Beckhoff EL3413-0000 Documentation Download Page 4

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Table of contents

EL34x3

Version: 4.4

4.7.3

EL3413-0120 ................................................................................................................... 56

4.7.4

EL3433-0000 ................................................................................................................... 59

5 Commissioning........................................................................................................................................ 62

5.1

TwinCAT Quick Start ....................................................................................................................... 62

5.1.1

TwinCAT 2 ....................................................................................................................... 65

5.1.2

TwinCAT 3 ....................................................................................................................... 75

5.2

TwinCAT Development Environment .............................................................................................. 87

5.2.1

Installation of the TwinCAT real-time driver..................................................................... 87

5.2.2

Notes regarding ESI device description........................................................................... 93

5.2.3

TwinCAT ESI Updater ..................................................................................................... 97

5.2.4

Distinction between Online and Offline............................................................................ 97

5.2.5

OFFLINE configuration creation ...................................................................................... 98

5.2.6

ONLINE configuration creation ...................................................................................... 103

5.2.7

EtherCAT subscriber configuration................................................................................ 111

5.3

General Notes - EtherCAT Slave Application ................................................................................ 120

5.4

Process data.................................................................................................................................. 128

5.4.1

Sync Manager (SM)....................................................................................................... 128

5.4.2

Operating modes and settings....................................................................................... 131

5.4.3

Predefined PDO Assignment......................................................................................... 133

5.5

Start-up and parameter configuration ............................................................................................ 133

5.5.1

Settings.......................................................................................................................... 133

5.5.2

Measurements ............................................................................................................... 135

5.5.3

Scaling factors ............................................................................................................... 139

5.6

Notices on analog specifications ................................................................................................... 140

5.6.1

Full scale value (FSV).................................................................................................... 141

5.6.2

Measuring error/ measurement deviation ...................................................................... 141

5.6.3

Temperature coefficient tK [ppm/K] ............................................................................... 142

5.6.4

Single-ended/differential typification .............................................................................. 143

5.6.5

Common-mode voltage and reference ground (based on differential inputs)................ 148

5.6.6

Dielectric strength .......................................................................................................... 148

5.6.7

Temporal aspects of analog/digital conversion.............................................................. 149

5.7

Object description and parameterization ....................................................................................... 152

5.7.1

Restore object................................................................................................................ 152

5.7.2

Configuration data ......................................................................................................... 153

5.7.3

Command object............................................................................................................ 153

5.7.4

Configuration data (vendor-specific).............................................................................. 155

5.7.5

Input data....................................................................................................................... 158

5.7.6

Output data .................................................................................................................... 163

5.7.7

Information and diagnostic data..................................................................................... 163

5.7.8

Standard objects............................................................................................................ 165

6 Diagnostics – basic principles of diag messages .............................................................................. 173

7 Appendix ................................................................................................................................................ 183

7.1

EtherCAT AL Status Codes ........................................................................................................... 183

7.2

Firmware compatibility ................................................................................................................... 183

7.3

Firmware Update EL/ES/EM/ELM/EPxxxx .................................................................................... 184

Summary of Contents for EL3413-0000

Page 1: ...Documentation EL34x3 3 phase power measurement terminal 4 4 2019 03 28 Version Date ...

Page 2: ......

Page 3: ...ment 22 2 3 4 Apparent power measurement 22 2 3 5 Sign for power measurement 24 2 3 6 Sign of the energy values 25 2 3 7 Frequency measurement 25 2 4 Current transformer 25 2 5 Start 26 3 Basics communication 27 3 1 EtherCAT basics 27 3 2 EtherCAT cabling wire bound 27 3 3 General notes for setting the watchdog 28 3 4 EtherCAT State Machine 30 3 5 CoE Interface 32 3 6 Distributed Clock 37 4 Instal...

Page 4: ...ation 133 5 5 1 Settings 133 5 5 2 Measurements 135 5 5 3 Scaling factors 139 5 6 Notices on analog specifications 140 5 6 1 Full scale value FSV 141 5 6 2 Measuring error measurement deviation 141 5 6 3 Temperature coefficient tK ppm K 142 5 6 4 Single ended differential typification 143 5 6 5 Common mode voltage and reference ground based on differential inputs 148 5 6 6 Dielectric strength 148 ...

Page 5: ...escription ESI file XML 185 7 3 2 Firmware explanation 188 7 3 3 Updating controller firmware efw 189 7 3 4 FPGA firmware rbf 190 7 3 5 Simultaneous updating of several EtherCAT devices 194 7 4 Restoring the delivery state 195 7 5 Support and Service 196 ...

Page 6: ...Table of contents EL34x3 6 Version 4 4 ...

Page 7: ...elevant laws regulations guidelines and standards Disclaimer The documentation has been prepared with care The products described are however constantly under development We reserve the right to revise and change the documentation at any time and without prior announcement No claims for the modification of products that have already been supplied may be made on the basis of the data diagrams and d...

Page 8: ...t Beckhoff Automation GmbH Co KG Germany The reproduction distribution and utilization of this document as well as the communication of its contents to others without express authorization are prohibited Offenders will be held liable for the payment of damages All rights reserved in the event of the grant of a patent utility model or design ...

Page 9: ...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 10: ...e chapter Technical data Update structure 3 8 Update chapter Technical data Update chapter Measurements Update structure 3 7 Update chapter Technical data Update chapter Measurements Addenda chapter Instructions for ESD protection Update chapter Notices on Analog specification Update chapter Diagnostics basic principles of diag messages Update revision status 3 6 Update chapter Start up and parame...

Page 11: ...connection 1 7 Update chapter Scaling factors 1 6 Update structure Addendum EL3413 0001 EL3413 0120 EL3433 1 5 Update Technical data 1 4 Update Technical data 1 3 Update Object description 1 2 Update Object description 1 1 Update Technical data 1 0 Addenda 1st public issue 0 1 Provisional documentation for EL3413 1 5 Version identification of EtherCAT devices Designation A Beckhoff EtherCAT device...

