Beckhoff EL500 Series Documentation
  1. Manuals
  2. Brands
  3. Beckhoff Manuals
  4. Recording Equipment
  5. EL500 Series
  6. Documentation

Beckhoff EL500 Series Documentation

Ssi sensor interface
Hide thumbs
Table of Contents

Advertisement

Quick Links

Documentation
EL500x
SSI Sensor Interface
Version:
Date:
3.6
2018-12-10

Advertisement

Table of Contents
loading

Related Manuals for Beckhoff EL500 Series

Summary of Contents for Beckhoff EL500 Series

  • Page 1 Documentation EL500x SSI Sensor Interface Version: Date: 2018-12-10...

  • Page 3: Table Of Contents

    Table of contents Table of contents 1 Foreword .............................. 5 EL500x product overview ........................ 5 Notes on the documentation...................... 5 Safety instructions .......................... 7 Documentation issue status ...................... 8 Version identification of EtherCAT devices .................. 8 2 Product overview............................. 13 EL5001, EL5002 .......................... 13 2.1.1 Introduction ........................ 13 2.1.2 Technical data .........................
  • Page 4 Table of contents TwinCAT Quick Start ........................ 49 5.1.1 TwinCAT 2 ........................ 51 5.1.2 TwinCAT 3 ........................ 61 TwinCAT Development Environment .................... 73 5.2.1 Installation of the TwinCAT real-time driver.............. 73 5.2.2 Notes regarding ESI device description................ 79 5.2.3 TwinCAT ESI Updater .....................  83 5.2.4 Distinction between Online and Offline................

  • 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. EL500x Version: 3.6...
  • Page 6 Foreword Copyright © Beckhoff Automation GmbH & Co. KG, Germany. The reproduction, distribution and utilization of this document as well as the communication of its contents to others without express authorization are prohibited. Offenders will be held liable for the payment of damages. All rights reserved in the event of the grant of a patent, utility model or design.

  • Page 7: 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 8: Documentation Issue Status

    • Technical Data (ASIC) corrected 1.0.1 • Object description information (3101) expanded • Control/Status byte information expanded • Provisional documentation for EL5001 Version identification of EtherCAT devices Designation A Beckhoff EtherCAT device has a 14-digit designation, made up of Version: 3.6 EL500x...
  • Page 9 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 10: Fig. 1 El5021 El Terminal, Standard Ip20 Io Device With Serial/ Batch Number And Revision Id (Since 2014/01)

    Foreword D - prefix designation ww - calendar week yy - year x - firmware version of the bus PCB y - hardware version of the bus PCB z - firmware version of the I/O PCB u - hardware version of the I/O PCB Example: D.22081501 calendar week 22 of the year 2008 firmware version of bus PCB: 1 hardware version of bus PCB: 5 firmware version of I/O PCB: 0 (no firmware necessary for this PCB) hardware version of I/O PCB: 1...

  • Page 11: Fig. 3 Cu2016 Switch With Serial/ Batch Number

    Foreword Fig. 3: CU2016 switch with serial/ batch number Fig. 4: EL3202-0020 with serial/ batch number 26131006 and unique ID-number 204418 Fig. 5: EP1258-00001 IP67 EtherCAT Box with batch number/ date code 22090101 and unique serial number 158102 Fig. 6: EP1908-0002 IP67 EtherCAT Safety Box with batch number/ date code 071201FF and unique serial number 00346070 EL500x Version: 3.6...

  • Page 12: Fig. 7 El2904 Ip20 Safety Terminal With Batch Number/ Date Code 50110302 And Unique Serial Num- Ber 00331701

    Foreword 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: 3.6 EL500x...

  • Page 13: Product Overview

    Product overview Product overview EL5001, EL5002 2.1.1 Introduction Fig. 9: EL5001, EL5002 Interface terminals for SSI encoders The EL5001 SSI interface EtherCAT terminal is for the direct connection of an SSI encoder, the EL5002 2- channel SSI interface EtherCAT terminal for the direct connection of two SSI encoders. The interface circuit generates a pulse for reading the encoder, and makes the incoming data stream available to the controller as a data word in the process image.

  • Page 14: Technical Data

    Product overview 2.1.2 Technical data Technical data EL5001 EL5002 Encoder connection binary input: D+, D-; binary output: Cl+, Cl- Supply of power to the internal SSI 24 V via the power contacts electronics Current consumption from the power Typically 20 mA (without sensor load current) contacts (without encoder) Encoder supply 24 V...

  • Page 15: Introduction

    Product overview EL5001-0011 2.2.1 Introduction Fig. 10: EL5001-0011 Interface terminal for SSI encoders The EL5001-0011 SSI monitor EtherCAT Terminal is used for monitoring the data exchange between SSI master and SSI encoder (slave). The SSI encoder is supplied with power from the existing SSI master; however, 24 V can also be taken from the EL5001-0011.

  • Page 16: Technical Data

    Product overview 2.2.2 Technical data Technical data EL5001-0011 Encoder connection Data input: D+, D-; clock input: Cl+, Cl-; RS422 differential signal Supply of power to the internal SSI electronics 24 V via the power contacts Encoder supply 24 V via the power contacts Input frequency/clock rate 125 KHz - 1 MHz, automatically set Data width...

  • Page 17: Fig. 11 El5001-0090

    Product overview EL5001-0090 2.3.1 Introduction Fig. 11: EL5001-0090 TwinSAFE SC: SSI encoder interfaces The EL5001-0090 SSI interface EtherCAT Terminal allows an SSI encoder to be connected directly. The interface circuit generates a pulse for reading the encoder and makes the incoming data stream available to the controller as a data word in the process image.

  • Page 18: Start

    Product overview 2.3.2 Technical data Technical data EL5001-0090 Encoder connection binary input: D+, D-; binary output: Cl+, Cl- Supply of power to the internal SSI 24 V via the power contacts electronics Current consumption from the power Typically 20 mA (without sensor load current) contacts (without encoder) Encoder supply 24 V...

