Table Of Contents - Beckhoff EL1052 Documentation

Table of contents

1 Foreword .................................................................................................................................................... 5
1.1 Notes on the documentation.............................................................................................................. 5
1.2 Safety instructions ............................................................................................................................. 6
1.3 Documentation Issue Status.............................................................................................................. 7
1.4 Version identification of EtherCAT devices ....................................................................................... 7
2 Product overview..................................................................................................................................... 11
2.1 EL1052, EL1054 - Introduction ........................................................................................................ 11
2.2 Technical data ................................................................................................................................. 12
2.3 Start ................................................................................................................................................. 13
3 Basics communication ........................................................................................................................... 14
3.1 EtherCAT basics.............................................................................................................................. 14
3.2 EtherCAT cabling - wire-bound....................................................................................................... 14
3.3 General notes for setting the watchdog ........................................................................................... 15
3.4 EtherCAT State Machine ................................................................................................................. 17
3.5 CoE Interface................................................................................................................................... 19
3.6 Distributed Clock ............................................................................................................................. 24
4 Mounting and wiring................................................................................................................................ 25
4.1 Instructions for ESD protection ........................................................................................................ 25
4.2 Installation on mounting rails ........................................................................................................... 25
4.3 Installation instructions for enhanced mechanical load capacity ..................................................... 28
4.4 Connection ...................................................................................................................................... 29
4.4.1 Connection system .......................................................................................................... 29
4.4.2 Wiring............................................................................................................................... 31
4.4.3 Shielding .......................................................................................................................... 32
4.5 Positioning of passive Terminals ..................................................................................................... 33
4.6 UL notice ......................................................................................................................................... 33
4.7 ATEX - Special conditions (standard temperature range) ............................................................... 35
4.8 ATEX Documentation ...................................................................................................................... 36
4.9 Installation positions ........................................................................................................................ 36
4.10 LEDs and connection ...................................................................................................................... 38
5 Commissioning........................................................................................................................................ 39
5.1 TwinCAT Development Environment .............................................................................................. 39
5.1.1 Installation of the TwinCAT real-time driver..................................................................... 39
5.1.2 Notes regarding ESI device description........................................................................... 45
5.1.3 TwinCAT ESI Updater ..................................................................................................... 49
5.1.4 Distinction between Online and Offline............................................................................ 49
5.1.5 OFFLINE configuration creation ...................................................................................... 50
5.1.6 ONLINE configuration creation ........................................................................................ 55
5.1.7 EtherCAT subscriber configuration.................................................................................. 63
5.2 General Notes - EtherCAT Slave Application .................................................................................. 72
5.3 Notes to the NAMUR switching amplifier of the terminal ................................................................. 80
6 Appendix .................................................................................................................................................. 82
6.1 EtherCAT AL Status Codes ............................................................................................................. 82
EL1052, EL1054 Version: 1.1
Table of contents
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