Table Of Contents - Beckhoff CX B110 Series Manual

Table of contents

1 Foreword .................................................................................................................................................... 5
1.1 Notes on the documentation.............................................................................................................. 5
1.2 Safety instructions ............................................................................................................................. 6
1.3 Documentation issue status .............................................................................................................. 7
2 System overview EtherCAT ...................................................................................................................... 8
2.1 EtherCAT Highlights .......................................................................................................................... 9
2.2 Technical data - EtherCAT .............................................................................................................. 10
3 Connection and cabling .......................................................................................................................... 11
3.1 EtherCAT connection ...................................................................................................................... 11
3.2 Cabling ............................................................................................................................................ 12
3.3 Topology .......................................................................................................................................... 14
4 TwinCAT tabs........................................................................................................................................... 15
4.1 Tree view ......................................................................................................................................... 15
4.2 EtherCAT slave ............................................................................................................................... 17
4.2.1 General ............................................................................................................................ 17
4.2.2 EtherCAT ......................................................................................................................... 18
4.2.3 DC.................................................................................................................................... 19
4.2.4 Process data.................................................................................................................... 20
4.2.5 Startup ............................................................................................................................. 22
4.2.6 EtherCAT slave (slave only) ............................................................................................ 23
5 Parameterization and commissioning ................................................................................................... 24
5.1 EtherCAT State Machine ................................................................................................................. 24
5.2 Parameterization with TwinCAT 2 ................................................................................................... 26
5.2.1 Searching for target systems ........................................................................................... 26
5.2.2 Appending an EtherCAT device ...................................................................................... 28
5.2.3 Creating variables............................................................................................................ 29
5.2.4 Enable device status ....................................................................................................... 31
5.2.5 Enable device identification ............................................................................................. 32
5.2.6 Creating a PLC project .................................................................................................... 33
5.2.7 Linking variables .............................................................................................................. 35
5.2.8 Load configuration to CX ................................................................................................. 36
5.3 Parameterization with TwinCAT 3 ................................................................................................... 38
5.3.1 Searching for target systems ........................................................................................... 38
5.3.2 Appending an EtherCAT device ...................................................................................... 40
5.3.3 Creating variables............................................................................................................ 41
5.3.4 Enable device status ....................................................................................................... 43
5.3.5 Enable device identification ............................................................................................. 44
5.3.6 Creating a PLC project .................................................................................................... 45
5.3.7 Linking variables .............................................................................................................. 47
5.3.8 Load configuration to CX ................................................................................................. 48
6 Error handling and diagnostics.............................................................................................................. 50
6.1 Diagnostic LEDs .............................................................................................................................. 50
6.2 Device Status .................................................................................................................................. 51
CXxxxx-B110 Version: 1.3
Table of contents
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