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Beckhoff EL6601 Documentation

Switch terminals for ethernet
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EL6601, EL6614
Switch Terminals for Ethernet
Version:
Date:
4.2
2019-05-03

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Summary of Contents for Beckhoff EL6601

  • Page 1 Documentation EL6601, EL6614 Switch Terminals for Ethernet Version: Date: 2019-05-03...

  • Page 3: Table Of Contents

    Version identification of EtherCAT devices .................. 8 2 Product overview............................. 12 Introduction ............................ 12 Technical data .......................... 14 Basic function principles ........................ 14 EL66xx - Non Realtime........................ 17 EL66xx and Beckhoff network variables.................. 22 2.5.1 Explanation network variables .................. 22 2.5.2 Settings in the System Manager.................. 24 2.5.3 Notes ..........................
  • Page 4 Configuration of the Publisher .................. 98 5.4.3 Configuration of the Subscriber .................. 101 5.4.4 Beckhoff network variables - Settings................ 105 6 Application samples.......................... 113 Sample programs .......................... 113 Application sample - network printer ..................... 114 Application sample - Service interface with remote desktop ............ 119 Application sample - Lower-level control system................ 129...

  • Page 5: Foreword

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

  • Page 6: Safety Instructions

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

  • Page 7: Documentation Issue Status

    - Technical data added (object description) - Technical data completed, explanations on mailbox communication and network variables added - Technical data added, UL labelling added - Technical data added, first public issue - Preliminary documentation for EL6601 EL6601, EL6614 Version: 4.2...

  • Page 8: Version Identification Of Ethercat Devices

    Production lot/batch number/serial number/date code/D number The serial number for Beckhoff IO devices is usually the 8-digit number printed on the device or on a sticker. The serial number indicates the configuration in delivery state and therefore refers to a whole production batch, without distinguishing the individual modules of a batch.

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

    • IP67: EtherCAT Box • Safety: TwinSafe • 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) EL6601, EL6614 Version: 4.2...

  • Page 10: Fig. 2 Ek1100 Ethercat Coupler, Standard Ip20 Io Device With Serial/ Batch Number

    Foreword Fig. 2: EK1100 EtherCAT coupler, standard IP20 IO device with serial/ batch number Fig. 3: CU2016 switch with serial/ batch number Fig. 4: EL3202-0020 with serial/ batch number 26131006 and unique ID-number 204418 Version: 4.2 EL6601, EL6614...

  • Page 11: Fig. 5 Ep1258-00001 Ip67 Ethercat Box With Batch Number/ Date Code 22090101 And Unique Se- Rial Number 158102

    Fig. 6: EP1908-0002 IP67 EtherCAT Safety Box with batch number/ date code 071201FF and unique serial number 00346070 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 EL6601, EL6614 Version: 4.2...

  • Page 12: Product Overview

    In full duplex mode, it thus enables collision-free communication of the connected devices with each other. Any number of EL6601/EL6614 can be used simultaneously and at any position in the EtherCAT terminal network. No configuration is required. In conjunction with the network port at the EtherCAT master the EL6601/EL6614 devices operate like a virtual switch whose ports are distributed in the field.

  • Page 13: Fig. 10 El6601 As A Virtual, Field-Distributed Switch

    Product overview Fig. 10: EL6601 as a virtual, field-distributed switch Further benefits underline the particular suitability for the application in industrial environments: • Compact design in EtherCAT terminal housing • 10/100 MBaud, half or full duplex, with automatic baud rate detection •...

  • Page 14: Technical Data

    100 Mbit/s possible, automatic settings Network variables EL6601 as of Firmware 07, EL6614 as of Firmware 03: max 32 Publishers with total of max. 1024 bytes total data [} 22] max 32 Subscriber with total of max. 1024 bytes total data [} 22]...

  • Page 15: Fig. 11 El66Xx Data Diagram

    Product overview • Real-time data exchange: Publisher/subscriber, Beckhoff network variables, EtherCAT Automation Protocol The TwinCAT configuration file *.tsm configures an EL66xx when EtherCAT starts up with CoE parameters in such a way that it ◦ transmits, as the publisher, data delivered through the cyclical data transfer in the real-time cycle.

  • Page 16: Fig. 12 Ip Settings Ethercat Port

    For this reason, do not let the Ethernet connection between the primary EtherCAT port and the first EtherCAT slave fail, since otherwise IP communication is no longer possible via the EL66xx. Version: 4.2 EL6601, EL6614...

