Beckhoff EL5101 Documentation Download Page 146

Page: 146 / 193

Commissioning

EL5101, EL5101-0010, EL5101-0011

146

Version: 4.2

Index 1601 ENC RxPDO-Map Control compact (EL5101-0010)

Index

Name

Meaning

Data type

Flags

Default

1601:0

ENC RxPDO-Map
Control compact

PDO Mapping RxPDO 2

UINT8

0x07 (7

dec

)

1601:01

SubIndex 001

1. PDO Mapping entry (object 0x7000 (ENC Outputs),
entry 0x01 (Enable latch C))

UINT32

0x7000:01, 1

1601:02

SubIndex 002

2. PDO Mapping entry (object 0x7000 (ENC Outputs),
entry 0x02 (Enable latch extern on positive edge))

UINT32

0x7000:02, 1

1601:03

SubIndex 003

3. PDO Mapping entry (object 0x7000 (ENC Outputs),
entry 0x03 (Set counter))

UINT32

0x7000:03, 1

1601:04

SubIndex 004

4. PDO Mapping entry (object 0x7000 (ENC Outputs),
entry 0x04 (Enable latch extern on negative edge))

UINT32

0x7000:04, 1

1601:05

SubIndex 005

5. PDO Mapping entry (4 bits align)

UINT32

0x0000:00, 4

1601:06

SubIndex 006

6. PDO Mapping entry (8 bits align)

UINT32

0x0000:00, 8

1601:07

SubIndex 007

7. PDO Mapping entry (object 0x7000 (ENC Outputs),
entry 0x11 (Set counter value))

UINT32

0x7000:11, 16

Index 1601 RxPDO-Map Outputs Word-Aligned (EL5101-0000)

Index (hex) Name

Meaning

Data type

Flags

Default

1601:0

RxPDO-Map Outputs
Word-Aligned

PDO Mapping RxPDO 2

UINT8

0x03 (3

dec

)

1601:01

SubIndex 001

1. PDO Mapping entry (object 0x7000 (Outputs), entry
0x01 (Ctrl))

UINT32

0x7000:01, 8

1601:02

SubIndex 002

2. PDO Mapping entry (8 bits align)

UINT32

0x0000:00, 8

1601:03

SubIndex 003

3. PDO Mapping entry (object 0x7000 (Outputs), entry
0x02 (Value))

UINT32

0x7000:02, 16

Index 1602 ENC RxPDO-Map Control compact (EL5101-0000)

Index (hex) Name

Meaning

Data type

Flags

Default

1602:0

ENC RxPDO-Map
Control compact

PDO Mapping RxPDO 3

UINT8

0x07 (7

dec

)

1602:01

SubIndex 001

1. PDO Mapping entry (object 0x7010 (ENC Outputs),
entry 0x01 (Enable latch C))

UINT32

0x7010:01, 1

1602:02

SubIndex 002

2. PDO Mapping entry (object 0x7010 (ENC Outputs),
entry 0x02 (Enable latch extern on positive edge))

UINT32

0x7010:02, 1

1602:03

SubIndex 003

3. PDO Mapping entry (object 0x7010 (ENC Outputs),
entry 0x03 (Set counter))

UINT32

0x7010:03, 1

1602:04

SubIndex 004

4. PDO Mapping entry (object 0x7010 (ENC Outputs),
entry 0x04 (Enable latch extern on negative edge))

UINT32

0x7010:04, 1

1602:05

SubIndex 005

5. PDO Mapping entry (4 bits align)

UINT32

0x0000:00, 4

1602:06

SubIndex 006

6. PDO Mapping entry (8 bits align)

UINT32

0x0000:00, 8

1602:07

SubIndex 007

7. PDO Mapping entry (object 0x7010 (ENC Outputs),
entry 0x11 (Set counter value))

UINT32

0x7010:11, 16

Index 1603 ENC RxPDO-Map Control (EL5101-0000)

Index (hex) Name

Meaning

Data type

Flags

Default

1603:0

ENC RxPDO-Map
Control

PDO Mapping RxPDO 4

UINT8

0x07 (7

dec

)

1603:01

SubIndex 001

1. PDO Mapping entry (object 0x7010 (ENC Outputs),
entry 0x01 (Enable latch C))

UINT32

0x7010:01, 1

1603:02

SubIndex 002

2. PDO Mapping entry (object 0x7010 (ENC Outputs),
entry 0x02 (Enable latch extern on positive edge))

UINT32

0x7010:02, 1

1603:03

SubIndex 003

3. PDO Mapping entry (object 0x7010 (ENC Outputs),
entry 0x03 (Set counter))

UINT32

0x7010:03, 1

1603:04

SubIndex 004

4. PDO Mapping entry (object 0x7010 (ENC Outputs),
entry 0x04 (Enable latch extern on negative edge))

UINT32

0x7010:04, 1

1603:05

SubIndex 005

5. PDO Mapping entry (4 bits align)

UINT32

0x0000:00, 4

1603:06

SubIndex 006

6. PDO Mapping entry (8 bits align)

UINT32

0x0000:00, 8

1603:07

SubIndex 007

7. PDO Mapping entry (object 0x7010 (ENC Outputs),
entry 0x11 (Set counter value))

UINT32

0x7010:11, 32

Summary of Contents for EL5101

Page 1: ...Documentation EL5101 EL5101 0010 EL5101 0011 Incremental Encoder Interface 4 2 2017 07 31 Version Date...

