Beckhoff EL33-00 Series Documentation
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Beckhoff EL33-00 Series Documentation

Beckhoff EL33-00 Series Documentation

Analog thermocouple input terminal (open-circuit recognition, 1, 2, 4 ch.)
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EL33xx-00x0
Analog thermocouple input terminal (open-circuit recognition,
1, 2, 4 ch.)
Version:
Date:
4.2
2018-10-02

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Summary of Contents for Beckhoff EL33-00 Series

  • Page 1 Documentation EL33xx-00x0 Analog thermocouple input terminal (open-circuit recognition, 1, 2, 4 ch.) Version: Date: 2018-10-02...

  • Page 3: Table Of Contents

    Table of contents Table of contents 1 Foreword .............................. 7 Product overview Analog Thermocouple Input Terminals .............. 7 Notes on the documentation...................... 7 Safety instructions .......................... 9 Documentation issue status ...................... 10 Version identification of EtherCAT devices .................. 12 2 Product overview............................. 16 EL3311, EL3312, EL3314 ....................... 16 2.1.1 Introduction ........................
  • Page 4 Table of contents 4.8.3 Shielding ..........................  53 Positioning of passive Terminals ..................... 54 4.10 Installation positions 331x-0000 ...................... 54 4.11 Prescribed installation position EL3314-0002/ EL3314-0010 ............ 56 4.12 LEDs .............................. 58 4.12.1 EL3311 - LEDs ........................  58 4.12.2 EL3312 - LEDs ........................  59 4.12.3 EL3314, EL3314-00xx - LEDs ..................
  • Page 5 Table of contents 5.6.6 Calibration........................ 151 5.6.7 Producer Codeword.......................  153 Operation with an external cold junction.................. 154 Interference from equipment ...................... 155 Wire break detection........................ 155 5.10 Object description and parameterization .................. 155 5.10.1 Restore object........................  156 5.10.2 Configuration data ...................... 157 5.10.3 Profile-specific objects (0x6000-0xFFFF) .............. 159 5.10.4 Configuration data (vendor-specific)................
  • Page 6 Table of contents Version: 4.2 EL33xx-00x0...

  • Page 7: Foreword

    , TwinSAFE , XFC and XTS registered trademarks of and licensed by Beckhoff Automation GmbH. Other designations used in this publication may be trademarks whose use by third parties for their own purposes could violate the rights of the owners.
  • Page 8 Foreword ® EtherCAT is registered trademark and patented technology, licensed by Beckhoff Automation GmbH, Germany Copyright © Beckhoff Automation GmbH & Co. KG, Germany. The reproduction, distribution and utilization of this document as well as the communication of its contents to others without express authorization are prohibited.

  • Page 9: Safety Instructions

    All the components are supplied in particular hardware and software configurations appropriate for the application. Modifications to hardware or software configurations other than those described in the documentation are not permitted, and nullify the liability of Beckhoff Automation GmbH & Co. KG. Personnel qualification This description is only intended for trained specialists in control, automation and drive engineering who are familiar with the applicable national standards.

  • Page 10: Documentation Issue Status

    Foreword Documentation issue status Version Comment • Update chapter “Technical data” • Update chapter “Wire break detection” • Update chapter “TwinSAFE SC” • Update revision status • Update chapter “Technical data” • EL3314-0002 added • Update chapter “Technical data” • Example program added •...
  • Page 11 Foreword Version Comment • Update Technical data • New structure • Addenda technical notes • Addenda technical notes • Addenda technical notes • Addenda technical notes • Addenda Technical data and CoE objects • Connection diagrams corrected • Technical data added •...

  • Page 12: Version Identification Of Ethercat Devices

    Production lot/batch number/serial number/date code/D number The serial number for Beckhoff IO devices is usually the 8-digit number printed on the device or on a sticker. The serial number indicates the configuration in delivery state and therefore refers to a whole production batch, without distinguishing the individual modules of a batch.

  • Page 13: Fig. 1 El5021 El Terminal, Standard Ip20 Io Device With Serial/ Batch Number And Revision Id (Since 2014/01)

    Foreword Example with Ser. no.: 12063A02:    12 - production week 12 06 - production year 2006 3A - firmware version 3A 02 - hardware version 02 Exceptions can occur in the IP67 area, where the following syntax can be used (see respective device documentation): Syntax: D ww yy x y z u D - prefix designation...

  • Page 14: Fig. 2 Ek1100 Ethercat Coupler, Standard Ip20 Io Device With Serial/ Batch Number

    Foreword Fig. 2: EK1100 EtherCAT coupler, standard IP20 IO device with serial/ batch number Fig. 3: CU2016 switch with serial/ batch number Fig. 4: EL3202-0020 with serial/ batch number 26131006 and unique ID-number 204418 Version: 4.2 EL33xx-00x0...

  • Page 15: Fig. 5 Ep1258-00001 Ip67 Ethercat Box With Batch Number/ Date Code 22090101 And Unique Se- Rial Number 158102

    Foreword Fig. 5: EP1258-00001 IP67 EtherCAT Box with batch number/ date code 22090101 and unique serial number 158102 Fig. 6: EP1908-0002 IP67 EtherCAT Safety Box with batch number/ date code 071201FF and unique serial number 00346070 Fig. 7: EL2904 IP20 safety terminal with batch number/ date code 50110302 and unique serial number 00331701 Fig. 8: ELM3604-0002 terminal with unique ID number (QR code) 100001051 and serial/ batch number 44160201...

  • Page 16: Product Overview

    Product overview Product overview EL3311, EL3312, EL3314 2.1.1 Introduction Fig. 9: EL3311 Version: 4.2 EL33xx-00x0...

  • Page 17: Fig. 10 El3312

    Product overview Fig. 10: EL3312 Fig. 11: EL3314 EL33xx-00x0 Version: 4.2...

  • Page 18: Fig. 12 El3314-0002

    Product overview Fig. 12: EL3314-0002 Fig. 13: EL3314-0010 Version: 4.2 EL33xx-00x0...
  • Page 19 The error LEDs indicate a broken wire. Compensation for the cold junction is made through an internal temperature measurement at the terminals. The EL33xx can also be used for mV measurement. With the EL3314-0010, Beckhoff offers a high-precision variant [} 25] of the 4 channel thermocouple input terminal.

  • Page 20: Technical Data

    Product overview 2.1.2 Technical data Technical data EL3311 EL3312 EL3314 Number of inputs Thermocouple sensor types Types J, K, L, B, E, N, R, S, T, U, C (default setting type K), mV measurement Input filter limit frequency 1 kHz typ.; depending on sensor length, conversion time, sensor type Connection technology 2-wire Maximum cable length to...

  • Page 21: Introduction

    Product overview EL3314-0002 2.2.1 Introduction Fig. 15: EL3314-0002 4-channel input terminal, thermocouple, high-precision, electrically isolated The EL3314-0002 analog input terminal allows the direct 2-wire connection of four thermocouples. The channels are electrically isolated from one another and from the E-bus, thus preventing interference and damage due to cross-currents.

  • Page 22: Technical Data

    Product overview 2.2.2 Technical data Technical data EL3314-0002 Number of inputs Connection technology 2-wire Maximum cable length to the thermocouple 30 m (see note [} 31]) Input filter limit frequency 1 kHz typ.; depending on sensor length, conversion time, sensor type Conversion time approx.

  • Page 23: Introduction

    Product overview Technical data EL3314-0002 Permissible temperature range during operation 0 °C ... + 55 °C Permissible temperature range during storage -25 °C ... + 85 °C Permissible relative humidity 95%, no condensation Dimensions (W x H x D) approx. 15 mm x 100 mm x 70 mm (width aligned: 12 mm) on 35 mm mounting rail conforms to EN 60715 Mounting [} 45] Vibration/shock resistance...
  • Page 24 Product overview ◦ 25 ± 5 °C ambient temperature ◦ horizontal installation position • In addition it has the following features ◦ an additional software-based "MC filter" can be used for smoothing the measured value ◦ external cold junction compensation (reference junction compensation is possible since FW03) •...

