Beckhoff EL47 Series Documentation
  1. Manuals
  2. Brands
  3. Beckhoff Manuals
  4. Touch terminals
  5. EL47 Series
  6. Documentation

Beckhoff EL47 Series Documentation

Analog output terminal with oversampling
Hide thumbs
Table of Contents

Advertisement

Quick Links

Download this manual
Documentation
EL47xx
Analog output terminal with oversampling
Version:
Date:
2.7
2020-02-27

Advertisement

Table of Contents
loading
Need help?

Need help?

Do you have a question about the EL47 Series and is the answer not in the manual?

Questions and answers

Related Manuals for Beckhoff EL47 Series

Summary of Contents for Beckhoff EL47 Series

  • Page 1 Documentation EL47xx Analog output terminal with oversampling Version: Date: 2020-02-27...

  • Page 3: Table Of Contents

    Product overview analog output terminals.................. 5 Notes on the documentation...................... 5 Safety instructions .......................... 7 Documentation issue status ...................... 8 Version identification of EtherCAT devices .................. 8 1.5.1 Beckhoff Identification Code (BIC)...................  13 2 Product overview............................. 15 Introduction ............................ 15 Technical data .......................... 16 3 Basics communication ........................... 17 EtherCAT basics.......................... 17 EtherCAT cabling –...
  • Page 4 Table of contents 5.4.1 TwinCAT 3 procedure.................... 109 5.4.2 TwinCAT 2 procedure.................... 117 Notices on analog specifications .................... 126 5.5.1 Full scale value (FSV).................... 126 5.5.2 Measuring error/ measurement deviation .............. 126 5.5.3 Temperature coefficient tK [ppm/K] ................ 127 5.5.4 Single-ended/differential typification ................ 128 5.5.5 Common-mode voltage and reference ground (based on differential inputs)....

  • Page 5: Foreword

    The EtherCAT Technology is covered, including but not limited to the following patent applications and patents: 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. EL47xx Version: 2.7...
  • Page 6 Foreword 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. Offenders will be held liable for the payment of damages. All rights reserved in the event of the grant of a patent, utility model or design.

  • Page 7: 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 8: Documentation Issue Status

    • Safety instructions updated • Slight corrections; first public issue • Preliminary documentation for EL4732 Version identification of EtherCAT devices Designation A Beckhoff EtherCAT device has a 14-digit designation, made up of • family key • type • version • revision Version: 2.7...
  • Page 9 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 10: Fig. 1 El5021 El Terminal, Standard Ip20 Io Device With Serial/ Batch Number And Revision Id (Since 2014/01)

    Foreword y - hardware version of the bus PCB z - firmware version of the I/O PCB u - hardware version of the I/O PCB Example: D.22081501 calendar week 22 of the year 2008 firmware version of bus PCB: 1 hardware version of bus PCB: 5 firmware version of I/O PCB: 0 (no firmware necessary for this PCB) hardware version of I/O PCB: 1 Unique serial number/ID, ID number...

  • Page 11: Fig. 3 Cu2016 Switch With Serial/ Batch Number

    Foreword Fig. 3: CU2016 switch with serial/ batch number Fig. 4: EL3202-0020 with serial/ batch number 26131006 and unique ID-number 204418 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 EL47xx Version: 2.7...

  • Page 12: Fig. 7 El2904 Ip20 Safety Terminal With Batch Number/ Date Code 50110302 And Unique Serial Num- Ber 00331701

    Foreword 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: 2.7 EL47xx...

  • Page 13: Beckhoff Identification Code (Bic)

    1.5.1 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 14 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 15: Product Overview

    (oversampling factor: n) of the bus cycle time (n microcycles per bus cycle). Quick links • EtherCAT basics • EL47xx basics [} 137] • Process data and configuration [} 145] • Application notes [} 158] • Sample program (https://infosys.beckhoff.com/content/1033/el47xx/Resources/zip/2409495947.zip) EL47xx Version: 2.7...

  • Page 16: Technical Data

    Product overview Technical data Technical data EL4712 EL4732 Number of outputs Signal voltage 0 mA ... 20 mA -10 V ... +10 V Oversampling factor n = integer multiple of the EtherCAT cycle time, configurable between 1 and 100 Distributed Clocks precision < 100 ns Load <...