  • Page 19: 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 20: General Notes For Setting The Watchdog

    Basics communication Fig. 12: System manager current calculation NOTE Malfunction possible! The same ground potential must be used for the E-Bus supply of all EtherCAT terminals in a terminal block! General notes for setting the watchdog ELxxxx terminals are equipped with a safety feature (watchdog) that switches off the outputs after a specifiable time e.g.

  • Page 21: Fig. 13 Ethercat Tab -> Advanced Settings -> Behavior -> Watchdog

    Basics communication Fig. 13: EtherCAT tab -> Advanced Settings -> Behavior -> Watchdog Notes: • the multiplier is valid for both watchdogs. • each watchdog has its own timer setting, the outcome of this in summary with the multiplier is a resulting time.

  • Page 22: Ethercat State Machine

    Basics communication Example "Set SM watchdog" This checkbox enables manual setting of the watchdog times. If the outputs are set and the EtherCAT communication is interrupted, the SM watchdog is triggered after the set time and the outputs are erased. This setting can be used for adapting a terminal to a slower EtherCAT master or long cycle times.

  • Page 23: Fig. 14 States Of The Ethercat State Machine

    Basics communication Fig. 14: States of the EtherCAT State Machine Init After switch-on the EtherCAT slave in the Init state. No mailbox or process data communication is possible. The EtherCAT master initializes sync manager channels 0 and 1 for mailbox communication. Pre-Operational (Pre-Op) During the transition between Init and Pre-Op the EtherCAT slave checks whether the mailbox was initialized correctly.

  • Page 24: Coe Interface

    Basics communication Boot In the Boot state the slave firmware can be updated. The Boot state can only be reached via the Init state. In the Boot state mailbox communication via the file access over EtherCAT (FoE) protocol is possible, but no other mailbox communication and no process data communication.

  • Page 25: Fig. 15 "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 26: Fig. 16 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 27: Fig. 17 Offline List

    Basics communication Fig. 17: Offline list • If the slave is online ◦ 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 ◦...
  • Page 28 • 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: 3.6 EL500x...

  • Page 29: Distributed Clock

    Basics communication Distributed Clock The distributed clock represents a local clock in the EtherCAT slave controller (ESC) with the following characteristics: • Unit 1 ns • Zero point 1.1.2000 00:00 • Size 64 bit (sufficient for the next 584 years; however, some EtherCAT slaves only offer 32-bit support, i.e.

  • Page 30: 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. 19: Spring contacts of the Beckhoff I/O components Version: 3.6 EL500x...

  • Page 31: Installation On Mounting Rails

    Mounting and wiring Installation on mounting rails WARNING Risk of electric shock and damage of device! Bring the bus terminal system into a safe, powered down state before starting installation, disassembly or wiring of the bus terminals! Assembly Fig. 20: Attaching on mounting rail The bus coupler and bus terminals are attached to commercially available 35 mm mounting rails (DIN rails according to EN 60715) by applying slight pressure: 1.

  • Page 32: Fig. 21 Disassembling Of Terminal

    Mounting and wiring Disassembly Fig. 21: Disassembling of terminal Each terminal is secured by a lock on the mounting rail, which must be released for disassembly: 1. Pull the terminal by its orange-colored lugs approximately 1 cm away from the mounting rail. In doing so for this terminal the mounting rail lock is released automatically and you can pull the terminal out of the bus terminal block easily without excessive force.

  • Page 33: Fig. 22 Power Contact On Left Side

    Mounting and wiring Fig. 22: Power contact on left side NOTE Possible damage of the device Note that, for reasons of electromagnetic compatibility, the PE contacts are capacitatively coupled to the mounting rail. This may lead to incorrect results during insulation testing or to damage on the terminal (e.g. disruptive discharge to the PE line during insulation testing of a consumer with a nominal voltage of 230 V).

  • Page 34: Installation Instructions For Enhanced Mechanical Load Capacity

    Mounting and wiring Installation instructions for enhanced mechanical load capacity WARNING Risk of injury through electric shock and damage to the device! Bring the Bus Terminal system into a safe, de-energized state before starting mounting, disassembly or wiring of the Bus Terminals! Additional checks The terminals have undergone the following additional tests: Verification...

  • Page 35: Connection

    Mounting and wiring Connection 4.4.1 Connection system WARNING Risk of electric shock and damage of device! Bring the bus terminal system into a safe, powered down state before starting installation, disassembly or wiring of the bus terminals! Overview The Bus Terminal system offers different connection options for optimum adaptation to the respective application: •...

  • Page 36: Wiring

    Mounting and wiring A tab for strain relief of the cable simplifies assembly in many applications and prevents tangling of individual connection wires when the connector is removed. Conductor cross sections between 0.08 mm and 2.5 mm can continue to be used with the proven spring force technology.

  • Page 37: Fig. 25 High Density Terminals

    Mounting and wiring Terminals for standard wiring ELxxxx/KLxxxx and for pluggable wiring ESxxxx/KSxxxx Fig. 26: Connecting a cable on a terminal point Up to eight terminal points enable the connection of solid or finely stranded cables to the Bus Terminal. The terminal points are implemented in spring force technology.

  • Page 38: Shielding

    Mounting and wiring 4.4.3 Shielding Shielding Encoder, analog sensors and actors should always be connected with shielded, twisted paired wires. Version: 3.6 EL500x...

  • Page 39: Installation Positions

    Mounting and wiring Installation positions NOTE Constraints regarding installation position and operating temperature range Please refer to the technical data for a terminal to ascertain whether any restrictions regarding the installa- tion position and/or the operating temperature range have been specified. When installing high power dissi- pation terminals ensure that an adequate spacing is maintained between other components above and be- low the terminal in order to guarantee adequate ventilation! Optimum installation position (standard)

  • Page 40: Fig. 28 Other Installation Positions

    Mounting and wiring Fig. 28: Other installation positions Version: 3.6 EL500x...

  • Page 41: Positioning Of Passive Terminals

    Mounting and wiring Positioning of passive Terminals Hint for positioning of passive terminals in the bus terminal block EtherCAT Terminals (ELxxxx / ESxxxx), which do not take an active part in data transfer within the bus terminal block are so called passive terminals. The passive terminals have no current consump- tion out of the E-Bus.