  • Page 17: El66Xx - Non Realtime

    Ethernet line is free for acyclical mailbox communication, the higher the Ethernet data throughput of the EL6601. • The mailbox size [} 19] in bytes: The larger the mailbox, the more Ethernet frames the EL6601 can send to the EtherCAT master or received from it simultaneously.

  • Page 18: Fig. 14 Real Frame Structure From The Twincat System Manager

    Address assignment From FW03 onwards, the EL6601/6614 can also assign IP addresses to connected devices and works as a DHCP or BOOTP server for one device. The following settings are required in the System Manager (EL66xx -->...

  • Page 19: Fig. 15 Default Setting Of The El66Xx As Switch Port Without Ip Address Assignment

    • DHCP Server Identifier: several DHCP Servers need a ServerID in the response telegram. Solution for the EL6601 from firmware 15: the value 0x1000 has to be entered in the object 0xF800:01. If a Default Gateway is registered in the EL6601, it is used as a DHCP Server Identifier.

  • Page 20: Fig. 17 Default Mailbox Settings

    As of Revision EL66xx-0000-0018 the mailbox is already set to 1024 Byte by default in both direc- tions, therefore it cannot be further enlarged. The previous statements apply for terminals with Revision -0000, -0016 or -0017. Version: 4.2 EL6601, EL6614...

  • Page 21: Fig. 18 Increasing The Mailbox

    Product overview Fig. 18: Increasing the mailbox Under EL6601 -> EtherCAT tab -> "Advanced Settings…" -> "Mailbox" the "Out Size" can be set to hexadecimal values between 42 and 1024 /400 bytes. Ethernet frames that are larger than the EL6601 mailbox are fragmented by the EL6601 or the EtherCAT master and reassembled after passing through the EtherCAT system.

  • Page 22: El66Xx And Beckhoff Network Variables

    Explanation network variables Network variables The EL66xx support sending/receiving network variables. This applies for the EL6601 as of Firmware 07, for the EL6614 as of Firmware 03. A maximum of 32 for each, publishers and subscriber, are permitted per EL66xx.
  • Page 23 . TwinCAT from version 2.11 is required for the *.tsm System Manager file. The EL6601 is used as a sample to explain configuration as publisher or subscriber for network variables. The dialogs under TwinCAT 2.10 and TwinCAT 2.11 here are slightly different.

  • Page 24: Settings In The System Manager

    Product overview Fig. 21: Notice on exceeding configured data volume Note regarding the data quantity The EL66xx (EL6601 from FW07, EL6614 from FW03) has an 8 kbyte data memory with the following default allocation Type Usable extent Operation mode Allocated memory...

  • Page 25: Notes

    2.5.4 Suppress publisher Applicable: TwinCAT from version 2.11, EL6601 from FW08, EL6614 from FW04 If the EL66xx is operated with a short cycle time and with publishers configured, this can place a high loading on the connected network. For this reason, the EL66xx can be configured in such a way that the transmission of individual publishers can be blocked through the DevCtrl variable.

  • Page 26: Filter Subscribers

    Note: In this documentation, bit counting starts from 0: value.0, value.1, ... 2.5.6 Setting up TwinCAT 2.10 Once the EtherCAT bus and its devices have been configured, the EL6601 is appended as a separate device in the configuration tree. Version: 4.2...

  • Page 27: Fig. 23 Append Device

    Product overview Fig. 23: Append device In the selection dialog an EL6601 is offered as a real-time Ethernet device. The EL6601 must also be selected here when an EL6614 is being used. Fig. 24: Select EL6601 An imaginary box is now appended to the EL6601 as publisher or subscriber.

  • Page 28: Fig. 25 Append Box

    Product overview Fig. 25: Append box Fig. 26: Append network variable The "EL6601 device" is now linked to the actual EL6601 or EL6614 in the selection dialog ("Adapter" tab -> "Search..."). Fig. 27: Link device with EL6601 All further steps are done as described in the preceding sections.

  • Page 29: Setting Up Twincat 2.11

    Select the EtherCAT Automation Protocol in the device dialog: Fig. 29: Select EtherCAT Automation Protocol The new device is automatically assigned to an available EL66xx, or this can also be done manually: Fig. 30: Device assignment to the EL66xx Transmitter/receiver variables must now be created: EL6601, EL6614 Version: 4.2...

  • Page 30: Configuration In The Cx20X0 & Cx50X0 System

    K-bus with automatic switching. The EL66xx devices in the TwinCAT system generally appear as virtual switch, with the EtherCAT system as the "backbone". In the CX20x0 and CX50x0 system, the internal interface connection is not implemented through a network interface, but through an FPGA. Version: 4.2 EL6601, EL6614...

