Table Of Contents - Beckhoff EL6692 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
2.3 Internal and external EtherCAT synchronization ............................................................................. 16
2.4 Start ................................................................................................................................................. 20
3 Basics communication ........................................................................................................................... 21
3.1 EtherCAT basics.............................................................................................................................. 21
3.2 EtherCAT cabling - wire-bound....................................................................................................... 21
3.3 General notes for setting the watchdog ........................................................................................... 22
3.4 EtherCAT State Machine ................................................................................................................. 24
3.5 CoE Interface................................................................................................................................... 26
3.6 Distributed Clock ............................................................................................................................. 31
4 Mounting and wiring................................................................................................................................ 32
4.1 Recommended mounting rails ......................................................................................................... 32
4.2 Mounting and demounting - terminals with traction lever unlocking ................................................ 33
4.3 Mounting and demounting - terminals with front unlocking ............................................................. 34
4.4 Positioning of passive Terminals ..................................................................................................... 36
4.5 Installation positions ........................................................................................................................ 37
4.6 ATEX - Special conditions (standard temperature range) ............................................................... 39
4.7 LEDs and connection ...................................................................................................................... 41
5 Commissioning........................................................................................................................................ 43
5.1 TwinCAT Quick Start ....................................................................................................................... 43
5.1.1 TwinCAT 2 ....................................................................................................................... 46
5.1.2 TwinCAT 3 ....................................................................................................................... 56
5.2 TwinCAT Development Environment .............................................................................................. 68
5.2.1 Installation of the TwinCAT real-time driver..................................................................... 68
5.2.2 Notes regarding ESI device description........................................................................... 74
5.2.3 TwinCAT ESI Updater ..................................................................................................... 78
5.2.4 Distinction between Online and Offline............................................................................ 78
5.2.5 OFFLINE configuration creation ...................................................................................... 79
5.2.6 ONLINE configuration creation ........................................................................................ 84
5.2.7 EtherCAT subscriber configuration.................................................................................. 92
5.3 General Notes - EtherCAT Slave Application ................................................................................ 101
5.4 Basic principles of function and commissioning ............................................................................ 110
5.5 Extended functions ........................................................................................................................ 120
5.6 External TwinCAT synchronization................................................................................................ 122
5.7 Object description and parameterization ....................................................................................... 129
EL6692 Version: 3.2
Table of contents
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