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Basics communication

EL34xx

37

Version: 1.5

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.

4.5

CoE Interface

General description

The CoE interface (CANopen over EtherCAT) is used for parameter management of EtherCAT devices.
EtherCAT slaves or the EtherCAT master manage fixed (read only) or variable parameters which they
require for operation, diagnostics or commissioning.

CoE parameters are arranged in a table hierarchy. In principle, the user has read access via the fieldbus.
The EtherCAT master (TwinCAT System Manager) can access the local CoE lists of the slaves via
EtherCAT in read or write mode, depending on the attributes.

Different CoE parameter types are possible, including string (text), integer numbers, Boolean values or larger
byte fields. They can be used to describe a wide range of features. Examples of such parameters include
manufacturer ID, serial number, process data settings, device name, calibration values for analog
measurement or passwords.

The order is specified in 2 levels via hexadecimal numbering: (main)index, followed by subindex. The value
ranges are

• Index: 0x0000 …0xFFFF (0...65535

dez

)

• SubIndex: 0x00…0xFF (0...255

dez

)

A parameter localized in this way is normally written as 0x8010:07, with preceding "x" to identify the
hexadecimal numerical range and a colon between index and subindex.

The relevant ranges for EtherCAT fieldbus users are:

• 0x1000: This is where fixed identity information for the device is stored, including name, manufacturer,

serial number etc., plus information about the current and available process data configurations.

• 0x8000: This is where the operational and functional parameters for all channels are stored, such as

filter settings or output frequency.

Other important ranges are:

• 0x4000: In some EtherCAT devices the channel parameters are stored here (as an alternative to the

0x8000 range).

• 0x6000: Input PDOs ("input" from the perspective of the EtherCAT master)

• 0x7000: Output PDOs ("output" from the perspective of the EtherCAT master)

Availability

Not every EtherCAT device must have a CoE list. Simple I/O modules without dedicated processor
usually have no variable parameters and therefore no CoE list.

If a device has a CoE list, it is shown in the TwinCAT System Manager as a separate tab with a listing of the
elements:

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Summary of Contents for EL34 Series

Page 1: ...Documentation EL34xx 3 phase energy and power measurement terminals 1 5 2019 09 05 Version Date ...

Page 2: ......

Page 3: ... 4 5 CoE Interface 37 4 6 Distributed Clock 42 5 Mounting and wiring 43 5 1 Instructions for ESD protection 43 5 2 Installation on mounting rails 44 5 3 Connection 47 5 3 1 Connection system 47 5 3 2 Wiring 49 5 3 3 Shielding 50 5 4 Installation positions 51 5 5 Positioning of passive Terminals 53 5 6 EL34xx LEDs and connection 54 6 Commissioning 63 6 1 TwinCAT Quick Start 63 6 1 1 TwinCAT 2 66 6 ...

Page 4: ...xx 248 7 Application examples 259 7 1 Power measurement on motor with 2 or 3 current transformers 260 7 2 Power measurement at a machine 262 7 3 Power measurement in a single phase mains network with ohmic consumers 264 7 4 Power measurement at a fieldbus station 265 7 5 Power measurement at three phase motors controlled by a frequency converter 266 7 6 Power measurement including differential cur...

Page 5: ...asurement terminal with extended functionality 480 VAC 5 A EL3443 0011 15 3 phase power measurement terminal with extended functionality 480 VAC 100 mA EL3443 0013 15 3 phase power measurement terminal with extended functionality 480 VAC 333 mV EL3453 18 3 phase power measurement terminal with extended functionality 690 VAC 5 A EL3483 17 3 phase mains monitoring terminal for voltage frequency and ...

Page 6: ...tion of products that have already been supplied may be made on the basis of the data diagrams and descriptions in this documentation Trademarks Beckhoff TwinCAT EtherCAT EtherCAT G EtherCAT G10 EtherCAT P Safety over EtherCAT TwinSAFE XFC XTS and XPlanar are registered trademarks of and licensed by Beckhoff Automation GmbH Other designations used in this publication may be trademarks whose use by...

Page 7: ...ained specialists in control automation and drive engineering who are familiar with the applicable national standards Description of instructions In this documentation the following instructions are used These instructions must be read carefully and followed without fail DANGER Serious risk of injury Failure to follow this safety instruction directly endangers the life and health of persons WARNIN...

Page 8: ... 0013 EL3483 0060 added Update structure Update revision status 1 3 EL3453 added Update structure Update revision status 1 2 Addenda chapter TcEventLogger and IO Appendix 1 1 Chapter Technical data updated 1 0 1st public release 0 2 0 5 Complements corrections 0 1 Provisional documentation for EL34xx ...

Page 9: ...Beckhoff In principle a device with a higher revision can replace a device with a lower revision unless specified otherwise e g in the documentation 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 I...

Page 10: ...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 In addition in some series each individual module has its own unique serial number See also the further documentation in the a...

Page 11: ...11 Version 1 5 Fig 2 EK1100 EtherCAT coupler standard IP20 IO device with serial batch number Fig 3 CU2016 switch with serial batch number Fig 4 EL3202 0020 with serial batch number 26131006 and unique ID number 204418 ...

Page 12: ...er 158102 Fig 6 EP1908 0002 IP67 EtherCAT Safety Box with batch number date code 071201FF and unique serial number 00346070 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 ...

Page 13: ...product it can be found in the following places on the packaging unit directly on the product if space suffices on the packaging unit and the product The BIC is machine readable and contains information that can also be used by the customer for handling and product management Each piece of information can be uniquely identified using the so called data identifier ANSI MH10 8 2 2016 The data identi...

Page 14: ...iers are used by Beckhoff and serve internal processes Structure of the BIC Example of composite information from items 1 4 and 6 The data identifiers are marked in red for better display BTN 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 Beckho...

Page 15: ... All measured currents and voltages are available as RMS values In the EL3443 version the active power and the energy consumption for each phase are calculated The RMS values of voltage U and current I as well as active power P apparent power S reactive power Q frequency f phase shift angle cos φ and harmonics are available The EL3443 offers options for comprehensive grid analysis and energy manag...

Page 16: ...L3 and N The current of the three phases L1 L2 and L3 is fed via simple current transformers The measured energy values are available separately as generated and accepted values In the EL3423 version the active power and the energy consumption for each phase are calculated In addition an internally calculated power quality factor provides information about the quality of the monitored power supply...

Page 17: ...information in the process image The EL3483 monitors the correct phase sequence L1 L2 L3 phase failure undervoltage and overvoltage and possible phase imbalance An error bit is set in case of an incorrect phase sequence or phase failure If for example an imbalance or voltage fault occurs only a warning bit is set initially In addition an internally calculated power quality factor provides informat...

Page 18: ...ly isolated so that the terminal can be used in all common grounded current transformer configurations such as 2 or 3 transformer configurations with star or delta connection incl neutral conductor current measurement The EL3453 can be used for simple grid analysis up to the 63rd harmonics analysis Alternatively all readings can be combined in a power quality factor for simplified diagnostics Like...

Page 19: ...nt and 12 400 Hz Electrical isolation 2500 V Current consumption power contacts Current consumption E Bus typ 120 mA Special features single phase operation possible mains monitoring functionality Configuration via TwinCAT System Manager Weight approx 75 g Dimensions W x H x D approx 15 mm x 100 mm x 70 mm width aligned 12 mm Mounting on 35 mm mounting rail according to EN 60715 Permissible ambien...

Page 20: ... max 333 mV AC DC via measuring transform ers x A 333 mV Measuring error 0 3 relative to the full scale value U I 0 6 calculated values see documentation Threshold frequency 3000 Hz Electrical isolation 2500 V Update time mains synchronous Current consumption power contacts Current consumption via E bus typ 120 mA Special features Single phase operation possible mains monitoring functionality prec...

Page 21: ...s default 5 Arms recommended via measuring transformer x A AC 1 A AC Technical measuring range current 2 25 A peak value corresponds to 1 59 Arms or 9 6 A peak value corresponds to 6 8 Arms Maximum permissible overcurrent max 10 A peak value corresponds to 7 Arms per channel and max total current I1 I2 I3 IN 20 A peak value corresponds to 14 Arms Peak overload capacity 60 A sinusoidal for 1 second...

Page 22: ...l features operation as voltage monitor frequency monitor and phase monitor also possible in single phase operation Monitoring function phase sequence phase failure phase imbalance undervoltage overvoltage adjustable Weight approx 75 g Dimensions W x H x D approx 15 mm x 100 mm x 70 mm width aligned 12 mm Mounting on 35 mm mounting rail according to EN 60715 Permissible ambient temperature range d...

Page 23: ...4 Voltage u and current i curves RMS value calculation The RMS value for voltage and current is calculated during the period T The following equations are used u t instantaneous voltage value i t instantaneous current value n number of measured values The instantaneous values for current and voltage are low pass filtered with a cut off frequency of 2 5 kHz for the EL3443 EL3423 and EL3483 Active p...

Page 24: ...ower measurement In real networks not all consumers are purely ohmic Phase shifts occur between current and voltage This does not affect the methodology for determining the RMS values of voltage and current as described above The situation for the active power is different Here the product of RMS voltage and RMS current is the apparent power The active power is smaller than the apparent power S ap...

Page 25: ...termines the following values RMS voltage U and RMS current I Active power P and active energy E Apparent power S and apparent energy Reactive power Q and reactive energy Power factor and cos φ Distortion factors for current THDI and voltage THDU Calculated RMS neutral conductor current IN Voltage imbalance Power quality factor details see below In DC synchronous mode the distributed clock time of...

Page 26: ...3443 In generator mode quadrant II III an inductive generator is indicated by a positive fundamental harmonic reactive power a capacitive generator by a negative fundamental harmonic reactive power Since the total reactive power is defined as the quadratic difference between apparent and active power it has no sign For the total active power signs are permitted as described above Fig 17 Four quadr...

Page 27: ... controller and the EtherCAT Terminal must have the same time base Using distributed clocks technology an EtherCAT system provides such a common time base for details see EtherCAT system description In order to be able to use these the EL3443 must be in DC synchronous mode and the EtherCAT master must support the corresponding function Once these basic requirements have been met the EL3443 and EL3...

Page 28: ...t either the differential current or the neutral current can be calculated The other current can be measured directly using the fourth current channel Due to the usual conditions and the corresponding measurement tolerances however it makes much more sense to measure the differential current with the aid of a summation current transformer and have the neutral conductor current calculated Further i...

Page 29: ...to a limiting proportion of 400 Hz Since such currents are frequently created by inverters and may contain frequencies of less than 50 Hz or even a DC component electronic transformers should be used for such applications Overcurrent limiting factor FS The overcurrent limiting factor FS of a current transformer indicates at what multiple of the primary rated current the current transformer changes...

Page 30: ...on cable for current transformers Please note the following minimum power values for current transformers to be connected Rated secondary transformer current 1 A 1 A 1 A 1 A 5 A 5 A 5 A 5 A Cross section 0 5 mm 1 mm 1 5 mm 2 5 mm 0 5 mm 1 mm 1 5 mm 2 5 mm 1 m 0 3 0 2 0 2 0 2 2 4 1 3 0 9 0 6 2 m 0 4 0 3 0 3 0 2 4 6 2 4 1 7 1 1 3 m 0 5 0 3 0 3 0 3 6 8 3 5 2 4 1 5 4 m 0 6 0 4 0 3 0 3 9 0 4 6 3 1 2 0 ...

Page 31: ...ct overview EL34xx 31 Version 1 5 3 5 Start For commissioning mount the EL34xx as described in the chapter Mounting and wiring 44 configure the EL34xx in TwinCAT as described in the chapter Commissioning 88 ...

Page 32: ...8802 3 Pin Color of conductor Signal Description 1 yellow TD Transmission Data 2 orange TD Transmission Data 3 white RD Receiver Data 6 blue RD Receiver Data Due to automatic cable detection auto crossing symmetric 1 1 or cross over cables can be used between EtherCAT devices from Beckhoff Recommended cables Suitable cables for the connection of EtherCAT devices can be found on the Beckhoff websit...

Page 33: ...al for longer than the set and activated SM watchdog time e g in the event of a line interruption the watchdog is triggered and the outputs are set to FALSE The OP state of the terminal is unaffected The watchdog is only reset after a successful EtherCAT process data access Set the monitoring time as described below The SyncManager watchdog monitors correct and timely process data communication wi...

Page 34: ... the checkbox is not activated nothing is downloaded and the ESC settings remain unchanged Multiplier Multiplier Both watchdogs receive their pulses from the local terminal cycle divided by the watchdog multiplier 1 25 MHz watchdog multiplier 2 100 µs for default setting of 2498 for the multiplier The standard setting of 1000 for the SM watchdog corresponds to a release time of 100 ms The value in...

Page 35: ... switching off of the SM watchdog via SM watchdog 0 is only implemented in terminals from version 0016 In previous versions this operating mode should not be used CAUTION Damage of devices and undefined state possible If the SM watchdog is activated and a value of 0 is entered the watchdog switches off completely This is the deactivation of the watchdog Set outputs are NOT set in a safe state if t...

Page 36: ...ational Safe Op During transition between Pre Op and Safe Op the EtherCAT slave checks whether the sync manager channels for process data communication and if required the distributed clocks settings are correct Before it acknowledges the change of state the EtherCAT slave copies current input data into the associated DP RAM areas of the EtherCAT slave controller ECSC In Safe Op state mailbox and ...

Page 37: ...ration values for analog measurement or passwords The order is specified in 2 levels via hexadecimal numbering main index followed by subindex The value ranges are Index 0x0000 0xFFFF 0 65535dez SubIndex 0x00 0xFF 0 255dez A parameter localized in this way is normally written as 0x8010 07 with preceding x to identify the hexadecimal numerical range and a colon between index and subindex The releva...