  • Page 31: Fig. 34 Virtual Twincat Switch In The Cx20X0 & Cx50X0 System

    • The internal PCI port is detected during offline configuration and must be selected Fig. 35: Dialog for selection of the PCI port • The customer specified configuration can be created, and the EL66xx can be inserted in the configuration EL6601, EL6614 Version: 4.2...

  • Page 32: Fig. 36 Insertion Of The El66Xx In The Configuration

    Follow these tips and the countermeasures listed. Prerequisites Check the following:  Virtual Ethernet switch is not enabled Check the virtual switch settings [} 21] and the corresponding notes TwinCAT2 and TwinCAT3 are installed Possible driver conflict, please contact Beckhoff support simultaneously Version: 4.2 EL6601, EL6614...

  • Page 33: 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 34: 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: 4.2 EL6601, EL6614...

  • Page 35: Fig. 39 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. EL6601, EL6614 Version: 4.2...

  • Page 36: 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: 4.2 EL6601, EL6614...

  • Page 37: Fig. 40 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. EL6601, EL6614 Version: 4.2...

  • Page 38: 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: 4.2 EL6601, EL6614...

  • Page 39: Fig. 41 "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 40 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 41 ◦ 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. 44: Online list EL6601, EL6614 Version: 4.2...
  • Page 42 • 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: 4.2 EL6601, EL6614...

  • Page 43: 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. EL6601, EL6614 Version: 4.2...

  • Page 44: Mounting And Wiring

    Bus Terminals! Mounting • Fit the mounting rail to the planned assembly location. and press (1) the terminal module against the mounting rail until it latches in place on the mounting rail (2). Version: 4.2 EL6601, EL6614...

  • Page 45: 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! EL6601, EL6614 Version: 4.2...

  • Page 46: Installation Positions

    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. Version: 4.2 EL6601, EL6614...
  • Page 47 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. EL6601, EL6614 Version: 4.2...

  • Page 48: 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 com- ponents with extended temperature range (ET) in potentially explosive areas! •...

  • Page 49: Atex Documentation

    Notes about operation of the Beckhoff terminal systems in potentially explosive ar- eas (ATEX) Pay also attention to the continuative documentation Notes about operation of the Beckhoff terminal systems in potentially explosive areas (ATEX) that is available in the download area of the Beckhoff homepage http:\\www.beckhoff.com! EL6601, EL6614...

  • Page 50: Commissioning

    5.1.1 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 51 Alternatively an EtherCAT-device can be inserted first of all as described in chapter Offline configuration creation, section “Creating the EtherCAT device” [} 60] in order to view the compatible ethernet ports via its EtherCAT properties (tab „Adapter“, button „Compatible Devices…“): EL6601, EL6614 Version: 4.2...
  • Page 52 After the installation the driver appears activated in the Windows overview for the network interface (Windows Start → System Properties → Network) Fig. 53: Windows properties of the network interface A correct setting of the driver could be: Version: 4.2 EL6601, EL6614...
  • Page 53 Commissioning Fig. 54: Exemplary correct driver setting for the Ethernet port Other possible settings have to be avoided: EL6601, EL6614 Version: 4.2...
  • Page 54 Commissioning Fig. 55: Incorrect driver settings for the Ethernet port Version: 4.2 EL6601, EL6614...
  • Page 55 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 used it is useful to specify a fixed IP address for this port via the “Internet Protocol TCP/IP” driver setting and to disable DHCP.

  • Page 56: 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 57 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’ [} 60].
  • Page 58 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. 62: Information window for faulty ESI file (left: TwinCAT 2; right: TwinCAT 3) Version: 4.2 EL6601, EL6614...
  • Page 59 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 EL6601, EL6614 Version: 4.2...

  • Page 60: Offline Configuration Creation

    Fig. 63: Append EtherCAT device (left: TwinCAT 2; right: TwinCAT 3) Select type ‘EtherCAT’ for an EtherCAT I/O application with EtherCAT slaves. For the present publisher/ subscriber service in combination with an EL6601/EL6614 terminal select “EtherCAT Automation Protocol via EL6601”. Fig. 64: Selecting the EtherCAT connection (TwinCAT 2.11, TwinCAT 3) Then assign a real Ethernet port to this virtual device in the runtime system.
  • Page 61 (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 • “E-Bus”: LVDS “terminal bus”, “EJ-module”: EL/ES terminals, various modular modules EL6601, EL6614 Version: 4.2...
  • Page 62 (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 63 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 64 Commissioning Fig. 72: EtherCAT terminal in the TwinCAT tree (left: TwinCAT 2; right: TwinCAT 3) Version: 4.2 EL6601, EL6614...

