Beckhoff EL72 1-901 Series Manual Download Page 97

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Commissioning

EL72x1-901x

Version: 1.9

Fig. 107: EtherCAT terminal in the TwinCAT tree (left: TwinCAT 2; right: TwinCAT 3)

Summary of Contents for EL72 1-901 Series

Page 1: ...Documentation EL72x1 901x Servo Motor Terminals with OCT and STO 50 V DC 1 9 2020 02 18 Version Date...

Page 2: ......

Page 3: ...r setting the watchdog 26 3 4 EtherCAT State Machine 28 3 5 CoE Interface 30 3 6 Distributed Clock 35 4 Installation 36 4 1 Safety instructions 36 4 2 Environmental conditions 36 4 3 Transport storage...

Page 4: ...without NC status word control word 139 5 3 7 Settings for the automatic configuration 143 5 3 8 Configuring the limit switch 145 5 3 9 Homing 146 5 3 10 Touch Probe 149 5 4 Operation modes 152 5 4 1...

Page 5: ...3 7 2 6 Standard objects 226 8 Error correction 233 8 1 Diagnostics basic principles of diag messages 233 9 Appendix 243 9 1 EtherCAT AL Status Codes 243 9 2 Firmware compatibility 243 9 3 Firmware Up...

Page 6: ...Table of contents EL72x1 901x 6 Version 1 9...

Page 7: ...ation are valid Further information given on the product pages of the Beckhoff homepage in emails or in other publications is not authoritative Disclaimer The documentation has been prepared with care...

Page 8: ...ion Modifications to hardware or software configurations other than those described in the documentation are not permitted and nullify the liability of Beckhoff Automation GmbH Co KG 1 2 2 Operator s...

Page 9: ...ndangers the life and health of persons WARNING Risk of injury Failure to follow this safety instruction endangers the life and health of persons CAUTION Personal injuries Failure to follow this safet...

Page 10: ...chapter Quickstart added TwinCAT Development Environment TwinCAT 3 added 1 0 First published only German 0 1 0 5 Preliminary versions for internal use only 1 4 Version identification of EtherCAT devi...

Page 11: ...oduction lot batch number serial number date code D number The serial number for Beckhoff IO devices is usually the 8 digit number printed on the device or on a sticker The serial number indicates the...

Page 12: ...e and other measuring terminals Examples of markings Fig 1 EL5021 EL terminal standard IP20 IO device with serial batch number and revision ID since 2014 01 Fig 2 EK1100 EtherCAT coupler standard IP20...

Page 13: ...5 EP1258 00001 IP67 EtherCAT Box with batch number date code 22090101 and unique serial number 158102 Fig 6 EP1908 0002 IP67 EtherCAT Safety Box with batch number date code 071201FF and unique serial...

Page 14: ...Foreword EL72x1 901x 14 Version 1 9 Fig 8 ELM3604 0002 terminal with unique ID number QR code 100001051 and serial batch number 44160201...

Page 15: ...the product it can be found in the following places on the packaging unit directly on the product if space suffices on the packaging unit and the product The BIC is machine readable and contains infor...

Page 16: ...ers are used by Beckhoff and serve internal processes Structure of the BIC Example of composite information from item 1 to 4 and 6 The data identifiers are marked in red for better display BTN An impo...

Page 17: ...or terminal with OCT and STO 50 VDC 2 8 Arms DS402 profile EL7211 9014 17 servo motor terminal with OCT and STO 50 VDC 4 5 Arms MDP742 profile EL7211 9015 17 servo motor terminal with OCT and STO 50 V...

Page 18: ...Servo motor terminals with OCT and STO input The servo motor EtherCAT terminals EL7201 901x 50 VDC 2 8 Arms EL7211 901x 50 VDC 4 5 Arms and EL7221 901x 50 VDC 7 8 Arms with integrated absolute value i...