Page 38: ...eters are still available after a restart The situation may be different with other manufacturers An EEPROM is subject to a limited lifetime with respect to write operations From typically 100 000 write operations onwards it can no longer be guaranteed that new changed data are reliably saved or are still readable This is irrelevant for normal commissioning However if CoE parameters are continuous...

Page 39: ... is to be stored permanently enter it in the Startup list The order of the Startup entries is usually irrelevant Fig 23 Startup list in the TwinCAT System Manager The Startup list may already contain values that were configured by the System Manager based on the ESI specifications Additional application specific entries can be created Online offline list While working with the TwinCAT System Manag...

Page 40: ... The actual current slave list is read This may take several seconds depending on the size and cycle time The actual identity is displayed The firmware and hardware version of the equipment according to the electronic information is displayed Online is shown in green Fig 25 Online list ...

Page 41: ... placeholder n tends to be used for the individual channel numbers In the CoE system 16 indices each with 255 subindices are generally sufficient for representing all channel parameters The channel based order is therefore arranged in 16dec 10hex steps The parameter range 0x8000 exemplifies this Channel 0 parameter range 0x8000 00 0x800F 255 Channel 1 parameter range 0x8010 00 0x801F 255 Channel 2...

Page 42: ... 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 the variable overflows after approx 4 2 seconds The EtherCAT master automatically synchronizes the local clock with the master clock in the EtherCAT bus with a precision of 100 ns For detailed information please refer to the EtherCAT system description ...

Page 43: ...you are electrostatically discharged and avoid touching the contacts of the device directly Avoid contact with highly insulating materials synthetic fibers plastic film etc Surroundings working place packaging and personnel should by grounded probably when handling with the devices Each assembly must be terminated at the right hand end with an EL9011 or EL9012 bus end cap to en sure the protection...

Page 44: ...coupler Join the compo nents with tongue and groove and push the terminals against the mounting rail until the lock clicks onto the mounting rail If the terminals are clipped onto the mounting rail first and then pushed together without tongue and groove the connection will not be operational When correctly assembled no significant gap should be visible between the housings Fixing of mounting rail...

Page 45: ...nents The six spring contacts of the K Bus E Bus deal with the transfer of the data and the supply of the Bus Terminal electronics The power contacts deal with the supply for the field electronics and thus represent a supply rail within the bus terminal block The power contacts are supplied via terminals on the Bus Coupler up to 24 V or for higher voltages via power feed terminals Power Contacts D...

Page 46: ...sting 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 For insulation testing disconnect the PE supply line at the Bus Coupler or the Power Feed Terminal In or der to decouple further feed points for testing these Power Feed Terminals can be released and pulled at least 10 mm from the group of terminals WAR...

Page 47: ...sity Standard wiring ELxxxx KLxxxx Fig 30 Standard wiring The terminals of ELxxxx and KLxxxx series have been tried and tested for years They feature integrated screwless spring force technology for fast and simple assembly Pluggable wiring ESxxxx KSxxxx Fig 31 Pluggable wiring The terminals of ESxxxx and KSxxxx series feature a pluggable connection level The assembly and wiring procedure is the s...

Page 48: ...s Terminals from these series with 16 terminal points are distinguished by a particularly compact design as the packaging density is twice as large as that of the standard 12 mm Bus Terminals Massive conductors and conductors with a wire end sleeve can be inserted directly into the spring loaded terminal point without tools Wiring HD Terminals The High Density HD Terminals of the ELx8xx and KLx8xx...

Page 49: ... t toggle 2 The wire can now be inserted into the round terminal opening without any force 3 The terminal point closes automatically when the pressure is released holding the wire securely and permanently See the following table for the suitable wire size width Terminal housing ELxxxx KLxxxx ESxxxx KSxxxx Wire size width single core wires 0 08 2 5 mm2 0 08 2 5 mm2 Wire size width fine wire conduct...

Page 50: ... Wire size width fine wire conductors 0 25 1 5 mm2 Wire size width conductors with a wire end sleeve 0 14 0 75 mm2 Wire size width ultrasonically bonded conductors only 1 5 mm2 Wire stripping length 8 9 mm 5 3 3 Shielding Shielding Encoder analog sensors and actors should always be connected with shielded twisted paired wires ...

Page 51: ...ition requires the mounting rail to be installed horizontally and the connection surfaces of the EL KL terminals to face forward see Fig Recommended distances for standard installation position The terminals are ventilated from below which enables optimum cooling of the electronics through convection From below is relative to the acceleration of gravity Fig 34 Recommended distances for standard in...

Page 52: ...Mounting and wiring EL34xx 52 Version 1 5 Fig 35 Other installation positions ...

Page 53: ... 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 To ensure an optimal data transfer you must not directly string together more than 2 passive termi nals Examples for positioning of passive terminals highlighted Fig 36 Correct positioning Fig 37 Incorrect positioning ...

Page 54: ...r current measurements terminal point N should be earthed in order to avoid dangerous overvoltages in the event of a current transformer fault WARNING Caution Risk of electric shock Please note that many vendors do not permit their current transformers to be operated in no load mode Connect the EL3443 EL3453 to the secondary windings of the current transformers before using the current transformer...

Page 55: ... Machine 35 OP normal operating state mailbox and process data communication is possible System OK green on System OK L1 L3 OK green on Voltage in the normal range L1 L2 L3 flashes Voltage in the critical range warning threshold exceeded L1 L2 L3 off Voltage in prohibited range error threshold exceeded L1 L2 L3 L1 L3 Error red on Terminal point Description Comment Name No L1 1 Phase L1 Connections...

Page 56: ...35 PREOP function for mailbox communication and different default settings set Single flash State of the EtherCAT State Machine 35 SAFEOP verification of the Sync Manager 113 channels and the distributed clocks Outputs remain in safe state on State of the EtherCAT State Machine 35 OP normal operating state mailbox and process data communication is possible System OK green on System OK L1 L3 OK gre...

Page 57: ...Caution Risk of electric shock L2 2 Phase L2 L3 3 Phase L3 N 4 Neutral conductor N internally connected to terminal point 8 IL1 5 Consumer at phase L1 Connections for the current transformers Note the Warnings 54 above Caution Risk of electric shock IL2 6 Consumer at phase L2 IL3 7 Consumer at phase L3 N 8 Neutral conductor N internally connected to terminal point 4 ...

Page 58: ...Mounting and wiring EL34xx 58 Version 1 5 EL3453 LEDs and connection Fig 40 EL3453 LED s ...

Page 59: ...13 channels and the distributed clocks Outputs remain in safe state on State of the EtherCAT State Machine 35 OP normal operating state mailbox and process data communication is possible System OK green on System OK L1 L3 OK green on Right prism Voltage in normal range L1 L2 L3 flashes Right prism Voltage in the critical range warning threshold exceeded L1 L2 L3 off Right prism Voltage in prohibit...

Page 60: ...conductor current measurement input star point IL1 5 Phase L1 current measurement output IL2 6 Phase L2 current measurement output IL3 7 Phase L3 current measurement output IN 8 Neutral conductor current measurement output star point L1 1 Phase L1 Connections for the voltage measurement Note the Warnings 54 above Caution Risk of electric shock 2 n c L3 3 Phase L3 N 4 Neutral conductor internally c...

Page 61: ...35 PREOP function for mailbox communication and different default settings set Single flash State of the EtherCAT State Machine 35 SAFEOP verification of the Sync Manager 113 channels and the distributed clocks Outputs remain in safe state on State of the EtherCAT State Machine 35 OP normal operating state mailbox and process data communication is possible System OK green on System OK L1 L3 OK gre...

Page 62: ...4xx 62 Version 1 5 Terminal point Description Comment Name No L1 1 Phase L1 Connections for the voltage measurement Note the Warnings 54 above Caution Risk of electric shock L2 2 Phase L2 L3 3 Phase L3 N 4 Neutral conductor N ...

Page 63: ...ager I O Configuration In particular TwinCAT driver installation Fieldbus components Fieldbus Cards and Switches FC900x PCI Cards for Ethernet Installation Devices contain the terminals for the actual configuration All configuration data can be entered directly via editor functions offline or via the Scan function online offline The configuration can be customized by adding and positioning individ...

Page 64: ...d on the following sample configuration the subsequent subsections describe the procedure for TwinCAT 2 and TwinCAT 3 Control system PLC CX2040 including CX2100 0004 power supply unit Connected to the CX2040 on the right E bus EL1004 4 channel digital input terminal 24 V DC Linked via the X001 port RJ 45 EK1100 EtherCAT Coupler Connected to the EK1100 EtherCAT coupler on the right E bus EL2008 8 c...

Page 65: ...1004 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 66: ...stem Manager displays the following user interface after startup Fig 44 Initial TwinCAT 2 user interface 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 68 If the intention is to address the TwinCAT runtime environment i...

Page 67: ... shown in red perform a Broadcast Search if the exact computer name is not known enter the known computer IP or AmsNetID Fig 46 Specify the PLC for access by the TwinCAT System Manager selection of the target system Once the target system has been entered it is available for selection as follows a password may have to be entered After confirmation with OK the target system can be accessed via the ...

Page 68: ...menu Actions Set Reset TwinCAT to Config Mode Shift F4 Fig 47 Select Scan Devices Confirm the warning message which follows and select EtherCAT in the dialog Fig 48 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 Confi...

Page 69: ...nu which then reads the elements present in the configuration below Fig 50 Reading of individual terminals connected to a device This functionality is useful if the actual configuration is modified at short notice Programming and integrating the PLC TwinCAT PLC Control is the development environment for the creation of the controller in different program environments TwinCAT PLC Control supports a...

Page 70: ...nction 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 51 TwinCAT PLC Control after startup Sample variables and a sample program have been created and stored under the name PLC_example pro ...

Page 71: ...ccessful compilation TwinCAT PLC Control creates a tpy file in the directory in which the project was stored This file tpy contains variable assignments and is not known to the System Manager hence the warning Once the System Manager has been notified the warning no longer appears First integrate the TwinCAT PLC Control project in the System Manager via the context menu of the PLC configuration ri...

Page 72: ... Manager The two variables bEL1004_Ch4 and nEL2008_value can now be assigned to certain process objects of the I O configuration Assigning variables Open a window for selecting a suitable process object PDO via the context menu of a variable of the integrated project PLC_example and via Modify Link Standard Fig 55 Creating the links between PLC variables and process objects In the window that open...

Page 73: ...taneously 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 chan...

Page 74: ...ontext 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 The configuration can now be activated First the configuration can be verified via or via Actions Check Configurat...

Page 75: ...nk 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 This results in the message No program on the controller Should the new program be loaded which should be acknowledged with Yes The runtime environment is ready for the program start ...

Page 76: ...ronment areas available together with Microsoft Visual Studio after startup the project folder explorer appears on the left in the general window area cf TwinCAT System Manager of TwinCAT 2 for communication with the electromechanical components After successful installation of the TwinCAT system on the PC to be used for development TwinCAT 3 shell displays the following user interface after start...

Page 77: ... 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 62 Create new TwinCAT project The new project is then available in the project folder explorer ...

Page 78: ...led on the respective PLC TwinCAT can be used in local mode and thereby the next step is Insert Device 79 If the intention is to address the TwinCAT runtime environment installed on a PLC as development environment remotely from another system the target system must be made known first Via the symbol in the menu bar expand the pull down menu and open the following window Fig 64 Selection dialog Ch...

Page 79: ...en entered it is available for selection as follows a password may have to be entered After confirmation with OK the target system can be accessed via the Visual Studio shell Adding devices In the project folder explorer of the Visual Studio shell user interface on the left select Devices within element I O then right click to open a context menu and select Scan or start the action via in the menu...

Page 80: ... be acknowledged Based on the sample configuration 64 described at the beginning of this section the result is as follows Fig 68 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 then determine the connected elements such as boxes terminals etc A scan can also be initiated by s...

Page 81: ...ol supports all languages described in IEC 61131 3 There are two text based languages and three graphical languages Text based languages Instruction List IL 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 In order to create a programming envi...

Page 82: ...PLC_example as project name for example and select a corresponding directory Fig 71 Specifying the name and directory for the PLC programming environment The Main program which already exists by selecting Standard PLC project can be opened by double clicking on PLC_example_project in POUs The following user interface is shown for an initial project ...

Page 83: ...Commissioning EL34xx 83 Version 1 5 Fig 72 Initial Main program of the standard PLC project To continue sample variables and a sample program have now been created ...

Page 84: ...er followed by the compile process Fig 74 Start program compilation The following variables identified in the ST PLC program with AT are then available in under Assignments in the project folder explorer Assigning variables Via the menu of an instance variables in the PLC context use the Modify Link option to open a window for selecting a suitable process object PDO for linking ...

Page 85: ...ion tree Fig 76 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 The following ...

Page 86: ...ks can also be checked by selecting a Goto Link Variable from the context menu of a variable The object opposite in this case the PDO is automatically selected Fig 78 Application of a Goto Link variable using MAIN bEL1004_Ch4 as a sample The process of creating links can also take place in the opposite direction i e starting with individual PDOs to variable However in this example it would then no...

Page 87: ...the bottom right of the VS shell development environment The PLC system can then be started as described below 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 The run...

Page 88: ...utomation Visual Studio Integration Choice of the programming language Supports object orientated extension of IEC 61131 3 Usage of C C as programming language for real time applications Connection to MATLAB Simulink Open interface for expandability Flexible run time environment Active support of Multi Core und 64 Bit Operatingsystem Automatic code generation and project creation with the TwinCAT ...

Page 89: ...es 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 99 in order to view the compatible ethernet ...

Page 90: ...es 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 System Properties Network Fig 84 Windows properties of the network interface A correct setting of the driver could be ...

