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Beckhoff EL1258 Documentation

8 channel digital input/output terminal with time stamp
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Documentation
EL125x, EL2258
8 channel digital input/output terminal with time stamp
Version:
Date:
2.5
2017-12-07

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Summary of Contents for Beckhoff EL1258

  • Page 1 Documentation EL125x, EL2258 8 channel digital input/output terminal with time stamp Version: Date: 2017-12-07...

  • Page 3: Product Overview - 8 Channel Digital Input/Output Terminals

    Product overview - 8 channel Digital Input/Output Terminals Product overview - 8 channel Digital Input/Output Terminals EL1258 [} 14] 8 channel digital input terminal 24 V , with Timestamp EL1259 [} 14] 2 x 8 channel digital input/output terminal 24 V , with Timestamp EL2258 [} 14]...

  • Page 4: Table Of Contents

    Wiring .......................... 39 5.4.3 Shielding .......................... 40 Installation positions ........................ 40 Mounting of Passive Terminals.....................  43 UL notice............................ 43 EL1258, EL1259, EL2258 - LEDs and connection ...............  45 6 Commissioning............................ 48 TwinCAT Quick Start ........................ 48 6.1.1 TwinCAT 2 ........................ 50 6.1.2 TwinCAT 3 ........................ 60 TwinCAT Development Environment....................
  • Page 5 6.8.3 EL2258........................... 246 Example programs........................ 286 6.9.1 Example program for EL2258: Multi-Timestamp ............ 287 6.9.2 Example program for EL1258 (EL1259): MT Visualization (TC 3)......... 290 7 Appendix .............................. 293 EtherCAT AL Status Codes ...................... 293 Firmware compatibility ........................  293 Firmware Update EL/ES/EM/EPxxxx.................. 293 7.3.1 Device description ESI file/XML .................. 294...
  • Page 6 Table of contents Version: 2.5 EL125x, EL2258...

  • Page 7: 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 8: 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 9: Documentation Issue Status

    Foreword Documentation issue status Version Comment • Example program for EL1258 (MT Visualization) added to chapter “Commissioning” • Update chapter "Commissioning", Example program for EL2258 (Multi‑Timestamp) • Update chapter "Notes on the documentation" • Update chapter "Technical data" • Addenda chapter "Instructions for ESD protection"...
  • Page 10 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 11: Fig. 1 El5021 El Terminal, Standard Ip20 Io Device With Batch Number And Revision Id (Since 2014/01)

    Foreword y - hardware version of the bus PCB z - firmware version of the I/O PCB u - hardware version of the I/O PCB Example: D.22081501 calendar week 22 of the year 2008 firmware version of bus PCB: 1 hardware version of bus PCB: 5 firmware version of I/O PCB: 0 (no firmware necessary for this PCB) hardware version of I/O PCB: 1 Unique serial number/ID, ID number...

  • Page 12: Fig. 3 Cu2016 Switch With Batch Number

    Foreword Fig. 3: CU2016 switch with batch number 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 IP67 EtherCAT Safety Box with batch number 071201FF and unique serial number 00346070 Version: 2.5 EL125x, EL2258...

  • Page 13: Fig. 7 El2904 Ip20 Safety Terminal With Batch Number/Date Code 50110302 And Unique Serial Num- Ber 00331701

    Foreword Fig. 7: EL2904 IP20 safety terminal with batch number/date code 50110302 and unique serial number 00331701 Fig. 8: ELM3604-0002 terminal with ID number (QR code) 100001051 and unique serial number 44160201 EL125x, EL2258 Version: 2.5...

  • Page 14: Product Overview

    Product overview Product overview EL1258, EL1259, EL2258 3.1.1 Introduction Fig. 9: EL1258 Fig. 10: EL1259 Version: 2.5 EL125x, EL2258...
  • Page 15 In contrast to the EL1252 with two channels the EL1258 has eight channels and a lower sampling rate. In addition, the EL1258 offers the option of logging several changes of the input signal per PLC cycle and to transfer these to the controller (MultiTimeStamping). The EL1258 is synchronized with other EtherCAT devices through the distributed clocks system, so that events in the whole system can be measured with a uniform timebase.

  • Page 16: Technical Data

    These are digital input and output terminals that read in or output 24 V signals. The EL1258 can read in eight channels, while the EL2258 can output eight channels. The EL1259 is the mixed version with 8 input and 8 output channels on an overall width of 12 mm. A characteristic feature of these terminals is the multi-timestamp capability, as an extension to the conventional timestamp function.

  • Page 17: Fig. 12 Query Of Input Channel Information, Standard

    Two technologies are available to remedy this situation: Oversampling and timestamp. In principle, the EtherCAT Terminals EL1258, EL1259 and EL2258 can be used for standard sampling. • Oversampling Within the specified (configurable) cycle time the input terminals read the input status n times and store the states in an array, which is transferred to the controller based on the bus cycle.

  • Page 18: Fig. 14 Query Of Input Channel Information, With Timestamp

    Product overview • Timestamp In this mode the input terminal operates only event-based. The edge changes are registered at the input channel. Internally two pieces of information are stored for each event, i.e. the input state 0/1 after the edge change and the exact time of edge change, the timestamp. The time is derived from the synchronized EtherCAT distributed clocks system, which synchronizes all capable EtherCAT devices in the network to a time accuracy of <<...

  • Page 19: Fig. 16 Output Of Output Channel Information, Oversampling

    Multi-timestamp The multi-timestamp capability opens up new application options for digital inputs and outputs: Inputs EL1258, EL1259 • 8 multi-timestamp channels on an overall width of 12 mm • All channels operate completely independently of one another • Each channel is capable of sampling not only one, but up to 32 signal edges (“events”) per cycle •...

  • Page 20: Fig. 18 Query Of Input Channel Information, With Multi-Timestamp

    Product overview • These functions require a process image that differs from the previous EL1252. For reasons of compatibility with the existing user software the terminal can be switched to a compatible process image (without the new functions). • Sampling of the input state 0/1 takes place based on a microcycle of several µs, depending on the selected setting, i.e.

  • Page 21: Start

    Product overview Fig. 19: Output of output channel information, with multi-timestamp Start For commissioning: • mount the EL125x, EL2258 as described in the chapter Mounting and wiring [} 33] • configure the EL125x, EL2258 in TwinCAT as described in the chapter Commissioning [} 48]. EL125x, EL2258 Version: 2.5...

  • Page 22: 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 23: General Notes For Setting The Watchdog

    Basics communication Fig. 20: System manager current calculation Malfunction possible! The same ground potential must be used for the E-Bus supply of all EtherCAT terminals in a terminal block! Attention General notes for setting the watchdog ELxxxx terminals are equipped with a safety feature (watchdog) that switches off the outputs after a specifiable time e.g.

  • Page 24: Fig. 21 Ethercat Tab -> Advanced Settings -> Behavior -> Watchdog

    Basics communication Fig. 21: EtherCAT tab -> Advanced Settings -> Behavior -> Watchdog Notes: • the multiplier is valid for both watchdogs. • each watchdog has its own timer setting, the outcome of this in summary with the multiplier is a resulting time.

  • Page 25: Ethercat State Machine

    Basics communication Example "Set SM watchdog" This checkbox enables manual setting of the watchdog times. If the outputs are set and the EtherCAT communication is interrupted, the SM watchdog is triggered after the set time and the outputs are erased. This setting can be used for adapting a terminal to a slower EtherCAT master or long cycle times.

  • Page 26: Fig. 22 States Of The Ethercat State Machine

    Basics communication Fig. 22: States of the EtherCAT State Machine Init After switch-on the EtherCAT slave in the Init state. No mailbox or process data communication is possible. The EtherCAT master initializes sync manager channels 0 and 1 for mailbox communication. Pre-Operational (Pre-Op) During the transition between Init and Pre-Op the EtherCAT slave checks whether the mailbox was initialized correctly.

  • Page 27: Coe Interface

    Basics communication Boot In the Boot state the slave firmware can be updated. The Boot state can only be reached via the Init state. In the Boot state mailbox communication via the file access over EtherCAT (FoE) protocol is possible, but no other mailbox communication and no process data communication.

  • Page 28: Fig. 23 "Coe Online " Tab

    Basics communication Fig. 23: "CoE Online " tab The figure above shows the CoE objects available in device "EL2502", ranging from 0x1000 to 0x1600. The subindices for 0x1018 are expanded. Data management and function "NoCoeStorage" Some parameters, particularly the setting parameters of the slave, are configurable and writeable. This can be done in write or read mode •...

  • Page 29: Fig. 24 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 30: Fig. 25 Offline List

    Basics communication Online/offline list While working with the TwinCAT System Manager, a distinction has to be made whether the EtherCAT device is "available", i.e. switched on and linked via EtherCAT and therefore online, or whether a configuration is created offline without connected slaves. In both cases a CoE list as shown in Fig.

  • Page 31: Fig. 26 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. EL125x, EL2258 Version: 2.5...

  • Page 32: Distributed Clock

    Basics communication Distributed Clock The distributed clock represents a local clock in the EtherCAT slave controller (ESC) with the following characteristics: • Unit 1 ns • Zero point 1.1.2000 00:00 • Size 64 bit (sufficient for the next 584 years; however, some EtherCAT slaves only offer 32-bit support, i.e.

  • Page 33: Mounting And Wiring

    Each assembly must be terminated at the right hand end with an EL9011 bus end cap, to ensure the protection class and ESD protection. Fig. 27: Spring contacts of the Beckhoff I/O components Installation on mounting rails Risk of electric shock and damage of device!

  • Page 34: Fig. 28 Attaching On Mounting Rail

    Mounting and wiring Assembly Fig. 28: Attaching on mounting rail The Bus Coupler and Bus Terminals are attached to commercially available 35 mm mounting rails (DIN rails according to EN 60715) by applying slight pressure: 1. First attach the Fieldbus Coupler to the mounting rail. 2.

  • Page 35: Fig. 29 Disassembling Of Terminal

    Mounting and wiring Disassembly Fig. 29: Disassembling of terminal Each terminal is secured by a lock on the mounting rail, which must be released for disassembly: 1. Pull the terminal by its orange-colored lugs approximately 1 cm away from the mounting rail. In doing so for this terminal the mounting rail lock is released automatically and you can pull the terminal out of the bus terminal block easily without excessive force.

  • Page 36: Fig. 30 Power Contact On Left Side

    Mounting and wiring Fig. 30: Power contact on left side Possible damage of the device Note that, for reasons of electromagnetic compatibility, the PE contacts are capacitatively coupled to the mounting rail. This may lead to incorrect results during insulation testing or Attention to damage on the terminal (e.g.

  • Page 37: Installation Instructions For Enhanced Mechanical Load Capacity

    Mounting and wiring Installation instructions for enhanced mechanical load capacity Risk of injury through electric shock and damage to the device! Bring the Bus Terminal system into a safe, de-energized state before starting mounting, disassembly or wiring of the Bus Terminals! WARNING Additional checks The terminals have undergone the following additional tests:...

  • Page 38: Fig. 31 Standard Wiring

    Mounting and wiring • The High Density Terminals (HD Terminals) include electronics and connection level in a single enclosure and have advanced packaging density. Standard wiring (ELxxxx / KLxxxx) Fig. 31: Standard wiring The terminals of ELxxxx and KLxxxx series have been tried and tested for years. They feature integrated screwless spring force technology for fast and simple assembly.

  • Page 39: Wiring

    Mounting and wiring The Bus Terminals from these series with 16 terminal points are distinguished by a particularly compact design, as the packaging density is twice as large as that of the standard 12 mm Bus Terminals. Massive conductors and conductors with a wire end sleeve can be inserted directly into the spring loaded terminal point without tools.

  • Page 40: Shielding

    Mounting and wiring See the following table for the suitable wire size width. Terminal housing ELxxxx, KLxxxx ESxxxx, KSxxxx Wire size width (single core wires) 0.08 ... 2.5 mm 0.08 ... 2.5 mm Wire size width (fine-wire conductors) 0.08 ... 2.5 mm 0,08 ... 2.5 mm Wire size width (conductors with a wire end sleeve) 0.14 ...

  • Page 41: Fig. 35 Recommended Distances For Standard Installation Position

    Mounting and wiring Fig. 35: Recommended distances for standard installation position Compliance with the distances shown in Fig. “Recommended distances for standard installation position” is recommended. Other installation positions All other installation positions are characterized by different spatial arrangement of the mounting rail - see Fig “Other installation positions”.

  • Page 42: Fig. 36 Other Installation Positions

    Mounting and wiring Fig. 36: Other installation positions Version: 2.5 EL125x, EL2258...

  • Page 43: Mounting Of Passive Terminals

    2 Passive Terminals! Examples for mounting passive terminals (highlighted) Fig. 37: Correct configuration Fig. 38: Incorrect configuration UL notice Application Beckhoff EtherCAT modules are intended for use with Beckhoff’s UL Listed EtherCAT Sys- tem only. EL125x, EL2258 Version: 2.5...
  • Page 44 Mounting and wiring 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 45: El1258, El1259, El2258 - Leds And Connection

    Mounting and wiring EL1258, EL1259, EL2258 - LEDs and connection Table of contents • LEDs and connection EL1258 [} 45] • LEDs and connection EL1259 [} 46] • LEDs and connection EL2258 [} 47] EL1258 Fig. 39: EL1258 Color Meaning INPUT 1- 8 green...

  • Page 46: Fig. 10 El1259

    Mounting and wiring EL1259 Fig. 40: EL1259 Color Meaning INPUT 1- 8 green There is no input signal at the respective input (Signal LEDs 1 - 8) Input signal at the respective input OUTPUT 1- 8 green No output signal is present at the respective output (Signal LEDs 9 - Input signal at the respective input Connection EL1259...

  • Page 47: Fig. 11 El2258

    Mounting and wiring EL2258 Fig. 41: EL2258 Color Meaning OUTPUT 1- 8 green There is no output signal at the respective input Output signal at the respective input Connection EL2258 Terminal point Description Name Output 1 Output 1 Output 2 Output 2 Output 3 Output 3 Output 4...