Page 12: ...from the different lines have different kinds of identification numbers Production lot batch number serial number date code D number The serial number for Beckhoff IO devices is usually the 8 digit number printed on the device or on a sticker The serial number indicates the configuration in delivery state and therefore refers to a whole production batch without distinguishing the individual module...

Page 13: ...ation certificate and other measuring terminals Examples of markings Fig 1 EL5021 EL terminal standard IP20 IO device with serial batch number and revision ID since 2014 01 Fig 2 EK1100 EtherCAT coupler standard IP20 IO device with serial batch number Fig 3 CU2016 switch with serial batch number ...

Page 14: ...EP1258 00001 IP67 EtherCAT Box with batch number date code 22090101 and unique serial number 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 ...

Page 15: ...Foreword EL34x3 15 Version 4 4 Fig 8 ELM3604 0002 terminal with unique ID number QR code 100001051 and serial batch number 44160201 ...

Page 16: ...Product overview EL34x3 16 Version 4 4 2 Product overview 2 1 EL3413 2 1 1 Introduction Fig 9 EL3413 Fig 10 EL3413 0001 ...

Page 17: ...voltage transformer is required The current inputs are electrically 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 Like all measured terminal data the harmonic content can be read via the process data The EL3413 0001 has a maximum input voltage of 600 V AC and is additionall...

Page 18: ...W 5 A measuring range Measuring accuracy 0 5 in relation to the full scale value U I 1 calculated value P Notice For the EL3413 an accuracy of 2 FSV full scale value of the largest measuring range of the terminal is valid referring to the neutral conductor current measurement The neutral conductor current measurement is only possible for this measuring range Frequency range 45 Hz to 65 Hz Signal t...

Page 19: ...ditional costs for external current transformers The external bridges 5 1 6 2 and 7 3 are already pre wired As a result it is possible to directly connect the supply voltage 5 6 and 7 and the consumer 1 2 and 3 The EL3433 can deal with simple network analysis up to the 21st harmonic analysis Like all measured terminal data the harmonic content can be read via the process data Quick links EtherCAT ...

Page 20: ...value of the largest measuring range of the terminal is valid referring to the neutral conductor current measurement The neutral conductor current measurement is only possible for this measuring range Frequency range 45 Hz to 65 Hz Signal type any taking into account the frequency range and the limit frequency Measuring procedure True RMS calculation with 16 800 2 800 per channel samples s Measuri...

Page 21: ...u and current i curves 2 3 2 RMS value calculation The rms value for voltage and current is calculated over a measuring interval in this case the period T The following equations are used u t instantaneous voltage value i t instantaneous current value n number of measured values Measuring interval The choice of the right measuring interval is important for the quality of the measurement The defaul...

Page 22: ...intervals is important as described in section RMS value measurement the interval can only be changed simultaneously for U I and P The power frequency is twice that of the corresponding voltages and currents 2 3 4 Apparent power 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...

Page 23: ...Q Reactive power φ Phase shift angle Fig 15 u t i t p t curves with phase shift angle φ In this context further parameters of the mains system and its consumers are significant apparent power S reactive power Q power factor cos φ The EL34x3 determines the following values ...

Page 24: ... In addition the sign of the reactive power Q indicates the direction of the phase shift between current and voltage Fig Four quadrant representation of active reactive power in motor and generator mode illustrates this In motor mode quadrant I IV a positive reactive power indicates an inductive load a negative reactive power indicates a capacitive load In generator mode quadrant II III an inducti...

Page 25: ...ee also last note in chapter PM Inputs Channel 1 2 3 137 2 4 Current transformer In principle the choice of current transformer for the EL34x3 is not critical The internal resistance within the current circuit of the EL34x3 is so small that it is negligible for the calculation of the total resistances of the current loop The transformers must be able to supply a secondary rated current in accordan...

Page 26: ...ltage measurement side of the EL34x3 General insulation fault WARNING WARNING Risk of electric shock The complete wiring of the EL34x3 must be protected against accidental contact and equipped with associ ated warnings The insulation should be designed for the maximum conductor voltage of the system to be measured The EL3413 xxxxx 18 or EL3433 xxxx 20 allows the maximum voltage for normal conditio...

Page 27: ...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 28: ...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 29: ... 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 30: ... 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 31: ...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 32: ...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 33: ...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 34: ... is to be stored permanently enter it in the Startup list The order of the Startup entries is usually irrelevant Fig 21 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 35: ... 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 23 Online list ...

Page 36: ... 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 37: ...Basics communication EL34x3 37 Version 4 4 3 6 Distributed Clock Distributed Clock The EL34x3 terminals do not support Distributed Clocks ...

Page 38: ... 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 class and ESD protection Fig 24 Spring contacts of the Beckhoff I O components 4 2 Installation on mounting rails WA...

Page 39: ...ck 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 rails The locking mechanism of the terminals and couplers extends to the profile of the mounting rail At the installa...

Page 40: ...s 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 Durin...

Page 41: ...from the group of terminals WARNING Risk of electric shock The PE power contact must not be used for other potentials 4 3 Connection 4 3 1 Connection system WARNING Risk of electric shock and damage of device Bring the bus terminal system into a safe powered down state before starting installation disassembly or wiring of the bus terminals Overview The Bus Terminal system offers different connecti...

Page 42: ...s the risk of wires being mixed up The familiar dimensions of the terminal only had to be changed slightly The new connector adds about 3 mm The maximum height of the terminal remains unchanged A tab for strain relief of the cable simplifies assembly in many applications and prevents tangling of individual connection wires when the connector is removed Conductor cross sections between 0 08 mm2 and...

Page 43: ...sn t support pluggable wiring Ultrasonically bonded ultrasonically welded conductors Ultrasonically bonded conductors It is also possible to connect the Standard and High Density Terminals with ultrasonically bonded ultrasonically welded conductors In this case please note the tables concerning the wire size width below ...

Page 44: ...oggle 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 conductors ...

