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Beckhoff EL500 Series Documentation

Beckhoff EL500 Series Documentation

Ssi sensor interface
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Documentation | EN
EL500x
SSI Sensor Interface
2025-06-30 | Version: 4.1.0

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  • Page 1 Documentation | EN EL500x SSI Sensor Interface 2025-06-30 | Version: 4.1.0...
  • Page 3 1.6.1 General notes on marking.................... 12 1.6.2 Version identification of EL terminals ................ 13 1.6.3 Beckhoff Identification Code (BIC) ...................  14 1.6.4 Electronic access to the BIC (eBIC).................  16 2 EL5001, EL5002 - Product description .................... 18 Introduction .............................  18 Technical data ..........................
  • Page 4 Table of contents Note - power supply ........................ 49 Installation positions ........................ 50 Positioning of passive Terminals.....................  52 UL notice ............................ 53 6.10 EL5001 - LEDs and connection ......................  54 6.11 EL5002 - LEDs and connection ......................  55 6.12 EL5001-0011 - LEDs and connection .....................  56 6.13 EL5001-0090 - LEDs and Connection ....................
  • Page 5 Table of contents 10.3.1 TwinSAFE SC - operating principle................ 166 10.3.2 TwinSAFE SC - configuration .................. 166 10.4 TwinSAFE SC process data EL5001-0090 ...................  170 10.5 Object description and parameterization.................. 171 10.5.1 Restore object ........................  171 10.5.2 Configuration objects .....................  172 10.5.3 Input data ........................
  • Page 6 Table of contents Version: 4.1.0 EL500x...
  • Page 7 Foreword Foreword EL500x product overview 1-channel SSI encoder interface EL5001 [} 18] 1-channel SSI monitor terminal EL5001-0011 [} 21] 1-channel SSI encoder interface with TwinSAFE SC EL5001-0090 [} 23] 2-channel SSI encoder interface EL5002 [} 18] EL500x Version: 4.1.0...
  • Page 8 Other designations used in this publication may be trademarks whose use by third parties for their own purposes could violate the rights of the owners. ® EtherCAT is registered trademark and patented technology, licensed by Beckhoff Automation GmbH, Germany. Copyright © Beckhoff Automation GmbH & Co. KG, Germany.
  • Page 9 Further components of documentation This documentation describes device-specific content. It is part of the modular documentation concept for Beckhoff I/O components. For the use and safe operation of the device / devices described in this documentation, additional cross-product descriptions are required, which can be found in the following table.
  • Page 10 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 11 Foreword Documentation issue status Version Comment 4.1.0 • Update chapter “Introduction” and “LEDs and connection” • Update “Technical data” • Update revision status • Structural update • Update chapter "Version identification of EtherCAT devices" • Update chapter "Technical data" • Update chapter "Mounting and wiring" •...
  • Page 12 Associated and synonymous with each revision there is usually a description (ESI, EtherCAT Slave Information) in the form of an XML file, which is available for download from the Beckhoff web site. From 2014/01 the revision is shown on the outside of the IP20 terminals, see Fig. “EL2872 with revision 0022 and serial number 01200815”.
  • Page 13 Version identification of EL terminals The serial number/ data code 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 14 1.6.3 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 15 Fig. 3: Example DMC 1P072222SBTNk4p562d71KEL1809 Q1 51S678294 An important component of the BIC is the Beckhoff Traceability Number (BTN, position 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 16 Electronic access to the BIC (eBIC) Electronic BIC (eBIC) The Beckhoff Identification Code (BIC) is applied to the outside of Beckhoff products in a visible place. If possible, it should also be electronically readable. The interface that the product can be electronically addressed by is crucial for the electronic readout.
  • Page 17 • The following auxiliary functions are available for processing the BIC/BTN data in the PLC in Tc2_Utilities as of TwinCAT 3.1 build 4024.24 ◦ F_SplitBIC: The function splits the Beckhoff Identification Code (BIC) sBICValue into its components using known identifiers and returns the recognized substrings in the ST_SplittedBIC structure as a return value ◦...
  • Page 18 EL5001, EL5002 - Product description EL5001, EL5002 - Product description Introduction Run 1 Data ch1 Run 1 Data ch2 Data Data Data + Data 1+ Data 1- Data - +24 V DC Clock1 + Clock 1- Power contact Power contact Clock +24 V DC +24 V DC...
  • Page 19 EL5001, EL5002 - Product description Technical data Technical data EL5001 EL5002 Encoder connection binary input: D+, D-; binary output: Cl+, Cl- Supply of power to the internal SSI 24 V via the power contacts electronics Current consumption from the power typically 20 mA (without sensor load current) contacts (without encoder) Encoder supply 24 V...
  • Page 20 EL5001, EL5002 - Product description Start For commissioning: • mount the EL500x as described in the chapter Mounting and wiring [} 37] • configure the EL5001 and EL5002 in TwinCAT as described in the chapter Commissioning [} 59] and EL5001, EL5002 - Commissioning [} 134]. Product comparison EL5001, EL5002, EL5042 Technical Data EL5001...
  • Page 21 EL5001-0011 - Product description EL5001-0011 - Product description Introduction Fig. 5: EL5001-0011 Interface terminal for SSI encoders The EL5001-0011 SSI monitor EtherCAT Terminal is used for monitoring the data exchange between SSI master and SSI encoder (slave). The SSI encoder is supplied with power from the existing SSI master; however, 24 V can also be taken from the EL5001-0011.
  • Page 22 EL5001-0011 - Product description Technical data Technical data EL5001-0011 Encoder connection Data input: D+, D-; clock input: Cl+, Cl-; RS422 differential signal Supply of power to the internal SSI electronics 24 V via the power contacts Encoder supply 24 V via the power contacts Input frequency/clock rate 125 KHz - 1 MHz, automatically set Data width...
  • Page 23 EL5001-0090 - Product description EL5001-0090 - Product description Introduction Run 1 Data Data + Data - +24 V DC Power contact +24 V DC Power contact Clock+ Clock- Clock Fig. 6: EL5001-0090 TwinSAFE SC: SSI encoder interfaces The EL5001-0090 SSI interface EtherCAT Terminal allows an SSI encoder to be connected directly. The interface circuit generates a pulse for reading the encoder and makes the incoming data stream available to the controller as a data word in the process image.
