Table Of Contents - Beckhoff BK11 0 Series Documentation

Table of contents

Table of contents
1 Product overview - EtherCAT Bus Coupler ............................................................................................ 3
2 Foreword .................................................................................................................................................... 7
2.1 Notes on the documentation........................................................................................................... 7
2.2 Safety instructions .......................................................................................................................... 8
2.3 Documentation issue status............................................................................................................ 9
2.4 Version identification of EtherCAT devices..................................................................................... 9
3 Product overview..................................................................................................................................... 14
3.1 Introduction ................................................................................................................................... 14
3.2 Technical data .............................................................................................................................. 16
4 Basic principles ....................................................................................................................................... 17
4.1 System properties......................................................................................................................... 17
4.2 The Beckhoff Bus Terminal system .............................................................................................. 20
4.3 CoE Interface................................................................................................................................ 21
4.4 EtherCAT State Machine .............................................................................................................. 25
4.5 LEDs and connection.................................................................................................................... 28
4.5.1 LEDs ................................................................................................................................ 28
4.5.2 Connection BK1120 and BK1150 .................................................................................... 32
4.5.3 Connection BK1250 ......................................................................................................... 33
5 Mounting and wiring ............................................................................................................................... 34
5.1 Instructions for ESD protection ..................................................................................................... 34
5.2 Installation on mounting rails ........................................................................................................ 35
5.3 Installation instructions for enhanced mechanical load capacity .................................................. 38
5.4 Installation positions ..................................................................................................................... 39
5.5 Power supply, potential groups..................................................................................................... 40
5.6 Ethernet cable............................................................................................................................... 41
5.7 EtherCAT wiring............................................................................................................................ 43
5.8 ATEX - Special conditions (extended temperature range) ........................................................... 44
5.9 ATEX Documentation ................................................................................................................... 45
6 Parameterization and commissioning................................................................................................... 46
6.1 Start-up behavior of the Bus Coupler ........................................................................................... 46
6.2 EKxxxx - Optional Distributed Clocks support .............................................................................. 46
6.3 KL register communication ........................................................................................................... 48
6.3.1 Parameterization of KL terminals ..................................................................................... 48
6.3.2 Configuration of KL terminals via EtherCAT .................................................................... 50
6.3.3 Online parameterization of KL terminals via CoE ............................................................ 53
6.3.4 Online parameterization of KL terminals via AoE ............................................................ 55
6.3.5 Beckhoff coupler tables.................................................................................................... 56
6.4 TwinCAT System Manager........................................................................................................... 58
6.4.1 BK1120, BK1150 - configuration overview ...................................................................... 58
6.4.2 BK1250 - configuration overview ..................................................................................... 59
6.4.3 Inputs - configuration overview ........................................................................................ 60
6.4.4 Outputs - configuration overview ..................................................................................... 60
6.4.5 Status of the working counter (Wc state) - - configuration overview ................................ 61
6.4.6 Online status (info data) - configuration overview ............................................................ 62
6.4.7 ADS address (ADSAddr) - configuration overview .......................................................... 63
6.4.8 EtherCAT cycle time - configuration overview ................................................................. 64
4 Version: 4.1 BK11x0, BK1250