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Beckhoff EL3182 Documentation

Beckhoff EL3182 Documentation

2 channel analog input teminal (4...20 ma), single-ended, 16 bit, hart
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Documentation
EL3182
2 Channel Analog Input Terminal (4...20 mA), single-ended, 16
bit, HART
Version:
Date:
1.2
2018-01-30

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Summary of Contents for Beckhoff EL3182

  • Page 1 Documentation EL3182 2 Channel Analog Input Terminal (4…20 mA), single-ended, 16 bit, HART Version: Date: 2018-01-30...

  • Page 3: Table Of Contents

    1 Foreword .............................. 5 Notes on the documentation...................... 5 Safety instructions .......................... 6 Documentation Issue Status...................... 7 Version identification of EtherCAT devices .................. 7 1.4.1 Beckhoff Identification Code (BIC)...................  11 2 Product overview............................. 13 EL3182 - introduction ........................ 13 Technical data .......................... 14 Start .............................. 14 3 Basics communication ........................... 15 EtherCAT basics.......................... 15...
  • Page 4 Device description ESI file/XML.................. 129 8.3.2 Firmware explanation .................... 132 8.3.3 Updating controller firmware *.efw.................  133 8.3.4 FPGA firmware *.rbf.......................  135 8.3.5 Simultaneous updating of several EtherCAT devices............  139 Restoring the delivery state ...................... 140 Support and Service ........................ 141 Version: 1.2 EL3182...

  • Page 5: Foreword

    EP1590927, EP1789857, EP1456722, EP2137893, DE102015105702 with corresponding applications or registrations in various other countries. ® 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 6: 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 7: Documentation Issue Status

    Associated and synonymous with each revision there is usually a description (ESI, EtherCAT Slave Information) in the form of an XML file, which is available for download from the Beckhoff web site. From 2014/01 the revision is shown on the outside of the IP20 terminals, see Fig. “EL5021 EL terminal, standard IP20 IO device with batch number and revision ID (since 2014/01)”.

  • Page 8: Fig. 1 El5021 El Terminal, Standard Ip20 Io Device With Serial/ Batch Number And Revision Id (Since 2014/01)

    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 9: 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 EL3182 Version: 1.2...

  • Page 10: Fig. 5 Ep1258-00001 Ip67 Ethercat Box With Batch Number/ Date Code 22090101 And Unique Se- Rial 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 Version: 1.2 EL3182...

  • Page 11: Beckhoff Identification Code (Bic)

    1.4.1 Beckhoff Identification Code (BIC) The Beckhoff Identification Code (BIC) is increasingly being applied to Beckhoff products to uniquely identify the product. The BIC is represented as a Data Matrix Code (DMC, code scheme ECC200), the content is based on the ANSI standard MH10.8.2-2016.
  • Page 12 Example of composite information from item 1 to 4 and 6. The data identifiers are marked in red for better display: An important component of the BIC is the Beckhoff Traceability Number (BTN, item no. 2). The BTN is a unique serial number consisting of eight characters that will replace all other serial number systems at Beckhoff in the long term (e.g.

  • Page 13: Product Overview

    The power contacts of the EL3182 can optionally be supplied with operating voltage in the standard way or via a power feed terminal (EL9xxx) with electrical isolation. The input electronics are independent of the supply voltage of the power contacts.

  • Page 14: Technical Data

    EN 61000-6-2 / EN 61000-6-4 Protection class IP20 Installation position variable Approval Start For commissioning: • mount the EL3182 as described in the chapter Mounting and wiring [} 26] • configure the EL3182 in TwinCAT as described in chapter Commissioning [} 42] Version: 1.2 EL3182...

  • Page 15: 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 16: General Notes For Setting The Watchdog

    The PDI watchdog can be used to monitor this communication for failure. The PDI watchdog monitors correct and timely process data communication with the ESC from the application side. The settings of the SM- and PDI-watchdog must be done for each slave separately in the TwinCAT System Manager. Version: 1.2 EL3182...

  • Page 17: Fig. 12 Ethercat Tab -> Advanced Settings -> Behavior -> Watchdog

    The standard setting of 1000 for the SM watchdog corresponds to a release time of 100 ms. The value in multiplier + 2 corresponds to the number of basic 40 ns ticks representing a watchdog tick. The multiplier can be modified in order to adjust the watchdog time over a larger range. EL3182 Version: 1.2...

  • Page 18: Ethercat State Machine

    EtherCAT master to the device in each state, particularly during the bootup of the slave. A distinction is made between the following states: • Init • Pre-Operational • Safe-Operational and • Operational • Boot The regular state of each EtherCAT slave after bootup is the OP state. Version: 1.2 EL3182...