Page 45: ...chnical data for a terminal to ascertain whether any restrictions regarding the installa tion position and or the operating temperature range have been specified When installing high power dissi pation terminals ensure that an adequate spacing is maintained between other components above and be low the terminal in order to guarantee adequate ventilation Optimum installation position standard The o...

Page 46: ... Fig Recommended distances for standard installation position is recommended Other installation positions All other installation positions are characterized by different spatial arrangement of the mounting rail see Fig Other installation positions The minimum distances to ambient specified above also apply to these installation positions ...

Page 47: ...Installation EL34x3 47 Version 4 4 Fig 33 Other installation positions ...

Page 48: ...p 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 34 Correct positioning Fig 35 Incorrect positioning 4 6 UL notice Application Beckhoff EtherCAT modules are intended for use with Beckhoff s UL Listed EtherCAT Sys tem only Examination For cULus examination the...

Page 49: ... A Devices with this kind of certification are marked by this sign Almost all current EtherCAT products as at 2010 05 are UL certified without restrictions Application If terminals certified with restrictions are used then the current consumption at 24 VDC must be limited accordingly by means of supply from an isolated source protected by a fuse of max 4 A according to UL248 or from a voltage supp...

Page 50: ...e Current 1 1 A with 1 A measuring range Current 5 5 A with 5 A measuring range IL2 OK green on Current IL2 ok IL2 Error red on Overcurrent on L2 Current 110 mA with 0 1 A measuring range Current 1 1 A with 1 A measuring range Current 5 5 A with 5 A measuring range IL3 OK green on Current IL3 ok IL3 Error red on Overcurrent on L3 Current 110 mA with 0 1 A measuring range Current 1 1 A with 1 A mea...

Page 51: ...t input IN 4 Neutral 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 N 8 Neutral conductor WARNING Earthing of the terminal point N when measuring current If you do not connect the terminal point N with the neutral conductor of your mains supply e g if the termi nal is used ...

Page 52: ...rsion 4 4 Terminal point Description Name No L1 1 Phase L1 voltage measurement input L2 2 Phase L2 voltage measurement input L3 3 Phase L3 voltage measurement input N 4 Neutral conductor 5 n c 6 n c 7 n c N 8 Neutral conductor ...

Page 53: ... on L1 Current 1 1 A with 1 A measuring range Current 5 5 A with 5 A measuring range IL2 OK green on Current IL2 ok IL2 Error red on Overcurrent on L2 Current 1 1 A with 1 A measuring range Current 5 5 A with 5 A measuring range IL3 OK green on Current IL3 ok IL3 Error red on Overcurrent on L3 Current 1 1 A with 1 A measuring range Current 5 5 A with 5 A measuring range ccw green on Counter clockw...

Page 54: ...t input IN 4 Neutral 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 N 8 Neutral conductor WARNING Earthing of the terminal point N when measuring current If you do not connect the terminal point N with the neutral conductor of your mains supply e g if the termi nal is used ...

Page 55: ...rsion 4 4 Terminal point Description Name No L1 1 Phase L1 voltage measurement input 2 n c L3 3 Phase L3 voltage measurement input N 4 Neutral conductor 5 n c L2 6 Phase L2 voltage measurement input 7 n c N 8 Neutral conductor ...

Page 56: ...with 1 A measuring range Current 5 5 A with 5 A measuring range IL2 OK green on Current IL2 ok IL2 Error red on Overcurrent on L2 Current 110 mA with 0 1 A measuring range Current 1 1 A with 1 A measuring range Current 5 5 A with 5 A measuring range IL3 OK green on Current IL3 ok IL3 Error red on Overcurrent on L3 Current 110 mA with 0 1 A measuring range Current 1 1 A with 1 A measuring range Cur...

Page 57: ...t input IN 4 Neutral 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 N 8 Neutral conductor WARNING Earthing of the terminal point N when measuring current If you do not connect the terminal point N with the neutral conductor of your mains supply e g if the termi nal is used ...

Page 58: ...rsion 4 4 Terminal point Description Name No L1 1 Phase L1 voltage measurement input L2 2 Phase L2 voltage measurement input L3 3 Phase L3 voltage measurement input N 4 Neutral conductor 5 n c 6 n c 7 n c N 8 Neutral conductor ...

Page 59: ...with 2 A measuring range Current 11 A with 10 A measuring range IL2 OK green on Current IL2 ok IL2 Error red on Overcurrent on L2 Current 220 mA with 200 mA measuring range Current 2 2 A with 2 A measuring range Current 11 A with 10 A measuring range IL3 OK green on Current IL3 ok IL3 Error red on Overcurrent on L3 Current 220 mA with 200 mA measuring range Current 2 2 A with 2 A measuring range C...

Page 60: ...ductor current measurement input star point IL1 5 Phase L1 current measurement input IL2 6 Phase L2 current measurement input IL3 7 Phase L3 current measurement input N 8 Neutral conductor WARNING Earthing of the terminal point N when measuring current If you do not connect the terminal point N with the neutral conductor of your mains supply e g if the termi nal is used purely for current measurem...

Page 61: ...ase L1 voltage measurement output L2 2 Phase L2 voltage measurement output L3 3 Phase L3 voltage measurement output N 4 Neutral conductor L1 5 Phase L1 voltage measurement input L2 6 Phase L2 voltage measurement input L3 7 Phase L3 voltage measurement input N 8 Neutral conductor ...

Page 62: ...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 63: ...ed 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 analog input terminal 10 10 V 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 64: ...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 65: ...stem Manager displays the following user interface after startup Fig 46 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 67 If the intention is to address the TwinCAT runtime environment i...

Page 66: ... shown in red perform a Broadcast Search if the exact computer name is not known enter the known computer IP or AmsNetID Fig 48 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 67: ...menu Actions Set Reset TwinCAT to Config Mode Shift F4 Fig 49 Select Scan Devices Confirm the warning message which follows and select EtherCAT in the dialog Fig 50 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 68: ...nu which then reads the elements present in the configuration below Fig 52 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 69: ...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 53 TwinCAT PLC Control after startup Sample variables and a sample program have been created and stored under the name PLC_example pro ...