  • Page 65: 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. 75: Note for automatic device scan (left: TwinCAT 2; right: TwinCAT 3) EL6601, EL6614 Version: 4.2...
  • Page 66 [} 70] 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 67 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 68 Fig. 84: Displaying of “Free Run” and “Config Mode” toggling right below in the status bar Fig. 85: 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: 4.2 EL6601, EL6614...
  • Page 69 The connections and devices should be checked in a targeted manner, e.g. via the emergency scan. Then re-run the scan. Fig. 87: Faulty identification In the System Manager such devices may be set up as EK0000 or unknown devices. Operation is not possible or meaningful. EL6601, EL6614 Version: 4.2...
  • Page 70 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 71 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 72 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. 93: TwinCAT 2 Dialog Change to Alternative Type Version: 4.2 EL6601, EL6614...

  • Page 73: 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. EL6601, EL6614 Version: 4.2...
  • Page 74 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: 4.2 EL6601, EL6614...
  • Page 75 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 76 (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: 4.2 EL6601, EL6614...
  • Page 77 (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. EL6601, EL6614 Version: 4.2...
  • Page 78 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. Version: 4.2 EL6601, EL6614...
  • Page 79 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. „Online“ tab Fig. 102: „Online“ tab EL6601, EL6614 Version: 4.2...
  • Page 80 Operation Mode Options (optional): • FreeRun • SM-Synchron • DC-Synchron (Input based) • 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: Version: 4.2 EL6601, EL6614...
  • Page 81 Sync Manager! Consequently, this PDO cannot be deleted from the PDO Assignment list Sync Manager to which this PDO is assigned. If this entry is empty, this PDO does not take part in the process data traffic. Sync unit to which this PDO is assigned. EL6601, EL6614 Version: 4.2...

  • Page 82: General Notes - Ethercat Slave Application

    Those diagnostic elements that are helpful to the controlling task for diagnosis that is accurate for the current cycle when in operation (not during commissioning) are discussed below. Fig. 104: Selection of the diagnostic information of an EtherCAT Slave Version: 4.2 EL6601, EL6614...
  • Page 83 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 84 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”: Version: 4.2 EL6601, EL6614...
  • Page 85 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. EL6601, EL6614 Version: 4.2...
  • Page 86 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. Version: 4.2 EL6601, EL6614...
  • Page 87 Fig. 108: 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. 109: Default target state in the Slave EL6601, EL6614 Version: 4.2...
  • Page 88 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. Version: 4.2 EL6601, EL6614...
  • Page 89 Fig. 112: 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! EL6601, EL6614 Version: 4.2...

  • Page 90: 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 91: Objects For Regular Operation

    2. PDO Mapping Entry (Object 7000+n*8:0B) UINT32 0x7000+n*8:0 B, 16 Index 1680 PDO control Index (hex) Name Meaning Data type Flags Default 1680:0 PDO control Max. subindex UINT8 0x01 (1 1680:01 PDO control Entry Master Control UINT32 0xF100:02, 16 EL6601, EL6614 Version: 4.2...
  • Page 92 1. allocated TxPDO (contains the index of the associated UINT32 0x1A00 TxPDO mapping object) (6656 1C13:80 SubIndex 128 128. allocated TxPDO (contains the index of the associ- UINT32 0x1A7F ated TxPDO mapping object) (6783 1C13:81 SubIndex 129 PDO status UINT32 0x1A80 (6784 Version: 4.2 EL6601, EL6614...
  • Page 93 Time between SYNC0 event and reading of the inputs (in UINT32 0x00000000 ns, only DC mode) 1C33:04 Sync modes sup- Supported synchronization modes: UINT16 0x0002 (2 ported • Bit 1: Synchronous with SM 2 Event is supported (outputs available) EL6601, EL6614 Version: 4.2...

