.1 EL3692...

  • Page 135: Restore Object

    EtherCAT XML Device Description The display matches that of the CoE objects from the EtherCAT XML Device Description. We recommend downloading the latest XML file from the download area of the Beckhoff Note website and installing it according to installation instructions.

  • Page 136: Configuration Data

    Range x 2/4W offset one offset value per measuring range for user calibra- UINT32 0x00000000 (odd) tion 80n2:0m Range x 2/4W gain one gain value per measuring range for user calibra- UINT32 0x10000 (even) tion (65536 0x10000 corresponds to 1 Version: 2.1 EL3692...

  • Page 137: Input Data

    Index 60n2 SAI Inputs Real (for Ch.1 (n=0); Ch.2 (n=1) Index (hex) Name Meaning Data type Flags Default 60n0:0 TC Inputs Ch.1 Maximum subindex UINT8 0x01 (1 60n1:05 Value Analog input value as REAL. REAL 0x00 (0 EL3692 Version: 2.1...

  • Page 138: Output Data

    Module index distance Index distance of the objects of the individual channels UINT16 0x0010 (16 F000:02 Maximum number of Number of channels UINT16 0x0002 (2 modules Index F008 Code word Index (hex) Name Meaning Data type Flags Default F008:0 Code word currently reserved UINT32 0x00000000 Version: 2.1 EL3692...

  • Page 139: Standard Objects (0X1000-0X1Fff)

    Index (hex) Name Meaning Data type Flags Default 10F0:0 Backup parameter Information for standardized loading and saving of UINT8 0x01 (1 handling backup entries 10F0:01 Checksum Checksum across all backup entries of the EtherCAT UINT32 0x00000000 slave EL3692 Version: 2.1...
  • Page 140 UINT32 0x0000:00, 4 1A0n:02 SubIndex 002 2. PDO Mapping Entry (object 0x6001 (SAI Range), UINT32 0x6001:05, 4 entry 0x05 (Mode)) 1A0n:03 SubIndex 003 3. PDO Mapping Entry (object 0x6001 (SAI Range), UINT32 0x6001:09, 8 entry 0x09 (Range)) Version: 2.1 EL3692...
  • Page 141 Subindex 005 5. allocated TxPDO (contains the index of the associ- UINT16 0x1A04 ated TxPDO mapping object) (6660 1C13:06 Subindex 006 6. allocated TxPDO (contains the index of the associ- UINT16 0x1A05 ated TxPDO mapping object) (6661 EL3692 Version: 2.1...
  • Page 142 Shift too short counter Number of occasions that the interval between SYNC0 UINT16 0x0000 (0 and SYNC1 event was too short (DC mode only) 1C32:20 Sync error The synchronization was not correct in the last cycle BOOLEAN 0x00 (0 (outputs were output too late; DC mode only) Version: 2.1 EL3692...
  • Page 143 UINT16 0x0000 (0 as 0x1C32:11 [} 142] counter 1C33:0C Cycle exceeded UINT16 0x0000 (0 as 0x1C32:12 [} 142] counter 1C33:0D Shift too short counter as 1C32:13 [} 142] UINT16 0x0000 (0 1C33:20 Sync error BOOLEAN 0x00 (0 as 0x1C32:32 [} 142] EL3692 Version: 2.1...

  • Page 144: Appendix

    Beckhoff EtherCAT modules are intended for use with Beckhoff’s UL Listed EtherCAT Sys- tem only. Examination For cULus examination, the Beckhoff I/O System has only been investigated for risk of fire and electrical shock (in accordance with UL508 and CSA C22.2 No. 142). For devices with Ethernet connectors Not for connection to telecommunication circuits.
  • Page 145 Appendix These requirements apply to the supply of all EtherCAT bus couplers, power adaptor terminals, Bus Terminals and their power contacts. EL3692 Version: 2.1...

  • Page 146: Firmware Update El/Es/Em/Epxxxx

    Appendix Firmware Update EL/ES/EM/EPxxxx This section describes the device update for Beckhoff EtherCAT slaves from the EL/ES, EM, EK and EP series. A firmware update should only be carried out after consultation with Beckhoff support. Storage locations An EtherCAT slave stores operating data in up to 3 locations: •...

  • Page 147: Fig. 160 Device Identifier Consisting Of Name El3204-0000 And Revision -0016

    Corresponding updates Note should only be carried out in consultation with Beckhoff support. Display of ESI slave identifier The simplest way to ascertain compliance of configured and actual device description is to scan the...

  • Page 148: Fig. 161 Scan The Subordinate Field By Right-Clicking On The Ethercat Device In Config/Freerun Mode . 148 Fig. 162 Configuration Is Identical

    In this example in Fig. "Change dialog", an EL3201-0000-0017 was found, while an EL3201-0000-0016 was configured. In this case the configuration can be adapted with the Copy Before button. The Extended Information checkbox must be set in order to display the revision. Version: 2.1 EL3692...