  • Page 19: Fig. 13 States Of The Ethercat State Machine

    Before the EtherCAT master switches the EtherCAT slave from Safe-Op to Op it must transfer valid output data. In the Op state the slave copies the output data of the masters to its outputs. Process data and mailbox communication is possible. EL3182 Version: 1.2...

  • Page 20: Coe Interface

    Not every EtherCAT device must have a CoE list. Simple I/O modules without dedicated processor usually have no variable parameters and therefore no CoE list. If a device has a CoE list, it is shown in the TwinCAT System Manager as a separate tab with a listing of the elements: Version: 1.2 EL3182...

  • Page 21: Fig. 14 "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 22: Fig. 15 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 23: Fig. 16 Offline List

    ◦ 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 ◦ Online is shown in green. Fig. 17: Online list EL3182 Version: 1.2...
  • Page 24 • 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. Version: 1.2 EL3182...

  • Page 25: Distributed Clock

    4.2 seconds) • The EtherCAT master automatically synchronizes the local clock with the master clock in the EtherCAT bus with a precision of < 100 ns. For detailed information please refer to the EtherCAT system description. EL3182 Version: 1.2...

  • Page 26: Mounting And Wiring

    • 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. 18: Spring contacts of the Beckhoff I/O components Installation on mounting rails...

  • Page 27: Fig. 19 Attaching On Mounting Rail

    To mount the mounting rails with a height of 7.5 mm under the terminals and couplers, you should use flat mounting connections (e.g. countersunk screws or blind rivets). EL3182 Version: 1.2...

  • Page 28: Fig. 20 Disassembling Of Terminal

    EL91xx, EL92xx) interrupt the power contacts and thus represent the start of a new supply rail. PE power contact The power contact labeled PE can be used as a protective earth. For safety reasons this contact mates first when plugging together, and can ground short-circuit currents of up to 125 A. Version: 1.2 EL3182...

  • Page 29: Installation Instructions For Enhanced Mechanical Load Capacity

    Vibration 10 frequency runs in 3 axes 6 Hz < f < 60 Hz displacement 0.35 mm, constant amplitude 60.1 Hz < f < 500 Hz acceleration 5 g, constant amplitude Shocks 1000 shocks in each direction, in 3 axes 25 g, 6 ms EL3182 Version: 1.2...

  • Page 30: Connection

    Standard wiring (ELxxxx / KLxxxx) Fig. 22: Standard wiring The terminals of ELxxxx and KLxxxx series have been tried and tested for years. They feature integrated screwless spring force technology for fast and simple assembly. Version: 1.2 EL3182...

  • Page 31: Fig. 23 Pluggable Wiring

    Ultrasonically "bonded" (ultrasonically welded) conductors Ultrasonically “bonded" conductors It is also possible to connect the Standard and High Density Terminals with ultrasonically "bonded" (ultrasonically welded) conductors. In this case, please note the tables concerning the wire-size width below! EL3182 Version: 1.2...

  • Page 32: Wiring

    The cables are released, as usual, using the contact release with the aid of a screwdriver. See the following table for the suitable wire size width. Version: 1.2 EL3182...

  • Page 33: Shielding

    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. "From below" is relative to the acceleration of gravity. EL3182 Version: 1.2...

  • Page 34: Fig. 26 Recommended Distances For Standard Installation Position

    Other installation positions All other installation positions are characterized by different spatial arrangement of the mounting rail - see Fig “Other installation positions”. The minimum distances to ambient specified above also apply to these installation positions. Version: 1.2 EL3182...

  • Page 35: Positioning Of Passive Terminals

    The passive terminals have no current consump- tion out of the E-Bus. To ensure an optimal data transfer, you must not directly string together more than 2 passive termi- nals! Examples for positioning of passive terminals (highlighted) Fig. 28: Correct positioning EL3182 Version: 1.2...

  • Page 36: Leds And Connection

    Mounting and wiring Fig. 29: Incorrect positioning LEDs and connection Fig. 30: LEDs and connection EL3182 Version: 1.2 EL3182...

  • Page 37: Connection Notes For 20 Ma Measurement

    HART green off No HART communication HART communication active HART HART communication error Error Connection assignment EL3182 Terminal point Description Designation Input channel 1 Sensor supply (internal connected with terminal point 6) GND (internal connected with terminal point 7) Shield (internal connected with terminal point 8) Input channel 2 Sensor supply (internal connected with terminal point 2)

  • Page 38: Fig. 31 Internal Connection Diagram 0/4

    The block diagram for a 2 channel terminal shows the linked GND points within the terminal (Fig. [} 38] Internal connection for 0/4..20 mA inputs of a EL3xx2): Fig. 32: Internal connection diagram for 0/4..20 mA inputs of a EL3xx2 Version: 1.2 EL3182...