  • Page 42: 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 43: Atex Documentation

    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 44 Mounting and wiring These requirements apply to the supply of all EtherCAT bus couplers, power adaptor terminals, Bus Terminals and their power contacts. Version: 3.6 EL500x...

  • Page 45: Leds And Connection

    Mounting and wiring 4.10 LEDs and connection 4.10.1 EL5001 Fig. 31: EL5001 LEDs Color Meaning green These LEDs indicate the terminal's operating state: State of the EtherCAT State Machine [} 97]: INIT = initialization of the terminal flashing State of the EtherCAT State Machine: PREOP = function for mailbox communication and different stan- dard-settings set single flash State of the EtherCAT State Machine: SAFEOP = verification of the Sync Manager [} 98] channels and the distributed clocks.

  • Page 46: El5002

    Mounting and wiring 4.10.2 EL5002 Fig. 32: LEDs and connection EL5002 LEDs Color Meaning green These LEDs indicate the terminal's operating state: State of the EtherCAT State Machine [} 97]: INIT = initialization of the terminal flashing State of the EtherCAT State Machine: PREOP = function for mailbox communication and dif- ferent standard-settings set single State of the EtherCAT State Machine: SAFEOP = verification of the Sync Manager [} 98]...

  • Page 47: El5001-0011

    Mounting and wiring 4.10.3 EL5001-0011 Fig. 33: LEDs and connection EL5001-0011 LEDs Color Meaning green These LEDs indicate the terminal's operating state: State of the EtherCAT State Machine [} 97]: INIT = initialization of the terminal flashing State of the EtherCAT State Machine: PREOP = function for mailbox communication and different standard-settings set single flash State of the EtherCAT State Machine: SAFEOP = verification of the Sync Manager [} 98] chan-...

  • Page 48: El5001-0090

    Mounting and wiring 4.10.4 EL5001-0090 Fig. 34: LEDs and connection EL5001-0090 LEDs Color Meaning green These LEDs indicate the terminal's operating state: State of the EtherCAT State Machine [} 97]: INIT = initialization of the terminal flashing State of the EtherCAT State Machine: PREOP = function for mailbox communication and different stan- dard-settings set single flash State of the EtherCAT State Machine: SAFEOP = verification of the Sync Manager [} 98] channels and the distributed clocks.

  • Page 49: Commissioning

    • "offline": The configuration can be customized by adding and positioning individual components. These can be selected from a directory and configured. ◦ The procedure for offline mode can be found under http://infosys.beckhoff.com: TwinCAT 2 → TwinCAT System Manager → IO - Configuration → Adding an I/O Device •...

  • Page 50: Fig. 35 Relationship Between User Side (Commissioning) And Installation

    Commissioning Fig. 35: Relationship between user side (commissioning) and installation The user inserting of certain components (I/O device, terminal, box...) is the same in TwinCAT 2 and TwinCAT 3. The descriptions below relate to the online procedure. Sample configuration (actual configuration) Based on the following sample configuration, the subsequent subsections describe the procedure for TwinCAT 2 and TwinCAT 3: •...

  • Page 51: Fig. 36 Control Configuration With Embedded Pc, Input (El1004) And Output (El2008)

    Commissioning Fig. 36: Control configuration with Embedded PC, input (EL1004) and output (EL2008) Note that all combinations of a configuration are possible; for example, the EL1004 terminal could also be connected after the coupler, or the EL2008 terminal could additionally be connected to the CX2040 on the right, in which case the EK1100 coupler wouldn’t be necessary.

  • Page 52: Fig. 38 Selection Of The Target System

    Commissioning Generally, TwinCAT can be used in local or remote mode. Once the TwinCAT system including the user interface (standard) is installed on the respective PLC, TwinCAT can be used in local mode and thereby the next step is "Insert Device [} 53]". If the intention is to address the TwinCAT runtime environment installed on a PLC as development environment remotely from another system, the target system must be made known first.