  • Page 94: Profile-Specific Objects (0X6000-0Xffff)

    Length of the "Quality" field UINT16 RW P 0x0002 (2 (6003+n*8): Cycle Index Length of the "Cycle Index" field UINT16 RW P 0x0002 (2 (6003+n*8): Data area 001 Length of the "Data area" field UINT16 RW P 0x0002 (2 Version: 4.2 EL6601, EL6614...
  • Page 95 (each module gets its own entry (Index 0x7001+n*8), (Frame control) 0 ≤ n < maximum number of modules (7001+n*8): Frame Control Frame Control UINT8 RW P 0x00 (0 • Bit 0 = 0: Send Frame • Bit 0 = 1: Skip Frame EL6601, EL6614 Version: 4.2...
  • Page 96 Maximum number of Number of channels UINT16 0x00FF modules (255 F000:03 Standard Entries in Standard Entries in the Objects 0x8yy0 UINT32 0x00000000 Object 0x8yy0 F000:04 Standard Entries in Standard Entries in the Objects 0x8yy0 UINT32 0x00000000 Object 0x9yy0 Version: 4.2 EL6601, EL6614...

  • Page 97: Beckhoff Network Variables

    Commissioning Beckhoff network variables 5.4.1 Introduction Network variables are any variables that are cyclically exchanged between PC/CX1000 via TwinCAT. Variables with any data types, including complex types, can be exchanged. The Publisher/Subscriber model is used. For highly deterministic communication, the real-time Ethernet driver for TwinCAT must be installed.

  • Page 98: Configuration Of The Publisher

    Fig. 114: Insertion of a Publisher Box in the TwinCAT configuration Insert a Network Variable The network variables are inserted underneath the box. Enter a name (nCounterPub in the sample) and a data type (UINT32 in the sample, corresponding to UDINT). Version: 4.2 EL6601, EL6614...
  • Page 99 The following values are possible for the FrameState: Short description Value Description Not sent (frame skipped) 0x0001 Error (frame oversized) 0x0001 The maximum size of an Ethernet frames was exceeded. The linked variable should be smaller. EL6601, EL6614 Version: 4.2...
  • Page 100 The network variable of the Publisher can be mapped to any output variable with a suitable data type. In the sample, the network variable is linked to the output variable of a PLC. Fig. 117: Mapping of the network variable with an output variable of the PLC Version: 4.2 EL6601, EL6614...

  • Page 101: Configuration Of The Subscriber

    A Subscriber box must be added under the RT Ethernet device. Fig. 118: Creation of an RT-Ethernet device Fig. 119: Creation of a Subscriber Box (“Box 1”) A network variable is then created under the Subscriber box. Fig. 120: TwinCAT tree with “Box 1” Subscriber Box EL6601, EL6614 Version: 4.2...
  • Page 102 The link to a Publisher variable can be created automatically. First, you need to find the Publisher computer. All variables of this Publisher are then shown in a list. Fig. 122: Searching for Publisher computer Inputs and outputs were created under the added variable. Version: 4.2 EL6601, EL6614...
  • Page 103 The Quality variable provides a counter with a resolution of 100 µs. The counter value indicates the variable delay. The sample below shows the online value of Quality when the network connector is unplugged (counter increases) and reconnected (counter value 0). EL6601, EL6614 Version: 4.2...
  • Page 104 Commissioning Fig. 124: Time diagram (Online value) of the Quality variables In addition to the Quality variables, the CycleIndex variable is incremented in each Publisher cycle. Fig. 125: Time diagram (Online value) of the CycleIndex variables Version: 4.2 EL6601, EL6614...

  • Page 105: Beckhoff Network Variables - Settings

    Beckhoff network variables - Settings Beckhoff network variables (NWV) can be used for cyclic or acyclic sending of data between Windows-based PCs. In a device declared as a publisher (sender), such a network variable is received on the other side by a subscriber declared as the same type.
  • Page 106 Commissioning Basic principles of Beckhoff network variables • Quality: Time in [100 µs] by which arrival of the NWV at the Publisher was delayed. Relative arrival location: Input process image of the TwinCAT system Relative arrival time: Time at which the next cycle is loaded into the input image...
  • Page 107 Commissioning Fig. 127: Sample for communication via network variables EL6601, EL6614 Version: 4.2...
  • Page 108 • On a PC network interface, see Fig. Publisher settings - RT Ethernet • on an EL66xx, see Beckhoff network variables - Settings [} 105] The following settings options are available in the Beckhoff System Manager TwinCAT 2.10 build 1328: Version: 4.2...
  • Page 109 • Multicast: A destination MAC address becomes a multicast address if the first bit in the first byte of the MAC (the so-called group bit) is set. With the Beckhoff ID "00 01 05" the default target address "01 01 05 04 00 00"...
  • Page 110 Note: ARP handling (ARP = Address Resolution Protocol: allocation of hardware/MAC addresses to network addresses [IP]) is managed by the operating system (Windows). • "Disable Subscriber Monitoring": deactivates the procedure described above. • "Target Address changeable": In this case the destination IP can be changed dynamically. Version: 4.2 EL6601, EL6614...
  • Page 111 • "Data exchange": see above (not for EL66xx). • "On change only": NWV is only sent if the value changes (not for EL66xx). Subscriber, Box Fig. 132: Subscriber settings Settings: • "Receiving Options": Only permits NWVs from a certain publisher for this subscriber EL6601, EL6614 Version: 4.2...
  • Page 112 • "CycleIndex": This index is incremented with each successful transfer, IF this is done by the opposite side, i.e. the publisher. If the publisher is an EL66x, the user must increment CycleIdx there. • "VarData": Transferred data. Version: 4.2 EL6601, EL6614...

