Table Of Contents - Beckhoff EL6731 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
1.4.1 Beckhoff Identification Code (BIC)................................................................................... 12
2 Product overview..................................................................................................................................... 14
2.1 Introduction ...................................................................................................................................... 14
2.2 Technical data ................................................................................................................................. 15
3 Mounting and wiring................................................................................................................................ 16
3.1 Instructions for ESD protection ........................................................................................................ 16
3.2 Recommended mounting rails ......................................................................................................... 16
3.3 Installation positions ........................................................................................................................ 17
3.4 Mounting and demounting - terminals with traction lever unlocking ................................................ 18
3.5 Mounting and demounting - terminals with front unlocking ............................................................. 20
3.6 Positioning of passive Terminals ..................................................................................................... 22
3.7 PROFIBUS cabling .......................................................................................................................... 22
3.8 PROFIBUS Connection ................................................................................................................... 24
3.9 ATEX - Special conditions (extended temperature range) .............................................................. 26
3.10 ATEX Documentation ...................................................................................................................... 27
3.11 UL notice ......................................................................................................................................... 27
4 Basics communication ........................................................................................................................... 28
4.1 EtherCAT basics.............................................................................................................................. 28
4.2 General notes for setting the watchdog ........................................................................................... 28
4.3 EtherCAT State Machine ................................................................................................................. 30
4.4 CoE Interface................................................................................................................................... 32
5 Parameterization and commissioning ................................................................................................... 37
5.1 EL6731 - PROFIBUS master terminal ............................................................................................. 37
5.1.1 PROFIBUS protocols....................................................................................................... 37
5.1.2 PROFIBUS DP ................................................................................................................ 38
5.1.3 PROFIBUS MC................................................................................................................ 40
5.1.4 Synchronization ............................................................................................................... 41
5.1.5 ADS (acyclic services) ..................................................................................................... 42
5.1.6 TwinCAT (2.1x) System Manager.................................................................................... 53
5.1.7 Operation of PROFIdrive MC drives .............................................................................. 101
5.1.8 Diagnostics and error description .................................................................................. 114
5.1.9 Slave Prioritization/Multiple DP Cycles.......................................................................... 129
5.2 EL6731-0010 - PROFIBUS slave terminal .................................................................................... 130
6 EtherCAT communication EL6731-00x0.............................................................................................. 134
6.1 PROFIBUS master ........................................................................................................................ 134
6.1.1 State machine................................................................................................................ 134
6.1.2 Synchronization ............................................................................................................. 138
6.1.3 Object description and parameterization ....................................................................... 142
EL6731 Version: 2.8
Table of contents
3