Beckhoff EL7031 Documentation Download Page 214

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Commissioning

EL70x1

214

Version: 4.4

Index 1A03 STM TxPDO-Map Status

Index (hex) Name

Meaning

Data type

Flags

Default

1A03:0

STM TxPDO-Map
Status

PDO Mapping TxPDO 4

UINT8

0x0E (14

dec

)

1A03:01

SubIndex 001

1. PDO Mapping entry (object 0x6010 (STM Inputs
Ch.1), entry 0x01 (Ready to enable))

UINT32

0x6010:01, 1

1A03:02

SubIndex 002

2. PDO Mapping entry (object 0x6010 (STM Inputs
Ch.1), entry 0x02 (Ready))

UINT32

0x6010:02, 1

1A03:03

SubIndex 003

3. PDO Mapping entry (object 0x6010 (STM Inputs
Ch.1), entry 0x03 (Warning))

UINT32

0x6010:03, 1

1A03:04

SubIndex 004

4. PDO Mapping entry (object 0x6010 (STM Inputs
Ch.1), entry 0x04 (Error))

UINT32

0x6010:04, 1

1A03:05

SubIndex 005

5. PDO Mapping entry (object 0x6010 (STM Inputs
Ch.1), entry 0x05 (Moving positive))

UINT32

0x6010:05, 1

1A03:06

SubIndex 006

6. PDO Mapping entry (object 0x6010 (STM Inputs
Ch.1), entry 0x06 (Moving negative))

UINT32

0x6010:06, 1

1A03:07

SubIndex 007

7. PDO Mapping entry (object 0x6010 (STM Inputs
Ch.1), entry 0x07 (Torque reduced))

UINT32

0x6010:07, 1

1A03:08

SubIndex 008

8. PDO Mapping entry (1 bits align)

UINT32

0x0000:00, 1

1A03:09

SubIndex 009

9. PDO Mapping entry (3 bits align)

UINT32

0x0000:00, 3

1A03:0A

SubIndex 010

10. PDO Mapping entry (object 0x6010 (STM Inputs
Ch.1), entry 0x0C (Digital input 1))

UINT32

0x6010:0C, 1

1A03:0B

SubIndex 011

11. PDO Mapping entry (object 0x6010 (STM Inputs
Ch.1), entry 0x0D (Digital input 2))

UINT32

0x6010:0D, 1

0x0000:00, 1

1A03:0C

SubIndex 012

12. PDO Mapping entry (object 0x6000 (SM output pa-
rameter), entry 0x0E (Sync error))

UINT32

0x6000:0E, 1

1A03:0D

SubIndex 013

13. PDO Mapping entry (1 bits align)

UINT32

0x0000:00, 1

1A03:0E

SubIndex 014

14. PDO Mapping entry (object 0x6000, entry 0x10)

UINT32

0x6000:10, 1

not for EL7041-0001

only for EL7041-0001 and EP7041

Index 1A04 STM TxPDO-Map Synchron info data

Index (hex) Name

Meaning

Data type

Flags

Default

1A04:0

STM TxPDO-Map
Synchron info data

PDO Mapping TxPDO 5

UINT8

0x02 (2

dec

)

1A04:01

SubIndex 001

1. PDO Mapping entry (object 0x6010 (STM Inputs
Ch.1), entry 0x11 (Info data 1))

UINT32

0x6010:11, 16

1A04:02

SubIndex 002

2. PDO Mapping entry (object 0x6010 (STM Inputs
Ch.1), entry 0x12 (Info data 2))

UINT32

0x6010:12, 16

Index 1A05 POS TxPDO-Map Status compact

Index

Name

Meaning

Data type

Flags

Default value

1A05:0

POS TxPDO-Map Sta-
tus compact

max. subindex

UINT8

0x09 (9

dec

)

1A05:01

SubIndex 001

1. PDO Mapping entry (object 0x6020 (POS Inputs
Ch.1), entry 0x01 (Busy))

UINT32

0x6020:01, 1

1A05:02

SubIndex 002

2. PDO Mapping entry (object 0x6020 (POS Inputs
Ch.1), entry 0x02 (In-Target))

UINT32

0x6020:02, 1

1A05:03

SubIndex 003

3. PDO Mapping entry (object 0x6020 (POS Inputs
Ch.1), entry 0x03 (Warning))

UINT32

0x6020:03, 1

1A05:04

SubIndex 004

4. PDO Mapping entry (object 0x6020 (POS Inputs
Ch.1), entry 0x04 (Error))

UINT32

0x6020:04, 1

1A05:05

SubIndex 005

5. PDO Mapping entry (object 0x6020 (POS Inputs
Ch.1), entry 0x05 (Calibrated))

UINT32

0x6020:05, 1

1A05:06

SubIndex 006

6. PDO Mapping entry (object 0x6020 (POS Inputs
Ch.1), entry 0x06 (Accelerate))

UINT32

0x6020:06, 1

1A05:07

SubIndex 007

7. PDO Mapping entry (object 0x6020 (POS Inputs
Ch.1), entry 0x07 (Decelerate))

UINT32

0x6020:07, 1

1A05:08

SubIndex 008

8. PDO Mapping entry (1 bit align)

UINT32

0x0000:00, 1

1A05:09

SubIndex 009

9. PDO Mapping entry (8 bits align)

UINT32

0x0000:00, 8

Summary of Contents for EL7031

Page 1: ...Documentation EL70x1 Stepper Motor Terminals 4 4 2017 08 18 Version Date...

Page 2: ......

Page 3: ...37 4 Mounting and wiring 38 4 1 Installation on mounting rails 38 4 2 Installation instructions for enhanced mechanical load capacity 40 4 3 Connection 41 4 3 1 Connection system 41 4 3 2 Wiring 43 4...

Page 4: ...nd object 176 5 9 4 Input data 177 5 9 5 Output data 178 5 9 6 Information diagnostic data channel specific 182 5 9 7 Vendor configuration data device specific 183 5 9 8 Information diagnostic data de...

Page 5: ...ntents EL70x1 5 Version 4 4 7 Appendix 237 7 1 EtherCAT AL Status Codes 237 7 2 Firmware compatibility 237 7 3 Firmware Update EL ES EM EPxxxx 239 7 4 Restoring the delivery state 249 7 5 Support and...