Page 91: ...Commissioning EL34xx 91 Version 1 5 Fig 85 Exemplary correct driver setting for the Ethernet port Other possible settings have to be avoided ...

Page 92: ...Commissioning EL34xx 92 Version 1 5 Fig 86 Incorrect driver settings for the Ethernet port ...

Page 93: ...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 driver setting and to disable DHCP In this way the delay associated with the DHCP client for the Ethernet port assigning itself a default IP address in the absence of a DHCP server is avoided A suitable address space is 192 168 x x for example Fig 87 TCP IP setting ...

Page 94: ... was current at the time when the TwinCAT build was created For TwinCAT 2 11 TwinCAT 3 and higher the ESI directory can be updated from the System Manager if the programming PC is connected to the Internet by TwinCAT 2 Option Update EtherCAT Device Descriptions TwinCAT 3 TwinCAT EtherCAT Devices Update Device Descriptions via ETG Website The TwinCAT ESI Updater 98 is available for this purpose ESI...

Page 95: ...sion 1019 or for an older revision The ESI must then be requested from the manufacturer in this case Beckhoff b an ESI is present for the EL2521 0000 device but only in an older revision e g 1018 or 1017 In this case an in house check should first be performed to determine whether the spare parts stock al lows the integration of the increased revision into the configuration at all A new higher rev...

Page 96: ...eleted as follows close all System Manager windows restart TwinCAT in Config mode delete OnlineDescription0000 xml restart TwinCAT System Manager This file should not be visible after this procedure if necessary press F5 to update OnlineDescription for TwinCAT 3 x In addition to the file described above OnlineDescription0000 xml a so called EtherCAT cache with new discovered devices is created by ...

Page 97: ...L34xx 97 Version 1 5 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 ...

Page 98: ...esence of the actual I O environment drives terminals EJ modules If the configuration is to be prepared in advance of the system configuration as a programming system e g on a laptop this is only possible in Offline configuration mode In this case all components have to be entered manually in the configuration e g based on the electrical design If the designed control system is already connected t...

Page 99: ...ation 109 can also be carried out for comparison 6 2 5 OFFLINE configuration creation Creating the EtherCAT device Create an EtherCAT device in an empty System Manager window Fig 96 Append EtherCAT device left TwinCAT 2 right TwinCAT 3 Select type EtherCAT for an EtherCAT I O application with EtherCAT slaves For the present publisher subscriber service in combination with an EL6601 EL6614 terminal...

Page 100: ...s can be appended by right clicking on a device in the configuration tree Fig 100 Appending EtherCAT devices left TwinCAT 2 right TwinCAT 3 The dialog for selecting a new device opens Only devices for which ESI files are available are displayed Only devices are offered for selection that can be appended to the previously selected device Therefore the physical layer available for this port is also ...

Page 101: ...ision can be displayed as Extended Information Fig 102 Display of device revision In many cases several device revisions were created for historic or functional reasons e g through technological advancement For simplification purposes see Fig Selection dialog for new EtherCAT device only the last i e highest revision and therefore the latest state of production is displayed in the selection dialog...

Page 102: ... This also enables subsequent replacement of devices without changing the configuration different specifications are possible for drives Example If an EL2521 0025 1018 is specified in the configuration an EL2521 0025 1018 or higher 1019 1020 can be used in practice Fig 104 Name revision of the terminal If current ESI descriptions are available in the TwinCAT system the last revision offered in the...

Page 103: ...Commissioning EL34xx 103 Version 1 5 Fig 105 EtherCAT terminal in the TwinCAT tree left TwinCAT 2 right TwinCAT 3 ...

Page 104: ...online search is not available in RUN mode production operation Note the differentiation be tween TwinCAT programming system and TwinCAT target system The TwinCAT 2 icon or TwinCAT 3 icon within the Windows Taskbar always shows the TwinCAT mode of the local IPC Compared to that the System Manager window of TwinCAT 2 or the user interface of TwinCAT 3 indicates the state of the target system Fig 10...

Page 105: ...he respective devices are lo cated in the stored ESI data and integrated in the configuration tree in the default state defined there Fig 110 Example default state NOTE Slave scanning in practice in series machine production The scanning function should be used with care It is a practical and fast tool for creating an initial configu ration as a basis for commissioning In series machine production...

Page 106: ...figuration B tsm in order to check the built machine However if the series machine production department now doesn t use B tsm but instead carries out a scan to create the productive configuration the revision 1019 is automatically detected and built into the configuration Fig 112 Detection of EtherCAT terminal with revision 1019 This is usually not noticed by the commissioning engineers TwinCAT c...

Page 107: ...ched to online state OPERATIONAL Fig 116 Config FreeRun query left TwinCAT 2 right TwinCAT 3 In Config FreeRun mode the System Manager display alternates between blue and red and the EtherCAT device continues to operate with the idling cycle time of 4 ms default setting even without active task NC PLC Fig 117 Displaying of Free Run and Config Mode toggling right below in the status bar Fig 118 Twi...

Page 108: ...ice is detected i e an EtherCAT slave for which no ESI XML description is available In this case the System Manager offers to read any ESI that may be stored in the device This case is described in the chapter Notes regarding ESI device description Device are not detected properly Possible reasons include faulty data links resulting in data loss during the scan slave has invalid device description...

Page 109: ...guration is then replaced by the revision found this can affect the supported process data and functions If a scan is initiated for an existing configuration the actual I O environment may match the configuration exactly or it may differ This enables the configuration to be compared Fig 121 Identical configuration left TwinCAT 2 right TwinCAT 3 If differences are detected they are shown in the cor...

Page 110: ...ased on the higher revision number Device selection based on revision compatibility The ESI description also defines the process image the communication type between master and slave device and the device functions if applicable The physical device firmware if available has to support the communication queries settings of the master This is backward compatible i e newer devices higher revision sho...

Page 111: ...T offers a function Change to Compatible Type for the exchange of a device whilst retaining the links in the task Fig 125 Dialog Change to Compatible Type left TwinCAT 2 right TwinCAT 3 This function is preferably to be used on AX5000 devices Change to Alternative Type The TwinCAT System Manager offers a function for the exchange of a device Change to Alternative Type Fig 126 TwinCAT 2 Dialog Chan...

Page 112: ...abs are now available for configuring the terminal And yet the dimension of complexity of a subscriber determines which tabs are provided Thus as illustrated in the example above the terminal EL3751 provides many setup options and also a respective number of tabs are available On the contrary by the terminal EL1004 for example the tabs General EtherCAT Process Data and Online are available only Se...

Page 113: ...ng the start up phase Tick the control box to the left of the input field in order to modify the default value Previous Port Name and port of the EtherCAT device to which this device is connected If it is possible to connect this device with another one without changing the order of the EtherCAT devices in the communication ring then this combination field is activated and the EtherCAT device to w...

Page 114: ...modifications include mask out a channel displaying additional cyclic information 16 bit display instead of 8 bit data size etc In so called intelligent EtherCAT devices the process data information is also stored in the CoE directory Any changes in the CoE directory that lead to different PDO settings prevent successful startup of the slave It is not advisable to deviate from the designated proce...

Page 115: ... incorrect configuration the EtherCAT slave usu ally refuses to start and change to OP state The System Manager displays an invalid SM cfg log ger message This error message invalid SM IN cfg or invalid SM OUT cfg also indicates the reason for the failed start A detailed description 120 can be found at the end of this section Startup tab The Startup tab is displayed if the EtherCAT slave has a mai...

Page 116: ...ent to the mailbox Move Up This button moves the selected request up by one position in the list Move Down This button moves the selected request down by one position in the list New This button adds a new mailbox download request to be sent during startup Delete This button deletes the selected entry Edit This button edits an existing request CoE Online tab The additional CoE Online tab is displa...

Page 117: ...ject can be read but no data can be written to the object read only P An additional P identifies the object as a process data object Value Value of the object Update List The Update list button updates all objects in the displayed list Auto Update If this check box is selected the content of the objects is updated automatically Advanced The Advanced button opens the Advanced Settings dialog Here y...

Page 118: ...ects 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 Online tab Fig 135 Online tab ...

Page 119: ...gain Current State Indicates the current state of the EtherCAT device Requested State Indicates the state requested for the EtherCAT device DLL Status Indicates the DLL status data link layer status of the individual ports of the EtherCAT slave The DLL status can have four different states Status Description No Carrier Open No carrier signal is available at the port but the port is open No Carrier...

Page 120: ... is deactivated not selected and greyed out this indicates that the input is excluded from the PDO assignment In order to be able to select a greyed out PDO the currently selected PDO has to be deselected first Activation of PDO assignment ü If you have changed the PDO assignment in order to activate the new PDO assignment a the EtherCAT slave has to run through the PS status transition cycle from...

Page 121: ... 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 Diagnosis in real time WorkingCounter EtherCAT State and Status Generally speaking an EtherCAT Slave provides a variety of diagnostic information that can be used by the controlling task This...

Page 122: ... EtherCAT Master updated in every cycle red Output variables from the Slave to the EtherCAT Master updated in every cycle green Information variables for the EtherCAT Master that are updated acyclically This means that it is possible that in any particular cycle they do not represent the latest possible status It is therefore useful to read such variables through ADS Fig Basic EtherCAT Slave Diagn...

Page 123: ...ion This may possibly have effects on the process data of other Slaves that are located in the same Syn cUnit In order for the higher level PLC task or cor responding control applications to be able to rely on correct data the communication sta tus of the EtherCAT Slave must be evaluated there Such information is therefore provided with the process data for the most recent cy cle D Diagnostic info...

Page 124: ...locally in the slave depends on the device EL terminals except the EL66xx are able to save in this way The user must manage the changes to the StartUp list Commissioning aid in the TwinCAT System Manager Commissioning interfaces are being introduced as part of an ongoing process for EL EP EtherCAT devices These are available in TwinCAT System Managers from TwinCAT 2 11R2 and above They are integra...

Page 125: ...l operation After the operating power is switched on an EtherCAT Slave must go through the following statuses INIT PREOP SAFEOP OP to ensure sound operation The EtherCAT Master directs these statuses in accordance with the initialization routines that are defined for commissioning the device by the ES XML and user settings Distributed Clocks DC PDO CoE See also the section on Principles of Communi...

Page 126: ...t as standard EtherCAT Master OP Slaves OP This setting applies equally to all Slaves Fig 141 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 Fig 142 Default target state in the Slave ...

Page 127: ...ve Fig 143 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 Information on how much current each EL terminal requires from the E bus supply is available online and in the catalogue...

Page 128: ...bove a warning message E Bus Power of Terminal is output in the logger window when such a configuration is activated Fig 145 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 ...

Page 129: ...data 6 4 1 Sync Manager The scope of the process data offered can be viewed on the Process data tab The following figures show the assigned input process data objects PDOs of the EL34xx Sync Manager SM3 as examples Fig 146 Process Data tab SM3 EL3423 ...

Page 130: ...Commissioning EL34xx 130 Version 1 5 Fig 147 Process Data tab SM3 EL3443 ...

Page 131: ...Commissioning EL34xx 131 Version 1 5 Fig 148 Process Data tab SM3 EL3453 ...

Page 132: ...Commissioning EL34xx 132 Version 1 5 Fig 149 Process Data tab SM3 EL3483 ...

Page 133: ...M3 PDO assignment Default 0x1A00 L1 Status 0x1A03 L1 Energy 0x1A0A L2 Status 0x1A0D L2 Energy 0x1A14 L3 Status 0x1A17 L3 Energy 0x1A1E Total Total Status 0x1A21 Total Total Active 0x1A22 Total Total Apparent 0x1A23 Total Total Reactive Default Statistics 0x1A00 L1 Status 0x1A03 L1 Energy 0x1A06 L1 Statistic Voltage 0x1A0A L2 Status 0x1A0D L2 Energy 0x1A10 L2 Statistic Voltage 0x1A14 L3 Status 0x1A...

Page 134: ...15 L3 Basic 0x1A16 L3 Power 0x1A18 L3 Timing 0x1A1E Total Total Status 0x1A1F Total Total Basic 0x1A25 Total Variant Value In Advanced 0x1A00 L1 Status 0x1A01 L1 Basic 0x1A02 L1 Power 0x1A03 L1 Energy 0x1A04 L1 Timing 0x1A0A L2 Status 0x1A0B L2 Basic 0x1A0C L2 Power 0x1A0D L2 Energy 0x1A0E L2 Timing 0x1A14 L3 Status 0x1A15 L3 Basic 0x1A16 L3 Power 0x1A17 L3 Energy 0x1A18 L3 Timing 0x1A1E Total Tot...

Page 135: ...ice 0x1A00 L1 Status 0x1A09 L1 Classic 0x1A0A L2 Status 0x1A13 L2 Classic 0x1A14 L3 Status 0x1A1D L3 Classic 0x1A1E Total Total Status Single Phase 0x1600 Total Outputs Device 0x1601 Total Interval 0x1A00 L1 Status 0x1A01 L1 Basic 0x1A02 L1 Power 0x1A03 L1 Energy 0x1A04 L1 Timing 0x1A06 L1 Statistic Voltage 0x1A1E Total Total Status 0x1A1F Total Total Basic 0x1A25 Total Variant Value In 0x1A28 Tot...

Page 136: ...Basic 0x1A02 L1 Power 0x1A07 L1 Advanced 0x1A0C L2 Status 0x1A0D L2 Basic 0x1A0E L2 Power 0x1A13 L2 Advanced 0x1A18 L3 Status 0x1A19 L3 Basic 0x1A1A L3 Power 0x1A1F L3 Advanced 0x1A24 Total Status 0x1A25 Total Basic 0x1A26 Total Advanced Total Only 0x1600 Total Variant Value Out 0x1A00 L1 Status 0x1A0C L2 Status 0x1A18 L3 Status 0x1A24 Total Status 0x1A25 Total Basic 0x1A26 Total Advanced 0x1A27 A...

