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Beckhoff EL1052 Documentation

Beckhoff EL1052 Documentation

Digital input terminals for namur sensors
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EL1052, EL1054
Digital input terminals for NAMUR sensors
Version:
Date:
1.1
2018-11-29

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Summary of Contents for Beckhoff EL1052

  • Page 1 Documentation EL1052, EL1054 Digital input terminals for NAMUR sensors Version: Date: 2018-11-29...

  • Page 3: Table Of Contents

    1 Foreword .............................. 5 Notes on the documentation...................... 5 Safety instructions .......................... 6 Documentation Issue Status...................... 7 Version identification of EtherCAT devices .................. 7 2 Product overview............................. 11 EL1052, EL1054 - Introduction ...................... 11 Technical data .......................... 12 Start .............................. 13 3 Basics communication ........................... 14 EtherCAT basics.......................... 14 EtherCAT cabling – wire-bound....................... 14 General notes for setting the watchdog ................... 15...
  • Page 4 Device description ESI file/XML.................. 83 6.3.2 Firmware explanation ......................  86 6.3.3 Updating controller firmware *.efw...................  87 6.3.4 FPGA firmware *.rbf...................... 88 6.3.5 Simultaneous updating of several EtherCAT devices............ 92 Restoring the delivery state ...................... 93 Support and Service ........................ 94 Version: 1.1 EL1052, EL1054...

  • 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

    Associated and synonymous with each revision there is usually a description (ESI, EtherCAT Slave Information) in the form of an XML file, which is available for download from the Beckhoff web site. From 2014/01 the revision is shown on the outside of the IP20 terminals, see Fig. “EL5021 EL terminal, standard IP20 IO device with batch number and revision ID (since 2014/01)”.

  • Page 8: Fig. 1 El5021 El Terminal, Standard Ip20 Io Device With Serial/ Batch Number And Revision Id (Since 2014/01)

    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. 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 EL1052, EL1054 Version: 1.1...

  • Page 10: 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 Version: 1.1 EL1052, EL1054...

  • Page 11: Product Overview

    Fig. 9: EL1052, EL1054 Digital input terminals for NAMUR sensors The EL1052 and EL1054 digital input terminal acquires signals from NAMUR field devices according to IEC 60947‑5‑6. The sensors are supplied with a voltage of 8.2 V and return a diagnosable current signal.

  • Page 12: Technical Data

    EN 60068-2-6/EN EN 60068-2-27, 60068-2-27 see also Installation instructions [} 28] for terminals with increased mechanical load capacity EMC immunity/emission conforms to EN 61000-6-2 / EN 61000-6-4 Protect. class IP20 Installation pos. variable Pluggable wiring for all ESxxxx terminals Approvals IECEx Version: 1.1 EL1052, EL1054...

  • Page 13: Start

    Product overview Start For commissioning: • mount the terminal as described in the chapter Mounting and wiring [} 25] • configure the terminal in TwinCAT as described in chapter Commissioning [} 39] EL1052, EL1054 Version: 1.1...

  • Page 14: 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 15: 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. EL1052, EL1054 Version: 1.1...

  • Page 16: Fig. 11 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. Version: 1.1 EL1052, EL1054...

  • Page 17: 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. EL1052, EL1054 Version: 1.1...

  • Page 18: Fig. 12 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. Version: 1.1 EL1052, EL1054...

  • Page 19: 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: EL1052, EL1054 Version: 1.1...

  • Page 20: Fig. 13 "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 21: Fig. 14 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 22: Fig. 15 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. 16: Online list Version: 1.1 EL1052, EL1054...
  • Page 23 • 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. EL1052, EL1054 Version: 1.1...

  • Page 24: 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. Version: 1.1 EL1052, EL1054...

  • Page 25: 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. 17: Spring contacts of the Beckhoff I/O components Installation on mounting rails...

  • Page 26: Fig. 18 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). Version: 1.1 EL1052, EL1054...

  • Page 27: Fig. 19 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. EL1052, EL1054 Version: 1.1...

  • Page 28: 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 Version: 1.1 EL1052, EL1054...

  • Page 29: Connection

    Standard wiring (ELxxxx / KLxxxx) Fig. 21: 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. EL1052, EL1054 Version: 1.1...

  • Page 30: Fig. 22 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! Version: 1.1 EL1052, EL1054...

  • Page 31: 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. EL1052, EL1054 Version: 1.1...

