Beckhoff EL28 Series Documentation page 4

Table of contents
4.4.1 Connection system .......................................................................................................... 67
4.4.2 Wiring............................................................................................................................... 69
4.4.3 Shielding .......................................................................................................................... 70
4.5 Installation positions ........................................................................................................................ 70
4.6 Positioning of passive Terminals ..................................................................................................... 73
4.7 UL notice ......................................................................................................................................... 73
4.8 ATEX - Special conditions (standard temperature range) ............................................................... 75
4.9 ATEX - Special conditions (extended temperature range) .............................................................. 76
4.10 ATEX Documentation ...................................................................................................................... 77
5 Commissioning........................................................................................................................................ 78
5.1 TwinCAT Quick Start ....................................................................................................................... 78
5.1.1 TwinCAT 2 ....................................................................................................................... 80
5.1.2 TwinCAT 3 ....................................................................................................................... 90
5.2 TwinCAT Development Environment ............................................................................................ 102
5.2.1 Installation of the TwinCAT real-time driver................................................................... 102
5.2.2 Notes regarding ESI device description......................................................................... 108
5.2.3 TwinCAT ESI Updater ................................................................................................... 112
5.2.4 Distinction between Online and Offline.......................................................................... 112
5.2.5 OFFLINE configuration creation .................................................................................... 113
5.2.6 ONLINE configuration creation ...................................................................................... 118
5.2.7 EtherCAT subscriber configuration................................................................................ 126
5.3 General Notes - EtherCAT Slave Application ................................................................................ 135
6 Appendix ................................................................................................................................................ 143
6.1 EtherCAT AL Status Codes ........................................................................................................... 143
6.2 Firmware compatibility ................................................................................................................... 143
6.3 Firmware Update EL/ES/EM/EPxxxx ............................................................................................ 143
6.3.1 Device description ESI file/XML..................................................................................... 144
6.3.2 Firmware explanation .................................................................................................... 147
6.3.3 Updating controller firmware *.efw................................................................................. 148
6.3.4 FPGA firmware *.rbf....................................................................................................... 150
6.3.5 Simultaneous updating of several EtherCAT devices.................................................... 154
6.4 Firmware compatibility - passive terminals .................................................................................... 155
6.5 Restoring the delivery state ........................................................................................................... 155
6.6 Support and Service ...................................................................................................................... 156
4 Version: 2.2 EL28xx-xxxx