  • Page 25: Technical Data

    Product overview 2.3.2 Technical data Technical data EL3314-0010 Number of inputs Thermocouple sensor types Types J, K, L, B, E, N, R, S, T, U, C (default setting type K), mV measurement Input filter limit frequency 1 kHz typ.; depending on sensor length, conversion time, sensor type Connection technology 2-wire Maximum cable length to the thermocouple 30 m (see note [} 31])
  • Page 26 Product overview EL3314-0090 2.4.1 Introduction Fig. 17: EL3314-0090 4-channel thermocouple input terminal with open-circuit recognition, TwinSAFE Single Channel The EL3314-0090 analog input terminal allows four thermocouples to be connected directly. The EtherCAT Terminal circuit can operate thermocouple sensors using the 2-wire technique. A microprocessor handles linearisation across the whole temperature range, which is freely selectable.
  • Page 27 Product overview • CoE object description and parameterization [} 155] 2.4.2 Technical data Technical data EL3314-0090 Number of inputs Thermocouple sensor types Types J, K, L, B, E, N, R, S, T, U, C (default setting type K), mV measurement Input filter limit frequency 1 kHz typ.;...
  • Page 28 Product overview EL3318 2.5.1 Introduction Fig. 18: EL3318 8 channel HD analog thermocouple input terminal with open-circuit recognition The EL3318 analog input terminal allows direct connection of eight thermocouples and is therefore particularly suitable for space-saving use in control cabinets. The EtherCAT Terminal circuit can operate thermocouple sensors using the 2-wire technique.
  • Page 29 Product overview 2.5.2 Technical data Technical data EL3318 Number of inputs Thermocouple sensor types Types J, K, L, B, E, N, R, S, T, U, C (default setting type K), mV measurement Input filter limit frequency 1 kHz typ.; depending on sensor length, conversion time, sensor type Connection technology 2-wire Maximum cable length to the thermocouple...

  • Page 30: Tc Technology Basics

    Product overview TC technology basics The thermocouple terminals can evaluate thermocouples of the types J, K, B, C, E, N, R, S, T, U and L. The characteristic curves are linearized and the reference temperature determined directly within the terminal. Temperatures are output in 1/10°C, for example (device-dependent).

  • Page 31: Use Of El33Xx In The Twincat System Manager

    Product overview thermocouple. Based on the difference to the cold junction temperature, the temperature at the measurement point can be determined to an accuracy of better than one tenth of a Kelvin with the aid of the above thermocouple equation. Sensor circuit A modification of the sensor circuit with additional devices such as change over switches or multi- plexer decreases the measure accuracy.

  • Page 32: Start

    Product overview Fig. 20: EL3314 process data In the case of the EL3314, 4 sets of process data are available, one for each measurement channel. • Underrange: Measurement is below range • Overrange: Range of measurement exceeded ("Cable break" together with "Error") •...
  • Page 33 Product overview • mount the EL33xx as described in the chapter Mounting and wiring [} 45] • configure the EL33xx in TwinCAT as described in the chapter Commissioning [} 75]. EL33xx-00x0 Version: 4.2...

  • Page 34: Basics Communication

    EtherCAT devices from Beckhoff. Recommended cables Suitable cables for the connection of EtherCAT devices can be found on the Beckhoff website! E-Bus supply A bus coupler can supply the EL terminals added to it with the E-bus system voltage of 5 V; a coupler is thereby loadable up to 2 A as a rule (see details in respective device documentation).

  • Page 35: General Notes For Setting The Watchdog

    Basics communication Fig. 21: System manager current calculation NOTE Malfunction possible! The same ground potential must be used for the E-Bus supply of all EtherCAT terminals in a terminal block! General notes for setting the watchdog ELxxxx terminals are equipped with a safety feature (watchdog) that switches off the outputs after a specifiable time e.g.

  • Page 36: Fig. 22 Ethercat Tab -> Advanced Settings -> Behavior -> Watchdog

    Basics communication Fig. 22: EtherCAT tab -> Advanced Settings -> Behavior -> Watchdog Notes: • the multiplier is valid for both watchdogs. • each watchdog has its own timer setting, the outcome of this in summary with the multiplier is a resulting time.

  • Page 37: Ethercat State Machine

    Basics communication Example "Set SM watchdog" This checkbox enables manual setting of the watchdog times. If the outputs are set and the EtherCAT communication is interrupted, the SM watchdog is triggered after the set time and the outputs are erased. This setting can be used for adapting a terminal to a slower EtherCAT master or long cycle times.

  • Page 38: Fig. 23 States Of The Ethercat State Machine

    Basics communication Fig. 23: States of the EtherCAT State Machine Init After switch-on the EtherCAT slave in the Init state. No mailbox or process data communication is possible. The EtherCAT master initializes sync manager channels 0 and 1 for mailbox communication. Pre-Operational (Pre-Op) During the transition between Init and Pre-Op the EtherCAT slave checks whether the mailbox was initialized correctly.

  • Page 39: Coe Interface

    Basics communication Boot In the Boot state the slave firmware can be updated. The Boot state can only be reached via the Init state. In the Boot state mailbox communication via the file access over EtherCAT (FoE) protocol is possible, but no other mailbox communication and no process data communication.

  • Page 40: Fig. 24 "Coe Online " Tab

    Data management If slave CoE parameters are modified online, Beckhoff devices store any changes in a fail-safe manner in the EEPROM, i.e. the modified CoE parameters are still available after a restart. The situation may be different with other manufacturers.

  • Page 41: Fig. 25 Startup List In The Twincat System Manager

    Changes in the local CoE list of the terminal are lost if the terminal is replaced. If a terminal is re- placed with a new Beckhoff terminal, it will have the default settings. It is therefore advisable to link all changes in the CoE list of an EtherCAT slave with the Startup list of the slave, which is pro- cessed whenever the EtherCAT fieldbus is started.
  • Page 42 Basics communication Fig. 26: Offline list • If the slave is online ◦ The actual current slave list is read. This may take several seconds, depending on the size and cycle time. ◦ The actual identity is displayed ◦ The firmware and hardware version of the equipment according to the electronic information is displayed ◦...
  • Page 43 • Channel 1: parameter range 0x8010:00 ... 0x801F:255 • Channel 2: parameter range 0x8020:00 ... 0x802F:255 • ... This is generally written as 0x80n0. Detailed information on the CoE interface can be found in the EtherCAT system documentation on the Beckhoff website. EL33xx-00x0 Version: 4.2...

  • Page 44: Distributed Clock

    Basics communication Distributed Clock The distributed clock represents a local clock in the EtherCAT slave controller (ESC) with the following characteristics: • Unit 1 ns • Zero point 1.1.2000 00:00 • Size 64 bit (sufficient for the next 584 years; however, some EtherCAT slaves only offer 32-bit support, i.e.

  • Page 45: Mounting And Wiring

    Mounting and wiring Mounting and wiring Safety instructions Before installing and commissioning the TwinSAFE components please read the safety instructions in the foreword of this documentation. Environmental conditions Please ensure that the TwinSAFE components are only transported, stored and operated under the specified conditions (see technical data)! WARNING Risk of injury!

  • Page 46: Instructions For Esd Protection

    Each assembly must be terminated at the right hand end with an EL9011 or EL9012 bus end cap, to en- sure the protection class and ESD protection. Fig. 28: Spring contacts of the Beckhoff I/O components Installation on mounting rails...
  • Page 47 Mounting and wiring Assembly Fig. 29: Attaching on mounting rail The bus coupler and bus terminals are attached to commercially available 35 mm mounting rails (DIN rails according to EN 60715) by applying slight pressure: 1. First attach the fieldbus coupler to the mounting rail. 2.
  • Page 48 Mounting and wiring Disassembly Fig. 30: Disassembling of terminal Each terminal is secured by a lock on the mounting rail, which must be released for disassembly: 1. Pull the terminal by its orange-colored lugs approximately 1 cm away from the mounting rail. In doing so for this terminal the mounting rail lock is released automatically and you can pull the terminal out of the bus terminal block easily without excessive force.

  • Page 49: Installation Instructions For Enhanced Mechanical Load Capacity

    Mounting and wiring Fig. 31: Power contact on left side NOTE Possible damage of the device Note that, for reasons of electromagnetic compatibility, the PE contacts are capacitatively coupled to the mounting rail. This may lead to incorrect results during insulation testing or to damage on the terminal (e.g. disruptive discharge to the PE line during insulation testing of a consumer with a nominal voltage of 230 V).

  • Page 50: Connection

    Mounting and wiring Additional installation instructions For terminals with enhanced mechanical load capacity, the following additional installation instructions apply: • The enhanced mechanical load capacity is valid for all permissible installation positions • Use a mounting rail according to EN 60715 TH35-15 •...
  • Page 51 Mounting and wiring Pluggable wiring (ESxxxx / KSxxxx) Fig. 33: Pluggable wiring The terminals of ESxxxx and KSxxxx series feature a pluggable connection level. The assembly and wiring procedure is the same as for the ELxxxx and KLxxxx series. The pluggable connection level enables the complete wiring to be removed as a plug connector from the top of the housing for servicing.

  • Page 52: Wiring

    Mounting and wiring 4.8.2 Wiring WARNING Risk of electric shock and damage of device! Bring the bus terminal system into a safe, powered down state before starting installation, disassembly or wiring of the Bus Terminals! Terminals for standard wiring ELxxxx/KLxxxx and for pluggable wiring ESxxxx/KSxxxx Fig. 35: Connecting a cable on a terminal point Up to eight terminal points enable the connection of solid or finely stranded cables to the Bus Terminal.

