Table of contents
EL3692
3
Version: 2.1
Table of contents
1 Foreword .................................................................................................................................................... 5
1.1
Notes on the documentation........................................................................................................... 5
1.2
Safety instructions .......................................................................................................................... 6
1.3
Documentation issue status............................................................................................................ 7
1.4
Version identification of EtherCAT devices..................................................................................... 7
2 Product overview..................................................................................................................................... 11
2.1
Introduction ................................................................................................................................... 11
2.2
Technology ................................................................................................................................... 11
2.3
Technical data .............................................................................................................................. 13
2.4
Start .............................................................................................................................................. 13
3 Basics communication ........................................................................................................................... 14
3.1
EtherCAT basics ........................................................................................................................... 14
3.2
EtherCAT cabling – wire-bound.................................................................................................... 14
3.3
General notes for setting the watchdog ........................................................................................ 15
3.4
EtherCAT State Machine .............................................................................................................. 17
3.5
CoE Interface ................................................................................................................................ 19
3.6
Distributed Clock........................................................................................................................... 24
4 Installation................................................................................................................................................ 25
4.1
Installation on mounting rails ........................................................................................................ 25
4.2
Installation instructions for enhanced mechanical load capacity .................................................. 27
4.3
Connection system ....................................................................................................................... 28
4.4
Installation positions ..................................................................................................................... 31
4.5
Mounting of Passive Terminals..................................................................................................... 32
4.6
EL3692 ......................................................................................................................................... 34
4.6.1
LEDs and connection........................................................................................................... 34
4.6.2
Electrical connection ............................................................................................................ 35
5 Commissioning........................................................................................................................................ 37
5.1
TwinCAT Quick Start .................................................................................................................... 37
5.1.1
TwinCAT 2 ........................................................................................................................... 39
5.1.2
TwinCAT 3 ........................................................................................................................... 49
5.2
TwinCAT Development Environment............................................................................................ 61
5.2.1
Installation of the TwinCAT real-time driver ......................................................................... 61
5.2.2
Notes regarding ESI device description............................................................................... 67
5.2.3
TwinCAT ESI Updater.......................................................................................................... 71
5.2.4
Distinction between Online and Offline ................................................................................ 71
5.2.5
OFFLINE configuration creation .......................................................................................... 72
5.2.6
ONLINE configuration creation ............................................................................................ 77
5.2.7
EtherCAT subscriber configuration ...................................................................................... 85
5.3
General Notes - EtherCAT Slave Application ............................................................................... 95
5.4
Quick start................................................................................................................................... 103
5.5
Operating behavior, diagnostics ................................................................................................. 106
5.5.1
Control ............................................................................................................................... 106
5.5.2
Basic operation .................................................................................................................. 107
5.5.3
Default state....................................................................................................................... 107