  • Page 39: Fig. 33 Example 1: Low-Side Measurement

    (referred to as "floating"). Please note that for this mode reduced measuring accuracy is to be expected. Example 1a Accordingly, this also applies if the floating point GND is connected to another potential. EL3182 Version: 1.2...

  • Page 40: Fig. 34 Example 1A, High-Side Measurement

    6 V relative to "0 V". The resulting A/GND will be in the middle, i.e. approx. 0.3 V or 11.6 V. Example 3 In the EL3xx4 terminals GND is internally connected with the negative power contact. The choice of potential is therefore limited. Version: 1.2 EL3182...

  • Page 41: Fig. 36 Invalid El3Xx4 Configuration

    U In the EL30x4/EL31x4 terminals GND is already connected with the negative power contact. Here too the specifications for U must be followed. EL3182 Version: 1.2...

  • Page 42: Commissioning

    5.1.1 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 43: Fig. 37 System Manager "Options" (Twincat 2)

    Alternatively an EtherCAT-device can be inserted first of all as described in chapter Offline configuration creation, section “Creating the EtherCAT device” [} 53] in order to view the compatible ethernet ports via its EtherCAT properties (tab „Adapter“, button „Compatible Devices…“): EL3182 Version: 1.2...

  • Page 44: Fig. 40 Ethercat Device Properties(Twincat 2): Click On „Compatible Devices

    After the installation the driver appears activated in the Windows overview for the network interface (Windows Start → System Properties → Network) Fig. 41: Windows properties of the network interface A correct setting of the driver could be: Version: 1.2 EL3182...
  • Page 45 Commissioning Fig. 42: Exemplary correct driver setting for the Ethernet port Other possible settings have to be avoided: EL3182 Version: 1.2...
  • Page 46 Commissioning Fig. 43: Incorrect driver settings for the Ethernet port Version: 1.2 EL3182...
  • Page 47 DHCP. In this way the delay associated with the DHCP client for the Ethernet port assigning itself a default IP address in the absence of a DHCP server is avoided. A suitable address space is 192.168.x.x, for example. Fig. 44: TCP/IP setting for the Ethernet port EL3182 Version: 1.2...

  • Page 48: 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 49 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’ [} 53].
  • Page 50 Faulty ESI file If an ESI file is faulty and the System Manager is unable to read it, the System Manager brings up an information window. Fig. 50: Information window for faulty ESI file (left: TwinCAT 2; right: TwinCAT 3) Version: 1.2 EL3182...
  • Page 51 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 EL3182 Version: 1.2...

  • Page 52: Twincat Esi Updater

    Commissioning 5.1.3 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. 51: Using the ESI Updater (>= TwinCAT 2.11) The call up takes place under: “Options” → "Update EtherCAT Device Descriptions"...

  • Page 53: Offline Configuration Creation

    EL6601/EL6614 terminal select “EtherCAT Automation Protocol via EL6601”. Fig. 54: Selecting the EtherCAT connection (TwinCAT 2.11, TwinCAT 3) Then assign a real Ethernet port to this virtual device in the runtime system. Fig. 55: Selecting the Ethernet port EL3182 Version: 1.2...
  • Page 54 Fig. “Selection dialog for new EtherCAT device”. If the preceding device has several free ports (e.g. EK1122 or EK1100), the required port can be selected on the right-hand side (A). Overview of physical layer • “Ethernet”: cable-based 100BASE-TX: EK couplers, EP boxes, devices with RJ45/M8/M12 connector Version: 1.2 EL3182...
  • Page 55 (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 56 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 57 Commissioning Fig. 62: EtherCAT terminal in the TwinCAT tree (left: TwinCAT 2; right: TwinCAT 3) EL3182 Version: 1.2...