  • Page 48: 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 49 Commissioning Fig. 42: Relationship between user side (commissioning) and installation The user inserting of certain components (I/O device, terminal, box...) is the same in TwinCAT 2 and TwinCAT 3. The descriptions below relate to the online procedure. Sample configuration (actual configuration) Based on the following sample configuration, the subsequent subsections describe the procedure for TwinCAT 2 and TwinCAT 3: •...
  • Page 50 Commissioning Fig. 43: Control configuration with Embedded PC, input (EL1004) and output (EL2008) Note that all combinations of a configuration are possible; for example, the EL1004 terminal could also be connected after the coupler, or the EL2008 terminal could additionally be connected to the CX2040 on the right, in which case the EK1100 coupler wouldn’t be necessary.
  • Page 51 Commissioning Generally, TwinCAT can be used in local or remote mode. Once the TwinCAT system including the user interface (standard) is installed on the respective PLC, TwinCAT can be used in local mode and thereby the next step is "Insert Device [} 52]". 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.
  • Page 52 Commissioning After confirmation with "OK" the target system can be accessed via the System Manager. Adding devices In the configuration tree of the TwinCAT 2 System Manager user interface on the left, select "I/O Devices” and then right-click to open a context menu and select "Scan Devices…", or start the action in the menu bar .
  • Page 53 Commissioning Fig. 49: Mapping of the configuration in the TwinCAT 2 System Manager 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 ..."...
  • Page 54 Commissioning • Graphical languages ◦ Function Block Diagram (FBD) ◦ Ladder Diagram (LD) ◦ The Continuous Function Chart Editor (CFC) ◦ Sequential Function Chart (SFC) The following section refers to Structured Text (ST). After starting TwinCAT PLC Control, the following user interface is shown for an initial project: Fig. 51: TwinCAT PLC Control after startup Sample variables and a sample program have been created and stored under the name "PLC_example.pro": Version: 2.5...
  • Page 55 Commissioning Fig. 52: Sample program with variables after a compile process (without variable integration) Warning 1990 (missing "VAR_CONFIG") after a compile process indicates that the variables defined as external (with the ID "AT%I*" or "AT%Q*") have not been assigned. After successful compilation, TwinCAT PLC Control creates a "*.tpy"...
  • Page 56 Commissioning Select the PLC configuration "PLC_example.tpy" in the browser window that opens. The project including the two variables identified with "AT" are then integrated in the configuration tree of the System Manager: Fig. 54: PLC project integrated in the PLC configuration of the System Manager The two variables "bEL1004_Ch4"...
  • Page 57 Commissioning Fig. 56: Selecting PDO of type BOOL According to the default setting, certain PDO objects are now available for selection. In this sample the input of channel 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.
  • Page 58 Commissioning Fig. 58: Application of a "Goto Link" variable, using "MAIN.bEL1004_Ch4" as a sample The process of assigning variables to the PDO is completed via the menu selection "Actions" → "Generate Mappings”, key Ctrl+M or by clicking on the symbol in the menu. This can be visualized in the configuration: The process of creating links can also take place in the opposite direction, i.e.
  • Page 59 Commissioning Fig. 59: Choose target system (remote) In this sample "Runtime system 1 (port 801)" is selected and confirmed. Link the PLC with the real-time system via menu option "Online" → "Login", the F11 key or by clicking on the symbol . The control program can then be loaded for execution.
  • Page 60 Commissioning Fig. 60: PLC Control logged in, ready for program startup The PLC can now be started via "Online" → "Run", F5 key or 6.1.2 TwinCAT 3 Startup TwinCAT makes the development environment areas available together with Microsoft Visual Studio: after startup, the project folder explorer appears on the left in the general window area (cf.
  • Page 61 Commissioning Fig. 61: Initial TwinCAT 3 user interface 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. 62: Create new TwinCAT project The new project is then available in the project folder explorer: EL125x, EL2258 Version: 2.5...
  • Page 62 Commissioning Fig. 63: New TwinCAT3 project in the project folder explorer Generally, TwinCAT can be used in local or remote mode. Once the TwinCAT system including the user interface (standard) is installed on the respective PLC, TwinCAT can be used in local mode and thereby the next step is "Insert Device [} 63]".
  • Page 63 Commissioning Use "Search (Ethernet)..." to enter the target system. Thus a next dialog opens to either: • enter the known computer name after "Enter Host Name / IP:" (as shown in red) • perform a "Broadcast Search" (if the exact computer name is not known) •...
  • Page 64 Commissioning Fig. 67: Automatic detection of I/O devices: selection the devices to be integrated 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 [} 49] described at the beginning of this section, the result is as follows: Fig. 68: Mapping of the configuration in VS shell of the TwinCAT3 environment The whole process consists of two stages, which may be performed separately (first determine the devices,...
  • Page 65 Commissioning Fig. 69: Reading of individual terminals connected to a device This functionality is useful if the actual configuration is modified at short notice. Programming the PLC 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.
  • Page 66 Commissioning Fig. 70: Adding the programming environment in "PLC" In the dialog that opens select "Standard PLC project" and enter "PLC_example" as project name, for example, and select a corresponding directory: Fig. 71: Specifying the name and directory for the PLC programming environment The "Main"...
  • Page 67 Commissioning Fig. 72: Initial "Main" program of the standard PLC project To continue, sample variables and a sample program have now been created: EL125x, EL2258 Version: 2.5...
  • Page 68 Commissioning Fig. 73: Sample program with variables after a compile process (without variable integration) The control program is now created as a project folder, followed by the compile process: Fig. 74: Start program compilation The following variables, identified in the ST/ PLC program with "AT%", are then available in under "Assignments"...
  • Page 69 Commissioning Fig. 75: 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: Fig. 76: Selecting PDO of type BOOL According to the default setting, certain PDO objects are now available for selection.
  • Page 70 Commissioning Fig. 77: Selecting several PDOs simultaneously: activate "Continuous" and "All types" Note that the "Continuous" checkbox was also activated. This is designed to allocate the bits contained in the byte of the variable "nEL2008_value" sequentially to all eight selected output bits of the EL2008 terminal. In this way it is possible to subsequently address all eight outputs of the terminal in the program with a byte corresponding to bit 0 for channel 1 to bit 7 for channel 8 of the PLC.
  • Page 71 Commissioning Activation of the configuration The allocation of PDO to PLC variables has now established the connection from the controller to the inputs and outputs of the terminals. The configuration can now be activated with or via the menu under "TwinCAT"...

  • Page 72: Twincat 2

    6.2.1 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 73 Commissioning Fig. 80: System Manager “Options” (TwinCAT 2) This have to be called up by the Menü “TwinCAT” within the TwinCAT 3 environment: Fig. 81: Call up under VS Shell (TwinCAT 3) The following dialog appears: Fig. 82: Overview of network interfaces Interfaces listed under “Compatible devices” can be assigned a driver via the “Install” button. A driver should only be installed on compatible devices.
  • Page 74 Commissioning Fig. 83: EtherCAT device properties(TwinCAT 2): click on „Compatible Devices…“ of tab “Adapter” TwinCAT 3: the properties of the EtherCAT device can be opened by double click on “Device .. (EtherCAT)” within the Solution Explorer under “I/O”: After the installation the driver appears activated in the Windows overview for the network interface (Windows Start →...
  • Page 75 Commissioning Fig. 85: Exemplary correct driver setting for the Ethernet port Other possible settings have to be avoided: EL125x, EL2258 Version: 2.5...
  • Page 76 Commissioning Fig. 86: Incorrect driver settings for the Ethernet port Version: 2.5 EL125x, EL2258...
  • Page 77 Commissioning IP address of the port used IP address/DHCP In most cases an Ethernet port that is configured as an EtherCAT device will not transport general IP packets. For this reason and in cases where an EL6601 or similar devices are Note used it is useful to specify a fixed IP address for this port via the “Internet Protocol TCP/IP”...

  • Page 78: 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 79 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’ [} 83].
  • Page 80 Commissioning Fig. 91: File OnlineDescription.xml created by the System Manager Is a slave desired to be added manually to the configuration at a later stage, online created slaves are indicated by a prepended symbol “>” in the selection list (see Figure “Indication of an online recorded ESI of EL2521 as an example”).
  • Page 81 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 EL125x, EL2258 Version: 2.5...

  • Page 82: Twincat Esi Updater

    Commissioning 6.2.3 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. 94: Using the ESI Updater (>= TwinCAT 2.11) The call up takes place under: “Options” → "Update EtherCAT Device Descriptions"...

  • Page 83: Offline Configuration Creation

    Commissioning • the devices/modules be connected to the power supply and ready for communication • TwinCAT must be in CONFIG mode on the target system. The online scan process consists of: • detecting the EtherCAT device [} 88] (Ethernet port at the IPC) •...
  • Page 84 Commissioning This query may appear automatically when the EtherCAT device is created, or the assignment can be set/ modified later in the properties dialog; see Fig. “EtherCAT device properties (TwinCAT 2)”. Fig. 99: EtherCAT device properties (TwinCAT 2) TwinCAT 3: the properties of the EtherCAT device can be opened by double click on “Device .. (EtherCAT)” within the Solution Explorer under “I/O”: Selecting the Ethernet port Ethernet ports can only be selected for EtherCAT devices for which the TwinCAT real-time...
  • Page 85 (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 86 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 87 Commissioning Fig. 105: EtherCAT terminal in the TwinCAT tree (left: TwinCAT 2; right: TwinCAT 3) EL125x, EL2258 Version: 2.5...

  • Page 88: Online Configuration Creation

    Commissioning 6.2.6 ONLINE configuration creation Detecting/scanning of the EtherCAT device The online device search can be used if the TwinCAT system is in CONFIG mode. This can be indicated by a symbol right below in the information bar: • on TwinCAT 2 by a blue display “Config Mode” within the System Manager window: •...
  • Page 89 [} 93] 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 90 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 91 Commissioning Fig. 113: Scan query after automatic creation of an EtherCAT device (left: TwinCAT 2; right: TwinCAT 3) Fig. 114: Manual triggering of a device scan on a specified EtherCAT device (left: TwinCAT 2; right: TwinCAT 3) In the System Manager (TwinCAT 2) or the User Interface (TwinCAT 3) the scan process can be monitored via the progress bar at the bottom in the status bar.
  • Page 92 Commissioning Fig. 119: Online display example Please note: • all slaves should be in OP state • the EtherCAT master should be in “Actual State” OP • “frames/sec” should match the cycle time taking into account the sent number of frames •...
  • Page 93 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 94 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 95 Commissioning Fig. 124: Correction dialog with modifications Once all modifications have been saved or accepted, click “OK” to transfer them to the real *.tsm configuration. Change to Compatible Type TwinCAT offers a function “Change to Compatible Type…” for the exchange of a device whilst retaining the links in the task.

  • Page 96: Ethercat Subscriber Configuration

    Commissioning If called, the System Manager searches in the procured device ESI (in this example: EL1202-0000) for details of compatible devices contained there. The configuration is changed and the ESI-EEPROM is overwritten at the same time – therefore this process is possible only in the online state (ConfigMode). 6.2.7 EtherCAT subscriber configuration In the left-hand window of the TwinCAT 2 System Manager or the Solution Explorer of the TwinCAT 3...
  • Page 97 Commissioning „EtherCAT“ tab Fig. 129: „EtherCAT“ tab Type EtherCAT device type Product/Revision Product and revision number of the EtherCAT device Auto Inc Addr. Auto increment address of the EtherCAT device. The auto increment address can be used for addressing each EtherCAT device in the communication ring through its physical position.
  • Page 98 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 99 Commissioning Fig. 131: Configuring the process data Manual modification of the process data According to the ESI description, a PDO can be identified as “fixed” with the flag “F” in the PDO overview (Fig. “Configuring the process data”, J). The configuration of such PDOs Note cannot be changed, even if TwinCAT offers the associated dialog (“Edit”).

  • Page 100: Fig. 132 „Startup" Tab

    Commissioning Fig. 132: „Startup“ tab Column Description Transition Transition to which the request is sent. This can either be • the transition from pre-operational to safe-operational (PS), or • the transition from safe-operational to operational (SO). If the transition is enclosed in "<>" (e.g. <PS>), the mailbox request is fixed and cannot be modified or deleted by the user.

  • Page 101: Fig. 133 "Coe - Online" Tab

    Commissioning Fig. 133: “CoE – Online” tab Object list display Column Description Index Index and sub-index of the object Name Name of the object Flags 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.

  • Page 102: Fig. 134 Dialog "Advanced Settings

    Commissioning Update List The Update list button updates all objects in the displayed list Auto Update If this check box is selected, the content of the objects is updated automatically. Advanced The Advanced button opens the Advanced Settings dialog. Here you can specify which objects are displayed in the list.

  • Page 103: Fig. 135 „Online" Tab

    Commissioning „Online“ tab Fig. 135: „Online“ tab State Machine Init This button attempts to set the EtherCAT device to the Init state. Pre-Op This button attempts to set the EtherCAT device to the pre-operational state. This button attempts to set the EtherCAT device to the operational state.

  • Page 104: Fig. 136 "Dc" Tab (Distributed Clocks)

    • 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 6.2.7.1...
  • Page 105 Commissioning • If the output Sync Manager (outputs) is selected in the Sync Manager list, all RxPDOs are displayed. • If the input Sync Manager (inputs) is selected in the Sync Manager list, all TxPDOs are displayed. The selected entries are the PDOs involved in the process data transfer. In the tree diagram of the System Manager these PDOs are displayed as variables of the EtherCAT device.

  • Page 106: General Notes - Ethercat Slave Application

    Commissioning General Notes - EtherCAT Slave Application This summary briefly deals with a number of aspects of EtherCAT Slave operation under TwinCAT. More detailed information on this may be found in the corresponding sections of, for instance, the EtherCAT System Documentation. Diagnosis in real time: WorkingCounter, EtherCAT State and Status Generally speaking an EtherCAT Slave provides a variety of diagnostic information that can be used by the controlling task.

  • Page 107: Fig. 138 Basic Ethercat Slave Diagnosis In The Plc

    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 108 Commissioning Code Function Implementation Application/evaluation The EtherCAT Master's diagnostic infor- At least the DevState is to be evaluated for mation the most recent cycle in the PLC. updated acyclically (yellow) or provided The EtherCAT Master's diagnostic informa- acyclically (green). tion offers many more possibilities than are treated in the EtherCAT System Documenta- tion.

  • Page 109: Fig. 139 El3102, Coe Directory

    Commissioning Fig. 139: EL3102, CoE directory EtherCAT System Documentation The comprehensive description in the EtherCAT System Documentation (EtherCAT Basics --> CoE Interface) must be observed! Note A few brief extracts: • Whether changes in the online directory are saved locally in the slave depends on the device. EL terminals (except the EL66xx) are able to save in this way.