Page 2: ......

Page 3: ...2 Installation instructions for enhanced mechanical load capacity 36 5 3 Connection 37 5 3 1 Connection system 37 5 3 2 Wiring 39 5 3 3 Shielding 40 5 4 Installation positions 40 5 5 Mounting of Pass...

Page 4: ...ation mode 129 6 5 EL5101 0011 157 6 5 1 Principles of the oversampling function 157 6 5 2 Process data and configuration 159 6 5 3 Object description and parameterization enhanced operation mode 162...

Page 5: ...101 0010 EL5101 0011 5 Version 4 2 1 Overview Incremental Encoder Interface EL5101 0000 13 Incremental Encoder Interface EL5101 0010 13 Incremental Encoder Interface 20 Mio increments s EL5101 0011 14...

Page 6: ...basis of the data diagrams and descriptions in this documentation Trademarks Beckhoff TwinCAT EtherCAT Safety over EtherCAT TwinSAFE XFC and XTS are registered trademarks of and licensed by Beckhoff A...

Page 7: ...who are familiar with the applicable national standards Description of symbols In this documentation the following symbols are used with an accompanying safety instruction or note The safety instructi...

Page 8: ...101 0010 3 2 Note on single ended connection added 3 1 Note on period frequency measurement added 3 0 Object description and further notes added 2 9 EL5101 0010 added 2 8 New safety instructions added...

Page 9: ...T Slave Information in the form of an XML file which is available for download from the Beckhoff web site From 2014 01 the revision is shown on the outside of the IP20 terminals see Fig EL5021 EL term...

Page 10: ...essary 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 documentatio...

Page 11: ...ch number Fig 4 EL3202 0020 with batch numbers 26131006 and unique ID number 204418 Fig 5 EP1258 00001 IP67 EtherCAT Box with batch number 22090101 and unique serial number 158102 Fig 6 EP1908 0002 IP...

Page 12: ...EL5101 0011 12 Version 4 2 Fig 7 EL2904 IP20 safety terminal with batch number date code 50110302 and unique serial number 00331701 Fig 8 ELM3604 0002 terminal with ID number QR code 100001051 and un...

Page 13: ...s the locking of the counter alternatively with a high or low level The latch input is similarly configurable and evaluates high or low levels The EL5101 0000 can also be used as bidirectional counter...

Page 14: ...ounter with quadrature decoder can be read and set The EL5101 0011 supports the oversampling principle Using this method the resolution of the position value can be increased to n times the bus cycle...

Page 15: ...this extended operating mode see Table 1 Version from FW HW ESI Functional description normal operating mode EL5101 0000 03 05 from EL5101 0000 0000 All basic functions as described above enhanced op...

Page 16: ...process data are supplied by the EL5101 EL5101 input impedance The signal source must be able to operate the input impedance of the EL5101 typically 220 subject to modification with adequate voltage l...

Page 17: ...rference affects both cables simultaneously If the EL5101 is only operated in single ended mode a nominal level voltage between 3 5 V and 5 5 V is expected The EL5101 0010 and EL5101 0011 do not suppo...

Page 18: ...rmware 14 hardware 09 176 yes Commands read set enable read set Oversampling factor n 1 100 adjustable Cycle time min 100 s min 500 s Conversion time 10 s 100 kSps Current consumption via E bus typ 13...

Page 19: ...Product overview EL5101 EL5101 0010 EL5101 0011 19 Version 4 2 configure the EL5101 in TwinCAT as described in the chapter Commissioning 50...

Page 20: ...ard ISO IEC 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 detecti...

Page 21: ...ith the terminal 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...

Page 22: ...ctivated If 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...

Page 23: ...ction for switching off of the SM watchdog via SM watchdog 0 is only imple mented in terminals from version 0016 In previous versions this operating mode should not be used CAUTION Damage of devices a...

Page 24: ...Safe Operational 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...

Page 25: ...ame 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...

Page 26: ...g parameters of the slave are configurable and writeable This can be done in write or read mode via the System Manager Fig CoE Online tab by clicking This is useful for commissioning of the system sla...

Page 27: ...the device on it is then inactive Changed CoE values are not saved in the EEPROM and can thus be changed any number of times Function is not supported continuous changing of CoE values is not permiss...

Page 28: ...hown as offline online If the slave is offline The offline list from the ESI file is displayed In this case modifications are not meaningful or possible The configured status is shown under Identity N...