  • Page 17: 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 18: General Notes For Setting The Watchdog

    Basics communication Fig. 11: 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 19: Fig. 12 Ethercat Tab -> Advanced Settings -> Behavior -> Watchdog

    Basics communication Fig. 12: 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 20: 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 21: Fig. 13 States Of The Ethercat State Machine

    Basics communication Fig. 13: 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 22: Coe - Interface: Notes

    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. CoE - Interface: notes This device has no CoE. Detailed information on the CoE interface can be found in the EtherCAT system documentation on the Beckhoff website. Version: 2.7 EL47xx...

  • Page 23: 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 24: 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. 14: Spring contacts of the Beckhoff I/O components Installation on mounting rails...

  • Page 25: Fig. 15 Attaching On Mounting Rail

    Mounting and wiring Assembly Fig. 15: 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 26: Fig. 16 Disassembling Of Terminal

    Mounting and wiring Disassembly Fig. 16: 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 27: Fig. 17 Power Contact On Left Side

    Mounting and wiring Fig. 17: 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 28: Installation Instructions For Enhanced Mechanical Load Capacity

    Mounting and wiring Installation instructions for enhanced mechanical load capacity WARNING Risk of injury through electric shock and damage to the device! Bring the Bus Terminal system into a safe, de-energized state before starting mounting, disassembly or wiring of the Bus Terminals! Additional checks The terminals have undergone the following additional tests: Verification...

  • Page 29: Fig. 18 Standard Wiring

    Mounting and wiring Standard wiring Fig. 18: Standard wiring The terminals of KLxxxx and ELxxxx series have been tried and tested for years. They feature integrated screwless spring force technology for fast and simple assembly. Pluggable wiring Fig. 19: Pluggable wiring The terminals of KSxxxx and ESxxxx series feature a pluggable connection level. The assembly and wiring procedure for the KS series is the same as for the KLxxxx and ELxxxx series.

  • Page 30: Fig. 21 Mounting A Cable On A Terminal Connection

    Mounting and wiring Wiring HD Terminals The High Density Terminals of the KLx8xx and ELx8xx series doesn't support steady wiring. Ultrasonically "bonded" (ultrasonically welded) conductors Ultrasonically “bonded" conductors It is also possible to connect the Standard and High Density Terminals with ultrasonically "bonded"...

  • Page 31: Installation Positions

    Mounting and wiring Terminal housing High Density Housing Wire size width (conductors with a wire end sleeve) 0.14 ... 0.75 mm 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 (ultrasonically “bonded" conductors) only 1.5 mm (see notice [} 30]!) Wire stripping length...

  • Page 32: Fig. 22 Recommended Distances For Standard Installation Position

    Mounting and wiring Fig. 22: Recommended distances for standard installation position Compliance with the distances shown in Fig. “Recommended distances for standard installation position” is recommended. Other installation positions All other installation positions are characterized by different spatial arrangement of the mounting rail - see Fig “Other installation positions”.

  • Page 33: Fig. 23 Other Installation Positions

    Mounting and wiring Fig. 23: Other installation positions EL47xx Version: 2.7...

  • Page 34: 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 35: 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 36: 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 37: Atex Documentation

    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 38: El4712, El4732 - Leds And Connection

    Mounting and wiring 4.11 EL4712, EL4732 - LEDs and connection LEDs Fig. 26: LEDs EL4712, EL4732 Color Meaning green These LEDs indicate the terminal's operating state: State of the EtherCAT State Machine [} 20]: INIT = initialization of the terminal or BOOTSTRAP = function for firmware updates [} 160] of the terminal flashing State of the EtherCAT State Machine: PREOP = function for mailbox communication and different standard-settings set...

  • Page 39: Fig. 27 Connection El4712

    Mounting and wiring Connection EL4712 Fig. 27: Connection EL4712 Terminal point Description Name + Output 1 + Output 1 +24 V +24 V (internally connected to terminal point 6 and positive power contact) 0 V (internally connected to terminal point  7 and negative power contact) Shield Shield (internally connected to terminal point 8) + Output 2...

  • Page 40: Fig. 28 Connection El4732

    Mounting and wiring Connection EL4732 Fig. 28: Connection EL4732 Terminal point Description Name + Output 1 + Output 1 n.c. not used Signal ground for output 1 (internally connected to terminal point 7) Shield Shield (internally connected to terminal point 8) + Output 2 + Output 2 n.c.

