Table Of Contents - Beckhoff EL47 Series Documentation

Table of contents

1 Foreword .................................................................................................................................................... 5
1.1 Product overview analog output terminals......................................................................................... 5
1.2 Notes on the documentation.............................................................................................................. 5
1.3 Safety instructions ............................................................................................................................. 7
1.4 Documentation issue status .............................................................................................................. 8
1.5 Version identification of EtherCAT devices ....................................................................................... 8
1.5.1 Beckhoff Identification Code (BIC)................................................................................... 13
2 Product overview..................................................................................................................................... 15
2.1 Introduction ...................................................................................................................................... 15
2.2 Technical data ................................................................................................................................. 16
3 Basics communication ........................................................................................................................... 17
3.1 EtherCAT basics.............................................................................................................................. 17
3.2 EtherCAT cabling - wire-bound....................................................................................................... 17
3.3 General notes for setting the watchdog ........................................................................................... 18
3.4 EtherCAT State Machine ................................................................................................................. 20
3.5 CoE - Interface: notes...................................................................................................................... 22
3.6 Distributed Clock ............................................................................................................................. 23
4 Mounting and wiring................................................................................................................................ 24
4.1 Instructions for ESD protection ........................................................................................................ 24
4.2 Installation on mounting rails ........................................................................................................... 24
4.3 Installation instructions for enhanced mechanical load capacity ..................................................... 28
4.4 Connection system .......................................................................................................................... 28
4.5 Installation positions ........................................................................................................................ 31
4.6 Positioning of passive Terminals ..................................................................................................... 34
4.7 ATEX - Special conditions (standard temperature range) ............................................................... 35
4.8 ATEX - Special conditions (extended temperature range) .............................................................. 36
4.9 ATEX Documentation ...................................................................................................................... 37
4.10 UL notice ......................................................................................................................................... 37
4.11 EL4712, EL4732 - LEDs and connection ........................................................................................ 38
5 Commissioning........................................................................................................................................ 41
5.1 TwinCAT Quick Start ....................................................................................................................... 41
5.1.1 TwinCAT 2 ....................................................................................................................... 44
5.1.2 TwinCAT 3 ....................................................................................................................... 54
5.2 TwinCAT Development Environment .............................................................................................. 66
5.2.1 Installation of the TwinCAT real-time driver..................................................................... 66
5.2.2 Notes regarding ESI device description........................................................................... 72
5.2.3 TwinCAT ESI Updater ..................................................................................................... 76
5.2.4 Distinction between Online and Offline............................................................................ 76
5.2.5 OFFLINE configuration creation ...................................................................................... 77
5.2.6 ONLINE configuration creation ........................................................................................ 82
5.2.7 EtherCAT subscriber configuration.................................................................................. 90
5.3 General Notes - EtherCAT Slave Application .................................................................................. 99
5.4 Oversampling terminals/boxes and TwinCAT Scope .................................................................... 108
EL47xx Version: 2.7
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