Page 29: ...0 0x801F 255 Channel 2 parameter range 0x8020 00 0x802F 255 This is generally written as 0x80n0 Detailed information on the CoE interface can be found in the EtherCAT system documentation on the Beckh...

Page 30: ...le for forwarding For output terminals the SYNC signal is set to a time after the frame has passed through so that the just supplied data are output immediately Since only one of the two modes is poss...

Page 31: ...for example Attention Attention Risk of device damage The mentioned notes and information should be used advisedly The EtherCAT master au tomatically allocates SYNC0 and SYNC1 settings that support re...

Page 32: ...nced Settings Distributed Clocks Input Shift Time see Fig EtherCAT Master EtherCAT tab Advanced Settings EtherCAT Master Advanced Settings Distributed Clock In this way all input terminals in the syst...

Page 33: ...Basics communication EL5101 EL5101 0010 EL5101 0011 33 Version 4 2 Fig 22 EtherCAT Master EtherCAT tab Advanced Settings Fig 23 EtherCAT Master Advanced Settings Distributed Clock...

Page 34: ...de of the Fieldbus 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 t...

Page 35: ...he components 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 electro...

Page 36: ...er feed points for testing these Power Feed Terminals can be released and pulled at least 10 mm from the group of terminals WARNING Risk of electric shock The PE power contact must not be used for oth...

Page 37: ...strain relief and the wire connection should be kept as short as possible A distance of approx 10 cm should be maintained to the cable duct 5 3 Connection 5 3 1 Connection system WARNING Risk of elec...

Page 38: ...ndividual connection wires when the connector is removed Conductor cross sections between 0 08 mm2 and 2 5 mm2 can continue to be used with the proven spring force technology The overview and nomencla...

Page 39: ...rnately don 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...

Page 40: ...refer to the technical data for a terminal to ascertain whether any restrictions re garding the installation position and or the operating temperature range have been speci fied When installing high...

Page 41: ...ances shown in Fig Recommended distances for standard installation position is recommended Other installation positions All other installation positions are characterized by different spatial arrangem...

Page 42: ...Terminals ELxxxx ESxxxx which do not take an active part in data transfer within the bus terminal block are so called Passive Terminals The Passive Terminals have no current consumption out of the E B...

Page 43: ...with Ethernet connectors Not for connection to telecommunication circuits Basic principles Two UL certificates are met in the Beckhoff EtherCAT product range depending upon the components UL certifica...

Page 44: ...24 V DC must be limited accordingly by means of supply from an isolated source protected by a fuse of max 4A according to UL248 or from a voltage supply complying with NEC class 2 A voltage source co...

Page 45: ...aken to protect against the rated operating voltage being exceeded by more than 40 due to short term interference voltages The individual terminals may only be unplugged or removed from the Bus Termin...

Page 46: ...inal systems in potentially explo sive areas ATEX Pay also attention to the continuative documentation Notes about operation of the Beckhoff terminal systems in potentially explosive areas ATEX that i...

Page 47: ...inal point 3 and negative power contact Shield 8 Screen LEDs LED Color Meaning INPUT A B C green indicates TRUE level INPUT 1 red is lit if INPUT 1 is connected to GND INPUT 1 is connected to an inter...

Page 48: ...ncoder input B C 7 Encoder input C 8 Ue 5 V 1 5 V encoder supply 24 V 2 24 V internally connected to terminal point 6 and positive power contact 0 V 3 0 V internally connected to terminal point 7 and...

Page 49: ...updates 177 of the terminal flashing State of the EtherCAT State Machine PREOP function for mailbox communication and different standard settings set Single flash State of the EtherCAT State Machine S...

Page 50: ...System Manager 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...

Page 51: ...uration Based 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 Conn...

Page 52: ...right in which case the EK1100 coupler wouldn t be necessary 6 1 1 TwinCAT 2 Startup TwinCAT basically uses two user interfaces the TwinCAT System Manager for communication with the electromechanical...

Page 53: ...ystem must be made known first In the menu under Actions Choose Target System via the symbol or the F8 key open the following window Fig 40 Selection of the target system Use Search Ethernet to enter...

Page 54: ...r may first have to be set to Config mode via or via menu Actions Set Reset TwinCAT to Config Mode Shift F4 Fig 42 Select Scan Devices Confirm the warning message which follows and select EtherCAT in...

Page 55: ...enu which then reads the elements present in the configuration below Fig 45 Reading of individual terminals connected to a device This functionality is useful if the actual configuration is modified a...

Page 56: ...unction 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 projec...

Page 57: ...ed After successful 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 Manag...

Page 58: ...the System 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 p...

Page 59: ...PDOs simultaneously activate Continuous and All types Note that the Continuous checkbox was also activated This is designed to allocate the bits contained in the byte of the variable nEL2008_value se...

Page 60: ...from the context 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 h...

Page 61: ...onfirmed Link 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 N...