  • Page 53: Shielding

    Mounting and wiring Terminal housing High Density Housing Wire size width (single core wires) 0.08 ... 1.5 mm Wire size width (fine-wire conductors) 0.25 ... 1.5 mm Wire size width (conductors with a wire end sleeve) 0.14 ... 0.75 mm Wire size width (ultrasonically “bonded" conductors) only 1.5 mm Wire stripping length 8 ...

  • Page 54: Positioning Of Passive Terminals

    Mounting and wiring Positioning of passive Terminals Hint for positioning of passive terminals in the bus terminal block EtherCAT Terminals (ELxxxx / ESxxxx), which do not take an active part in data transfer within the bus terminal block are so called passive terminals. The passive terminals have no current consump- tion out of the E-Bus.
  • Page 55 Mounting and wiring Optimum installation position (standard) The optimum installation position requires the mounting rail to be installed horizontally and the connection surfaces of the EL/KL terminals to face forward (see Fig. “Recommended distances for standard installation position”). The terminals are ventilated from below, which enables optimum cooling of the electronics through convection.

  • Page 56: Prescribed Installation Position El3314-0002/ El3314-0010

    Mounting and wiring Fig. 39: Other installation positions 4.11 Prescribed installation position EL3314-0002/ EL3314-0010 NOTE Constraints regarding installation position and operating temperature range When installing the terminals ensure that an adequate spacing is maintained between other components above and below the terminal in order to guarantee adequate ventilation! Prescribed installation position The prescribed installation position requires the mounting rail to be installed horizontally and the connection surfaces of the EL/KL terminals to face forward (see Fig.
  • Page 57 Mounting and wiring Fig. 40: Recommended distances for standard installation position Compliance with the distances shown in Fig. Recommended distances for standard installation position is strongly recommended. EL33xx-00x0 Version: 4.2...

  • Page 58: Leds

    Mounting and wiring 4.12 LEDs 4.12.1 EL3311 - LEDs Fig. 41: EL3311 EL3311 - LEDs Color Meaning green This LED indicates the terminal's operating state: State of the EtherCAT State Machine: INIT = initialization of the terminal flashing State of the EtherCAT State Machine: PREOP = function for mailbox uniformly communication and different standard-settings set flashing slowly...

  • Page 59: El3312 - Leds

    Mounting and wiring 4.12.2 EL3312 - LEDs Fig. 42: EL3312 EL3312 - LEDs Color Meaning green This LED indicates the terminal's operating state: State of the EtherCAT State Machine: INIT = initialization of the terminal flashing State of the EtherCAT State Machine: PREOP = function for mailbox uniformly communication and different standard-settings set flashing slowly...

  • Page 60: El3314, El3314-00Xx - Leds

    Mounting and wiring 4.12.3 EL3314, EL3314-00xx - LEDs Fig. 43: EL3314 Fig. 44: EL3314-0002 Version: 4.2 EL33xx-00x0...
  • Page 61 Mounting and wiring Fig. 45: EL3314-0010 Fig. 46: EL3314-0090 EL33xx-00x0 Version: 4.2...
  • Page 62 Mounting and wiring EL3314, EL3314-00xx - LEDs Color Meaning green This LED indicates the terminal's operating state: State of the EtherCAT State Machine: INIT = initialization of the terminal flashing State of the EtherCAT State Machine: PREOP = function for uniformly mailbox communication and different standard-settings set flashing slowly State of the EtherCAT State Machine: SAFEOP = verification of the sync manager channels and the distributed clocks.

  • Page 63: El3318 - Leds

    Mounting and wiring 4.12.4 EL3318 - LEDs Fig. 47: EL3318 EL3318 - LEDs Color Meaning green This LED indicates the terminal's operating state: State of the EtherCAT State Machine: INIT = initialization of the terminal flashing State of the EtherCAT State Machine: PREOP = function for uniformly mailbox communication and different standard-settings set flashing slowly State of the EtherCAT State Machine: SAFEOP = verification of the...

  • Page 64: Terminal Assignment

    Mounting and wiring 4.13 Terminal assignment 4.13.1 EL3311 - Connection Fig. 48: EL3311 Earthed thermocouples Observe for earthed thermocouples: Differential inputs max. ± 2 V to ground! Current carrying capacity of the input contacts The maximum permitted current on the signal-relevant terminal points (inputs, GND) is 40 mA (if ap- plicable).

  • Page 65: El3312 - Connection

    Mounting and wiring 4.13.2 EL3312 - Connection Fig. 49: EL3312 Earthed thermocouples Observe for earthed thermocouples: Differential inputs max. ± 2 V to ground! Current carrying capacity of the input contacts The maximum permitted current on the signal-relevant terminal points (inputs, GND) is 40 mA (if ap- plicable).

  • Page 66: El3314-00X0 - Connection

    Mounting and wiring 4.13.3 EL3314-00x0 - Connection Fig. 50: EL3314 Fig. 51: EL3314-0002 Version: 4.2 EL33xx-00x0...
  • Page 67 Mounting and wiring Fig. 52: EL3314-0010 Fig. 53: EL3314-0090 Earthed thermocouples Observe for earthed thermocouples: Differential inputs max. ± 2 V to ground! EL33xx-00x0 Version: 4.2...
  • Page 68 Mounting and wiring EL3314 - Connection Terminal point Comment +TC1 Input +TC1 +TC2 Input +TC2 +TC3 Input +TC3 +TC4 Input +TC4 -TC1 Input -TC1 -TC2 Input -TC2 -TC3 Input -TC3 -TC4 Input -TC4 Version: 4.2 EL33xx-00x0...

  • Page 69: El3318 - Connection

    Mounting and wiring 4.13.4 EL3318 - Connection Fig. 54: EL3318 EL3318 - Connection Terminal point Comment +TC1 Input +TC1 +TC2 Input +TC2 +TC3 Input +TC3 +TC4 Input +TC4 +TC5 Input +TC5 +TC6 Input +TC6 +TC7 Input +TC7 +TC8 Input +TC8 -TC1 Input -TC1 -TC2 Input -TC2...

  • Page 70: Connection Instructions For Earthed/Potential-Free Thermocouples

    Mounting and wiring 4.13.5 Connection instructions for earthed/potential-free thermocouples Due to the differential inputs of the terminals, different connection types are recommended depending on the type of thermocouple used. For earthed thermocouples, ground is not connected to the shielding. If the thermocouple does not have an ground connection, the ground and shielding contacts can be connected (see Fig.

  • Page 71: Ul Notice

    Beckhoff EtherCAT modules are intended for use with Beckhoff’s UL Listed EtherCAT Sys- tem only. Examination For cULus examination, the Beckhoff I/O System has only been investigated for risk of fire and electrical shock (in accordance with UL508 and CSA C22.2 No. 142). For devices with Ethernet connectors Not for connection to telecommunication circuits.

  • Page 72: Atex - Special Conditions (Standard Temperature Range)

    80°C at the wire branching points, then cables must be selected whose tempera- ture data correspond to the actual measured temperature values! • Observe the permissible ambient temperature range of 0 to 55°C for the use of Beckhoff fieldbus compo- nents standard temperature range in potentially explosive areas! •...

  • Page 73: Atex - Special Conditions (Extended Temperature Range)

    80°C at the wire branching points, then cables must be selected whose tempera- ture data correspond to the actual measured temperature values! • Observe the permissible ambient temperature range of -25 to 60°C for the use of Beckhoff fieldbus com- ponents with extended temperature range (ET) in potentially explosive areas! •...

  • Page 74: Atex Documentation

    Notes about operation of the Beckhoff terminal systems in potentially explosive ar- eas (ATEX) Pay also attention to the continuative documentation Notes about operation of the Beckhoff terminal systems in potentially explosive areas (ATEX) that is available in the download area of the Beckhoff homepage http:\\www.beckhoff.com! Version: 4.2...