Page 19: ...be switched torque free This STO input is connected to a safe output of an EL2904 Performance Level d Category 3 according to DIN EN ISO 13849 1 2015 is attained for the SFO safety function of the EL7...

Page 20: ...Product overview EL72x1 901x 20 Version 1 9 2 3 Technical data...

Page 21: ...rent consumption from the 24 V typ 55 mA holding brake Supports NoCoeStorage 30 func tion Yes Reverse voltage protection 24 V power supply yes through the body diode of the overvoltage protection devi...

Page 22: ...igh efficiency and high acceleration capacity servomotors are overload proof and therefore have far greater dynamics than stepper motors for example load independent high torque right up to the higher...

Page 23: ...ith the EL72x1 xxxx the range of servo drives becomes even more finely scalable from the miniature servo drive up to 170 W in the EtherCAT Terminal through to the AX5000 servo drive with 118 KW Beckho...

Page 24: ...rsion 1 9 Fig 13 Limitation to the rated motor current 2 5 Start up For commissioning mount the EL72x1 901x as described in the chapter Installation 36 configure the EL72x1 901x in TwinCAT as describe...

Page 25: ...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 cro...

Page 26: ...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 27: ...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 the watc...

Page 28: ...switching off of the SM watchdog via SM watchdog 0 is only implemented in terminals from version 0016 In previous versions this operating mode should not be used CAUTION Damage of devices and undefin...

Page 29: ...erational 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 setting...

Page 30: ...ibration 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 Sub...

Page 31: ...meters are still available after a restart The situation may be different with other manufacturers An EEPROM is subject to a limited lifetime with respect to write operations From typically 100 000 wr...

Page 32: ...e is to be stored permanently enter it in the Startup list The order of the Startup entries is usually irrelevant Fig 18 Startup list in the TwinCAT System Manager The Startup list may already contain...

Page 33: ...ne The actual current slave list is read This may take several seconds depending on the size and cycle time The actual identity is displayed The firmware and hardware version of the equipment accordin...

Page 34: ...he placeholder n tends to be used for the individual channel numbers In the CoE system 16 indices each with 255 subindices are generally sufficient for representing all channel parameters The channel...

Page 35: ...it 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...

Page 36: ...ponents comply with the current standards on electromagnetic compatibility with regard to spurious radiation and immunity to interference in particular However in cases where devices such as mobile ph...

Page 37: ...ating materials synthetic fibers plastic film etc Surroundings working place packaging and personnel should by grounded probably when handling with the devices Each assembly must be terminated at the...

Page 38: ...ock clicks onto the mounting rail If the terminals are clipped onto the mounting rail first and then pushed together without tongue and groove the connection will not be operational When correctly ass...

Page 39: ...nts 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 t...

Page 40: ...10 mm from the group of terminals WARNING Risk of electric shock The PE power contact must not be used for other potentials 4 7 Installation position for operation with or without fan NOTE Constraints...

Page 41: ...egarding 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 42: ...er 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 where...

Page 43: ...CAT 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 consump tion out of th...

Page 44: ...ed mechanical load capacity the following additional installation instructions apply The enhanced mechanical load capacity is valid for all permissible installation positions Use a mounting rail accor...

Page 45: ...ity Standard wiring ELxxxx KLxxxx Fig 31 Standard wiring The terminals of ELxxxx and KLxxxx series have been tried and tested for years They feature integrated screwless spring force technology for fa...

Page 46: ...sign as the packaging density is twice as large as that of the standard 12 mm Bus Terminals Massive conductors and conductors with a wire end sleeve can be inserted directly into the spring loaded ter...

Page 47: ...wire size width Terminal housing ELxxxx KLxxxx ESxxxx KSxxxx Wire size width single core wires 0 08 2 5 mm2 0 08 2 5 mm2 Wire size width fine wire conductors 0 08 2 5 mm2 0 08 2 5 mm2 Wire size width...