Page 62: ...opment environment 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...

Page 63: ...l TwinCAT 3 user interface First create a new project via or under File New Project In the following dialog make the corresponding entries as required as shown in the diagram Fig 57 Create new TwinCAT...

Page 64: ...d is installed on the respective PLC TwinCAT can be used in local mode and thereby the next step is Insert Device 65 If the intention is to address the TwinCAT runtime environment installed on a PLC a...

Page 65: ...stem 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 Visual Studio shell Adding devices...

Page 66: ...should also be acknowledged Based on the sample configuration 51 described at the beginning of this section the result is as follows Fig 63 Mapping of the configuration in VS shell of the TwinCAT3 env...

Page 67: ...T PLC Control 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 lan...

Page 68: ...and enter PLC_example as project name for example and select a corresponding directory Fig 66 Specifying the name and directory for the PLC programming environment The Main program which already exis...

Page 69: ...Commissioning EL5101 EL5101 0010 EL5101 0011 69 Version 4 2 Fig 67 Initial Main program of the standard PLC project To continue sample variables and a sample program have now been created...

Page 70: ...roject folder followed by the compile process Fig 69 Start program compilation The following variables identified in the ST PLC program with AT are then available in under Assignments in the project f...

Page 71: ...configuration tree Fig 71 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...

Page 72: ...sts The links 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 73 Application of a Goto...

Page 73: ...symbol at 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 t...

Page 74: ...eXtended Automation 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 Co...

Page 75: ...es Interfaces listed under Compatible devices can be assigned a driver via the Install button A driver should only be installed on compatible devices A Windows warning regarding the unsigned driver ca...

Page 76: ...he properties 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...

Page 77: ...Commissioning EL5101 EL5101 0010 EL5101 0011 77 Version 4 2 Fig 80 Exemplary correct driver setting for the Ethernet port Other possible settings have to be avoided...

Page 78: ...Commissioning EL5101 EL5101 0010 EL5101 0011 78 Version 4 2 Fig 81 Incorrect driver settings for the Ethernet port...

Page 79: ...and in cases where an EL6601 or similar devices are used it is useful to specify a fixed IP address for this port via the Internet Protocol TCP IP driver setting and to disable DHCP In this way the de...

Page 80: ...les that 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...

Page 81: ...for the revision 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...

Page 82: ...uld be deleted 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 pro...

Page 83: ...0010 EL5101 0011 83 Version 4 2 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 co...

Page 84: ...s to the presence 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 i...

Page 85: ...g configuration 95 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 91 Append Et...

Page 86: ...Further devices can be appended by right clicking on a device in the configuration tree Fig 95 Appending EtherCAT devices left TwinCAT 2 right TwinCAT 3 The dialog for selecting a new device opens Onl...

Page 87: ...ce the revision can be displayed as Extended Information Fig 97 Display of device revision In many cases several device revisions were created for historic or functional reasons e g through technologi...

Page 88: ...configuration 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 th...

Page 89: ...Commissioning EL5101 EL5101 0010 EL5101 0011 89 Version 4 2 Fig 100 EtherCAT terminal in the TwinCAT tree left TwinCAT 2 right TwinCAT 3...

Page 90: ...ig Mode Note Online scanning in Config mode The online search is not available in RUN mode production operation Note the differenti ation between TwinCAT programming system and TwinCAT target system T...

Page 91: ...etecting Scanning the EtherCAT devices Note Online scan functionality During a scan the master queries the identity information of the EtherCAT slaves from the slave EEPROM The name and revision are u...

Page 92: ...aces of the predecessor version s an adaptation of B tsm or even B pro is therefore unnecessary The series produced machines can continue to be built with B tsm and B pro it makes sense to perform a c...

Page 93: ...CAT 2 The configuration is established and can then be switched to online state OPERATIONAL Fig 111 Config FreeRun query left TwinCAT 2 right TwinCAT 3 In Config FreeRun mode the System Manager displa...

Page 94: ...unknown device 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 desc...

Page 95: ...e device configuration 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 m...

Page 96: ...pects based on the higher revision number Note Device selection based on revision compatibility The ESI description also defines the process image the communication type between mas ter and slave devi...

Page 97: ...Type TwinCAT offers a function Change to Compatible Type for the exchange of a device whilst retaining the links in the task Fig 120 Dialog Change to Compatible Type left TwinCAT 2 right TwinCAT 3 Thi...

Page 98: ...various tabs 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 termina...

Page 99: ...aster during 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 conn...

Page 100: ...xamples of 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 in...

Page 101: ...n G In case of incorrect con figuration the EtherCAT slave usually refuses to start and change to OP state The System Manager displays an invalid SM cfg logger message This error message invalid SM IN...

Page 102: ...est to be sent 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 b...

Page 103: ...tion Index Index and sub index of the object Name Name of the object Flags RW The object can be read and data can be written to the object read write RO The object can be read but no data can be writt...

