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Beckhoff EL1512 Documentation

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EL1502, EL1512
Up/down Counter 24 VDC
Version:
Date:
3.5
2018-06-08

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Summary of Contents for Beckhoff EL1512

  • Page 1 Documentation EL1502, EL1512 Up/down Counter 24 VDC Version: Date: 2018-06-08...

  • Page 3: Table Of Contents

    ATEX - Special conditions (extended temperature range) .............. 38 UL notice ............................ 39 LEDs and connection ........................ 41 4.9.1 EL1502 - LEDs and connection .................. 41 4.9.2 EL1512 - LEDs and connection .................. 42 5 Commissioning............................ 43 TwinCAT Quick Start ........................ 43 5.1.1 TwinCAT 2 ........................ 45 5.1.2 TwinCAT 3 ........................
  • Page 4 Process data........................ 127 Object description and parameterization .................. 129 5.6.1 EL1502 - Object description and parameterization............ 129 5.6.2 EL1512 - Object description and parameterization............ 140 6 Appendix .............................. 150 EtherCAT AL Status Codes ...................... 150 Firmware compatibility ........................ 150 Firmware Update EL/ES/EM/EPxxxx .................... 150 6.3.1 Device description ESI file/XML..................

  • Page 5: Foreword

    The TwinCAT Technology is covered, including but not limited to the following patent applications and patents: EP0851348, US6167425 with corresponding applications or registrations in various other countries. ® EtherCAT is registered trademark and patented technology, licensed by Beckhoff Automation GmbH, Germany EL1502, EL1512 Version: 3.5...
  • Page 6 Foreword Copyright © Beckhoff Automation GmbH & Co. KG, Germany. The reproduction, distribution and utilization of this document as well as the communication of its contents to others without express authorization are prohibited. Offenders will be held liable for the payment of damages. All rights reserved in the event of the grant of a patent, utility model or design.

  • Page 7: 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 8: Documentation Issue Status

    • Technical data amended • provisional documentation for EL1502 Version identification of EtherCAT devices Designation A Beckhoff EtherCAT device has a 14-digit designation, made up of • family key • type • version • revision Version: 3.5...
  • Page 9 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 10: Fig. 1 El5021 El Terminal, Standard Ip20 Io Device With Serial/ Batch Number And Revision Id (Since 2014/01)

    • Terminals with factory calibration certificate and other measuring terminals Examples of markings Fig. 1: EL5021 EL terminal, standard IP20 IO device with serial/ batch number and revision ID (since 2014/01) Fig. 2: EK1100 EtherCAT coupler, standard IP20 IO device with serial/ batch number Version: 3.5 EL1502, EL1512...

  • Page 11: Fig. 3 Cu2016 Switch With Serial/ Batch Number

    Fig. 4: EL3202-0020 with serial/ batch number 26131006 and unique ID-number 204418 Fig. 5: EP1258-00001 IP67 EtherCAT Box with batch number/ date code 22090101 and unique serial number 158102 Fig. 6: EP1908-0002 IP67 EtherCAT Safety Box with batch number/ date code 071201FF and unique serial number 00346070 EL1502, EL1512 Version: 3.5...

  • Page 12: 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 unique ID number (QR code) 100001051 and serial/ batch number 44160201 Version: 3.5 EL1502, EL1512...

  • Page 13: Product Overview

    The EL1502 supports distributed clocks, i.e. the input data can be monitored synchronously with other data that are also linked to distributed clock terminals. The accuracy across the system is < 100 ns. EL1502, EL1512 Version: 3.5...

  • Page 14: Technical Data

    EN 60068-2-6 / EN 60068-2-27, see also installation instructions [} 31] for enhanced mechanical load capacity EMC immunity/emission conforms to EN 61000-6-2 / EN 61000-6-4 Protection class IP20 Installation position variable Approval ATEX [} 38] cULus [} 39] Version: 3.5 EL1502, EL1512...

  • Page 15: Introduction

    (delivery state) The signal state of the inputs and outputs is indicated by light emitting diodes. The EL1512 is particularly suitable for simple counting tasks such as the connection of a flow meter. Quick links • EtherCAT basics [} 17] •...

  • Page 16: Start

    Installation position variable Approval ATEX [} 38] cULus [} 39] Start For commissioning: • mount the EL15xx as described in the chapter Mounting and wiring [} 28] • configure the EL15xx in TwinCAT as described in the chapter Commissioning [} 109]. Version: 3.5 EL1502, EL1512...

  • Page 17: Basics Communication

    EtherCAT devices from Beckhoff. Recommended cables Suitable cables for the connection of EtherCAT devices can be found on the Beckhoff website! E-Bus supply A bus coupler can supply the EL terminals added to it with the E-bus system voltage of 5 V; a coupler is thereby loadable up to 2 A as a rule (see details in respective device documentation).

  • Page 18: General Notes For Setting The Watchdog

    The PDI watchdog monitors correct and timely process data communication with the ESC from the application side. The settings of the SM- and PDI-watchdog must be done for each slave separately in the TwinCAT System Manager. Version: 3.5 EL1502, EL1512...

  • Page 19: Fig. 12 Ethercat Tab -> Advanced Settings -> Behavior -> Watchdog

    The standard setting of 1000 for the SM watchdog corresponds to a release time of 100 ms. The value in multiplier + 2 corresponds to the number of basic 40 ns ticks representing a watchdog tick. The multiplier can be modified in order to adjust the watchdog time over a larger range. EL1502, EL1512 Version: 3.5...