Page 6: ...Table of contents EL70x1 6 Version 4 4...

Page 7: ...scribed 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...

Page 8: ...ction 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...

Page 9: ...liar 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 instructions must be...

Page 10: ...llation instructions for enhanced mechanical load capacity Update structure Update revision status 2 9 Update chapter Technical data and Object description Update firmware status 2 8 Update chapter Te...

Page 11: ...Beckhoff In principle a device with a higher revision can replace a device with a lower revision unless specified otherwise e g in the documentation Associated and synonymous with each revision there...

Page 12: ...u hardware version of the I O PCB Example D 22081501 calendar week 22 of the year 2008 firmware version of bus PCB 1 hardware version of bus PCB 5 firmware version of I O PCB 0 no firmware necessary...

Page 13: ...d EL70x1 13 Version 4 4 Fig 2 EK1100 EtherCAT coupler standard IP20 IO device with batch number Fig 3 CU2016 switch with batch number Fig 4 EL3202 0020 with batch numbers 26131006 and unique ID number...

Page 14: ...mber 158102 Fig 6 EP1908 0002 IP67 EtherCAT Safety Box with batch number 071201FF and unique serial number 00346070 Fig 7 EL2904 IP20 safety terminal with batch number date code 50110302 and unique se...

Page 15: ...the TwinSAFE application manual Attention Pay attention to the hardware version Please pay attention to the information about the hardware version and non reactivity of the respective Bus Terminal in...

Page 16: ...limit switches The EL7031 can be adjusted to the motor and the application by changing just a few parameters 64 fold micro stepping ensures particularly quiet and precise motor operation Quick links...

Page 17: ...roduct overview EL70x1 17 Version 4 4 Chapter Configuration with the TwinCAT System Manager Object description and parameterization 171 Application example Chapter Commissioning Application example 16...

Page 18: ...ion via E bus typ 120 mA Electrical isolation 500 V E bus signal voltage Supports NoCoeStorage 32 function from firmware 04 Configuration no address setting required configuration via TwinCAT System M...

Page 19: ...Product overview EL70x1 19 Version 4 4 2 3 EL7041 Introduction Fig 10 EL7041 0000 Fig 11 EL7041 0001...

Page 20: ...g ensures particularly quiet and precise motor operation Together with a stepper motor the EL7041 x00x represents an inexpensive small servo axis Quick links Connection instructions Chapter Mounting a...

Page 21: ...Product overview EL70x1 21 Version 4 4 Application example Chapter Commissioning Application example 166...

Page 22: ...E bus encoder driver stage via the power contacts motor via terminal contacts Current consumption via E bus typ 140 mA Electrical isolation 500 V E bus signal voltage Configuration no address setting...

Page 23: ...ssions long cable lengths simpler handling reduced size of the power electronics simple integration into higher level systems integrated feedback system Two stepper motor terminals for optimum perform...

Page 24: ...yed by the Bus Terminal LEDs along with other information The output stage is switched on via an Enable Bit The motor current can be set and reduced via a parameter value Optimum adaptation to the mot...

Page 25: ...the step angle cannot be reduced below a certain value Positioning accuracy can only be improved further by mechanical means transmission An elegant solution for improving positioning accuracy is the...

Page 26: ...influence on the behavior of the drive The Bus Terminal enables operation with different supply volt ages The characteristic torque curve can be extended by increasing the voltage In this case a cur r...

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 cros...

Page 28: ...inal 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 unaffecte...

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 watchdo...

Page 30: ...itching 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 and undefined...

Page 31: ...onal 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...

Page 32: ...ion 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...

Page 33: ...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 slaves Click on...

Page 34: ...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 permissible in view...

Page 35: ...ine 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 No firmware o...

Page 36: ...ation the 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 c...

Page 37: ...1 ns Zero point 1 1 2000 00 00 Size 64 bit sufficient for the next 584 years however some EtherCAT slaves only offer 32 bit support i e the variable overflows after approx 4 2 seconds The EtherCAT mas...

Page 38: ...eldbus Coupler Join the compo nents with tongue and groove and push the terminals against the mounting rail until the lock clicks onto the mounting rail If the Terminals are clipped onto the mounting...

Page 39: ...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 thu...

Page 40: ...ts 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 other potential...

Page 41: ...ef and the wire connection should be kept as short as possible A distance of approx 10 cm should be maintained to the cable duct 4 3 Connection 4 3 1 Connection system WARNING Risk of electric shock a...

Page 42: ...nnection 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 nomenclature of the...

Page 43: ...t toggle 2 The wire can now be inserted into the round terminal opening without any force 3 The terminal point closes automatically when the pressure is released holding the wire securely and permanen...

Page 44: ...g Analog sensors and actors should always be connected with shielded twisted paired wires 4 4 Mounting of Passive Terminals Note Hint for mounting passive terminals EtherCAT Terminals ELxxxx ESxxxx wh...

Page 45: ...en other components above and below the terminal in order to guarantee adequate ventilation Prescribed installation position for operation without fan The prescribed installation position requires the...

Page 46: ...regarding the operation without fan refer to the Technical Data of the terminal Standard installation position for operation with fan The standard installation position for operation with fan requires...

Page 47: ...her installation positions Due to the enforced effect of the fan on the ventilation of the terminals other installation positions see Fig Other installation positions example 1 2 may be permitted wher...

Page 48: ...Mounting and wiring EL70x1 48 Version 4 4 Fig 32 Other installation positions example 2...

Page 49: ...sup ply mains galvanically isolated from the supply i e on transformer secondary Requirement for environmental conditions For use in Pollution Degree 2 Environment only Basic principles Two UL certifi...

Page 50: ...NEC class 2 A voltage source complying with NEC class 2 may not be connected in series or parallel with another NEC class 2 compliant voltage supply These requirements apply to the supply of all Ether...

Page 51: ...achine OP normal operating state mailbox and process data communication is possible Power green off Supply voltage 24 VDC not available or motor control is blocked index 0x6010 02 is not set on Supply...