  • Page 75: Commissioning

    • "offline": The configuration can be customized by adding and positioning individual components. These can be selected from a directory and configured. ◦ The procedure for offline mode can be found under http://infosys.beckhoff.com: TwinCAT 2 → TwinCAT System Manager → IO - Configuration → Adding an I/O Device •...
  • Page 76 Commissioning Fig. 56: Relationship between user side (commissioning) and installation The user inserting of certain components (I/O device, terminal, box...) is the same in TwinCAT 2 and TwinCAT 3. The descriptions below relate to the online procedure. Sample configuration (actual configuration) Based on the following sample configuration, the subsequent subsections describe the procedure for TwinCAT 2 and TwinCAT 3: •...
  • Page 77 Commissioning Fig. 57: Control configuration with Embedded PC, input (EL1004) and output (EL2008) Note that all combinations of a configuration are possible; for example, the EL1004 terminal could also be connected after the coupler, or the EL2008 terminal could additionally be connected to the CX2040 on the right, in which case the EK1100 coupler wouldn’t be necessary.
  • Page 78 Commissioning Generally, TwinCAT can be used in local or remote mode. Once the TwinCAT system including the user interface (standard) is installed on the respective PLC, TwinCAT can be used in local mode and thereby the next step is "Insert Device [} 79]". If the intention is to address the TwinCAT runtime environment installed on a PLC as development environment remotely from another system, the target system must be made known first.
  • Page 79 Commissioning After confirmation with "OK" the target system can be accessed via the System Manager. Adding devices In the configuration tree of the TwinCAT 2 System Manager user interface on the left, select "I/O Devices” and then right-click to open a context menu and select "Scan Devices…", or start the action in the menu bar .
  • Page 80 Commissioning Fig. 63: Mapping of the configuration in the TwinCAT 2 System Manager The whole process consists of two stages, which may be performed separately (first determine the devices, then determine the connected elements such as boxes, terminals, etc.). A scan can also be initiated by selecting "Device ..."...
  • Page 81 Commissioning • Graphical languages ◦ Function Block Diagram (FBD) ◦ Ladder Diagram (LD) ◦ The Continuous Function Chart Editor (CFC) ◦ Sequential Function Chart (SFC) The following section refers to Structured Text (ST). After starting TwinCAT PLC Control, the following user interface is shown for an initial project: Fig. 65: TwinCAT PLC Control after startup Sample variables and a sample program have been created and stored under the name "PLC_example.pro": EL33xx-00x0...
  • Page 82 Commissioning Fig. 66: Sample program with variables after a compile process (without variable integration) Warning 1990 (missing "VAR_CONFIG") after a compile process indicates that the variables defined as external (with the ID "AT%I*" or "AT%Q*") have not been assigned. After successful compilation, TwinCAT PLC Control creates a "*.tpy"...
  • Page 83 Commissioning Select the PLC configuration "PLC_example.tpy" in the browser window that opens. The project including the two variables identified with "AT" are then integrated in the configuration tree of the System Manager: Fig. 68: PLC project integrated in the PLC configuration of the System Manager The two variables "bEL1004_Ch4"...
  • Page 84 Commissioning Fig. 70: Selecting PDO of type BOOL According to the default setting, certain PDO objects are now available for selection. In this sample the input of channel 4 of the EL1004 terminal is selected for linking. In contrast, the checkbox "All types" must be ticked for creating the link for the output variables, in order to allocate a set of eight separate output bits to a byte variable.
  • Page 85 Commissioning Fig. 72: Application of a "Goto Link" variable, using "MAIN.bEL1004_Ch4" as a sample The process of assigning variables to the PDO is completed via the menu selection "Actions" → "Generate Mappings”, key Ctrl+M or by clicking on the symbol in the menu. This can be visualized in the configuration: The process of creating links can also take place in the opposite direction, i.e.
  • Page 86 Commissioning Fig. 73: Choose target system (remote) In this sample "Runtime system 1 (port 801)" is selected and confirmed. Link the PLC with the real-time system via menu option "Online" → "Login", the F11 key or by clicking on the symbol . The control program can then be loaded for execution.
  • Page 87 Commissioning Fig. 74: PLC Control logged in, ready for program startup The PLC can now be started via "Online" → "Run", F5 key or 5.1.2 TwinCAT 3 Startup TwinCAT makes the development environment areas available together with Microsoft Visual Studio: after startup, the project folder explorer appears on the left in the general window area (cf.
  • Page 88 Commissioning Fig. 75: Initial TwinCAT 3 user interface First create a new project via (or under "File"→“New"→ "Project…"). In the following dialog make the corresponding entries as required (as shown in the diagram): Fig. 76: Create new TwinCAT project The new project is then available in the project folder explorer: Version: 4.2 EL33xx-00x0...
  • Page 89 Commissioning Fig. 77: New TwinCAT3 project in the project folder explorer Generally, TwinCAT can be used in local or remote mode. Once the TwinCAT system including the user interface (standard) is installed on the respective PLC, TwinCAT can be used in local mode and thereby the next step is "Insert Device [} 90]".
  • Page 90 Commissioning Use "Search (Ethernet)..." to enter the target system. Thus a next dialog opens to either: • enter the known computer name after "Enter Host Name / IP:" (as shown in red) • perform a "Broadcast Search" (if the exact computer name is not known) •...
  • Page 91 Commissioning Fig. 81: Automatic detection of I/O devices: selection the devices to be integrated Confirm the message "Find new boxes", in order to determine the terminals connected to the devices. "Free Run" enables manipulation of input and output values in "Config mode" and should also be acknowledged. Based on the sample configuration [} 76] described at the beginning of this section, the result is as follows: Fig. 82: Mapping of the configuration in VS shell of the TwinCAT3 environment The whole process consists of two stages, which may be performed separately (first determine the devices,...
  • Page 92 Commissioning Fig. 83: Reading of individual terminals connected to a device This functionality is useful if the actual configuration is modified at short notice. Programming the PLC TwinCAT PLC Control is the development environment for the creation of the controller in different program environments: TwinCAT PLC Control supports all languages described in IEC 61131-3.
  • Page 93 Commissioning Fig. 84: Adding the programming environment in "PLC" In the dialog that opens select "Standard PLC project" and enter "PLC_example" as project name, for example, and select a corresponding directory: Fig. 85: Specifying the name and directory for the PLC programming environment The "Main"...
  • Page 94 Commissioning Fig. 86: Initial "Main" program of the standard PLC project To continue, sample variables and a sample program have now been created: Version: 4.2 EL33xx-00x0...
  • Page 95 Commissioning Fig. 87: Sample program with variables after a compile process (without variable integration) The control program is now created as a project folder, followed by the compile process: Fig. 88: Start program compilation The following variables, identified in the ST/ PLC program with "AT%", are then available in under "Assignments"...
  • Page 96 Commissioning Fig. 89: Creating the links between PLC variables and process objects In the window that opens, the process object for the variable "bEL1004_Ch4" of type BOOL can be selected from the PLC configuration tree: Fig. 90: Selecting PDO of type BOOL According to the default setting, certain PDO objects are now available for selection.
  • Page 97 Commissioning Fig. 91: Selecting several PDOs simultaneously: activate "Continuous" and "All types" Note that the "Continuous" checkbox was also activated. This is designed to allocate the bits contained in the byte of the variable "nEL2008_value" sequentially to all eight selected output bits of the EL2008 terminal. In this way it is possible to subsequently address all eight outputs of the terminal in the program with a byte corresponding to bit 0 for channel 1 to bit 7 for channel 8 of the PLC.
  • Page 98 Commissioning Activation of the configuration The allocation of PDO to PLC variables has now established the connection from the controller to the inputs and outputs of the terminals. The configuration can now be activated with or via the menu under "TwinCAT"...

  • Page 99: Twincat 2

    5.2.1 Installation of the TwinCAT real-time driver In order to assign real-time capability to a standard Ethernet port of an IPC controller, the Beckhoff real-time driver has to be installed on this port under Windows. This can be done in several ways. One option is described here.
  • Page 100 Commissioning Fig. 94: System Manager “Options” (TwinCAT 2) This have to be called up by the Menü “TwinCAT” within the TwinCAT 3 environment: Fig. 95: Call up under VS Shell (TwinCAT 3) The following dialog appears: Fig. 96: Overview of network interfaces Interfaces listed under “Compatible devices” can be assigned a driver via the “Install” button. A driver should only be installed on compatible devices.
  • Page 101 Commissioning Fig. 97: EtherCAT device properties(TwinCAT 2): click on „Compatible Devices…“ of tab “Adapter” TwinCAT 3: the properties of the EtherCAT device can be opened by double click on “Device .. (EtherCAT)” within the Solution Explorer under “I/O”: After the installation the driver appears activated in the Windows overview for the network interface (Windows Start →...
  • Page 102 Commissioning Fig. 99: Exemplary correct driver setting for the Ethernet port Other possible settings have to be avoided: Version: 4.2 EL33xx-00x0...
  • Page 103 Commissioning Fig. 100: Incorrect driver settings for the Ethernet port EL33xx-00x0 Version: 4.2...
  • Page 104 Commissioning IP address of the port used IP address/DHCP In most cases an Ethernet port that is configured as an EtherCAT device will not transport general IP packets. For this reason and in cases where an EL6601 or similar devices are used it is useful to specify a fixed IP address for this port via the “Internet Protocol TCP/IP”...