Page 104: ...Here you can specify which objects are displayed in the list Fig 129 Dialog Advanced settings Online via SDO Information If this option button is selected the list of the objects included in the objec...

Page 105: ...s to delete the fault display If an EtherCAT slave fails during change of state it sets an error flag Example An EtherCAT slave is in PREOP state pre operational The master now requests the SAFEOP sta...

Page 106: ...Synchron DC Synchron Input based DC Synchron Advanced Settings Advanced settings for readjustment of the real time determinant TwinCAT clock Detailed information to Distributed Clocks are specified o...

Page 107: ...DO Content list The PDO configuration can be modified by double clicking on an entry Column Description Index PDO index Size Size of the PDO in bytes Name Name of the PDO If this PDO is assigned to a...

Page 108: ...t click on NC Configuration Append Task Fig NC Configuration Append Task enter a name for the task and confirm with OK Fig Entering a name for the task and confirming Fig 132 NC Configuration Append T...

Page 109: ...ntering a name for the axis and selecting a type On the NC Encoder tab select the encoder KL5101 Kl5111 IP5109 EL5101 in the Type pull down menu Fig Selecting the encoder Click on the button Link To s...

Page 110: ...rsion 4 2 Fig 136 Selecting the encoder Fig 137 Selecting and confirming an encoder terminal The corresponding inputs of the EL51x1 are now linked with the NC task Fig EL51x1 inputs linked with the NC...

Page 111: ...he controlling task for diagnosis that is accurate for the current cycle when in operation not during commissioning are discussed below Fig 139 Selection of the diagnostic information of an EtherCAT S...

Page 112: ...sis A Beckhoff EL3102 2 channel analogue input terminal is used here as it offers both the communication diagnosis typical of a slave and the functional diagnosis that is specific to a channel Structu...

Page 113: ...ay 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...

Page 114: ...ory are saved 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 TwinC...

Page 115: ...r and manual 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 thes...

Page 116: ...ster are set 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 ca...

Page 117: ...ter and slave 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...

Page 118: ...11 and above 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 Attention Caution Malfu...

Page 119: ...t pos neg Gate 4 FreeRun 0x1A01 126 0x1601 126 16 bit Value Latch Word Alignment 0x1A02 126 Frequency 32 bit Period 16 bit Window 16 bit CoE object 0x8001 02 124 window 0x8000 01 124 0x8001 02 124 Reg...

Page 120: ...in word alignment filled to 16 bit PDO 0x1A01 126 and 0x1601 126 should be used Optional PDOs Optional PDOs in addition to the main PDO PDO 1 0x1A02 126 The frequency is determined over 10 ms fixed as...

Page 121: ...s see Fig Process data tab in addition a variably configurable measuring window is available parameterization via object 0x8001 01 124 output frequency value in object 0x6000 06 124 Only the increment...

Page 122: ...ch Latch control is implemented via the control and status word 128 Register Reload If Register Reload is enabled in CoE object 0x8000 01 124 the counter value is set to zero in the event of overflow...

Page 123: ...e Note EtherCAT XML Device Description The display matches that of the CoE objects from the EtherCAT XML Device Description We recommend downloading the latest XML file from the download area of the B...

Page 124: ...te 122 Gate input responds to positive edge and locks the counter BOOLEAN RW 0x01 1dec 8000 05 Enable neg gate 122 Gate input responds to negative edge and locks the counter BOOLEAN RW 0x00 0dec Index...

Page 125: ...ion Index hex Name Meaning Data type Flags Default 100A 0 Software version Firmware version of the EtherCAT slave STRING RO 10 Index 1018 Identity Index hex Name Meaning Data type Flags Default 1018 0...

Page 126: ...8 bits align UINT32 RO 0x0000 00 8 1A01 03 SubIndex 003 3 PDO Mapping entry object 0x6000 Inputs entry 0x02 Value UINT32 RO 0x6000 02 16 1A01 04 SubIndex 004 4 PDO Mapping entry object 0x6000 Inputs...

Page 127: ...1 free run is supported Bit 1 1 Synchronous with SM 2 event is supported Bit 2 3 01 DC mode is supported Bit 4 5 10 Output shift with SYNC1 event only DC mode Bit 14 1 dynamic times measurement throu...

Page 128: ...put when the Latch Valid bit LAT_EXT_VAL in the status byte has a low signal level CB 2 CNT_SET rise The counter is set with rising edge of CNT_SET to the value specified via the process data index 0x...

Page 129: ...value when the bit is set In order to reactivate the latch input it is neces sary for EN_LATC CB 0 first be cleared and then to be set once more 6 4 2 Enhanced operation mode 6 4 2 1 Process data and...

Page 130: ...act intervals The start time is chosen such that it coincides with other output slaves in the EtherCAT system DC Synchron input based as DC Synchron mode with the cyclic start time chosen such that it...