Page 137: ...assignment SM3 PDO assignment Default 0x1A00 L1 Status 0x1A0A L2 Status 0x1A14 L3 Status 0x1A1E Total Total Status 0x1A20 Total Total Advanced 6 4 2 Settings Settings Tab Fig 150 Settings tab The Settings tab provides direct access to the most important configuration objects in the object data dictionary It facilitates the terminal configuration ...

Page 138: ...60A 12 189 0xF60A 14 189 0xF60A 16 189 0xF60A 18 189 The calculated values can be output on the PDOs PMX Variant Value In Subindex Variant value In 0xF60A 12 0xF60A 14 0xF60A 16 0xF60A 18 To this end the corresponding values for the measured value to be output should be entered in the PDOs PMX Variant Value Out Subindex PMX Variant Value Out 0xF700 11 191 0xF700 12 191 0xF700 13 191 0xF700 14 191 ...

Page 139: ...z Frequency of this phase 21 Phi Phase angle of the fundamental wave 22 Cos phi Cosine of the fundamental wave phase angle 23 Power Factor Power factor 26 P W Active power 27 Pavg W Average active power during the last interval 28 Pmin W Minimum active power in the last interval 29 Pmax W Maximum active power in the last interval 30 Pfund W Fundamental wave active power in the last in terval 32 S ...

Page 140: ...ference frequency of the voltage harmonic Specifies the underlying fundamental fre quency e g 50 or 60 Hz 100 141 163 Harmonics U 0 to 41 up to 63 of the fundamental wave 0 DC component 1 fundamental wave 2 2nd harmonic 3 3rd harmonic 165 THD_I Total Harmonic Distortion is the distortion fac tor of the current It indicates the ratio of the harmonic components of an oscillation relative to its fund...

Page 141: ... Var Average total reactive power during the last in terval 1064 1024 40 Qtotmin Var Minimum total reactive power in the last interval 1065 1024 41 Qtotmax Var Maximum total reactive power in the last inter val 1069 1024 45 Eptot mWh Balanced total active energy 1070 1024 46 EPtot pos mWh Related total active energy 1071 1024 47 EPtot neg mWh Input total active energy 1072 1024 48 Eptot_intervall ...

Page 142: ...undamental wave reactive en ergy 1138 1024 114 EQtot_fund neg mWh Capacitive total fundamental wave reactive en ergy 1139 1024 115 EQtot_fund _inter vall mWh Balanced total fundamental wave reactive en ergy in the last interval 1140 1024 116 EQtot_fund pos_in tervall mWh Inductive total fundamental wave reactive en ergy in the last interval 1141 1024 117 EQtot_fund neg_in tervall mWh Capacitive to...

Page 143: ...el 1 Power quality factor setting To adapt the power quality factor to your mains supply enter the nominal voltage and frequency in CoE object 0xF801 PMX Total Settings PQF 159 This can also be done via the Settings tab which summarizes all the important terminal setting options in a user friendly manner 6 4 3 Timestamp Distributed Clocks The terminal transfers the time of the voltage zero crossin...

Page 144: ...mer ratios are stored in the CoE Index 80n0 PMX Settings of the terminal these can be skipped as scaling factors in the PLC Scaling factors for the Classic mode of the EL3443 00xx Values Calculation Current Raw values x 0 0001 A x current transformer ratio Voltage Raw values x 0 001 V x voltage transformer ratio Active power Raw values x 0 001 W x current and voltage transformer ratio Apparent pow...

Page 145: ...his applies to both symmetrical and asymmetrical measuring spans Fig 151 Full scale value measuring span For the above examples this means Measuring range 0 10 V asymmetric unipolar full scale value 10 V measuring span 10 V Measuring range 4 20 mA asymmetric unipolar full scale value 20 mA measuring span 16 mA Measuring range 200 1370 C asymmetric bipolar full scale value 1370 C measuring span 157...

Page 146: ... to a greater or lesser degree In analog measurement technology this means that when a measured value is determined by means of an electronic circuit its deviation from the true value is reproducibly dependent on the ambient operating temperature A manufacturer can alleviate this by using components of a higher quality or by software means The temperature coefficient when indicated specified by Be...

Page 147: ...een two potential points For voltage measurements a large R is used in order to ensure a high impedance For current measurements a small R is used as shunt If the purpose is resistance measurement corresponding considerations are applied Beckhoff generally refers to these two points as input signal potential and input reference potential For measurements between two potential points two potentials...

Page 148: ...mportant to pay attention to the quality of this potential noiselessness voltage stability At this GND point a wire may be connected to make sure that VCM max is not exceeded in the differential sensor cable If differential channels are not electrically isolated usually only one VCM max is permitted If the channels are electrically isolated this limit should not apply and the channels voltages may...

Page 149: ...nufactured on the application side to be connected with the right polarity to Signal and Signal It is important to refer to the information page Configuration of 0 4 20 mA differential inputs see documentation for the EL30xx terminals for example Externally supplied sensors 3 and 4 wire connection see Fig Connection of externally supplied sensors cf IEC60381 1 the sensor draws the energy operating...

Page 150: ... and related product groups exactly the same Differential EL3x1x 0 20 mA EL3x2x 4 20 mA KL and related product groups exactly the same Preferred current direction because of internal diode Preferred current direction because of internal diode Designed for the connection of externally supplied sensors with a 3 4 wire connection The terminal box is a passive differential current measuring de vice pa...

Page 151: ...Commissioning EL34xx 151 Version 1 5 Single ended Differential Fig 155 2 3 and 4 wire connection at single ended and differential inputs ...

Page 152: ...nder consideration For multi channel terminals boxes with resistive direct ohmic galvanic or capacitive connection between the channels the reference ground should preferably be the symmetry point of all channels taking into account the connection resistances Reference ground samples for Beckhoff IO devices 1 Internal AGND fed out EL3102 EL3112 resistive connection between the channels 2 0V power ...

Page 153: ... user perspective they all have a common characteristic after the conversion a certain digital value is available in the controller for further processing This digital value the so called analog process data has a fixed temporal relationship with the original parameter i e the electrical input value Therefore corresponding temporal characteristic data can be determined and specified for Beckhoff a...

Page 154: ...chronous or more quickly if the AI channel operates in slow FreeRun mode or more slowly e g with oversampling is then a question of the fieldbus setting and which modes the AI device supports For EtherCAT devices the so called toggle bit indicates by toggling for the diagnostic PDOs when a newly determined analog value is available Accordingly a maximum conversion time i e a smallest sampling rate...

Page 155: ...sawtooth or sine A simultaneous square wave signal would be used as reference The signal delay ms µs is then the interval between the applied electrical signal with a particular amplitude and the moment at which the analog process value reaches the same value A meaningful range must be selected for the test frequency e g 1 20 of the maximum sampling rate Fig 160 Diagram signal delay linear 3 Addit...

Page 156: ...Commissioning EL34xx 156 Version 1 5 Actual sampling rate of the ADC if different from the channel sampling rate Time correction values for run times with different filter settings etc ...

Page 157: ...setting changes Introduction The CoE overview contains objects for different intended applications Objects required for parameterization during commissioning Restore object index 0x1011 Configuration data index 0xF800 Objects intended for regular operation e g through ADS access PM command object index 0xFB00 Profile specific objects Configuration data vendor specific index 0x80nF Input data index...

Page 158: ...1065353216dec 80n0 12 Current Transformer Ratio The ratio of the current transformer used can be en tered here REAL32 RW 0x3F800000 1065353216dec 80n0 13 Current Transformer Delay Here you can enter a possible time delay of the cur rent transformers in milliseconds REAL32 RW 0x00000000 0dec Index 80n1 PMX Guard Settings for ch 1 n 0 ch 2 n 1 ch 3 n 2 Index hex Name Meaning Data type Flags Default ...

Page 159: ...duction Here you can enter a minimum limit value in percent for the power calculation below which all values are zeroed REAL32 RW 0x3F800000 1065353216dec F800 15 Inaccurate Threshold Voltage Limit value for the warning bit Inaccurate Voltage REAL32 RW 0x3FDC28F6 1071393014dec F800 16 Inaccurate Threshold Current Limit value for the warning bit Inaccurate Current REAL32 RW 0x3BC49BA6 1002740646dec...

Page 160: ...Commissioning EL34xx 160 Version 1 5 Index F802 PMX Guard Settings ...

Page 161: ...an active power warning mes sage REAL32 RW 0 000000 0 000000e 000 F802 1B Active Power Guard Max Warning Upper limit value for an active power warning mes sage REAL32 RW 0 000000 0 000000e 000 F802 1C Active Power Guard Max Error Upper limit value for an active power error message REAL32 RW 0 000000 0 000000e 000 F802 1D Apparent Power Guard Min Error Lower limit value for an apparent power error ...

Page 162: ...milliseconds REAL32 RW 0x00000000 0dec 80nF 14 Calibration Current Offset Value in A REAL32 RW 0x00000000 0dec 80nF 15 Calibration Current Gain Factor without unit REAL32 RW 0x3F800000 1065353216dec 80nF 16 Calibration Current Phase Offset Value in milliseconds REAL32 RW 0x00000000 0dec 6 7 2 4 Input data Index 60n0 PMX status n 0 1 2 Index hex Name Meaning Data type Flags Default 60n0 0 PMX Statu...

Page 163: ...rrent RMS Mini mum Minimum RMS value of the current in the last interval in A REAL32 RO 0x00000000 0dec 60n9 13 Current RMS Maxi mum Maximum RMS value of the current in the last inter val in A REAL32 RO 0x00000000 0dec Index 60nA PMX Statistic Power n 0 1 2 Index hex Name Meaning Data type Flags Default 60nA 0 PMX Statistic Power Max Subindex UINT8 RO 0x19 25dec 60nA 11 Active Power Avg Average ac...

Page 164: ...0dec F600 0B Power Quality Guard Warning A warning limit of the PQF monitor has been breached BOOLEAN RO 0x00 0dec F600 0C Power Quality Guard Error An error limit of the PQF monitor has been breached BOOLEAN RO 0x00 0dec F600 0F TxPDO State TRUE for general error BOOLEAN RO 0x00 0dec F600 10 TxPDO Toggle The TxPDO toggle is toggled by the slave when the data of the associated TxPDO is updated BOO...

Page 165: ...Average total apparent power during the last interval in VA REAL32 RO 0x00000000 0dec F60B 15 Apparent Power Min Minimum total apparent power in the last interval in VA REAL32 RO 0x00000000 0dec F60B 16 Apparent Power Max Maximum total apparent power in the last interval in VA REAL32 RO 0x00000000 0dec F60B 17 Reactive Power Avg Average total reactive power average during the last interval in Var ...

Page 166: ...val in Wh REAL32 RO 0x00000000 0dec Index F612 PMX Total Active Reduced Index hex Name Meaning Data type Flags Default F612 0 PMX Total Active Re duced Max subindex UINT8 RO 0x12 18dec F612 11 Active Power Active power in W REAL32 RO 0x00000000 0dec F612 12 Active Energy Active energy in mWh INT64 RO 0x00000000 0dec Index F613 PMX Total Apparent Reduced Index hex Name Meaning Data type Flags Defau...

Page 167: ... mum Maximum RMS value of the current in the last inter val in A REAL32 RO 0x00000000 0dec Index 90n2 PMX info data power for ch 1 n 0 ch 2 n 1 ch 3 n 2 Index hex Name Meaning Data type Flags Default 90n2 0 PMX Info data Power Max subindex UINT8 RO 0x1B 27dec 90n2 11 Active Power Avg Average active phase power during the last interval in W REAL32 RO 0x00000000 0dec 90n2 12 Active Power Min Minimum...

Page 168: ...revision Index hex Name Meaning Data type Flags Default F081 0 Download revision Max subindex UINT8 RO 0x01 1dec F010 01 Revision number Configured revision of the terminal see note UINT32 RW 0x00000000 0dec Index F80F PM Vendor data Index hex Name Meaning Data type Flags Default F80F 0 PMX Vendor data Max subindex UINT8 RO 0x11 17dec F80F 11 Type Vendor specific data UINT32 RW 0x00000000 0dec Ind...

Page 169: ...04 11 PQF Avg Average value of the power quality factor during the last interval REAL32 RO 0x00000000 0dec F904 12 PQF Min Minimum power quality factor in the last interval REAL32 RO 0x00000000 0dec F904 13 PQF Max Maximum power quality factor in the last interval REAL32 RO 0x00000000 0dec Index FA00 PMX Diag data Index hex Name Meaning Data type Flags Default FA00 0 PMX Diag data Max subindex UIN...

Page 170: ... the low byte bit 0 7 of the low word contains the year of produc tion the high byte bit 8 15 of the low word contains the week of production the high word bit 16 31 is 0 UINT32 RO e g 0x00001E06 KW 30 2006 Index 10F0 Backup parameter Index hex Name Meaning Data type Flags Default 10F0 0 Backup parameter Length of this object UINT8 RO 0x01 10F0 01 Checksum Checksum UINT32 RW 0x00000000 0dec Index ...

Page 171: ... 6 PDO Mapping entry object 0x60n0 PMX Status entry 0x06 Voltage Guard Warning UINT32 RO 0x60n0 06 1 1App 07 SubIndex 007 7 PDO Mapping entry object 0x60n0 PMX Status entry 0x07 Voltage Guard Error UINT32 RO 0x60n0 07 1 1App 08 SubIndex 008 8 PDO Mapping entry 8 bits align UINT32 RO 0x0000 00 8 1App 09 SubIndex 009 9 PDO Mapping entry object 0x60n0 PMX Status entry 0x10 TxPDO Toggle UINT32 RO 0x60...

