Beckhoff EL5032, Documentation

Page: 100 / 142

Commissioning
EL5032, EL5032-0090 100 Version: 2.4
TwinSAFE SC connections
If several TwinSAFE SC connections are used within a configuration, a different CRC must be se-
lected for each TwinSAFE SC connection.
6.6 EL5032-0090 - TwinSAFE SC process data
The EL5032-0090 transmits the following process data to the TwinSAFE logic:
Index (hex) Name Type Size
6000:12 Position (uint32) UINT 2.0
6010:12 Position (uint32) UINT 2.0
The position value "Position (uint32)" (0x60n0:12) of channels 1 and 2 is thereby transmitted by default. The
process data for the individual channels can be deselected on the "Process Image" tab in the Safety Editor.
Use of EnDat 2.2 encoders with position values >32 bits
ULINT values cannot be processed in the TwinSAFE logic, therefore there is no possibility to trans-
mit the position value
0x60n0:11 [
}
102] "Position" to the TwinSAFE logic. In this case the process
data must be parameterized under 0x8021 [
}
115] "TSC Process Data settings".
Parameterization of the TSC process data
Since ULINT values cannot be processed in the TwinSAFE logic, it may be necessary to parameterize the
TwinSAFE SC process data when using EnDat 2.2 encoders that transmit a position value of > 32 bits. The
parameterization of the process data and their effect must be taken into account accordingly in the safety
application, especially with regard to overflow of the counter/position values.
The parameterization is done under 0x8021 [
}
115] "TSC Process Data Settings". In the process, the number
of position bits is automatically read from the EnDat protocol and can be taken from the object 0x90n8:51
[
}
103] "Clock pulse periods".
• 0x8021:0n [
}
115] : Auto align to MSB Ch.n
◦ Default: the bit is not set. The position value is shifted to the right by the number of bits in
0x8021:1n "Shift right data Ch.n".
◦ If the bit is set the position value is automatically shifted to the right to the max. MSB.
• 0x8021:1n [
}
115] : Shift right data Ch.n
◦ Default: 0 – the position value is shifted by 0 bits to the right.
◦ An individual number of bits can be specified by which the process data is to be shifted to the right.
TwinSAFE SC objects
The overview of the TwinSAFE SC objects of the EL5032-0090 can be found in the chapter
EL5032-0090 - TwinSAFE Single Channel objects [
}
113] .
6.7 EL5032-00x0 - object description and parameterization
EtherCAT XML Device Description
The display matches that of the CoE objects from the EtherCAT XML Device Description. We rec-
ommend downloading the latest XML file from the download area of the Beckhoff website and in-
stalling it according to installation instructions.