  • Page 20: Ethercat State Machine

    EtherCAT master to the device in each state, particularly during the bootup of the slave. A distinction is made between the following states: • Init • Pre-Operational • Safe-Operational and • Operational • Boot The regular state of each EtherCAT slave after bootup is the OP state. Version: 3.5 EL1502, EL1512...

  • Page 21: Fig. 13 States Of The Ethercat State Machine

    Before the EtherCAT master switches the EtherCAT slave from Safe-Op to Op it must transfer valid output data. In the Op state the slave copies the output data of the masters to its outputs. Process data and mailbox communication is possible. EL1502, EL1512 Version: 3.5...

  • Page 22: Coe Interface

    Not every EtherCAT device must have a CoE list. Simple I/O modules without dedicated processor usually have no variable parameters and therefore no CoE list. If a device has a CoE list, it is shown in the TwinCAT System Manager as a separate tab with a listing of the elements: Version: 3.5 EL1502, EL1512...

  • Page 23: Fig. 14 "Coe Online " Tab

    Data management If slave CoE parameters are modified online, Beckhoff devices store any changes in a fail-safe manner in the EEPROM, i.e. the modified CoE parameters are still available after a restart. The situation may be different with other manufacturers.

  • Page 24: Fig. 15 Startup List In The Twincat System Manager

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

  • Page 25: Fig. 16 Offline List

    ◦ The actual current slave list is read. This may take several seconds, depending on the size and cycle time. ◦ The actual identity is displayed ◦ The firmware and hardware version of the equipment according to the electronic information is displayed ◦ Online is shown in green. Fig. 17: Online list EL1502, EL1512 Version: 3.5...
  • Page 26 • 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. Version: 3.5 EL1502, EL1512...

  • Page 27: Distributed Clock

    4.2 seconds) • The EtherCAT master automatically synchronizes the local clock with the master clock in the EtherCAT bus with a precision of < 100 ns. For detailed information please refer to the EtherCAT system description. EL1502, EL1512 Version: 3.5...

  • Page 28: Mounting And Wiring

    Each assembly must be terminated at the right hand end with an EL9011 or EL9012 bus end cap, to en- sure the protection class and ESD protection. Fig. 18: Spring contacts of the Beckhoff I/O components Installation on mounting rails...

  • Page 29: Fig. 19 Attaching On Mounting Rail

    To mount the mounting rails with a height of 7.5 mm under the terminals and couplers, you should use flat mounting connections (e.g. countersunk screws or blind rivets). EL1502, EL1512 Version: 3.5...

  • Page 30: Fig. 20 Disassembling Of Terminal

    EL91xx, EL92xx) interrupt the power contacts and thus represent the start of a new supply rail. PE power contact The power contact labeled PE can be used as a protective earth. For safety reasons this contact mates first when plugging together, and can ground short-circuit currents of up to 125 A. Version: 3.5 EL1502, EL1512...

  • Page 31: Installation Instructions For Enhanced Mechanical Load Capacity

    10 frequency runs in 3 axes 6 Hz < f < 60 Hz displacement 0.35 mm, constant amplitude 60.1 Hz < f < 500 Hz acceleration 5 g, constant amplitude Shocks 1000 shocks in each direction, in 3 axes 25 g, 6 ms EL1502, EL1512 Version: 3.5...

  • Page 32: Connection

    Standard wiring (ELxxxx / KLxxxx) Fig. 22: 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. Version: 3.5 EL1502, EL1512...

  • Page 33: Fig. 23 Pluggable Wiring

    Ultrasonically "bonded" (ultrasonically welded) conductors Ultrasonically “bonded" conductors It is also possible to connect the Standard and High Density Terminals with ultrasonically "bonded" (ultrasonically welded) conductors. In this case, please note the tables concerning the wire-size width below! EL1502, EL1512 Version: 3.5...

  • Page 34: Wiring

    The cables are released, as usual, using the contact release with the aid of a screwdriver. See the following table for the suitable wire size width. Version: 3.5 EL1502, EL1512...

  • Page 35: Shielding

    EL/KL terminals to face forward (see Fig. “Recommended distances for standard installation position”). The terminals are ventilated from below, which enables optimum cooling of the electronics through convection. "From below" is relative to the acceleration of gravity. EL1502, EL1512 Version: 3.5...

  • Page 36: Fig. 26 Recommended Distances For Standard Installation Position

    Other installation positions All other installation positions are characterized by different spatial arrangement of the mounting rail - see Fig “Other installation positions”. The minimum distances to ambient specified above also apply to these installation positions. Version: 3.5 EL1502, EL1512...

  • Page 37: Positioning Of Passive Terminals

    The passive terminals have no current consump- tion out of the E-Bus. To ensure an optimal data transfer, you must not directly string together more than 2 passive termi- nals! Examples for positioning of passive terminals (highlighted) Fig. 28: Correct positioning EL1502, EL1512 Version: 3.5...

  • Page 38: Atex - Special Conditions (Extended Temperature Range)

    80°C at the wire branching points, then cables must be selected whose tempera- ture data correspond to the actual measured temperature values! • Observe the permissible ambient temperature range of -25 to 60°C for the use of Beckhoff fieldbus components with extended temperature range (ET) in potentially explosive areas! •...

  • Page 39: Ul Notice

    Beckhoff EtherCAT modules are intended for use with Beckhoff’s UL Listed EtherCAT Sys- tem only. Examination For cULus examination, the Beckhoff I/O System has only been investigated for risk of fire and electrical shock (in accordance with UL508 and CSA C22.2 No. 142). For devices with Ethernet connectors Not for connection to telecommunication circuits.
  • Page 40 A voltage source complying with NEC class 2 may not be connected in series or parallel with another NEC class 2 compliant voltage supply! These requirements apply to the supply of all EtherCAT bus couplers, power adaptor terminals, Bus Terminals and their power contacts. Version: 3.5 EL1502, EL1512...