  • Page 58: Online Configuration Creation

    This scan mode attempts to find not only EtherCAT devices (or Ethernet ports that are usable as such), but also NOVRAM, fieldbus cards, SMB etc. However, not all devices can be found automatically. Fig. 65: Note for automatic device scan (left: TwinCAT 2; right: TwinCAT 3) Version: 1.2 EL3182...
  • Page 59 [} 63] 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 60 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 61 Fig. 74: Displaying of “Free Run” and “Config Mode” toggling right below in the status bar Fig. 75: TwinCAT can also be switched to this state by using a button (left: TwinCAT 2; right: TwinCAT 3) The EtherCAT system should then be in a functional cyclic state, as shown in Fig. “Online display example”. EL3182 Version: 1.2...
  • Page 62 The connections and devices should be checked in a targeted manner, e.g. via the emergency scan. Then re-run the scan. Fig. 77: Faulty identification In the System Manager such devices may be set up as EK0000 or unknown devices. Operation is not possible or meaningful. Version: 1.2 EL3182...
  • Page 63 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 64 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 65 This function is preferably to be used on AX5000 devices. Change to Alternative Type The TwinCAT System Manager offers a function for the exchange of a device: Change to Alternative Type Fig. 83: TwinCAT 2 Dialog Change to Alternative Type EL3182 Version: 1.2...

  • Page 66: Ethercat Subscriber Configuration

    Comment Here you can add a comment (e.g. regarding the system). Disabled Here you can deactivate the EtherCAT device. Create symbols Access to this EtherCAT slave via ADS is only available if this control box is activated. Version: 1.2 EL3182...
  • Page 67 CANopen process data objects (Process Data Objects, PDOs). The user can select a PDO via PDO assignment and modify the content of the individual PDO via this dialog, if the EtherCAT slave supports this function. EL3182 Version: 1.2...
  • Page 68 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 69 (CoE) or Servo drive over EtherCAT protocol. This tab indicates which download requests are sent to the mailbox during startup. It is also possible to add new mailbox requests to the list display. The download requests are sent to the slave in the same order as they are shown in the list. EL3182 Version: 1.2...
  • Page 70 (CoE) protocol. This dialog lists the content of the object list of the slave (SDO upload) and enables the user to modify the content of an object from this list. Details for the objects of the individual EtherCAT devices can be found in the device-specific object descriptions. Version: 1.2 EL3182...
  • Page 71 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. EL3182 Version: 1.2...
  • Page 72 Offline - via EDS File If this option button is selected, the list of the objects included in the object list is read from an EDS file provided by the user. „Online“ tab Fig. 92: „Online“ tab Version: 1.2 EL3182...
  • Page 73 Fig. 93: "DC" tab (Distributed Clocks) Operation Mode Options (optional): • FreeRun • SM-Synchron • DC-Synchron (Input based) • 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: EL3182 Version: 1.2...
  • Page 74 Sync Manager! Consequently, this PDO cannot be deleted from the PDO Assignment list Sync Manager to which this PDO is assigned. If this entry is empty, this PDO does not take part in the process data traffic. Sync unit to which this PDO is assigned. Version: 1.2 EL3182...

  • Page 75: General Notes - Ethercat Slave Application

    Those diagnostic elements that are helpful to the controlling task for diagnosis that is accurate for the current cycle when in operation (not during commissioning) are discussed below. Fig. 94: Selection of the diagnostic information of an EtherCAT Slave EL3182 Version: 1.2...
  • Page 76 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 77 The CoE parameter directory (CanOpen-over-EtherCAT) is used to manage the set values for the slave concerned. Changes may, in some circumstances, have to be made here when commissioning a relatively complex EtherCAT Slave. It can be accessed through the TwinCAT System Manager, see Fig. “EL3102, CoE directory”: EL3182 Version: 1.2...
  • Page 78 Commissioning interfaces are being introduced as part of an ongoing process for EL/EP EtherCAT devices. These are available in TwinCAT System Managers from TwinCAT 2.11R2 and above. They are integrated into the System Manager through appropriately extended ESI configuration files. Version: 1.2 EL3182...
  • Page 79 The target state wanted by the user, and which is brought about automatically at start-up by TwinCAT, can be set in the System Manager. As soon as TwinCAT reaches the status RUN, the TwinCAT EtherCAT Master will approach the target states. EL3182 Version: 1.2...
  • Page 80 Fig. 98: 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. Fig. 99: Default target state in the Slave Version: 1.2 EL3182...
  • Page 81 The pre-calculated theoretical maximum E-Bus current is displayed in the TwinCAT System Manager as a column value. A shortfall is marked by a negative total amount and an exclamation mark; a power feed terminal is to be placed before such a position. EL3182 Version: 1.2...
  • Page 82 Fig. 102: 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: 1.2 EL3182...