Page 131: ...ect description 135 Features CoE Depending on the main PDO optional PDOs further settings can be selected in the CoE list CAN over EtherCAT Note Parameterization via the CoE list CAN over EtherCAT Ple...

Page 132: ...can be measured regardless If an encoder signal only is only present at input A A and the frequency period is to be measured the terminal must be set to Up Down Counter in CoE 0x8010 03 139 A C or ext...

Page 133: ...falling edge if the bit TRUE is set in index 0x70n0 04 143 The subsequent pulses have no influence on the latch value in index 0x60n0 12 142 Note for Latch extern valid bit A new counter value at the...

Page 134: ...d 0 475 V EL5101 001x is detected as an open circuit If an open circuit is detected it is indicated as process data open circuit TRUE The bit in object 0x60n0 07 142 is set An open circuit is indicate...

Page 135: ...Underrunning of the minimum velocity is indicated by the object 0x60n0 08 142 extrapolation stall in the process data Process data description Fig 158 Process data description The process data are ge...

Page 136: ...PDOs 6 4 2 2 1 Restore object Index 1011 Restore default parameters Index hex Name Meaning Data type Flags Default 1011 0 Restore default param eters Restore the default settings UINT8 RO 0x01 1dec 10...

Page 137: ...uit detection C 134 An open circuit on track C is indicated in index 0x6000 07 141 and as process data Diagnosis is only possible if the corresponding input is wired differ entially A differential vol...

Page 138: ...riod value is a multiple of 500 ns Internally the period is calculated with 500 ns resolu tion The maximum measurable period is approx 32 7 ms The resolution of process data continues to be the value...

Page 139: ...lower 8 bits of the counter value are used in each case for the display A 32 bit counter thus be comes a 24 8 bit counter a 16 bit counter becomes an 8 8 bit counter BOOLEAN RW 0x00 0dec 8010 0B Open...

Page 140: ...0 ns period value is a multiple of 500 ns UINT16 RW 0x0064 100dec 8010 15 Frequency resolution 132 Resolution of the frequency measurement 100 0 01 Hz UINT16 RW 0x0064 100dec 8010 16 Period resolution...

Page 141: ...EAN RO 0x00 0dec 6000 0A Status of input B Status of input B BOOLEAN RO 0x00 0dec 6000 0B Status of input C Status of input C BOOLEAN RO 0x00 0dec 6000 0C Status of input gate The state of the gate in...

Page 142: ...0x8010 0B 139 0x8010 0C 139 BOOLEAN RO 0x00 0dec 6010 08 Extrapolation stall 134 The extrapolated part of the counter is invalid BOOLEAN RO 0x00 0dec 6010 09 Status of input A Status of input A BOOLEA...

Page 143: ...edge BOOLEAN RO 0x00 0dec 7010 11 Set counter value The counter value to be set via Set counter index 0x7010 03 143 UINT32 RO 0x00000000 0dec 6 4 2 2 5 Information diagnostic data channel specific In...

Page 144: ...0112dec EL5101 0010 0x0010000A 1048586dec 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 l...

Page 145: ...06 Exclude RxPDOs Specifies the RxPDOs index of RxPDO mapping ob jects that must not be transferred together with Rx PDO 4 OCTET STRING 6 RO 02 16 00 16 01 16 Index 1600 ENC RxPDO Map Control EL5101 0...

Page 146: ...NC RxPDO Map Control compact PDO Mapping RxPDO 3 UINT8 RO 0x07 7dec 1602 01 SubIndex 001 1 PDO Mapping entry object 0x7010 ENC Outputs entry 0x01 Enable latch C UINT32 RO 0x7010 01 1 1602 02 SubIndex...

Page 147: ...of TxPDO mapping ob jects that must not be transferred together with Tx PDO 2 OCTET STRING 2 RO 00 1A 1801 07 TxPDO State The TxPDO state is set if it was not possible to cor rectly read in the associ...

Page 148: ...PDOs index of TxPDO mapping ob jects that must not be transferred together with Tx PDO 5 OCTET STRING 14 RO 03 1A 00 1A 01 1A 02 1A 00 00 00 00 00 00 1804 07 TxPDO State The TxPDO state is set if it w...

Page 149: ...ex Name Meaning Data type Flags Default 1807 0 ENC TxPDO Par Timest PDO Parameter TxPDO 8 UINT8 RO 0x06 6dec 1807 06 Exclude TxPDOs Specifies the TxPDOs index of TxPDO mapping ob jects that must not b...

Page 150: ...NT32 RO 0x6000 0A 1 1A00 0A SubIndex 010 10 PDO Mapping entry object 0x6000 ENC Inputs entry 0x0A Status of input B UINT32 RO 0x6000 0B 1 1A00 0B SubIndex 011 11 PDO Mapping entry object 0x6000 ENC In...