  • Page 24 EL5001-0090 - Product description Technical data Technical data EL5001‑0090 Encoder connection Binary input: D+, D-; Binary output: Cl+, Cl- Power supply of the internal SSI 24 V via the power contacts electronics Current consumption from the power typically 20 mA (without encoder) contacts (without encoder) Encoder supply 24 V...
  • Page 25 EL5001-0090 - Product description Start For commissioning: • mount the EL500x as described in the chapter Mounting and wiring [} 37] • configure the EL5001-0090 in TwinCAT as described in the chapter Commissioning [} 59] and EL5001-0090 - Commissioning [} 164]. EL500x Version: 4.1.0...
  • Page 26 - RJ45 connector, field assembly ZS1090-0005 - EtherCAT cable, field assembly ZB9010, ZB9020 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 27 Basics communication Fig. 7: System manager current calculation NOTICE Malfunction possible! The same ground potential must be used for the E-Bus supply of all EtherCAT terminals in a terminal block! EL500x Version: 4.1.0...
  • Page 28 Basics communication General notes for setting the watchdog The EtherCAT terminals are equipped with a safety device (watchdog) which, e. g. in the event of interrupted process data traffic, switches the outputs (if present) to a presettable state after a presettable time, depending on the device and setting, e.
  • Page 29 Basics communication SM watchdog (SyncManager Watchdog) The SyncManager watchdog is reset with each successful EtherCAT process data communication with the terminal. If, for example, no EtherCAT process data communication with the terminal takes place for longer than the set and activated SM watchdog time due to a line interruption, the watchdog is triggered. The status of the terminal (usually OP) remains unaffected.
  • Page 30 Basics communication • Bootstrap The regular state of each EtherCAT slave after bootup is the OP state. Fig. 9: 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.
  • Page 31 Basics communication In the Op state the slave copies the output data of the masters to its outputs. Process data and mailbox communication is possible. Boot In the Boot state the slave firmware can be updated. The Boot state can only be reached via the Init state. 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.
  • Page 32 • Keep a startup list if components have to be replaced, • Distinction between online/offline dictionary, • Existence of current XML description (download from the Beckhoff website), • "CoE-Reload" for resetting the changes • Program access during operation via PLC (see TwinCAT 3 | PLC Library: "Tc2_EtherCAT" and Example program R/W CoE) Data management and function “NoCoeStorage”...
  • Page 33 Changes in the local CoE list of the terminal are lost if the terminal is replaced. If a terminal is replaced with a new Beckhoff terminal, it will have the default settings. It is therefore advisable to link all changes in the CoE list of an EtherCAT slave with the Startup list of the slave, which is processed whenever the EtherCAT fieldbus is started.
  • Page 34 Basics communication In both cases a CoE list as shown in Fig. “CoE online tab” is displayed. The connectivity is shown as offline/ online. • If the slave is offline: ◦ The offline list from the ESI file is displayed. In this case modifications are not meaningful or possible.
  • Page 35 • Channel 1: parameter range 0x8010:00 ... 0x801F:255 • Channel 2: parameter range 0x8020:00 ... 0x802F:255 • ... This is generally written as 0x80n0. Detailed information on the CoE interface can be found in the EtherCAT system documentation on the Beckhoff website. EL500x Version: 4.1.0...
  • Page 36 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 37 • Each bus station must be terminated on the right-hand side with the EL9011 or EL9012 end cap to ensure the degree of protection and ESD protection. Fig. 14: Spring contacts of the Beckhoff I/O components EL500x Version: 4.1.0...
  • Page 38 80°C at the wire branching points, then cables must be selected whose temperature 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 components with extended temperature range (ET) in potentially explosive areas! •...
  • Page 39 • EN 60079-31:2013 (only for certificate no. IECEx DEK 16.0078X Issue 3) Marking Beckhoff fieldbus components that are certified in accordance with IECEx for use in areas subject to an explosion hazard bear the following markings: Marking for fieldbus components of certificate IECEx DEK 16.0078 X...
  • Page 40 Pay also attention to the continuative documentation Ex. Protection for Terminal Systems Notes on the use of the Beckhoff terminal systems in hazardous areas according to ATEX and IECEx, that is available for download within the download area of your product on the Beckhoff homepage www.beckhoff.com!
  • Page 41 Mounting and wiring Installation on mounting rails WARNING Risk of electric shock and damage of device! Bring the bus terminal system into a safe, powered down state before starting installation, disassembly or wiring of the bus terminals! The Bus Terminal system and is designed for mounting in a control cabinet or terminal box. Assembly Fig. 15: Attaching on mounting rail The bus coupler and bus terminals are attached to commercially available 35 mm mounting rails (DIN rails...
  • Page 42 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 43 Mounting and wiring Fig. 17: Power contact on left side NOTICE 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 44 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 Explanation...
  • Page 45 Mounting and wiring Connection 6.5.1 Connection system WARNING Risk of electric shock and damage of device! Bring the bus terminal system into a safe, powered down state before starting installation, disassembly or wiring of the bus terminals! Overview The bus terminal system offers different connection options for optimum adaptation to the respective application: •...
  • Page 46 Mounting and wiring A tab for strain relief of the cable simplifies assembly in many applications and prevents tangling of individual connection wires when the connector is removed. Conductor cross sections between 0.08 mm and 2.5 mm can continue to be used with the proven spring force technology.
  • Page 47 Mounting and wiring 6.5.2 Wiring WARNING Risk of electric shock and damage of device! Bring the bus terminal system into a safe, powered down state before starting installation, disassembly or wiring of the bus terminals! Terminals for standard wiring ELxxxx/KLxxxx and for pluggable wiring ESxxxx/KSxxxx Fig. 21: Connecting a cable on a terminal point Up to eight terminal points enable the connection of solid or finely stranded cables to the bus terminal.
  • Page 48 Mounting and wiring High Density Terminals (HD Terminals [} 46]) with 16/32 terminal points The conductors of the HD Terminals are connected without tools for single-wire conductors using the direct plug-in technique, i.e. after stripping the wire is simply plugged into the terminal point. The cables are released, as usual, using the contact release with the aid of a screwdriver.