  • Page 105: Notes Regarding Esi Device Description

    The files are read (once) when a new System Manager window is opened, if they have changed since the last time the System Manager window was opened. A TwinCAT installation includes the set of Beckhoff ESI files that was current at the time when the TwinCAT build was created.
  • Page 106 1018 in the configuration. This is also stated by the Beckhoff compatibility rule. Refer in particular to the chapter ‘General notes on the use of Beckhoff EtherCAT IO components’ and for manual configuration to the chapter ‘Offline configuration creation’ [} 110].
  • Page 107 Commissioning Fig. 105: File OnlineDescription.xml created by the System Manager Is a slave desired to be added manually to the configuration at a later stage, online created slaves are indicated by a prepended symbol “>” in the selection list (see Figure “Indication of an online recorded ESI of EL2521 as an example”).
  • Page 108 Commissioning Reasons may include: • Structure of the *.xml does not correspond to the associated *.xsd file → check your schematics • Contents cannot be translated into a device description → contact the file manufacturer Version: 4.2 EL33xx-00x0...

  • Page 109: Twincat Esi Updater

    Commissioning 5.2.3 TwinCAT ESI Updater For TwinCAT 2.11 and higher, the System Manager can search for current Beckhoff ESI files automatically, if an online connection is available: Fig. 108: Using the ESI Updater (>= TwinCAT 2.11) The call up takes place under: “Options” → "Update EtherCAT Device Descriptions"...

  • Page 110: Offline Configuration Creation

    Commissioning • the devices/modules be connected to the power supply and ready for communication • TwinCAT must be in CONFIG mode on the target system. The online scan process consists of: • detecting the EtherCAT device [} 115] (Ethernet port at the IPC) •...
  • Page 111 Commissioning This query may appear automatically when the EtherCAT device is created, or the assignment can be set/ modified later in the properties dialog; see Fig. “EtherCAT device properties (TwinCAT 2)”. Fig. 113: EtherCAT device properties (TwinCAT 2) TwinCAT 3: the properties of the EtherCAT device can be opened by double click on “Device .. (EtherCAT)” within the Solution Explorer under “I/O”: Selecting the Ethernet port Ethernet ports can only be selected for EtherCAT devices for which the TwinCAT real-time driver is...
  • Page 112 (i.e. highest) revision and therefore the latest state of production is displayed in the selection dialog for Beckhoff devices. To show all device revisions available in the system as ESI descriptions tick the “Show Hidden Devices” check box, see Fig. “Display of previous revisions”.
  • Page 113 If current ESI descriptions are available in the TwinCAT system, the last revision offered in the selection dialog matches the Beckhoff state of production. It is recommended to use the last device revision when creating a new configuration, if current Beckhoff devices are used in the real application. Older revisions should only be used if older devices from stock are to be used in the application.
  • Page 114 Commissioning Fig. 119: EtherCAT terminal in the TwinCAT tree (left: TwinCAT 2; right: TwinCAT 3) Version: 4.2 EL33xx-00x0...

  • Page 115: Online Configuration Creation

    Commissioning 5.2.6 ONLINE configuration creation Detecting/scanning of the EtherCAT device The online device search can be used if the TwinCAT system is in CONFIG mode. This can be indicated by a symbol right below in the information bar: • on TwinCAT 2 by a blue display “Config Mode” within the System Manager window: •...
  • Page 116 [} 120] with the defined initial configuration.Background: since Beckhoff occasionally increases the revision version of the delivered products for product maintenance reasons, a configuration can be created by such a scan which (with an identical machine construction) is identical according to the device list;...
  • Page 117 Likewise, A might create spare parts stores worldwide for the coming series-produced machines with EL2521-0025-1018 terminals. After some time Beckhoff extends the EL2521-0025 by a new feature C. Therefore the FW is changed, outwardly recognizable by a higher FW version and a new revision -1019. Nevertheless the new device naturally supports functions and interfaces of the predecessor version(s);...
  • Page 118 Commissioning Fig. 128: Manual triggering of a device scan on a specified EtherCAT device (left: TwinCAT 2; right: TwinCAT 3) In the System Manager (TwinCAT 2) or the User Interface (TwinCAT 3) the scan process can be monitored via the progress bar at the bottom in the status bar. Fig. 129: Scan progressexemplary by TwinCAT 2 The configuration is established and can then be switched to online state (OPERATIONAL).
  • Page 119 Commissioning Fig. 133: Online display example Please note: • all slaves should be in OP state • the EtherCAT master should be in “Actual State” OP • “frames/sec” should match the cycle time taking into account the sent number of frames •...
  • Page 120 A ‘ChangeTo’ or ‘Copy’ should only be carried out with care, taking into consideration the Beckhoff IO compatibility rule (see above). The device configuration is then replaced by the revision found; this can affect the supported process data and functions.
  • Page 121 If current ESI descriptions are available in the TwinCAT system, the last revision offered in the selection dialog matches the Beckhoff state of production. It is recommended to use the last device revision when creating a new configuration, if current Beckhoff devices are used in the real application. Older revisions should only be used if older devices from stock are to be used in the application.
  • Page 122 Commissioning Fig. 138: Correction dialog with modifications Once all modifications have been saved or accepted, click “OK” to transfer them to the real *.tsm configuration. Change to Compatible Type TwinCAT offers a function “Change to Compatible Type…” for the exchange of a device whilst retaining the links in the task.

  • Page 123: Ethercat Subscriber Configuration

    Commissioning If called, the System Manager searches in the procured device ESI (in this example: EL1202-0000) for details of compatible devices contained there. The configuration is changed and the ESI-EEPROM is overwritten at the same time – therefore this process is possible only in the online state (ConfigMode). 5.2.7 EtherCAT subscriber configuration In the left-hand window of the TwinCAT 2 System Manager or the Solution Explorer of the TwinCAT 3...
  • Page 124 Commissioning „EtherCAT“ tab Fig. 143: „EtherCAT“ tab Type EtherCAT device type Product/Revision Product and revision number of the EtherCAT device Auto Inc Addr. Auto increment address of the EtherCAT device. The auto increment address can be used for addressing each EtherCAT device in the communication ring through its physical position.
  • Page 125 For Beckhoff EtherCAT EL, ES, EM, EJ and EP slaves the following applies in general: • The input/output process data supported by the device are defined by the manufacturer in the ESI/XML description.
  • Page 126 Commissioning Fig. 145: Configuring the process data Manual modification of the process data According to the ESI description, a PDO can be identified as “fixed” with the flag “F” in the PDO overview (Fig. “Configuring the process data”, J). The configuration of such PDOs cannot be changed, even if TwinCAT offers the associated dialog (“Edit”).
  • Page 127 Commissioning Fig. 146: „Startup“ tab Column Description Transition Transition to which the request is sent. This can either be • the transition from pre-operational to safe-operational (PS), or • the transition from safe-operational to operational (SO). If the transition is enclosed in "<>" (e.g. <PS>), the mailbox request is fixed and cannot be modified or deleted by the user.
  • Page 128 Commissioning Fig. 147: “CoE – Online” tab Object list display Column Description Index Index and sub-index of the object Name Name of the object Flags The object can be read, and data can be written to the object (read/write) The object can be read, but no data can be written to the object (read only) An additional P identifies the object as a process data object.
  • Page 129 Commissioning Update List The Update list button updates all objects in the displayed list Auto Update If this check box is selected, the content of the objects is updated automatically. Advanced The Advanced button opens the Advanced Settings dialog. Here you can specify which objects are displayed in the list.
  • Page 130 Commissioning „Online“ tab Fig. 149: „Online“ tab State Machine Init This button attempts to set the EtherCAT device to the Init state. Pre-Op This button attempts to set the EtherCAT device to the pre-operational state. This button attempts to set the EtherCAT device to the operational state.
  • Page 131 • DC-Synchron Advanced Settings… Advanced settings for readjustment of the real time determinant TwinCAT- clock Detailed information to Distributed Clocks are specified on http://infosys.beckhoff.com: Fieldbus Components → EtherCAT Terminals → EtherCAT System documentation → EtherCAT basics → Distributed Clocks 5.2.7.1...
  • Page 132 Commissioning • If the output Sync Manager (outputs) is selected in the Sync Manager list, all RxPDOs are displayed. • If the input Sync Manager (inputs) is selected in the Sync Manager list, all TxPDOs are displayed. The selected entries are the PDOs involved in the process data transfer. In the tree diagram of the System Manager these PDOs are displayed as variables of the EtherCAT device.