  • Page 53: Fig. 40 Select "Scan Devices

    Commissioning After confirmation with "OK" the target system can be accessed via the System Manager. Adding devices In the configuration tree of the TwinCAT 2 System Manager user interface on the left, select "I/O Devices” and then right-click to open a context menu and select "Scan Devices…", or start the action in the menu bar .
  • Page 54 Commissioning Fig. 42: Mapping of the configuration in the TwinCAT 2 System Manager The whole process consists of two stages, which may be performed separately (first determine the devices, then determine the connected elements such as boxes, terminals, etc.). A scan can also be initiated by selecting "Device ..."...
  • Page 55 Commissioning • Graphical languages ◦ Function Block Diagram (FBD) ◦ Ladder Diagram (LD) ◦ The Continuous Function Chart Editor (CFC) ◦ Sequential Function Chart (SFC) The following section refers to Structured Text (ST). After starting TwinCAT PLC Control, the following user interface is shown for an initial project: Fig. 44: TwinCAT PLC Control after startup Sample variables and a sample program have been created and stored under the name "PLC_example.pro": EL500x...
  • Page 56 Commissioning Fig. 45: Sample program with variables after a compile process (without variable integration) Warning 1990 (missing "VAR_CONFIG") after a compile process indicates that the variables defined as external (with the ID "AT%I*" or "AT%Q*") have not been assigned. After successful compilation, TwinCAT PLC Control creates a "*.tpy"...
  • Page 57 Commissioning Select the PLC configuration "PLC_example.tpy" in the browser window that opens. The project including the two variables identified with "AT" are then integrated in the configuration tree of the System Manager: Fig. 47: PLC project integrated in the PLC configuration of the System Manager The two variables "bEL1004_Ch4"...
  • Page 58 Commissioning Fig. 49: Selecting PDO of type BOOL According to the default setting, certain PDO objects are now available for selection. In this sample the input of channel 4 of the EL1004 terminal is selected for linking. In contrast, the checkbox "All types" must be ticked for creating the link for the output variables, in order to allocate a set of eight separate output bits to a byte variable.
  • Page 59 Commissioning Fig. 51: Application of a "Goto Link" variable, using "MAIN.bEL1004_Ch4" as a sample The process of assigning variables to the PDO is completed via the menu selection "Actions" → "Generate Mappings”, key Ctrl+M or by clicking on the symbol in the menu. This can be visualized in the configuration: The process of creating links can also take place in the opposite direction, i.e.
  • Page 60 Commissioning Fig. 52: Choose target system (remote) In this sample "Runtime system 1 (port 801)" is selected and confirmed. Link the PLC with the real-time system via menu option "Online" → "Login", the F11 key or by clicking on the symbol . The control program can then be loaded for execution.
  • Page 61 Commissioning Fig. 53: PLC Control logged in, ready for program startup The PLC can now be started via "Online" → "Run", F5 key or 5.1.2 TwinCAT 3 Startup TwinCAT makes the development environment areas available together with Microsoft Visual Studio: after startup, the project folder explorer appears on the left in the general window area (cf.
  • Page 62 Commissioning Fig. 54: Initial TwinCAT 3 user interface First create a new project via (or under "File"→“New"→ "Project…"). In the following dialog make the corresponding entries as required (as shown in the diagram): Fig. 55: Create new TwinCAT project The new project is then available in the project folder explorer: Version: 3.6 EL500x...
  • Page 63 Commissioning Fig. 56: New TwinCAT3 project in the project folder explorer Generally, TwinCAT can be used in local or remote mode. Once the TwinCAT system including the user interface (standard) is installed on the respective PLC, TwinCAT can be used in local mode and thereby the next step is "Insert Device [} 64]".
  • Page 64 Commissioning Use "Search (Ethernet)..." to enter the target system. Thus a next dialog opens to either: • enter the known computer name after "Enter Host Name / IP:" (as shown in red) • perform a "Broadcast Search" (if the exact computer name is not known) •...
  • Page 65 Commissioning Fig. 60: Automatic detection of I/O devices: selection the devices to be integrated Confirm the message "Find new boxes", in order to determine the terminals connected to the devices. "Free Run" enables manipulation of input and output values in "Config mode" and should also be acknowledged. Based on the sample configuration [} 50] described at the beginning of this section, the result is as follows: Fig. 61: Mapping of the configuration in VS shell of the TwinCAT3 environment The whole process consists of two stages, which may be performed separately (first determine the devices,...
  • Page 66 Commissioning Fig. 62: Reading of individual terminals connected to a device This functionality is useful if the actual configuration is modified at short notice. Programming the PLC TwinCAT PLC Control is the development environment for the creation of the controller in different program environments: TwinCAT PLC Control supports all languages described in IEC 61131-3.
  • Page 67 Commissioning Fig. 63: Adding the programming environment in "PLC" In the dialog that opens select "Standard PLC project" and enter "PLC_example" as project name, for example, and select a corresponding directory: Fig. 64: Specifying the name and directory for the PLC programming environment The "Main"...
  • Page 68 Commissioning Fig. 65: Initial "Main" program of the standard PLC project To continue, sample variables and a sample program have now been created: Version: 3.6 EL500x...
  • Page 69 Commissioning Fig. 66: Sample program with variables after a compile process (without variable integration) The control program is now created as a project folder, followed by the compile process: Fig. 67: Start program compilation The following variables, identified in the ST/ PLC program with "AT%", are then available in under "Assignments"...
  • Page 70 Commissioning Fig. 68: Creating the links between PLC variables and process objects In the window that opens, the process object for the variable "bEL1004_Ch4" of type BOOL can be selected from the PLC configuration tree: Fig. 69: Selecting PDO of type BOOL According to the default setting, certain PDO objects are now available for selection.
  • Page 71 Commissioning Fig. 70: Selecting several PDOs simultaneously: activate "Continuous" and "All types" Note that the "Continuous" checkbox was also activated. This is designed to allocate the bits contained in the byte of the variable "nEL2008_value" sequentially to all eight selected output bits of the EL2008 terminal. In this way it is possible to subsequently address all eight outputs of the terminal in the program with a byte corresponding to bit 0 for channel 1 to bit 7 for channel 8 of the PLC.
  • Page 72 Commissioning Activation of the configuration The allocation of PDO to PLC variables has now established the connection from the controller to the inputs and outputs of the terminals. The configuration can now be activated with or via the menu under "TwinCAT"...

  • Page 73: Twincat 2

    5.2.1 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 74 Commissioning Fig. 73: System Manager “Options” (TwinCAT 2) This have to be called up by the Menü “TwinCAT” within the TwinCAT 3 environment: Fig. 74: Call up under VS Shell (TwinCAT 3) The following dialog appears: Fig. 75: Overview of network interfaces Interfaces listed under “Compatible devices” can be assigned a driver via the “Install” button. A driver should only be installed on compatible devices.
  • Page 75 Commissioning Fig. 76: EtherCAT device properties(TwinCAT 2): click on „Compatible Devices…“ of tab “Adapter” TwinCAT 3: the properties of the EtherCAT device can be opened by double click on “Device .. (EtherCAT)” within the Solution Explorer under “I/O”: After the installation the driver appears activated in the Windows overview for the network interface (Windows Start →...
  • Page 76 Commissioning Fig. 78: Exemplary correct driver setting for the Ethernet port Other possible settings have to be avoided: Version: 3.6 EL500x...
  • Page 77 Commissioning Fig. 79: Incorrect driver settings for the Ethernet port EL500x Version: 3.6...
  • Page 78 Commissioning IP address of the port used IP address/DHCP 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”...

  • Page 79: 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 80 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’ [} 84].
  • Page 81 Commissioning Fig. 84: File OnlineDescription.xml created by the System Manager Is a slave desired to be added manually to the configuration at a later stage, online created slaves are indicated by a prepended symbol “>” in the selection list (see Figure “Indication of an online recorded ESI of EL2521 as an example”).
  • Page 82 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: 3.6 EL500x...

  • Page 83: Twincat Esi Updater

    Commissioning 5.2.3 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. 87: Using the ESI Updater (>= TwinCAT 2.11) The call up takes place under: “Options” → "Update EtherCAT Device Descriptions"...