  • Page 41: Leds And Connection

    Clock 2 input (operating mode 2 x 32 bit counter [} 115]) +24 V +24 V (internally connected to terminal point 2 and positive power contact) 0 V 0 V (internally connected to terminal point 3 and negative power contact) Output 2 Output 2 EL1502, EL1512 Version: 3.5...

  • Page 42: El1512 - Leds And Connection

    Mounting and wiring 4.9.2 EL1512 - LEDs and connection Fig. 31: EL1512 LEDs Color Meaning CLOCK CH.1 green Signal at the Clock input, channel 1 (operating mode 2 x 32 bit counter) [} 115] UP/DOWN, Gate Signal at U/D, Gate input (operating mode 32 bit up/down counter, 32 bit gated counter [} 115])

  • Page 43: 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 44: Fig. 32 Relationship Between User Side (Commissioning) And Installation

    • Linked via the X001 port (RJ-45): EK1100 EtherCAT Coupler • Connected to the EK1100 EtherCAT coupler on the right (E-bus): EL2008 (8-channel digital output terminal 24 V DC; 0.5 A) • (Optional via X000: a link to an external PC for the user interface) Version: 3.5 EL1502, EL1512...

  • Page 45: Fig. 33 Control Configuration With Embedded Pc, Input (El1004) And Output (El2008)

    The starting point is the TwinCAT System Manager. After successful installation of the TwinCAT system on the PC to be used for development, the TwinCAT 2 System Manager displays the following user interface after startup: Fig. 34: Initial TwinCAT 2 user interface EL1502, EL1512 Version: 3.5...

  • Page 46: Fig. 35 Selection Of The Target System

    Fig. 36: Specify the PLC for access by the TwinCAT System Manager: selection of the target system Once the target system has been entered, it is available for selection as follows (a password may have to be entered): Version: 3.5 EL1502, EL1512...

  • Page 47: Fig. 37 Select "Scan Devices

    Confirm the message "Find new boxes", in order to determine the terminals connected to the devices. "Free Run" enables manipulation of input and output values in "Config mode" and should also be acknowledged. Based on the sample configuration [} 44] described at the beginning of this section, the result is as follows: EL1502, EL1512 Version: 3.5...

  • Page 48: Fig. 39 Mapping Of The Configuration In The Twincat 2 System Manager

    TwinCAT PLC Control is the development environment for the creation of the controller in different program environments: TwinCAT PLC Control supports all languages described in IEC 61131-3. There are two text- based languages and three graphical languages. • Text-based languages ◦ Instruction List (IL) ◦ Structured Text (ST) Version: 3.5 EL1502, EL1512...

  • Page 49: Fig. 41 Twincat Plc Control After Startup

    After starting TwinCAT PLC Control, the following user interface is shown for an initial project: Fig. 41: TwinCAT PLC Control after startup Sample variables and a sample program have been created and stored under the name "PLC_example.pro": EL1502, EL1512 Version: 3.5...
  • Page 50 Manager has been notified, the warning no longer appears. First, integrate the TwinCAT PLC Control project in the System Manager via the context menu of the PLC configuration; right-click and select "Append PLC Project…": Fig. 43: Appending the TwinCAT PLC Control project Version: 3.5 EL1502, EL1512...
  • Page 51 "PLC_example" and via "Modify Link..." "Standard": Fig. 45: 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: EL1502, EL1512 Version: 3.5...
  • Page 52 The links can also be checked by selecting a "Goto Link Variable” from the context menu of a variable. The object opposite, in this case the PDO, is automatically selected: Version: 3.5 EL1502, EL1512...
  • Page 53 The PLC system can then be started as described below. Starting the controller Starting from a remote system, the PLC control has to be linked with the Embedded PC over Ethernet via "Online" → “Choose Run-Time System…": EL1502, EL1512 Version: 3.5...
  • Page 54 This results in the message "No program on the controller! Should the new program be loaded?", which should be acknowledged with "Yes". The runtime environment is ready for the program start: Version: 3.5 EL1502, EL1512...
  • Page 55 (cf. "TwinCAT System Manager" of TwinCAT 2) for communication with the electromechanical components. After successful installation of the TwinCAT system on the PC to be used for development, TwinCAT 3 (shell) displays the following user interface after startup: EL1502, EL1512 Version: 3.5...
  • Page 56 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. 52: Create new TwinCAT project The new project is then available in the project folder explorer: Version: 3.5 EL1502, EL1512...
  • Page 57 Via the symbol in the menu bar: expand the pull-down menu: and open the following window: Fig. 54: Selection dialog: Choose the target system EL1502, EL1512 Version: 3.5...
  • Page 58 The TwinCAT System Manager may first have to be set to "Config mode" via or via the menu "TwinCAT" → "Restart TwinCAT (Config mode)". Fig. 56: Select "Scan" Confirm the warning message, which follows, and select "EtherCAT" in the dialog: Version: 3.5 EL1502, EL1512...
  • Page 59 The whole process consists of two stages, which may be performed separately (first determine the devices, then determine the connected elements such as boxes, terminals, etc.). A scan can also be initiated by selecting "Device ..." from the context menu, which then reads the elements present in the configuration below: EL1502, EL1512 Version: 3.5...
  • Page 60 The following section refers to Structured Text (ST). In order to create a programming environment, a PLC subproject is added to the project sample via the context menu of "PLC" in the project folder explorer by selecting "Add New Item….": Version: 3.5 EL1502, EL1512...
  • Page 61 Fig. 61: Specifying the name and directory for the PLC programming environment The "Main" program, which already exists by selecting "Standard PLC project", can be opened by double- clicking on "PLC_example_project" in "POUs”. The following user interface is shown for an initial project: EL1502, EL1512 Version: 3.5...
  • Page 62 Commissioning Fig. 62: Initial "Main" program of the standard PLC project To continue, sample variables and a sample program have now been created: Version: 3.5 EL1502, EL1512...
  • Page 63 "Assignments" in the project folder explorer: Assigning variables Via the menu of an instance - variables in the "PLC” context, use the "Modify Link…" option to open a window for selecting a suitable process object (PDO) for linking: EL1502, EL1512 Version: 3.5...
  • Page 64 4 of the EL1004 terminal is selected for linking. In contrast, the checkbox "All types" must be ticked for creating the link for the output variables, in order to allocate a set of eight separate output bits to a byte variable. The following diagram shows the whole process: Version: 3.5 EL1502, EL1512...
  • Page 65 PDO, it is possible to allocate this a set of bit-standardised variables (type "BOOL"). Here, too, a "Goto Link Variable” from the context menu of a PDO can be executed in the other direction, so that the respective PLC instance can then be selected. EL1502, EL1512 Version: 3.5...
  • Page 66 Fig. 69: TwinCAT development environment (VS shell): logged-in, after program startup The two operator control elements for stopping and logout result in the required action (accordingly also for stop "Shift + F5", or both actions can be selected via the PLC menu). Version: 3.5 EL1502, EL1512...

