Table of contents
3.6
Distributed Clock ............................................................................................................................. 71
4 Mounting and wiring................................................................................................................................ 72
4.1
4.2
4.3
Connection ...................................................................................................................................... 75
4.3.1
Connection system .......................................................................................................... 75
4.3.2
Wiring............................................................................................................................... 77
4.3.3
Shielding .......................................................................................................................... 78
4.4
Installation positions ........................................................................................................................ 78
4.5
4.6
4.7
4.8
ATEX Documentation ...................................................................................................................... 83
5 Commissioning........................................................................................................................................ 84
5.1
TwinCAT Quick Start ....................................................................................................................... 84
5.1.1
TwinCAT 2 ....................................................................................................................... 87
5.1.2
TwinCAT 3 ....................................................................................................................... 97
5.2
5.2.1
5.2.2
5.2.3
TwinCAT ESI Updater ................................................................................................... 119
5.2.4
5.2.5
5.2.6
5.2.7
5.3
6 Appendix ................................................................................................................................................ 150
6.1
EtherCAT AL Status Codes ........................................................................................................... 150
6.2
UL notice ....................................................................................................................................... 150
6.3
Firmware compatibility ................................................................................................................... 151
6.4
6.4.1
6.4.2
Firmware explanation .................................................................................................... 155
6.4.3
6.4.4
FPGA firmware *.rbf....................................................................................................... 157
6.4.5
6.5
Restoring the delivery state ........................................................................................................... 162
6.6
Support and Service ...................................................................................................................... 163
4
Version: 5.2
EL20xx, EL2124