  • Page 149: Fig. 164 Eeprom Update

    Most EtherCAT devices read a modified ESI description immediately or after startup from the INIT. Some communication settings such as distributed clocks are only read during Note power-on. The EtherCAT slave therefore has to be switched off briefly in order for the change to take effect. EL3692 Version: 2.1...

  • Page 150: Fig. 166 Display Of El3204 Firmware Version

    • offline: The EtherCAT Slave Information ESI/XML may contain the default content of the CoE. This CoE directory can only be displayed if it is included in the ESI (e.g. "Beckhoff EL5xxx.xml"). The Advanced button must be used for switching between the two views.

  • Page 151: Fig. 167 Firmware Update

    Switch to the Online tab to update the controller firmware of a slave, see Fig. "Firmware Update". Fig. 167: Firmware Update Proceed as follows, unless instructed otherwise by Beckhoff support. • Switch slave to INIT (A) • Switch slave to BOOTSTRAP •...

  • Page 152: Fig. 168 Fpga Firmware Version Definition

    Fig. 169: Context menu Properties The Advanced Settings dialog appears where the columns to be displayed can be selected. Under Diagnosis/Online View select the '0002 ETxxxx Build' check box in order to activate the FPGA firmware version display. Version: 2.1 EL3692...

  • Page 153: Fig. 170 Dialog Advanced Settings

    Updating an EtherCAT device In the TwinCAT System Manager select the terminal for which the FPGA firmware is to be updated (in the example: Terminal 5: EL5001) and click the Advanced Settings button in the EtherCAT tab. EL3692 Version: 2.1...

  • Page 154: Fig. 171 Select Dialog Advanced Settings

    Appendix Fig. 171: Select dialog Advanced Settings The Advanced Settings dialog appears. Under ESC Access/E²PROM/FPGA click on Write FPGA button, Fig. 172: Select dialog Write FPGA Version: 2.1 EL3692...

  • Page 155: Fig. 173 Select File

    The firmware and ESI descriptions of several devices can be updated simultaneously, provided the devices have the same firmware file/ESI. Fig. 174: Multiple selection and firmware update Select the required slaves and carry out the firmware update in BOOTSTRAP mode as described above. EL3692 Version: 2.1...

  • Page 156: Firmware Compatibility

    Note • It is recommended to use the newest possible firmware for the respective hardware • Beckhoff is not under any obligation to provide customers with free firmware updates for delivered products. Risk of damage to the device! Pay attention to the instructions for firmware updates on the separate page [} 146].

  • Page 157: Fig. 175 Selecting The "Restore Default Parameters" Pdo

    Fig. 176: Entering a restore value in the Set Value dialog Alternative restore value In some older terminals the backup objects can be switched with an alternative restore value:Decimal value: "1819238756", Hexadecimal value: "0x6C6F6164"An incorrect entry Note for the restore value has no effect. EL3692 Version: 2.1...

  • Page 158: Support And Service

    Beckhoff's branch offices and representatives Please contact your Beckhoff branch office or representative for local support and service on Beckhoff products! The addresses of Beckhoff's branch offices and representatives round the world can be found on her internet pages: http://www.beckhoff.com You will also find further documentation for Beckhoff components there.

  • Page 159: List Of Illustrations

    00346070 ........................Fig. 7 EL2904 IP20 safety terminal with batch number/date code 50110302 and unique serial num- ber 00331701 ..........................Fig. 8 EL3692 ............................Fig. 9 Principle of operation ........................Fig. 10 System manager current calculation ..................Fig. 11 EtherCAT tab ->...
  • Page 160 Using the ESI Updater (>= TwinCAT 2.11).................. Fig. 84 Using the ESI Updater (TwinCAT 3).................... Fig. 85 Append EtherCAT device (left: TwinCAT 2; right: TwinCAT 3) ........... Fig. 86 Selecting the EtherCAT connection (TwinCAT 2.11, TwinCAT 3)..........Fig. 87 Selecting the Ethernet port ......................Version: 2.1 EL3692...
  • Page 161 Fig. 127 Basic EtherCAT Slave Diagnosis in the PLC................Fig. 128 EL3102, CoE directory ........................ Fig. 129 Example of commissioning aid for a EL3204 ................Fig. 130 Default behaviour of the System Manager .................. 100 Fig. 131 Default target state in the Slave ....................100 EL3692 Version: 2.1...
  • Page 162 Fig. 134 Warning message for exceeding E-Bus current ................. 102 Fig. 135 Connection examples ........................104 Fig. 136 EL3692 representation in the TwinCAT System Manager............105 Fig. 137 Filter characteristic........................110 Fig. 138 Screenshot of System Manager, Process data ................112 Fig.

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