Beckhoff EL6731 Documentation page 82

Parameterization and commissioning
Fig. 81: 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.
The commissioning tool does not cover every possible application of an EL/EP device. If the available setting
options are not adequate, the user can make the DC, PDO and CoE settings manually, as in the past.
EtherCAT State: automatic default behaviour of the TwinCAT System Manager and manual operation
After the operating power is switched on, an EtherCAT Slave must go through the following statuses
• INIT
• PREOP
• SAFEOP
• OP
to ensure sound operation. The EtherCAT Master directs these statuses in accordance with the initialization
routines that are defined for commissioning the device by the ES/XML and user settings (Distributed Clocks
(DC), PDO, CoE). See also the section on "Principles of Communication, EtherCAT State Machine [} 30]" in
this connection. Depending how much configuration has to be done, and on the overall communication,
booting can take up to a few seconds.
The EtherCAT Master itself must go through these routines when starting, until it has reached at least the
OP target state.
The target state wanted by the user, and which is brought about automatically at start-up by TwinCAT, can
be set in the System Manager. As soon as TwinCAT reaches the status RUN, the TwinCAT EtherCAT
Master will approach the target states.
82 Version: 2.8 EL6731