  • Page 110: Fig. 140 Example Of Commissioning Aid For A El3204

    Commissioning Fig. 140: Example of commissioning aid for a EL3204 This commissioning process simultaneously manages • CoE Parameter Directory • DC/FreeRun mode • the available process data records (PDO) Although the "Process Data", "DC", "Startup" and "CoE-Online" that used to be necessary for this are still displayed, it is recommended that, if the commissioning aid is used, the automatically generated settings are not changed by it.

  • Page 111: Fig. 141 Default Behaviour Of The System Manager

    Commissioning Standard setting The advanced settings of the EtherCAT Master are set as standard: • EtherCAT Master: OP • Slaves: OP This setting applies equally to all Slaves. Fig. 141: 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.

  • Page 112: Fig. 143 Plc Function Blocks

    Commissioning Manual Control There are particular reasons why it may be appropriate to control the states from the application/task/PLC. For instance: • for diagnostic reasons • to induce a controlled restart of axes • because a change in the times involved in starting is desirable In that case it is appropriate in the PLC application to use the PLC function blocks from the TcEtherCAT.lib, which is available as standard, and to work through the states in a controlled manner using, for instance, FB_EcSetMasterState.

  • Page 113: Fig. 144 Illegally Exceeding The E-Bus Current

    Commissioning Fig. 144: Illegally exceeding the E-Bus current From TwinCAT 2.11 and above, a warning message "E-Bus Power of Terminal..." is output in the logger window when such a configuration is activated: Fig. 145: 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...

  • Page 114: Basic Function Principles

    Commissioning Basic function principles Table of contents • Definitions [} 114] - Channel [} 114]   - Cyclic process data/PDO [} 114]   - Parameter data/CoE [} 114]   - Buffer [} 114]   - Event [} 115]   - Timestamp [} 115]   - MTSF [} 115]  ...
  • Page 115 Commissioning • For outputs: The controller loads switching orders into the buffer, depending on the configured MTSF. In each microcycle a check is performed to determine whether the highest entry in the buffer is to be executed. The behavior in the case of ‘outdated’ timestamps can be configured. If necessary the buffer can be emptied by the controller.

  • Page 116: Fig. 146 Microcycle 0Xf900:09 & Macrocycle 0Xf900:08 In The Coe

    Commissioning EL1258 macrocycle MTSF 1 MTSF 2 MTSF 5 MTSF 10 [µs, typical] 1 channel 2 channels 4 channels 8 channels EL1259 macrocycle MTSF 1 MTSF 2 MTSF 5 MTSF 10 [µs, typical] 1 in / 1 out channel 2 in / 2 out channels...

  • Page 117: Compatibility Mode In Relation To El1252/El2252

    EL1252/EL2252. This means that software interfaces that were created for these timestamp terminals can also be used for multi-timestamp terminals. To this end select the settings "Compatible X-Ch." in the EL1258/EL2258. The behavior is then as for the EL1252/ EL2252.

  • Page 118: Fig. 149 Setting Multi-Timestamping Via "Predefined Pdo

    Commissioning EL1259 Macrocycle time [µs, typical] Microcycle time [µs, typical] 1 Ch. In + 1 Ch. Out 2 Ch. In + 2 Ch. Out 4 Ch. In + 4 Ch. Out 8 Ch. In + 8 Ch. Out EL2258 Macrocycle time [µs, typical] Microcycle time [µs, typical] 1 Ch.

  • Page 119: Commissioning Inputs

    Commissioning • “Multi-timestamp PDOs” and “compatible PDOs” cannot be combined • The corresponding control/status must be active for each active input/output channel • The MTSF can be set freely from 1 to 10 for each channel • Only 1 multi-timestamp factor may be active per channel. It is therefore not permitted to activate PDO "MTO Outputs 5x Channel 1"...

  • Page 120: Fig. 152 Inputs And Outputs In The Project Tree

    Commissioning Fig. 152: Inputs and outputs in the project tree The representation in the System Manager depends on the number of configured channels and the respective multi-timestamp factor (MTSF). MTI inputs provide information on the events: - Status • NoOfInputEvents: Number of events provided in this process data cycle with timestamp. •...

  • Page 121: Fig. 153 Operating Mode Selection In Coe From 0X80N0

    Commissioning Bit 1: Input value after timestamp 2 etc. - InputEventTime x: List of 32-bit timestamps of the respective signal edge MTI outputs are used for monitoring: - Ctrl • InputBufferReset TRUE: The channel buffer is cleared. This can make sense, e.g. in the case of a reported InputBufferOverflow, if the application requires this.

  • Page 122: Commissioning Of A Mti Channel

    Asynchronous transfer MTSF ≥ 2x (expected maximum number of input-events per EtherCAT cycle) + 1 Example: At a cycle time of 1 ms, a maximum of 4 events/ms per channel are expected. All 8 channels of the EL1258 are to be used. - Synchronous transfer: MTSF ≥ 5 Select "Multi-Timestamping 8 Ch.

  • Page 123: Fig. 157 Different Mtsf

    Commissioning For example, the process data of an input channel are represented as follows for MTSF = 1x, 5x and 10x: Fig. 157: Different MTSF For each event there is a bit in the input array (right-justified) and a timestamp. These process data are placeholders that accept events if there are any to be transmitted. If fewer channels are required, predefined PDOs are also available for 4, 2 or 1 channel(s), with an MTSF of 1x, 2x, 5x and 10x respectively.

  • Page 124: Commissioning In Compatibility Mode

    5. Processing of events in the PLC The channel supplies 32-bit timestamp. The following function block can be used for scaling up to the convenient 64-bit format: Download (https://infosys.beckhoff.com/content/1033/el125x_el2258/Resources/zip/1885941003.zip) 6.5.3 Commissioning in compatibility mode The multi-timestamp terminals can also be operated in compatibility mode with regard to the EL1252. The...

  • Page 125: Commissioning Outputs

    Commissioning Fig. 160: Predefined PDOs for compatibility mode   - Via the CoE 0x80n0:0 TSI Settings (n = 8 ... F) the response for several events in a single cycle can be specified here. This is comparable to the EL1252. In this case MTSF =1. 0x80n0:0 TSI Set- Name Entry...

  • Page 126: Basic Principles

    Commissioning 6.6.1 Basic principles Each MTO channel (multi-timestamp output) has inputs and outputs in the cyclic process image, which have to be linked with the PLC/task. Fig. 161: Inputs and outputs in the project tree Version: 2.5 EL125x, EL2258...
  • Page 127 TRUE. This bit position was previously unused. Thus also newer EL1259/EL2258 terminals can be used in the application according to the Beckhoff IO compatibility rule if a predeces- sor revision (e.g. 0016) is used in the configuration. Conversely, older terminals with firmware <...

  • Page 128: Fig. 162 Operating Mode Selection In Coe From 0X80N1

    Commissioning Bit 0: Output value timestamp 1 Bit 1: Output value timestamp 2 etc. - Output event time x: List of 32-bit timestamps of the respective signal edge. Each channel has corresponding settings for selection of the operating mode in the CoE from 0x80n1: Fig. 162: Operating mode selection in CoE from 0x80n1 Version: 2.5 EL125x, EL2258...
  • Page 129 Commissioning 0x80n1:0 Name Entry Description MTO Set- tings Ch. n=0...7 80n1:01 Use as +24 V Switches the selected output in OP mode as 24 V power power supply supply 0x80n1:01 FALSE Input disabled as power supply 0x80n1:01 TRUE Input activated as power supply 80n1:02 Enable manual Manual setting of inputs (without timestamp) is enabled.

  • Page 130: Commissioning An Mto Channel

    Commissioning Fig. 163: EnableTimeCeck Mode 1-3 6.6.2 Commissioning an MTO channel 1. How do I test my actuator? How do I test my actuator? Via the regular process data the outputs cannot be controlled without a time specification. The following procedure can be used to test a connected actuator without time specification: - In the CoE directory 0x80n1:02 EnableManualOperation [} 126] set the bit for the respective channel.

  • Page 131: Fig. 165 Output In +24 V Continuous Mode

    Commissioning Fig. 165: Output in +24 V continuous mode 2. Setting the multi-timestamping factor (MTSF) To facilitate choosing an appropriate MTSF one should estimate how many switching orders per cycle are to be output. The multi-timestamping factor (MTSF) can then be selected. The factor indicates the maximum number of events that can be loaded into the buffer for each EtherCAT cycle.

  • Page 132: Commissioning In Compatibility Mode El2252

    Commissioning 6.6.3 Commissioning in compatibility mode EL2252 The multi-timestamp terminals can also be operated in compatibility mode with regard to the EL2252. The following settings are required: Procedure:   - The changeover should only be implemented via the predefined PDO: Fig. 167: Predefined PDOs for compatibility mode   - CoE 0x70n0:0 MTO outputs Ch.n (n=8...F) can be used for configuration, similar to the EL2252.

  • Page 133: Distributed Clocks Settings

    2.  displayed directly by the terminal as a 64-bit system time Functions for data types with 64-bit width A selection of functions for handling 64-bit numbers is available under Beckhoff TwinCAT in the TcUtilities.lib library. Longer execution times are required here than is the case with Note standard, 32-bit data types.

  • Page 134: Fig. 169 Extended Process Image Of The Ethercat Master

    Commissioning The process image of the EtherCAT master now looks as shown in Fig. Extended process image of the EtherCAT master: Fig. 169: Extended process image of the EtherCAT master SYSTIME The EtherCAT master value DcSysTime is to be used with care and should serve only as a coarse indication as to which time zone (order of magnitude: 1-2 task cycles) the Distrib- Note uted Clocks system is currently in.

  • Page 135: Fig. 170 Setting Systime

    The MultiTimestamp terminals can offer the local DC system time of the terminal directly as a process data: Fig. 170: Setting SysTime To this end, the "PDO DEV Input Device" has to be activated in the System Manager: • for EL1258: 0x1A28 • for EL1259: 0x1A38 • for EL2258: 0x1A10 EL125x, EL2258 Version: 2.5...

