Table Of Contents - Beckhoff EtherCAT EL6752 Documentation

Table of contents

1 Foreword .................................................................................................................................................... 5
1.1 Notes on the documentation.............................................................................................................. 5
1.2 Safety instructions ............................................................................................................................. 6
1.3 Documentation issue status .............................................................................................................. 7
1.4 Version identification of EtherCAT devices ....................................................................................... 7
2 Product overview..................................................................................................................................... 12
2.1 Introduction ...................................................................................................................................... 12
2.2 Technical data ................................................................................................................................. 13
3 Basic DeviceNet principles..................................................................................................................... 14
4 Mounting and cabling.............................................................................................................................. 15
4.1 Instructions for ESD protection ........................................................................................................ 15
4.2 Recommended mounting rails ......................................................................................................... 15
4.3 Mounting and demounting - terminals with traction lever unlocking ................................................ 15
4.4 Mounting and demounting - terminals with front unlocking ............................................................. 17
4.5 DeviceNet wiring.............................................................................................................................. 19
4.5.1 CAN / DeviceNet topology ............................................................................................... 19
4.5.2 Bus length........................................................................................................................ 20
4.5.3 Drop lines......................................................................................................................... 20
4.5.4 Star Hub (Multiport Tap) .................................................................................................. 21
4.5.5 CAN cable........................................................................................................................ 22
4.5.6 Shielding .......................................................................................................................... 22
4.5.7 Cable colours and pin assignment................................................................................... 23
4.6 Installation positions ........................................................................................................................ 23
4.7 Positioning of passive Terminals ..................................................................................................... 26
4.8 ATEX - Special conditions (standard temperature range) ............................................................... 27
5 DeviceNet communication...................................................................................................................... 28
5.1 DeviceNet Introduction .................................................................................................................... 28
5.2 Explicit messages ............................................................................................................................ 30
6 Parameterization and commissioning ................................................................................................... 32
6.1 CoE Interface................................................................................................................................... 32
6.2 General notes for setting the watchdog ........................................................................................... 36
6.3 EtherCAT State Machine ................................................................................................................. 38
6.4 TwinCAT System Manager.............................................................................................................. 41
6.5 Beckhoff DeviceNet Bus Coupler .................................................................................................... 51
6.6 General DeviceNet device ............................................................................................................... 56
6.6.1 Integrating a DeviceNet device with EDS file .................................................................. 56
6.6.2 Integrating a DeviceNet device without EDS file ............................................................. 57
6.6.3 Parameterization of a DeviceNet device.......................................................................... 60
6.7 EtherCAT description ...................................................................................................................... 65
6.7.1 Introduction ...................................................................................................................... 65
6.7.2 Object description and parameterization ......................................................................... 70
7 Error handling and diagnostics.............................................................................................................. 82
7.1 EL6752 - LED description................................................................................................................ 82
EL6752 Version: 2.1
Table of contents
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