Page 151: ...entry object 0x6000 ENC Inputs entry 0x0B Status of input C UINT32 RO 0x6000 0C 1 1A01 0C SubIndex 012 12 PDO Mapping entry object 0x6000 ENC Inputs entry 0x0C Status of input gate UINT32 RO 0x6000 0...

Page 152: ...SubIndex 005 5 PDO Mapping entry object 0x6010 ENC Inputs entry 0x05 Counter overflow UINT32 RO 0x6010 05 1 1A03 06 SubIndex 006 6 PDO Mapping entry object 0x6010 ENC Inputs entry 0x06 Status of input...

Page 153: ...32 RO 0x6010 0B 1 1A04 0C SubIndex 012 12 PDO Mapping entry object 0x6010 ENC Inputs entry 0x0C Status of input gate UINT32 RO 0x6010 0C 1 1A04 0D SubIndex 013 13 PDO Mapping entry object 0x6010 ENC I...

Page 154: ...0 Sync manager type Using the sync managers UINT8 RO 0x04 4dec 1C00 01 SubIndex 001 Sync Manager Type Channel 1 Mailbox Write UINT8 RO 0x01 1dec 1C00 02 SubIndex 002 Sync Manager Type Channel 2 Mailb...

Page 155: ...ime in ns UINT32 RO 0x00000000 0dec 1C32 06 Calc and copy time Minimum time between SYNC0 and SYNC1 event in ns DC mode only UINT32 RO 0x00000000 0dec 1C32 08 Command With this entry the real required...

Page 156: ...namic times measurement through writing of 1C32 08 155 or 1C33 08 156 UINT16 RO 0xC007 49159dec 1C33 05 Minimum cycle time as 1C32 05 155 UINT32 RO 0x00000000 0dec 1C33 06 Calc and copy time Time betw...

Page 157: ...his purpose The distributed clock represents a local clock in the EtherCAT slave controller ESC with the following characteristics Unit 1 ns Zero point 1 1 2000 00 00 Size 64 bit sufficient for the ne...

Page 158: ...range of 100 ns Sample Coordination of two EL5101 0011 terminals with each other The EtherCAT master e g Beckhoff TwinCAT configures both EL5101 0011 terminals such that their SYNC1 pulses occur at th...

Page 159: ...ers the following process data Mapping with PDOs Oversampling settings distributed clocks DC The oversampling factor can be set on the DC tab see fig Process data tab The oversampling factor n is set...

Page 160: ...t which the next SYNC1 pulse and therefore the next block of sample values begins StartTimeNextLatch thus changes in each cycle by the amount of that task cycle time with which this terminal is operat...

Page 161: ...ng on a homing must be carried out The EL5101 0011 offers the option to set the reference point manually via Set counter index 0x7000 03 Set counter index 0x7000 03 The value to be set as reference va...

Page 162: ...the PLC StartTimeNextLatch See chapter StartTimeNextLatch 6 5 3 Object description and parameterization enhanced operation mode Note EtherCAT XML Device Description The display matches that of the Co...

Page 163: ...W 0x00 0dec 6 5 3 3 Input data Index 6000 ENC Inputs Index hex Name Meaning Data type Flags Default 6000 0 ENC Inputs Maximum subindex UINT8 RO 0x16 22dec 6000 03 Set counter done The counter was set...

Page 164: ...pe 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 ve...

Page 165: ...A 1D 1A 1E 1A Index 1811 ENC TxPDO Par TxPdo 2 Samples Counter value Index hex Name Meaning Data type Flags Default 1811 0 ENC TxPDO Par Tx Pdo 2 Samples Counter value PDO Parameter TxPDO 18 UINT8 RO...

Page 166: ...gs Default 1816 0 ENC TxPDO Par Tx Pdo 16 Samples Counter value PDO Parameter TxPDO 23 UINT8 RO 0x06 6dec 1816 06 Exclude TxPDOs Hier sind die TxPDOs Index der TxPDO Mapping Ob jekte angegeben die nic...

Page 167: ...ags Default 181B 0 ENC TxPDO Par Tx Pdo 50 Samples Counter value PDO Parameter TxPDO 28 UINT8 RO 0x06 6dec 181B 06 Exclude TxPDOs Hier sind die TxPDOs Index der TxPDO Mapping Ob jekte angegeben die ni...

Page 168: ...2 RO 0x0000 00 1 1A00 06 SubIndex 006 6 PDO Mapping entry object 0x6000 ENC Inputs entry 0x07 Open circuit UINT32 RO 0x6000 09 1 1A00 07 SubIndex 007 7 PDO Mapping entry 1 bits align UINT32 RO 0x6000...

Page 169: ...type Flags Default 1A13 0 ENC TxPDO Map Tx Pdo 5 Samples Counter value PDO Mapping TxPDO 20 UINT8 RO 0x05 5dec 1A13 01 SubIndex 001 1 PDO Mapping entry object 0x6000 ENC Inputs entry 0x11 Counter val...