  • Page 136: Coe Object Description And Parameterization

    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 137 Commissioning 6.8.1.1.2 Configuration data Index 8pp0 MTI settings (for 00 ≤ pp ≤ 07; Ch. 1 to Ch. 8) Index (hex) Name Meaning Data type Flags Default 8pp0:0 MTI settings UINT8 0x14 (20 8pp0:01 Enable digital filter Activation of the filter to hide spikes. The filter length BOOLEAN 0x00 (0 should be entered in 8pp0:14 "DigitalFilterCount"...
  • Page 138 Commissioning Index 8pp0 TSI Settings (for 08 ≤ pp ≤ 0F; Ch. 1 to Ch. 8) Index (hex) Name Meaning Data type Flags Default 8pp0:0 TSI Settings UINT8 0x02 (2 8pp0:01 Pos Sample Mode During each PLC cycle only one rising edge may be BIT1 0x00 (0 detected at the terminal input.
  • Page 139 Commissioning Index 6pp0 TSI Inputs (for 08 ≤ pp ≤ 0F; Ch. 1 to Ch. 8) Index (hex) Name Meaning Data type Flags Default 6pp0:0 TSI Inputs UINT8 0x00 (0 6pp0:01 Input Current input status BOOLEAN 0x00 (0 6pp0:09 Status Bit0: Is set for one cycle if a rising edge was detected.
  • Page 140 Index (hex) Name Meaning Data type Flags Default 1008:0 Device name Device name of the EtherCAT slave STRING EL1258 Index 1009 Hardware version Index (hex) Name Meaning Data type Flags Default 1009:0 Hardware version Hardware version of the EtherCAT slave...
  • Page 141 Commissioning Index 1018 Identity Index (hex) Name Meaning Data type Flags Default 1018:0 Identity Information for identifying the slave UINT8 0x04 (4 1018:01 Vendor ID Vendor ID of the EtherCAT slave UINT32 0x00000002 1018:02 Product code Product code of the EtherCAT slave UINT32 0x04EA3052 (82456658...
  • Page 142 Commissioning Index 1603 MTI RxPDO-Map Outputs Ch.4 Index (hex) Name Meaning Data type Flags Default 1603:0 MTI RxPDO-Map Out- PDO Mapping RxPDO 4 UINT8 0x04 (4 puts Ch.4 1603:01 SubIndex 001 1. PDO Mapping entry (object 0x7030 (MTI outputs UINT32 0x7030:01, 1 Ch.4), entry 0x01 (Input buffer reset)) 1603:02...
  • Page 143 Commissioning Index 1A00 MTI TxPDO-Map Inputs 10x Ch.1 Index (hex) Name Meaning Data type Flags Default 1A00:0 MTI TxPDO-Map In- PDO Mapping TxPDO 1 UINT8 0x1C (28 puts 10x Ch.1 1A00:01 SubIndex 001 1. PDO Mapping entry (object 0x6001 (MTI inputs UINT32 0x6001:01, 8 Ch.1), entry 0x01 (No of input events))
  • Page 144 Commissioning Index 1A01 MTI TxPDO-Map Inputs 5x Ch.1 Index (hex) Name Meaning Data type Flags Default 1A01:0 MTI TxPDO-Map In- PDO Mapping TxPDO 2 UINT8 0x12 (18 puts 5x Ch.1 1A01:01 SubIndex 001 1. PDO Mapping entry (object 0x6001 (MTI inputs UINT32 0x6001:01, 8 Ch.1), entry 0x01 (No of input events))
  • Page 145 Commissioning Index 1A03 MTI TxPDO-Map Inputs 1x Ch.1 Index (hex) Name Meaning Data type Flags Default 1A03:0 MTI TxPDO-Map In- PDO Mapping TxPDO 4 UINT8 0x0A (10 puts 1x Ch.1 1A03:01 SubIndex 001 1. PDO Mapping entry (object 0x6001 (MTI inputs UINT32 0x6001:01, 8 Ch.1), entry 0x01 (No of input events))
  • Page 146 Commissioning Index 1A04 MTI TxPDO-Map Inputs 10x Ch.2 Index (hex) Name Meaning Data type Flags Default 1A04:0 MTI TxPDO-Map In- PDO Mapping TxPDO 5 UINT8 0x1C (28 puts 10x Ch.2 1A04:01 SubIndex 001 1. PDO Mapping entry (object 0x6011 (MTI inputs UINT32 0x6011:01, 8 Ch.2), entry 0x01 (No of input events))
  • Page 147 Commissioning Index 1A05 MTI TxPDO-Map Inputs 5x Ch.2 Index (hex) Name Meaning Data type Flags Default 1A05:0 MTI TxPDO-Map In- PDO Mapping TxPDO 6 UINT8 0x12 (18 puts 5x Ch.2 1A05:01 SubIndex 001 1. PDO Mapping entry (object 0x6011 (MTI inputs UINT32 0x6011:01, 8 Ch.2), entry 0x01 (No of input events))
  • Page 148 Commissioning Index 1A07 MTI TxPDO-Map Inputs 1x Ch.2 Index (hex) Name Meaning Data type Flags Default 1A07:0 MTI TxPDO-Map In- PDO Mapping TxPDO 8 UINT8 0x0A (10 puts 1x Ch.2 1A07:01 SubIndex 001 1. PDO Mapping entry (object 0x6011 (MTI inputs UINT32 0x6011:01, 8 Ch.2), entry 0x01 (No of input events))
  • Page 149 Commissioning Index 1A08 MTI TxPDO-Map Inputs 10x Ch.3 Index (hex) Name Meaning Data type Flags Default 1A08:0 MTI TxPDO-Map In- PDO Mapping TxPDO 9 UINT8 0x1C (28 puts 10x Ch.3 1A08:01 SubIndex 001 1. PDO Mapping entry (object 0x6021 (MTI inputs UINT32 0x6021:01, 8 Ch.3), entry 0x01 (No of input events))
  • Page 150 Commissioning Index 1A09 MTI TxPDO-Map Inputs 5x Ch.3 Index (hex) Name Meaning Data type Flags Default 1A09:0 MTI TxPDO-Map In- PDO Mapping TxPDO 10 UINT8 0x12 (18 puts 5x Ch.3 1A09:01 SubIndex 001 1. PDO Mapping entry (object 0x6021 (MTI inputs UINT32 0x6021:01, 8 Ch.3), entry 0x01 (No of input events))
  • Page 151 Commissioning Index 1A0B MTI TxPDO-Map Inputs 1x Ch.3 Index (hex) Name Meaning Data type Flags Default 1A0B:0 MTI TxPDO-Map In- PDO Mapping TxPDO 12 UINT8 0x0A (10 puts 1x Ch.3 1A0B:01 SubIndex 001 1. PDO Mapping entry (object 0x6021 (MTI inputs UINT32 0x6021:01, 8 Ch.3), entry 0x01 (No of input events))
  • Page 152 Commissioning Index 1A0C MTI TxPDO-Map Inputs 10x Ch.4 Index (hex) Name Meaning Data type Flags Default 1A0C:0 MTI TxPDO-Map In- PDO Mapping TxPDO 13 UINT8 0x1C (28 puts 10x Ch.4 1A0C:01 SubIndex 001 1. PDO Mapping entry (object 0x6031 (MTI inputs UINT32 0x6031:01, 8 Ch.4), entry 0x01 (No of input events))
  • Page 153 Commissioning Index 1A0D MTI TxPDO-Map Inputs 5x Ch.4 Index (hex) Name Meaning Data type Flags Default 1A0D:0 MTI TxPDO-Map In- PDO Mapping TxPDO 14 UINT8 0x12 (18 puts 5x Ch.4 1A0D:01 SubIndex 001 1. PDO Mapping entry (object 0x6031 (MTI inputs UINT32 0x6031:01, 8 Ch.4), entry 0x01 (No of input events))
  • Page 154 Commissioning Index 1A0F MTI TxPDO-Map Inputs 1x Ch.4 Index (hex) Name Meaning Data type Flags Default 1A0F:0 MTI TxPDO-Map In- PDO Mapping TxPDO 16 UINT8 0x0A (10 puts 1x Ch.4 1A0F:01 SubIndex 001 1. PDO Mapping entry (object 0x6031 (MTI inputs UINT32 0x6031:01, 8 Ch.4), entry 0x01 (No of input events))
  • Page 155 Commissioning Index 1A10 MTI TxPDO-Map Inputs 10x Ch.5 Index (hex) Name Meaning Data type Flags Default 1A10:0 MTI TxPDO-Map In- PDO Mapping TxPDO 17 UINT8 0x1C (28 puts 10x Ch.5 1A10:01 SubIndex 001 1. PDO Mapping entry (object 0x6041 (MTI inputs UINT32 0x6041:01, 8 Ch.5), entry 0x01 (No of input events))
  • Page 156 Commissioning Index 1A11 MTI TxPDO-Map Inputs 5x Ch.5 Index (hex) Name Meaning Data type Flags Default 1A11:0 MTI TxPDO-Map In- PDO Mapping TxPDO 18 UINT8 0x12 (18 puts 5x Ch.5 1A11:01 SubIndex 001 1. PDO Mapping entry (object 0x6041 (MTI inputs UINT32 0x6041:01, 8 Ch.5), entry 0x01 (No of input events))
  • Page 157 Commissioning Index 1A13 MTI TxPDO-Map Inputs 1x Ch.5 Index (hex) Name Meaning Data type Flags Default 1A13:0 MTI TxPDO-Map In- PDO Mapping TxPDO 20 UINT8 0x0A (10 puts 1x Ch.5 1A13:01 SubIndex 001 1. PDO Mapping entry (object 0x6041 (MTI inputs UINT32 0x6041:01, 8 Ch.5), entry 0x01 (No of input events))
  • Page 158 Commissioning Index 1A14 MTI TxPDO-Map Inputs 10x Ch.6 Index (hex) Name Meaning Data type Flags Default 1A14:0 MTI TxPDO-Map In- PDO Mapping TxPDO 21 UINT8 0x1C (28 puts 10x Ch.6 1A14:01 SubIndex 001 1. PDO Mapping entry (object 0x6051 (MTI inputs UINT32 0x6051:01, 8 Ch.6), entry 0x01 (No of input events))
  • Page 159 Commissioning Index 1A15 MTI TxPDO-Map Inputs 5x Ch.6 Index (hex) Name Meaning Data type Flags Default 1A15:0 MTI TxPDO-Map In- PDO Mapping TxPDO 22 UINT8 0x12 (18 puts 5x Ch.6 1A15:01 SubIndex 001 1. PDO Mapping entry (object 0x6051 (MTI inputs UINT32 0x6051:01, 8 Ch.6), entry 0x01 (No of input events))
  • Page 160 Commissioning Index 1A17 MTI TxPDO-Map Inputs 1x Ch.6 Index (hex) Name Meaning Data type Flags Default 1A17:0 MTI TxPDO-Map In- PDO Mapping TxPDO 24 UINT8 0x0A (10 puts 1x Ch.6 1A17:01 SubIndex 001 1. PDO Mapping entry (object 0x6051 (MTI inputs UINT32 0x6051:01, 8 Ch.6), entry 0x01 (No of input events))
  • Page 161 Commissioning Index 1A18 MTI TxPDO-Map Inputs 10x Ch.7 Index (hex) Name Meaning Data type Flags Default 1A18:0 MTI TxPDO-Map In- PDO Mapping TxPDO 25 UINT8 0x1C (28 puts 10x Ch.7 1A18:01 SubIndex 001 1. PDO Mapping entry (object 0x6061 (MTI inputs UINT32 0x6061:01, 8 Ch.7), entry 0x01 (No of input events))
  • Page 162 Commissioning Index 1A19 MTI TxPDO-Map Inputs 5x Ch.7 Index (hex) Name Meaning Data type Flags Default 1A19:0 MTI TxPDO-Map In- PDO Mapping TxPDO 26 UINT8 0x12 (18 puts 5x Ch.7 1A19:01 SubIndex 001 1. PDO Mapping entry (object 0x6061 (MTI inputs UINT32 0x6061:01, 8 Ch.7), entry 0x01 (No of input events))
  • Page 163 Commissioning Index 1A1B MTI TxPDO-Map Inputs 1x Ch.7 Index (hex) Name Meaning Data type Flags Default 1A1B:0 MTI TxPDO-Map In- PDO Mapping TxPDO 28 UINT8 0x0A (10 puts 1x Ch.7 1A1B:01 SubIndex 001 1. PDO Mapping entry (object 0x6061 (MTI inputs UINT32 0x6061:01, 8 Ch.7), entry 0x01 (No of input events))
  • Page 164 Commissioning Index 1A1C MTI TxPDO-Map Inputs 10x Ch.8 Index (hex) Name Meaning Data type Flags Default 1A1C:0 MTI TxPDO-Map In- PDO Mapping TxPDO 29 UINT8 0x1C (28 puts 10x Ch.8 1A1C:01 SubIndex 001 1. PDO Mapping entry (object 0x6071 (MTI inputs UINT32 0x6071:01, 8 Ch.8), entry 0x01 (No of input events))
  • Page 165 Commissioning Index 1A1D MTI TxPDO-Map Inputs 5x Ch.8 Index (hex) Name Meaning Data type Flags Default 1A1D:0 MTI TxPDO-Map In- PDO Mapping TxPDO 30 UINT8 0x12 (18 puts 5x Ch.8 1A1D:01 SubIndex 001 1. PDO Mapping entry (object 0x6071 (MTI inputs UINT32 0x6071:01, 8 Ch.8), entry 0x01 (No of input events))
  • Page 166 Commissioning Index 1A1F MTI TxPDO-Map Inputs 1x Ch.8 Index (hex) Name Meaning Data type Flags Default 1A1F:0 MTI TxPDO-Map In- PDO Mapping TxPDO 32 UINT8 0x0A (10 puts 1x Ch.8 1A1F:01 SubIndex 001 1. PDO Mapping entry (object 0x6071 (MTI inputs UINT32 0x6071:01, 8 Ch.8), entry 0x01 (No of input events))
  • Page 167 Commissioning Index 1A22 TSI TxPDO-Map Inputs Ch.3 Index (hex) Name Meaning Data type Flags Default 1A22:0 TSI TxPDO-Map In- PDO Mapping TxPDO 35 UINT8 0x06 (6 puts Ch.3 1A22:01 SubIndex 001 1. PDO Mapping entry (object 0x60A0 (TSI Inputs UINT32 0x60A0:01, 1 Ch.3), entry 0x01 (Input)) 1A22:02...
  • Page 168 Commissioning Index 1A26 TSI TxPDO-Map Inputs Ch.7 Index (hex) Name Meaning Data type Flags Default 1A26:0 TSI TxPDO-Map In- PDO Mapping TxPDO 39 UINT8 0x06 (6 puts Ch.7 1A26:01 SubIndex 001 1. PDO Mapping entry (object 0x60E0 (TSI Inputs UINT32 0x60E0:01, 1 Ch.7), entry 0x01 (Input)) 1A26:02...
  • Page 169 Commissioning Index 1C12 RxPDO assign Index (hex) Name Meaning Data type Flags Default 1C12:0 RxPDO assign PDO Assign Outputs UINT8 0x08 (8 1C12:01 SubIndex 001 1. allocated RxPDO (contains the index of the associ- UINT16 0x1600 ated RxPDO mapping object) (5632 1C12:02 SubIndex 002...
  • Page 170 Commissioning Index 1C13 TxPDO assign Index (hex) Name Meaning Data type Flags Default 1C13:16 SubIndex 022 22. allocated TxPDO (contains the index of the associ- UINT16 0x0000 (0 ated TxPDO mapping object) 1C13:17 SubIndex 023 23. allocated TxPDO (contains the index of the associ- UINT16 0x0000 (0 ated TxPDO mapping object)
  • Page 171 Commissioning Index 1C32 SM output parameter Index (hex) Name Meaning Data type Flags Default 1C32:0 SM output parameter Synchronization parameters for the outputs UINT8 0x20 (32 1C32:01 Sync mode Current synchronization mode: UINT16 0x0000 (0 • 0: Free Run • 1: Synchron with SM 2 Event •...
  • Page 172 Commissioning Index 1C33 SM input parameter Index (hex) Name Meaning Data type Flags Default 1C33:0 SM input parameter Synchronization parameters for the inputs UINT8 0x20 (32 1C33:01 Sync mode Current synchronization mode: UINT16 0x0000 (0 • 0: Free Run • 1: Synchronous with SM 3 event (no outputs available) •...