Page 52: ...e device Bring the Bus Terminals system into a safe de energized state before starting mounting disassembly or wiring of the Bus Terminals Attention Connect the motor strands correctly Connect the win...

Page 53: ...ples show the connection of the bipolar Beckhoff motors AS1010 AS1020 or AS1030 Further information on stepper motors from Beckhoff can be found in the associated docu mentation available for download...

Page 54: ...for firmware updates 239 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 S...

Page 55: ...r clockwise Enable green off Motor control is blocked index 0x6010 02 201 is not set or EL7041 is not ready for operation on Motor control is activated index 0x6010 02 201 is set or EL7041 is ready fo...

Page 56: ...rising edge occurs at encoder input C 3 Encoder supply 24 V Encoder supply from positive power contact 4 Input 1 Digital input 1 24 VDC 5 B Encoder input B 6 Latch Gate Latch input The current counte...

Page 57: ...Motor supply 50 V Supply for output stages maximum 50 VDC 4 Motor supply 50 V Supply for output stages maximum 50 VDC 5 A2 Motor winding A 6 B2 Motor winding B 7 Motor supply 0 V Supply for output st...

Page 58: ...unication and different standard settings set single flash State of the EtherCAT State Machine SAFEOP verification of the Sync Manager 117 channels and the distributed clocks Outputs remain in safe st...

Page 59: ...r clockwise Enable green off Motor control is blocked index 0x6010 02 201 is not set or EL7041 is not ready for operation on Motor control is activated index 0x6010 02 201 is set or EL7041 is ready fo...

Page 60: ...e occurs at encoder input C 3 Encoder supply 24 V Encoder supply from positive power contact 4 Input 1 Digital input 1 24 VDC 5 B Encoder input B 6 Latch Gate Latch input The current counter value is...

Page 61: ...Motor supply 50 V Supply for output stages maximum 50 VDC 4 Motor supply 50 V Supply for output stages maximum 50 VDC 5 A2 Motor winding A 6 B2 Motor winding B 7 Motor supply 0 V Supply for output st...

Page 62: ...r mailbox communication and different standard settings set single flash State of the EtherCAT State Machine SAFEOP verification of the Sync Manager 117 channels and the distributed clocks Outputs rem...

Page 63: ...r clockwise Enable green off Motor control is blocked index 0x6010 02 219 is not set or EL7041 is not ready for operation on Motor control is activated index 0x6010 02 219 is set or EL7041 is ready fo...

Page 64: ...a rising edge occurs at encoder input C 3 Encoder supply 24 V Encoder supply from positive power contact 4 Input 1 Digital input 1 24 VDC 5 B Encoder input B 6 Latch Gate Latch input The current coun...

Page 65: ...oint Name Signal 1 A1 Motor winding A 2 B1 Motor winding B 3 Sense A reserved no connection permitted 4 Motor supply 50 V Supply for output stages maximum 50 VDC 5 A2 Motor winding A 6 B2 Motor windin...

Page 66: ...motor terminal Attention Use a buffer capacitor terminal EL9570 for short deceleration ramps Very short deceleration ramps may lead to temporarily increased feedback In this case the terminal would r...

Page 67: ...ontrol of a unipolar motor Fig 44 Bipolar control of a unipolar motor Only one half of each winding is controlled Encoder Connecting an encoder 24 V Fig 45 Connecting an encoder 24 V The encoder is su...

Page 68: ...ger 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...

Page 69: ...d on the following sample configuration the subsequent subsections describe the procedure for TwinCAT 2 and TwinCAT 3 Control system PLC CX2040 including CX2100 0004 power supply unit Connected to the...

Page 70: ...ch case the EK1100 coupler wouldn t be necessary 5 1 1 TwinCAT 2 Startup TwinCAT basically uses two user interfaces the TwinCAT System Manager for communication with the electromechanical components a...

Page 71: ...e made known first In the menu under Actions Choose Target System via the symbol or the F8 key open the following window Fig 49 Selection of the target system Use Search Ethernet to enter the target s...

Page 72: ...have to be set to Config mode via or via menu Actions Set Reset TwinCAT to Config Mode Shift F4 Fig 51 Select Scan Devices Confirm the warning message which follows and select EtherCAT in the dialog F...

Page 73: ...en reads the elements present in the configuration below Fig 54 Reading of individual terminals connected to a device This functionality is useful if the actual configuration is modified at short noti...

Page 74: ...t 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 55 Twi...

Page 75: ...cessful 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...

Page 76: ...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 objec...

Page 77: ...aneously 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 t...

Page 78: ...ntext 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 estab...

Page 79: ...k 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...

Page 80: ...onment 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 communi...

Page 81: ...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 66 Create new TwinCAT project The...

Page 82: ...ed on the respective PLC TwinCAT can be used in local mode and thereby the next step is Insert Device 83 If the intention is to address the TwinCAT runtime environment installed on a PLC as developmen...

Page 83: ...n 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 proj...

Page 84: ...be acknowledged Based on the sample configuration 69 described at the beginning of this section the result is as follows Fig 72 Mapping of the configuration in VS shell of the TwinCAT3 environment The...

Page 85: ...l 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 Funct...

Page 86: ...LC_example as project name for example and select a corresponding directory Fig 75 Specifying the name and directory for the PLC programming environment The Main program which already exists by select...

Page 87: ...Commissioning EL70x1 87 Version 4 4 Fig 76 Initial Main program of the standard PLC project To continue sample variables and a sample program have now been created...

Page 88: ...r followed by the compile process Fig 78 Start program compilation The following variables identified in the ST PLC program with AT are then available in under Assignments in the project folder explor...

Page 89: ...on tree Fig 80 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...

Page 90: ...s 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 82 Application of a Goto Link variabl...

Page 91: ...he 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...

Page 92: ...tomation 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...

Page 93: ...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...

Page 94: ...s 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 net...

Page 95: ...Commissioning EL70x1 95 Version 4 4 Fig 89 Exemplary correct driver setting for the Ethernet port Other possible settings have to be avoided...

Page 96: ...Commissioning EL70x1 96 Version 4 4 Fig 90 Incorrect driver settings for the Ethernet port...