Page 70: ...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 71: ... 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 57 Creating the links between PLC variables and process objects In the window that open...

Page 72: ...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 73: ...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 74: ...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 75: ...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 76: ... 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 64 Create new TwinCAT project The new project is then available in the project folder explorer ...

Page 77: ...led on the respective PLC TwinCAT can be used in local mode and thereby the next step is Insert Device 78 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 66 Selection dialog Ch...

Page 78: ...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 79: ... be acknowledged Based on the sample configuration 63 described at the beginning of this section the result is as follows Fig 70 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 80: ...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 81: ...PLC_example as project name for example and select a corresponding directory Fig 73 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 82: ...Commissioning EL34x3 82 Version 4 4 Fig 74 Initial Main program of the standard PLC project To continue sample variables and a sample program have now been created ...

Page 83: ...er followed by the compile process Fig 76 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 84: ...ion tree Fig 78 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 85: ...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 80 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 86: ...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 87: ...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 88: ...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 98 in order to view the compatible ethernet ...

Page 89: ...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 86 Windows properties of the network interface A correct setting of the driver could be ...

Page 90: ...Commissioning EL34x3 90 Version 4 4 Fig 87 Exemplary correct driver setting for the Ethernet port Other possible settings have to be avoided ...

Page 91: ...Commissioning EL34x3 91 Version 4 4 Fig 88 Incorrect driver settings for the Ethernet port ...

Page 92: ...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 89 TCP IP setting ...

Page 93: ...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 97 is available for this purpose ESI ...

Page 94: ...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 95: ...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 96: ...L34x3 96 Version 4 4 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 97: ...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 98: ...ation 108 can also be carried out for comparison 5 2 5 OFFLINE configuration creation Creating the EtherCAT device Create an EtherCAT device in an empty System Manager window Fig 98 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 99: ...s can be appended by right clicking on a device in the configuration tree Fig 102 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 100: ...ision can be displayed as Extended Information Fig 104 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 101: ... 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 106 Name revision of the terminal If current ESI descriptions are available in the TwinCAT system the last revision offered in the...

Page 102: ...Commissioning EL34x3 102 Version 4 4 Fig 107 EtherCAT terminal in the TwinCAT tree left TwinCAT 2 right TwinCAT 3 ...

Page 103: ...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 104: ...he respective devices are lo cated in the stored ESI data and integrated in the configuration tree in the default state defined there Fig 112 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 105: ...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 114 Detection of EtherCAT terminal with revision 1019 This is usually not noticed by the commissioning engineers TwinCAT c...

Page 106: ...ched to online state OPERATIONAL Fig 118 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 119 Displaying of Free Run and Config Mode toggling right below in the status bar Fig 120 Twi...

Page 107: ...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 108: ...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 123 Identical configuration left TwinCAT 2 right TwinCAT 3 If differences are detected they are shown in the cor...

Page 109: ...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 110: ...T offers a function Change to Compatible Type for the exchange of a device whilst retaining the links in the task Fig 127 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 128 TwinCAT 2 Dialog Chan...

Page 111: ...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 112: ...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 113: ...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 114: ... 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 119 can be found at the end of this section Startup tab The Startup tab is displayed if the EtherCAT slave has a mai...

Page 115: ...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 116: ...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 117: ...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 137 Online tab ...

Page 118: ...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 119: ... 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 120: ... 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 121: ... 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 122: ...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 123: ...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 124: ...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 125: ...t as standard EtherCAT Master OP Slaves OP This setting applies equally to all Slaves Fig 143 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 144 Default target state in the Slave ...

Page 126: ...ve Fig 145 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 127: ...bove a warning message E Bus Power of Terminal is output in the logger window when such a configuration is activated Fig 147 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 128: ... Process data 5 4 1 Sync Manager SM The scope of the offered process data can be viewed on the Process data tab in the TwinCAT System Manager see fig Process data tab SM2 EL34x3 Process data tab SM3 EL34x3 Fig 148 Process Data tab SM2 EL34x3 ...

Page 129: ... PDOs Size Byte Bit Name PDO content 0x1600 default 1 0 PM Outputs Channel 1 Index 0x7000 01 163 Index 0x1601 d efault 1 0 PM Outputs Channel 2 Index 0x7010 01 163 Index 0x1602 default 1 0 PM Outputs Channel 2 Index 0x7020 01 163 Index 0x1603 default 2 0 PM Auxiliary Outputs Auxiliary Index 0x7030 01 163 Index Index 0x7030 02 163 Channel ...

Page 130: ... 0x6010 06 159 STATUS_Phase sequence ccw Index 0x6010 07 159 STATUS_Missing zero crossing Index 0x6010 0F 159 STATUS_TxPDO State Index 0x6010 10 159 STATUS_TxPDO Toggle Index 0x6010 11 159 Current Index 0x6010 12 159 Voltage Index 0x6010 13 159 Active power Index 0x6010 14 159 Index Index 0x6010 1D 159 Variant value 0x1A02 default 20 0 PM Inputs Channel 3 Index 0x6020 01 160 STATUS_Overvoltage Ind...

Page 131: ...ndamental 0 01 W 21 Apparent power fundamental 0 01 VA 22 Reactive power fundamental 0 01 var 30 Energy positive 0 001 Wh 31 Positive energy automatically saved 0 001 Wh 32 Energy automatic saved 0 001 Wh 35 Energy negative automatically saved 0 001 Wh 44 Frequency average resolution 0 01 Hz 45 Frequency high resolution 0 001 Hz 46 Held frequency 0 1 Hz 47 Held frequency average resolution 0 01 Hz...

Page 132: ... to the fundamental current 0 01 1 3 100 Calculation ongoing 1 3 101 121 RMS value of the xth harmonic voltage 0 0001 V 1 3 151 171 Ratio of the xth harmonic to the fundamental voltage 0 01 11 13 0 Apparent power of phase x 0 01 VA 11 13 1 Reactive power of phase x 0 01 var 11 13 2 Energy of phase x 0 001 Wh 11 13 3 Power factor λ of phase x 0 001 11 13 4 Frequency of phase x 0 1 Hz 11 13 5 Energy...