  • Page 173: El1259

    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 174 Commissioning 6.8.2.1.1 Restore object Index 1011 Restore default parameters Index (hex) Name Meaning Data type Flags Default 1011:0 Restore default param- Restore default parameters UINT8 0x01 (1 eters 1011:01 SubIndex 001 If this object is set to “0x64616F6C” in the set value di- UINT32 0x00000000 alog, all backup objects are reset to their delivery state.
  • Page 175 Commissioning Index 8pp0 MTI settings (for 08 ≤ pp ≤ 0F; Ch. 1 to Ch. 8) Index (hex) Name Meaning Data type Flags Default 8pp0:0 MTI settings UINT8 0x14 (20 8pp0:01 Enable digital filter Activation of the filter to hide spikes. The filter length BOOLEAN 0x00 (0 should be entered in 8pp0:14 "DigitalFilterCount"...
  • Page 176 Commissioning Index 8pp0 TSI Settings (for 18 ≤ pp ≤ 1F; Ch. 1 to Ch. 8) Index (hex) Name Meaning Data type Flags Default 8pp0:0 TSI Settings UINT8 0x02 (2 8pp0:01 Pos Sample Mode During each PLC cycle only one rising edge may be BIT1 0x00 (0 detected at the terminal input.
  • Page 177 Commissioning Index 6pp1 MTI inputs (for 08 ≤ pp ≤ 0F; Ch. 1 to Ch. 8) Index (hex) Name Meaning Data type Flags Default 6pp1:0 MTI inputs UINT8 0x00 (0 6pp1:01 No of input events Signals the number of new timestamps available in the UINT8 0x00 (0 process image.
  • Page 178 Commissioning 6.8.2.1.4 Output data Index 7pp1 MTO outputs (for 00 ≤ pp ≤ 07; Ch. 1 to Ch. 8) Index (hex) Name Meaning Data type Flags Default 7pp1:0 MTO outputs UINT8 0x00 (0 7pp1:01 Output buffer reset Removes all elements from the buffer BOOLEAN 0x00 (0 Clearing can be achieved through a rising edge or con-...
  • Page 179 Commissioning 6.8.2.1.5 Diagnostic data Index App0 MTO Diag data (for 00 ≤ pp ≤ 07; Ch. 1 to Ch. 8) Index (hex) Name Meaning Data type Flags Default App0:0 MTO Diag data UINT8 0x00 (0 App0:01 Short circuit The channel signals a short circuit BOOLEAN 0x00 (0 App0:02...
  • Page 180 Commissioning 6.8.2.1.7 Command object Index FB00 Command The command object was implemented for future use. Currently no commands are supported. Index (hex) Name Meaning Data type Flags Default FB00:0 Command UINT8 0x00 (0 FB00:01 Request Commands can be sent to the terminal via the request OCTET- object.
  • Page 181 Commissioning Index 1600 MTO RxPDO-Map Outputs 10x Ch.1 Index (hex) Name Meaning Data type Flags Default 1600:0 MTO RxPDO-Map PDO Mapping RxPDO 1 UINT8 0x1D (29 Outputs 10x Ch.1 1600:01 SubIndex 001 1. PDO Mapping entry (object 0x7001 (MTO outputs UINT32 0x7001:01, 1 Ch.1), entry 0x01 (Output buffer reset))
  • Page 182 Commissioning Index 1601 MTO RxPDO-Map Outputs 5x Ch.1 Index (hex) Name Meaning Data type Flags Default 1601:0 MTO RxPDO-Map PDO Mapping RxPDO 2 UINT8 0x13 (19 Outputs 5x Ch.1 1601:01 SubIndex 001 1. PDO Mapping entry (object 0x7001 (MTO outputs UINT32 0x7001:01, 1 Ch.1), entry 0x01 (Output buffer reset))
  • Page 183 Commissioning Index 1602 MTO RxPDO-Map Outputs 2x Ch.1 Index (hex) Name Meaning Data type Flags Default 1602:0 MTO RxPDO-Map PDO Mapping RxPDO 3 UINT8 0x0D (13 Outputs 2x Ch.1 1602:01 SubIndex 001 1. PDO Mapping entry (object 0x7001 (MTO outputs UINT32 0x7001:01, 1 Ch.1), entry 0x01 (Output buffer reset))
  • Page 184 Commissioning Index 1604 MTO RxPDO-Map Outputs 10x Ch.2 Index (hex) Name Meaning Data type Flags Default 1604:0 MTO RxPDO-Map PDO Mapping RxPDO 5 UINT8 0x1D (29 Outputs 10x Ch.2 1604:01 SubIndex 001 1. PDO Mapping entry (object 0x7011 (MTO outputs UINT32 0x7011:01, 1 Ch.2), entry 0x01 (Output buffer reset))
  • Page 185 Commissioning Index 1605 MTO RxPDO-Map Outputs 5x Ch.2 Index (hex) Name Meaning Data type Flags Default 1605:0 MTO RxPDO-Map PDO Mapping RxPDO 6 UINT8 0x13 (19 Outputs 5x Ch.2 1605:01 SubIndex 001 1. PDO Mapping entry (object 0x7011 (MTO outputs UINT32 0x7011:01, 1 Ch.2), entry 0x01 (Output buffer reset))
  • Page 186 Commissioning Index 1606 MTO RxPDO-Map Outputs 2x Ch.2 Index (hex) Name Meaning Data type Flags Default 1606:0 MTO RxPDO-Map PDO Mapping RxPDO 7 UINT8 0x0D (13 Outputs 2x Ch.2 1606:01 SubIndex 001 1. PDO Mapping entry (object 0x7011 (MTO outputs UINT32 0x7011:01, 1 Ch.2), entry 0x01 (Output buffer reset))
  • Page 187 Commissioning Index 1608 MTO RxPDO-Map Outputs 10x Ch.3 Index (hex) Name Meaning Data type Flags Default 1608:0 MTO RxPDO-Map PDO Mapping RxPDO 9 UINT8 0x1D (29 Outputs 10x Ch.3 1608:01 SubIndex 001 1. PDO Mapping entry (object 0x7021 (MTO outputs UINT32 0x7021:01, 1 Ch.3), entry 0x01 (Output buffer reset))
  • Page 188 Commissioning Index 1609 MTO RxPDO-Map Outputs 5x Ch.3 Index (hex) Name Meaning Data type Flags Default 1609:0 MTO RxPDO-Map PDO Mapping RxPDO 10 UINT8 0x13 (19 Outputs 5x Ch.3 1609:01 SubIndex 001 1. PDO Mapping entry (object 0x7021 (MTO outputs UINT32 0x7021:01, 1 Ch.3), entry 0x01 (Output buffer reset))
  • Page 189 Commissioning Index 160A MTO RxPDO-Map Outputs 2x Ch.3 Index (hex) Name Meaning Data type Flags Default 160A:0 MTO RxPDO-Map PDO Mapping RxPDO 11 UINT8 0x0D (13 Outputs 2x Ch.3 160A:01 SubIndex 001 1. PDO Mapping entry (object 0x7021 (MTO outputs UINT32 0x7021:01, 1 Ch.3), entry 0x01 (Output buffer reset))
  • Page 190 Commissioning Index 160C MTO RxPDO-Map Outputs 10x Ch.4 Index (hex) Name Meaning Data type Flags Default 160C:0 MTO RxPDO-Map PDO Mapping RxPDO 13 UINT8 0x1D (29 Outputs 10x Ch.4 160C:01 SubIndex 001 1. PDO Mapping entry (object 0x7031 (MTO outputs UINT32 0x7031:01, 1 Ch.4), entry 0x01 (Output buffer reset))
  • Page 191 Commissioning Index 160D MTO RxPDO-Map Outputs 5x Ch.4 Index (hex) Name Meaning Data type Flags Default 160D:0 MTO RxPDO-Map PDO Mapping RxPDO 14 UINT8 0x13 (19 Outputs 5x Ch.4 160D:01 SubIndex 001 1. PDO Mapping entry (object 0x7031 (MTO outputs UINT32 0x7031:01, 1 Ch.4), entry 0x01 (Output buffer reset))
  • Page 192 Commissioning Index 160E MTO RxPDO-Map Outputs 2x Ch.4 Index (hex) Name Meaning Data type Flags Default 160E:0 MTO RxPDO-Map PDO Mapping RxPDO 15 UINT8 0x0D (13 Outputs 2x Ch.4 160E:01 SubIndex 001 1. PDO Mapping entry (object 0x7031 (MTO outputs UINT32 0x7031:01, 1 Ch.4), entry 0x01 (Output buffer reset))
  • Page 193 Commissioning Index 1610 MTO RxPDO-Map Outputs 10x Ch.5 Index (hex) Name Meaning Data type Flags Default 1610:0 MTO RxPDO-Map PDO Mapping RxPDO 17 UINT8 0x1D (29 Outputs 10x Ch.5 1610:01 SubIndex 001 1. PDO Mapping entry (object 0x7041 (MTO outputs UINT32 0x7041:01, 1 Ch.5), entry 0x01 (Output buffer reset))
  • Page 194 Commissioning Index 1611 MTO RxPDO-Map Outputs 5x Ch.5 Index (hex) Name Meaning Data type Flags Default 1611:0 MTO RxPDO-Map PDO Mapping RxPDO 18 UINT8 0x13 (19 Outputs 5x Ch.5 1611:01 SubIndex 001 1. PDO Mapping entry (object 0x7041 (MTO outputs UINT32 0x7041:01, 1 Ch.5), entry 0x01 (Output buffer reset))
  • Page 195 Commissioning Index 1612 MTO RxPDO-Map Outputs 2x Ch.5 Index (hex) Name Meaning Data type Flags Default 1612:0 MTO RxPDO-Map PDO Mapping RxPDO 19 UINT8 0x0D (13 Outputs 2x Ch.5 1612:01 SubIndex 001 1. PDO Mapping entry (object 0x7041 (MTO outputs UINT32 0x7041:01, 1 Ch.5), entry 0x01 (Output buffer reset))
  • Page 196 Commissioning Index 1614 MTO RxPDO-Map Outputs 10x Ch.6 Index (hex) Name Meaning Data type Flags Default 1614:0 MTO RxPDO-Map PDO Mapping RxPDO 21 UINT8 0x1D (29 Outputs 10x Ch.6 1614:01 SubIndex 001 1. PDO Mapping entry (object 0x7051 (MTO outputs UINT32 0x7051:01, 1 Ch.6), entry 0x01 (Output buffer reset))
  • Page 197 Commissioning Index 1615 MTO RxPDO-Map Outputs 5x Ch.6 Index (hex) Name Meaning Data type Flags Default 1615:0 MTO RxPDO-Map PDO Mapping RxPDO 22 UINT8 0x13 (19 Outputs 5x Ch.6 1615:01 SubIndex 001 1. PDO Mapping entry (object 0x7051 (MTO outputs UINT32 0x7051:01, 1 Ch.6), entry 0x01 (Output buffer reset))
  • Page 198 Commissioning Index 1616 MTO RxPDO-Map Outputs 2x Ch.6 Index (hex) Name Meaning Data type Flags Default 1616:0 MTO RxPDO-Map PDO Mapping RxPDO 23 UINT8 0x0D (13 Outputs 2x Ch.6 1616:01 SubIndex 001 1. PDO Mapping entry (object 0x7051 (MTO outputs UINT32 0x7051:01, 1 Ch.6), entry 0x01 (Output buffer reset))
  • Page 199 Commissioning Index 1618 MTO RxPDO-Map Outputs 10x Ch.7 Index (hex) Name Meaning Data type Flags Default 1618:0 MTO RxPDO-Map PDO Mapping RxPDO 25 UINT8 0x1D (29 Outputs 10x Ch.7 1618:01 SubIndex 001 1. PDO Mapping entry (object 0x7061 (MTO outputs UINT32 0x7061:01, 1 Ch.7), entry 0x01 (Output buffer reset))
  • Page 200 Commissioning Index 1619 MTO RxPDO-Map Outputs 5x Ch.7 Index (hex) Name Meaning Data type Flags Default 1619:0 MTO RxPDO-Map PDO Mapping RxPDO 26 UINT8 0x13 (19 Outputs 5x Ch.7 1619:01 SubIndex 001 1. PDO Mapping entry (object 0x7061 (MTO outputs UINT32 0x7061:01, 1 Ch.7), entry 0x01 (Output buffer reset))
  • Page 201 Commissioning Index 161A MTO RxPDO-Map Outputs 2x Ch.7 Index (hex) Name Meaning Data type Flags Default 161A:0 MTO RxPDO-Map PDO Mapping RxPDO 27 UINT8 0x0D (13 Outputs 2x Ch.7 161A:01 SubIndex 001 1. PDO Mapping entry (object 0x7061 (MTO outputs UINT32 0x7061:01, 1 Ch.7), entry 0x01 (Output buffer reset))
  • Page 202 Commissioning Index 161C MTO RxPDO-Map Outputs 10x Ch.8 Index (hex) Name Meaning Data type Flags Default 161C:0 MTO RxPDO-Map PDO Mapping RxPDO 29 UINT8 0x1D (29 Outputs 10x Ch.8 161C:01 SubIndex 001 1. PDO Mapping entry (object 0x7071 (MTO outputs UINT32 0x7071:01, 1 Ch.8), entry 0x01 (Output buffer reset))
  • Page 203 Commissioning Index 161D MTO RxPDO-Map Outputs 5x Ch.8 Index (hex) Name Meaning Data type Flags Default 161D:0 MTO RxPDO-Map PDO Mapping RxPDO 30 UINT8 0x13 (19 Outputs 5x Ch.8 161D:01 SubIndex 001 1. PDO Mapping entry (object 0x7071 (MTO outputs UINT32 0x7071:01, 1 Ch.8), entry 0x01 (Output buffer reset))
  • Page 204 Commissioning Index 161E MTO RxPDO-Map Outputs 2x Ch.8 Index (hex) Name Meaning Data type Flags Default 161E:0 MTO RxPDO-Map PDO Mapping RxPDO 31 UINT8 0x0D (13 Outputs 2x Ch.8 161E:01 SubIndex 001 1. PDO Mapping entry (object 0x7071 (MTO outputs UINT32 0x7071:01, 1 Ch.8), entry 0x01 (Output buffer reset))
  • Page 205 Commissioning Index 1621 MTI RxPDO-Map Outputs Ch.2 Index (hex) Name Meaning Data type Flags Default 1621:0 MTI RxPDO-Map Out- PDO Mapping RxPDO 34 UINT8 0x04 (4 puts Ch.2 1621:01 SubIndex 001 1. PDO Mapping entry (object 0x7090 (MTI outputs UINT32 0x7090:01, 1 Ch.2), entry 0x01 (Input buffer reset)) 1621:02...
  • Page 206 Commissioning Index 1626 MTI RxPDO-Map Outputs Ch.7 Index (hex) Name Meaning Data type Flags Default 1626:0 MTI RxPDO-Map Out- PDO Mapping RxPDO 39 UINT8 0x04 (4 puts Ch.7 1626:01 SubIndex 001 1. PDO Mapping entry (object 0x70E0 (MTI outputs UINT32 0x70E0:01, 1 Ch.7), entry 0x01 (Input buffer reset)) 1626:02...
  • Page 207 Commissioning Index 162B TSO RxPDO-Map Ch.4 Index (hex) Name Meaning Data type Flags Default 162B:0 TSO RxPDO-Map PDO Mapping RxPDO 44 UINT8 0x05 (5 Ch.4 162B:01 SubIndex 001 1. PDO Mapping entry (object 0x7130 (TSO Outputs UINT32 0x7130:01, 1 Ch.4), entry 0x01 (Output)) 162B:02 SubIndex 002 2.
  • Page 208 Commissioning Index 162F TSO RxPDO-Map Ch.8 Index (hex) Name Meaning Data type Flags Default 162F:0 TSO RxPDO-Map PDO Mapping RxPDO 48 UINT8 0x05 (5 Ch.8 162F:01 SubIndex 001 1. PDO Mapping entry (object 0x7170 (TSO Outputs UINT32 0x7170:01, 1 Ch.8), entry 0x01 (Output)) 162F:02 SubIndex 002 2.
  • Page 209 Commissioning Index 1A02 MTO TxPDO-Map Inputs Ch.3 Index (hex) Name Meaning Data type Flags Default 1A02:0 MTO TxPDO-Map In- PDO Mapping TxPDO 3 UINT8 0x07 (7 puts Ch.3 1A02:01 SubIndex 001 1. PDO Mapping entry (object 0x6020 (MTO inputs UINT32 0x6020:01, 1 Ch.3), entry 0x01 (Output short circuit)) 1A02:02...