  • Page 32: Shielding

    Wire size width (conductors with a wire end sleeve) 0.14 ... 0.75 mm Wire size width (ultrasonically “bonded" conductors) only 1.5 mm Wire stripping length 8 ... 9 mm 4.4.3 Shielding Shielding Encoder, analog sensors and actors should always be connected with shielded, twisted paired wires. Version: 1.1 EL1052, EL1054...

  • Page 33: Positioning Of Passive Terminals

    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). EL1052, EL1054...
  • Page 34 Not for connection to telecommunication circuits. Basic principles Two UL certificates are met in the Beckhoff EtherCAT product range, depending upon the components: 1. UL certification according to UL508. Devices with this kind of certification are marked by this sign: 2.

  • Page 35: Atex - Special Conditions (Standard 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 0 to 55°C for the use of Beckhoff fieldbus compo- nents standard temperature range in potentially explosive areas! •...

  • Page 36: 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! Installation positions...

  • Page 37: Fig. 28 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. Fig. 28: Other installation positions EL1052, EL1054 Version: 1.1...

  • Page 38: Leds And Connection

    Mounting and wiring 4.10 LEDs and connection Fig. 29: LEDs and connection EL1052, EL1054 LEDs The following table is assigned to the respective LED number of a channel: Signal LED Error LED Meaning Error detection: open-loop on channel (I < 200 µA typ.) Usual operation: NAMUR sensor on channel in closed state ("0";...

  • Page 39: 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 40: Fig. 30 System Manager "Options" (Twincat 2)

    Alternatively an EtherCAT-device can be inserted first of all as described in chapter Offline configuration creation, section “Creating the EtherCAT device” [} 50] in order to view the compatible ethernet ports via its EtherCAT properties (tab „Adapter“, button „Compatible Devices…“): Version: 1.1 EL1052, EL1054...

  • Page 41: Fig. 33 Ethercat Device Properties(Twincat 2): Click On „Compatible Devices

    After the installation the driver appears activated in the Windows overview for the network interface (Windows Start → System Properties → Network) Fig. 34: Windows properties of the network interface A correct setting of the driver could be: EL1052, EL1054 Version: 1.1...

  • Page 42: Fig. 35 Exemplary Correct Driver Setting For The Ethernet Port

    Commissioning Fig. 35: Exemplary correct driver setting for the Ethernet port Other possible settings have to be avoided: Version: 1.1 EL1052, EL1054...

  • Page 43: Fig. 36 Incorrect Driver Settings For The Ethernet Port

    Commissioning Fig. 36: Incorrect driver settings for the Ethernet port EL1052, EL1054 Version: 1.1...

  • Page 44: Fig. 37 Tcp/Ip Setting For The Ethernet Port

    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. 37: TCP/IP setting for the Ethernet port Version: 1.1 EL1052, EL1054...

  • Page 45: 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 46: Fig. 39 Onlinedescription Information Window (Twincat 2)

    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’ [} 50].

  • Page 47: Fig. 41 File Onlinedescription.xml Created By The System Manager

    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. 43: Information window for faulty ESI file (left: TwinCAT 2; right: TwinCAT 3) EL1052, EL1054 Version: 1.1...
  • Page 48 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: 1.1 EL1052, EL1054...

  • Page 49: Twincat Esi Updater

    Commissioning 5.1.3 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. 44: Using the ESI Updater (>= TwinCAT 2.11) The call up takes place under: “Options” → "Update EtherCAT Device Descriptions"...

  • Page 50: Offline Configuration Creation

    EL6601/EL6614 terminal select “EtherCAT Automation Protocol via EL6601”. Fig. 47: Selecting the EtherCAT connection (TwinCAT 2.11, TwinCAT 3) Then assign a real Ethernet port to this virtual device in the runtime system. Fig. 48: Selecting the Ethernet port Version: 1.1 EL1052, EL1054...
  • Page 51 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 EL1052, EL1054 Version: 1.1...
  • Page 52 (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 53 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 54 Commissioning Fig. 55: EtherCAT terminal in the TwinCAT tree (left: TwinCAT 2; right: TwinCAT 3) Version: 1.1 EL1052, EL1054...