  • Page 41: 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 42: Fig. 29 Relationship Between User Side (Commissioning) And Installation

    Commissioning Fig. 29: 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 43: Fig. 30 Control Configuration With Embedded Pc, Input (El1004) And Output (El2008)

    Commissioning Fig. 30: 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 44: Fig. 31 Initial Twincat 2 User Interface

    Commissioning 5.1.1 TwinCAT 2 Startup TwinCAT basically uses two user interfaces: the TwinCAT System Manager for communication with the electromechanical components and TwinCAT PLC Control for the development and compilation of a controller. The starting point is the TwinCAT System Manager. After successful installation of the TwinCAT system on the PC to be used for development, the TwinCAT 2 System Manager displays the following user interface after startup: Fig. 31: Initial TwinCAT 2 user interface...

  • Page 45: Fig. 32 Selection Of The Target System

    Commissioning Fig. 32: Selection of the target system 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 46: Fig. 34 Select "Scan Devices

    Commissioning 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 . The TwinCAT System Manager may first have to be set to "Config mode" via or via menu “Actions"...

  • Page 47: Fig. 36 Mapping Of The Configuration In The Twincat 2 System Manager

    Commissioning Fig. 36: 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 48: Fig. 38 Twincat Plc Control After Startup

    Commissioning ◦ Structured Text (ST) • 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. 38: TwinCAT PLC Control after startup Sample variables and a sample program have been created and stored under the name "PLC_example.pro": Version: 2.7...

  • Page 49: Fig. 39 Sample Program With Variables After A Compile Process (Without Variable Integration)

    Commissioning Fig. 39: 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 50: Fig. 41 Plc Project Integrated In The Plc Configuration Of The System Manager

    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. 41: PLC project integrated in the PLC configuration of the System Manager The two variables "bEL1004_Ch4"...
  • Page 51 Commissioning Fig. 43: 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 52 Commissioning Fig. 45: 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 53 Commissioning Fig. 46: 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 54 Commissioning Fig. 47: 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 55 Commissioning Fig. 48: 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. 49: Create new TwinCAT project The new project is then available in the project folder explorer: EL47xx Version: 2.7...
  • Page 56 Commissioning Fig. 50: 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 [} 57]".
  • Page 57 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 58 Commissioning Fig. 54: 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 [} 42] described at the beginning of this section, the result is as follows: Fig. 55: 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 59 Commissioning Fig. 56: 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 60 Commissioning Fig. 57: 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. 58: Specifying the name and directory for the PLC programming environment The "Main"...
  • Page 61 Commissioning Fig. 59: Initial "Main" program of the standard PLC project To continue, sample variables and a sample program have now been created: EL47xx Version: 2.7...
  • Page 62 Commissioning Fig. 60: 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. 61: Start program compilation The following variables, identified in the ST/ PLC program with "AT%", are then available in under "Assignments"...
  • Page 63 Commissioning Fig. 62: 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. 63: Selecting PDO of type BOOL According to the default setting, certain PDO objects are now available for selection.
  • Page 64 Commissioning Fig. 64: 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 65 Commissioning similar PDO, it is possible to allocate this a set of bit-standardised variables (type "BOOL"). Here, too, a "Goto Link Variable” from the context menu of a PDO can be executed in the other direction, so that the respective PLC instance can then be selected. 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.

  • Page 66: 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 67 Commissioning In the System Manager call up the TwinCAT overview of the local network interfaces via Options → Show Real Time Ethernet Compatible Devices. Fig. 67: System Manager “Options” (TwinCAT 2) This have to be called up by the Menü “TwinCAT” within the TwinCAT 3 environment: Fig. 68: Call up under VS Shell (TwinCAT 3) The following dialog appears: Fig. 69: Overview of network interfaces...
  • Page 68 Commissioning Fig. 70: 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 69 Commissioning Fig. 72: Exemplary correct driver setting for the Ethernet port Other possible settings have to be avoided: EL47xx Version: 2.7...
  • Page 70 Commissioning Fig. 73: Incorrect driver settings for the Ethernet port Version: 2.7 EL47xx...
  • Page 71 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 72: 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 73 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’ [} 77].
  • Page 74 Commissioning Fig. 78: 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 75 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 EL47xx Version: 2.7...