Page 133: ... 2 0x1A02 PM Inputs Channel 3 0x1A03 PM Inputs Auxiliary Minimal all phases active accessible by Auxiliary channel 0x1603 PM Outputs Auxiliary 0x1A03 PM Inputs Auxiliary Phase 1 2 3 0x1600 PM Outputs Channel 1 0x1601 PM Outputs Channel 2 0x1602 PM Outputs Channel 3 0x1A00 PM Inputs Channel 1 0x1A01 PM Inputs Channel 2 0x1A02 PM Inputs Channel 3 Phase 1 only 0x1600 PM Outputs Channel 1 0x1A00 PM In...

Page 134: ... 0x0222 Measuring interval 10 periods default 0x0322 Measuring interval 16 periods 0x0422 Measuring interval 32 periods Sample In order to change the measuring interval to 16 periods the value 0322hex must be entered in Index 0xFB00 01 153 The adoption of the new measuring cycle time can take up to 10 seconds The value is not stored in the EEPROM following a voltage reset of the terminal a measuri...

Page 135: ...urrent command is completed When writing the subindex note that you cannot write directly in the Hex field the Binary field must be used for this The input takes place in the reverse byte order with space see fig Writing the subindex 01 object FB00 Sample To delete the energy values of all channels manually enter 0004hex in index 0xFB00 01 153 Fig 151 Writing Subindex 01 Object FB00 5 5 2 Measurem...

Page 136: ...90x0 02 164 These values can only be saved or deleted manually This value is saved under Index 0xF801 in the case of the EL3403 For reasons of compatibility this index also exists in the EL34x3 If program modules are to access this index these can continue to be used However it is recommended to use Index 0x90x0 in new applications Sample 1 If the energy value of channel 2 is to be saved manually ...

Page 137: ...ve phase Voltage Cyclic measurement of the voltage of the respective phase Active power Cyclic measurement of the active power of the respective phase Index Indicates which parameter the VariantValue is currently measuring VariantValue There are several parameters behind the VariantValue It is possible to read in the following values for the respective channel the apparent power the reactive power...

Page 138: ... taking place Value There are several parameters behind the Value If the value 0 is entered in Channel the following values can be read in Neutral conductor current Sum of the energy phase 1 3 Frequency Sum of the negative energy phase 1 3 Sum of the active power phase 1 3 Sum of the reactive power phase 1 3 Sum of the apparent power phase 1 3 Temperature at the ADC If the value 1 2 or 3 is entere...

Page 139: ...ex The value of the parameter that is to be measured and read in in the corresponding Variant value is to be entered here 5 5 2 5 PM Outputs Channel Auxiliary Index The value of the parameter that is to be measured and read in in the Value is to be entered here Channel The phase that is to be measured can be selected here 5 5 3 Scaling factors The following overview indicates the scaling factors t...

Page 140: ...ctor cos φ Power factor cos φ Raw values x 0 001 RMS value of harmonic Current 1 A RMS value of harmonic Current 2 A Raw values x 0 000001 A x current transformer ratio RMS value of harmonic Current 5 A RMS value of harmonic Current 10 A Raw values x 0 000001 A x current transformer ratio Ratio of harmonic to fundamental Ratio of harmonic to fundamental Raw values x 0 01 RMS value of harmonic Volt...

Page 141: ...ric unipolar full scale value 20 mA measuring span 16 mA Measuring range 200 1370 C asymmetric bipolar full scale value 1370 C measuring span 1570 C Measuring range 10 10 V symmetric bipolar full scale value 10 V measuring span 20 V This applies to analog output terminals boxes and related Beckhoff product groups 5 6 2 Measuring error measurement deviation The relative measuring error of the full ...

Page 142: ...lue 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 Beckhoff allows the user to calculate the expected measuring error outside the basic accuracy at 23 ...

Page 143: ...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 144: ...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 145: ...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 146: ... 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 147: ...Commissioning EL34x3 147 Version 4 4 Single ended Differential Fig 156 2 3 and 4 wire connection at single ended and differential inputs ...

Page 148: ...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 149: ... 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 150: ...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 151: ...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 161 Diagram signal delay linear 3 Addit...

Page 152: ...Differentiation between online offline dictionary existence of current XML description use CoE reload for resetting changes Introduction The CoE overview contains objects for different intended applications Objects required for parameterization during commissioning Restore object index 0x1011 Configuration data index 0x80n0 Objects intended for regular operation e g through ADS access Profile spec...

Page 153: ...o 180 φ Input value Δ φ 90 π x 32767 UINT16 RW 0x000A 0dec this object is still supported but no longer displayed in the CoE It is preferable to object 0x802D 11 Index 802D PM Device Settings Index hex Name Meaning Data type Flags Default 802D 0 PM Device Settings Largest subindex of this object UINT8 RO 18 802D 11 Current Range Current measuring range EL3413 10 100 mA 100 1 A 500 5 A Current meas...

Page 154: ...itch on phase 14hex Save energy 135 22hex Change measuring interval 133 24hex Clear energy autosaved all channels only 34hex Save energy autosaved all channels only Byte 1 channel selection number of periods 00hex all channels 4 periods 01hex Channel 1 5 periods 02hex Channel 2 10 periods default 03hex Channel 3 16 periods 04hex 32 periods FB00 02 Status byte 0 UINT8 RW 0x00 0dec reserved FB00 03 ...

Page 155: ...el 1 800F 14 EL3413 xxxx Calibration current gain 5 A Vendor calibration EL3413 xxxx Gain current measuring range 5 A channel 1 INT16 RW 0x4000 16384dec EL3433 xxxx Calibration current gain 10 A Vendor calibration EL3433 xxxx Gain current measuring range 10 A channel 1 800F 20 EL3413 xxxx Calibration phase Off set 1 A Vendor calibration EL3413 xxxx Phase shift measuring range 1 A channel 1 UINT16 ...