  • Page 113: Application Samples

    TwinCAT from version 2.11 is required for the *.tsm System Manager file. The EL6601 is used as a sample to explain configuration as publisher or subscriber for network variables. The dialogs under TwinCAT 2.10 and TwinCAT 2.11 here are slightly different.

  • Page 114: Application Sample - Network Printer

    • Beckhoff Ethernet coupler terminal EK1100, terminals EL1012, EL6601 and EL9010 • Printer HP LaserJet 4200tn A network printer is connected to the EL6601 within the terminal network via the Control Panel of the control system IPC: Fig. 134: Connection of a network printer...
  • Page 115 Application samples • The EL6601 should appear in the system configuration being in OP mode (see Online [} 73] tab EtherCAT Status Machine) Fig. 135: EL6601 in the configuration • Connect the network printer with the EL6601 via a CAT-5 (1:1) cable •...
  • Page 116 Application samples Fig. 137: Context Menu “LAN Connection (TwinCAT-LAN-Adapter),” -> “Properties” Fig. 138: Properties Internet Protocol (TCP/IP) • Enter an IP address for the subnet of the network printer (e.g. 192.168.0.1/255.255.255.0) and confirm with OK Version: 4.2 EL6601, EL6614...
  • Page 117 Printers & Faxes -> Add a printer , in the Add Printer Wizard select Local printer, and in the following pull-down menu Create a new port. .. select Standard TCP/IP Port Fig. 140: Control Panel “Add a Printer” under “Printers and Faxes” EL6601, EL6614 Version: 4.2...
  • Page 118 Fig. 141: Select “Local Printer” radio button Fig. 142: Select Connection Type • In the following menu under Printer Name or IP Address enter the IP address of the printer defined in the configuration menu (in the sample 192.168.0.37) Version: 4.2 EL6601, EL6614...

  • Page 119: Application Sample - Service Interface With Remote Desktop

    • TwinCAT master PC with Windows XP Professional SP 2, TwinCAT version 2.10 (Build 1305) and INTEL PRO/100 VE Ethernet adapter • Beckhoff Ethernet coupler terminal EK1100, terminals EL1012, EL6601 and EL9010 • Notebook (service PC) for remote desktop connection with Windows XP Professional SP 2 and...
  • Page 120 • Start the TwinCAT System Manager in Config mode, read the Bus Terminal configuration, and activate free-run mode • The EL6601 should appear in the system configuration being in OP mode (see Online [} 73] tab EtherCAT Status Machine) Version: 4.2...
  • Page 121 Application samples Fig. 145: EL6601 in the configuration • In analogy to the configuration of a network printer the IP number of the EtherCAT network port of the TwinCAT Master-PC in the subnet is e.g. 192.168.0.1 • Open the Control Panel of the TwinCAT master PC and click on Security Center -> Windows Firewall Fig. 146: Selection of “Security Center”...
  • Page 122 Application samples Fig. 147: Choose security settings for Windows Firewall • If the Windows firewall is activated click on tab Exceptions • Select Remote Desktop and confirm with OK Version: 4.2 EL6601, EL6614...
  • Page 123 Application samples Fig. 148: At the “Exceptions” Tab activate the “Remote desktop” service • Return to the Control Panel of TwinCAT master PC and select Performance and Maintenance -> System EL6601, EL6614 Version: 4.2...
  • Page 124 Application samples Fig. 149: Select “Service and Maintenance” from “System” in the View Control Panel • Click on the Remote tab, and in the Remote Desktop category select the option Allow users to establish a remote desktop connection Version: 4.2 EL6601, EL6614...
  • Page 125 Configuration at the service PC For a remote desktop connection with the TwinCAT master PC via the EL6601 the network address of the service PC has to be set according to the IP number range of the TwinCAT master PC subnet.
  • Page 126 Application samples Fig. 152: Context Menu Network Environment -> “Properties” Fig. 153: Context Menu “LAN Connection (Ethernet-LAN-Adapter),” -> “Properties” Version: 4.2 EL6601, EL6614...
  • Page 127 Fig. 155: Entry of the IP address of the subnetwork of the Service-PC • The Ethernet connection to the TwinCAT master PC is now tunneled via the EL6601 through the EtherCAT terminal network and can be established via the remote desktop.
  • Page 128 • The login window of the TwinCAT master PC appears on the desktop of the service PC • Enter your user name and password for the TwinCAT master PC and confirm with OK The IP address of the TwinCAT master PC is shown above the remote desktop Version: 4.2 EL6601, EL6614...