  • Page 76: 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. 81: Using the ESI Updater (>= TwinCAT 2.11) The call up takes place under: “Options” → "Update EtherCAT Device Descriptions"...

  • Page 77: 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 [} 82] (Ethernet port at the IPC) •...
  • Page 78 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. 86: 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 79 (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 80 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 81 Commissioning Fig. 92: EtherCAT terminal in the TwinCAT tree (left: TwinCAT 2; right: TwinCAT 3) EL47xx Version: 2.7...

  • Page 82: 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 83 [} 87] 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 84 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 85 Commissioning Fig. 101: 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. 102: Scan progressexemplary by TwinCAT 2 The configuration is established and can then be switched to online state (OPERATIONAL).
  • Page 86 Commissioning Fig. 106: 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 87 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 88 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 89 Commissioning Fig. 111: 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 90: 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 91 Commissioning „EtherCAT“ tab Fig. 116: „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 92 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 93 Commissioning Fig. 118: 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 94 Commissioning Fig. 119: „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 95 Commissioning Fig. 120: “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 96 Commissioning Fig. 121: Dialog “Advanced settings” Online - via SDO Information If this option button is selected, the list of the objects included in the object list of the slave is uploaded from the slave via SDO information. The list below can be used to specify which object types are to be uploaded. 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.
  • Page 97 Fig. 123: "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: EL47xx Version: 2.7...
  • Page 98 Commissioning Fieldbus Components → EtherCAT Terminals → EtherCAT System documentation → EtherCAT basics → Distributed Clocks 5.2.7.1 Detailed description of Process Data tab Sync Manager Lists the configuration of the Sync Manager (SM). If the EtherCAT device has a mailbox, SM0 is used for the mailbox output (MbxOut) and SM1 for the mailbox input (MbxIn).

  • Page 99: General Notes - Ethercat Slave Application

    Commissioning PDO Content Indicates the content of the PDO. If flag F (fixed content) of the PDO is not set the content can be modified. Download If the device is intelligent and has a mailbox, the configuration of the PDO and the PDO assignments can be downloaded to the device.
  • Page 100 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 101 Commissioning Fig. 125: Basic EtherCAT Slave Diagnosis in the PLC The following aspects are covered here: EL47xx Version: 2.7...
  • Page 102 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 103 Commissioning Fig. 126: 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 104 Commissioning Fig. 127: 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 105 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. 128: 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 106 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 107: Fig. 132 Warning Message For Exceeding E-Bus Current

    Commissioning Fig. 131: 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. 132: 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! EL47xx Version: 2.7...

  • Page 108: Oversampling Terminals/Boxes And Twincat Scope

    • Beckhoff: the device/ the terminal/box read of the used ADC (could be a deltaSigma ADC also) digital sample data n-times more than the PLC/ bus cycle time is set and transfers every sample to the control –...

  • Page 109: Twincat 3 Procedure

    Commissioning 5.4.1 TwinCAT 3 procedure From TwinCAT 3.1 build 4012 and using the revision as below specified in the configuration, the integrated ScopeView recognizes in its variable browser that the oversampling data is an array package and activates ForceOversampling automatically. The array as a whole must be selected using AddSymbol (see description in the next section).The extended PDO name provides the basis for this.

  • Page 110: Fig. 134 Adding A Scope Project Into An Already Existing Project

    Commissioning Fig. 134: Adding a Scope project into an already existing project Step 2a: Creation of a PLC variable within a POU Within the TwinCAT 3 development environment an input variable as an array with respective amount than is given by the oversampling factor have to be defined at first how it’s illustrated in an example for the POU “MAIN”...

  • Page 111: Fig. 135 Representation Of A Created Plc Array Variable („Aui_Samples") To Link With Oversampling Pdos Of El3773

    Commissioning Fig. 135: Representation of a created PLC array variable („aUI_Samples“) to link with oversampling PDOs of EL3773 Step 2b: Creation of a PLC variable via a free task When a POU is not needed onto the particular system, a referenced variable could be applied via a free task also.

  • Page 112: Fig. 137 Task Property "Create Symbols" Must Be Activated

    Commissioning The Task has to be inserted as “TwinCAT Task With Image” and also creates an “Inputs” and “Outputs” folder therefore. The properties of the new (or as the case may be already existing) task must have activated the attribute “Create symbols” to make them selectable by the “Target Browser” of the Scope later on. The task cycle time has to be changed if so.

