Related Manuals for Beckhoff EtherCAT EL6002
Summarization of Contents
1 Foreword
1.1 Overview Serial Interface Terminals
Provides an overview of the EL600x and EL602x serial interface terminals.
1.3 Safety instructions
Details crucial safety regulations, warnings, and precautions for handling and installation.
1.5 Version identification of EtherCAT devices
Explains the 14-digit designation system for Beckhoff EtherCAT devices.
2 Product overview
2.1 EL6001, EL6021
Details the EL6001 and EL6021 serial interface terminals, including introduction and technical data.
2.2 EL6002, EL6022
Details the EL6002 and EL6022 serial interface terminals, including introduction and technical data.
Level interfaces
Describes the RS232, RS485/422 level interfaces used by the terminals.
Termination and topology
Details termination requirements and bus topology for RS422/RS485 communication.
3 Basics communication
3.1 EtherCAT basics
Provides foundational information on EtherCAT fieldbus basics.
3.2 EtherCAT cabling – wire-bound
Explains EtherCAT cabling requirements, connectors, and cable length limits.
3.3 General notes for setting the watchdog
Provides guidance on setting SM and PDI watchdogs for terminal safety.
3.4 EtherCAT State Machine
Explains the EtherCAT State Machine (ESM) and its operational states.
3.5 CoE Interface
Describes the CANopen over EtherCAT (CoE) interface for parameter management.
3.6 Distributed Clock
Explains the EtherCAT distributed clock mechanism and its characteristics.
4 Mounting and Wiring
4.1 Instructions for ESD protection
Details necessary measures for electrostatic discharge protection during handling.
4.2 EL6001, EL6021 Mounting and Wiring
Covers mounting, wiring, connections, and LEDs for EL6001/EL6021.
4.3 EL6002, EL6022 Mounting and Wiring
Covers mounting, wiring, connections, and LEDs for EL6002/EL6022.
4.5 Enhanced Mechanical Load Capacity Installation
Provides instructions for installing terminals under enhanced mechanical load.
4.6 Installation positions
Describes recommended installation positions and ventilation for optimal cooling.
4.8 ATEX - Special Conditions
Outlines special conditions for using components in potentially explosive areas.
5 Commissioning
5.1 TwinCAT Quick Start
Guides through the initial setup and configuration of TwinCAT for terminals.
5.2 TwinCAT Development Environment
Explains the TwinCAT development environment and its components.
5.3 EtherCAT Slave Application Notes
Covers general aspects of EtherCAT slave operation and diagnostics.
5.4 Operating modes and process data
Details operating modes and process data handling for EL60x1 terminals.
5.6 Communication features
Compares communication features like baud rate and coding for EL60xx devices.
5.8 Example programs
Provides sample programs for serial communication and LIN master features.
6 Overview of CoE objects EL6001, EL6021
6.1 Object description and parameterization
Describes CoE objects, focusing on commissioning and standard objects.
Index 0x8000 COM settings
Lists COM settings objects for EL6001, including RTS/CTS and baud rate.
Index 0x1400 RxPDO-Par Outputs
Details RxPDO parameter objects for mapping outputs in EL6001/EL6021.
Index 0x1600 RxPDO-Map Outputs
Defines RxPDO mapping objects for outputs in EL6001/EL6021.
6.2 Control and status word
Explains the control and status words for terminal communication.
7 Overview CoE objects EL6002, EL6022
7.1 Object description and parameterization
Describes CoE objects, focusing on commissioning and standard objects.
Index 0x80n0 COM Settings
Lists COM settings for EL6002/EL6022, including RTS/CTS and baud rate.
Index 0x1600 COM RxPDO-Map Outputs Ch.1
Defines RxPDO mapping objects for outputs of channel 1 in EL6002/EL6022.
Index 0x1A00 COM TxPDO-Map Inputs Ch.1
Defines TxPDO mapping objects for inputs of channel 1 in EL6002/EL6022.
Index 0x1C12 RxPDO assign
Describes RxPDO assignment for outputs in EL6002/EL6022.
Index 0x1C32 SM output parameter
Details synchronization parameters for outputs in EL6002/EL6022.
7.2 Control and status data
Explains the control and status data for terminal communication.
8 Appendix
8.2 Firmware compatibility
Provides information on firmware and hardware compatibility for terminals.
8.3 Firmware Update EL/ES/EM/EPxxxx
Describes the device update process for EtherCAT slaves.
8.3.1 Device description ESI file/XML
Explains the role and update process of ESI device description files.
8.3.2 Firmware explanation
Details how to determine firmware versions via laser inscription and System Manager.
8.3.3 Updating controller firmware *.efw
Describes the procedure for updating controller firmware files.
8.3.4 FPGA firmware *.rbf
Explains how to update FPGA firmware files for EtherCAT communication.
8.3.5 Simultaneous updating of several EtherCAT devices
Details the process for updating firmware and ESI for multiple devices.
8.4 Restoring the delivery state
Explains how to restore terminal delivery state using CoE objects.
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