  • Page 133: General Notes - Ethercat Slave Application

    Commissioning General Notes - EtherCAT Slave Application This summary briefly deals with a number of aspects of EtherCAT Slave operation under TwinCAT. More detailed information on this may be found in the corresponding sections of, for instance, the EtherCAT System Documentation. Diagnosis in real time: WorkingCounter, EtherCAT State and Status Generally speaking an EtherCAT Slave provides a variety of diagnostic information that can be used by the controlling task.
  • Page 134 Fig. “Basic EtherCAT Slave Diagnosis in the PLC” shows an example of an implementation of basic EtherCAT Slave Diagnosis. A Beckhoff EL3102 (2-channel analogue input terminal) is used here, as it offers both the communication diagnosis typical of a slave and the functional diagnosis that is specific to a channel.
  • Page 135 Commissioning Code Function Implementation Application/evaluation The EtherCAT Master's diagnostic infor- At least the DevState is to be evaluated for mation the most recent cycle in the PLC. updated acyclically (yellow) or provided The EtherCAT Master's diagnostic informa- acyclically (green). tion offers many more possibilities than are treated in the EtherCAT System Documenta- tion.
  • Page 136 Commissioning Fig. 153: EL3102, CoE directory EtherCAT System Documentation The comprehensive description in the EtherCAT System Documentation (EtherCAT Basics --> CoE Interface) must be observed! A few brief extracts: • Whether changes in the online directory are saved locally in the slave depends on the device. EL terminals (except the EL66xx) are able to save in this way.
  • Page 137 Commissioning Fig. 154: 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.
  • Page 138 Commissioning Standard setting The advanced settings of the EtherCAT Master are set as standard: • EtherCAT Master: OP • Slaves: OP This setting applies equally to all Slaves. Fig. 155: Default behaviour of the System Manager In addition, the target state of any particular Slave can be set in the "Advanced Settings" dialogue; the standard setting is again OP.
  • Page 139 Commissioning Manual Control There are particular reasons why it may be appropriate to control the states from the application/task/PLC. For instance: • for diagnostic reasons • to induce a controlled restart of axes • because a change in the times involved in starting is desirable In that case it is appropriate in the PLC application to use the PLC function blocks from the TcEtherCAT.lib, which is available as standard, and to work through the states in a controlled manner using, for instance, FB_EcSetMasterState.
  • Page 140 Commissioning Fig. 158: Illegally exceeding the E-Bus current From TwinCAT 2.11 and above, a warning message "E-Bus Power of Terminal..." is output in the logger window when such a configuration is activated: Fig. 159: Warning message for exceeding E-Bus current NOTE Caution! Malfunction possible! The same ground potential must be used for the E-Bus supply of all EtherCAT terminals in a terminal block! Version: 4.2 EL33xx-00x0...

  • Page 141: Twinsafe Sc

    Commissioning TwinSAFE SC 5.4.1 TwinSAFE SC - operating principle The TwinSAFE SC (Single Channel) technology enables the use of standard signals for safety tasks in any networks of fieldbuses. To do this, EtherCAT Terminals from the areas of analog input, angle/displacement measurement or communication (4…20 mA, incremental encoder, IO-Link, etc.) are extended by the TwinSAFE SC function.
  • Page 142 Commissioning A TwinSAFE SC connection is added by adding an alias devices in the safety project and selecting TSC (TwinSAFE Single Channel) Fig. 162: Adding a TwinSAFE SC connection After opening the alias device by double-clicking, select the Link button next to Physical Device, in order to create the link to a TwinSAFE SC terminal.
  • Page 143 Commissioning Fig. 164: Selecting a free CRC These settings must match the settings in the CoE objects of the TwinSAFE SC component. The TwinSAFE SC component initially makes all available process data available. The Safety Parameters tab typically contains no parameters. The process data size and the process data themselves can be selected under the Process Image tab.
  • Page 144 Commissioning Fig. 166: Selection of the process data The safety address together with the CRC must be entered on the TwinSAFE SC slave side. This is done via the CoE objects under TSC settings of the corresponding TwinSAFE SC component (here, for example, EL5021-0090, 0x8010: 01 and 0x8010: 02).

  • Page 145: Process Data

    Commissioning Fig. 168: Entering the safety address and the CRC TwinSAFE SC connections If several TwinSAFE SC connections are used within a configuration, a different CRC must be se- lected for each TwinSAFE SC connection. Process data 5.5.1 Sync Manager PDO allocation (for channel 1 - 8,  0 ≤ n ≤ 7) SM2, PDO assignment 0x1C12 Index Index of...

  • Page 146: Process Data Preselection (Predefined Pdos)

    Commissioning 5.5.2 Process data preselection (predefined PDOs) An EtherCAT device usually offers several different process data objects (PDO) for input and output data, which can be configured in the System Manager, i.e. they can be activated or deactivated for cyclic transmission.
  • Page 147 Commissioning Fig. 170: TwinCAT System Manager with the predefined PDO selection "External Compensation" In the "External Compensation" option [A] (or "with ColdJunction Compensation", EL3311, EL3312, EL3314), the input and output PDOs 0x1A0n / 0x160n of the respective channels are enabled. EL33xx-00x0 Version: 4.2...

  • Page 148: Data Processing

    Commissioning 5.5.3 Data processing Fig. 171: EL33xx Dataflow 5.5.4 TwinSAFE SC process data EL3314-0090 The EL3314-0090 transmits the following process data to the TwinSAFE logic: Index Name Type Size 6000:11 AI Module 1.Value 6010:11 AI Module 2.Value 6020:11 AI Module 2.Value 6030:11 AI Module 2.Value The process data of all four channels are transmitted by default.

  • Page 149: Settings

    Commissioning Settings 5.6.1 Presentation, index 0x80n0:02 In the delivery state, the measured value is output in increments of 1/10° C in two's complement format (signed integer). Index 0x80n0:02 [} 157] offers the possibility to change the method of representation of the measured value. Measured value Output (hexadecimal) Output (signed integer, decimal)

  • Page 150: Underrange, Overrange

    Commissioning 5.6.3 Underrange, Overrange Undershoot and overshoot of the measuring range (underrange, overrange), index 0x60n0:02, 0x60n0:03 [} 159] • U > Uk : Index 0x60n0:02 [} 159] and  index 0x60n0:07 [} 159] (overrange and error bit) are set. The linearization of the characteristic curve is continued with the coefficients of the overrange limit up to the limit stop of the A/D converter or to the maximum value of 0x7FFF.

  • Page 151: Limit 1 And Limit 2

    Commissioning Table 1: Typical conversion times with 3 measurements (thermocouple, broken wire, cold junction) Conversion time (update time) Filter fre- EL3311 EL3312 EL3314 EL3314-0010 EL3318 quency 5 Hz 0.6 s 1.2 s 2.4 s 1.6 s 3.5 s 10 Hz 0.3 s 0.6 s 1.2 s 800 ms 1.75 s 50 Hz...
  • Page 152 Calculation of process data The concept "calibration", which has historical roots at Beckhoff, is used here even if it has nothing to do with the deviation statements of a calibration certificate. Actually, this is a description of the vendor or customer calibration data/adjustment data used by the device during operation in order to maintain the assured measuring accuracy.

  • Page 153: Producer Codeword

    Commissioning Calculation Designation Output of the A/D converter Output value after the filter = (X – B ) x A Measured value after vendor calibration, = (Y – B ) x A Measured value after vendor and user calibration Measured value following user scaling Table 2: Legend Name Designation...

  • Page 154: Operation With An External Cold Junction

    Commissioning Operation with an external cold junction For temperature measurement with an external reference point/cold junction, the value "2" (external process data) must be set in object 0x80n0:0C [} 157]. The thermocouple is not connected directly to the terminal in this case (the cold junction compensation would take place internally in the case of direct connection), but rather it is coupled to the terminal via a connecting cable.

  • Page 155: Interference From Equipment

    EtherCAT XML Device Description The display matches that of the CoE objects from the EtherCAT XML Device Description. We rec- ommend downloading the latest XML file from the download area of the Beckhoff website and in- stalling it according to installation instructions.

  • Page 156: Restore Object

    Commissioning 5.10.1 Restore object Index 1011 Restore default parameters Index (hex) Name Meaning Data type Flags Default 1011:0 Restore default parameters UINT8 0x01 (1 Restore default pa- rameters [} 198] 1011:01 SubIndex 001 If this object is set to "0x64616F6C" in the set value UINT32 0x00000000 (0 dialog, all backup objects are reset to their delivery...

  • Page 157: Configuration Data

    Commissioning 5.10.2 Configuration data Index 80n0 TC Settings  (for Ch. 1 - 8 (0 ≤ n ≤  7)) Index (hex) Name Meaning Data type Flags Default 80n0:0 TC Settings Maximum subindex UINT8 EL331x-0000: 0x19 (25 EL3314‑0002, EL3314‑0010: 0x1A (26 80n0:01 User scaling is active.
  • Page 158 Commissioning Index (hex) Name Meaning Data type Flags Default 80n0:15 This object determines the basic digital filter settings. UINT16 0x0000 (0 Filter settings The possible settings are sequentially numbered. [} 150] EL3314-0002 (default: 20) 0: 2.5 Hz 1: 5 Hz 2: 10 Hz 3: 16.6 Hz 4: 20 Hz 5: 50 Hz...