  • Page 84: Offline Configuration Creation

    Commissioning • the devices/modules be connected to the power supply and ready for communication • TwinCAT must be in CONFIG mode on the target system. The online scan process consists of: • detecting the EtherCAT device [} 89] (Ethernet port at the IPC) •...
  • Page 85 Commissioning This query may appear automatically when the EtherCAT device is created, or the assignment can be set/ modified later in the properties dialog; see Fig. “EtherCAT device properties (TwinCAT 2)”. Fig. 92: EtherCAT device properties (TwinCAT 2) TwinCAT 3: the properties of the EtherCAT device can be opened by double click on “Device .. (EtherCAT)” within the Solution Explorer under “I/O”: Selecting the Ethernet port Ethernet ports can only be selected for EtherCAT devices for which the TwinCAT real-time driver is...
  • Page 86 (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 87 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 88 Commissioning Fig. 98: EtherCAT terminal in the TwinCAT tree (left: TwinCAT 2; right: TwinCAT 3) Version: 3.6 EL500x...

  • Page 89: Online Configuration Creation

    Commissioning 5.2.6 ONLINE configuration creation Detecting/scanning of the EtherCAT device The online device search can be used if the TwinCAT system is in CONFIG mode. This can be indicated by a symbol right below in the information bar: • on TwinCAT 2 by a blue display “Config Mode” within the System Manager window: •...
  • Page 90 [} 94] 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 91 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 92 Commissioning Fig. 107: Manual triggering of a device scan on a specified EtherCAT device (left: TwinCAT 2; right: TwinCAT 3) In the System Manager (TwinCAT 2) or the User Interface (TwinCAT 3) the scan process can be monitored via the progress bar at the bottom in the status bar. Fig. 108: Scan progressexemplary by TwinCAT 2 The configuration is established and can then be switched to online state (OPERATIONAL).
  • Page 93 Commissioning Fig. 112: Online display example Please note: • all slaves should be in OP state • the EtherCAT master should be in “Actual State” OP • “frames/sec” should match the cycle time taking into account the sent number of frames •...
  • Page 94 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 95 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 96 Commissioning Fig. 117: Correction dialog with modifications Once all modifications have been saved or accepted, click “OK” to transfer them to the real *.tsm configuration. Change to Compatible Type TwinCAT offers a function “Change to Compatible Type…” for the exchange of a device whilst retaining the links in the task.

  • Page 97: Ethercat Subscriber Configuration

    Commissioning If called, the System Manager searches in the procured device ESI (in this example: EL1202-0000) for details of compatible devices contained there. The configuration is changed and the ESI-EEPROM is overwritten at the same time – therefore this process is possible only in the online state (ConfigMode). 5.2.7 EtherCAT subscriber configuration In the left-hand window of the TwinCAT 2 System Manager or the Solution Explorer of the TwinCAT 3...
  • Page 98 Commissioning „EtherCAT“ tab Fig. 122: „EtherCAT“ tab Type EtherCAT device type Product/Revision Product and revision number of the EtherCAT device Auto Inc Addr. Auto increment address of the EtherCAT device. The auto increment address can be used for addressing each EtherCAT device in the communication ring through its physical position.
  • Page 99 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 100 Commissioning Fig. 124: Configuring the process data Manual modification of the process data According to the ESI description, a PDO can be identified as “fixed” with the flag “F” in the PDO overview (Fig. “Configuring the process data”, J). The configuration of such PDOs cannot be changed, even if TwinCAT offers the associated dialog (“Edit”).
  • Page 101 Commissioning Fig. 125: „Startup“ tab Column Description Transition Transition to which the request is sent. This can either be • the transition from pre-operational to safe-operational (PS), or • the transition from safe-operational to operational (SO). If the transition is enclosed in "<>" (e.g. <PS>), the mailbox request is fixed and cannot be modified or deleted by the user.
  • Page 102 Commissioning Fig. 126: “CoE – Online” tab Object list display Column Description Index Index and sub-index of the object Name Name of the object Flags The object can be read, and data can be written to the object (read/write) The object can be read, but no data can be written to the object (read only) An additional P identifies the object as a process data object.
  • Page 103 Commissioning Fig. 127: Dialog “Advanced settings” Online - via SDO Information If this option button is selected, the list of the objects included in the object list of the slave is uploaded from the slave via SDO information. The list below can be used to specify which object types are to be uploaded. 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.
  • Page 104 • 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: 3.6...
  • Page 105 Commissioning 5.2.7.1 Detailed description of Process Data tab Sync Manager Lists the configuration of the Sync Manager (SM). If the EtherCAT device has a mailbox, SM0 is used for the mailbox output (MbxOut) and SM1 for the mailbox input (MbxIn). SM2 is used for the output process data (outputs) and SM3 (inputs) for the input process data.

  • Page 106: General Notes - Ethercat Slave Application

    Commissioning Download If the device is intelligent and has a mailbox, the configuration of the PDO and the PDO assignments can be downloaded to the device. This is an optional feature that is not supported by all EtherCAT slaves. PDO Assignment If this check box is selected, the PDO assignment that is configured in the PDO Assignment list is downloaded to the device on startup.
  • Page 107 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 108 Commissioning Code Function Implementation Application/evaluation The EtherCAT Master's diagnostic infor- At least the DevState is to be evaluated for mation the most recent cycle in the PLC. updated acyclically (yellow) or provided The EtherCAT Master's diagnostic informa- acyclically (green). tion offers many more possibilities than are treated in the EtherCAT System Documenta- tion.
  • Page 109 Commissioning Fig. 132: EL3102, CoE directory EtherCAT System Documentation The comprehensive description in the EtherCAT System Documentation (EtherCAT Basics --> CoE Interface) must be observed! A few brief extracts: • Whether changes in the online directory are saved locally in the slave depends on the device. EL terminals (except the EL66xx) are able to save in this way.
  • Page 110 Commissioning Fig. 133: Example of commissioning aid for a EL3204 This commissioning process simultaneously manages • CoE Parameter Directory • DC/FreeRun mode • the available process data records (PDO) Although the "Process Data", "DC", "Startup" and "CoE-Online" that used to be necessary for this are still displayed, it is recommended that, if the commissioning aid is used, the automatically generated settings are not changed by it.
  • Page 111 Commissioning Standard setting The advanced settings of the EtherCAT Master are set as standard: • EtherCAT Master: OP • Slaves: OP This setting applies equally to all Slaves. Fig. 134: 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.
  • Page 112 Commissioning Manual Control There are particular reasons why it may be appropriate to control the states from the application/task/PLC. For instance: • for diagnostic reasons • to induce a controlled restart of axes • because a change in the times involved in starting is desirable In that case it is appropriate in the PLC application to use the PLC function blocks from the TcEtherCAT.lib, which is available as standard, and to work through the states in a controlled manner using, for instance, FB_EcSetMasterState.
  • Page 113 Commissioning Fig. 137: Illegally exceeding the E-Bus current From TwinCAT 2.11 and above, a warning message "E-Bus Power of Terminal..." is output in the logger window when such a configuration is activated: Fig. 138: 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! EL500x Version: 3.6...