  • Page 49 Mounting and wiring Note - power supply WARNING Power supply from SELV / PELV power supply unit! SELV / PELV circuits (safety extra-low voltage / protective extra-low voltage) according to IEC 61010-2-201 must be used to supply this device. Notes: • SELV / PELV circuits may give rise to further requirements from standards such as IEC 60204-1 et al, for example with regard to cable spacing and insulation.
  • Page 50 Mounting and wiring Installation positions NOTICE Constraints regarding installation position and operating temperature range Please refer to the technical data for a terminal to ascertain whether any restrictions regarding the installation position and/or the operating temperature range have been specified. When installing high power dissipation terminals ensure that an adequate spacing is maintained between other components above and below the terminal in order to guarantee adequate ventilation! Optimum installation position (standard)
  • Page 51 Mounting and wiring Fig. 23: Other installation positions EL500x Version: 4.1.0...
  • Page 52 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 consumption out of the E-Bus.
  • Page 53 Beckhoff EtherCAT modules are intended for use with Beckhoff’s UL Listed EtherCAT System only. CAUTION 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). CAUTION For devices with Ethernet connectors Not for connection to telecommunication circuits.
  • Page 54 Mounting and wiring 6.10 EL5001 - LEDs and connection Run 1 Data Data + Data - +24 V DC Power contact +24 V DC Power contact Clock+ Clock- Clock Fig. 26: EL5001 Connection Terminal point No. Comment SSI data input Data + +24 V +24 V (internally connected to terminal point 6 and positive power contact) 0 V...
  • Page 55 Mounting and wiring 6.11 EL5002 - LEDs and connection Run 1 Data ch1 Data ch2 Data Data 1+ Data 1- Clock1 + Clock 1- Power contact Clock +24 V DC Data Data 2+ Data 2- Power contact Clock 2+ Clock 2- Clock Fig. 27: LEDs and connection EL5002 Connection...
  • Page 56 Mounting and wiring 6.12 EL5001-0011 - LEDs and connection Data, clock Power Data +, data - Clock +, clock - +24 V DC (2x) Power contact +24 V DC 0 V (2x) Power contact Shield Fig. 28: LEDs and connection EL5001-0011 Connection Terminal point Comment...
  • Page 57 Mounting and wiring 6.13 EL5001-0090 - LEDs and Connection Run 1 Data Data + Data - +24 V DC Power contact +24 V DC Power contact Clock+ Clock- Clock Fig. 29: LEDs and connection EL5001-0090 Connection Terminal point No. Comment SSI data input Data + +24 V +24 V (internally connected to terminal point 6 and positive power contact) 0 V...
  • Page 58 Mounting and wiring 6.14 Disposal Products marked with a crossed-out wheeled bin shall not be discarded with the normal waste stream. The device is considered as waste electrical and electronic equipment. The national regulations for the disposal of waste electrical and electronic equipment must be observed. Version: 4.1.0 EL500x...
  • Page 59 • “offline”: The configuration can be customized by adding and positioning individual components. These can be selected from a directory and configured. ◦ The procedure for the offline mode can be found under http://infosys.beckhoff.com: TwinCAT 2 → TwinCAT System Manager → IO Configuration → Add an I/O device •...
  • Page 60 Commissioning Fig. 30: Relationship between user side (commissioning) and installation Insertion of certain components (I/O device, terminal, box...) by users functions the same way as in TwinCAT 2 and TwinCAT 3. The descriptions below relate solely to the online procedure. Example configuration (actual configuration) Based on the following example configuration, the subsequent subsections describe the procedure for TwinCAT 2 and TwinCAT 3: •...
  • Page 61 Commissioning Fig. 31: 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 62 Commissioning 7.1.1 TwinCAT 2 Startup TwinCAT 2 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. 32: Initial TwinCAT 2 user interface...
  • Page 63 Commissioning Fig. 33: Selection of the target system Use “Search (Ethernet)...” to enter the target system. Thus another 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 64 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 the menu “Actions”...
  • Page 65 Commissioning Fig. 37: Mapping of the configuration in the TwinCAT 2 System Manager The whole process consists of two stages, which can also be performed separately (first determine the devices, then determine the connected elements such as boxes, terminals, etc.). A scan (search function) can also be initiated by selecting “Device ...”...
  • Page 66 Commissioning • Graphical languages ◦ Function Block Diagram (FBD) ◦ Ladder Diagram (LD) ◦ The Continuous Function Chart Editor (CFC) ◦ Sequential Function Chart (SFC) The following section refers solely to Structured Text (ST). After starting TwinCAT PLC Control, the following user interface is shown for an initial project: Fig. 39: TwinCAT PLC Control after startup Example variables and an example program have been created and stored under the name “PLC_example.pro”:...
  • Page 67 Commissioning Fig. 40: Example 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 68 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. 42: PLC project integrated in the PLC configuration of the System Manager The two variables “bEL1004_Ch4”...
  • Page 69 Commissioning Fig. 44: Selecting BOOL-type PDO According to the default setting, only certain PDO objects are now available for selection. In this example, the input of channel 4 of the EL1004 terminal is selected for linking. In contrast, the checkbox “All types” must be ticked to create the link for the output variables, in order to allocate a set of eight separate output bits to a byte variable in this case.
  • Page 70 Commissioning Fig. 46: Application of a “Goto Link Variable”, using “MAIN.bEL1004_Ch4” as an example The process of assigning variables to the PDO is completed via the menu option “Actions” → “Create assignment”, or via This can be visualized in the configuration: The process of creating links can also be performed in the opposite direction, i.e.
  • Page 71 Commissioning Fig. 47: Choose target system (remote) In this example, “Runtime system 1 (port 801)” is selected and confirmed. Link the PLC with the real-time system via the menu option “Online” → “Login”, the F11 key or by clicking on the symbol .
  • Page 72 Commissioning Fig. 48: PLC Control logged in, ready for program startup The PLC can now be started via “Online” → “Run”, F5 key or 7.1.2 TwinCAT 3 Startup TwinCAT 3 makes the development environment areas available all together, with Microsoft Visual Studio: after startup, the project folder explorer appears on the left in the general window area (see “TwinCAT System Manager”...