Page 172: ... Statistic Power entry 0x11 Active Power Avg UINT32 RO 0x60nA 11 32 1App 02 SubIndex 002 2 PDO Mapping entry object 0x60nA PMX Statistic Power entry 0x12 Active Power Min UINT32 RO 0x60nA 12 32 1App 03 SubIndex 003 3 PDO Mapping entry object 0x60nA PMX Statistic Power entry 0x13 Active Power Max UINT32 RO 0x60nA 13 32 1App 04 SubIndex 004 4 PDO Mapping entry object 0x60nA PMX Statistic Power entry...

Page 173: ...tus entry 0x0B Power Quality Guard Warning UINT32 RO 0xF600 0B 1 1A1E 0C SubIndex 012 12 PDO Mapping entry object 0xF600 PMX Total Status entry 0x0C Power Quality Guard Error UINT32 RO 0xF600 0C 1 1A1E 0D SubIndex 013 13 PDO Mapping entry 2 bits align UINT32 RO 0x0000 00 2 1A1E 0E SubIndex 014 14 PDO Mapping entry object 0xF600 PMX Total Status entry 0x0F TxPDO State UINT32 RO 0xF600 0F 1 1A1E 0F ...

Page 174: ...DO Mapping entry object 0xF60B PMX Total Statistic Power entry 0x11 Active Power Avg UINT32 RO 0xF60B 11 32 1A26 02 SubIndex 002 2 PDO Mapping entry object 0xF60B PMX Total Statistic Power entry 0x12 Active Power Min UINT32 RO 0xF60B 12 32 1A26 03 SubIndex 003 3 PDO Mapping entry object 0xF60B PMX Total Statistic Power entry 0x13 Active Power Max UINT32 RO 0xF60B 13 32 1A26 04 SubIndex 004 4 PDO M...

Page 175: ...ive Energy UINT32 RO 0xF60D 17 32 1A28 0A SubIndex 010 10 PDO Mapping entry object 0xF60D PMX Total Interval Energy entry 0x18 Reactive Energy Posi tive UINT32 RO 0xF60D 18 32 1A28 0B SubIndex 011 11 PDO Mapping entry object 0xF60D PMX Total Interval Energy entry 0x19 Reactive Energy Nega tive UINT32 RO 0xF60D 19 32 Index 1A29 Total TxPDO Map Active Reduced Index hex Name Meaning Data type Flags D...

Page 176: ...0xF615 12 32 1A2C 05 SubIndex 005 5 PDO Mapping entry object 0xF615 PMX Total In terval Energy Reduced entry 0x13 reactive En ergy UINT32 RO 0xF615 13 32 Index 1C00 Sync manager type Index hex Name Meaning Data type Flags Default 1C00 0 Sync manager type Length of this object UINT8 RO 0x04 4dec 1C00 01 SubIndex 001 Sync Manager Type Channel 1 Mailbox Write UINT8 RW 0x01 1dec 1C00 02 SubIndex 002 S...

Page 177: ...dec 1C13 0B SubIndex 011 11 allocated TxPDO contains the index of the asso ciated TxPDO mapping object UINT16 RW 0x0000 0dec 1C13 0C SubIndex 012 12 allocated TxPDO contains the index of the asso ciated TxPDO mapping object UINT16 RW 0x0000 0dec 1C13 0D SubIndex 013 13 allocated TxPDO contains the index of the asso ciated TxPDO mapping object UINT16 RW 0x0000 0dec 1C13 0E SubIndex 014 14 allocated...

Page 178: ...1C32 08 UINT16 RO 0x0805 2053dec 1C32 05 Minimum cycle time Minimum cycle time in ns UINT32 RO 0x0007A120 500000dec 1C32 06 Calc and copy time Minimum time between SYNC0 and SYNC1 event in ns DC mode only UINT32 RO 0x00000384 900dec 1C32 07 Minimum delay time UINT32 RO 0x00000384 900dec 1C32 08 Command 0 Measurement of the local cycle time is stopped 1 Measurement of the local cycle time is starte...

Page 179: ...6 RO 0x0805 2053dec 1C33 05 Minimum cycle time as 1C32 05 UINT32 RO 0x0007A120 500000dec 1C33 06 Calc and copy time Time between reading of the inputs and availability of the inputs for the master in ns only DC mode UINT32 RO 0x0007A120 500000dec 1C33 07 Minimum delay time UINT32 RO 0x00000384 900dec 1C33 08 Command as 1C32 08 UINT16 RW 0x0000 0dec 1C33 09 Maximum delay time Time between SYNC1 eve...

Page 180: ...action in the terminal The command is started by writing subindex 1 request Write access is disabled until the current command is completed Index hex Name Meaning Data type Flags Default FB00 0 PM Command Largest subindex of this object UINT8 RO 0x03 FB00 01 Request Byte 0 service request data OCTET STRING 2 RW 0x0000 0dec 4hex Clear energy Byte 1 channel selection 00hex all channels 01hex Channel...

Page 181: ...cur rent transformers in milliseconds REAL32 RW 0x00000000 0dec Index 80n1 PMX Guard Settings for ch 1 n 0 ch 2 n 1 ch 3 n 2 Index hex Name Meaning Data type Flags Default 80n1 0 PMX Guard Settings Max subindex UINT8 RO 0x14 20dec 80n1 11 Voltage Guard Min Error Lower limit value for a voltage error message REAL32 RW 0x40000000 1073741824dec 80n1 12 Voltage Guard Min Warning Lower limit value for ...

Page 182: ...nt F800 12 Measurement Range Filter setting for determining the fundamental permitted values UINT32 RW 0x00000000 0dec 0 25 65 Hz default 1 25 400 Hz 2 12 45 Hz F800 13 Frequency Source Source of the system frequency permitted values BIT1 RW 0x00000000 0dec 0 Channel 1 default 1 Channel 2 2 Channel 3 F800 14 Power Calculation Threshold Noise reduction Here you can enter a minimum limit value in pe...

Page 183: ...Commissioning EL34xx 183 Version 1 5 Index F802 PMX Guard Settings ...

Page 184: ...an active power warning mes sage REAL32 RW 0 000000 0 000000e 000 F802 1B Active Power Guard Max Warning Upper limit value for an active power warning mes sage REAL32 RW 0 000000 0 000000e 000 F802 1C Active Power Guard Max Error Upper limit value for an active power error message REAL32 RW 0 000000 0 000000e 000 F802 1D Apparent Power Guard Min Error Lower limit value for an apparent power error ...

Page 185: ...milliseconds REAL32 RW 0x00000000 0dec 80nF 14 Calibration Current Offset Value in A REAL32 RW 0x00000000 0dec 80nF 15 Calibration Current Gain Factor without unit REAL32 RW 0x3F800000 1065353216dec 80nF 16 Calibration Current Phase Offset Value in milliseconds REAL32 RW 0x00000000 0dec 6 7 3 4 Input data Index 60n0 PMX status n 0 1 2 Index hex Name Meaning Data type Flags Default 60n0 0 PMX Statu...

Page 186: ...0 PMX Advanced Max Subindex UINT8 RO 0x14 20dec 60n7 10 TxPDO Toggle The TxPDO toggle is toggled by the slave when the data of the associated TxPDO is updated BOOLEAN RO 0x00 0dec 60n7 11 Voltage Total Har monic Distortion Total Harmonic Distortion is the distortion factor of the voltage It indicates the ratio of the harmonic components of an oscillation relative to its fundamen tal in REAL32 RO 0...

Page 187: ...x00000000 0dec 60nA 15 Apparent Power Max Maximum apparent power in the last interval in VA REAL32 RO 0x00000000 0dec 60nA 16 Reactive Power Avg Average reactive power average during the last inter val in var REAL32 RO 0x00000000 0dec 60nA 17 Reactive Power Min Minimum reactive power in the last interval in var REAL32 RO 0x00000000 0dec 60nA 18 Reactive Power Max Maximum reactive power in the last...

Page 188: ... error limit of the PQF monitor has been breached BOOLEAN RO 0x00 0dec F600 0F TxPDO State TRUE for general error BOOLEAN RO 0x00 0dec F600 10 TxPDO Toggle The TxPDO toggle is toggled by the slave when the data of the associated TxPDO is updated BOOLEAN RO 0x00 0dec F600 11 Power Quality Factor Analog value of the voltage quality between 1 0 and 0 see basic function principles Power Quality Fac to...

Page 189: ...reactive energy in mWh UINT64 RO Index F609 PMX Total L L Voltages Index hex Name Meaning Data type Flags Default F609 0 PMX Total L L Volt ages Max subindex UINT8 RO 0x13 19dec F609 11 L1 L2 Voltage RMS value of the phase to phase voltage between L1 and L2 in V REAL32 RO 0x00000000 0dec F609 12 L2 L3 Voltage RMS value of the phase to phase voltage between L2 and L3 in V REAL32 RO 0x00000000 0dec ...

Page 190: ...00 0dec F60C 13 PQF Max Maximum power quality factor in the last interval REAL32 RO 0x00000000 0dec Index F60D PMX Total Interval Energy Index hex Name Meaning Data type Flags Default F60D 0 PMX Total Interval Energy Max subindex UINT8 RO 0x19 25dec F60D 10 TxPDO Toggle The TxPDO toggle is toggled by the slave when the data of the associated TxPDO is updated BOOLEAN RO 0x00 0dec F60D 11 Active Ene...

Page 191: ...ec F615 12 Apparent Energy Balanced total apparent energy in the last interval in VAh REAL32 RO 0x00000000 0dec F615 13 Reactive Energy Balanced total reactive energy in the last interval in var REAL32 RO 0x00000000 0dec 6 7 3 5 Output data Index F700 PMX Variant Value Out Index hex Name Meaning Data type Flags Default F700 0 PMX Variant Value Out Max subindex UINT8 RO 0x14 20dec F700 11 Index 1 R...

Page 192: ...n 1 ch 3 n 2 Index hex Name Meaning Data type Flags Default 90n2 0 PMX Info data Power Max subindex UINT8 RO 0x1B 27dec 90n2 11 Active Power Avg Average active phase power during the last interval in W REAL32 RO 0x00000000 0dec 90n2 12 Active Power Min Minimum active phase power during the last interval in W REAL32 RO 0x00000000 0dec 90n2 13 Active Power Max Maximum active phase power during the l...

Page 193: ... harmonic in of the fundamental wave REAL32 RO 0x00000000 0dec 90n4 04 Harmonic 3 Third harmonic in of the fundamental wave REAL32 RO 0x00000000 0dec 90n4 2A Harmonic 41 41st harmonic in of the fundamental wave REAL32 RO 0x00000000 0dec Index 90n5 PMX Harmonic Current for ch 1 n 0 ch 2 n 1 ch 3 n 2 Index hex Name Meaning Data type Flags Default 90n5 0 PMX Harmonic Volt age Ch 1 Max subindex UINT8 ...

Page 194: ...in var REAL32 RO 0x00000000 0dec F902 19 Reactive Power Max Maximum total reactive power in the last interval in var REAL32 RO 0x00000000 0dec Index F903 PMX Total Info data Energy Index hex Name Meaning Data type Flags Default F903 0 PMX Total Info data Energy Max subindex UINT8 RO 0x19 25dec F903 11 Active Energy Recorded total active energy in mWh INT64 RO F903 12 Positive Active En ergy Receiv...

Page 195: ...9 Hardware version Index hex Name Meaning Data type Flags Default 1009 0 Hardware version Hardware version of the EtherCAT slave STRING RO Index 100A Software Version Index hex Name Meaning Data type Flags Default 100A 0 Software version Firmware version of the EtherCAT slave STRING RO Index 100B Bootloader version Index hex Name Meaning Data type Flags Default 100B 0 Bootloader version Bootloader...

Page 196: ... Index 10F9 Time Distribution Object Index Name Meaning Data type Flags Default 10F9 0 Time Distribution Ob ject Max Subindex UINT8 RO 0x01 1dec 10F9 01 Distributed Time Value Object for time distribution by the EtherCAT Master INT64 RW Index 1600 Total RxPDO Map Outputs Device Index hex Name Meaning Data type Flags Default 1600 0 Total RxPDO Map Outputs Device PDO Mapping RxPDO 1 UINT8 RO 0x04 4d...

Page 197: ...60n0 10 1 for L1 n 0 L2 n 1 L3 n 2 Index 1App TxPDO Map Basic for L1 pp 01 L2 pp 0B L3 pp 15 Index hex Name Meaning Data type Flags Default 1App 0 TxPDO Map Statistic Basic PDO Mapping TxPDO UINT8 RO 0x02 2dec 1App 01 SubIndex 001 1 PDO Mapping entry object 0x60n1 PMX Basic entry 0x11 Voltage UINT32 RO 0x60n1 11 32 1App 02 SubIndex 002 2 PDO Mapping entry object 0x60n1 PMX Basic entry 0x12 Current...

Page 198: ...60n7 13 32 1App 06 SubIndex 006 6 PDO Mapping entry object 0x60n7 PMX Ad vanced entry 0x14 Cos Phi UINT32 RO 0x60n7 14 32 for L1 n 0 L2 n 1 L3 n 2 Index 1App TxPDO Map Statistic Voltage for L1 pp 06 L2 pp 10 L3 pp 1A Index hex Name Meaning Data type Flags Default 1App 0 TxPDO Map Statistic Voltage PDO Mapping TxPDO UINT8 RO 0x03 3dez 1App 01 SubIndex 001 1 PDO Mapping entry object 0x60n8 PMX Stati...

Page 199: ...008 8 PDO Mapping entry object 0x60nA PMX Statistic Power entry 0x18 Reactive Power Max UINT32 RO 0x60nA 18 32 1App 09 SubIndex 009 9 PDO Mapping entry object 0x60nA PMX Statistic Power entry 0x19 Apparent Power Min UINT32 RO 0x60nA 19 32 for L1 n 0 L2 n 1 L3 n 2 Index 1App TxPDO Map Classic for L1 pp 09 L2 pp 13 L3 pp 1D Index hex Name Meaning Data type Flags Default 1App 0 TxPDO Map Classic PDO ...