  • Page 55: 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. 58: Note for automatic device scan (left: TwinCAT 2; right: TwinCAT 3) EL1052, EL1054 Version: 1.1...
  • Page 56 [} 60] 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 57 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 58 Fig. 67: Displaying of “Free Run” and “Config Mode” toggling right below in the status bar Fig. 68: 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: 1.1 EL1052, EL1054...
  • Page 59 The connections and devices should be checked in a targeted manner, e.g. via the emergency scan. Then re-run the scan. Fig. 70: Faulty identification In the System Manager such devices may be set up as EK0000 or unknown devices. Operation is not possible or meaningful. EL1052, EL1054 Version: 1.1...
  • Page 60 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 61 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 62 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. 76: TwinCAT 2 Dialog Change to Alternative Type Version: 1.1 EL1052, EL1054...

  • Page 63: 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. EL1052, EL1054 Version: 1.1...
  • Page 64 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: 1.1 EL1052, EL1054...
  • Page 65 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 66 (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: 1.1 EL1052, EL1054...
  • Page 67 (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. EL1052, EL1054 Version: 1.1...
  • Page 68 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: 1.1 EL1052, EL1054...
  • Page 69 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. 85: „Online“ tab EL1052, EL1054 Version: 1.1...
  • Page 70 • 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 Version: 1.1...
  • Page 71 Sync unit to which this PDO is assigned. PDO Content Indicates the content of the PDO. If flag F (fixed content) of the PDO is not set the content can be modified. EL1052, EL1054 Version: 1.1...

  • Page 72: 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. 87: Selection of the diagnostic information of an EtherCAT Slave In general, an EtherCAT Slave offers Version: 1.1 EL1052, EL1054...
  • Page 73 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 74 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: 1.1 EL1052, EL1054...
  • Page 75 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. EL1052, EL1054 Version: 1.1...
  • Page 76 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: 1.1 EL1052, EL1054...
  • Page 77 Fig. 91: 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. 92: Default target state in the Slave EL1052, EL1054 Version: 1.1...
  • Page 78 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: 1.1 EL1052, EL1054...
  • Page 79 Fig. 95: 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! EL1052, EL1054 Version: 1.1...

  • Page 80: Notes To The Namur Switching Amplifier Of The Terminal

    A program of a control can evaluate the "Status bit" for the binary state and the "Error bit" of the terminal for error detection. Accordingly, in addition to the active wire break or short circuit detection of the sensor, e.g. switching paths differences of a sensor by a continuous sensor characteristic can be unique distinguished as follows: Version: 1.1 EL1052, EL1054...
  • Page 81 Commissioning Fig. 98: Exemplary trend of a proximity sensor with NAMUR limits for save decision of the switching state EL1052, EL1054 Version: 1.1...

  • Page 82: Appendix

    The terminals of the EL10xx and EL11xx series have no firmware. 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 83: 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 84 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: 1.1 EL1052, EL1054...
  • Page 85 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. EL1052, EL1054 Version: 1.1...

  • Page 86: 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 87: Updating Controller Firmware *.Efw

    Switch to the Online tab to update the controller firmware of a slave, see Fig. Firmware Update. Fig. 106: 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 88: 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: 1.1 EL1052, EL1054...
  • Page 89 Fig. 108: 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. EL1052, EL1054 Version: 1.1...
  • Page 90 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 91 • 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: EL1052, EL1054 Version: 1.1...

  • Page 92: 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. 110: Multiple selection and firmware update Select the required slaves and carry out the firmware update in BOOTSTRAP mode as described above. Version: 1.1 EL1052, EL1054...

  • Page 93: Restoring The Delivery State

    Fig. 112: 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. EL1052, EL1054 Version: 1.1...

  • Page 94: 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 95 Startup list in the TwinCAT System Manager ................Fig. 15 Offline list ............................. Fig. 16 Online list ............................ Fig. 17 Spring contacts of the Beckhoff I/O components................. Fig. 18 Attaching on mounting rail ......................Fig. 19 Disassembling of terminal......................Fig. 20 Power contact on left side......................
  • Page 96 Fig. 79 „EtherCAT“ tab..........................Fig. 80 “Process Data” tab........................Fig. 81 Configuring the process data....................... Fig. 82 „Startup“ tab..........................Fig. 83 “CoE – Online” tab ........................Fig. 84 Dialog “Advanced settings”......................Fig. 85 „Online“ tab ..........................Version: 1.1 EL1052, EL1054...
  • Page 97 Fig. 108 Context menu Properties ......................Fig. 109 Dialog Advanced Settings ......................Fig. 110 Multiple selection and firmware update ..................Fig. 111 Selecting the "Restore default parameters" PDO ................ Fig. 112 Entering a restore value in the Set Value dialog................EL1052, EL1054 Version: 1.1...

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