  • Page 73 Commissioning Fig. 49: 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. 50: Create new TwinCAT 3 project The new project is then available in the project folder explorer: EL500x Version: 4.1.0...
  • Page 74 Commissioning Fig. 51: New TwinCAT 3 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 (locally), TwinCAT can be used in local mode and the process can be continued with the next step, “Insert Device [} 75]”.
  • Page 75 Commissioning Use “Search (Ethernet)...” to enter the target system. Thus another 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 76 Commissioning Fig. 55: Automatic detection of I/O devices: selection of 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 example configuration [} 60] described at the beginning of this section, the result is as follows: Fig. 56: Mapping of the configuration in VS shell of the TwinCAT 3 environment The whole process consists of two stages, which can also be performed separately (first determine the...
  • Page 77 Commissioning Fig. 57: 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 generating the controller in different program environments: TwinCAT PLC Control supports all languages described in IEC 61131-3.
  • Page 78 Commissioning Fig. 58: 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. 59: Specifying the name and directory for the PLC programming environment The “Main”...
  • Page 79 Commissioning Fig. 60: Initial “Main” program for the standard PLC project Now example variables and an example program have been created for the next stage of the process: EL500x Version: 4.1.0...
  • Page 80 Commissioning Fig. 61: Example 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. 62: Start program compilation The following variables, identified in the ST/PLC program with “AT%”, are then available under “Assignments”...
  • Page 81 Commissioning Fig. 63: Creating the links between PLC variables and process objects In the window that opens, the process object for the “bEL1004_Ch4” BOOL-type variable can be selected from the PLC configuration tree: Fig. 64: Selecting BOOL-type PDO According to the default setting, only certain PDO objects are now available for selection. In this example, the input of channel 4 of the EL1004 terminal is selected for linking.
  • Page 82 Commissioning Fig. 65: 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 “nEL2008_value” variable sequentially to all eight selected output bits of the EL2008 Terminal. It is thus 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 83 Commissioning integer or similar PDO, it is also possible to allocate this to a set of bit-standardized variables. Here, too, a “Goto Link Variable” can be executed in the other direction, so that the respective PLC instance can then be selected.
  • Page 84 Commissioning Fig. 69: Linking the structure 7. In the PLC, the process data can then be read or written via the structure in the program code. Fig. 70: Reading a variable from the structure of the process data 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 85 Commissioning Starting the controller Select the menu option “PLC” → “Login” or click on to link the PLC with the real-time system and load the control program for execution. This results in the message ”No program on the controller! Should the new program be loaded?”, which should be acknowledged with “Yes”.
  • Page 86 7.2.1 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.
  • Page 87 Commissioning Fig. 73: Call up under VS Shell (TwinCAT 3) B: Via TcRteInstall.exe in the TwinCAT directory Fig. 74: TcRteInstall in the TwinCAT directory In both cases, the following dialog appears: EL500x Version: 4.1.0...
  • Page 88 Commissioning Fig. 75: Overview of network interfaces Interfaces listed under “Compatible devices” can be assigned a driver via the “Install” button. A driver should only be installed on compatible devices. A Windows warning regarding the unsigned driver can be ignored. Alternatively an EtherCAT-device can be inserted first of all as described in chapter Offline configuration creation, section “Creating the EtherCAT device”...
  • Page 89 Commissioning Fig. 77: Windows properties of the network interface A correct setting of the driver could be: Fig. 78: Exemplary correct driver setting for the Ethernet port Other possible settings have to be avoided: EL500x Version: 4.1.0...
  • Page 90 Commissioning Fig. 79: Incorrect driver settings for the Ethernet port Version: 4.1.0 EL500x...
  • Page 91 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 92 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 93 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 [} 97]”.
  • Page 94 Commissioning Fig. 84: 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 95 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 EL500x Version: 4.1.0...
  • Page 96 Commissioning 7.2.3 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. 87: Using the ESI Updater (>= TwinCAT 2.11) The call up takes place under: “Options” → “Update EtherCAT Device Descriptions”...
  • Page 97 Commissioning • TwinCAT must be in CONFIG mode on the target system. The online scan process consists of: • detecting the EtherCAT device [} 102] (Ethernet port at the IPC) • detecting the connected EtherCAT devices [} 103]. This step can be carried out independent of the preceding step •...
  • Page 98 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. 92: 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 99 (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 100 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 101 Commissioning Fig. 98: EtherCAT terminal in the TwinCAT tree (left: TwinCAT 2; right: TwinCAT 3) EL500x Version: 4.1.0...
  • Page 102 Commissioning 7.2.6 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 103 [} 107] 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 104 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 105 Commissioning Fig. 107: Manual scanning for devices 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. 108: Scan progressexemplary by TwinCAT 2 The configuration is established and can then be switched to online state (OPERATIONAL).
  • Page 106 Commissioning Fig. 112: 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 107 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 108 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 109 Commissioning Fig. 117: 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 110 Commissioning Fig. 119: TwinCAT 2 Dialog Change to Alternative Type 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). 7.2.7 EtherCAT subscriber configuration In the left-hand window of the TwinCAT 2 System Manager or the Solution Explorer of the TwinCAT 3...
  • Page 111 Commissioning Name Name of the EtherCAT device Number of the EtherCAT device Type EtherCAT device type Comment Here you can add a comment (e.g. regarding the system). Disabled Here you can deactivate the EtherCAT device. Create symbols Access to this EtherCAT slave via ADS is only available if this control box is activated.
  • Page 112 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 113 Commissioning Fig. 124: 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 114 Commissioning Fig. 125: “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 115 Commissioning Fig. 126: “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 116 Commissioning Fig. 127: 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 117 • DC-Synchron (Input based) • DC-Synchron Advanced Settings… Advanced settings for readjustment of the real time determinant TwinCAT-clock Detailed information to Distributed Clocks is specified on http://infosys.beckhoff.com: Fieldbus Components → EtherCAT Terminals → EtherCAT System documentation → EtherCAT basics → Distributed Clocks EL500x Version: 4.1.0...