  • Page 83: Object Description And Parametrization

    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 84: Configuration Data

    4: IIR 3 5: IIR 4 6: IIR 5 7: IIR 6 8: IIR 7 9: IIR 8 80n0:17 User calibration User offset compensation INT16 0x0000 (0 offset 80n0:18 User calibration User calibration gain INT16 0x4000 gain (16384 Version: 1.2 EL3182...
  • Page 85 0x00 (0 Primary Secondary 80n0:03 PollingAddre Allowed values: UINT8 0x00 (0 0…63 80n0:04 PollingTime Unit in seconds, UINT8 0x03 (3 allowed values: 1…64 80n0:05 MaxRetry Allowed values: UINT8 0x03 (3 3…10 80n0:06 MasterCtrl reserved UINT8 0x00 (0 EL3182 Version: 1.2...

  • Page 86: Input Data

    Index 0x80nE AI Internal data (n=0: Channel 1, n=1: Channel 2) Index Name Meaning Data type Flags Default (hex) 80nE:0 AI Internal data Maximum subindex UINT8 0x01 (1 80nE:01 ADC raw value ADC raw value INT16 0x0000 (0 Version: 1.2 EL3182...
  • Page 87 Status 90n0:0E DeviceProfile Device Profile UINT8 0x00 (0 90n0:0F ManuIdentCo Manufacturer Identification UINT16 0x0000 (0 Code 90n0:10 PrivLabelDist Private Label Distributor UINT16 0x0000 (0 Code Code 90n0:11 SlavePolling Current slave polling UINT8 0x00 (0 Adress address EL3182 Version: 1.2...

  • Page 88: Command Objects

    60n0:0A Primary Variable Primary Variable (vendor specific) REAL32 0x00000000 60n0:0B Secondary Secondary Variable (vendor specific) REAL32 0x00000000 Variable 60n0:0C Tertiary Variable Tertiary Variable (vendor specific) REAL32 0x00000000 60n0:0D Quaternary Quaternary Variable (vendor specific) REAL32 0x00000000 Variable Version: 1.2 EL3182...

  • Page 89: Manufacturer Configuration Data

    Index 0x1008 Device name Index Name Meaning Data type Flags Default (hex) 1008:0 Device name Device name of the EtherCAT-Slave STRING EL3182 Index 0x1009 Hardware version Index Name Meaning Data type Flags Default (hex) 1009:0 Hardware version Hardware version of the EtherCAT STRING  00...
  • Page 90 180n:0 AI TxPDO-Par PDO Parameter TxPDO 2 UINT8 0x06 (6 Compact 180n:06 Exclude TxPDOs Hier sind die TxPDOs (Index der OCTET- 00 1A TxPDO Mapping Objekte) angegeben, STRING[2] die nicht zusammen mit TxPDO 2 übertragen werden dürfen Version: 1.2 EL3182...
  • Page 91 Index 0x1A0n AI TxPDO-Map Compact (n=1: Channel 1, n=3: Channel 2) Index Name Meaning Data type Flags Default (hex) 1A0n:0 AI TxPDO-Map PDO Mapping TxPDO 2 UINT8 0x01 (1 Compact 1A0n:01 SubIndex 001 1. PDO Mapping entry (object 0x6000 UINT32 0x6000:11, 16 (AI Inputs), entry 0x11 (Value)) EL3182 Version: 1.2...
  • Page 92 Sync-Manager Type Channel 2: UINT8 0x02 (2 Mailbox Read 1C00:03 SubIndex 003 Sync-Manager Type Channel 3: UINT8 0x03 (3 Process Data Write (Outputs) 1C00:04 SubIndex 004 Sync-Manager Type Channel 4: UINT8 0x04 (4 Process Data Read (Inputs) Version: 1.2 EL3182...
  • Page 93 1C13:04 SubIndex 004 4. allocated TxPDO (contains the index UINT16 0x1A12 (6674 of the associated TxPDO mapping object) 1C13:05 SubIndex 005 5. allocated TxPDO (contains the index UINT16 0x1A20 (6688 of the associated TxPDO mapping object) EL3182 Version: 1.2...
  • Page 94 Commissioning Index 0x1C32 SM output parameter Version: 1.2 EL3182...
  • Page 95 Maximum delay Time between SYNC1 event and UINT32 0x00000000 time output of the outputs (in ns, DC mode only) 1C32:0B SM event missed Number of missed SM events in UINT16 0x0000 (0 counter OPERATIONAL (DC mode only) EL3182 Version: 1.2...
  • Page 96 0x0000 (0 counter between SYNC0 and SYNC1 event was too short (DC mode only) 1C32:20 Sync error The synchronization was not correct in BOOLEAN RO 0x00 (0 the last cycle (outputs were output too late; DC mode only) Version: 1.2 EL3182...
  • Page 97 0x0000 (0 as 0x1C32:11 [} 94] counter 1C33:0C Cycle exceeded UINT16 0x0000 (0 as 0x1C32:12 [} 94] counter 1C33:0D Shift too short UINT16 0x0000 (0 as 0x1C32:13 [} 94] counter 1C33:20 Sync error BOOLEAN RO 0x00 (0 as 0x1C32:32 [} 94] EL3182 Version: 1.2...
  • Page 98 F010:0C SubIndex 012 reserved UINT32 0x00000000 F010:0D SubIndex 013 reserved UINT32 0x00000000 F010:0E SubIndex 014 reserved UINT32 0x00000000 F010:0F SubIndex 015 reserved UINT32 0x00000000 F010:10 SubIndex 016 reserved UINT32 0x00000000 F010:11 SubIndex 017 TSC Module UINT32 0x00000000 Version: 1.2 EL3182...