  • Page 129: Application Sample - Lower-Level Control System

    Config mode (free run). If the task is interrupted the service PC can no longer access the remote system! Application sample - Lower-level control system The application samples have been tested with a test configuration and are described accordingly. Certain deviations when setting up actual applications are possible. EL6601, EL6614 Version: 4.2...
  • Page 130 Configuration of the subordinate control system For a connection with the TwinCAT master PC via the EL6601 the network address of the subordinate control system has to be set according to the IP number range of the TwinCAT master PC subnet.
  • Page 131 • Open the network settings for this connection by double-clicking on the TCIXPNPE1 connection (Ethernet port) Fig. 162: Select network settings for Ethernet port • Enter an IP number from the IP number range of the subnet (e.g. 192.168.0.39/255.255.255.0) for the TwinCAT master PC and confirm with OK. EL6601, EL6614 Version: 4.2...
  • Page 132 • Start the TwinCAT System Manager in Config mode, read the Bus Terminal configuration, and activate free-run mode • The EL6601 should appear in the system configuration being in OP mode (see Online [} 73] tab EtherCAT Status Machine) Fig. 164: EL6601 in the configuration •...
  • Page 133 • Click on Add Route and enter the access data for the target system as required • After closing the dialog box the name of the target system appears in the selection menu • Make your selection and confirm with OK EL6601, EL6614 Version: 4.2...

  • Page 134: Application Sample - Setting Up An Ethercat Master Pc As A Network Bridge

    The application samples have been tested with a test configuration and are described accordingly. Certain deviations when setting up actual applications are possible. In this sample, transmission is intended to take place from a subordinate PC via the EL6601 and EtherCAT and a Master PC into a superordinate network.
  • Page 135 (Start --> Run --> cmd --> ping 192.168.1.1) to the EtherCAT port 192.168.1.1. • If the EtherCAT master is in a normal and error-free state (TwinCAT in "Config"/"FreeRun" or "Run" mode), the connected Ethernet device with the IP address 192.168.1.10 can be reached via the EL6601. EL6601, EL6614 Version: 4.2...
  • Page 136 • IP routing is disabled (default) and the IP address of the selected adaptor (here called LAN) is assigned fixedly. Since DHCP was set beforehand, WINS entries are still present. • The same command on PC C displays: Fig. 172: Checking the configuration PC C • This was entered under XP in the dialog Version: 4.2 EL6601, EL6614...
  • Page 137 • Fixed IP addresses in correlating ranges for all 4 Ethernet ports involved • Firewalls disabled if need be (unnecessary in the case of the default setting) • EtherCAT/TwinCAT in "Freerun" or "Run" mode • Link display on all ports involved EL6601, EL6614 Version: 4.2...
  • Page 138 • The DHCP server offers the requesting device one or more IP addresses in the DHCPOFFER message • The requesting PC selects an IP address and answers via MAC Broadcast with a DHCPREQUEST message to the DHCP server • The DHCP server confirms the selection with a DHCPACK message. Version: 4.2 EL6601, EL6614...

  • Page 139: Application Sample - Flexible Ethernet Port

    This works for computers (A) and (B). The DHCPDISCOVER messages from computer (C) are accepted by the EL6601 and relayed in computer (B) to Windows via the EtherCAT port, but Windows (B) does not route these messages (and all other DHCP telegrams) through to the relaying Ethernet port – this function, known as DHCP Relay Agent, is only available in the server version of Windows.
  • Page 140 A small EtherCAT system is commissioned, the offline topology view in the System Manager shows two coupler stations and one non-localized station with an EK1101. • In offline state the System Manager does not know where the EK1101 station with its ID was connected. Version: 4.2 EL6601, EL6614...
  • Page 141 Application samples Fig. 177: EK1101 localized with EL6601 • The current assignment is visible online, the EK1101 with the EL6601 is connected to the second port of the EK1100. Fig. 178: EK1101 localized with EL6601 • All slaves are in OP state, so that this system can now be accessed as target system from the remote •...
  • Page 142 • After double-clicking on the line showing the found target system the user can log into the target system: Fig. 181: Entry of logon information on target system • After successful connection the configuration can be loaded by the target system through "Open from target system". Version: 4.2 EL6601, EL6614...
  • Page 143 It is advisable to use credible addresses in the Properties dialog of the network interface, IP proto- col (Windows XP SP2) Default gateway and DNS server, although they are not actually required. Settings of the remote PC from the sample: Fig. 183: Entry of network addresses in the remote system EL6601, EL6614 Version: 4.2...

