Table Of Contents - Beckhoff EL72 1-901 Series Manual

Table of contents

1 Foreword .................................................................................................................................................... 7
1.1 Notes on the documentation.............................................................................................................. 7
1.2 Safety instructions ............................................................................................................................. 8
1.2.1 Delivery state ..................................................................................................................... 8
1.2.2 Operator's obligation to exercise diligence ........................................................................ 8
1.2.3 Description of instructions.................................................................................................. 9
1.3 Documentation issue status ............................................................................................................ 10
1.4 Version identification of EtherCAT devices ..................................................................................... 10
1.4.1 Beckhoff Identification Code (BIC)................................................................................... 15
2 Product overview..................................................................................................................................... 17
2.1 Product overview Servomotor terminal with OCT and STO ............................................................ 17
2.2 Introduction ...................................................................................................................................... 17
2.3 Technical data ................................................................................................................................. 20
2.4 Technology ...................................................................................................................................... 22
2.5 Start-up ............................................................................................................................................ 24
3 Basics communication ........................................................................................................................... 25
3.1 EtherCAT basics.............................................................................................................................. 25
3.2 EtherCAT cabling - wire-bound....................................................................................................... 25
3.3 General notes for setting the watchdog ........................................................................................... 26
3.4 EtherCAT State Machine ................................................................................................................. 28
3.5 CoE Interface................................................................................................................................... 30
3.6 Distributed Clock ............................................................................................................................. 35
4 Installation................................................................................................................................................ 36
4.1 Safety instructions ........................................................................................................................... 36
4.2 Environmental conditions ................................................................................................................ 36
4.3 Transport / storage .......................................................................................................................... 36
4.4 Control cabinet / terminal box .......................................................................................................... 36
4.5 Instructions for ESD protection ........................................................................................................ 37
4.6 Installation on mounting rails ........................................................................................................... 37
4.7 Installation position for operation with or without fan ....................................................................... 40
4.8 Positioning of passive Terminals ..................................................................................................... 43
4.9 Installation instructions for enhanced mechanical load capacity ..................................................... 44
4.10 Connection ...................................................................................................................................... 45
4.10.1 Connection system .......................................................................................................... 45
4.10.2 Wiring............................................................................................................................... 46
4.11 Example configuration for temperature measurement .................................................................... 48
4.12 Shielding concept ............................................................................................................................ 48
4.13 UL notice - Compact Motion ............................................................................................................ 50
4.14 Notes on current measurements using Hall sensors ....................................................................... 51
4.15 EL72x1-9014 - LEDs and connection .............................................................................................. 53
5 Commissioning........................................................................................................................................ 57
5.1 TwinCAT Quick Start ....................................................................................................................... 57
5.1.1 TwinCAT 2 ....................................................................................................................... 60
EL72x1-901x Version: 1.9
Table of contents
3