  • Page 118 Commissioning 7.2.7.1 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). SM2 is used for the output process data (outputs) and SM3 (inputs) for the input process data.
  • Page 119 Commissioning 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. This is an optional feature that is not supported by all EtherCAT slaves. PDO Assignment If this check box is selected, the PDO assignment that is configured in the PDO Assignment list is downloaded to the device on startup.
  • Page 120 Commissioning 7.2.8 Import/Export of EtherCAT devices with SCI and XTI SCI and XTI Export/Import – Handling of user-defined modified EtherCAT slaves 7.2.8.1 Basic principles An EtherCAT slave is basically parameterized through the following elements: • Cyclic process data (PDO) • Synchronization (Distributed Clocks, FreeRun, SM-Synchron) •...
  • Page 121 Commissioning The two methods for exporting and importing the modified terminal referred to above are demonstrated below. 7.2.8.2 Procedure within TwinCAT with xti files Each IO device can be exported/saved individually: The xti file can be stored: and imported again in another TwinCAT system via "Insert Existing item": EL500x Version: 4.1.0...
  • Page 122 Commissioning 7.2.8.3 Procedure within and outside TwinCAT with sci file Note regarding availability (2021/01) The SCI method is available from TwinCAT 3.1 build 4024.14. The Slave Configuration Information (SCI) describes a specific complete configuration for an EtherCAT slave (terminal, box, drive...) based on the setting options of the device description file (ESI, EtherCAT Slave Information).
  • Page 123 Commissioning • A description may also be provided: • Explanation of the dialog box: Name Name of the SCI, assigned by the user. Description Description of the slave configuration for the use case, assigned by the user. Options Keep modules If a slave supports modules/slots, the user can decide whether these are to be exported or whether the module and device data are to be combined during export.
  • Page 124 • The sci file can be saved locally: • The export takes place: Import • An sci description can be inserted manually into the TwinCAT configuration like any normal Beckhoff device description. • The sci file must be located in the TwinCAT ESI path, usually under: C:\TwinCAT\3.1\Config\Io\EtherCAT...
  • Page 125 Commissioning • Display SCI devices and select and insert the desired device: Additional Notes • Settings for the SCI function can be made via the general Options dialog (Tools → Options → TwinCAT → Export SCI): Explanation of the settings: Default export AoE | Set AmsNetId Default setting whether the configured AmsNetId is exported. options CoE | Set cycle time(0x1C3x.2) Default setting whether the configured cycle time is exported.
  • Page 126 Commissioning SCI error messages are displayed in the TwinCAT logger output window if required: General Commissioning Instructions for an EtherCAT Slave This summary briefly deals with a number of aspects of EtherCAT Slave operation under TwinCAT. More detailed information on this may be found in the corresponding sections of, for instance, the EtherCAT System Documentation.
  • Page 127 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 128 Commissioning Code Function Implementation Application/evaluation The EtherCAT Master's diagnostic At least the DevState is to be evaluated for information the most recent cycle in the PLC. updated cyclically (yellow) or provided The EtherCAT Master's diagnostic acyclically (green). information offers many more possibilities than are treated in the EtherCAT System Documentation.
  • Page 129 Commissioning Fig. 132: 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 130 Commissioning 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 131 Commissioning In addition, the target state of any particular Slave can be set in the “Advanced Settings” dialogue; the standard setting is again OP. Fig. 135: Default target state in the Slave Manual Control There are particular reasons why it may be appropriate to control the states from the application/task/PLC. For instance: •...
  • Page 132 Commissioning Fig. 136: PLC function blocks Note regarding E-Bus current EL/ES terminals are placed on the DIN rail at a coupler on the terminal strand. 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.
  • Page 133 Commissioning 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. 138: Warning message for exceeding E-Bus current NOTICE Caution! Malfunction possible! The same ground potential must be used for the E-Bus supply of all EtherCAT terminals in a terminal block! EL500x Version: 4.1.0...
  • Page 134 EL5001, EL5002 - Commissioning EL5001, EL5002 - Commissioning Function principles and notes The EL5001/EL5002 is an SSI master terminal for cyclic polling of SSI devices. The EL5002 can operate two slaves. The EL500x is generally operated such that each I/O cycle triggers an SSI communication and thus supplies a new encoder position to the application.
  • Page 135 EL5001, EL5002 - Commissioning Referencing an SSI signal An SSI encoder is an absolute encoder, which means, that the position value is available without referencing immediately after switching on. Many SSI encoders offer the option of referencing or zeroing the position value via an additional digital input. Depending on the signal voltage of the digital input on the encoder, this can be set, for example via a digital output terminal EL2xxx.
  • Page 136 EL5001, EL5002 - Commissioning Multiple transmission mode The following modes can be used with the SSI protocol: • Single transmission (already part of EL5002) • Multiple transmission (new feature, available from FW03 and XML Rev. 0020) The single transmission is implemented according to the SSI protocol standard. The multiple transmission is an extension of the single transmission and can be activated by the user for each channel independently.
  • Page 137 EL5001, EL5002 - Commissioning Name Meaning SB.7 TxPDO Toggle 0/1 The TxPDO toggle is toggled by the slave when the data of the associated TxPDO is updated. SB.6 TxPDO State Validity of the data of the associated TxPDO 0 = valid 1 = invalid SB.5 Sync error...
  • Page 138 EtherCAT XML Device Description The display matches that of the CoE objects from the EtherCAT ESI Device Description (XML).We recommend downloading the latest XML file from the download area of the Beckhoff website and installing it according to installation instructions. Parameterization via the CoE list (CAN over EtherCAT) The EtherCAT device is parameterized via the CoE-Online tab [} 114] (double-click on the...
  • Page 139 EL5001, EL5002 - Commissioning Fig. 140: CoE settings and EL500x process data in TwinCAT 2.11 • red: adjustment range of the objects 0x4060 [} 144]ff. • blue: adjustment range of objects 0x8010 [} 147] with subindices. • green: OnlineData means that the data from the EL terminal is currently displayed, in contrast to the offline data from the XML description/ESI file if the terminal is not physically connected, for example.