  • Page 114: El5001, El5002

    Commissioning EL5001, EL5002 5.4.1 Function principles and notes The EL5001/EL5002 is an SSI master terminal for cyclic polling of SSI devices. The EL5002 can operate two slaves. The EL500x is generally operated such that each I/O cycle triggers an SSI communication and thus supplies a new encoder position to the application.
  • Page 115 Commissioning Referencing an SSI signal An SSI encoder is an absolute encoder, which means, that the position value is available without referencing immediately after switching on. Many SSI encoders offer the option of referencing or zeroing the position value via an additional digital input. Depending on the signal voltage of the digital input on the encoder, this can be set, for example via a digital output terminal EL2xxx.
  • Page 116 Commissioning Multiple transmission mode The following modes can be used with the SSI protocol: - Single transmission (already part of EL5002) - Multiple transmission (new feature, available from FW03 and XML Rev. 0020) The single transmission is implemented according to the SSI protocol standard. The multiple transmission is an extension of the single transmission and can be activated by the user for each channel independently.

  • Page 117: Commissioning Instructions

    Commissioning Name Bedeutung SB.7 TxPDO Toggle 0/1 The TxPDO toggle is toggled by the slave when the data of the associated TxPDO is updated. SB.6 TxPDO State Validity of the data of the associated TxPDO 0 = valid 1 = invalid SB.5 Sync error The Sync error bit is only required for DC mode.
  • Page 118 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 119 Commissioning Fig. 140: CoE settings and EL500x process data in TwinCAT 2.11 • Red: setting range for objects 0x4060 [} 124]ff. • Blue: setting range for objects 0x8010 [} 127] with subindices. • Green: OnlineData means that currently the data from the EL terminal are displayed, in contrast to offline data from the XML description/ESI file if the terminal is physically not connected, for example.
  • Page 120 Commissioning • Index 0x8000:02 [} 126], enable power failure bit If the bit is set to TRUE, the last bit (LSB) in the SSI telegram is interpreted as PowerFail bit of the SSI slave and shown in the process data. • Index 0x8000:03 [} 126], enable inhibit time If the bit is set to TRUE, the system waits at least until the inhibit time has elapsed when the next SSI communication starts (index 0x8010:13 [} 127]), even if the next start request has already been issued via EtherCAT or distributed clocks.
  • Page 121 Commissioning Data error Frame error Possible error type (Index 60x0:01) (Index 60x0:02) TRUE FALSE SSI input error: - SSI without power supply - Broken wire at SSI data inputs D+ or D- If no data communication takes place the SSI input of the terminal is on low level.
  • Page 122 Commissioning Fig. 142: EL500x process data • Terminal A, EL5001-0000-0001 only support for 1 status byte. • Terminal B, EL5001-0000-1017 also existing process image (default). • Terminal C, EL5001-0000-1017 with converted interface In SyncManager 3 (inputs, blue) the PDO assignment of object 0x1A00 [} 130] (default) was changed to object 0x1A01 [} 130], representing 2-byte status.
  • Page 123 Commissioning Fig. 143: Representation of the SSI inputs in the TwinCAT tree Start of SSI communication If the start time of the SSI communication is of interest, it can be calculated in the control system (TwinCAT 2.11 or higher). The following functions must be activated in the terminal: System Manager | EL500x | Advanced settings | Behavior | IncludeDcShiftTimes = TRUE Fig. 144: EL500x shift times Through this setting the System Manager specifies for each terminal the fixed offset/shift between the local...

  • Page 124: 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 125 Commissioning Index 4068 SSI frame type (only EL5001) Index (hex) Name Meaning Data type Flags Default 4068:0 SSI-frame type 0: Multi-turn analysis is active (25-bit data frame) UINT16 0x0000 (0 1: Single-turn-analysis is active (13-bit data frame) 2: Variable analysis is active. The length of the data frame (1 to 32 bit) is specified via object 0x4069 [} 125].
  • Page 126 Commissioning Index 80n0 SSI settings (only EL5002), with n=0 (Ch.1), n=1 (Ch.2) Index (hex) Name Meaning Data type Flags Default 80n0:0 SSI settings Length of this object UINT8 0x13 (19 80n0:01 Disable frame error 0: Frame error is not suppressed BOOLEAN 0x00 (0 1: Frame error is suppressed...
  • Page 127 Commissioning Index 8010 SSI settings (from FW11 in the case of EL5001) Index (hex) Name Meaning Data type Flags Default 8010:0 SSI settings Length of this object UINT8 0x13 (19 8010:01 Disable frame error 0: Frame error is not suppressed BOOLEAN 0x00 (0 1: Frame error is suppressed...
  • Page 128 Commissioning Index 6010 SSI Inputs (from FW11 in the case of EL5001) Index (hex) Name Meaning Data type Flags Default 6010:0 SSI Inputs Length of this object UINT8 0x11 (17 6010:01 Data error SSI input error: BOOLEAN 0x00 (0 - SSI without power supply - Broken wire at SSI data inputs D+ or D- - Data cables interchanged If no data communication takes place the SSI input of...
  • Page 129 Commissioning Index 1018 Identity Index (hex) Name Meaning Data type Flags Default 1018:0 Identity Information for identifying the slave UINT8 0x04 (4 1018:01 Vendor ID Vendor ID of the EtherCAT slave UINT32 0x00000002 (2 1018:02 Product code Product code of the EtherCAT slave UINT32 EL5001: 0x13893052...
  • Page 130 Commissioning Index 1A00 SSI TxPDO Map Inputs (only EL5002) Index (hex) Name Meaning Data type Flags Default 1A00:0 SSI TxPDO Map In- PDO Mapping TxPDO 1 UINT8 0x08 (8 puts 1A00:01 SubIndex 001 1. PDO Mapping entry (object 0x6000 (SSI Inputs), UINT32 0x6000:01, 1 entry 0x01 (Data error))
  • Page 131 Commissioning Index 1C13 TxPDO assign Index (hex) Name Meaning Data type Flags Default 1C13:0 TxPDO assign PDO Assign Inputs UINT8 0x02 (2 1C13:01 SubIndex 001 1. allocated TxPDO (contains the index of the associ- UINT16 0x1A00 (6656 ated TxPDO mapping object) 1C13:02** SubIndex 002 2.
  • Page 132 Commissioning Index 1C33 SM input parameter (from FW11 in the case of EL5001) Index (hex) Name Meaning Data type Flags Default 1C33:0 SM input parameter Synchronization parameters for the inputs UINT8 0x20 (32 1C33:01 Sync mode Current synchronization mode: UINT16 0x0022 (34 •...