Page 97: ...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 associat...

Page 98: ...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...

Page 99: ...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 1...

Page 100: ...ted 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 n...

Page 101: ...70x1 101 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 f...

Page 102: ...sence 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 possi...

Page 103: ...ion 113 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 100 Append EtherCAT dev...

Page 104: ...ces can be appended by right clicking on a device in the configuration tree Fig 104 Appending EtherCAT devices left TwinCAT 2 right TwinCAT 3 The dialog for selecting a new device opens Only devices f...

Page 105: ...sion can be displayed as Extended Information Fig 106 Display of device revision In many cases several device revisions were created for historic or functional reasons e g through technological advanc...

Page 106: ...ion 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 configura...

Page 107: ...Commissioning EL70x1 107 Version 4 4 Fig 109 EtherCAT terminal in the TwinCAT tree left TwinCAT 2 right TwinCAT 3...

Page 108: ...e 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 The TwinCAT...

Page 109: ...nning 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 used for dete...

Page 110: ...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 comparative s...

Page 111: ...onfiguration is established and can then be switched to online state OPERATIONAL Fig 120 Config FreeRun query left TwinCAT 2 right TwinCAT 3 In Config FreeRun mode the System Manager display alternate...

Page 112: ...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 th...

Page 113: ...figuration 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...

Page 114: ...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 device and the d...

Page 115: ...offers a function Change to Compatible Type for the exchange of a device whilst retaining the links in the task Fig 129 Dialog Change to Compatible Type left TwinCAT 2 right TwinCAT 3 This function i...

Page 116: ...bs 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 pr...

Page 117: ...g 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...

Page 118: ...odifications 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...

Page 119: ...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 cfg or inva...

Page 120: ...nt 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...

Page 121: ...ndex 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 written to the ob...

Page 122: ...specify which objects are displayed in the list Fig 138 Dialog Advanced settings Online via SDO Information If this option button is selected the list of the objects included in the object list of th...

Page 123: ...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 state safe oper...

Page 124: ...n Mode Options optional FreeRun SM Synchron DC Synchron Input based DC Synchron Advanced Settings Advanced settings for readjustment of the real time determinant TwinCAT clock Detailed information to...

Page 125: ...olved in the process data transfer In the tree diagram of the System Manager these PDOs are displayed as variables of the EtherCAT device The name of the variable is identical to the Name parameter of...

Page 126: ...to the device on startup The required commands to be sent to the device can be viewed in the Startup 119 tab PDO Configuration If this check box is selected the configuration of the respective PDOs as...

Page 127: ...olour Meaning yellow Input variables from the Slave to the EtherCAT Master updated in every cycle red Output variables from the Slave to the EtherCAT Master updated in every cycle green Information va...

Page 128: ...Commissioning EL70x1 128 Version 4 4 Fig 143 Basic EtherCAT Slave Diagnosis in the PLC The following aspects are covered here...

Page 129: ...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...

Page 130: ...d 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 Ma...

Page 131: ...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 i...

Page 132: ...as standard EtherCAT Master OP Slaves OP This setting applies equally to all Slaves Fig 146 Default behaviour of the System Manager In addition the target state of any particular Slave can be set in...

Page 133: ...e Fig 148 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...

Page 134: ...a warning message E Bus Power of Terminal is output in the logger window when such a configuration is activated Fig 150 Warning message for exceeding E Bus current Attention Caution Malfunction possi...

Page 135: ...o the NC can be accomplished as follows The terminal must already have been inserted manually under I O devices or have been scanned in by the system see section Inserting the terminal in the EtherCAT...

Page 136: ...b select Link To see Fig Linking the axis with the terminal Fig 154 Linking the axis with the terminal Select the right terminal Stepper Drive MDP 703 and confirm with OK Fig 155 Selecting the right t...

Page 137: ...continuing with the motor commissioning procedure Commissioning the motor with the NC Once the parameters are set the motor is basically ready for operation Individual further parameters have to be a...

Page 138: ...ward or F3 F4 Forward Alternatively you can control the axis via the Functions tab Example Select as Reversing Sequence as the start mode Enter the required Target Position1 e g 5000 Enter the require...

Page 139: ...ttings in the CoE register Adaptation of current and voltage Attention The motor may overheat In order to prevent overheating of the connected motor it is important to adapt the current and voltage ou...

Page 140: ...etting the base frequency Fig 160 Setting the base frequency Selecting the feedback system only for the module with encoder connections Two feedback system options are available for selection Encoder...

Page 141: ...feedback system KA factor The KA factor can be used to adapt the current during the acceleration phases The current increase is calculated as follows Current increase in mA speed difference x K A 1000...

Page 142: ...tor NC settings Reference velocity selection The maximum velocity can be calculated from the base frequency and the motor frequency v max base frequency motor frequency 2000 full steps s 200 full step...

Page 143: ...NC cycle time although in practice 4 cycles are preferable Therefore the settings of the parameters Time Compensation Mode Encoder should be ON with velocity and Encoder Delay in Cycles 4 Fig 165 Dea...

Page 144: ...eded the limit value The position lag is the difference between the set value control value and the actual value reported back If the terminal parameters are set inadequately the position lag monitori...

Page 145: ...ocity ramp with KV factor limit values shows a speed ramp with thresholds of 30 The Kv factor for Standstill t1 and t3 can be different than the Kv factor for Moving t2 In this case the same factor wa...

Page 146: ...a buffer capacitor terminal EL9570 for short deceleration ramps Very short deceleration ramps may lead to temporarily increased feedback In this case the terminal would report an error To prevent thi...

Page 147: ...d Fig 172 Predefined PDO Assignment 5 6 2 Parameter set Two objects are at the user s disposal in the CoE for the configuration the POS Settings Index 0x8020 and the POS Features Index 0x8021 Fig 173...

Page 148: ...on neg Deceleration time in the negative direction of rotation Emergency deceleration Emergency deceleration time both directions of rotation If Emergency stop is set in the appropriate PDO the motor...

Page 149: ...flects the status bits used in Index 0xA020 in a data word in order to be able to process them more simply in the PLC The positions of the bits correspond to the number of the subindex 1 Bit 0 Command...