  • Page 144: Appendix

    Beckhoff EtherCAT modules are intended for use with Beckhoff’s UL Listed EtherCAT Sys- tem only. Examination For cULus examination, the Beckhoff I/O System has only been investigated for risk of fire and electrical shock (in accordance with UL508 and CSA C22.2 No. 142). For devices with Ethernet connectors Not for connection to telecommunication circuits.

  • Page 145: Firmware Compatibility

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

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

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

  • Page 147: Device Description Esi File/Xml

    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 148 In this example in Fig. Change dialog, an EL3201-0000-0017 was found, while an EL3201-0000-0016 was configured. In this case the configuration can be adapted with the Copy Before button. The Extended Information checkbox must be set in order to display the revision. Version: 4.2 EL6601, EL6614...
  • Page 149 Most EtherCAT devices read a modified ESI description immediately or after startup from the INIT. Some communication settings such as distributed clocks are only read during power-on. The Ether- CAT slave therefore has to be switched off briefly in order for the change to take effect. EL6601, EL6614 Version: 4.2...

  • Page 150: Firmware Explanation

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

  • Page 151: Updating Controller Firmware *.Efw

    Switch to the Online tab to update the controller firmware of a slave, see Fig. Firmware Update. Fig. 191: 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 152: 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. Version: 4.2 EL6601, EL6614...
  • Page 153 Fig. 193: 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. EL6601, EL6614 Version: 4.2...
  • Page 154 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 155 • 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: EL6601, EL6614 Version: 4.2...

  • Page 156: 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. 195: Multiple selection and firmware update Select the required slaves and carry out the firmware update in BOOTSTRAP mode as described above. Version: 4.2 EL6601, EL6614...

  • Page 157: Restoring The Delivery State

    Fig. 197: 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. EL6601, EL6614 Version: 4.2...

  • Page 158: Support And Service

    Beckhoff's branch offices and representatives Please contact your Beckhoff branch office or representative for local support and service on Beckhoff products! The addresses of Beckhoff's branch offices and representatives round the world can be found on her internet pages: http://www.beckhoff.com You will also find further documentation for Beckhoff components there.
  • Page 159 TwinCAT 2.11, virtual TwinCAT switch..................Fig. 20 TwinCAT 2.11, virtual TwinCAT switch..................Fig. 21 Notice on exceeding configured data volume................Fig. 22 Network variable sample configuration on an EL6601 ..............Fig. 23 Append device ..........................Fig. 24 Select EL6601 ..........................Fig. 25 Append box..........................
  • Page 160 Fig. 84 Displaying of “Free Run” and “Config Mode” toggling right below in the status bar ....Fig. 85 TwinCAT can also be switched to this state by using a button (left: TwinCAT 2; right: Twin- CAT 3) ............................Version: 4.2 EL6601, EL6614...
  • Page 161 Fig. 127 Sample for communication via network variables................ 107 Fig. 128 Data representation e.g. x86 Systems vs. ARM Systems ............108 Fig. 129 Publisher RT Ethernet settings ....................109 Fig. 130 Publisher settings - UDP/IP ......................110 Fig. 131 Publisher variable settings......................111 EL6601, EL6614 Version: 4.2...
  • Page 162 Fig. 133 Subscriber variable settings......................112 Fig. 134 Connection of a network printer....................114 Fig. 135 EL6601 in the configuration ......................115 Fig. 136 Context Menu Network Environment -> “Properties” ..............115 Fig. 137 Context Menu “LAN Connection (TwinCAT-LAN-Adapter),” -> “Properties” ....... 116 Fig.
  • Page 163 List of illustrations Fig. 178 EK1101 localized with EL6601 ....................141 Fig. 179 Selection of the target system ..................... 141 Fig. 180 Enter target system 172.1.1.1...................... 142 Fig. 181 Entry of logon information on target system ................142 Fig. 182 Opening of target system and loading of configuration ............... 143 Fig.

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