Page 156: ...xxxx Calibration current gain 5 A Vendor calibration EL3413 xxxx Gain current measuring range 5 A channel 2 INT16 RW 0x4000 16384dec EL3433 xxxx Calibration current gain 10 A Vendor calibration EL3433 xxxx Gain current measuring range 10 A channel 2 801F 20 EL3413 xxxx Calibration phase Off set 1 A Vendor calibration EL3413 xxxx Phase shift measuring range 1 A channel 2 UINT16 RW 0x0000 0dec EL343...

Page 157: ...3433 xxxx Calibration current gain 10 A Vendor calibration EL3433 xxxx Gain current measuring range 10 A channel 3 802F 20 EL3413 xxxx Calibration phase Off set 1 A Vendor calibration EL3413 xxxx Phase shift measuring range 1 A channel 3 UINT16 RW 0x0000 0dec EL3433 xxxx Calibration phase Off set 2 A Vendor calibration EL3433 xxxx Phase shift measuring range 2 A channel 3 802F 21 EL3413 xxxx Calib...

Page 158: ...e when the data of the associated TxPDO is updated BOOLEAN RW 0x00 0dec 6000 11 Current Current channel 1 Unit 0 000001 A INT32 RW 0x00000000 0dec 6000 12 Voltage Voltage channel 1 Unit 0 0001 V INT32 RW 0x00000000 0dec 6000 13 Active power Active power channel 1 Unit 0 01 W INT32 RW 0x00000000 0dec 6000 14 Index Acknowledge for variable output value channel 1 Index dec Name Unit UINT8 RW 0x00 0de...

Page 159: ... Toggle The TxPDO toggle is toggled by the slave when the data of the associated TxPDO is updated BOOLEAN RW 0x00 0dec 6010 11 Current Current channel 2 Unit 0 000001 A INT32 RW 0x00000000 0dec 6010 12 Voltage Voltage channel 2 Unit 0 0001 V INT32 RW 0x00000000 0dec 6010 13 Active power Active power channel 2 Unit 0 01 W INT32 RW 0x00000000 0dec 6010 14 Index Acknowledge for variable output value ...

Page 160: ...oggle The TxPDO toggle is toggled by the slave when the data of the associated TxPDO is updated BOOLEAN RW 0x00 0dec 6020 11 Current Current channel 3 Unit 0 000001 A INT32 RW 0x00000000 0dec 6020 12 Voltage Voltage channel 3 Unit 0 0001 V INT32 RW 0x00000000 0dec 6020 13 Active power Active power channel 3 Unit 0 01 W INT32 RW 0x00000000 0dec 6020 14 Index Acknowledge for variable output value ch...

Page 161: ...Commissioning EL34x3 161 Version 4 4 for EL3413 from firmware 08 EL3413 120 from firmware 04 EL3413 1 EL3433 from firmware 10 from firmware 10 ...

Page 162: ...0 01 var 0 30 Energy positive 0 001 Wh 0 31 Positive energy automatically saved 0 001 Wh 0 32 Energy automatic saved 0 001 Wh 0 35 Energy negative automatically saved absolute value 0 001 Wh 0 44 Frequency average resolution 0 01 Hz 0 45 Frequency high resolution 0 001 Hz 0 46 Held frequency 0 1 Hz 0 47 Held frequency average resolution 0 01 Hz 0 48 Held frequency high resolution 0 001 Hz 0 100 AD...

Page 163: ...ame Meaning Data type Flags Default 7020 0 PM Outputs Ch 3 Largest subindex of this object UINT8 RO 1 7020 01 Index Request for variable output value channel 3 see index 0x6020 1D 160 UINT8 RW 0x00 0dec Index 7030 PM Outputs Auxiliary Index hex Name Meaning Data type Flags Default 7030 0 PM Outputs Ch Auxil iary Largest subindex of this object UINT8 RO 2 7030 01 Index Request for variable output v...

Page 164: ...00 0dec 9010 02 Energy negative stored negative energy value of channel 2 1 Unit 0 001 Wh INT32 RO 0x00000000 0dec 9010 03 Energy overall au tosaved automatically saved energy value of channel 2 1 Unit 0 001 Wh INT32 RO 0x00000000 0dec 9010 04 Energy negative au tosaved automatically saved negative energy value of channel 2 1 Unit 0 001 Wh INT32 RO 0x00000000 0dec Index 9020 PM Persistent data Ch ...

Page 165: ...lave the low word bit 0 15 indicates the special terminal number the high word bit 16 31 refers to the device description UINT32 RO 0x00100000 1048576dec 1018 04 Serial number Serial number of the EtherCAT slave the low byte bit 0 7 of the low word contains the year of production 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 Index 10F...

Page 166: ... 1 1601 01 SubIndex 001 1 PDO Mapping entry object 0x7010 PM Outputs Ch 2 entry 0x01 Index UINT32 RW 0x7010 01 8 Index 1602 RxPDO Map Ch 3 Index hex Name Meaning Data type Flags Default 1602 0 RxPDO Map Ch 3 PDO mapping of RxPDO 3 UINT8 RO 1 1602 01 SubIndex 001 1 PDO Mapping entry object 0x7020 PM Outputs Ch 3 entry 0x01 Index UINT32 RW 0x7020 01 8 Index 1603 RxPDO Map Auxiliary Channel Index hex...

Page 167: ... 7 PDO Mapping entry object 0x6000 PM Inputs Ch 1 entry 0x7 Missing zero crossing UINT32 RW 0x6000 07 1 1A00 08 SubIndex 008 8 PDO Mapping entry Align UINT32 RW 0x0000 00 7 1A00 09 SubIndex 009 9 PDO Mapping entry object 0x6000 PM Inputs Ch 1 entry 0x0F TxPDO State UINT32 RW 0x6000 0F 1 1A00 0A SubIndex 010 10 PDO Mapping entry object 0x6000 AI Inputs Ch 1 entry 0x10 TxPDO Toggle UINT32 RW 0x6000 ...

