Table Of Contents - Beckhoff EL72 1 Series Documentation

Table of contents

Table of contents
1 Product overview Servo Motor Terminals............................................................................................... 3
2 Foreword .................................................................................................................................................... 7
2.1 Notes on the documentation........................................................................................................... 7
2.2 Safety instructions .......................................................................................................................... 8
2.3 Documentation issue status............................................................................................................ 9
2.4 Version identification of EtherCAT devices..................................................................................... 9
3 Product overview..................................................................................................................................... 14
3.1 Introduction EL72x1...................................................................................................................... 14
3.2 Technical data .............................................................................................................................. 16
3.3 Technology ................................................................................................................................... 17
3.4 Start-up ......................................................................................................................................... 19
4 Basics communication ........................................................................................................................... 20
4.1 EtherCAT basics........................................................................................................................... 20
4.2 EtherCAT cabling - wire-bound.................................................................................................... 20
4.3 General notes for setting the watchdog ........................................................................................ 21
4.4 EtherCAT State Machine .............................................................................................................. 23
4.5 CoE Interface................................................................................................................................ 25
4.6 Distributed Clock........................................................................................................................... 30
5 Installation................................................................................................................................................ 31
5.1 Installation on mounting rails ........................................................................................................ 31
5.2 Installation instructions for enhanced mechanical load capacity .................................................. 34
5.3 Connection system ....................................................................................................................... 35
5.4 Positioning of passive Terminals .................................................................................................. 38
5.5 Installation position for operation with or without fan .................................................................... 39
5.6 Shielding concept ......................................................................................................................... 42
5.7 Notes on current measurements using Hall sensors .................................................................... 45
5.8 LEDs and connection.................................................................................................................... 46
5.8.1 EL7201-000x.................................................................................................................... 46
5.8.2 EL7211-000x.................................................................................................................... 48
6 Commissioning........................................................................................................................................ 51
6.1 TwinCAT Development Environment............................................................................................ 51
6.1.1 Installation of the TwinCAT real-time driver ..................................................................... 51
6.1.2 Notes regarding ESI device description ........................................................................... 57
6.1.3 TwinCAT ESI Updater...................................................................................................... 61
6.1.4 Distinction between Online and Offline ............................................................................ 61
6.1.5 OFFLINE configuration creation ...................................................................................... 62
6.1.6 ONLINE configuration creation ........................................................................................ 67
6.1.7 EtherCAT subscriber configuration .................................................................................. 75
6.2 Start-up and parameter configuration ........................................................................................... 85
6.2.1 Integration into the NC configuration ............................................................................... 85
6.2.2 Settings with the Drive Manager ...................................................................................... 88
6.2.3 Settings in the CoE register ............................................................................................. 92
6.2.4 Application example ......................................................................................................... 96
6.2.5 Commissioning without NC, status word/control word ................................................... 101
6.2.6 Homing........................................................................................................................... 105
6.2.7 NC settings..................................................................................................................... 107
4 Version: 3.3 EL72x1