Page 150: ...or is being driven in the direction of the HW sync pulse CALI_LEAVE_CA M 0x0121 The motor is being driven away from the cam CALI_STOP 0x0130 End of the calibration phase CALIBRATED 0x0140 The motor is...

Page 151: ...target position Error handling In case of error procure the necessary information from the CoE and evaluate it Fig 175 Flow diagram for a travel command 5 6 6 Start types The Positioning interface of...

Page 152: ...0x8020 0F is ignored MODULO_PLUS 0x0205 Modulo positioning in the positive direction of rotation to the calcu lated modulo position MODULO_PLUS_EXT 0x0215 Modulo positioning in the positive direction...

Page 153: ...If there was an error however be it that the motor entered a stall state or an Emergency stop was triggered the current position is arbitrary and not foreseeable The user now has the advantage that h...

Page 154: ...alibration case is calibration by cam only connected to one digital input Here the motor travels in the 1st step with velocity 1 Index 0x8020 09 in direction 1 Index 0x8021 13 towards the cam Subseque...

Page 155: ...es of positioning the modulo positioning has several pitfalls since the desired target position can be interpreted differently The modulo positioning refers in principle to the Modulo factor Index 0x8...

Page 156: ...ft a new travel command to 0 in the positive direction leads only to a minimal movement The deviation that arose beforehand is compensated and the position is subsequently exactly 0 once more If the p...

Page 157: ...movement towards the target is always direct In contrast to positive or negative direction it is therefore not possible to carry out several turns before the axis moves to the target Attention Only b...

Page 158: ...0 810 00 90 00 MODULO_PLUS 90 90 810 00 719 10 810 00 90 00 MODULO_PLUS 91 10 810 00 1078 90 1170 00 90 00 outside TF MODULO_PLUS 89 10 810 00 720 90 810 00 90 00 MODULO_PLUS 88 90 810 00 721 10 810 0...

Page 159: ...e acceleration phase t2 Accelerate 0 End of the acceleration phase t3 Target position 100000 Velocity 1500 Start type 0x1001 Acceleration 2000 Deceleration 2000 Change of the parameters Activation by...

Page 160: ...hange of the parameters Activation by new start types Warning of overrunning the target position Start of the 1st deceleration phase t4 Accelerate 1 Decelerate 0 End of the 1st deceleration phase Star...

Page 161: ...ion 4 4 5 7 Process data 5 7 1 Sync Manager SM The extent of the process data that is made available can be changed via the Process data tab see Fig Process data tab SM2 EL70xx default Fig 185 Process...

Page 162: ...e upper left hand Sync Manager field see fig Process data tab SM2 EL70xx default and SM3 EL70xx default The process data assigned to this Sync Manager can then be switched on or off in the PDO Assignm...

Page 163: ...dex 0x7010 01 202 Enable Index 0x7010 02 202 Reset Index 0x7010 03 202 Reduce torque 0x1603 0x1604 0x1605 0x1606 4 0 STM Position Index 0x7010 11 202 Position 0x1604 default 0x1603 0x1605 0x1606 2 0 S...

Page 164: ...Sync error Index 0x6000 10 201 TxPDO Toggle Index 0x6000 11 201 Counter value 32 Bit Index 0x6000 12 201 Latch value 32 Bit 0x1A02 4 0 ENC Timest compact Index 0x6000 16 201 Timestamp 0x1A03 default...

Page 165: ...ive PDO assignments are available Name SM2 PDO assignment SM3 PDO assignment Velocity control compact 0x1600 0x1602 0x1604 0x1A00 0x1A03 Volocity control compact with info data 0x1600 0x1602 0x1604 0x...

Page 166: ...oop has to be programmed manually in this case it is already implemented in the NC This application example demonstrates movement of a motor to any position or in continuous mode with the aid of visua...

Page 167: ...ress see Fig Selecting the MAC address Select the right adapter Fig 189 Selecting the MAC address In the PLC configuration you have to adjust the path for the PLC program Click on the appended PLC pro...

Page 168: ...local variables see Fig Local variables MC_Direction is an enumeration type that specifies the direction of movement for the MC_MoveVelocity function block which in turn initiates continuous travel of...

Page 169: ...In Free run mode you can now use the Left or Right buttons and the motor will run with a speed defined under fbMoveVelocity_Axis_1 in the selected direction In Absolute mode you can specify a Velocity...

Page 170: ...ng EL70x1 170 Version 4 4 Fig 195 Visualization Note Information on function blocks and data types Further information on the function blocks and data types used can be found in the Beck hoff Informat...

Page 171: ...ced Differentiation between online offline dictionary existence of current XML description use CoE reload for resetting changes Attention Risk of damage to the device We strongly advise not to change...

Page 172: ...100dec 8010 11 Drive off delay time Switch off delay of the driver stage UINT16 RW 0x0096 150dec Index 8011 STM Controller Settings Ch 1 Index hex Name Meaning Data type Flags Default 8011 0 STM Contr...

Page 173: ...cond 4 16000 full steps second 5 32000 full steps second 8012 09 Invert motor polarity Activates reversal of the motor rotation direction BOOLEAN RW 0x00 0dec 8012 11 Select info data 1 Select Info da...

Page 174: ...2 36 Function for input 2 Selection of the function for input 2 0 Normal input BIT4 RW 0x02 0dec 1 Hardware Enable 2 Plc cam 3 Auto start Index 8013 STM Controller Settings 2 Ch 1 Index hex Name Meani...

Page 175: ...nit 1 ms UINT16 RW 0x03E8 1000dec 8020 07 Emergency decelera tion Emergency deceleration both directions of rotation unit 1 ms UINT16 RW 0x0064 100dec 8020 08 Calibration position Calibration position...

Page 176: ...e cam BOOLEAN RW 0x01 1dec 8021 14 Invert sync impulse search direction Inversion of the direction of rotation away from the cam BOOLEAN RW 0x00 0dec 8021 15 Emergency stop on position lag error Trigg...

Page 177: ...ult 6010 0 STM Inputs Ch 1 Maximum subindex UINT8 RO 0x15 21dec 6010 01 Ready to enable Driver stage is ready for enabling BOOLEAN RO 0x00 0dec 6010 02 Ready Driver stage is ready for operation BOOLEA...