Page 200: ... object 0xF600 PMX Total Status entry 0x09 Apparent Power Guard Warn ing UINT32 RO 0xF600 09 1 1A1E 0A SubIndex 010 10 PDO Mapping entry object 0xF600 PMX Total Status entry 0x0A Apparent Power Guard Error UINT32 RO 0xF600 0A 1 1A1E 0B SubIndex 011 11 PDO Mapping entry object 0xF600 PMX Total Status entry 0x0B Power Quality Guard Warning UINT32 RO 0xF600 0B 1 1A1E 0C SubIndex 012 12 PDO Mapping en...

Page 201: ...Mapping entry 32 bits align UINT32 RO 0x0000 00 32 1A21 02 SubIndex 002 2 PDO Mapping entry object 0xF603 PMX Total Active entry 0x12 Active Energy UINT32 RO 0xF603 12 64 1A21 03 SubIndex 003 3 PDO Mapping entry object 0xF603 PMX Total Active entry 0x13 Active Positive Energy UINT32 RO 0xF603 13 64 1A21 04 SubIndex 004 4 PDO Mapping entry object 0xF603 PMX Total Active entry 0x14 Active Negative E...

Page 202: ... RO 0xF60A 15 16 1A25 08 SubIndex 008 8 PDO Mapping entry object 0xF60A PMX Variant Value In entry 0x16 Value 3 REAL UINT32 RO 0xF60A 16 32 1A25 09 SubIndex 009 9 PDO Mapping entry object 0xF60A PMX Variant Value In entry 0x17 Index 4 ULINT UINT32 RO 0xF60A 17 16 1A25 0A SubIndex 010 10 PDO Mapping entry object 0xF60A PMX Variant Value In entry 0x18 Value 4 ULINT UINT32 RO 0xF60A 18 64 Index 1A26 ...

Page 203: ...y object 0xF60D PMX Total In terval Energy entry 0x14 Apparent Energy UINT32 RO 0xF60D 14 32 1A28 07 SubIndex 007 7 PDO Mapping entry object 0xF60D PMX Total In terval Energy entry 0x15 Apparent Energy Posi tive UINT32 RO 0xF60D 15 32 1A28 08 SubIndex 008 8 PDO Mapping entry object 0xF60D PMX Total In terval Energy entry 0x16 Apparent Energy Nega tive UINT32 RO 0xF60D 16 32 1A28 09 SubIndex 009 9 ...

Page 204: ...xF615 PMX Total In terval Energy Reduced entry 0x11 Active Energy UINT32 RO 0xF615 11 32 1A2C 04 SubIndex 004 4 PDO Mapping entry object 0xF615 PMX Total In terval Energy Reduced entry 0x12 Apparent En ergy UINT32 RO 0xF615 12 32 1A2C 05 SubIndex 005 5 PDO Mapping entry object 0xF615 PMX Total In terval Energy Reduced entry 0x13 reactive En ergy UINT32 RO 0xF615 13 32 Index 1C00 Sync manager type ...

Page 205: ...Commissioning EL34xx 205 Version 1 5 Index 1C13 TxPDO assign ...

Page 206: ...of the asso ciated TxPDO mapping object UINT16 RW 0x0000 0dec 1C13 10 Subindex 016 16 allocated TxPDO contains the index of the asso ciated TxPDO mapping object UINT16 RW 0x0000 0dec 1C13 11 Subindex 017 17 allocated TxPDO contains the index of the asso ciated TxPDO mapping object UINT16 RW 0x0000 0dec 1C13 12 Subindex 018 18 allocated TxPDO contains the index of the asso ciated TxPDO mapping obje...

Page 207: ...O contains the index of the asso ciated TxPDO mapping object UINT16 RW 0x0000 0dec 1C13 25 Subindex 037 37 allocated TxPDO contains the index of the asso ciated TxPDO mapping object UINT16 RW 0x0000 0dec 1C13 26 Subindex 038 38 allocated TxPDO contains the index of the asso ciated TxPDO mapping object UINT16 RW 0x0000 0dec 1C13 27 Subindex 039 39 allocated TxPDO contains the index of the asso ciat...

Page 208: ...1C32 08 UINT16 RO 0x0805 2053dec 1C32 05 Minimum cycle time Minimum cycle time in ns UINT32 RO 0x0007A120 500000dec 1C32 06 Calc and copy time Minimum time between SYNC0 and SYNC1 event in ns DC mode only UINT32 RO 0x00000384 900dec 1C32 07 Minimum delay time UINT32 RO 0x00000384 900dec 1C32 08 Command 0 Measurement of the local cycle time is stopped 1 Measurement of the local cycle time is starte...

Page 209: ...6 RO 0x0805 2053dec 1C33 05 Minimum cycle time as 1C32 05 UINT32 RO 0x0007A120 500000dec 1C33 06 Calc and copy time Time between reading of the inputs and availability of the inputs for the master in ns only DC mode UINT32 RO 0x0007A120 500000dec 1C33 07 Minimum delay time UINT32 RO 0x00000384 900dec 1C33 08 Command as 1C32 08 UINT16 RW 0x0000 0dec 1C33 09 Maximum delay time Time between SYNC1 eve...

Page 210: ...action in the terminal The command is started by writing subindex 1 request Write access is disabled until the current command is completed Index hex Name Meaning Data type Flags Default FB00 0 PM Command Largest subindex of this object UINT8 RO 0x03 FB00 01 Request Byte 0 service request data OCTET STRING 2 RW 0x0000 0dec 4hex Clear energy Byte 1 channel selection 00hex all channels 01hex Channel...

Page 211: ...t range 100 100 mA 1000 1 A 5000 5 A UINT32 RW 1 A 1000 80n0 15 Voltage Source Selection Voltage Source 0 Channel 1 1 Channel 2 2 Channel 3 UINT32 RW Channel 1 0 Index 80n1 PMX Guard Settings for ch 1 n 0 ch 2 n 1 ch 3 n 2 Index hex Name Meaning Data type Flags Default 80n1 0 PMX Guard Settings Max subindex UINT8 RO 0x14 20dec 80n1 11 Voltage Guard Min Error Lower limit value for a voltage error m...

Page 212: ...ency Fixation of the fundamental frequency for harmonic calculation BOOLEAN RW 0x00 0dez F800 11 Reference Timing reference for the RMS calculation Set to Current if a current is to be measured without an applied voltage permitted values UINT32 RW 0x00000000 0dec 0 Voltage default 1 Current F800 12 Measurement Range Filter setting for determining the fundamental permitted values UINT32 RW 0x000000...

Page 213: ...value or set value is required to calculate the power quality factor for details see ba sic function principles REAL32 RW 0x43660000 1130758144dec F801 12 Nominal Frequency A nominal frequency or set value is required to calcu late the power quality factor for details see basic function principles REAL32 RW 0x42480000 1112014848dec F801 13 PQF Dataset permitted values UINT32 RW 0x00000001 0dec 0 d...

Page 214: ...Commissioning EL34xx 214 Version 1 5 Index F802 PMX Guard Settings ...

Page 215: ...an active power warning mes sage REAL32 RW 0 000000 0 000000e 000 F802 1B Active Power Guard Max Warning Upper limit value for an active power warning mes sage REAL32 RW 0 000000 0 000000e 000 F802 1C Active Power Guard Max Error Upper limit value for an active power error message REAL32 RW 0 000000 0 000000e 000 F802 1D Apparent Power Guard Min Error Lower limit value for an apparent power error ...

Page 216: ...g Data type Flags Default F804 0 PMX Settings Neutral Current Max subindex UINT8 RO 0x14 20dec F804 12 Current Transformer Ratio The transmission ratio of the current transformer used can be entered here REAL32 RW 1 000000 1 000000e 000 F804 13 Current Transformer Delay A possible time delay of the current transformers in milliseconds can be entered here REAL32 RW 0 000000 0 000000e 000 F804 14 Cu...

Page 217: ...t 2 Phase Offset Value in milliseconds REAL32 RW 0 000000 0 000000e 000 6 7 4 4 Input data Index 60n0 PMX status n 0 1 2 Index hex Name Meaning Data type Flags Default 60n0 0 PMX Status Max subindex UINT8 RO 0x10 16dec 60n0 01 Voltage Sign Bit Indicates the sign of the current sine wave voltage 1 U 0V 0 U 0V BOOLEAN RO 0x00 0dec 60n0 02 Overvoltage Maximum measurable voltage is exceeded BOOLEAN RO...

Page 218: ...fundamental in mVAh INT64 RO 60n5 13 Reactive Energy Fund Reactive energy fundamental in mvarh INT64 RO Index 60n6 PMX Timing n 0 1 2 Index hex Name Meaning Data type Flags Default 60n6 0 PMX Timing Max Subindex UINT8 RO 0x12 18dec 60n6 12 Voltage Last Zero Crossing Last detected voltage zero crossing as distributed clock time UINT64 RO 60n6 12 Current Last Zero Crossing Last detected current zero...

Page 219: ...ower in the last interval in W REAL32 RO 0x00000000 0dec 60nA 13 Active Power Max Maximum active power in the last interval in W REAL32 RO 0x00000000 0dec 60nA 14 Apparent Power Avg Average apparent power during the last interval in VA REAL32 RO 0x00000000 0dec 60nA 15 Apparent Power Max Maximum apparent power in the last interval in VA REAL32 RO 0x00000000 0dec 60nA 16 Reactive Power Avg Average ...

Page 220: ...TRUE for general error BOOLEAN RO 0x00 0dec F600 10 TxPDO Toggle The TxPDO toggle is toggled by the slave when the data of the associated TxPDO is updated BOOLEAN RO 0x00 0dec F600 11 Power Quality Factor Analog value of the voltage quality between 1 0 and 0 see basic function principles Power Quality Fac tor REAL32 RO 0x00000000 0dec Index F601 PMX Total Basic Index hex Name Meaning Data type Fla...

Page 221: ...ng Data type Flags Default F605 0 PMX Total Apparent Max subindex UINT8 RO 0x14 20dec F605 11 Apparent Power Balanced apparent power in VA INT64 RO F605 12 Apparent Energy Recorded apparent energy in mWh INT64 RO F605 13 Apparent Positive En ergy Received apparent energy in mWh UINT64 RO F605 14 Apparent Negative Energy Supplied apparent energy in mWh UINT64 RO Index F606 PMX Total Apparent Fundam...

Page 222: ...00 0dec F60A 13 Index 2 REAL Acknowledge for variable output value 2 UINT16 RO 0x0000 0dec F60A 14 Value 2 REAL variable output value channel 2 REAL32 RO 0x00000000 0dec F60A 15 Index 3 REAL Acknowledge for variable output value 3 UINT16 RO 0x0000 0dec F60A 16 Value 3 REAL variable output value channel 3 REAL32 RO 0x00000000 0dec F60A 17 Index 4 ULINT Acknowledge for variable output value 4 UINT16...

Page 223: ...0D 18 Reactive Energy Posi tive Received total reactive energy during the last interval in Wh REAL32 RO 0x00000000 0dec F60D 19 Reactive Energy Neg ative Supplied total reactive energy during the last interval in Wh REAL32 RO 0x00000000 0dec Index F60E PMX Total Interval Energy Fundamental Index hex Name Meaning Data type Flags Default F60E 0 PMX Total Interval Energy Fundamental Max subindex UINT...

Page 224: ... Total active power maximum of the fundamental in the last interval in W REAL32 RO 0x00000000 0dez F611 13 Apparent Power Avg Fund Average total apparent power of the fundamental of the last interval in VA REAL32 RO 0x00000000 0dez F611 14 Apparent Power Min Fund Total apparent power minimum of the fundamental in the last interval in VA REAL32 RO 0x00000000 0dez F611 15 Apparent Power Max Fund Tot...

Page 225: ...um RMS value of the current in the last inter val in A REAL32 RO 0x00000000 0dec Index 90n2 PMX info data power for ch 1 n 0 ch 2 n 1 ch 3 n 2 Index hex Name Meaning Data type Flags Default 90n2 0 PMX Info data Power Max subindex UINT8 RO 0x1B 27dec 90n2 11 Active Power Avg Average active phase power during the last interval in W REAL32 RO 0x00000000 0dec 90n2 12 Active Power Min Minimum active ph...

Page 226: ...00 0dez 90n4 04 Harmonic 3 3rd harmonic in of the fundamental wave REAL32 RO 0x00000000 0dez 90n4 40 Harmonic 63 63rd harmonic in of the fundamental wave REAL32 RO 0x00000000 0dez Index 90n5 PMX Harmonic Current for ch 1 n 0 ch 2 n 1 ch 3 n 2 Index hex Name Meaning Data type Flags Default 90n5 0 PMX Harmonic Volt age Ch 1 Max subindex UINT8 RO 0x2A 42dec 90n5 01 Harmonic 0 DC component of the osci...

Page 227: ...000e 000 F80F 17 Calibration Current 1 Phase Offset Value in milliseconds REAL32 RW 0 000000 0 000000e 000 F80F 18 Calibration Current 2 Offset Value in A REAL32 RW 0 000000 0 000000e 000 F80F 19 Calibration Current 2 1 Gain Factor without unit REAL32 RW 1 000000 1 000000e 000 F80F 1A Calibration Current 2 Phase Offset Value in milliseconds REAL32 RW 0 000000 0 000000e 000 Index F902 PMX Total Inf...

Page 228: ...NT8 RO 0x19 25dec F905 11 Active Power Avg Fund Total active power average of fundamental oscillation of the last interval in W REAL32 RO 0x00000000 0dec F905 12 Active Power Min Fund Total active power minimum of fundamental oscilla tion in the last interval in W REAL32 RO 0x00000000 0dec F905 13 Active Power Max Fund Total active power maximum of fundamental oscilla tion in the last interval in ...