  • Page 67: Twincat 2

    5.2.1 Installation of the TwinCAT real-time driver In order to assign real-time capability to a standard Ethernet port of an IPC controller, the Beckhoff real-time driver has to be installed on this port under Windows. This can be done in several ways. One option is described here.
  • Page 68 Alternatively an EtherCAT-device can be inserted first of all as described in chapter Offline configuration creation, section “Creating the EtherCAT device” [} 78] in order to view the compatible ethernet ports via its EtherCAT properties (tab „Adapter“, button „Compatible Devices…“): Version: 3.5 EL1502, EL1512...
  • Page 69 After the installation the driver appears activated in the Windows overview for the network interface (Windows Start → System Properties → Network) Fig. 74: Windows properties of the network interface A correct setting of the driver could be: EL1502, EL1512 Version: 3.5...
  • Page 70 Commissioning Fig. 75: Exemplary correct driver setting for the Ethernet port Other possible settings have to be avoided: Version: 3.5 EL1502, EL1512...
  • Page 71 Commissioning Fig. 76: Incorrect driver settings for the Ethernet port EL1502, EL1512 Version: 3.5...
  • Page 72 DHCP. In this way the delay associated with the DHCP client for the Ethernet port assigning itself a default IP address in the absence of a DHCP server is avoided. A suitable address space is 192.168.x.x, for example. Fig. 77: TCP/IP setting for the Ethernet port Version: 3.5 EL1502, EL1512...

  • Page 73: 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 74 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’ [} 78].
  • Page 75 Faulty ESI file If an ESI file is faulty and the System Manager is unable to read it, the System Manager brings up an information window. Fig. 83: Information window for faulty ESI file (left: TwinCAT 2; right: TwinCAT 3) EL1502, EL1512 Version: 3.5...
  • Page 76 Commissioning Reasons may include: • Structure of the *.xml does not correspond to the associated *.xsd file → check your schematics • Contents cannot be translated into a device description → contact the file manufacturer Version: 3.5 EL1502, EL1512...

  • Page 77: Twincat Esi Updater

    Commissioning 5.2.3 TwinCAT ESI Updater For TwinCAT 2.11 and higher, the System Manager can search for current Beckhoff ESI files automatically, if an online connection is available: Fig. 84: Using the ESI Updater (>= TwinCAT 2.11) The call up takes place under: “Options” → "Update EtherCAT Device Descriptions"...

  • Page 78: Offline Configuration Creation

    EL6601/EL6614 terminal select “EtherCAT Automation Protocol via EL6601”. Fig. 87: Selecting the EtherCAT connection (TwinCAT 2.11, TwinCAT 3) Then assign a real Ethernet port to this virtual device in the runtime system. Fig. 88: Selecting the Ethernet port Version: 3.5 EL1502, EL1512...
  • Page 79 Fig. “Selection dialog for new EtherCAT device”. If the preceding device has several free ports (e.g. EK1122 or EK1100), the required port can be selected on the right-hand side (A). Overview of physical layer • “Ethernet”: cable-based 100BASE-TX: EK couplers, EP boxes, devices with RJ45/M8/M12 connector EL1502, EL1512 Version: 3.5...
  • Page 80 (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 81 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 82 Commissioning Fig. 95: EtherCAT terminal in the TwinCAT tree (left: TwinCAT 2; right: TwinCAT 3) Version: 3.5 EL1502, EL1512...

  • Page 83: Online Configuration Creation

    This scan mode attempts to find not only EtherCAT devices (or Ethernet ports that are usable as such), but also NOVRAM, fieldbus cards, SMB etc. However, not all devices can be found automatically. Fig. 98: Note for automatic device scan (left: TwinCAT 2; right: TwinCAT 3) EL1502, EL1512 Version: 3.5...
  • Page 84 [} 88] with the defined initial configuration.Background: since Beckhoff occasionally increases the revision version of the delivered 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 85 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 86 Fig. 107: Displaying of “Free Run” and “Config Mode” toggling right below in the status bar Fig. 108: TwinCAT can also be switched to this state by using a button (left: TwinCAT 2; right: TwinCAT 3) The EtherCAT system should then be in a functional cyclic state, as shown in Fig. “Online display example”. Version: 3.5 EL1502, EL1512...
  • Page 87 The connections and devices should be checked in a targeted manner, e.g. via the emergency scan. Then re-run the scan. Fig. 110: Faulty identification In the System Manager such devices may be set up as EK0000 or unknown devices. Operation is not possible or meaningful. EL1502, EL1512 Version: 3.5...
  • Page 88 A ‘ChangeTo’ or ‘Copy’ should only be 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 89 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 90 This function is preferably to be used on AX5000 devices. Change to Alternative Type The TwinCAT System Manager offers a function for the exchange of a device: Change to Alternative Type Fig. 116: TwinCAT 2 Dialog Change to Alternative Type Version: 3.5 EL1502, EL1512...