Page 178: ...NT32 RO 0x00000000 0dec 5 9 5 Output data Index 7000 ENC Outputs Ch 1 Index hex Name Meaning Data type Flags Default 7000 0 ENC Outputs Ch 1 Activate latching via the C track Maximum subindex UINT8 RO...

Page 179: ...Commissioning EL70x1 179 Version 4 4 Index 7020 POS Outputs Ch 1...

Page 180: ...Endless driving in negative direction of rotation 0x0105 Modulo short Shortest distance to the next mod ulo position 0x0115 Modulo short extended Shortest distance to the next mod ulo position with ou...

Page 181: ...st distance to the next modulo position UINT16 RO 0x0000 0dec 0x0115 Modulo short extended Shortest distance to the next modulo position without modulo window UINT16 RO 0x0000 0dec 0x0205 Modulo plus...

Page 182: ...Duty cycle coil B unit 1 INT8 RO 0x00 0dec 9010 08 Motor velocity Current velocity value range 10000 INT16 RO 0x0000 0dec 9010 09 Internal position internal position UINT32 RO 0x00000000 0dec 9010 13...

Page 183: ...BIT4 RO 0x00 0dec Index A020 POS Diag data Ch 1 Index Name Meaning Data type Flags Default value A020 0 POS Diag data Ch 1 Maximum subindex UINT8 RO 0x06 6dec A020 01 Command rejected Travel command...

Page 184: ...00 0 STM Info data Maximum subindex UINT8 RO 0x06 6dec F900 01 Software version driver Software version of the driver card STRING RO 0 F900 02 Internal temperature Internal terminal temperature unit 1...

Page 185: ...6 Exclude RxPDOs Specifies the RxPDOs index of RxPDO mapping ob jects that must not be transferred together with RxPDO 1 OCTET STRING 6 RO 01 16 00 00 00 00 Index 1401 ENC RxPDO Par Control Index hex...

Page 186: ...ubIndex 007 7 PDO Mapping entry object 0x7000 ENC Outputs Ch 1 entry 0x11 Set counter value UINT32 RO 0x7000 11 16 Index 1601 ENC RxPDO Map Control Index hex Name Meaning Data type Flags Default 1601...

Page 187: ...8 bits align UINT32 RO 0x0000 00 8 1605 05 SubIndex 004 5 PDO Mapping entry object 0x7020 POS Outputs Ch 1 entry 0x11 Target position UINT32 RO 0x7020 11 32 Index 1606 POS RxPDO Map Control Index Nam...

Page 188: ...2 Ch 1 entry 0x24 Deceleration UINT32 RO 0x7021 24 16 Index 1800 ENC TxPDO Par Status compact Index hex Name Meaning Data type Flags Default 1800 0 ENC TxPDO Par Sta tus compact PDO parameter TxPDO 1...

Page 189: ...NC TxPDO Map Status Index hex Name Meaning Data type Flags Default 1A01 0 ENC TxPDO Map Status max subindex UINT8 RO 0x0D 13dec 1A01 01 SubIndex 001 1 PDO Mapping entry 1 bits align UINT32 RO 0x0000 0...

Page 190: ...1A03 0D SubIndex 013 13 PDO Mapping entry 1 bits align UINT32 RO 0x0000 00 1 1A03 0E SubIndex 014 14 PDO Mapping entry object 0x6010 STM Inputs Ch 1 entry 0x10 TxPDO Toggle UINT32 RO 0x6010 10 1 Index...

Page 191: ...Ch 1 entry 0x22 Actual drive time UINT32 RO 0x6020 22 32 Index 1A07 STM TxPDO Map Internal position Index Name Meaning Data type Flags Default 1A07 0 STM TxPDO Map Inter nal position max subindex UIN...

Page 192: ...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 through writing of 0x1C32 08 192 UINT16 RO 0xC007 49159dec 1C32 0...

Page 193: ...92 or 0x1C33 08 193 UINT16 RO 0xC007 49159dec 1C33 05 Minimum cycle time as 0x1C32 05 192 UINT32 RO 0x000249F0 150000dec 1C33 06 Calc and copy time Time between reading of the inputs and availability...

Page 194: ...mber UINT32 RW 0x000001FF 511dec F010 02 SubIndex 002 Stepper motor profile number UINT32 RW 0x000002BF 703dec F010 03 SubIndex 003 Positioning interface profile number UINT32 RW 0x000002C0 704dec Ind...

Page 195: ...on use CoE reload for resetting changes Attention Risk of damage to the device We strongly advise not to change settings in the CoE objects while the axis is active since this could impair the control...

Page 196: ...tch on delay of the driver stage unit ms UINT16 RW 0x0064 100dec 8010 11 Drive off delay time Switch off delay of the driver stage unit ms UINT16 RW 0x0096 150dec Index 8011 STM Controller Settings Ch...

Page 197: ...s second 8012 08 Feedback type Selection of the feedback system 0 External encoder BIT1 RW 0x01 1dec 8012 09 Invert motor polarity Activates reversal of the motor rotation direction BOOLEAN RW 0x00 0d...

Page 198: ...53 Drive Position lag high word reserved 255 reserved 8012 30 Invert digital input 1 Inversion of digital input 1 BOOLEAN RW 0x00 0dec 8012 311 Invert digital input 2 Inversion of digital input 2 BOOL...

Page 199: ...y range 0 10000 INT16 RW 0x0064 100dec 8020 02 Velocity max Maximum set velocity range 0 10000 INT16 RW 0x2710 10000dec 8020 03 Acceleration pos Acceleration in positive direction of rotation unit 1 m...

Page 200: ...e cam BOOLEAN RW 0x01 1dec 8021 14 Invert sync impulse search direction Inversion of the direction of rotation away from the cam BOOLEAN RW 0x00 0dec 8021 15 Emergency stop on position lag error Trigg...

Page 201: ...lue UINT32 RO 0x00000000 0dec 6000 16 Timestamp Time stamp of the last counter change UINT32 RO 0x00000000 0dec Index 6010 STM Inputs Ch 1 Index hex Name Meaning Data type Flags Default 6010 0 STM Inp...