  • Page 159: Profile-Specific Objects (0X6000-0Xffff)

    Commissioning 5.10.3 Profile-specific objects (0x6000-0xFFFF) The profile-specific objects have the same meaning for all EtherCAT slaves that support the profile 5001. 5.10.4 Configuration data (vendor-specific) Index 80nF TC Vendor data (for Ch. 1 - 8 (0 ≤ n ≤  7)) Index (hex) Name Meaning Data type...

  • Page 160: Output Data

    Commissioning Index 6040 TSC Slave Frame Elements (only EL3314-0090) Index (hex) Name Meaning Data type Flags Default 6040:0 Max. subindex UINT8 0x06 (7 TSC Slave Frame Ele- ments [} 141] 6040:01 TSC__Slave Cmd reserved UINT8 0x00 (0 6040:02 TSC__Slave ConnID reserved UINT16 0x0000 (0 6040:03...

  • Page 161: Standard Objects (0X1000-0X1Fff)

    Commissioning Index F008 Code word Index (hex) Name Meaning Data type Flags Default F008:0 Code word currently reserved UINT32 0x00000000 Index F010 Module list (for Ch. 1 - 8 (1 ≤ n ≤  8)) (only EL3318) Index (hex) Name Meaning Data type Flags Default...

  • Page 162: Fig. 13 El3314-0010

    Commissioning Index 160n RxPDO-Map (for Ch. 1 - 8 (0 ≤ n ≤ 7)) Index (hex) Name Meaning Data type Flags Default 160n:0 RxPDO-Map Ch. n+1 PDO Mapping RxPDO n+1 UINT8 0x01 (1 160n:01 SubIndex 001 n. PDO Mapping entry (object 0x70n0 (TC Outputs Ch. UINT32 0x70n0:11, 16 n+1), entry 0x11 (CJCompensation))
  • Page 163 Commissioning Index 1A04 TSC TxPDO-Map Slave Message (only EL3314-0090) Index (hex) Name Meaning Data type Flags Default 1A04:0 TSC TxPDO-Map PDO Mapping TxPDO UINT8 0x0A (10 Slave Message 1A04:01 SubIndex 001 1. PDO Mapping entry (object 0x6040 (TSC Slave USINT8 0x6040:01, 8 Frame Elements), entry 0x01 (TSC__Slave Cmd)) 1A04:02...
  • Page 164 Commissioning Index 1C32 SM output parameter Index (hex) Name Meaning Data type Flags Default 1C32:0 SM output parameter Synchronization parameters for the outputs UINT8 0x07 (7 1C32:01 Sync mode Current synchronization mode: UINT16 0x0000 (0 • 0: Free Run • 1: Synchron with SM 2 Event •...
  • Page 165 Commissioning Index 1C33 SM input parameter Index (hex) Name Meaning Data type Flags Default 1C33:0 SM input parameter Synchronization parameters for the inputs UINT8 0x07 (7 1C33:01 Sync mode Current synchronization mode: UINT16 0x0000 (0 • 0: Free Run • 1: Synchron with SM 3 event (no outputs available) •...

  • Page 166: Status Word

    Commissioning 5.11 Status word The status information for each channel of the EL32xx and EL33xx is transmitted cyclically from the terminal to the EtherCAT Master as process data (PDO). Two versions of the device description are available for the EL32xx and EL33xx, representing the process image in individual and extended forms. The difference can be seen in the revision number EL3xxxx-xxxx-XXXX.
  • Page 167 These terminal revisions also have the summarized process image, see EL32xx-0000-0017 process image in the TwinCAT 2.11 representation. The individual units of information are assembled here in the usual Beckhoff representation as a 16-bit status word, and can be linked into the controller in this way.
  • Page 168 Commissioning Fig. 177: Consolidated process image in the extended representation under TwinCAT 2.11 Notes • The consolidated representation is only visible from TwinCAT 2.11 and above. For reasons of compatibility, if a EL32xx-xxxx-0017 (or later) is operated in earlier TwinCAT configurations, the individual process image is displayed, prepended with the identifier "Status__".
  • Page 169 Commissioning Fig. 178: Consolidated process image represented under TwinCAT 2.10 • Revisions -0016 and -0017 do not depend on the revision of the firmware installed in the terminal. This means that terminals that were supplied as EL32xx-xxxx-0016 can also be operated with a "newer" -0017 configuration, and therefore can be addressed using the consolidated process image.

  • Page 170: Notices On Analog Specifications

    For analog I/O devices from Beckhoff the rule is that the limit with the largest value is chosen as the full scale value of the respective product (also called the reference value) and is given a positive sign. This applies to both symmetrical and asymmetrical measuring spans.

  • Page 171: Temperature Coefficient Tk [Ppm/K]

    A manufacturer can alleviate this by using components of a higher quality or by software means. The temperature coefficient, when indicated, specified by Beckhoff allows the user to calculate the expected measuring error outside the basic accuracy at 23 °C.

  • Page 172: Single-Ended/Differential Typification

    In particular this also applies to SE, even though the term suggest that only one wire is required. • The term "electrical isolation" should be clarified in advance. Beckhoff IO modules feature 1..8 or more analog channels; with regard to the channel connection a distinction is made in terms of: ◦...
  • Page 173 Commissioning ◦ Beckhoff terminals/ boxes (and related product groups) always feature electrical isolation between the field/analog side and the bus/EtherCAT side. In other words, if two analog terminals/ boxes are not connected via the power contacts (cable), the modules are effectively electrically isolated.
  • Page 174 +signal can be connected to +supply or –signal to –supply. - Yes: then you can connect accordingly to a Beckhoff ‘single-ended’ input. - No: the Beckhoff ‘differential’ input for +Signal and –Signal is to be selected; +Supply and – Supply are to be connected via additional cables.
  • Page 175 Commissioning Fig. 183: Connection of externally supplied sensors Classification of the Beckhoff terminals/ boxes - Beckhoff 0/4-20 mA terminals/ boxes (and related product groups) are available as differential and single-ended terminals/ boxes (and related product groups): Single-ended Differential EL3x4x: 0-20 mA, EL3x5x: 4-20 mA; KL and related product EL3x1x: 0-20 mA, EL3x2x: 4-20 mA;...
  • Page 176 Commissioning Single-ended Differential Fig. 184: 2-, 3- and 4-wire connection at single-ended and differential inputs Version: 4.2 EL33xx-00x0...

  • Page 177: Common-Mode Voltage And Reference Ground (Based On Differential Inputs)

    Reference ground samples for Beckhoff IO devices: 1. Internal AGND fed out: EL3102/EL3112, resistive connection between the channels 2. 0V power contact: EL3104/EL3114, resistive connection between the channels and AGND; AGND connected to 0V power contact with low-resistance 3.

  • Page 178: Temporal Aspects Of Analog/Digital Conversion

    The conversion of the constant electrical input signal to a value-discrete digital and machine-readable form takes place in the analog Beckhoff EL/KL/EP input modules with ADC (analog digital converter). Although different ADC technologies are in use, from a user perspective they all have a common characteristic: after the conversion a certain digital value is available in the controller for further processing.
  • Page 179 This is the “external” view of the “Beckhoff AI channel” system – internally the signal delay in particular is composed of different components: hardware, amplifier, conversion itself, data transport and processing.
  • Page 180 Commissioning Fig. 188: Diagram signal delay (step response) 2.2 Signal delay (linear) Keyword: Group delay Describes the delay of a signal with constant frequency A test signal can be generated externally with a frequency generator, e.g. as sawtooth or sine. A simultaneous square wave signal would be used as reference. The signal delay [ms, µs] is then the interval between the applied electrical signal with a particular amplitude and the moment at which the analog process value reaches the same value.
  • Page 181 Commissioning Fig. 189: Diagram signal delay (linear) 3. Additional information: may be provided in the specification, e.g. 3.1 Actual sampling rate of the ADC (if different from the channel sampling rate) 3.2 Time correction values for run times with different filter settings … EL33xx-00x0 Version: 4.2...