  • Page 99: Process Data And Operation Modes

    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 100 User scaling gain (can be activated via index 0x80n0:01 [} 84]) 0x80n0:12 [} 84] Process data for controller Measurement result The accuracy of the result may be reduced if the measured value is smaller than 32767 / 4 due to one or more multiplications. Version: 1.2 EL3182...

  • Page 101: Parameterization

    The user scaling is enabled via index 0x80n0:01. Parameterization takes place via the indices • 0x80n0:11 User scaling: Offset • 0x80n0:12 User scaling: Gain Producer Codeword Beckhoff reserves the right to implement the basic calibration of the terminals. The Producer code- word is therefore at present reserved. 5.4.2 Parameterization An EL31xx is parameterized via 2 dialog boxes/tabs in the TwinCAT System Manager, the Process Data tab (A) for the communication-specific settings and the CoE directory (B) for the settings in the slave.

  • Page 102: Sync Manager

    1) Reading the Loop Current with up to four preconfigured dynamic variables. 5.4.4 Process data and operationg modes Field Device Status Indicates the current operating status of the field device (generally the sensor) as a whole and is not associated with the completion of any command Version: 1.2 EL3182...

  • Page 103: Settings And Operating Modes

    Maximum representation range for 16 bits = -763 to +32425 4..20 mA Decimal Hexadecimal (NAMUR) 32767 0x7FFF 21 mA 32425 0x7EAC 20,5 mA 31472 0x7A20 20 mA 30518 0x7736 4 mA 0x0000 3,8 mA -381 0xFE83 3,6 mA -763 0xFD05 -32768 0x8000 EL3182 Version: 1.2...
  • Page 104 IEC61131-PLC contains no 2-bit data type that can be linked with this process data directly. For transferring the limit information, define an input byte (e.g. see Fig. Input byte definition) and link the limit to the VariableSizeMismatch dialog, as described in section Note about the 1-byte status of earlier EtherCAT Terminals. Version: 1.2 EL3182...
  • Page 105 , (Limit 1, limit value exceeded) 0x02 , (Limit 2, limit value exceeded) 5.4.5.4 Operating modes The EL30xx and the EL31xx accordingly supports three different operating modes: Freerun (filter on, timer interrupt), Synchron (filter off, SyncManager interrupt) and DC (DC Sync interrupt) EL3182 Version: 1.2...
  • Page 106 DC mode can only be used when the filters are switched off. Likewise, it is not possible to switch the filters on in DC mode. The DC mode is parameterized via the DC tab in the TwinCAT System Manager. Version: 1.2 EL3182...
  • Page 107 The EL31xx should be operated in DC input based mode. The DC mode requires minimum cycle times of • 100 µs (EL31x1/EL31x2 in 1 channel mode) EL3182 Version: 1.2...
  • Page 108 A 50 Hz and a 60 Hz filter are available. Notch filter means that the filter has zeros (notches) in the frequency response at the filter frequency and multiples thereof, i.e. it attenuates the amplitude at these frequencies. The FIR filter operates as a non-recursive filter. Version: 1.2 EL3182...
  • Page 109 220 Hz IIR 3 285 Hz 100 Hz IIR 4 142 Hz 50 Hz IIR 5 66 Hz 24 Hz IIR 6 33 Hz 12 Hz IIR 7 17 Hz 6.2 Hz IIR 8 8.2 Hz 3.0 Hz EL3182 Version: 1.2...