Page 202: ...ing Data type Flags Default 7000 0 ENC Outputs Ch 1 Maximum subindex UINT8 RO 0x11 17dec 7000 01 Enable latch C Activate latching via the C track BOOLEAN RO 0x00 0dec 7000 02 Enable latch extern on po...

Page 203: ...Commissioning EL70x1 203 Version 4 4 Index 7020 POS Outputs Ch 1...

Page 204: ...Endless driving in negative direction of rotation 0x0105 Modulo short Shortest distance to the next mod ulo position 0x0115 Modulo short extended Shortest distance to the next mod ulo position with ou...

Page 205: ...T16 RO 0x0000 0dec 9010 05 Motor coil current B Motor current coil B unit 1 mA INT16 RO 0x0000 0dec 9010 06 Duty cycle A Duty cycle coil A unit 1 INT8 RO 0x00 0dec 9010 07 Duty cycle B Duty cycle coil...

Page 206: ...BIT4 RO 0x00 0dec Index A020 POS Diag data Ch 1 Index Name Meaning Data type Flags Default value A020 0 POS Diag data Ch 1 Maximum subindex UINT8 RO 0x06 6dec A020 01 Command rejected Travel command w...

Page 207: ...ex hex Name Meaning Data type Flags Default 1009 0 Hardware version Hardware version of the EtherCAT slave STRING RO 01 Index 100A Software version Index hex Name Meaning Data type Flags Default 100A...

Page 208: ...y Index hex Name Meaning Data type Flags Default 1404 0 STM RxPDO Par Ve locity PDO Parameter RxPDO 5 UINT8 RO 0x06 6dec 1404 06 Exclude RxPDOs Specifies the RxPDOs index of RxPDO mapping ob jects tha...

Page 209: ...00 ENC Outputs Ch 1 entry 0x03 Set counter UINT32 RO 0x7000 03 1 1601 04 SubIndex 004 4 PDO Mapping entry object 0x7000 ENC Outputs Ch 1 entry 0x04 Enable latch extern on negative edge UINT32 RO 0x700...

Page 210: ...g entry 8 bits align UINT32 RO 0x0000 00 8 1606 05 SubIndex 005 5 PDO Mapping entry object 0x7020 POS Outputs Ch 1 entry 0x11 Target position UINT32 RO 0x7020 11 32 1606 06 SubIndex 006 6 PDO Mapping...

Page 211: ...ies the TxPDOs index of TxPDO mapping objects that must not be transferred together with TxPDO 2 OCTET STRING 2 RO 00 1A Index 1805 POS TxPDO Par Status compact Index Name Meaning Data type Flags Defa...

Page 212: ...lation stall UINT32 RO 0x6000 08 1 1A00 08 SubIndex 008 8 PDO Mapping entry object 0x6000 ENC Inputs Ch 1 entry 0x09 Status of input A UINT32 RO 0x6000 09 1 1A00 09 SubIndex 009 9 PDO Mapping entry ob...

Page 213: ...RO 0x6000 09 1 1A01 09 SubIndex 009 9 PDO Mapping entry object 0x6000 ENC Inputs Ch 1 entry 0x0A Status of input B UINT32 RO 0x6000 0A 1 1A01 0A SubIndex 010 10 PDO Mapping entry 1 bits align UINT32 R...

Page 214: ...1A03 0D SubIndex 013 13 PDO Mapping entry 1 bits align UINT32 RO 0x0000 00 1 1A03 0E SubIndex 014 14 PDO Mapping entry object 0x6000 entry 0x10 UINT32 RO 0x6000 10 1 1 not for EL7041 0001 2 only for...

Page 215: ...Ch 1 entry 0x22 Actual drive time UINT32 RO 0x6020 22 32 Index 1A07 STM TxPDO Map Internal position Index Name Meaning Data type Flags Default 1A07 0 STM TxPDO Map Inter nal position max subindex UIN...

Page 216: ...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 through writing of 0x1C32 08 216 UINT16 RO 0xC007 49159dec 1C32 0...

Page 217: ...16 or 0x1C33 08 217 UINT16 RO 0xC007 49159dec 1C33 05 Minimum cycle time as 0x1C32 05 216 UINT32 RO 0x000249F0 150000dec 1C33 06 Calc and copy time Time between reading of the inputs and availability...

Page 218: ...mber UINT32 RW 0x000001FF 511dec F010 02 SubIndex 002 Stepper motor profile number UINT32 RW 0x000002BF 703dec F010 03 SubIndex 003 Positioning interface profile number UINT32 RW 0x000002C0 704dec Ind...

Page 219: ...use CoE reload for resetting changes Attention Risk of damage to the device We strongly advise not to change settings in the CoE objects while the axis is active since this could impair the control 5...

Page 220: ...ing Data type Flags Default 8012 0 STM Features Ch 1 Maximum subindex UINT8 RO 0x36 54dec 8012 01 Operation mode Operating mode currently only direct velocity is sup ported 0 Automatic BIT4 RW 0x01 1d...

Page 221: ...This value is always refer enced to the max current of the terminal 5 A The value is specified in 0 to 100 UINT8 RW 0x64 100dec 8014 06 Coil current v 0 manual This index defines the manual holding c...

Page 222: ...10 STM Inputs Ch 1 Index hex Name Meaning Data type Flags Default 6010 0 STM Inputs Ch 1 Maximum subindex UINT8 RO 0x10 16dec 6010 01 Ready to enable Driver stage is ready for enabling BOOLEAN RO 0x00...

Page 223: ...or Motor supply voltage is less than 8 V error see 0xA010 09 223 BOOLEAN RO 0x00 0dec A010 05 Over voltage Motor supply voltage is 10 higher than the configured nominal voltage BOOLEAN RO 0x00 0dec A...

Page 224: ...efault F900 0 STM Info data Maximum subindex UINT8 RO 0x06 6dec F900 02 Internal temperature Internal terminal temperature unit 1 INT8 RO 0x00 0dec F900 05 Motor supply voltage Motor supply voltage un...