  • Page 113: Fig. 139 Set Up The Link Of The Plc Array Variable (Left: For The Last Preceding Paragraph Step 2A, Right: For The Last Preceding Paragraph Step 2B)

    Commissioning Fig. 139: Set up the link of the PLC array variable (left: for the last preceding paragraph Step 2a, right: for the last preceding paragraph Step 2b) Fig. 140: Select the EL3773 PDO "L1 Voltage Samples" to create a link to the PLC array variable „aUI_Samples“...

  • Page 114: Fig. 141 Selection Of The Oversampling Variable With The Target Browser

    Commissioning Fig. 141: Selection of the oversampling variable with the target browser By addressing the corresponding system that represents the PLC containing the array variable (“Any PC (CX2040)” in this case) navigation up to the variable “aUI_Samples“ (C) have to be done. Fig. 142: Appending the variable "aUI_Samples“...

  • Page 115: Fig. 143 Example Of Recording A Sine Signal With 10 X Oversampling At 1 Ms Measurement Cycle Time

    Commissioning Now the program start has to be done with formally although there’s no program still yet. Using “Start Recording“ the process data value of the oversampling PDO “L1 Voltage Samples “ via the linked PLC array variable can be recorded time dependent now. As an example a sine wave input measurement value (204.5 Hz) will be illustrated below: Fig. 143: Example of recording a sine signal with 10 x oversampling at 1 ms measurement cycle time The X-axis view was fitted properly by using “Panning X”...

  • Page 116: Fig. 144 Activation Of The Ads Server Of The Ethercat Device (Twincat 3)

    Commissioning Fig. 144: Activation of the ADS server of the EtherCAT device (TwinCAT 3) The activation of the server can be carried out by selection of “Image” within the left sided solution explorer: „I/O → Devices → Device .. (EtherCAT) → Image“. Next the register card “ADS”...

  • Page 117: Twincat 2 Procedure

    PDO (according to an array variable usually). In this case it can be changed by the channel properties: TwinCAT 3: Activate the ADS Server of an EtherCAT device Also see Beckhoff Information System: 5.4.2 TwinCAT 2 procedure The TwinCAT Scope2 supports the import and display of oversampling process data such as is used by oversampling-able terminals/boxes.

  • Page 118: Fig. 146 Plc Declaration

    Commissioning • or directly in the System Manager if only one free task is present, see step 1b [} 118] The same settings are to be made in the Scope2 for both cases, see step 2 [} 120] Recording of a PLC variable with the TwinCAT 2 – Scope2 Step 1a: TwinCAT 2 PLC Since the channel data are to be used in the PLC, a linkable ARRAY variable must be created there, as shown in the following example:...

  • Page 119: Fig. 149 Definition Of The Variable Type

    Commissioning Fig. 149: Definition of the variable type If this variable is known to the System Manager, an instance of it can be assigned to an additional task with a right-click. It appears in the overview, sorted according to bit size. Fig. 150: Overview of declared types In this example the variable Var152 is created.

  • Page 120: Fig. 151 Linking

    Commissioning Fig. 151: Linking If MatchingSize is activated in the dialog, the individual channels are offered directly. Fig. 152: Array variables of an oversampling terminal So that the variables can also be found via ADS in the Scope2, the ADS symbols must be activated as well as the Enable Auto-Start, otherwise the task will not run automatically.

  • Page 121: Fig. 154 Variable Browser Up To The Array Var152

    Commissioning Fig. 154: Variable browser up to the array VAR152 The array is then not to be opened; instead the array symbol is to be selected by right-clicking on AddSymbol. Fig. 155: AddSymbol on the array ForceOversampling and DataType INT16 must be set in the channel which has now been created. If necessary SymbolBased must be temporarily deactivated in addition.

  • Page 122: Fig. 157 Activation Of The Marks

    Commissioning Fig. 157: Activation of the marks An additional example illustrates the following image by representation of an oversampling – variable from the EL3751 with 10 x oversampling: Version: 2.7 EL47xx...

