Table Of Contents - Beckhoff EL3681 Documentation

Table of contents

1 Foreword .................................................................................................................................................... 7
1.1 Notes on the documentation ............................................................................................................. 7
1.2 Guide through documentation ........................................................................................................... 8
1.3 Safety instructions ............................................................................................................................. 9
1.4 Documentation issue status ............................................................................................................ 10
1.5 Version identification of EtherCAT devices ..................................................................................... 11
1.5.1 General notes on marking................................................................................................ 11
1.5.2 Version identification of EL terminals ............................................................................... 12
1.5.3 Beckhoff Identification Code (BIC) ................................................................................... 13
1.5.4 Electronic access to the BIC (eBIC)................................................................................. 15
2 Product description ................................................................................................................................ 17
2.1 Introduction ..................................................................................................................................... 17
2.2 Technical data ................................................................................................................................. 19
2.3 Technology...................................................................................................................................... 20
2.4 Note on Beckhoff calibration certificates ......................................................................................... 23
2.5 Start................................................................................................................................................. 25
3 Basics communication ........................................................................................................................... 26
3.1 EtherCAT basics ............................................................................................................................. 26
3.2 EtherCAT cabling - wire-bound ...................................................................................................... 26
3.3 General notes for setting the watchdog .......................................................................................... 27
3.4 EtherCAT State Machine ................................................................................................................ 29
3.5 CoE Interface .................................................................................................................................. 31
3.6 Distributed Clock ............................................................................................................................. 36
4 Mounting and wiring ............................................................................................................................... 37
4.1 Instructions for ESD protection ....................................................................................................... 37
4.2 Installation on mounting rails........................................................................................................... 38
4.3 Connection ...................................................................................................................................... 41
4.3.1 Connection system........................................................................................................... 41
4.3.2 Wiring ............................................................................................................................... 43
4.3.3 Shielding .......................................................................................................................... 44
4.4 Positioning of passive Terminals..................................................................................................... 45
4.5 Installation positions ........................................................................................................................ 46
4.6 LEDs and connection ...................................................................................................................... 48
4.7 Disposal .......................................................................................................................................... 49
5 Commissioning ....................................................................................................................................... 50
5.1 TwinCAT Quick Start....................................................................................................................... 50
5.1.1 TwinCAT 2 ....................................................................................................................... 53
5.1.2 TwinCAT 3 ....................................................................................................................... 63
5.2 TwinCAT Development Environment .............................................................................................. 77
5.2.1 Installation of the TwinCAT real-time driver ..................................................................... 77
5.2.2 Notes regarding ESI device description ........................................................................... 83
5.2.3 TwinCAT ESI Updater...................................................................................................... 87
5.2.4 Distinction between Online and Offline ............................................................................ 87
EL3681 Version: 3.0
Table of contents
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