  • Page 210 Commissioning Index 1A05 MTO TxPDO-Map Inputs Ch.6 Index (hex) Name Meaning Data type Flags Default 1A05:0 MTO TxPDO-Map In- PDO Mapping TxPDO 6 UINT8 0x07 (7 puts Ch.6 1A05:01 SubIndex 001 1. PDO Mapping entry (object 0x6050 (MTO inputs UINT32 0x6050:01, 1 Ch.6), entry 0x01 (Output short circuit)) 1A05:02...
  • Page 211 Commissioning Index 1A08 MTI TxPDO-Map Inputs 10x Ch.1 Index (hex) Name Meaning Data type Flags Default 1A08:0 MTI TxPDO-Map In- PDO Mapping TxPDO 9 UINT8 0x1C (28 puts 10x Ch.1 1A08:01 SubIndex 001 1. PDO Mapping entry (object 0x6081 (MTI inputs UINT32 0x6081:01, 8 Ch.1), entry 0x01 (No of input events))
  • Page 212 Commissioning Index 1A09 MTI TxPDO-Map Inputs 5x Ch.1 Index (hex) Name Meaning Data type Flags Default 1A09:0 MTI TxPDO-Map In- PDO Mapping TxPDO 10 UINT8 0x12 (18 puts 5x Ch.1 1A09:01 SubIndex 001 1. PDO Mapping entry (object 0x6081 (MTI inputs UINT32 0x6081:01, 8 Ch.1), entry 0x01 (No of input events))
  • Page 213 Commissioning Index 1A0B MTI TxPDO-Map Inputs 1x Ch.1 Index (hex) Name Meaning Data type Flags Default 1A0B:0 MTI TxPDO-Map In- PDO Mapping TxPDO 12 UINT8 0x0A (10 puts 1x Ch.1 1A0B:01 SubIndex 001 1. PDO Mapping entry (object 0x6081 (MTI inputs UINT32 0x6081:01, 8 Ch.1), entry 0x01 (No of input events))
  • Page 214 Commissioning Index 1A0C MTI TxPDO-Map Inputs 10x Ch.2 Index (hex) Name Meaning Data type Flags Default 1A0C:0 MTI TxPDO-Map In- PDO Mapping TxPDO 13 UINT8 0x1C (28 puts 10x Ch.2 1A0C:01 SubIndex 001 1. PDO Mapping entry (object 0x6091 (MTI inputs UINT32 0x6091:01, 8 Ch.2), entry 0x01 (No of input events))
  • Page 215 Commissioning Index 1A0D MTI TxPDO-Map Inputs 5x Ch.2 Index (hex) Name Meaning Data type Flags Default 1A0D:0 MTI TxPDO-Map In- PDO Mapping TxPDO 14 UINT8 0x12 (18 puts 5x Ch.2 1A0D:01 SubIndex 001 1. PDO Mapping entry (object 0x6091 (MTI inputs UINT32 0x6091:01, 8 Ch.2), entry 0x01 (No of input events))
  • Page 216 Commissioning Index 1A0F MTI TxPDO-Map Inputs 1x Ch.2 Index (hex) Name Meaning Data type Flags Default 1A0F:0 MTI TxPDO-Map In- PDO Mapping TxPDO 16 UINT8 0x0A (10 puts 1x Ch.2 1A0F:01 SubIndex 001 1. PDO Mapping entry (object 0x6091 (MTI inputs UINT32 0x6091:01, 8 Ch.2), entry 0x01 (No of input events))
  • Page 217 Commissioning Index 1A10 MTI TxPDO-Map Inputs 10x Ch.3 Index (hex) Name Meaning Data type Flags Default 1A10:0 MTI TxPDO-Map In- PDO Mapping TxPDO 17 UINT8 0x1C (28 puts 10x Ch.3 1A10:01 SubIndex 001 1. PDO Mapping entry (object 0x60A1 (MTI inputs UINT32 0x60A1:01, 8 Ch.3), entry 0x01 (No of input events))
  • Page 218 Commissioning Index 1A11 MTI TxPDO-Map Inputs 5x Ch.3 Index (hex) Name Meaning Data type Flags Default 1A11:0 MTI TxPDO-Map In- PDO Mapping TxPDO 18 UINT8 0x12 (18 puts 5x Ch.3 1A11:01 SubIndex 001 1. PDO Mapping entry (object 0x60A1 (MTI inputs UINT32 0x60A1:01, 8 Ch.3), entry 0x01 (No of input events))
  • Page 219 Commissioning Index 1A13 MTI TxPDO-Map Inputs 1x Ch.3 Index (hex) Name Meaning Data type Flags Default 1A13:0 MTI TxPDO-Map In- PDO Mapping TxPDO 20 UINT8 0x0A (10 puts 1x Ch.3 1A13:01 SubIndex 001 1. PDO Mapping entry (object 0x60A1 (MTI inputs UINT32 0x60A1:01, 8 Ch.3), entry 0x01 (No of input events))
  • Page 220 Commissioning Index 1A14 MTI TxPDO-Map Inputs 10x Ch.4 Index (hex) Name Meaning Data type Flags Default 1A14:0 MTI TxPDO-Map In- PDO Mapping TxPDO 21 UINT8 0x1C (28 puts 10x Ch.4 1A14:01 SubIndex 001 1. PDO Mapping entry (object 0x60B1 (MTI inputs UINT32 0x60B1:01, 8 Ch.4), entry 0x01 (No of input events))
  • Page 221 Commissioning Index 1A15 MTI TxPDO-Map Inputs 5x Ch.4 Index (hex) Name Meaning Data type Flags Default 1A15:0 MTI TxPDO-Map In- PDO Mapping TxPDO 22 UINT8 0x12 (18 puts 5x Ch.4 1A15:01 SubIndex 001 1. PDO Mapping entry (object 0x60B1 (MTI inputs UINT32 0x60B1:01, 8 Ch.4), entry 0x01 (No of input events))
  • Page 222 Commissioning Index 1A17 MTI TxPDO-Map Inputs 1x Ch.4 Index (hex) Name Meaning Data type Flags Default 1A17:0 MTI TxPDO-Map In- PDO Mapping TxPDO 24 UINT8 0x0A (10 puts 1x Ch.4 1A17:01 SubIndex 001 1. PDO Mapping entry (object 0x60B1 (MTI inputs UINT32 0x60B1:01, 8 Ch.4), entry 0x01 (No of input events))
  • Page 223 Commissioning Index 1A18 MTI TxPDO-Map Inputs 10x Ch.5 Index (hex) Name Meaning Data type Flags Default 1A18:0 MTI TxPDO-Map In- PDO Mapping TxPDO 25 UINT8 0x1C (28 puts 10x Ch.5 1A18:01 SubIndex 001 1. PDO Mapping entry (object 0x60C1 (MTI inputs UINT32 0x60C1:01, 8 Ch.5), entry 0x01 (No of input events))
  • Page 224 Commissioning Index 1A19 MTI TxPDO-Map Inputs 5x Ch.5 Index (hex) Name Meaning Data type Flags Default 1A19:0 MTI TxPDO-Map In- PDO Mapping TxPDO 26 UINT8 0x12 (18 puts 5x Ch.5 1A19:01 SubIndex 001 1. PDO Mapping entry (object 0x60C1 (MTI inputs UINT32 0x60C1:01, 8 Ch.5), entry 0x01 (No of input events))
  • Page 225 Commissioning Index 1A1B MTI TxPDO-Map Inputs 1x Ch.5 Index (hex) Name Meaning Data type Flags Default 1A1B:0 MTI TxPDO-Map In- PDO Mapping TxPDO 28 UINT8 0x0A (10 puts 1x Ch.5 1A1B:01 SubIndex 001 1. PDO Mapping entry (object 0x60C1 (MTI inputs UINT32 0x60C1:01, 8 Ch.5), entry 0x01 (No of input events))
  • Page 226 Commissioning Index 1A1C MTI TxPDO-Map Inputs 10x Ch.6 Index (hex) Name Meaning Data type Flags Default 1A1C:0 MTI TxPDO-Map In- PDO Mapping TxPDO 29 UINT8 0x1C (28 puts 10x Ch.6 1A1C:01 SubIndex 001 1. PDO Mapping entry (object 0x60D1 (MTI inputs UINT32 0x60D1:01, 8 Ch.6), entry 0x01 (No of input events))
  • Page 227 Commissioning Index 1A1D MTI TxPDO-Map Inputs 5x Ch.6 Index (hex) Name Meaning Data type Flags Default 1A1D:0 MTI TxPDO-Map In- PDO Mapping TxPDO 30 UINT8 0x12 (18 puts 5x Ch.6 1A1D:01 SubIndex 001 1. PDO Mapping entry (object 0x60D1 (MTI inputs UINT32 0x60D1:01, 8 Ch.6), entry 0x01 (No of input events))
  • Page 228 Commissioning Index 1A1F MTI TxPDO-Map Inputs 1x Ch.6 Index (hex) Name Meaning Data type Flags Default 1A1F:0 MTI TxPDO-Map In- PDO Mapping TxPDO 32 UINT8 0x0A (10 puts 1x Ch.6 1A1F:01 SubIndex 001 1. PDO Mapping entry (object 0x60D1 (MTI inputs UINT32 0x60D1:01, 8 Ch.6), entry 0x01 (No of input events))
  • Page 229 Commissioning Index 1A20 MTI TxPDO-Map Inputs 10x Ch.7 Index (hex) Name Meaning Data type Flags Default 1A20:0 MTI TxPDO-Map In- PDO Mapping TxPDO 33 UINT8 0x1C (28 puts 10x Ch.7 1A20:01 SubIndex 001 1. PDO Mapping entry (object 0x60E1 (MTI inputs UINT32 0x60E1:01, 8 Ch.7), entry 0x01 (No of input events))
  • Page 230 Commissioning Index 1A21 MTI TxPDO-Map Inputs 5x Ch.7 Index (hex) Name Meaning Data type Flags Default 1A21:0 MTI TxPDO-Map In- PDO Mapping TxPDO 34 UINT8 0x12 (18 puts 5x Ch.7 1A21:01 SubIndex 001 1. PDO Mapping entry (object 0x60E1 (MTI inputs UINT32 0x60E1:01, 8 Ch.7), entry 0x01 (No of input events))
  • Page 231 Commissioning Index 1A23 MTI TxPDO-Map Inputs 1x Ch.7 Index (hex) Name Meaning Data type Flags Default 1A23:0 MTI TxPDO-Map In- PDO Mapping TxPDO 36 UINT8 0x0A (10 puts 1x Ch.7 1A23:01 SubIndex 001 1. PDO Mapping entry (object 0x60E1 (MTI inputs UINT32 0x60E1:01, 8 Ch.7), entry 0x01 (No of input events))
  • Page 232 Commissioning Index 1A24 MTI TxPDO-Map Inputs 10x Ch.8 Index (hex) Name Meaning Data type Flags Default 1A24:0 MTI TxPDO-Map In- PDO Mapping TxPDO 37 UINT8 0x1C (28 puts 10x Ch.8 1A24:01 SubIndex 001 1. PDO Mapping entry (object 0x60F1 (MTI inputs UINT32 0x60F1:01, 8 Ch.8), entry 0x01 (No of input events))
  • Page 233 Commissioning Index 1A25 MTI TxPDO-Map Inputs 5x Ch.8 Index (hex) Name Meaning Data type Flags Default 1A25:0 MTI TxPDO-Map In- PDO Mapping TxPDO 38 UINT8 0x12 (18 puts 5x Ch.8 1A25:01 SubIndex 001 1. PDO Mapping entry (object 0x60F1 (MTI inputs UINT32 0x60F1:01, 8 Ch.8), entry 0x01 (No of input events))
  • Page 234 Commissioning Index 1A27 MTI TxPDO-Map Inputs 1x Ch.8 Index (hex) Name Meaning Data type Flags Default 1A27:0 MTI TxPDO-Map In- PDO Mapping TxPDO 40 UINT8 0x0A (10 puts 1x Ch.8 1A27:01 SubIndex 001 1. PDO Mapping entry (object 0x60F1 (MTI inputs UINT32 0x60F1:01, 8 Ch.8), entry 0x01 (No of input events))
  • Page 235 Commissioning Index 1A2C TSO TxPDO-Map Inputs Ch.5 Index (hex) Name Meaning Data type Flags Default 1A2C:0 TSO TxPDO-Map In- PDO Mapping TxPDO 45 UINT8 0x02 (2 puts Ch.5 1A2C:01 SubIndex 001 1. PDO Mapping entry (object 0x6140 (TSO Inputs UINT32 0x6140:01, 1 Ch.5), entry 0x01 (Feedback)) 1A2C:02...
  • Page 236 Commissioning Index 1A31 TSI TxPDO-Map Inputs Ch.2 Index (hex) Name Meaning Data type Flags Default 1A31:0 TSI TxPDO-Map In- PDO Mapping TxPDO 50 UINT8 0x06 (6 puts Ch.2 1A31:01 SubIndex 001 1. PDO Mapping entry (object 0x6190 (TSI Inputs UINT32 0x6190:01, 1 Ch.2), entry 0x01 (Input)) 1A31:02...
  • Page 237 Commissioning Index 1A35 TSI TxPDO-Map Inputs Ch.6 Index (hex) Name Meaning Data type Flags Default 1A35:0 TSI TxPDO-Map In- PDO Mapping TxPDO 54 UINT8 0x06 (6 puts Ch.6 1A35:01 SubIndex 001 1. PDO Mapping entry (object 0x61D0 (TSI Inputs UINT32 0x61D0:01, 1 Ch.6), entry 0x01 (Input)) 1A35:02...
  • Page 238 Commissioning Index 1C00 Sync manager type Index (hex) Name Meaning Data type Flags Default 1C00:0 Sync manager type Using the sync managers UINT8 0x04 (4 1C00:01 SubIndex 001 Sync-Manager Type Channel 1: Mailbox Write UINT8 0x01 (1 1C00:02 SubIndex 002 Sync-Manager Type Channel 2: Mailbox Read UINT8 0x02 (2...
  • Page 239 Commissioning Index 1C12 RxPDO assign Index (hex) Name Meaning Data type Flags Default 1C12:0 RxPDO assign PDO Assign Outputs UINT8 0x10 (16 1C12:01 SubIndex 001 1. allocated RxPDO (contains the index of the associ- UINT16 0x1600 ated RxPDO mapping object) (5632 1C12:02 SubIndex 002...
  • Page 240 Commissioning Index 1C12 RxPDO assign Index (hex) Name Meaning Data type Flags Default 1C12:1C SubIndex 028 28. allocated RxPDO (contains the index of the associ- UINT16 0x0000 (0 ated RxPDO mapping object) 1C12:1D SubIndex 029 29. allocated RxPDO (contains the index of the associ- UINT16 0x0000 (0 ated RxPDO mapping object)
  • Page 241 Commissioning Index 1C13 TxPDO assign Index (hex) Name Meaning Data type Flags Default 1C13:0 TxPDO assign PDO Assign Inputs UINT8 0x10 (16 1C13:01 SubIndex 001 1. allocated TxPDO (contains the index of the associ- UINT16 0x1A00 ated TxPDO mapping object) (6656 1C13:02 SubIndex 002...
  • Page 242 Commissioning Index 1C13 TxPDO assign Index (hex) Name Meaning Data type Flags Default 1C13:1C SubIndex 028 28. allocated TxPDO (contains the index of the associ- UINT16 0x0000 (0 ated TxPDO mapping object) 1C13:1D SubIndex 029 29. allocated TxPDO (contains the index of the associ- UINT16 0x0000 (0 ated TxPDO mapping object)
  • Page 243 Commissioning Index 1C32 SM output parameter Index (hex) Name Meaning Data type Flags Default 1C32:0 SM output parameter Synchronization parameters for the outputs UINT8 0x20 (32 1C32:01 Sync mode Current synchronization mode: UINT16 0x0000 (0 • 0: Free Run • 1: Synchron with SM 2 Event •...
  • Page 244 Commissioning Index 1C33 SM input parameter Index (hex) Name Meaning Data type Flags Default 1C33:0 SM input parameter Synchronization parameters for the inputs UINT8 0x20 (32 1C33:01 Sync mode Current synchronization mode: UINT16 0x0000 (0 • 0: Free Run • 1: Synchronous with SM 3 event (no outputs available) •...
  • Page 245 Commissioning Index F010 Module list Index (hex) Name Meaning Data type Flags Default F010:0 Module list MDP Profile UINT8 0x20 (32 F010:01 SubIndex 001 UINT32 0x000000DC (220 F010:02 SubIndex 002 UINT32 0x000000DC (220 F010:03 SubIndex 003 UINT32 0x000000DC (220 F010:04 SubIndex 004 UINT32 0x000000DC...