Page 229: ... Data type Flags Default 100B 0 Bootloader version Bootloader version STRING RO Index 1018 Identity Index hex Name Meaning Data type Flags Default 1018 0 Identity Information for identifying the slave UINT8 RO 0x04 4dec 1018 01 Vendor ID Vendor ID of the EtherCAT slave UINT32 RO 0x00000002 2dec 1018 02 Product code Product code of the EtherCAT slave UINT32 RO 0x0D733052 225652818dez 1018 03 Revisi...

Page 230: ... 0x00000000000000 00 0dec Index 1600 Total RxPDO Map Outputs Device Index hex Name Meaning Data type Flags Default 1600 0 Total RxPDO Map Outputs Device PDO Mapping RxPDO 1 UINT8 RO 0x04 4dec 1600 01 SubIndex 001 1 PDO Mapping entry object 0x7030 PMX Variant Value Out entry 0x11 Index 1 REAL UINT32 RO 0xF700 11 16 1600 02 SubIndex 002 2 PDO Mapping entry object 0x7030 PMX Variant Value Out entry 0...

Page 231: ...DO Mapping entry object 0x60n0 PMX Status entry 0x09 Current Guard Error UINT32 RO 0x60n0 09 1 1App 0A SubIndex 010 10 PDO Mapping entry 6 bits align UINT32 RO 0x00n0 00 6 1App 0B SubIndex 011 11 PDO Mapping entry object 0x60n0 PMX Sta tus entry 0x10 TxPDO Toggle UINT32 RO 0x60n0 10 1 for L1 n 0 L2 n 1 L3 n 2 Index 1App TxPDO Map Basic for L1 pp 01 L2 pp 0D L3 pp 19 Index hex Name Meaning Data typ...

Page 232: ...Index 002 2 PDO Mapping entry object 0x60n4 PMX Energy entry 0x12 Apparent Energy UINT32 RO 0x60n4 12 64 1App 03 SubIndex 003 3 PDO Mapping entry object 0x60n4 PMX Energy entry 0x13 Reactive Energy UINT32 RO 0x60n4 13 64 for L1 n 0 L2 n 1 L3 n 2 Index 1App TxPDO Map Energy Fundamental for L1 pp 05 L2 pp 11 L3 pp 1D Index hex Name Meaning Data type Flags Default 1App 0 TxPDO Map Energy Fundamental ...

Page 233: ... Voltage for L1 pp 08 L2 pp 14 L3 pp 20 Index hex Name Meaning Data type Flags Default 1App 0 TxPDO Map Statistic Voltage PDO Mapping TxPDO UINT8 RO 0x03 3dez 1App 01 SubIndex 001 1 PDO Mapping entry object 0x60n8 PMX Statistic Voltage entry 0x11 Voltage Peak UINT32 RO 0x60n8 11 32 1App 02 SubIndex 002 2 PDO Mapping entry object 0x60n8 PMX Statistic Voltage entry 0x12 Voltage RMS Minimum UINT32 RO...

Page 234: ...008 8 PDO Mapping entry object 0x60nA PMX Statistic Power entry 0x18 Reactive Power Max UINT32 RO 0x60nA 18 32 1App 09 SubIndex 009 9 PDO Mapping entry object 0x60nA PMX Statistic Power entry 0x19 Apparent Power Min UINT32 RO 0x60nA 19 32 for L1 n 0 L2 n 1 L3 n 2 Index 1App TxPDO Map Classic for L1 pp 0B L2 pp 17 L3 pp 23 Index hex Name Meaning Data type Flags Default 1App 0 TxPDO Map Classic PDO ...

Page 235: ...A24 0C SubIndex 012 12 PDO Mapping entry object 0xF600 PMX Total Status entry 0x0C Power Quality Guard Error UINT32 RO 0xF600 0C 1 1A24 0D SubIndex 013 13 PDO Mapping entry 2 bits align UINT32 RO 0x0000 00 2 1A24 0E SubIndex 014 14 PDO Mapping entry object 0xF600 PMX Total Status entry 0x0F TxPDO State UINT32 RO 0xF600 0F 1 1A24 0F SubIndex 015 15 PDO Mapping entry object 0xF600 PMX Total Status e...

Page 236: ...ct 0xF604 PMX Total Active Fundamental entry 0x14 Active Negative Energy Fund UINT32 RO 0xF604 14 64 Index 1A29 Total TxPDO Map Apparent Index hex Name Meaning Data type Flags Default 1A29 0 Total TxPDO Map Ap parent PDO Mapping TxPDO 35 UINT8 RO 0x04 4dec 1A29 01 SubIndex 001 1 PDO Mapping entry 32 bits align UINT32 RO 0x0000 00 32 1A29 02 SubIndex 002 2 PDO Mapping entry object 0xF605 PMX Total ...

Page 237: ...PDO Mapping entry object 0xF608 PMX Total Reactive Fundamental entry 0x11 Reactive Power Fund UINT32 RO 0xF608 11 32 1A2C 02 SubIndex 002 2 PDO Mapping entry object 0xF608 PMX Total Reactive Fundamental entry 0x12 Reactive Energy Fund UINT32 RO 0xF608 12 64 1A2C 03 SubIndex 003 3 PDO Mapping entry object 0xF608 PMX Total Reactive Fundamental entry 0x13 Reactive Posi tive Energy Fund UINT32 RO 0xF6...

Page 238: ... UINT8 RO 0x09 9dec 1A2F 01 SubIndex 001 1 PDO Mapping entry object 0xF60B PMX Total Statistic Power entry 0x11 Active Power Avg UINT32 RO 0xF60B 11 32 1A2F 02 SubIndex 002 2 PDO Mapping entry object 0xF60B PMX Total Statistic Power entry 0x12 Active Power Min UINT32 RO 0xF60B 12 32 1A2F 03 SubIndex 003 3 PDO Mapping entry object 0xF60B PMX Total Statistic Power entry 0x13 Active Power Max UINT32 ...

Page 239: ...UINT32 RO 0xF60D 19 32 Index 1A32 Total TxPDO Map Interval Energy Fundamental Index hex Name Meaning Data type Flags Default 1A32 0 Total TxPDO Map In terval Energy Funda mental PDO Mapping TxPDO 41 UINT8 RO 0x0B 11dez 1A32 01 SubIndex 001 1 PDO Mapping entry 15 bits align UINT32 RO 0x0000 00 15 1A32 02 SubIndex 002 2 PDO Mapping entry object 0xF60E PMX Total In terval Energy Fundamental entry 0x1...

Page 240: ...T32 RO 0xF610 13 32 Index 1A35 Total TxPDO Map Statistic Power Fundamental Index hex Name Meaning Data type Flags Default 1A35 0 Total TxPDO Map Statistic Power Fun damental PDO Mapping TxPDO 39 UINT8 RO 0x09 9dez 1A35 01 SubIndex 001 1 PDO Mapping entry object 0xF611 PMX Total Statistic Power Fundamental entry 0x10 Active Power Avg Fund UINT32 RO 0xF611 10 32 1A35 02 SubIndex 002 2 PDO Mapping en...

Page 241: ...ager Type Channel 2 Mailbox Read UINT8 RW 0x02 2dec 1C00 03 SubIndex 003 Sync Manager Type Channel 3 Process Data Write Outputs UINT8 RW 0x03 3dec 1C00 04 SubIndex 004 Sync Manager Type Channel 4 Process Data Read Inputs UINT8 RW 0x04 4dec Index 1C12 RxPDO assign Index hex Name Meaning Data type Flags Default 1C12 0 RxPDO assign PDO Assign Outputs UINT8 RW 0x01 1dec 1C12 01 SubIndex 001 1 allocate...

Page 242: ...Commissioning EL34xx 242 Version 1 5 Index 1C13 TxPDO assign ...

Page 243: ...of the asso ciated TxPDO mapping object UINT16 RW 0x0000 0dec 1C13 10 Subindex 016 16 allocated TxPDO contains the index of the asso ciated TxPDO mapping object UINT16 RW 0x0000 0dec 1C13 11 Subindex 017 17 allocated TxPDO contains the index of the asso ciated TxPDO mapping object UINT16 RW 0x0000 0dec 1C13 12 Subindex 018 18 allocated TxPDO contains the index of the asso ciated TxPDO mapping obje...

Page 244: ...O contains the index of the asso ciated TxPDO mapping object UINT16 RW 0x0000 0dec 1C13 25 Subindex 037 37 allocated TxPDO contains the index of the asso ciated TxPDO mapping object UINT16 RW 0x0000 0dec 1C13 26 Subindex 038 38 allocated TxPDO contains the index of the asso ciated TxPDO mapping object UINT16 RW 0x0000 0dec 1C13 27 Subindex 039 39 allocated TxPDO contains the index of the asso ciat...

Page 245: ...1C32 08 UINT16 RO 0x0805 2053dec 1C32 05 Minimum cycle time Minimum cycle time in ns UINT32 RO 0x0007A120 500000dec 1C32 06 Calc and copy time Minimum time between SYNC0 and SYNC1 event in ns DC mode only UINT32 RO 0x00000384 900dec 1C32 07 Minimum delay time UINT32 RO 0x00000384 900dec 1C32 08 Command 0 Measurement of the local cycle time is stopped 1 Measurement of the local cycle time is starte...

Page 246: ... shift through local event outputs available Bit 4 5 10 Input shift with SYNC1 event no outputs available Bit 14 1 dynamic times measurement through writing of 1C32 08 or 1C33 08 UINT16 RO 0x0805 2053dec 1C33 05 Minimum cycle time as 1C32 05 UINT32 RO 0x0007A120 500000dec 1C33 06 Calc and copy time Time between reading of the inputs and availability of the inputs for the master in ns only DC mode ...

Page 247: ...RO 0x03 FB00 01 Request Byte 0 service request data OCTET STRING 2 RW 0x0000 0dec 4hex Clear energy Byte 1 channel selection 00hex all channels 01hex Channel 1 02hex Channel 2 03hex Channel 3 FB00 02 Status Byte 0 UINT8 RW 0x00 0dec reserved FB00 03 Response Byte 0 OCTET STRING 2 RW 0x00000000 0dec reserved Byte 1 reserved Byte 2 n reserved ...

Page 248: ...n1 11 Voltage Guard Min Error Lower limit value for a voltage error message REAL32 RW 0x40000000 1073741824dec 80n1 12 Voltage Guard Min Warning Lower limit value for a voltage warning message REAL32 RW 0x434F0000 1129250816dec 80n1 13 Voltage Guard Max Warning Upper limit value for a voltage warning message REAL32 RW 0x437D0000 1132265472dec 80n1 14 Voltage Guard Max Error Upper limit value for a...

Page 249: ...dec F802 21 PQF Guard Min Error Lower limit value for a power quality factor error mes sage REAL32 RW 0x3D4CCCCD 1028443341dec F802 22 PQF Guard Min Warning Lower limit value for a power quality factor warning message REAL32 RW 0x3F4CCCCD 1061997773dec F802 23 PQF Guard Max Warning Upper limit value for a power quality factor warning message REAL32 RW 0x3F800000 1065353216dec F802 24 PQF Guard Max...

Page 250: ...ccurate Threshold Voltage BOOLEAN RO 0x00 0dec 60n0 05 Inaccurate Current The measured current value is smaller than the value entered in CoE object F800 16 Inaccurate Threshold Current BOOLEAN RO 0x00 0dec 60n0 06 Voltage Guard Warn ing A warning limit of the voltage monitor has been breached BOOLEAN RO 0x00 0dec 60n0 07 Voltage Guard Error An error limit of the voltage monitor has been breached ...

Page 251: ...it of the apparent power monitor has been breached BOOLEAN RO 0x00 0dec F600 0B Power Quality Guard Warning A warning limit of the PQF monitor has been breached BOOLEAN RO 0x00 0dec F600 0C Power Quality Guard Error An error limit of the PQF monitor has been breached BOOLEAN RO 0x00 0dec F600 0F TxPDO State TRUE for general error BOOLEAN RO 0x00 0dec F600 10 TxPDO Toggle The TxPDO toggle is toggle...

Page 252: ...erature Maximum CPU temperature measured so far REAL32 RO 0x00000000 0dec FA00 13 EBUS Voltage Current E bus voltage REAL32 RO 0x00000000 0dec 6 7 5 6 Standard objects Standard objects 0x1000 0x1FFF The standard objects have the same meaning for all EtherCAT slaves Index 1000 Device type Index hex Name Meaning Data type Flags Default 1000 0 Device type Device type of the EtherCAT slave The Lo Word...

Page 253: ...0F0 Backup parameter Index hex Name Meaning Data type Flags Default 10F0 0 Backup parameter Length of this object UINT8 RO 0x01 10F0 01 Checksum Checksum UINT32 RW 0x00000000 0dec Index 10F3 Diagnosis History Index Name Meaning Data type Flags Default 10F3 0 Diagnosis History Maximum subindex UINT8 RO 0x15 21dec 10F3 01 Maximum Messages Maximum number of stored messages A maximum of 50 messages ca...

Page 254: ...bject 0x60n0 PMX Status entry 0x07 Voltage Guard Error UINT32 RO 0x60n0 07 1 1App 08 SubIndex 008 8 PDO Mapping entry 8 bits align UINT32 RO 0x0000 00 8 1App 09 SubIndex 009 9 PDO Mapping entry object 0x60n0 PMX Status entry 0x10 TxPDO Toggle UINT32 RO 0x60n0 10 1 for L1 n 0 L2 n 1 L3 n 2 Index 1A01 L1 TxPDO Map Status Index hex Name Meaning Data type Flags Default 1A01 0 L1 TxPDO Map Sta tus PDO ...