  • Page 110: Process Data

    In order to be able to read the bit meanings in plain text in the online display (C), the button Fig. 111: Show sub variables can be used to show all subvariables, including the structure content of the status word, see Fig. Display subvariables of the EL3102-0000-0016 from TwinCAT 2.11 build 1544 Version: 1.2 EL3182...
  • Page 111 The status word (SW) is located in the input process image, and is transmitted from terminal to the controller. SW.15 SW.14 SW.13 SW.12 SW.11 SW.10 SW.9 SW.8 Name TxPDO Toggle TxPDO State Sync error SW.7 SW.6 SW.5 SW.4 SW.3 SW.2 SW.1 SW.0 Name ERROR Limit 2 Limit 1 Overrange Underrange EL3182 Version: 1.2...
  • Page 112 • completely for all channels via the selection dialog “Predefined PDO Assignment” (all TwinCAT versions) • selective for individual PDOs, taking into account the excluded elements. “Predefined PDO Assignment” selection dialog (from TwinCAT 2.11 build 1544 onwards) Defined PDO sets can be preselected if they exist in the XML description. Version: 1.2 EL3182...
  • Page 113 All channels of the EL31x2 are simultaneously set to legacy, legacy compact, standard or compact process image. Selective PDO selection All TwinCAT versions support the selective selection of individual PDOs, as defined in the XML description. Exclusion criteria prevent irregular combinations. EL3182 Version: 1.2...
  • Page 114 Note about the 1-byte status of earlier EtherCAT terminals Previous analog input terminals from Beckhoff (e.g. EL31x2) had a status byte instead of the status word that is now implemented and therefore a 3-byte interface. 8 additional bits now offer extended diagnostic options, wherein the default process image of the EL31xx now encompasses 4 bytes, status word and value word.
  • Page 115 The structured representation of EL31xx from revision EL31xx-0000-0016, as shown in Fig. Selective PDO selection is due to a corresponding interpretation of the variable names. This function does not exist in TwinCAT 2.10 yet, which is why only element-wise linking is possible there. EL3182 Version: 1.2...
  • Page 116 • CoE write access by the user, PLC or start up entries in Single- or CompleteAccess access • Overwriting the values by RestoreDefaultParameter access to 0x80n0 (and accordingly 0x80nD, if present) Fig. 118: Password protection for the 0x8000:17 and 0x8000:18 entries (example) Version: 1.2 EL3182...

  • Page 117: Namur Basic Information

    (or similar) of the Process Industries as its major task. In this role, the NAMUR releases the so called NE (proposed standards), each numbered continuously. Information with regard to the implementation of this recommendation in Beckhoff products are specified in sections “Technical data” and “Process data” of this documentation.

  • Page 118: Hart

    HART Note to HART Plug In The HART Plug In is available since TwinCAT 3.1 Build 4022. Please contact Beckhoff Support [} 141] for support in older TwinCAT Versions. Setting Use the "HART Settings" dialog to set the master properties.  ...

  • Page 119: Measured Values

    Command 3 has a special function. It can be used to read the instantaneous current value via HART, plus up to 4 process values including their units. The number of returned process values depends on the HART slave used. A graphical display of the values is available via the "Measured Values Display" tab in TwinCAT. EL3182 Version: 1.2...

  • Page 120: Acyclic Services

    Once the configuration has been activated, it is updated cyclically with the polling time used as time base. The acyclic service from this dialog takes values from the cyclic buffer every three seconds. Acyclic services Simple reading or writing of individual HART commands can be initiated via the "Acyclic Services" dialog. Version: 1.2 EL3182...
  • Page 121 If a HART command has user data in both directions (i.e. for reading and writing), the ReadWrite function can be used. The commands can be issued directly via ADS. IdxGrp = 0xF302 and IdxOffs = Cmd should be used for this purpose. EL3182 Version: 1.2...

  • Page 122: Field Device Tool (Fdt)

    System Manager in TwinCAT 2.11) the usual tabs are available; in addition [FDT]: Fig. 121: FDT tab based on the example of an EL3182 terminal If device drivers (in some cases available from the respective device manufacturer) were installed on the PC, the option “Update DTM Catalog”...
  • Page 123 Double-click to open a further tab within [FDT] showing sensor-/actuator-specific configuration windows: Fig. 123: General structure of a DTM configuration window within the field device tool (FDT) Right-click on “DTM 16 (sensor p)” to open a context menu for the device used in the example: EL3182 Version: 1.2...
  • Page 124 Fig. 126: Structuring of the “Online” context menu of a DTM sensor/ actuator via the FDT plug-in Double-click on the symbol “DTM 16 (Sensor p)” as a shortcut to call a parameterization function (“Parameterize” or similar). The DTM may be in “offline” or “online” state. Version: 1.2 EL3182...

