Table Of Contents - Beckhoff EL3692 Documentation

Table of contents

1 Foreword .................................................................................................................................................... 5
1.1 Notes on the documentation........................................................................................................... 5
1.2 Safety instructions .......................................................................................................................... 6
1.3 Documentation issue status............................................................................................................ 7
1.4 Version identification of EtherCAT devices..................................................................................... 7
2 Product overview..................................................................................................................................... 11
2.1 Introduction ................................................................................................................................... 11
2.2 Technology ................................................................................................................................... 11
2.3 Technical data .............................................................................................................................. 13
2.4 Start .............................................................................................................................................. 13
3 Basics communication ........................................................................................................................... 14
3.1 EtherCAT basics........................................................................................................................... 14
3.2 EtherCAT cabling - wire-bound.................................................................................................... 14
3.3 General notes for setting the watchdog ........................................................................................ 15
3.4 EtherCAT State Machine .............................................................................................................. 17
3.5 CoE Interface................................................................................................................................ 19
3.6 Distributed Clock........................................................................................................................... 24
4 Installation................................................................................................................................................ 25
4.1 Installation on mounting rails ........................................................................................................ 25
4.2 Installation instructions for enhanced mechanical load capacity .................................................. 27
4.3 Connection system ....................................................................................................................... 28
4.4 Installation positions ..................................................................................................................... 31
4.5 Mounting of Passive Terminals..................................................................................................... 32
4.6 EL3692 ......................................................................................................................................... 34
4.6.1 LEDs and connection........................................................................................................... 34
4.6.2 Electrical connection ............................................................................................................ 35
5 Commissioning........................................................................................................................................ 37
5.1 TwinCAT Quick Start .................................................................................................................... 37
5.1.1 TwinCAT 2 ........................................................................................................................... 39
5.1.2 TwinCAT 3 ........................................................................................................................... 49
5.2 TwinCAT Development Environment............................................................................................ 61
5.2.1 Installation of the TwinCAT real-time driver ......................................................................... 61
5.2.2 Notes regarding ESI device description............................................................................... 67
5.2.3 TwinCAT ESI Updater.......................................................................................................... 71
5.2.4 Distinction between Online and Offline ................................................................................ 71
5.2.5 OFFLINE configuration creation .......................................................................................... 72
5.2.6 ONLINE configuration creation ............................................................................................ 77
5.2.7 EtherCAT subscriber configuration ...................................................................................... 85
5.3 General Notes - EtherCAT Slave Application ............................................................................... 95
5.4 Quick start................................................................................................................................... 103
5.5 Operating behavior, diagnostics ................................................................................................. 106
5.5.1 Control ............................................................................................................................... 106
5.5.2 Basic operation .................................................................................................................. 107
5.5.3 Default state....................................................................................................................... 107
EL3692 Version: 2.1
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