  • Page 133: Status And Control Bits

    Commissioning Index 3101 Inputs (only EL5001) Index (hex) Name Meaning Data type Flags Default 3101:0 Inputs Length of this object UINT8 0x02 (2 3101:01 Status Status byte UINT8 0x00 (0 3101:02 Value Input process data UINT32 0x00000000 (0 Index F000 Modular device profile  (from FW11 in case of EL5001) Index (hex) Name Meaning Data type...

  • Page 134: Commissioning Instructions

    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 135 Commissioning Fig. 146: CoE settings and process data SSI settings • Index 0x8000:01 [} 137], disable frame error If the bit is set to TRUE, data errors such as invalid telegram size are no longer shown in the Data error process record. •...
  • Page 136 Commissioning Distributed Clocks An SSI encoder should determine its position at the first falling edge at the Data input after the pause ("latching"). If DC (distributed clock) is activated (-> DC tab), the EL5001-0011 stores this time and transfers it to the controller as a 32-bit or 64-bit value. To this end the corresponding process data must be activated in the ProcessData tab and TwinCAT must be restarted or EtherCAT reloaded (button in the System Manager).

  • Page 137: 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 138 Commissioning 5.5.3.3 Input data Index 6000 SSI Inputs Index (hex) Name Meaning Data type Flags Default 6000:0 SSI Inputs Length of this object UINT8 0x12 (18 6000:01 Data error SSI input error: BOOLEAN 0x00 (0 - SSI without power supply - Broken wire at SSI data inputs D+ or D- - Data cables interchanged If no data communication takes place the SSI input of...
  • Page 139 Commissioning Index 100A Software version Index (hex) Name Meaning Data type Flags Default 100A:0 Software version Firmware version of the EtherCAT slave STRING Index 1018 Identity Index (hex) Name Meaning Data type Flags Default 1018:0 Identity Information for identifying the slave UINT8 0x04 (4 1018:01...
  • Page 140 Commissioning Index 1A01 SSI TxPDO-Map Timest. Index (hex) Name Meaning Data type Flags Default 1A01:0 SSI TxPDO-Map PDO Mapping TxPDO 2 UINT8 0x01 (1 Timest. 1A01:01 SubIndex 001 1. PDO Mapping entry (object 0x6000 (SSI Inputs), UINT32 0x6000:12, 64 entry 0x12 (Timestamp)) Index 1A02 SSI TxPDO-map Timest.
  • Page 141 Commissioning Index 1C33 SM input parameter Index (hex) Name Meaning Data type Flags Default 1C33:0 SM input parameter Synchronization parameters for the inputs UINT8 0x20 (32 1C33:01 Sync mode Current synchronization mode: UINT16 0x0022 (34 • 0: Free Run • 1: Synchron with SM 3 Event (no outputs available) •...

  • Page 142: Twinsafe Sc

    Commissioning Index F000 Modular device profile Index (hex) Name Meaning Data type Flags Default F000:0 Modular device profile General information for the modular device profile UINT8 0x02 (2 F000:01 Module index dis- Index distance of the objects of the individual chan- UINT16 0x0010 (16 tance...
  • Page 143 Commissioning Fig. 148: Adding the TwinSAFE SC process data under the component, e.g. EL5021-0090 Additional process data with the ID TSC Inputs, TSC Outputs are generated (TSC -  TwinSAFE Single Channel). Fig. 149: TwinSAFE SC component process data, example EL5021-0090 A TwinSAFE SC connection is added by adding an alias devices in the safety project and selecting TSC (TwinSAFE Single Channel) Fig. 150: Adding a TwinSAFE SC connection After opening the alias device by double-clicking, select the Link button...
  • Page 144 Commissioning Fig. 151: Creating a link to TwinSAFE SC terminal The CRC to be used can be selected or a free CRC can be entered under the Connection tab of the alias device. Entry Mode Used CRCs TwinSAFE SC CRC 1 master 0x17B0F TwinSAFE SC CRC 2 master 0x1571F...
  • Page 145 Commissioning Fig. 153: Selecting the process data size and the process data The process data (defined in the ESI file) can be adjusted to user requirements by selecting the Edit button in the dialog Configure I/O element(s). Fig. 154: Selection of the process data The safety address together with the CRC must be entered on the TwinSAFE SC slave side.