  • Page 91: Ethercat Subscriber Configuration

    Here you can add a comment (e.g. regarding the system). Disabled Here you can deactivate the EtherCAT device. Create symbols Access to this EtherCAT slave via ADS is only available if this control box is activated. EL1502, EL1512 Version: 3.5...
  • Page 92 CANopen process data objects (Process Data Objects, PDOs). The user can select a PDO via PDO assignment and modify the content of the individual PDO via this dialog, if the EtherCAT slave supports this function. Version: 3.5 EL1502, EL1512...
  • Page 93 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 94 (CoE) or Servo drive over EtherCAT protocol. This tab indicates which download requests are sent to the mailbox during startup. It is also possible to add new mailbox requests to the list display. The download requests are sent to the slave in the same order as they are shown in the list. Version: 3.5 EL1502, EL1512...
  • Page 95 (CoE) protocol. This dialog lists the content of the object list of the slave (SDO upload) and enables the user to modify the content of an object from this list. Details for the objects of the individual EtherCAT devices can be found in the device-specific object descriptions. EL1502, EL1512 Version: 3.5...
  • Page 96 The object can be read, and data can be written to the object (read/write) The object can be read, but no data can be written to the object (read only) An additional P identifies the object as a process data object. Value Value of the object Version: 3.5 EL1502, EL1512...
  • Page 97 Offline - via EDS File If this option button is selected, the list of the objects included in the object list is read from an EDS file provided by the user. EL1502, EL1512 Version: 3.5...
  • Page 98 Requested State Indicates the state requested for the EtherCAT device. DLL Status Indicates the DLL status (data link layer status) of the individual ports of the EtherCAT slave. The DLL status can have four different states: Version: 3.5 EL1502, EL1512...
  • Page 99 • DC-Synchron Advanced Settings… Advanced settings for readjustment of the real time determinant TwinCAT- clock Detailed information to Distributed Clocks are specified on http://infosys.beckhoff.com: Fieldbus Components → EtherCAT Terminals → EtherCAT System documentation → EtherCAT basics → Distributed Clocks 5.2.7.1...
  • Page 100 The required commands to be sent to the device can be viewed in the Startup [} 94] tab. PDO Configuration If this check box is selected, the configuration of the respective PDOs (as shown in the PDO list and the PDO Content display) is downloaded to the EtherCAT slave. Version: 3.5 EL1502, EL1512...

  • Page 101: General Notes - Ethercat Slave Application

    Information variables for the EtherCAT Master that are updated acyclically. This means that it is possible that in any particular cycle they do not represent the latest possible status. It is therefore useful to read such variables through ADS. EL1502, EL1512 Version: 3.5...
  • Page 102 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 103 The CoE parameter directory (CanOpen-over-EtherCAT) is used to manage the set values for the slave concerned. Changes may, in some circumstances, have to be made here when commissioning a relatively complex EtherCAT Slave. It can be accessed through the TwinCAT System Manager, see Fig. “EL3102, CoE directory”: EL1502, EL1512 Version: 3.5...
  • Page 104 Commissioning interfaces are being introduced as part of an ongoing process for EL/EP EtherCAT devices. These are available in TwinCAT System Managers from TwinCAT 2.11R2 and above. They are integrated into the System Manager through appropriately extended ESI configuration files. Version: 3.5 EL1502, EL1512...
  • Page 105 The target state wanted by the user, and which is brought about automatically at start-up by TwinCAT, can be set in the System Manager. As soon as TwinCAT reaches the status RUN, the TwinCAT EtherCAT Master will approach the target states. EL1502, EL1512 Version: 3.5...
  • Page 106 Fig. 131: Default behaviour of the System Manager In addition, the target state of any particular Slave can be set in the "Advanced Settings" dialogue; the standard setting is again OP. Fig. 132: Default target state in the Slave Version: 3.5 EL1502, EL1512...
  • Page 107 The pre-calculated theoretical maximum E-Bus current is displayed in the TwinCAT System Manager as a column value. A shortfall is marked by a negative total amount and an exclamation mark; a power feed terminal is to be placed before such a position. EL1502, EL1512 Version: 3.5...
  • Page 108 Fig. 135: Warning message for exceeding E-Bus current NOTE Caution! Malfunction possible! The same ground potential must be used for the E-Bus supply of all EtherCAT terminals in a terminal block! Version: 3.5 EL1502, EL1512...

  • Page 109: Basic Function Principles

    Clock 2 input (terminal point 5) as the input for the second counter. Beyond that, two digital outputs can be set (EL1502 only). The maximum input frequency is limited to 100 kHz for the EL1502 and 1 kHz for the EL1512; the counters react to the rising edge of the input signal.
  • Page 110 0x7020:04 [} 133]) and the outputs activated (index 0x7000:02 [} 132], 0x7010:02 [} 132], 0x7020:02 [} 133], EL1502 only). In addition an internal function can be activated that enables the automatic setting of outputs with defined counter values (index 0x8000:01 [} 130], 0x8010:01 [} 130], 0x8020:01 [} 131], EL1502 only). Version: 3.5 EL1502, EL1512...