  • Page 140 EL5001, EL5002 - Commissioning SSI settings • Index 0x8000:01 [} 146], disable frame error If the bit is set to TRUE, data errors such as invalid telegram size are no longer shown in the Data error process record. • Index 0x8000:02 [} 146], enable power failure bit If the bit is set to TRUE, the last bit (LSB) in the SSI telegram is interpreted as PowerFail bit of the SSI slave and shown in the process data.
  • Page 141 EL5001, EL5002 - Commissioning Data Error Frame error Possible error type (Index 0x60n0:01 [} 147]) (Index 0x60n0:02 [} 147]) TRUE FALSE Error at the SSI input: • SSI without power supply • Wire break at the SSI data inputs D+ or D- If no data transmission takes place the SSI input of the terminal is on low level.
  • Page 142 EL5001, EL5002 - Commissioning Fig. 142: EL500x process data • Terminal A, EL5001-0000-0001 only support for 1 status byte. • Terminal B, EL5001-0000-1017 also existing process image (default). • Terminal C, EL5001-0000-1017 with converted interface In SyncManager 3 (inputs, blue) the PDO assignment of object 0x1A00 [} 150] (default) was changed to object 0x1A01 [} 150], representing 2-byte status.
  • Page 143 EL5001, EL5002 - Commissioning Fig. 143: Representation of the SSI inputs in the TwinCAT tree Start of SSI communication If the start time of the SSI communication is of interest, it can be calculated in the control system (TwinCAT 2.11 or higher). The following functions must be activated in the terminal: System Manager | EL500x | Advanced settings | Behavior | IncludeDcShiftTimes = TRUE Fig. 144: EL500x shift times Through this setting the System Manager specifies for each terminal the fixed offset/shift between the local...
  • Page 144 EtherCAT XML Device Description The display matches that of the CoE objects from the EtherCAT ESI Device Description (XML).We recommend downloading the latest XML file from the download area of the Beckhoff website and installing it according to installation instructions. Parameterization via the CoE list (CAN over EtherCAT) The EtherCAT device is parameterized via the CoE-Online tab [} 114] (double-click on the...
  • Page 145 EL5001, EL5002 - Commissioning Index 4068 SSI frame type (only EL5001) Index (hex) Name Meaning Data type Flags Default 4068:0 SSI-frame type 0: Multi-turn analysis is active (25-bit data frame) UINT16 0x0000 (0 1: Single-turn-analysis is active (13-bit data frame) 2: Variable analysis is active.
  • Page 146 EL5001, EL5002 - Commissioning Index 80n0 SSI settings (only EL5002), with n = 0 (Ch.1), n = 1 (Ch.2) Index (hex) Name Meaning Data type Flags Default 80n0:0 SSI settings Length of this object UINT8 0x13 (19 80n0:01 Disable frame error 0: Frame error is not suppressed BOOLEAN 0x00 (0 1: Frame error is suppressed...
  • Page 147 EL5001, EL5002 - Commissioning Index 8010 SSI settings (from FW11 in the case of EL5001) Index (hex) Name Meaning Data type Flags Default 8010:0 SSI settings Length of this object UINT8 0x13 (19 8010:01 Disable frame error 0: Frame error is not suppressed BOOLEAN 0x00 (0 1: Frame error is suppressed...
  • Page 148 EL5001, EL5002 - Commissioning Index 6010 SSI Inputs (from FW11 in the case of EL5001) Index (hex) Name Meaning Data type Flags Default 6010:0 SSI Inputs Length of this object UINT8 0x11 (17 6010:01 Data error SSI input error: BOOLEAN 0x00 (0 •...
  • Page 149 EL5001, EL5002 - Commissioning Index 1018 Identity Index (hex) Name Meaning Data type Flags Default 1018:0 Identity Information for identifying the slave UINT8 0x04 (4 1018:01 Vendor ID Vendor ID of the EtherCAT slave UINT32 0x00000002 (2 1018:02 Product code Product code of the EtherCAT slave UINT32 EL5001:...
  • Page 150 EL5001, EL5002 - Commissioning Index 1A00 SSI TxPDO Map Inputs (only EL5002) Index (hex) Name Meaning Data type Flags Default 1A00:0 SSI TxPDO Map PDO Mapping TxPDO 1 UINT8 0x08 (8 Inputs 1A00:01 SubIndex 001 1. PDO Mapping entry (object 0x6000 (SSI Inputs), UINT32 0x6000:01, 1 entry 0x01 (Data error))
  • Page 151 EL5001, EL5002 - Commissioning Index 1C13 TxPDO assign Index (hex) Name Meaning Data type Flags Default 1C13:0 TxPDO assign PDO Assign Inputs UINT8 0x02 (2 1C13:01 SubIndex 001 1. allocated TxPDO (contains the index of the UINT16 0x1A00 (6656 associated TxPDO mapping object) 1C13:02** SubIndex 002 2.
  • Page 152 EL5001, EL5002 - Commissioning Index 1C33 SM input parameter (from FW11 in the case of EL5001) Index (hex) Name Meaning Data type Flags Default 1C33:0 SM input parameter Synchronization parameters for the inputs UINT8 0x20 (32 1C33:01 Sync mode Current synchronization mode: UINT16 0x0022 (34 •...
  • Page 153 EL5001, EL5002 - Commissioning Index F000 Modular device profile  (from FW11 in case of EL5001) Index (hex) Name Meaning Data type Flags Default F000:0 Modular device profile General information for the modular device profile UINT8 0x02 (2 F000:01 Module index Index distance of the objects of the individual UINT16 0x0010 (16...
  • Page 154 EL5001-0011 - Commissioning EL5001-0011 - Commissioning Function principles and notes The minimum EtherCAT cycle time for the EL5001-0011 is 100 µs. SSI principles The EL5001-0011 is designed for passive reading of SSI data words between an SSI master and slave. It therefore has no 120 Ω...
  • Page 155 EtherCAT XML Device Description The display matches that of the CoE objects from the EtherCAT ESI Device Description (XML).We recommend downloading the latest XML file from the download area of the Beckhoff website and installing it according to installation instructions. Parameterization via the CoE list (CAN over EtherCAT) The EtherCAT device is parameterized via the CoE-Online tab [} 114] (double-click on the...