  • Page 146: Twinsafe Sc Process Data El5001-0090

    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 147 Commissioning Parameterization via the CoE list (CAN over EtherCAT) The EtherCAT device is parameterized via the CoE-Online tab [} 101] (double-click on the respec- tive object) or via the Process Data tab [} 98](allocation of PDOs). Please note the following general CoE notes [} 24] when using/manipulating the CoE parameters: •...
  • Page 148 Commissioning 5.6.3.3 Input data Index 6000 SSI Inputs Index (hex) Name Meaning Data type Flags Default 6000:0 SSI Inputs Length of this object UINT8 0x11 (17 6000:01 Data error SSI input error: BOOLEAN 0x00 (0 - SSI without power supply - Broken wire at SSI data inputs D+ or D- - Data cables interchanged If no data communication takes place the SSI input of...
  • Page 149 Commissioning Index 1018 Identity Index (hex) Name Meaning Data type Flags Default 1018:0 Identity Information for identifying the slave UINT8 0x04 (4 1018:01 Vendor ID Vendor ID of the EtherCAT slave UINT32 0x00000002 (2 1018:02 Product code Product code of the EtherCAT slave UINT32 0x13893052 (327757906...
  • Page 150 Commissioning Index 1C13 TxPDO assign Index (hex) Name Meaning Data type Flags Default 1C13:0 TxPDO assign PDO Assign Inputs UINT8 0x01 (1 1C13:01 SubIndex 001 1. allocated TxPDO (contains the index of the associ- UINT16 0x1A00 (6656 ated TxPDO mapping object) 1C13:02 SubIndex 002 2.
  • Page 151 Commissioning Index 1C33 SM input parameter Index (hex) Name Meaning Data type Flags Default 1C33:0 SM input parameter Synchronization parameters for the inputs UINT8 0x20 (32 1C33:01 Sync mode Current synchronization mode: UINT16 0x0001 (1 • 0: Free Run • 1: Synchron with SM 3 Event (no outputs available) •...
  • Page 152 Commissioning Index F000 Modular device profile Index (hex) Name Meaning Data type Flags Default F000:0 Modular device profile General information for the modular device profile UINT8 0x02 (2 F000:01 Module index dis- Index distance of the objects of the individual chan- UINT16 0x0010 (16 tance...
  • Page 153 Commissioning Index 6010 TSC Slave Frame Elements Index (hex) Name Meaning Data type Flags Default 6010:0 TSC Slave Frame El- Max. Subindex UINT8 0x04 (4 ements 6010:01 TSC__Slave Cmd reserved UINT8 0x00 (0 6010:02 TSC__Slave ConnID reserved UINT16 0x0000 (0 6010:03 TSC__Slave CRC_0 reserved...

  • Page 154: Appendix

    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.

  • Page 155: Firmware Update El/Es/Em/Epxxxx

    Check on the Beckhoff web page whether more up-to-date documentation is available. 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 156: 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 157 Appendix Fig. 158: Scan the subordinate field by right-clicking on the EtherCAT device If the found field matches the configured field, the display shows Fig. 159: Configuration is identical otherwise a change dialog appears for entering the actual data in the configuration. Fig. 160: Change dialog In this example in Fig.
  • Page 158 Appendix Changing the ESI slave identifier The ESI/EEPROM identifier can be updated as follows under TwinCAT: • Trouble-free EtherCAT communication must be established with the slave. • The state of the slave is irrelevant. • Right-clicking on the slave in the online display opens the EEPROM Update dialog, Fig. EEPROM Update Fig. 161: EEPROM Update The new ESI description is selected in the following dialog, see Fig.

  • Page 159: 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 160: Updating Controller Firmware *.Efw

    Switch to the Online tab to update the controller firmware of a slave, see Fig. Firmware Update. Fig. 164: 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 161: Fpga Firmware *.Rbf

    Appendix • Switch EtherCAT Master to PreOP • Switch slave to INIT (A) • Switch slave to BOOTSTRAP • Check the current status (B, C) • Download the new *efw file (wait until it ends). A pass word will not be neccessary usually. •...
  • Page 162 Appendix Fig. 165: FPGA firmware version definition If the column Reg:0002 is not displayed, right-click the table header and select Properties in the context menu. Fig. 166: 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.
  • Page 163 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 164 Appendix • 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: Version: 3.6 EL500x...

  • Page 165: Simultaneous Updating Of Several Ethercat Devices

    Appendix • Select the file (*.rbf) with the new FPGA firmware, and transfer it to the EtherCAT device: • Wait until download ends • Switch slave current less for a short time (don't pull under voltage!). In order to activate the new FPGA firmware a restart (switching the power supply off and on again) of the EtherCAT device is required.

  • Page 166: Restoring The Delivery State

    Appendix Restoring the delivery state To restore the delivery state for backup objects in ELxxxx terminals, the CoE object Restore default parameters, SubIndex 001 can be selected in the TwinCAT System Manager (Config mode) (see Fig. Selecting the Restore default parameters PDO) Fig. 169: Selecting the "Restore default parameters"...

  • Page 167: 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 168 Startup list in the TwinCAT System Manager ................Fig. 17 Offline list ............................. Fig. 18 Online list ............................ Fig. 19 Spring contacts of the Beckhoff I/O components................. Fig. 20 Attaching on mounting rail ......................Fig. 21 Disassembling of terminal......................Fig. 22 Power contact on left side......................
  • Page 169 List of illustrations Fig. 42 Mapping of the configuration in the TwinCAT 2 System Manager..........Fig. 43 Reading of individual terminals connected to a device..............Fig. 44 TwinCAT PLC Control after startup ..................... Fig. 45 Sample program with variables after a compile process (without variable integration) ....Fig.
  • Page 170 List of illustrations Fig. 88 Using the ESI Updater (TwinCAT 3).................... Fig. 89 Append EtherCAT device (left: TwinCAT 2; right: TwinCAT 3) ........... Fig. 90 Selecting the EtherCAT connection (TwinCAT 2.11, TwinCAT 3)..........Fig. 91 Selecting the Ethernet port ......................Fig. 92 EtherCAT device properties (TwinCAT 2) ................... Fig.
  • Page 171 List of illustrations Fig. 132 EL3102, CoE directory ........................ 109 Fig. 133 Example of commissioning aid for a EL3204 ................110 Fig. 134 Default behaviour of the System Manager .................. 111 Fig. 135 Default target state in the Slave ....................111 Fig.

This manual is also suitable for:

El5001-0011El5001El5001-0090El5002

Table of Contents