  • Page 182: Appendix

    Appendix Appendix Sample program for individual temperature calculation in the PLC The terminals from the EL331x-xxxx series are used for the convenient measurement of temperatures with thermocouples. For this purpose they are equipped with various conversion tables for different types of thermocouples as well as an internal cold junction measurement.
  • Page 183 Fig. 191: Structure of the sample program for "separate temperature calculation with CJC in the PLC" Download: https://infosys.beckhoff.com/content/1033/el33xx/Resources/zip/5273816971.zip Preparations for starting the sample programs (tnzip file / TwinCAT 3) • Click on the download button to save the Zip archive locally on your hard disk, then unzip the *.tnzip archive file in a temporary folder.
  • Page 184 Appendix // THIS CODE IS ONLY AN EXAMPLE - YOU HAVE TO CHECK APTITUDE FOR YOUR APPLICATION PROGRAM MAIN    nBuffer_INT           : INT;         // Buffer for reading or writing values from/to CoE objects    aTCElement            : ARRAY[0..9] OF REAL := // Type K µV entries in 10°C Steps:       [-1156, -778, -392, 0, 397, 798, 1203, 1612, 2023, 2436];    nTabIndex             : INT;         // Index of node in table        nT_start              : INT := -300; // -30°C for 0.1°C resolution    nT_ResTab             : REAL := 100; //  10°C resultion of table (for 0.1°C resolution of values)        // Variables for calculation:    // ---------------------------    nDiff_U_node2node     : REAL;    // Voltage difference of two nodes    nDiff_U_node2U_TC     : REAL;    // Voltage difference of node and U TC    nSlope                : REAL;    // Slope for 1st interpolation (temperature to voltage)    nResidual             : REAL;    // Residual value for interpolation    nRelation             : REAL;    // Relation for 2nd interpolation (voltage to temperature)    // ===========================    nU_TC                 : REAL;     // Voltage of temperature inkl. CJC    nT_CJ                 : REAL;     // Cold junction temperature    nU_CJ                 : REAL;     // Corresponding voltage of CJ    nT_Result             : INT;      // Resulting Temperatur (resolution 0.1°C) END_VAR Ausführungsteil (nState=100): // Cold junction temperature by CoE: nT_CJ := INT_TO_REAL(nBuffer_INT); // 1. Convert temperature to voltage: // ======================================================================== // Determinate index of table: nTabIndex := TRUNC_INT((nT_CJ - nT_start)/nT_ResTab); // Calculate difference of two values with real value between them: nDiff_U_node2node := (aTCElement[nTabIndex+1]-aTCElement[nTabIndex]); // Get residual value of real value with integer value: nResidual := nT_CJ - (nTabIndex * nT_ResTab + nT_start); // Calculate slope nSlope = DY / DX: nSlope := nDiff_U_node2node/nT_ResTab; // Calculate interpolated voltage of the cold junction (m*x+b): nU_CJ := nSlope * nResidual + aTCElement[nTabIndex];...

  • Page 185: Ethercat Al Status Codes

    For detailed information please refer to the EtherCAT system description. Firmware Update EL/ES/EM/EPxxxx This section describes the device update for Beckhoff EtherCAT slaves from the EL/ES, EM, EK and EP series. A firmware update should only be carried out after consultation with Beckhoff support.

  • Page 186: Device Description Esi File/Xml

    The device revision is closely linked to the firmware and hardware used. Incompatible combinations lead to malfunctions or even final shutdown of the device. Corresponding updates should only be carried out in consultation with Beckhoff support. Display of ESI slave identifier...
  • Page 187 Appendix Fig. 194: Scan the subordinate field by right-clicking on the EtherCAT device If the found field matches the configured field, the display shows Fig. 195: Configuration is identical otherwise a change dialog appears for entering the actual data in the configuration. Fig. 196: Change dialog In this example in Fig.
  • Page 188 Appendix Changing the ESI slave identifier The ESI/EEPROM identifier can be updated as follows under TwinCAT: • Trouble-free EtherCAT communication must be established with the slave. • The state of the slave is irrelevant. • Right-clicking on the slave in the online display opens the EEPROM Update dialog, Fig. EEPROM Update Fig. 197: EEPROM Update The new ESI description is selected in the following dialog, see Fig.

  • Page 189: Firmware Explanation

    • offline: The EtherCAT Slave Information ESI/XML may contain the default content of the CoE. This CoE directory can only be displayed if it is included in the ESI (e.g. "Beckhoff EL5xxx.xml"). The Advanced button must be used for switching between the two views.

  • Page 190: Updating Controller Firmware *.Efw

    Switch to the Online tab to update the controller firmware of a slave, see Fig. Firmware Update. Fig. 200: Firmware Update Proceed as follows, unless instructed otherwise by Beckhoff support. Valid for TwinCAT 2 and 3 as EtherCAT master. • Switch TwinCAT system to ConfigMode/FreeRun with cycle time >= 1 ms (default in ConfigMode is 4 ms).

  • Page 191: Fpga Firmware *.Rbf

    Appendix • Switch EtherCAT Master to PreOP • Switch slave to INIT (A) • Switch slave to BOOTSTRAP • Check the current status (B, C) • Download the new *efw file (wait until it ends). A pass word will not be neccessary usually. •...
  • Page 192 Appendix Fig. 201: FPGA firmware version definition If the column Reg:0002 is not displayed, right-click the table header and select Properties in the context menu. Fig. 202: Context menu Properties The Advanced Settings dialog appears where the columns to be displayed can be selected. Under Diagnosis/Online View select the '0002 ETxxxx Build' check box in order to activate the FPGA firmware version display.
  • Page 193 Older firmware versions can only be updated by the manufacturer! Updating an EtherCAT device The following sequence order have to be met if no other specifications are given (e.g. by the Beckhoff support): • Switch TwinCAT system to ConfigMode/FreeRun with cycle time >= 1 ms (default in ConfigMode is 4 ms).
  • Page 194 Appendix • In the TwinCAT System Manager select the terminal for which the FPGA firmware is to be updated (in the example: Terminal 5: EL5001) and click the Advanced Settings button in the EtherCAT tab: • The Advanced Settings dialog appears. Under ESC Access/E²PROM/FPGA click on Write FPGA button: Version: 4.2 EL33xx-00x0...

  • Page 195: Simultaneous Updating Of Several Ethercat Devices

    Appendix • Select the file (*.rbf) with the new FPGA firmware, and transfer it to the EtherCAT device: • Wait until download ends • Switch slave current less for a short time (don't pull under voltage!). In order to activate the new FPGA firmware a restart (switching the power supply off and on again) of the EtherCAT device is required.

  • Page 196: Firmware Compatibility

    Note • It is recommended to use the newest possible firmware for the respective hardware • Beckhoff is not under any obligation to provide customers with free firmware updates for delivered products. NOTE Risk of damage to the device! Pay attention to the instructions for firmware updates on the separate page [} 185].

  • Page 197: Fig. 14 El3314-0090

    2013/06 EL3318-0000-0018 2014/07 EL3318-0000-0019 2015/01 EL3318-0000-0020 2016/06 EL3318-0000-0021 2018/01 *) This is the current compatible firmware/hardware version at the time of the preparing this documentation. Check on the Beckhoff web page whether more up-to-date documentation is available. EL33xx-00x0 Version: 4.2...

  • Page 198: Restoring The Delivery State

    Appendix Restoring the delivery state To restore the delivery state for backup objects in ELxxxx terminals, the CoE object Restore default parameters, SubIndex 001 can be selected in the TwinCAT System Manager (Config mode) (see Fig. Selecting the Restore default parameters PDO) Fig. 205: Selecting the "Restore default parameters"...

  • Page 199: Support And Service

    Beckhoff's branch offices and representatives Please contact your Beckhoff branch office or representative for local support and service on Beckhoff products! The addresses of Beckhoff's branch offices and representatives round the world can be found on her internet pages: http://www.beckhoff.com You will also find further documentation for Beckhoff components there.
  • Page 200 Startup list in the TwinCAT System Manager ................Fig. 26 Offline list ............................. Fig. 27 Online list ............................ Fig. 28 Spring contacts of the Beckhoff I/O components................. Fig. 29 Attaching on mounting rail ......................Fig. 30 Disassembling of terminal......................Fig. 31 Power contact on left side......................
  • Page 201 List of Illustrations Fig. 42 EL3312 ............................Fig. 43 EL3314 ............................Fig. 44 EL3314-0002 ..........................Fig. 45 EL3314-0010 ..........................Fig. 46 EL3314-0090 ..........................Fig. 47 EL3318 ............................Fig. 48 EL3311 ............................Fig. 49 EL3312 ............................Fig. 50 EL3314 ............................Fig. 51 EL3314-0002 ..........................
  • Page 202 List of Illustrations Fig. 88 Start program compilation......................Fig. 89 Creating the links between PLC variables and process objects ..........Fig. 90 Selecting PDO of type BOOL ...................... Fig. 91 Selecting several PDOs simultaneously: activate "Continuous" and "All types"......Fig. 92 Application of a "Goto Link"...
  • Page 203 List of Illustrations Fig. 132 TwinCAT can also be switched to this state by using a button (left: TwinCAT 2; right: Twin- CAT 3) ............................118 Fig. 133 Online display example ....................... 119 Fig. 134 Faulty identification ........................119 Fig. 135 Identical configuration (left: TwinCAT 2; right: TwinCAT 3) ............120 Fig.
  • Page 204 List of Illustrations Fig. 177 Consolidated process image in the extended representation under TwinCAT 2.11....168 Fig. 178 Consolidated process image represented under TwinCAT 2.10 ..........169 Fig. 179 Typical result after scanning an EtherCAT system..............169 Fig. 180 Full scale value, measuring span ....................170 Fig.

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