  • Page 156 EL5001-0011 - Commissioning SSI communication sequence The SSI master starts pulsing on the data line with a fixed cycle into the shift register of the SSI slave. The slave generally "pushes back" data with a width of 25 bits on the data line. An SSI encoder should determine its position with the first falling edge of the signal at the Clock input ("latching"), which is then transferred.
  • Page 157 EtherCAT XML Device Description The display matches that of the CoE objects from the EtherCAT ESI Device Description (XML).We recommend downloading the latest XML file from the download area of the Beckhoff website and installing it according to installation instructions. Parameterization via the CoE list (CAN over EtherCAT) The EtherCAT device is parameterized via the CoE-Online tab [} 114] (double-click on the...
  • Page 158 EL5001-0011 - Commissioning 9.3.2 Configuration objects Index 8000 SSI Settings Index (hex) Name Meaning Data type Flags Default 8000:0 SSI settings Length of this object UINT8 0x12 (18 8000:01 Disable frame error 0: Frame error is not suppressed BOOLEAN 0x00 (0 1: Frame error is suppressed 8000:02 Enable power failure...
  • Page 159 EL5001-0011 - Commissioning 9.3.4 Objects for diagnosis Index A000 SSI Diag data Index (hex) Name Meaning Data type Flags Default A000:0 SSI Diag data Length of this object UINT8 0x01 (1 A000:01 Detected SSI-frame Size of the SSI frame that the terminal has detected UINT8 0x00 (0 size...
  • Page 160 EL5001-0011 - Commissioning Index 1801 SSI TxPDO-Par Timest. Index (hex) Name Meaning Data type Flags Default 1801:0 SSI TxPDO-Par PDO parameter TxPDO 2 UINT8 0x06 (6 Timest. 1801:06 Exclude TxPDOs Specifies the TxPDOs (index of TxPDO mapping OCTET- 02 1A objects) that must not be transferred together with STRING[2] TxPDO 2...
  • Page 161 EL5001-0011 - Commissioning Index 1C12 RxPDO assign Index (hex) Name Meaning Data type Flags Default 1C12:0 RxPDO assign PDO Assign Outputs UINT8 0x00 (0 Index 1C13 TxPDO assign Index (hex) Name Meaning Data type Flags Default 1C13:0 TxPDO assign PDO Assign Inputs UINT8 0x01 (1 1C13:01...
  • Page 162 EL5001-0011 - Commissioning Index 1C33 SM input parameter Index (hex) Name Meaning Data type Flags Default 1C33:0 SM input parameter Synchronization parameters for the inputs UINT8 0x20 (32 1C33:01 Sync mode Current synchronization mode: UINT16 0x0022 (34 • 0: Free Run •...
  • Page 163 EL5001-0011 - Commissioning Index F000 Modular device profile Index (hex) Name Meaning Data type Flags Default F000:0 Modular device profile General information for the modular device profile UINT8 0x02 (2 F000:01 Module index Index distance of the objects of the individual UINT16 0x0010 (16 distance...
  • Page 164 EL5001-0090 - Commissioning 10 EL5001-0090 - Commissioning The EL5001-0090 supports the full functionality of the EL5001 (please read the chapter "EL5001 - Basic function principles and notes [} 134]"). The EL5001-0090 also supports • the TwinSAFE SC technology [} 166], • the integrated velocity calculation [} 164] 10.1 Velocity measurement In addition to the pure position value, a velocity value can also be calculated and output (EL5001-0090: from...
  • Page 165 EL5001-0090 - Commissioning 10.2 Filter operation Velocity filter (Index 0x8000:18 [} 172]) The EL5001-0090 Terminal (from FW02 [} 180], Rev.0017) is equipped with a digital filter that can assume the characteristics of an Infinite Impulse Response filter (IIR filter). The filter is disabled by default (value: "0" (None)). IIR filter The filter with IIR characteristics is a discrete time, linear, time invariant filter that can be set to eight levels (level 1 = weak recursive filter, up to level 8 = strong recursive filter).
  • Page 166 EL5001-0090 - Commissioning 10.3 TwinSAFE SC 10.3.1 TwinSAFE SC - operating principle The TwinSAFE SC (Single Channel) technology enables the use of standard signals for safety tasks in any networks of fieldbuses. To do this, EtherCAT Terminals from the areas of analog input, angle/displacement measurement or communication (4…20 mA, incremental encoder, IO-Link, etc.) are extended by the TwinSAFE SC function.
  • Page 167 EL5001-0090 - Commissioning Fig. 151: Adding a TwinSAFE SC connection After opening the alias device by double-clicking, select the Link button next to Physical Device, in order to create the link to a TwinSAFE SC terminal. Only suitable TwinSAFE SC terminals are offered in the selection dialog.
  • Page 168 EL5001-0090 - Commissioning Fig. 153: Selecting a free CRC These settings must match the settings in the CoE objects of the TwinSAFE SC component. The TwinSAFE SC component initially makes all available process data available. The Safety Parameters tab typically contains no parameters. The process data size and the process data themselves can be selected under the Process Image tab.
  • Page 169 EL5001-0090 - Commissioning Fig. 155: Selection of the process data The safety address together with the CRC must be entered on the TwinSAFE SC slave side. This is done via the CoE objects under TSC settings of the corresponding TwinSAFE SC component (here, for example, EL5021-0090, 0x8010: 01 and 0x8010: 02).
  • Page 170 EL5001-0090 - Commissioning TwinSAFE SC connections If several TwinSAFE SC connections are used within a configuration, a different CRC must be selected for each TwinSAFE SC connection. 10.4 TwinSAFE SC process data EL5001-0090 The EL5001-0090 transmits the following process data to the TwinSAFE logic: ModuleIdent Index (hex) Name Type...
  • Page 171 EtherCAT XML Device Description The display matches that of the CoE objects from the EtherCAT ESI Device Description (XML).We recommend downloading the latest XML file from the download area of the Beckhoff website and installing it according to installation instructions. Parameterization via the CoE list (CAN over EtherCAT) The EtherCAT device is parameterized via the CoE-Online tab [} 114] (double-click on the...