Page 170: ...a type Flags Default 1A18 0 ENC TxPDO Map Tx Pdo 25 Samples Counter value PDO Mapping TxPDO 25 UINT8 RO 0x19 25dec 1A18 01 SubIndex 001 1 PDO Mapping entry object 0x6000 ENC Inputs entry 0x11 Counter...

Page 171: ...x6000 ENC Inputs entry 0x11 Counter value UINT32 RO 0x6000 11 32 1A1D 50 SubIndex 080 80 PDO Mapping entry object 0x6000 ENC Inputs entry 0x11 Counter value UINT32 RO 0x6000 11 32 Index 1A1E ENC TxPDO...

Page 172: ...3 3dec 1C13 01 SubIndex 001 1st allocated TxPDO contains the index of the associ ated TxPDO mapping object UINT16 RW 0x1A00 6656dec 1C13 02 SubIndex 002 2nd allocated TxPDO contains the index of the a...

Page 173: ...0dec 1C32 06 Calc and copy time Minimum time between SYNC0 and SYNC1 event in ns DC mode only UINT32 RO 0x00000000 0dec 1C32 07 Minimum delay time UINT32 RO 0x00000000 0dec 1C32 08 Command With this...

Page 174: ...rough writing of 1C32 08 173 or 1C33 08 174 UINT16 RO 0xC007 49159dec 1C33 05 Minimum cycle time as 1C32 05 173 UINT32 RO 0x00000000 0dec 1C33 06 Calc and copy time Time between reading of the inputs...

Page 175: ...F010 0 Module list Maximum subindex UINT8 RW 0x02 2dec F010 01 SubIndex 001 Profile 510 UINT32 RW 0x000001FF 511dec Index F082 MDP Profile Compatibility Index hex Name Meaning Data type Flags Default...

Page 176: ...e firmware updates for delivered products Attention Risk of damage to the device Pay attention to the instructions for firmware updates on the separate page 177 If a de vice is placed in BOOTSTRAP mod...

Page 177: ...rdingly The device description is available from the download area of the Beckhoff website at http www beckhoff de All ESI files are accessible there as zip files Customers can access the data via the...

Page 178: ...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 161 Device...

Page 179: ...lay shows Fig 163 Configuration is identical otherwise a change dialog appears for entering the actual data in the configuration Fig 164 Change dialog In this example in Fig Change dialog an EL3201 00...

Page 180: ...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 166 Selecting the new ESI A progress bar...

Page 181: ...al 2 EL3204 and select the tab CoE Online CAN over EtherCAT Note CoE Online and Offline CoE Two CoE directories are available online This is offered in the EtherCAT slave by the controller if the Ethe...

Page 182: ...Switch off the slave briefly FPGA firmware rbf If an FPGA chip deals with the EtherCAT communication an update may be accomplished via an rbf file Controller firmware for processing I O signals FPGA f...

Page 183: ...ot displayed right click the table header and select Properties in the context menu Fig 170 Context menu Properties The Advanced Settings dialog appears where the columns to be displayed can be select...

Page 184: ...are version 11 or higher of an E Bus Terminal the terminal must have FPGA firmware version 10 or higher Older firmware versions can only be updated by the manufacturer Updating an EtherCAT device In t...

Page 185: ...5101 EL5101 0010 EL5101 0011 185 Version 4 2 Fig 172 Select dialog Advanced Settings The Advanced Settings dialog appears Under ESC Access E PROM FPGA click on Write FPGA button Fig 173 Select dialog...

Page 186: ...ection interrupted the Ether CAT device can only be recommissioned by the manufacturer In order to activate the new FPGA firmware a restart switching the power supply off and on again of the EtherCAT...

Page 187: ...tore default parameters 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 r...

Page 188: ...ckhoff components 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 S...

Page 189: ...Machine 24 Fig 15 CoE Online tab 26 Fig 16 Startup list in the TwinCAT System Manager 27 Fig 17 Offline list 28 Fig 18 Online list 29 Fig 19 DC tab Distributed Clocks 30 Fig 20 Advanced Distributed Cl...

Page 190: ...ed 66 Fig 63 Mapping of the configuration in VS shell of the TwinCAT3 environment 66 Fig 64 Reading of individual terminals connected to a device 67 Fig 65 Adding the programming environment in PLC 68...

Page 191: ...h revision 1018 92 Fig 107 Detection of EtherCAT terminal with revision 1019 92 Fig 108 Scan query after automatic creation of an EtherCAT device left TwinCAT 2 right Twin CAT 3 93 Fig 109 Manual trig...

Page 192: ...151 Frequency measurement principle in normal operation mode 122 Fig 152 Process data description 123 Fig 153 DC tab 130 Fig 154 Process data tabA Selection of data direction input or outputB Selecti...

Page 193: ...List of illustrations EL5101 EL5101 0010 EL5101 0011 193 Version 4 2 Fig 176 Selecting the Restore default parameters PDO 187 Fig 177 Entering a restore value in the Set Value dialog 187...

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