  • Page 123: Fig. 158 Illustration Of A 10 X Oversampling Variable Of The El3751 By The Scope2

    Commissioning Fig. 158: Illustration of a 10 x oversampling variable of the EL3751 by the Scope2 Within the image was marked subsequently that the oversampling variable originated by the PLC was just added to the Y-axis (observe selection of the PLC-POU name “MAIN” within the “ROUTES” tree). Herewith “Force Oversampling“...

  • Page 124: Fig. 159 Activation Of The Ads Server Of The Ethercat Device (Twincat 2)

    Commissioning Fig. 159: Activation of the ADS server of the EtherCAT Device (TwinCAT 2) The activation of the ADS server have to be carried out by selection of the “Device – Image” on the left sided configuration tree: „I/O – Configuration → I/O Devices → Device .. (EtherCAT) → Device .. – Image“. Next the register card “ADS”...

  • Page 125: Fig. 161 Automatically Calculated Array Variable (Red) In The Scope2

    TS3300 | TwinCAT Scope 2 → Annex → Oversampling record: Beckhoff TwinCAT supports the Scope2 with some oversampling devices in a special way by automatically calculating a special ADS array symbol in the background, which appears in the Scope2 in the variable browser.

  • Page 126: 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 127: 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 128: 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 129 The property of electrical isolation indicates whether the channels are directly connected to each other. ◦ 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 130: Fig. 164 2-Wire Connection

    +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 131: Fig. 165 Connection Of Externally Supplied Sensors

    Commissioning Fig. 165: 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 132: Fig. 166 2-, 3- And 4-Wire Connection At Single-Ended And Differential Inputs

    Commissioning Single-ended Differential Fig. 166: 2-, 3- and 4-wire connection at single-ended and differential inputs Version: 2.7 EL47xx...

  • Page 133: 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 134: 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 135 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 136: Fig. 170 Diagram Signal Delay (Step Response)

    Commissioning Fig. 170: 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.

  • Page 137: Basic Function Principles

    Commissioning • Actual sampling rate of the ADC (if different from the channel sampling rate) • Time correction values for run times with different filter settings • etc. Basic function principles 5.6.1 General The oversampling output terminals EL4712 and EL4732 have the same function. They are therefore referred to as the EL47xx series below.
  • Page 138 Commissioning The EL47xx may be set to oversampling n = 10 in the TwinCAT System Manager. This causes the ESC to generate a second interrupt in the terminal with an n-times higher frequency, in this case 10 kHz or 100 µs period.

  • Page 139: Time-Related Cooperation With Other Terminals

    Sample: Matching between two EL4732: The EtherCAT master, e.g. Beckhoff TwinCAT, configures both EL4732 such that their SYNC1 signals occur at the same time. Assumption: The EtherCAT bus cycle time is 500 µs. SYNC1 is therefore triggered every 500 µs in all EL4732. If both terminals operate with a corresponding oversampling factor (e.g. 20), the SYNC0 pulse correlating to SYNC1 will occur simultaneously in all EL4732, in this example every 25 µs.

  • Page 140: Interference From Equipment

    Commissioning The application of these functions using the Beckhoff TwinCAT System Manager is described in section Process data and configuration [} 145]. SYNC0 and SYNC1 pulse with several EtherCAT slaves This approach of matching the SYNC0 and SYNC1 pulses of several EtherCAT slaves is not limited to EL4732.

  • Page 141: Creation Of The Twincat Configuration

    Installation of the latest XML device description Please ensure that you have installed the corresponding latest XML device description in TwinCAT. This can be downloaded from the Beckhoff Website and installed according to the installation in- structions. The configuration tree in the Beckhoff TwinCAT System Manager can be created in 2 ways: •...

  • Page 142: Fig. 173 Appending A New I/O Device (I/O Devices-> Right-Click -> Append Device

    Commissioning Fig. 173: Appending a new I/O device (I/O Devices-> right-click -> Append Device...) Fig. 174: Selecting the device EtherCAT (Direct Mode) • Appending a new box (see Fig. Appending a new box (Device -> right click -> Append Box…)). In the dialog that follows select an EK1100 system coupler, for example (see Fig.
  • Page 143 Commissioning Fig. 176: Selecting a system coupler (e.g. EK1100) • Appending a new box (see Fig. Appending a new box (Device -> right click -> Append Box…)). In the dialog that follows, select the EL4732, see Fig. Selecting the EL4732 terminal, and confirm with OK. •...
  • Page 144 Commissioning Fig. 178: Selecting the EL4732 terminal Fig. 179: Terminal in the TwinCAT tree Version: 2.7 EL47xx...