  • Page 172 EL5001-0090 - Commissioning 10.5.2 Configuration objects Index 8000 SSI Settings Index (hex) Name Meaning Data type Flags Default 8000:0 SSI Settings Length of this object UINT8 0x19 (25 8000:01 Disable frame error 0: Frame error is not suppressed BOOLEAN 0x00 (0 1: Frame error is suppressed 8000:02 Enable power failure...
  • Page 173 EL5001-0090 - Commissioning 10.5.3 Input data Index 6000 SSI Inputs Index (hex) Name Meaning Data type Flags Default 6000:0 SSI Inputs Length of this object UINT8 0x11 (17 6000:01 Data error Error at the SSI input: BOOLEAN 0x00 (0 • SSI without power supply •...
  • Page 174 EL5001-0090 - Commissioning Index 1018 Identity Index (hex) Name Meaning Data type Flags Default 1018:0 Identity Information for identifying the slave UINT8 0x04 (4 1018:01 Vendor ID Vendor ID of the EtherCAT slave UINT32 0x00000002 (2 1018:02 Product code Product code of the EtherCAT slave UINT32 0x13893052 (327757906...
  • Page 175 EL5001-0090 - Commissioning Index 1C00 Sync manager type Index (hex) Name Meaning Data type Flags Default 1C00:0 Sync manager type Using the sync managers UINT8 0x04 (4 1C00:01 SubIndex 001 Sync-Manager Type Channel 1: Mailbox Write UINT8 0x01 (1 1C00:02 SubIndex 002 Sync-Manager Type Channel 2: Mailbox Read UINT8...
  • Page 176 EL5001-0090 - Commissioning Index 1C33 SM input parameter Index (hex) Name Meaning Data type Flags Default 1C33:0 SM input parameter Synchronization parameters for the inputs UINT8 0x20 (32 1C33:01 Sync mode Current synchronization mode: UINT16 0x0001 (1 • 0: Free Run •...
  • Page 177 EL5001-0090 - Commissioning Index F000 Modular device profile Index (hex) Name Meaning Data type Flags Default F000:0 Modular device profile General information for the modular device profile UINT8 0x02 (2 F000:01 Module index Index distance of the objects of the individual UINT16 0x0010 (16 distance...
  • Page 178 EL5001-0090 - Commissioning Index 6010 TSC Slave Frame Elements Index (hex) Name Meaning Data type Flags Default 6010:0 TSC Slave Frame Maximum subindex UINT8 0x06 (6 Elements 6010:01 TSC__Slave Cmd reserved UINT8 0x00 (0 6010:02 TSC__Slave ConnID reserved UINT16 0x0000 (0 6010:03 TSC__Slave CRC_0 reserved...
  • Page 179 Appendix 11 Appendix 11.1 EtherCAT AL Status Codes For detailed information please refer to the EtherCAT system description. EL500x Version: 4.1.0...
  • Page 180 Note • It is recommended to use the newest possible firmware for the respective hardware • Beckhoff is not under any obligation to provide customers with free firmware updates for delivered products. NOTICE Risk of damage to the device! Pay attention to the instructions for firmware updates on the separate page [} 181].
  • Page 181 NOTICE Only use TwinCAT 3 software! A firmware update of Beckhoff IO devices must only be performed with a TwinCAT 3 installation. It is recommended to build as up-to-date as possible, available for free download on the Beckhoff website. To update the firmware, TwinCAT can be operated in the so-called FreeRun mode, a paid license is not required.
  • Page 182 Appendix 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. The TwinCAT System Manager offers mechanisms for programming all three parts with new data, if the slave is set up for this purpose.
  • Page 183 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 184 Appendix Fig. 160: Configuration is identical otherwise a change dialog appears for entering the actual data in the configuration. Fig. 161: 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 185 Appendix Fig. 162: EEPROM Update The new ESI description is selected in the following dialog, see Fig. Selecting the new ESI. The checkbox Show Hidden Devices also displays older, normally hidden versions of a slave. Fig. 163: Selecting the new ESI A progress bar in the System Manager shows the progress. Data are first written, then verified. The change only takes effect after a restart.
  • Page 186 • 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 187 Appendix Fig. 165: 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 188 Appendix • Check the current status (B, C) • Download the new *efw file (wait until it ends). A password will not be necessary usually. • After the download switch to INIT, then PreOP • Switch off the slave briefly (don't pull under voltage!) •...
  • Page 189 Appendix Fig. 166: 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. 167: 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 190 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 191 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: EL500x Version: 4.1.0...
  • Page 192 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 193 Appendix 11.4 Restoring the delivery state To restore the delivery state (factory settings) of CoE objects for EtherCAT devices (“slaves”), the CoE object Restore default parameters, SubIndex 001 can be used via EtherCAT master (e.g. TwinCAT) (see Fig. Selecting the Restore default parameters PDO). Fig. 170: Selecting the Restore default parameters PDO Fig. 171: Entering a restore value in the Set Value dialog Double-click on SubIndex 001 to enter the Set Value dialog.
  • Page 194 Appendix Alternative restore value In some older terminals (FW creation approx. before 2007) the backup objects can be switched with an alternative restore value: Decimal value: 1819238756, Hexadecimal value: 0x6C6F6164. An incorrect entry for the restore value has no effect. Version: 4.1.0 EL500x...
  • Page 195 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: www.beckhoff.com You will also find further documentation for Beckhoff components there.
  • Page 196 TwinSAFE , XFC , XTS and XPlanar are registered trademarks of and licensed by Beckhoff Automation GmbH. Third-party trademark statements BiSS is a trademark of IC Haus GmbH. DeviceNet and EtherNet/IP are trademarks of ODVA, Inc. DSP System Toolbox, Embedded Coder, MATLAB, MATLAB Coder, MATLAB Compiler, MathWorks, Predictive Maintenance Toolbox, Simscape, Simscape™...
  • Page 197 More Information: www.beckhoff.com/el5xxx Beckhoff Automation GmbH & Co. KG Hülshorstweg 20 33415 Verl Germany Phone: +49 5246 9630 info@beckhoff.com www.beckhoff.com...

This manual is also suitable for:

El5001El5002El5000-0011El5001-0090