Page 225: ...0 ENC RxPDO Par Control compact Index hex Name Meaning Data type Flags Default 1400 0 ENC RxPDO Par Control compact PDO Parameter RxPDO 1 UINT8 RO 0x06 6dec 1400 06 Exclude RxPDOs Specifies the RxPDOs...

Page 226: ...7000 ENC Outputs Ch 1 entry 0x03 Set counter UINT32 RO 0x7000 03 1 1601 04 SubIndex 004 4 PDO Mapping entry object 0x7000 ENC Outputs Ch 1 entry 0x04 Enable latch extern on negative edge UINT32 RO 0x7...

Page 227: ...INT32 RO 0x6000 04 1 1A00 05 SubIndex 005 5 PDO Mapping entry object 0x6000 ENC Inputs Ch 1 entry 0x05 Counter overflow UINT32 RO 0x6000 05 1 1A00 06 SubIndex 006 6 PDO Mapping entry 2 bits align UINT...

Page 228: ...RO 0x6000 09 1 1A01 09 SubIndex 009 9 PDO Mapping entry object 0x6000 ENC Inputs Ch 1 entry 0x0A Status of input B UINT32 RO 0x6000 0A 1 1A01 0A SubIndex 010 10 PDO Mapping entry 1 bits align UINT32 R...

Page 229: ...Index 012 12 PDO Mapping entry 1 bits align UINT32 RO 0x0000 00 1 1A03 0D SubIndex 013 13 PDO Mapping entry object 0x6010 entry 0x10 UINT32 RO 0x6010 10 1 Index 1C00 Sync manager type Index hex Name M...

Page 230: ...in ns UINT32 RO 0x0003D090 250000dec 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...

Page 231: ...30 or 0x1C33 08 231 UINT16 RO 0xC007 49159dec 1C33 05 Minimum cycle time as 0x1C32 05 230 UINT32 RO 0x000249F0 150000dec 1C33 06 Calc and copy time Time between reading of the inputs and availability...

Page 232: ...e Meaning Data type Flags Default F010 0 Module list Maximum subindex UINT8 RW 0x02 2dec F010 01 SubIndex 001 Profile number of the encoder interface UINT32 RW 0x000001FF 511dec F010 02 SubIndex 002 P...

Page 233: ...yte 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 explain...

Page 234: ...Warning Error Acknowledge flag N unconfirmed Q confirmed Time stamp Text ID Plain text message according to ESI XML data The meanings of the buttons are self explanatory 6 3 Interpretation Structure...

Page 235: ...exceeds the parameterized warning threshold 0x4300 Warning Encoder Sub increments deactivated despite activated configura tion 0x4301 Warning Encoder Encoder Warning General encoder error 0x4400 Warn...

Page 236: ...8200 Error Communication Error while writing 0x8201 Error Communication No communication to field side Auxiliary voltage missing There is no voltage applied to the power contacts A firmware update has...

Page 237: ...es for delivered products Attention Risk of damage to the device Pay attention to the instructions for firmware updates on the separate page 239 If a de vice is placed in BOOTSTRAP mode for a firmware...

Page 238: ...01 00 EL7041 0001 0016 2009 11 02 EL7041 0001 0017 2009 11 02 12 03 2010 03 04 2010 06 05 EL7041 0001 0018 2010 09 06 EL7041 0001 0019 2011 05 07 2011 07 08 EL7041 0001 0020 2012 02 EL7041 0001 0021 2...

Page 239: ...the data are unsuitable Simplified update by bundle firmware The update using so called bundle firmware is more convenient in this case the controller firmware and the ESI description are combined in...

Page 240: ...red revision must be the same or lower than that actually present in the terminal network For further information on this please refer to the EtherCAT system documentation Note Update of XML ESI descr...

Page 241: ...configured In this case the configuration can be adapted with the Copy Before button The Extended Information checkbox must be set in order to display the revision Changing the ESI slave identifier Th...

Page 242: ...EtherCAT devices read a modified ESI description immediately or after startup from the INIT Some communication settings such as distributed clocks are only read during power on The EtherCAT slave the...

Page 243: ...therCAT Slave Information ESI XML may contain the default content of the CoE This CoE directory can only be displayed if it is included in the ESI e g Beckhoff EL5xxx xml The Advanced button must be u...

Page 244: ...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 com...

Page 245: ...right click the table header and select Properties in the context menu Fig 207 Context menu Properties The Advanced Settings dialog appears where the columns to be displayed can be selected Under Dia...

Page 246: ...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 the TwinCAT S...

Page 247: ...Appendix EL70x1 247 Version 4 4 Fig 209 Select dialog Advanced Settings The Advanced Settings dialog appears Under ESC Access E PROM FPGA click on Write FPGA button Fig 210 Select dialog Write FPGA...

Page 248: ...rupted 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 device is re...

Page 249: ...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 restore value...

Page 250: ...nents 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 offer...

Page 251: ...EtherCAT tab Advanced Settings Behavior Watchdog 29 Fig 15 States of the EtherCAT State Machine 31 Fig 16 CoE Online tab 33 Fig 17 Startup list in the TwinCAT System Manager 34 Fig 18 Offline list 35...

Page 252: ...oose target system remote 79 Fig 64 PLC Control logged in ready for program startup 80 Fig 65 Initial TwinCAT 3 user interface 81 Fig 66 Create new TwinCAT project 81 Fig 67 New TwinCAT3 project in th...

Page 253: ...inal in the TwinCAT tree left TwinCAT 2 right TwinCAT 3 107 Fig 110 Differentiation local target system left TwinCAT 2 right TwinCAT 3 108 Fig 111 Scan Devices left TwinCAT 2 right TwinCAT 3 108 Fig 1...

Page 254: ...axis 135 Fig 153 Selecting and confirming the axis type 136 Fig 154 Linking the axis with the terminal 136 Fig 155 Selecting the right terminal 136 Fig 156 Automatic linking of all main variables 137...

Page 255: ...Local variables 168 Fig 194 Program code 169 Fig 195 Visualization 170 Fig 196 DiagMessages in the CoE 233 Fig 197 Implementation of the DiagMessage system in the TwinCAT System Manager 234 Fig 198 D...

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