  • Page 145: Process Data And Configuration

    TwinCAT tree The operating principle of the EL47xx in conjunction with SYNC0 and SYNC1 pulses was already described in section "Basic Function Principles". This section describes the application of the Beckhoff TwinCAT System Manager for setting the parameters. Once the terminal has been scanned in, the following tree structure appears (see Fig. TwinCAT tree EL4732).
  • Page 146 Commissioning Ch1/Ch2 CycleCount and Ch1/Ch2 Value Each EL4732 record contains a CycleCounter for each channel that is incremented with each record, and n analog measured values with a width of 2 bytes each. With an oversampling factor of n = 25 a record therefore consists of a 16-bit CycleCounter (overflowing) and 25 16-bit samples per channel.
  • Page 147 Commissioning Value Description 0x___1 Slave in 'INIT' state 0x___2 Slave in 'PREOP' state 0x___3 Slave in 'BOOT' state 0x___4 Slave in 'SAFEOP' state 0x___8 Slave in 'OP' state 0x001_ Slave signals error 0x002_ Invalid vendorId, productCode... read 0x004_ Initialization error occurred 0x010_ Slave not present 0x020_...

  • Page 148: Extent Of Process Data In Delivery State

    Commissioning 5.8.3 Extent of process data in delivery state Process data The scope of the offered process data and the assignment of the SyncManagers in delivery state can be viewed via the “Process data” tab (see Fig. Process data tab SM0, SM1 and SM2, EL47xx). Fig. 183: Process data tab SM0, EL47xx Version: 2.7 EL47xx...
  • Page 149 Commissioning Fig. 184: Process data tab SM1, EL47xx EL47xx Version: 2.7...
  • Page 150 Commissioning Fig. 185: Process data tab SM2, EL47xx Sync Manager (SM) To configure the process data, select the required Sync Manager in the “Sync Manager” field at the top left (Fig. Process data tab SM0, SM1 and SM2, EL47xx) (only SM2 is editable). The process data assigned to this Sync Manager can then be switched on or off in the “PDO Assignment”...

  • Page 151: Oversampling Settings, Distributed Clocks (Dc)

    Commissioning 5.8.4 Oversampling settings, distributed clocks (DC) Sample: Setting 2-channel, 2 times oversampling The oversampling factor can be set in the “DC” tab (see Fig. DC tab, sample setting 2-channel, 2 times oversampling, TwinCAT 2.10). If only one channel of the EL47xx is required, the corresponding operation mode can be selected as shown in Fig.
  • Page 152 Commissioning Fig. 187: DC tab, sample setting operation mode 2-channel, TwinCAT 2.11 Fig. 188: DC tab, sample setting, oversampling factor 2, TwinCAT 2.11 An oversampling setting of n = 2 with two channels in use results in the process image shown in Fig. TwinCAT tree, sample setting 2-channel, 2-times oversampling Fig. 189: TwinCAT tree, sample setting 2-channel, 2-times oversampling Version: 2.7...
  • Page 153 Commissioning "StartTimeNextOutput" activation The assigned process record "StartTimeNextOutput" for transfer to the EtherCAT bus can be enabled by entering 0x1A82 in the field below, after selecting Sync Manager 2 (Fig. Process data tab, activation of index 0x1A82, entry „StartTimeNextOutput“, top left). Fig. 190: Process data tab, activation of index 0x1A82, entry “StartTimeNextOutput”...
  • Page 154 Commissioning Special oversampling factor and Shift Time for the SYNC0 pulse CAUTION CAUTION! Risk of device damage! If these settings are changed in the System Manager, no plausibility checks are carried out on the software side. Correct function of the terminal with all conceivable setting options cannot be guaranteed. To set an oversampling factor that is not listed in the dialog, the ratio between SYNC0 and SYNC1 pulse can be set manually.
  • Page 155 Commissioning Fig. 194: DC tab, activation “Advanced Settings...”, “Distributed Clocks” Sample: Setting the new oversampling factor: In Fig. DC tab, activation „Advanced Settings…“, „Distributed Clocks“, TwinCAT is in Config mode with 4 ms cycle time (4000 µs). The SYNC1 pulse is triggered every 4000 µs. The oversampling factor should be set to 80.
  • Page 156 Commissioning Fig. 195: Process Data tab, adaptation of process data in SM0 Version: 2.7 EL47xx...
  • Page 157 Commissioning Fig. 196: Process Data tab, adaptation of process data in SM1 Select SM0, then SM1 (Fig. Process data tab, adjusting the process data in SM0 and SM1), and in the field below (PDO assignment) select the number of process data corresponding to the oversampling factor, in this example 80 In the PDO list on the right compare the PDO index with the last PDO to be activated under PDO Assignment.