  • Page 111: Operating Modes

    Example of the logical "On" condition for output 1: Output 1 = (counter >= 0x80nn:11) and (0x80nn:01 = TRUE) and (Control.EnableOutputFunctions = TRUE) Use the corresponding CoE parameters for the respective mode. See mode overview, for example. EL1502, EL1512 Version: 3.5...
  • Page 112 Counter Reload If the internal counter should only count up to (and including) a limit value and automatically reset itself to 0 when the value is exceeded, this can parameterized as follows: Fig. 140: CounterReload parameterized to 30 Version: 3.5 EL1502, EL1512...
  • Page 113 0x1A01 – CNT Inputs Channel 2 0:up counter 1:down counter 0x1600 – CNT Outputs Channel 1 0x1601 – CNT Outputs Channel 2 In addition, the distributed clock function may be activated for the EL1502; see below [} 117] EL1502, EL1512 Version: 3.5...
  • Page 114 The active PDOs are displayed in the TwinCAT tree (F) and can be linked. A detailed description of the PDO selection can be found in the chapter "Detailed description of Process Data tab [} 92]". Fig. 141: EL1502-0000-0021 - Predefined PDO selection Version: 3.5 EL1502, EL1512...
  • Page 115 2. Selection in the indices 0x8000:04 for channel 1 and 0x8010:04 for channel 2 (see blue marking in fig- ure below). Two selection options are available per channel in the Set Value Dialog: ◦ 0: up counter ◦ 1: down counter EL1502, EL1512 Version: 3.5...
  • Page 116 Commissioning Fig. 142: Setting the counter via the CoE directory Please observe the notes on settings in the CoE directory [} 23] Version: 3.5 EL1502, EL1512...
  • Page 117 • SM Synchronous The SynManager event occurs when an EtherCAT frame successfully exchanges process data with the EL1502. Frame-triggered, the current counter value is thus cyclically determined, but with the low temporal jitter of the Ethernet frame. EL1502, EL1512 Version: 3.5...
  • Page 118 EtherCAT datagram. This setting may be useful in systems with high real-time jitter, if no Industrial PCs from Beckhoff are used for control purposes, for example. CAUTION CAUTION! Risk of device damage! The mentioned notes and information should be used advisedly.
  • Page 119 EtherCAT frame that will fetch them, thereby supplying the most recent possible input data to the controller. • Enable SYNC0 Automatically activated in DC Synchronous operating mode. • SYNC1 Additional SYNC pulse, derived from SYNC0 or from the DC itself. Not required by the EL1502. EL1502, EL1512 Version: 3.5...
  • Page 120 Higher-level distributed clock parameters can be modified under advanced settings for the EtherCAT master. Refer also to the basic introduction to the topic of EtherCAT and Distributed Clocks; download: the “Distributed clocks system description”. Fig. 146: EtherCAT Master, EtherCAT tab, Advanced Settings Fig. 147: EtherCAT Master, EtherCAT tab, Advanced Settings Version: 3.5 EL1502, EL1512...

  • Page 121: El1512 Operating Modes

    - Standard scope of process data [} 126] 5.5.2.1 Operating mode selection The EL1512 can be operated in four operating modes: The setting takes place by the setting of single-channel operation or operation with two separate channels through the selection of the process data objects [} 123] Counter settings (up/down counter, gated counter) in the CoE directory [} 124].
  • Page 122 Index 0x8000:04 (Channel1) und (default) 0x1A00 – CNT Inputs Channel 1 Index 0x8010:04 (Channel2) 0x1A01 – CNT Inputs Channel 2 0:up counter 1:down counter 0x1600 – CNT Outputs Channel 1 0x1601 – CNT Outputs Channel 2 Version: 3.5 EL1502, EL1512...
  • Page 123 Operating mode selection – setting of process data objects (PDO) The process data to be transmitted (PDO, ProcessDataObjects) can be selected by the user • via the "Predefined PDO Assignment" selection dialog; see fig. (E) below. The EL1512 offers a choice of two different "Predefined PDO Assignments": ◦...
  • Page 124 2. Selection in the indices 0x8000:04 for channel 1 and 0x8010:04 for channel 2 (see blue marking in fig- ure below). Two selection options are available per channel in the Set Value Dialog: ◦ 0: up counter ◦ 1: down counter Version: 3.5 EL1502, EL1512...
  • Page 125 Commissioning Fig. 150: Setting the counter via the CoE directory Please observe the notes on settings in the CoE directory [} 23] EL1502, EL1512 Version: 3.5...
  • Page 126 Commissioning Fig. 151: EL1512-0000-0020 – Standard scope of process data Version: 3.5 EL1502, EL1512...

  • Page 127: Process Data

    Commissioning 5.5.3 Process data The extent of the offered process data can be modified via the "Process data" tab, see also EL1502 [} 111] and EL1512 [} 121] operating modes. 5.5.3.1 EL1502 - PDO assignment SM2, PDO assignment 0x1C12 Index Index of excluded...
  • Page 128 Index 0x6020:05 [} 142] - Status of input UD Index 0x6020:06 [} 142] - Status of input clock Index 0x1802:09 [} 146] - TxPDO Toggle Index 0x6020:11 [} 142] - Counter value Table 2: PDO assignment of sync managers, EL1512 Version: 3.5 EL1502, EL1512...