Page 168: ... 7 PDO Mapping entry object 0x6010 PM Inputs Ch 1 entry 0x7 Missing zero crossing UINT32 RW 0x6010 07 1 1A01 08 SubIndex 008 8 PDO Mapping entry Align UINT32 RW 0x0000 00 7 1A01 09 SubIndex 009 9 PDO Mapping entry object 0x6010 PM Inputs Ch 1 entry 0x0F TxPDO State UINT32 RW 0x6010 0F 1 1A01 0A SubIndex 010 10 PDO Mapping entry object 0x6010 PM Inputs Ch 1 entry 0x10 TxPDO Toggle UINT32 RW 0x6010 ...

Page 169: ...ve power UINT32 RW 0x6020 13 32 1A02 0E SubIndex 014 14 PDO Mapping entry object 0x6020 PM Inputs Ch 1 entry 0x14 Index UINT32 RW 0x6020 14 8 1A02 0F SubIndex 015 15 PDO Mapping entry Align UINT32 RW 0x0000 00 8 1A02 10 SubIndex 016 16 PDO Mapping entry object 0x6020 PM Inputs Ch 1 entry 0x1D VariantValue UINT32 RW 0x6020 1D 32 Index 1A03 TxPDO Map Auxiliary Index hex Name Meaning Data type Flags ...

Page 170: ...PDO 3 UINT16 RW 0x1602 5634dec 1C12 04 Subindex 004 4 assigned PDO RxPDO Map Auxiliary RxPDO 4 UINT16 RW 0x1603 5634dec Index 1C13 TxPDO assign Index hex Name Meaning Data type Flags Default 1C13 0 TxPDO assign PDO Assign of the Inputs UINT8 RO 4 1C13 01 Subindex 001 1 assigned PDO TxPDO Map Ch 1 TxPDO 1 UINT16 RW 0x1A00 6656dec 1C13 02 Subindex 002 2 assigned PDO TxPDO Map Ch 2 TxPDO 2 UINT16 RW ...

Page 171: ...e time Minimum cycle time in ns UINT32 RW 0x000AAE60 700000dec 1C32 06 Calc and copy time Minimum time between SYNC0 and SYNC1 event in ns DC mode only UINT32 RW 0x00000000 0dec 1C32 08 Command 0 Measurement of the local cycle time is stopped 1 Measurement of the local cycle time is started 0x1C32 033 171 0x1C32 05 171 0x1C32 06 171 0x1C32 09 171 0x1C33 03 172 0x1C33 06 171 0x1C33 09 172 are updat...

Page 172: ... with SM 3 Event is supported no outputs available Bit 2 3 01 DC mode is supported Bit 4 5 01 Input 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 0x1C32 08 171 or 0x1C33 08 172 UINT16 RW 0x0001 1dec 1C33 05 Minimum cycle time as 0x1C32 05 171 UINT32 RW 0x000AAE60 700000dec 1C33 06 Calc ...

Page 173: ...ng or error Text ID 2 byte reference to explanatory text from the ESI XML Timestamp 8 byte local slave time or 64 bit Distributed Clock time if available Dynamic parameters added by the firmware The DiagMessages are explained in text form in the ESI XML file belonging to the EtherCAT device on the basis of the Text ID contained in the DiagMessage the corresponding plain text message can be found i...

Page 174: ... the logger output could be stored into a data file hence DiagMessages are available long term for analysis Reading messages into the PLC In preparation Interpretation Time stamp The time stamp is obtained from the local clock of the terminal at the time of the event The time is usually the distributed clock time DC from register x910 Please note When EtherCAT is started the DC time in the referen...

Page 175: ...ysteminfo 2 reserved 1 Info 4 Warning 8 Error 0 System 1 General 2 Communication 3 Encoder 4 Drive 5 Inputs 6 I O general 7 reserved Error number Example Message 0x4413 Drive Warning Number 0x13 Overview of text IDs Specific Text IDs should be specified in the device documentation ...

Page 176: ...ation General Data deleted Idx 0x X SubIdx 0x X Data deleted 0x117F Information General Information 0x X 0x X 0x X Information 0x1201 Information Communication Communication re es tablished Communication to the field side restored This message appears for example if the voltage was removed from the power contacts and re applied dur ing operation 0x1300 Information Encoder Position set d d Position...

Page 177: ...lid IP configuration 0x2004 Information System s valid IP Configura tion IP d d d d assigned by Dhcp server d d d d Valid IP configuration assigned by the DHCP server 0x2005 Information System s Dhcp client timed out DHCP client timeout 0x2006 Information System s Duplicate IP Ad dress detected d d d d Duplicate IP address found 0x2007 Information System s UDP handler initial ized UDP handler init...

Page 178: ...ral Discrepancy in the PDO Configuration The selected PDOs do not match the set operating mode Sample Drive operates in velocity mode but the ve locity PDO is but not mapped in the PDOs 0x417F Warning General Warning 0x X 0x X 0x X 0x428D Warning General Challenge is not Ran dom 0x4300 Warning Encoder Subincrements deacti vated d d Sub increments deactivated despite activated configu ration 0x4301...

Page 179: ...d 0x4418 Warning Drive Limit Current Limit current is limited 0x4419 Warning Drive Limit Amplifier I2T model exceeds 100 The threshold values for the maximum current were exceeded 0x441A Warning Drive Limit Motor I2T model exceeds 100 Limit Motor I2T model exceeds 100 0x441B Warning Drive Limit Velocity limitation The threshold values for the maximum speed were ex ceeded 0x441C Warning Drive STO w...

Page 180: ...neral PD Watchdog Communication between the fieldbus and the output stage is secured by a Watchdog The axis is stopped automatically if the fieldbus communication is inter rupted The EtherCAT connection was interrupted during op eration The Master was switched to Config mode during op eration 0x8135 Error General Cycle time has to be a multiple of 125 µs The IO or NC cycle time divided by 125 µs d...

Page 181: ...cannot be read 0x8400 Error Drive Incorrect drive configura tion 0x X d Drive incorrectly configured 0x8401 Error Drive Limiting of calibration ve locity d d Limitation of the calibration velocity 0x8402 Error Drive Emergency stop acti vated 0x X d Emergency stop activated 0x8403 Error Drive ADC Error Error during current measurement in the ADC 0x8404 Error Drive Overcurrent Overcurrent in phase U...