  • Page 158: Application Notes For El47Xx

    The x30D register must be read via asynchronous EtherCAT communication, e.g. at one-second intervals. See sample program (https://infosys.beckhoff.com/content/1033/el47xx/Resources/zip/2409495947.zip). Watchdog support The EL47xx includes a watchdog that prevents uncontrolled data output. See corresponding section Notes for setting up the watchdog [} 18].

  • Page 159: Appendix

    Appendix Appendix EtherCAT AL Status Codes For detailed information please refer to the EtherCAT system description. Firmware information for EL37xx/EL47xx The firmware version of the EL series EL37xx and EL47xx is shown • as a laser-engraved serial number on the housing •...

  • Page 160: Firmware Compatibility

    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 161: Device Description Esi File/Xml

    EtherCAT communication is set up accordingly. The device description is available from the download area of the Beckhoff website at (https://www.beckhoff.de). All ESI files are accessible there as zip files. Customers can access the data via the EtherCAT fieldbus and its communication mechanisms. Acyclic mailbox communication or register access to the ESC is used for updating or reading of these data.
  • Page 162 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 163 Appendix Fig. 200: Configuration is identical otherwise a change dialog appears for entering the actual data in the configuration. Fig. 201: Change dialog In this example in Fig. Change dialog, an EL3201-0000-0017 was found, while an EL3201-0000-0016 was configured. In this case the configuration can be adapted with the Copy Before button. The Extended Information checkbox must be set in order to display the revision.

  • Page 164: 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 165: 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 166 Appendix Fig. 205: 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 167: Fpga Firmware *.Rbf

    Appendix • Check the current status (B, C) • Download the new *efw file (wait until it ends). A pass word will not be neccessary usually. • After the download switch to INIT, then PreOP • Switch off the slave briefly (don't pull under voltage!) •...
  • Page 168 Appendix Fig. 206: 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. 207: 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 169 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 170 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: 2.7 EL47xx...

  • Page 171: 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 172: 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. 210: Selecting the "Restore default parameters"...

  • Page 173: 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 174 Fig. 12 EtherCAT tab -> Advanced Settings -> Behavior -> Watchdog ..........Fig. 13 States of the EtherCAT State Machine..................Fig. 14 Spring contacts of the Beckhoff I/O components................. Fig. 15 Attaching on mounting rail ......................Fig. 16 Disassembling of terminal......................
  • Page 175 List of illustrations Fig. 42 Creating the links between PLC variables and process objects ..........Fig. 43 Selecting PDO of type BOOL ...................... Fig. 44 Selecting several PDOs simultaneously: activate "Continuous" and "All types"......Fig. 45 Application of a "Goto Link" variable, using "MAIN.bEL1004_Ch4" as a sample ......Fig.
  • Page 176 List of illustrations Fig. 88 Selection dialog for new EtherCAT device ................. Fig. 89 Display of device revision ......................Fig. 90 Display of previous revisions ...................... Fig. 91 Name/revision of the terminal ...................... Fig. 92 EtherCAT terminal in the TwinCAT tree (left: TwinCAT 2; right: TwinCAT 3)......Fig.
  • Page 177 List of illustrations Fig. 132 Warning message for exceeding E-Bus current ................. 107 Fig. 133 Oversampling PDO of the EL37xx series and in the comparison with EL31xx ......108 Fig. 134 Adding a Scope project into an already existing project .............. 110 Fig.
  • Page 178 List of illustrations Fig. 175 Appending a new box (Device -> right-click -> Append Box... ) ..........142 Fig. 176 Selecting a system coupler (e.g. EK1100)................... 143 Fig. 177 Appending a new box (Device -> right-click -> Append Box... ) ..........143 Fig.

This manual is also suitable for:

El4712El4732

Table of Contents