  • Page 246: El2258

    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 247 Commissioning 6.8.3.1.2 Configuration data Index 8pp1 MTO Settings (for 00 ≤ pp ≤ 07; Ch. 1 to Ch. 8) Index (hex) Name Meaning Data type Flags Default 8pp1:0 MTO Settings UINT8 0x12 (18 8pp1:01 Use as +24 V power Activates the output permanently. The channel cannot BOOLEAN 0x00 (0 supply...
  • Page 248 Commissioning Index 6pp0 TSO Inputs (for 08 ≤ pp ≤ 0F; Ch. 1 to Ch. 8) Index (hex) Name Meaning Data type Flags Default 6pp0:0 TSO Inputs UINT8 0x00 (0 6pp0:01 Feedback Returns the current value of the output BOOLEAN 0x00 (0 Index F611 DEV Inputs Index (hex) Name...
  • Page 249 Commissioning Index 7pp0 TSO Outputs (for 08 ≤ pp ≤ 0F; Ch. 1 to Ch. 8) Index (hex) Name Meaning Data type Flags Default 7pp0:0 TSO Outputs UINT8 0x00 (0 7pp0:01 Output Defines whether a rising (1) or falling (0) edge should BOOLEAN 0x00 (0 be output at the "StartTime"...
  • Page 250 Commissioning 6.8.3.2 Object description - standard objects Index 1000 Device type Index (hex) Name Meaning Data type Flags Default 1000:0 Device type Device type of the EtherCAT slave: the Lo-Word con- UINT32 0x00001389 tains the CoE profile used (5001). The Hi-Word con- (5001 tains the module profile according to the modular de- vice profile.
  • Page 251 Commissioning Index 1600 MTO RxPDO-Map Outputs 10x Ch.1 Index (hex) Name Meaning Data type Flags Default 1600:0 MTO RxPDO-Map PDO Mapping RxPDO 1 UINT8 0x1D (29 Outputs 10x Ch.1 1600:01 SubIndex 001 1. PDO Mapping entry (object 0x7001 (MTO outputs UINT32 0x7001:01, 1 Ch.1), entry 0x01 (Output buffer reset))
  • Page 252 Commissioning Index 1601 MTO RxPDO-Map Outputs 5x Ch.1 Index (hex) Name Meaning Data type Flags Default 1601:0 MTO RxPDO-Map PDO Mapping RxPDO 2 UINT8 0x13 (19 Outputs 5x Ch.1 1601:01 SubIndex 001 1. PDO Mapping entry (object 0x7001 (MTO outputs UINT32 0x7001:01, 1 Ch.1), entry 0x01 (Output buffer reset))
  • Page 253 Commissioning Index 1602 MTO RxPDO-Map Outputs 2x Ch.1 Index (hex) Name Meaning Data type Flags Default 1602:0 MTO RxPDO-Map PDO Mapping RxPDO 3 UINT8 0x0D (13 Outputs 2x Ch.1 1602:01 SubIndex 001 1. PDO Mapping entry (object 0x7001 (MTO outputs UINT32 0x7001:01, 1 Ch.1), entry 0x01 (Output buffer reset))
  • Page 254 Commissioning Index 1604 MTO RxPDO-Map Outputs 10x Ch.2 Index (hex) Name Meaning Data type Flags Default 1604:0 MTO RxPDO-Map PDO Mapping RxPDO 5 UINT8 0x1D (29 Outputs 10x Ch.2 1604:01 SubIndex 001 1. PDO Mapping entry (object 0x7011 (MTO outputs UINT32 0x7011:01, 1 Ch.2), entry 0x01 (Output buffer reset))
  • Page 255 Commissioning Index 1605 MTO RxPDO-Map Outputs 5x Ch.2 Index (hex) Name Meaning Data type Flags Default 1605:0 MTO RxPDO-Map PDO Mapping RxPDO 6 UINT8 0x13 (19 Outputs 5x Ch.2 1605:01 SubIndex 001 1. PDO Mapping entry (object 0x7011 (MTO outputs UINT32 0x7011:01, 1 Ch.2), entry 0x01 (Output buffer reset))
  • Page 256 Commissioning Index 1606 MTO RxPDO-Map Outputs 2x Ch.2 Index (hex) Name Meaning Data type Flags Default 1606:0 MTO RxPDO-Map PDO Mapping RxPDO 7 UINT8 0x0D (13 Outputs 2x Ch.2 1606:01 SubIndex 001 1. PDO Mapping entry (object 0x7011 (MTO outputs UINT32 0x7011:01, 1 Ch.2), entry 0x01 (Output buffer reset))
  • Page 257 Commissioning Index 1608 MTO RxPDO-Map Outputs 10x Ch.3 Index (hex) Name Meaning Data type Flags Default 1608:0 MTO RxPDO-Map PDO Mapping RxPDO 9 UINT8 0x1D (29 Outputs 10x Ch.3 1608:01 SubIndex 001 1. PDO Mapping entry (object 0x7021 (MTO outputs UINT32 0x7021:01, 1 Ch.3), entry 0x01 (Output buffer reset))
  • Page 258 Commissioning Index 1609 MTO RxPDO-Map Outputs 5x Ch.3 Index (hex) Name Meaning Data type Flags Default 1609:0 MTO RxPDO-Map PDO Mapping RxPDO 10 UINT8 0x13 (19 Outputs 5x Ch.3 1609:01 SubIndex 001 1. PDO Mapping entry (object 0x7021 (MTO outputs UINT32 0x7021:01, 1 Ch.3), entry 0x01 (Output buffer reset))
  • Page 259 Commissioning Index 160A MTO RxPDO-Map Outputs 2x Ch.3 Index (hex) Name Meaning Data type Flags Default 160A:0 MTO RxPDO-Map PDO Mapping RxPDO 11 UINT8 0x0D (13 Outputs 2x Ch.3 160A:01 SubIndex 001 1. PDO Mapping entry (object 0x7021 (MTO outputs UINT32 0x7021:01, 1 Ch.3), entry 0x01 (Output buffer reset))
  • Page 260 Commissioning Index 160C MTO RxPDO-Map Outputs 10x Ch.4 Index (hex) Name Meaning Data type Flags Default 160C:0 MTO RxPDO-Map PDO Mapping RxPDO 13 UINT8 0x1D (29 Outputs 10x Ch.4 160C:01 SubIndex 001 1. PDO Mapping entry (object 0x7031 (MTO outputs UINT32 0x7031:01, 1 Ch.4), entry 0x01 (Output buffer reset))
  • Page 261 Commissioning Index 160D MTO RxPDO-Map Outputs 5x Ch.4 Index (hex) Name Meaning Data type Flags Default 160D:0 MTO RxPDO-Map PDO Mapping RxPDO 14 UINT8 0x13 (19 Outputs 5x Ch.4 160D:01 SubIndex 001 1. PDO Mapping entry (object 0x7031 (MTO outputs UINT32 0x7031:01, 1 Ch.4), entry 0x01 (Output buffer reset))
  • Page 262 Commissioning Index 160E MTO RxPDO-Map Outputs 2x Ch.4 Index (hex) Name Meaning Data type Flags Default 160E:0 MTO RxPDO-Map PDO Mapping RxPDO 15 UINT8 0x0D (13 Outputs 2x Ch.4 160E:01 SubIndex 001 1. PDO Mapping entry (object 0x7031 (MTO outputs UINT32 0x7031:01, 1 Ch.4), entry 0x01 (Output buffer reset))
  • Page 263 Commissioning Index 1610 MTO RxPDO-Map Outputs 10x Ch.5 Index (hex) Name Meaning Data type Flags Default 1610:0 MTO RxPDO-Map PDO Mapping RxPDO 17 UINT8 0x1D (29 Outputs 10x Ch.5 1610:01 SubIndex 001 1. PDO Mapping entry (object 0x7041 (MTO outputs UINT32 0x7041:01, 1 Ch.5), entry 0x01 (Output buffer reset))
  • Page 264 Commissioning Index 1611 MTO RxPDO-Map Outputs 5x Ch.5 Index (hex) Name Meaning Data type Flags Default 1611:0 MTO RxPDO-Map PDO Mapping RxPDO 18 UINT8 0x13 (19 Outputs 5x Ch.5 1611:01 SubIndex 001 1. PDO Mapping entry (object 0x7041 (MTO outputs UINT32 0x7041:01, 1 Ch.5), entry 0x01 (Output buffer reset))
  • Page 265 Commissioning Index 1612 MTO RxPDO-Map Outputs 2x Ch.5 Index (hex) Name Meaning Data type Flags Default 1612:0 MTO RxPDO-Map PDO Mapping RxPDO 19 UINT8 0x0D (13 Outputs 2x Ch.5 1612:01 SubIndex 001 1. PDO Mapping entry (object 0x7041 (MTO outputs UINT32 0x7041:01, 1 Ch.5), entry 0x01 (Output buffer reset))
  • Page 266 Commissioning Index 1614 MTO RxPDO-Map Outputs 10x Ch.6 Index (hex) Name Meaning Data type Flags Default 1614:0 MTO RxPDO-Map PDO Mapping RxPDO 21 UINT8 0x1D (29 Outputs 10x Ch.6 1614:01 SubIndex 001 1. PDO Mapping entry (object 0x7051 (MTO outputs UINT32 0x7051:01, 1 Ch.6), entry 0x01 (Output buffer reset))
  • Page 267 Commissioning Index 1615 MTO RxPDO-Map Outputs 5x Ch.6 Index (hex) Name Meaning Data type Flags Default 1615:0 MTO RxPDO-Map PDO Mapping RxPDO 22 UINT8 0x13 (19 Outputs 5x Ch.6 1615:01 SubIndex 001 1. PDO Mapping entry (object 0x7051 (MTO outputs UINT32 0x7051:01, 1 Ch.6), entry 0x01 (Output buffer reset))
  • Page 268 Commissioning Index 1616 MTO RxPDO-Map Outputs 2x Ch.6 Index (hex) Name Meaning Data type Flags Default 1616:0 MTO RxPDO-Map PDO Mapping RxPDO 23 UINT8 0x0D (13 Outputs 2x Ch.6 1616:01 SubIndex 001 1. PDO Mapping entry (object 0x7051 (MTO outputs UINT32 0x7051:01, 1 Ch.6), entry 0x01 (Output buffer reset))
  • Page 269 Commissioning Index 1618 MTO RxPDO-Map Outputs 10x Ch.7 Index (hex) Name Meaning Data type Flags Default 1618:0 MTO RxPDO-Map PDO Mapping RxPDO 25 UINT8 0x1D (29 Outputs 10x Ch.7 1618:01 SubIndex 001 1. PDO Mapping entry (object 0x7061 (MTO outputs UINT32 0x7061:01, 1 Ch.7), entry 0x01 (Output buffer reset))
  • Page 270 Commissioning Index 1619 MTO RxPDO-Map Outputs 5x Ch.7 Index (hex) Name Meaning Data type Flags Default 1619:0 MTO RxPDO-Map PDO Mapping RxPDO 26 UINT8 0x13 (19 Outputs 5x Ch.7 1619:01 SubIndex 001 1. PDO Mapping entry (object 0x7061 (MTO outputs UINT32 0x7061:01, 1 Ch.7), entry 0x01 (Output buffer reset))
  • Page 271 Commissioning Index 161A MTO RxPDO-Map Outputs 2x Ch.7 Index (hex) Name Meaning Data type Flags Default 161A:0 MTO RxPDO-Map PDO Mapping RxPDO 27 UINT8 0x0D (13 Outputs 2x Ch.7 161A:01 SubIndex 001 1. PDO Mapping entry (object 0x7061 (MTO outputs UINT32 0x7061:01, 1 Ch.7), entry 0x01 (Output buffer reset))
  • Page 272 Commissioning Index 161C MTO RxPDO-Map Outputs 10x Ch.8 Index (hex) Name Meaning Data type Flags Default 161C:0 MTO RxPDO-Map PDO Mapping RxPDO 29 UINT8 0x1D (29 Outputs 10x Ch.8 161C:01 SubIndex 001 1. PDO Mapping entry (object 0x7071 (MTO outputs UINT32 0x7071:01, 1 Ch.8), entry 0x01 (Output buffer reset))
  • Page 273 Commissioning Index 161D MTO RxPDO-Map Outputs 5x Ch.8 Index (hex) Name Meaning Data type Flags Default 161D:0 MTO RxPDO-Map PDO Mapping RxPDO 30 UINT8 0x13 (19 Outputs 5x Ch.8 161D:01 SubIndex 001 1. PDO Mapping entry (object 0x7071 (MTO outputs UINT32 0x7071:01, 1 Ch.8), entry 0x01 (Output buffer reset))
  • Page 274 Commissioning Index 161E MTO RxPDO-Map Outputs 2x Ch.8 Index (hex) Name Meaning Data type Flags Default 161E:0 MTO RxPDO-Map PDO Mapping RxPDO 31 UINT8 0x0D (13 Outputs 2x Ch.8 161E:01 SubIndex 001 1. PDO Mapping entry (object 0x7071 (MTO outputs UINT32 0x7071:01, 1 Ch.8), entry 0x01 (Output buffer reset))
  • Page 275 Commissioning Index 1620 TSO RxPDO-Map Ch.1 Index (hex) Name Meaning Data type Flags Default 1620:0 TSO RxPDO-Map PDO Mapping RxPDO 33 UINT8 0x05 (5 Ch.1 1620:01 SubIndex 001 1. PDO Mapping entry (object 0x7080 (TSO Outputs UINT32 0x7080:01, 1 Ch.1), entry 0x01 (Output)) 1620:02 SubIndex 002 2.
  • Page 276 Commissioning Index 1624 TSO RxPDO-Map Ch.5 Index (hex) Name Meaning Data type Flags Default 1624:0 TSO RxPDO-Map PDO Mapping RxPDO 37 UINT8 0x05 (5 Ch.5 1624:01 SubIndex 001 1. PDO Mapping entry (object 0x70C0 (TSO Outputs UINT32 0x70C0:01, 1 Ch.5), entry 0x01 (Output)) 1624:02 SubIndex 002 2.
  • Page 277 Commissioning Index 1A00 MTO TxPDO-Map Inputs Ch.1 Index (hex) Name Meaning Data type Flags Default 1A00:0 MTO TxPDO-Map In- PDO Mapping TxPDO 1 UINT8 0x07 (7 puts Ch.1 1A00:01 SubIndex 001 1. PDO Mapping entry (object 0x6000 (MTO inputs UINT32 0x6000:01, 1 Ch.1), entry 0x01 (Output short circuit)) 1A00:02...
  • Page 278 Commissioning Index 1A03 MTO TxPDO-Map Inputs Ch.4 Index (hex) Name Meaning Data type Flags Default 1A03:0 MTO TxPDO-Map In- PDO Mapping TxPDO 4 UINT8 0x07 (7 puts Ch.4 1A03:01 SubIndex 001 1. PDO Mapping entry (object 0x6030 (MTO inputs UINT32 0x6030:01, 1 Ch.4), entry 0x01 (Output short circuit)) 1A03:02...
  • Page 279 Commissioning Index 1A06 MTO TxPDO-Map Inputs Ch.7 Index (hex) Name Meaning Data type Flags Default 1A06:0 MTO TxPDO-Map In- PDO Mapping TxPDO 7 UINT8 0x07 (7 puts Ch.7 1A06:01 SubIndex 001 1. PDO Mapping entry (object 0x6060 (MTO inputs UINT32 0x6060:01, 1 Ch.7), entry 0x01 (Output short circuit)) 1A06:02...
  • Page 280 Commissioning Index 1A0B TSO TxPDO-Map Inputs Ch.4 Index (hex) Name Meaning Data type Flags Default 1A0B:0 TSO TxPDO-Map In- PDO Mapping TxPDO 12 UINT8 0x02 (2 puts Ch.4 1A0B:01 SubIndex 001 1. PDO Mapping entry (object 0x60B0 (TSO Inputs UINT32 0x60B0:01, 1 Ch.4), entry 0x01 (Feedback)) 1A0B:02...
  • Page 281 Commissioning Index 1C00 Sync manager type Index (hex) Name Meaning Data type Flags Default 1C00:0 Sync manager type Using the sync managers UINT8 0x04 (4 1C00:01 SubIndex 001 Sync-Manager Type Channel 1: Mailbox Write UINT8 0x01 (1 1C00:02 SubIndex 002 Sync-Manager Type Channel 2: Mailbox Read UINT8 0x02 (2...
  • Page 282 Commissioning Index 1C12 RxPDO assign Index (hex) Name Meaning Data type Flags Default 1C12:1B SubIndex 027 27. allocated RxPDO (contains the index of the associ- UINT16 0x0000 (0 ated RxPDO mapping object) 1C12:1C SubIndex 028 28. allocated RxPDO (contains the index of the associ- UINT16 0x0000 (0 ated RxPDO mapping object)
  • Page 283 Commissioning Index 1C13 TxPDO assign Index (hex) Name Meaning Data type Flags Default 1C13:0 TxPDO assign PDO Assign Inputs UINT8 0x08 (8 1C13:01 SubIndex 001 1. allocated TxPDO (contains the index of the associ- UINT16 0x1A00 ated TxPDO mapping object) (6656 1C13:02 SubIndex 002...
  • Page 284 Commissioning Index 1C32 SM output parameter Index (hex) Name Meaning Data type Flags Default 1C32:0 SM output parameter Synchronization parameters for the outputs UINT8 0x20 (32 1C32:01 Sync mode Current synchronization mode: UINT16 0x0000 (0 • 0: Free Run • 1: Synchron with SM 2 Event •...
  • Page 285 Commissioning Index 1C33 SM input parameter Index (hex) Name Meaning Data type Flags Default 1C33:0 SM input parameter Synchronization parameters for the inputs UINT8 0x20 (32 1C33:01 Sync mode Current synchronization mode: UINT16 0x0000 (0 • 0: Free Run • 1: Synchronous with SM 3 event (no outputs available) •...