Page 182: ...range Output voltage not in the correct range 0x8611 Error General IO Output voltage to low Output voltage too low 0x8612 Error General IO Output voltage to high Output voltage too high 0x8613 Error General IO Over current of output voltage Overcurrent of output voltage 0x8700 Error Channel Interface not calibrated Channel interface not synchronized 0x8701 Error Operating time was ma nipulated Ope...

Page 183: ...ducts NOTE Risk of damage to the device Pay attention to the instructions for firmware updates on the separate page 184 If a device is placed in BOOTSTRAP mode for a firmware update it does not check when downloading whether the new firmware is suitable This can result in damage to the device Therefore always make sure that the firmware is suit able for the hardware version EL3413 0000 Hardware HW...

Page 184: ...SI EEPROM for storing its own device description ESI EtherCAT Slave Information On power up this description is loaded and the EtherCAT communication is set up accordingly The device description is available from the download area of the Beckhoff website at https www beckhoff de All ESI files are accessible there as zip files Customers can access the data via the EtherCAT fieldbus and its communic...

Page 185: ...data from the production in the EEPROM These are irretrievably overwritten during an update The ESI device description is stored locally on the slave and loaded on start up Each device description has a unique identifier consisting of slave name 9 characters digits and a revision number 4 digits Each slave configured in the System Manager shows its identifier in the EtherCAT tab Fig 164 Device ide...

Page 186: ...ion is to scan the EtherCAT boxes in TwinCAT mode Config FreeRun Fig 165 Scan the subordinate field by right clicking on the EtherCAT device If the found field matches the configured field the display shows Fig 166 Configuration is identical otherwise a change dialog appears for entering the actual data in the configuration Fig 167 Change dialog ...

Page 187: ...lave in the online display opens the EEPROM Update dialog Fig EEPROM Update Fig 168 EEPROM Update The new ESI description is selected in the following dialog see Fig Selecting the new ESI The checkbox Show Hidden Devices also displays older normally hidden versions of a slave Fig 169 Selecting the new ESI A progress bar in the System Manager shows the progress Data are first written then verified ...

Page 188: ... terminal 2 EL3204 and select the tab CoE Online CAN over EtherCAT CoE Online and Offline CoE Two CoE directories are available online This is offered in the EtherCAT slave by the controller if the EtherCAT slave supports this This CoE directory can only be displayed if a slave is connected and operational offline The EtherCAT Slave Information ESI XML may contain the default content of the CoE Th...

Page 189: ...uring a firmware update Switch to the Online tab to update the controller firmware of a slave see Fig Firmware Update Fig 171 Firmware Update Proceed as follows unless instructed otherwise by Beckhoff support Valid for TwinCAT 2 and 3 as EtherCAT master Switch TwinCAT system to ConfigMode FreeRun with cycle time 1 ms default in ConfigMode is 4 ms A FW Update during real time operation is not recom...

Page 190: ...pdate may be accomplished via an rbf file Controller firmware for processing I O signals FPGA firmware for EtherCAT communication only for terminals with FPGA The firmware version number included in the terminal serial number contains both firmware components If one of these firmware components is modified this version number is updated Determining the version via the System Manager The TwinCAT Sy...

Page 191: ...d right click the table header and select Properties in the context menu Fig 173 Context menu Properties The Advanced Settings dialog appears where the columns to be displayed can be selected Under Diagnosis Online View select the 0002 ETxxxx Build check box in order to activate the FPGA firmware version display ...

Page 192: ... 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 193: ...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 194: ...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 7 3 5 Simultaneous updating of several EtherCAT devices The firmware and ESI descriptions of several devices can be updated simultaneously provi...

Page 195: ... 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 177 Entering a restore value in the Set Value dialog Alternative restore value In some older terminals the backup objects can be sw...

Page 196: ...onents there Beckhoff Headquarters Beckhoff Automation GmbH Co KG Huelshorstweg 20 33415 Verl Germany Phone 49 0 5246 963 0 Fax 49 0 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 commissioni...

Page 197: ...u and current i curves 21 Fig 14 Power s t curve 22 Fig 15 u t i t p t curves with phase shift angle φ 23 Fig 16 Four quadrant representation of active reactive power in motor and generator mode 24 Fig 17 System manager current calculation 28 Fig 18 EtherCAT tab Advanced Settings Behavior Watchdog 29 Fig 19 States of the EtherCAT State Machine 31 Fig 20 CoE Online tab 33 Fig 21 Startup list in the...

Page 198: ...al TwinCAT 3 user interface 76 Fig 64 Create new TwinCAT project 76 Fig 65 New TwinCAT3 project in the project folder explorer 77 Fig 66 Selection dialog Choose the target system 77 Fig 67 Specify the PLC for access by the TwinCAT System Manager selection of the target system 78 Fig 68 Select Scan 78 Fig 69 Automatic detection of I O devices selection the devices to be integrated 79 Fig 70 Mapping...

Page 199: ... target system left TwinCAT 2 right TwinCAT 3 103 Fig 109 Scan Devices left TwinCAT 2 right TwinCAT 3 103 Fig 110 Note for automatic device scan left TwinCAT 2 right TwinCAT 3 103 Fig 111 Detected Ethernet devices 104 Fig 112 Example default state 104 Fig 113 Installing EthetCAT terminal with revision 1018 105 Fig 114 Detection of EtherCAT terminal with revision 1019 105 Fig 115 Scan query after a...

Page 200: ...annel version 143 Fig 154 2 wire connection 145 Fig 155 Connection of externally supplied sensors 146 Fig 156 2 3 and 4 wire connection at single ended and differential inputs 147 Fig 157 Common mode voltage Vcm 148 Fig 158 Recommended operating voltage range 149 Fig 159 Signal processing analog input 149 Fig 160 Diagram signal delay step response 151 Fig 161 Diagram signal delay linear 151 Fig 16...

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