Page 255: ...ject 0xF600 PMX Total Status entry 0x0B Power Quality Guard Warning UINT32 RO 0xF600 0B 1 1A1E 0C SubIndex 012 12 PDO Mapping entry object 0xF600 PMX Total Status entry 0x0C Power Quality Guard Error UINT32 RO 0xF600 0C 1 1A1E 0D SubIndex 013 13 PDO Mapping entry 2 bits align UINT32 RO 0x0000 00 2 1A1E 0E SubIndex 014 14 PDO Mapping entry object 0xF600 PMX Total Status entry 0x0F TxPDO State UINT3...

Page 256: ...lt 1C12 0 RxPDO assign PDO Assign Outputs UINT8 RW 0x00 0dec Index 1C13 TxPDO assign Index hex Name Meaning Data type Flags Default 1C13 0 TxPDO assign PDO Assign Inputs UINT8 RW 0x04 4dec 1C13 01 SubIndex 001 1 allocated TxPDO contains the index of the associ ated TxPDO mapping object UINT16 RW 0x1A00 6656dec 1C13 02 SubIndex 002 2 allocated TxPDO contains the index of the associ ated TxPDO mappi...

Page 257: ...6 RO 0x0805 2053dec 1C33 05 Minimum cycle time as 1C32 05 UINT32 RO 0x0007A120 500000dec 1C33 06 Calc and copy time Time between reading of the inputs and availability of the inputs for the master in ns only DC mode UINT32 RO 0x0007A120 500000dec 1C33 07 Minimum delay time UINT32 RO 0x00000384 900dec 1C33 08 Command as 1C32 08 UINT16 RW 0x0000 0dec 1C33 09 Maximum delay time Time between SYNC1 eve...

Page 258: ...action in the terminal The command is started by writing subindex 1 request Write access is disabled until the current command is completed Index hex Name Meaning Data type Flags Default FB00 0 PM Command Largest subindex of this object UINT8 RO 0x03 FB00 01 Request Byte 0 service request data OCTET STRING 2 RW 0x0000 0dec 4hex Clear energy Byte 1 channel selection 00hex all channels 01hex Channel...

Page 259: ...Application examples EL34xx 259 Version 1 5 7 Application examples ...

Page 260: ...ld destroy the power measurement terminal EL3443 The voltage is measured via the connections L1 L2 and L3 The current is measured with two current transformers 29 via the connections IL1 and IL2 The sum of all currents in the 3 phase mains network is 0 The value in circuit IL3 can be obtained accordingly by wiring the EL3443 Fig 161 EL3443 Power measurement with 2 current transformers on a motor I...

Page 261: ...with 3 current transformers on a motor In the circuit shown above Fig EL3453 Power measurement with 3 current transformers on a motor ensure that the three phase system is either earth free or has an earthed star point Alternatively a transformer can be included in a Yy0 circuit ...

Page 262: ...t resistance 100 mΩ would destroy the power measurement terminal EL3443 The voltage is measured via connections L1 L2 L3 and N The current is measured via three current transformers 29 and the connections IL1 IL2 IL3 and IN star point of the current transformers Fig 163 EL3443 power measurement at a machine Negative power values If negative power values are measured on a circuit please check wheth...

Page 263: ...4xx 263 Version 1 5 Fig 164 EL3453 power measurement at a machine Negative power values If negative power values are measured on a circuit please check whether the associated current transformer circuit is connected correctly ...

Page 264: ...ansformers WARNING WARNING Risk of electric shock Bring the Bus Terminal system into a safe voltage free state before starting mounting disassembly or wiring of the Bus Terminals NOTE Attention Risk of device damage Avoid confusing the current and voltage circuit during connection since the direct connection of mains volt age to the terminal points for the current transformers typical input resist...

Page 265: ...e circuits of the fieldbus station The terminal measures the Power consumption of the Bus Coupler and E bus supply Power consumption of the power contacts Power consumption AS i over the AS i potential feed terminal EL9520 NOTE Note rated current In the example the special type EL3443 0010 is used with an extended current measuring range 5 A max The standard EL3443 type is not suitable for this ap...

Page 266: ...e measurement This error also affects the power calculation The three phase transformer should have a ratio of 1 1 It must not cause a phase shift of the signal Since high frequency components only have little influence on the motors any distortions caused by the three phase transformer have little effect on the practical measurement during the transfer of the harmonics created by the frequency co...

Page 267: ...ent transformers 29 and the connections IL1 IL1 IL2 IL2 IL3 IL3 and IN IN WARNING WARNING Risk of electric shock Bring the Bus Terminal system into a safe voltage free state before starting mounting disassembly or wiring of the Bus Terminals Fig 168 Common wiring of the EL3453 power measurement terminal In the following diagram the current measuring channel IN is used to measure the neutral conduc...

Page 268: ...of the differential current Fig 170 Transformer configuration of the EL3453 for differential current measurement The secondary current path of the differential current transformer must be connected to the terminal contacts IN and IN For correct calculation of the differential current value the corresponding transformer ratio must be entered in CoE object 0xF804 12 Example Transformer ratio 1A 50A ...

Page 269: ...ion Blocks The example function block presented here takes over the complete reading of all available values from the EL3443 or EL3453 power measurement terminals and stores them in a STRUCT provided for this purpose Fig 171 FB_example_Struct To be able to use the function block the predefined PDO assignment Dafault Variant must be selected under Process Data for the terminal ...

Page 270: ...ersion 1 5 Fig 172 Selection of predefined PDO Assignment Dafault Variant after downloading see below and importing PLCopenXML Fig 173 Import of PLCopenXML the function block variables must be linked to the corresponding terminal PDOs ...

Page 271: ...Application examples EL34xx 271 Version 1 5 Fig 174 Linking of variables Fig 175 View in Structure Tree After activating and starting all values in the overall structure are to be read out ...

Page 272: ...he terminal information By multiplexing the over 400 EL3443 or 600 values EL3453 the complete reading of the terminal information requires several PLC cycles If the application requires individual values more rapidly these should be read out directly via the corresponding PDOs cycle currently ...

Page 273: ...n the TcEventLogger with the appropriate device setting This facilitates the central management of events that hinder operation as a textual diagnosis no longer needs to be programmed out in the application for each individual IO device The messages events can be displayed directly in the TwinCAT HMI for example and thus facilitate the diagnosis Notes This feature is supported from TwinCAT 3 1 bui...

Page 274: ...ersion 1 5 The EventLogger window may need to be displayed in the TwinCAT Engineering Fig 178 Display EventLogger window Some DiagMessages and the resulting Logged Events are shown below taking an ELM3602 0002 as an example ...

Page 275: ...indow German 1031 English 1033 Fig 180 Setting filter language If an EtherCAT slave is enabled by default to transmit DiagMessages as events over EtherCAT this can be activated deactivated for each individual slave in the CoE 0x10F3 05 TRUE means that the slave provides events for collection via EtherCAT while FALSE deactivates the function ...

Page 276: ... g through CoE settings Settings for the TwinCAT EventLogger can be found under Tools Options Fig 182 Settings TwinCAT EventLogger 8 2 EtherCAT AL Status Codes For detailed information please refer to the EtherCAT system description 8 3 Firmware compatibility Beckhoff EtherCAT devices are delivered with the latest available firmware version Compatibility of firmware and hardware is mandatory not e...

Page 277: ...dware HW Firmware Revision no Release date 01 01 EL3423 0000 0016 2018 06 02 EL3423 0000 0017 2018 08 03 EL3423 0000 0018 2018 12 04 2019 01 EL3423 0000 0019 2019 01 05 EL3423 0000 0020 2019 03 06 2019 05 EL3443 0000 Hardware HW Firmware Revision no Release date 01 01 EL3443 0000 0016 2018 06 02 EL3443 0000 0017 2018 08 03 EL3443 0000 0018 2018 12 04 2019 01 EL3443 0000 0019 2019 01 05 EL3443 0000...

Page 278: ...ating data in up to 3 locations Depending on functionality and performance EtherCAT slaves have one or several local controllers for processing I O data The corresponding program is the so called firmware in efw format In some EtherCAT slaves the EtherCAT communication may also be integrated in these controllers In this case the controller is usually a so called FPGA chip with rbf firmware In addi...

Page 279: ...ision Firmware e g by looking in the online CoE of the device NOTE Risk of damage to the device Note the following when downloading new device files Firmware downloads to an EtherCAT device must not be interrupted Flawless EtherCAT communication must be ensured CRC errors or LostFrames must be avoided The power supply must adequately dimensioned The signal level must meet the specification In the ...

Page 280: ...osely 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 The simplest way to ascertain compliance of configured and actual device description is to scan the EtherCAT boxes in TwinCAT mode Config FreeRun Fig ...

Page 281: ...sion Changing the ESI slave identifier The ESI EEPROM identifier can be updated as follows under TwinCAT Trouble free EtherCAT communication must be established with the slave The state of the slave is irrelevant Right clicking on the slave in the online display opens the EEPROM Update dialog Fig EEPROM Update Fig 187 EEPROM Update The new ESI description is selected in the following dialog see Fi...

Page 282: ...10 03 02 12 week of production 12 10 year of production 2010 03 firmware version 03 02 hardware version 02 Determining the version via the System Manager The TwinCAT System Manager shows the version of the controller firmware if the master can access the slave online Click on the E Bus Terminal whose controller firmware you want to check in the example terminal 2 EL3204 and select the tab CoE Onli...

Page 283: ...be loaded via the Online option in Advanced Settings B and double clicking on AllObjects 8 4 3 Updating controller firmware efw CoE directory The Online CoE directory is managed by the controller and stored in a dedicated EEPROM which is generally not changed during a firmware update Switch to the Online tab to update the controller firmware of a slave see Fig Firmware Update Fig 190 Firmware Upda...

Page 284: ... A Switch slave to BOOTSTRAP 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 Check within CoE 0x100A if the FW status was correctly overtaken 8 4 4 FPGA firmware rbf If an FPGA chip deals with the EtherCAT communication an update ma...

Page 285: ...d Device 2 in the example and select the Online tab The Reg 0002 column indicates the firmware version of the individual EtherCAT devices in hexadecimal and decimal representation Fig 191 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 192 Context menu Properties The Advanced Settings dialog appears...

Page 286: ... terminal must have FPGA firmware version 10 or higher 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 A FW Update during real time operation is not rec...

Page 287: ...anager 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 E PROM FPGA click on Write FPGA button ...

Page 288: ...o the device A download of firmware to an EtherCAT device must not be interrupted in any case If you interrupt this process by switching off power supply or disconnecting the Ethernet link the EtherCAT device can only be recommissioned by the manufacturer 8 4 5 Simultaneous updating of several EtherCAT devices The firmware and ESI descriptions of several devices can be updated simultaneously provi...

Page 289: ... PDO Double click on SubIndex 001 to enter the Set Value dialog Enter the value 1684107116 in field Dec or the value 0x64616F6C in field Hex and confirm with OK Fig Entering a restore value in the Set Value dialog All backup objects are reset to the delivery state Fig 196 Entering a restore value in the Set Value dialog Alternative restore value In some older terminals the backup objects can be sw...

Page 290: ...f components there Beckhoff Headquarters Beckhoff Automation GmbH Co KG Huelshorstweg 20 33415 Verl Germany Phone 49 5246 963 0 Fax 49 5246 963 198 e mail info beckhoff com Beckhoff Support Support offers you comprehensive technical assistance helping you not only with the application of individual Beckhoff products but also with other wide ranging services support design programming and commissio...

Page 291: ...17 Fig 13 EL3453 18 Fig 14 Voltage u and current i curves 23 Fig 15 Power s t curve 24 Fig 16 u i p curves with phase shift angle t t t 25 Fig 17 Four quadrant representation of active power fundamental harmonic reactive power in motor and generator mode 26 Fig 18 Representation of the power quality factor calculation 27 Fig 19 System manager current calculation 33 Fig 20 EtherCAT tab Advanced Set...

Page 292: ... TwinCAT project 77 Fig 63 New TwinCAT3 project in the project folder explorer 78 Fig 64 Selection dialog Choose the target system 78 Fig 65 Specify the PLC for access by the TwinCAT System Manager selection of the target system 79 Fig 66 Select Scan 79 Fig 67 Automatic detection of I O devices selection the devices to be integrated 80 Fig 68 Mapping of the configuration in VS shell of the TwinCAT...

Page 293: ...3 104 Fig 107 Scan Devices left TwinCAT 2 right TwinCAT 3 104 Fig 108 Note for automatic device scan left TwinCAT 2 right TwinCAT 3 104 Fig 109 Detected Ethernet devices 105 Fig 110 Example default state 105 Fig 111 Installing EthetCAT terminal with revision 1018 106 Fig 112 Detection of EtherCAT terminal with revision 1019 106 Fig 113 Scan query after automatic creation of an EtherCAT device left...

Page 294: ...ly supplied sensors 150 Fig 155 2 3 and 4 wire connection at single ended and differential inputs 151 Fig 156 Common mode voltage Vcm 152 Fig 157 Recommended operating voltage range 153 Fig 158 Signal processing analog input 153 Fig 159 Diagram signal delay step response 155 Fig 160 Diagram signal delay linear 155 Fig 161 EL3443 Power measurement with 2 current transformers on a motor 260 Fig 162 ...

Page 295: ...me EL3204 0000 and revision 0016 279 Fig 184 Scan the subordinate field by right clicking on the EtherCAT device 280 Fig 185 Configuration is identical 280 Fig 186 Change dialog 281 Fig 187 EEPROM Update 281 Fig 188 Selecting the new ESI 282 Fig 189 Display of EL3204 firmware version 283 Fig 190 Firmware Update 283 Fig 191 FPGA firmware version definition 285 Fig 192 Context menu Properties 285 Fi...

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