Beckhoff EL10 Series Documentation page 4

Table of contents
4.3 Installation positions ........................................................................................................................ 44
4.4 Installation instructions for enhanced mechanical load capacity ..................................................... 46
4.5 Positioning of passive Terminals ..................................................................................................... 47
4.6 Connection ...................................................................................................................................... 47
4.6.1 Connection system .......................................................................................................... 47
4.6.2 Wiring............................................................................................................................... 50
4.6.3 Shielding .......................................................................................................................... 51
4.7 ATEX - Special conditions (standard temperature range) ............................................................... 51
4.8 ATEX - Special conditions (extended temperature range) .............................................................. 52
4.9 ATEX Documentation ...................................................................................................................... 53
4.10 UL notice ......................................................................................................................................... 53
5 Commissioning........................................................................................................................................ 54
5.1 TwinCAT Development Environment .............................................................................................. 54
5.1.1 Installation of the TwinCAT real-time driver..................................................................... 54
5.1.2 Notes regarding ESI device description........................................................................... 60
5.1.3 OFFLINE configuration creation ...................................................................................... 64
5.1.4 ONLINE configuration creation ........................................................................................ 69
5.1.5 EtherCAT slave process data settings............................................................................. 77
5.1.6 Configuration with the TwinCAT System Manager - digital input and output terminals ... 78
5.2 General Notes - EtherCAT Slave Application .................................................................................. 83
5.3 Control and Status Byte................................................................................................................... 91
6 Appendix .................................................................................................................................................. 92
6.1 EtherCAT AL Status Codes ............................................................................................................. 92
6.2 Firmware compatibility ..................................................................................................................... 92
6.3 Firmware Update EL/ES/EM/ELM/EPxxxx ...................................................................................... 92
6.3.1 Device description ESI file/XML....................................................................................... 93
6.3.2 Firmware explanation ...................................................................................................... 96
6.3.3 Updating controller firmware *.efw................................................................................... 97
6.3.4 FPGA firmware *.rbf......................................................................................................... 98
6.3.5 Simultaneous updating of several EtherCAT devices.................................................... 102
6.4 Support and Service ...................................................................................................................... 103
4 Version: 4.5 EL10xx, EL11xx