  • Page 129: Object Description And Parameterization

    EtherCAT XML Device Description The display matches that of the CoE objects from the EtherCAT XML Device Description. We rec- ommend downloading the latest XML file from the download area of the Beckhoff website and in- stalling it according to installation instructions.
  • Page 130 UINT32 0x00000000 value 8010:13 Counter reload value The limit that can be activated via "Enable reload" (in- UINT32 0x00000001 dex 0x8010:03 [} 130]). The counter counts to this limit and, on exceeding it, begins again at zero. Version: 3.5 EL1502, EL1512...
  • Page 131 Sync Error Synchronization error BOOLEAN 0x00 (0 6000:10 TxPDO Toggle The TxPDO toggle is toggled by the slave when the BOOLEAN 0x00 (0 data of the associated TxPDO is updated 6000:11 Counter value Counter value UINT32 0x00000000 EL1502, EL1512 Version: 3.5...
  • Page 132 The counter is stopped as long as this bit is active. BOOLEAN 0x00 (0 The previous counter state is retained. 7010:11 Set counter value This is the counter value to be set via “Set counter” (in- UINT32 0x00000000 dex 0x7010:03 [} 132]). Version: 3.5 EL1502, EL1512...
  • Page 133 Default 1000:0 Device type Device type of the EtherCAT slave: the Lo-Word con- UINT32 0x00961389 tains the CoE profile used (5001). The Hi-Word con- (9835401 tains the module profile according to the modular de- vice profile. EL1502, EL1512 Version: 3.5...
  • Page 134 CNT RxPDO-Par PDO Parameter RxPDO 3 UINT8 0x06 (6 1402:06 Exclude RxPDOs Specifies the RxPDOs (index of RxPDO mapping ob- OCTET- 00 16 01 16 jects) that must not be transferred together with Rx- STRING[4] PDO 3 Version: 3.5 EL1502, EL1512...
  • Page 135 Specifies the TxPDOs (index of TxPDO mapping ob- OCTET- 02 1A 00 00 jects) that must not be transferred together with Tx- STRING[4] PDO 1 1800:09 TxPDO-Toggle The TxPDO toggle is toggled with each update the cor- BOOLEAN 0x00 (0 responding input data EL1502, EL1512 Version: 3.5...
  • Page 136 SubIndex 010 10. PDO Mapping entry (object 0x1800 (CNT TxPDO- UINT32 0x1800:09, 1 Par Ch.1), entry 0x09 (TxPDO-Toggle)) 1A00:0B SubIndex 011 11. PDO Mapping entry (object 0x6000 (CNT Inputs UINT32 0x6000:11, 32 Ch.1), entry 0x11 (Counter value)) Version: 3.5 EL1502, EL1512...
  • Page 137 Sync-Manager Type Channel 2: Mailbox Read UINT8 0x02 (2 1C00:03 SubIndex 003 Sync-Manager Type Channel 3: Process Data Write UINT8 0x03 (3 (Outputs) 1C00:04 SubIndex 004 Sync-Manager Type Channel 4: Process Data Read UINT8 0x04 (4 (Inputs) EL1502, EL1512 Version: 3.5...
  • Page 138 Subindex 001 1. allocated TxPDO (contains the index of the associ- UINT16 0x1A02 ated TxPDO mapping object) (6658 1C13:02 Subindex 002 2. allocated TxPDO (contains the index of the associ- UINT16 0x0000 (0 ated TxPDO mapping object) Version: 3.5 EL1502, EL1512...
  • Page 139 Shift too short counter Number of occasions that the interval between SYNC0 UINT16 0x0000 (0 and SYNC1 event was too short (DC mode only) 1C32:20 Sync error The synchronization was not correct in the last cycle BOOLEAN 0x00 (0 (outputs were output too late; DC mode only) EL1502, EL1512 Version: 3.5...

  • Page 140: El1512 - Object Description And Parameterization

    EtherCAT XML Device Description The display matches that of the CoE objects from the EtherCAT XML Device Description. We rec- ommend downloading the latest XML file from the download area of the Beckhoff website and in- stalling it according to installation instructions.
  • Page 141 • 1: Enable pos. gate (gate inhibits with positive level) • 2: Enable neg. gate (gate inhibits with negative level) 5.6.2.3 Profile-specific objects (0x6000-0xFFFF) The profile-specific objects have the same meaning for all EtherCAT slaves that support the profile 5001. EL1502, EL1512 Version: 3.5...
  • Page 142 The counter is stopped as long as this bit is active. BOOLEAN 0x00 (0 The previous counter state is retained. 7010:11 Set counter value This is the counter value to be set via “Set counter” (in- UINT32 0x00000000 dex 0x7010:03 [} 142]). Version: 3.5 EL1502, EL1512...
  • Page 143 CoE profile used (5001). The Hi-Word con- (9835401 tains the module profile according to the modular de- vice profile. Index 1008 Device name Index (hex) Name Meaning Data type Flags Default 1008:0 Device name Device name of the EtherCAT slave STRING EL1512 EL1502, EL1512 Version: 3.5...
  • Page 144 CNT RxPDO-Par PDO Parameter RxPDO 3 UINT8 0x06 (6 1402:06 Exclude RxPDOs Specifies the RxPDOs (index of RxPDO mapping ob- OCTET- 00 16 01 16 jects) that must not be transferred together with Rx- STRING[4] PDO 3 Version: 3.5 EL1502, EL1512...
  • Page 145 Specifies the TxPDOs (index of TxPDO mapping ob- OCTET- 02 1A 00 00 jects) that must not be transferred together with Tx- STRING[4] PDO 2 1801:09 TxPDO-Toggle The TxPDO toggle is toggled with each update the cor- BOOLEAN 0x00 (0 responding input data EL1502, EL1512 Version: 3.5...
  • Page 146 1A02:07 SubIndex 007 7. PDO Mapping entry (object 0x1801 (CNT TxPDO- UINT32 0x1802:09, 1 Par), entry 0x09 (TxPDO-Toggle)) 1A02:08 SubIndex 008 8. PDO Mapping entry (object 0x6010 (CNT Inputs), UINT32 0x6020:11, 32 entry 0x11 (Counter value)) Version: 3.5 EL1502, EL1512...
  • Page 147 Subindex 001 1. allocated TxPDO (contains the index of the associ- UINT16 0x1A00 ated TxPDO mapping object) (6656 1C13:02 Subindex 002 2. allocated TxPDO (contains the index of the associ- UINT16 0x1A01 ated TxPDO mapping object) (6657 EL1502, EL1512 Version: 3.5...
  • Page 148 Shift too short counter Number of occasions that the interval between SYNC0 UINT16 0x0000 (0 and SYNC1 event was too short (DC mode only) 1C32:20 Sync error The synchronization was not correct in the last cycle BOOLEAN 0x00 (0 (outputs were output too late; DC mode only) Version: 3.5 EL1502, EL1512...
  • Page 149 0x0000 (0 as 0x1C32:11 [} 148] counter 1C33:0C Cycle exceeded UINT16 0x0000 (0 as 0x1C32:12 [} 148] counter 1C33:0D Shift too short counter as 0x1C32:13 [} 148] UINT16 0x0000 (0 1C33:20 Sync error BOOLEAN 0x00 (0 as 0x1C32:32 [} 148] EL1502, EL1512 Version: 3.5...