  • Page 125: Using An External Fdt Application

    Using an external FDT application A separate FDT frame application can be used to integrate the “Beckhoff ComDTM” via the device catalog. A dialog with a structure that is similar to TwinCAT can then be used for establishing a bus connection (see also Startup: entering a target system): Fig. 128: AddRoute dialog in the Beckhoff DTM of the FDT application...
  • Page 126 Field Device Tool (FDT) The PLC controlling the HART terminal can therefore linked to the “Beckhoff ComDTM” either via a search or by entering the known IP address or host name, which subsequently enables access to the sensor-/actuator- specific device driver (DTM). After successful connection, all EtherCAT master systems that exist on the target system (including a local computer, for example) are automatically scanned for HART devices.
  • Page 127 Field Device Tool (FDT) Fig. 130: Procedure with the FDT application for HART DTM access via the Beckhoff_ComDTM EL3182 Version: 1.2...

  • Page 128: Appendix

    Check on the Beckhoff web page whether more up-to-date documentation is available. Firmware Update EL/ES/EM/ELM/EPxxxx This section describes the device update for Beckhoff EtherCAT slaves from the EL/ES, ELM, EM, EK and EP series. A firmware update should only be carried out after consultation with Beckhoff support.

  • Page 129: Device Description Esi File/Xml

    The ESI device description is stored locally on the slave and loaded on start-up. Each device description has a unique identifier consisting of slave name (9 characters/digits) and a revision number (4 digits). Each slave configured in the System Manager shows its identifier in the EtherCAT tab: EL3182 Version: 1.2...
  • Page 130 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 131 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 EL3182 Version: 1.2...

  • Page 132: Firmware Explanation

    Firmware explanation Determining the firmware version Determining the version on laser inscription Beckhoff EtherCAT slaves feature serial numbers applied by laser. The serial number has the following structure: KK YY FF HH KK - week of production (CW, calendar week)

  • Page 133: Updating Controller Firmware *.Efw

    • 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 134 Appendix Fig. 138: 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). A FW-Update during real time operation is not recommended.

  • Page 135: Fpga Firmware *.Rbf

    The TwinCAT System Manager indicates the FPGA firmware version. Click on the Ethernet card of your EtherCAT strand (Device 2 in the example) and select the Online tab. The Reg:0002 column indicates the firmware version of the individual EtherCAT devices in hexadecimal and decimal representation. EL3182 Version: 1.2...
  • Page 136 Fig. 140: 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. Version: 1.2 EL3182...
  • Page 137 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 138 • 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: 1.2 EL3182...

  • Page 139: Simultaneous Updating Of Several Ethercat Devices

    The firmware and ESI descriptions of several devices can be updated simultaneously, provided the devices have the same firmware file/ESI. Fig. 142: Multiple selection and firmware update Select the required slaves and carry out the firmware update in BOOTSTRAP mode as described above. EL3182 Version: 1.2...

  • Page 140: Restoring The Delivery State

    Fig. 144: Entering a restore value in the Set Value dialog Alternative restore value In some older terminals the backup objects can be switched with an alternative restore value: Deci- mal value: 1819238756, Hexadecimal value: 0x6C6F6164An incorrect entry for the restore value has no effect. Version: 1.2 EL3182...

  • Page 141: 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 142 Startup list in the TwinCAT System Manager ................Fig. 16 Offline list ............................. Fig. 17 Online list ............................ Fig. 18 Spring contacts of the Beckhoff I/O components................. Fig. 19 Attaching on mounting rail ......................Fig. 20 Disassembling of terminal......................Fig. 21 Power contact on left side......................
  • Page 143 Correction dialog with modifications ................... Fig. 82 Dialog “Change to Compatible Type…” (left: TwinCAT 2; right: TwinCAT 3) ......Fig. 83 TwinCAT 2 Dialog Change to Alternative Type ................Fig. 84 Branch element as terminal EL3751.................... Fig. 85 “General” tab..........................EL3182 Version: 1.2...
  • Page 144 Fig. 120 Additional PDO (Cmd 3) of the HART communication ..............120 Fig. 121 FDT tab based on the example of an EL3182 terminal ............... 122 Fig. 122 Adding a sensor/actor DTM device driver to the corresponding channel of a terminal/ box..123 Fig.
  • Page 145 Fig. 141 Dialog Advanced Settings ......................137 Fig. 142 Multiple selection and firmware update ..................139 Fig. 143 Selecting the "Restore default parameters" PDO ................ 140 Fig. 144 Entering a restore value in the Set Value dialog................140 EL3182 Version: 1.2...

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