  • Page 286: Example Programs

    Commissioning Index F010 Module list Index (hex) Name Meaning Data type Flags Default F010:0 Module list MDP Profile UINT8 0x10 (16 F010:01 SubIndex 001 UINT32 0x000000DC (220 F010:02 SubIndex 002 UINT32 0x000000DC (220 F010:03 SubIndex 003 UINT32 0x000000DC (220 F010:04 SubIndex 004 UINT32 0x000000DC...

  • Page 287: Fig. 171 Opening The *. Tnzip Archive

    Commissioning Fig. 171: Opening the *. tnzip archive • Select the .tnzip file (sample program). • A further selection window opens. Select the destination directory for storing the project. • For a description of the general PLC commissioning procedure and starting the program please refer to the terminal documentation or the EtherCAT system documentation.

  • Page 288: Fig. 173 Recording Of Four Channels By The Multi-Timestamp Program Example

    All arrays have to be linked to eight channels with all the necessary status, output and input variables respectively. This is already be done by the downloadable example: https://infosys.beckhoff.com/content/1033/el125x_el2258/Resources/zip/2139514763.zip This example requires a PLC control with a terminal EL2258. You can use either an embedded PC that has the terminal placed on the right or an IPC with an EtherCAT link of an e.g.
  • Page 289 Commissioning       ]       ,[  // Channel 4 time offsets:          100, 25, 50, 50, 25, 75, 75, 50, 50, 25       ] (*          More time offsets for switch tasks:       ,[  // Channel 5 time offsets:          100, 50, 25, 75, 75, 25, 50, 50, 25, 50       ]       ,[  // Channel 6 time offsets:          100, 25, 50, 25, 50, 50, 25, 75, 75, 50       ]       ,[  // Channel 7 time offsets:          100, 50, 25, 75, 75, 50, 25, 50, 25, 50       ]       ,[  // Channel 8 time offsets:          100, 25, 50, 50, 25, 75, 75, 50, 25, 50       ]    ];    nState : UINT:=0; // Use for "CASE .. OF" statement    nShortTime : UDINT; // Timevalue of current DC time/ lower 32 Bit only    nCurrentTime : ULINT; // Current DC-Time of the PLC-Task    bStateValue : BOOL;  // Variable to set a toggled state of a task-event    nScheduleNo: INT;  // Consists No of respective state/time pair of a Switch-Task    nChannel: INT; // Channel of the EL2258 END_VAR Program: // Example program: 10x Multi-Timestamp for EL2258 nCurrentTime := F_GetCurDcTaskTime64(); // Get current DC-Time (Task-Related) CASE nState OF    // ====================== Do some initializations here: ============================    0:       FOR nChannel:= 0 TO (nNumOfSwitchTasks-1) DO          // Reset ouput buffer of the terminal EL2258          bOutputBufReset[nChannel] := TRUE;       END_FOR       nState := nState + 1;// Go to next state    1:       FOR nChannel:= 0 TO (nNumOfSwitchTasks-1) DO          bOutputBufReset[nChannel] := FALSE;       END_FOR       nState := nState + 1; // Go to next state    2:...

  • Page 290: Fig. 174 Recommended Structure For The El1258 Sample Program

    This sample program uses a TwinCAT3 visualization to illustrate the multi-timestamp functionality of a digital input of the EL1258 (and accordingly EL1259). In 10x multi-timestamp and asynchronous (buffered) mode, one terminal input is controlled by a digital EL2002 output terminal. The sample program contains the EtherCAT configuration and the corresponding links to the PDOs of the terminals and uses channel 1 (the channel input must be connected to channel output accordingly).

  • Page 291: Fig. 175 Coe Object 0X8000 (Mti Settings Ch.1): Settings For The Sample Program

    Fig. 176: Sample program EL1258 / Visualization_1: simple time measurement based on two state changes A digital output terminal, whose output is directly connected to input channel 1 of the EL1258, switches the output with "SET OUTPUT". The user presses the button for any length of time; the elapsed time is shown in the upper bar-graph display, while the lower bar-graph display shows a time span determined by the timestamps of the EL1258.
  • Page 292 (nEventsInInputBuffer). This is illustrated as follows: Fig. 178: Query of the "EventInInputBuffer" of the EL1258: Are there any other events stored in the terminal? "LimitOfEventsInInputBuffer" can be used to specify from when the buffered events should be transferred to the readable PDOs of the terminal.

  • Page 293: Appendix

    Check on the Beckhoff web page whether more up-to-date documentation is available. 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.

  • Page 294: Device Description Esi File/Xml

    EtherCAT communication is set up accordingly. The device description is available from the download area of the Beckhoff website at (http://www.beckhoff.de). All ESI files are accessible there as zip files. Customers can access the data via the EtherCAT fieldbus and its communication mechanisms. Acyclic mailbox communication or register access to the ESC is used for updating or reading of these data.
  • Page 295 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 EtherCAT boxes in TwinCAT mode Config/FreeRun: Fig. 180: Scan the subordinate field by right-clicking on the EtherCAT device in Config/FreeRun mode...
  • Page 296 Appendix Fig. 181: Configuration is identical otherwise a change dialog appears for entering the actual data in the configuration. Fig. 182: Change dialog 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.

  • Page 297: Firmware Explanation

    7.3.2 Firmware explanation Determining the firmware version Determining the version on laser inscription Beckhoff EtherCAT slaves feature serial numbers applied by laser. The serial number has the following structure: KK YY FF HH EL125x, EL2258 Version: 2.5...

  • Page 298: Updating Controller Firmware *.Efw

    This CoE directory can only be displayed if a slave is connected and operational. • 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").
  • Page 299 Switch to the Online tab to update the controller firmware of a slave, see Fig. Firmware Update. Fig. 186: Firmware Update Proceed as follows, unless instructed otherwise by Beckhoff support. Valid for TwinCAT 2 and 3 as EtherCAT master. • Switch TwinCAT system to ConfigMode/FreeRun with cycle time >= 1 ms (default in ConfigMode is 4 ms).

  • Page 300: Fpga Firmware *.Rbf

    Appendix • Switch slave to BOOTSTRAP • Check the current status (B, C) • Download the new *efw file (wait until it ends). A pass word will not be neccessary usually. • After the download switch to INIT, then PreOP •...
  • Page 301 Appendix Fig. 187: FPGA firmware version definition If the column Reg:0002 is not displayed, right-click the table header and select Properties in the context menu. Fig. 188: 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.
  • Page 302 Older firmware versions can only be updated by the manufacturer! Updating an EtherCAT device The following sequence order have to be met if no other specifications are given (e.g. by the Beckhoff support): • Switch TwinCAT system to ConfigMode/FreeRun with cycle time >= 1 ms (default in ConfigMode is 4 ms).
  • Page 303 Appendix • 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: • The Advanced Settings dialog appears. Under ESC Access/E²PROM/FPGA click on Write FPGA button: EL125x, EL2258 Version: 2.5...

  • Page 304: Simultaneous Updating Of Several Ethercat Devices

    Appendix • Select the file (*.rbf) with the new FPGA firmware, and transfer it to the EtherCAT device: • Wait until download ends • Switch slave current less for a short time (don't pull under voltage!). In order to activate the new FPGA firmware a restart (switching the power supply off and on again) of the EtherCAT device is required.

  • Page 305: Restoring The Delivery State

    Appendix Restoring the delivery state To restore the delivery state for backup objects in ELxxxx terminals, the CoE object Restore default parameters, SubIndex 001 can be selected in the TwinCAT System Manager (Config mode) (see Fig. Selecting the Restore default parameters PDO) Fig. 191: Selecting the Restore default parameters PDO Double-click on SubIndex 001 to enter the Set Value dialog.

  • Page 306: 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 307 Startup list in the TwinCAT System Manager ................Fig. 25 Offline list ............................. Fig. 26 Online list ............................ Fig. 27 Spring contacts of the Beckhoff I/O components................. Fig. 28 Attaching on mounting rail ......................Fig. 29 Disassembling of terminal......................Fig. 30 Power contact on left side......................
  • Page 308 List of illustrations Fig. 42 Relationship between user side (commissioning) and installation..........Fig. 43 Control configuration with Embedded PC, input (EL1004) and output (EL2008) ......Fig. 44 Initial TwinCAT 2 user interface....................Fig. 45 Selection of the target system ..................... Fig. 46 Specify the PLC for access by the TwinCAT System Manager: selection of the target system ..
  • Page 309 List of illustrations Fig. 88 Identifier structure ........................Fig. 89 OnlineDescription information window (TwinCAT 2) ..............Fig. 90 Information window OnlineDescription (TwinCAT 3) ..............Fig. 91 File OnlineDescription.xml created by the System Manager ............Fig. 92 Indication of an online recorded ESI of EL2521 as an example ..........Fig.
  • Page 310 Fig. 174 Recommended structure for the EL1258 sample program............290 Fig. 175 CoE object 0x8000 (MTI settings ch.1): Settings for the sample program ........291 Fig. 176 Sample program EL1258 / Visualization_1: simple time measurement based on two state changes ............................291 Version: 2.5...
  • Page 311 Fig. 177 Sample program EL1258 / Visualization_2: Display of incoming events in chronological order according to the timestamps of the EL1258 ................291 Fig. 178 Query of the "EventInInputBuffer" of the EL1258: Are there any other events stored in the ter- minal? ............................292 Fig.

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