  • Page 150: 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 151: 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 152 The device revision is closely linked to the firmware and hardware used. Incompatible combinations lead to malfunctions or even final shutdown of the device. Corresponding updates should only be carried out in consultation with Beckhoff support. Display of ESI slave identifier...
  • Page 153 The ESI/EEPROM identifier can be updated as follows under TwinCAT: • Trouble-free EtherCAT communication must be established with the slave. • The state of the slave is irrelevant. • Right-clicking on the slave in the online display opens the EEPROM Update dialog, Fig. EEPROM Update EL1502, EL1512 Version: 3.5...

  • Page 154: Firmware Explanation

    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 KK - week of production (CW, calendar week)

  • Page 155: Updating Controller Firmware *.Efw

    • offline: The EtherCAT Slave Information ESI/XML may contain the default content of the CoE. This CoE directory can only be displayed if it is included in the ESI (e.g. "Beckhoff EL5xxx.xml"). The Advanced button must be used for switching between the two views.
  • Page 156 Appendix Fig. 159: 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). A FW-Update during real time operation is not recommended.

  • Page 157: Fpga Firmware *.Rbf

    The TwinCAT System Manager indicates the FPGA firmware version. Click on the Ethernet card of your EtherCAT strand (Device 2 in the example) and select the Online tab. The Reg:0002 column indicates the firmware version of the individual EtherCAT devices in hexadecimal and decimal representation. EL1502, EL1512 Version: 3.5...
  • Page 158 Fig. 161: Context menu Properties The Advanced Settings dialog appears where the columns to be displayed can be selected. Under Diagnosis/Online View select the '0002 ETxxxx Build' check box in order to activate the FPGA firmware version display. Version: 3.5 EL1502, EL1512...
  • Page 159 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 160 • 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: Version: 3.5 EL1502, EL1512...

  • Page 161: Simultaneous Updating Of Several Ethercat Devices

    The firmware and ESI descriptions of several devices can be updated simultaneously, provided the devices have the same firmware file/ESI. Fig. 163: Multiple selection and firmware update Select the required slaves and carry out the firmware update in BOOTSTRAP mode as described above. EL1502, EL1512 Version: 3.5...

  • Page 162: Restoring The Delivery State

    Fig. 165: Entering a restore value in the Set Value dialog Alternative restore value In some older terminals the backup objects can be switched with an alternative restore value: Deci- mal value: 1819238756, Hexadecimal value: 0x6C6F6164An incorrect entry for the restore value has no effect. Version: 3.5 EL1502, EL1512...

  • Page 163: 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 164 Startup list in the TwinCAT System Manager ................Fig. 16 Offline list ............................. Fig. 17 Online list ............................ Fig. 18 Spring contacts of the Beckhoff I/O components................. Fig. 19 Attaching on mounting rail ......................Fig. 20 Disassembling of terminal......................Fig. 21 Power contact on left side......................
  • Page 165 Information window for faulty ESI file (left: TwinCAT 2; right: TwinCAT 3)........Fig. 84 Using the ESI Updater (>= TwinCAT 2.11).................. Fig. 85 Using the ESI Updater (TwinCAT 3).................... Fig. 86 Append EtherCAT device (left: TwinCAT 2; right: TwinCAT 3) ........... Fig. 87 Selecting the EtherCAT connection (TwinCAT 2.11, TwinCAT 3)..........EL1502, EL1512 Version: 3.5...
  • Page 166 Fig. 128 Basic EtherCAT Slave Diagnosis in the PLC................102 Fig. 129 EL3102, CoE directory ........................ 104 Fig. 130 Example of commissioning aid for a EL3204 ................105 Fig. 131 Default behaviour of the System Manager .................. 106 Version: 3.5 EL1502, EL1512...
  • Page 167 Fig. 149 EL1512-0000-0020 - Predefined PDO selection ................. 123 Fig. 150 Setting the counter via the CoE directory ..................125 Fig. 151 EL1512-0000-0020 – Standard scope of process data ............... 126 Fig. 152 Device identifier consisting of name EL3204-0000 and revision -0016 ........152 Fig.

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