Page 48: ...ating of the terminals The key parameter is always the maximum permitted internally measured temperature of 95 C above which the TwinSAFE terminals switch to safe state and report an error The interna...

Page 49: ...Installation EL72x1 901x 49 Version 1 9 Fig 36 Shield busbar Fig 37 Shield busbar clamp...

Page 50: ...g to the motor the shield of the feedback cable is connected via the metallic plug fastener On the terminal side the shield can also be connected Connect the cores of the feedback cable and attach the...

Page 51: ...ons are used then the current consumption at 24 VDC must be limited accordingly by means of supply from an isolated source protected by a fuse of max 4 A according to UL248 or from a voltage supply co...

Page 52: ...Interference from external magnetic fields The magnetic field strength should not exceed a permitted level all around the device In practice this equates to a recommended minimum distance between a co...

Page 53: ...is linked with bit 11 of the status word MDP742 196 DS402 218 internal limit active Limit reached e g torque or speed limit Read OCT green flashing The electronic type plate is being read off The rea...

Page 54: ...2 Input 1 Digital input 1 3 24 V Power contact 24 V 4 U Motor phase U 5 W Motor phase W 6 Brake Motor brake 7 50 V DC link supply 8 50 V 8 9 OCT Negative input of the absolute feedback 10 Input 2 Dig...

Page 55: ...nked with bit 11 of the status word MDP742 196 DS402 218 internal limit active Limit reached e g torque or speed limit Read OCT green flashing The electronic type plate is being read off The reading o...

Page 56: ...ck 2 Input 1 Digital input 1 3 24 V Power contact 24 V 4 U Motor phase U 5 W Motor phase W 6 Brake Motor brake 7 50 V DC link supply 8 50 V 8 9 OCT Negative input of the absolute feedback 10 Input 2 D...

Page 57: ...anager 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 actu...

Page 58: ...sed 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 t...

Page 59: ...L1004 and output EL2008 Note that all combinations of a configuration are possible for example the EL1004 terminal could also be connected after the coupler or the EL2008 terminal could additionally b...

Page 60: ...ystem Manager displays the following user interface after startup Fig 46 Initial TwinCAT 2 user interface Generally TwinCAT can be used in local or remote mode Once the TwinCAT system including the us...

Page 61: ...as shown in red perform a Broadcast Search if the exact computer name is not known enter the known computer IP or AmsNetID Fig 48 Specify the PLC for access by the TwinCAT System Manager selection of...

Page 62: ...menu Actions Set Reset TwinCAT to Config Mode Shift F4 Fig 49 Select Scan Devices Confirm the warning message which follows and select EtherCAT in the dialog Fig 50 Automatic detection of I O devices...

Page 63: ...enu which then reads the elements present in the configuration below Fig 52 Reading of individual terminals connected to a device This functionality is useful if the actual configuration is modified a...

Page 64: ...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 65: ...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 Manager hence...

Page 66: ...em 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 ob...

Page 67: ...ltaneously 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...

Page 68: ...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 has now es...

Page 69: ...ink 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...

Page 70: ...vironment 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 comm...

Page 71: ...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 64 Create new TwinCAT project T...

Page 72: ...lled on the respective PLC TwinCAT can be used in local mode and thereby the next step is Insert Device 73 If the intention is to address the TwinCAT runtime environment installed on a PLC as developm...

Page 73: ...een 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 pr...

Page 74: ...o be acknowledged Based on the sample configuration 58 described at the beginning of this section the result is as follows Fig 70 Mapping of the configuration in VS shell of the TwinCAT3 environment T...

Page 75: ...trol 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 Fu...

Page 76: ...PLC_example as project name for example and select a corresponding directory Fig 73 Specifying the name and directory for the PLC programming environment The Main program which already exists by sele...

Page 77: ...Commissioning EL72x1 901x 77 Version 1 9 Fig 74 Initial Main program of the standard PLC project To continue sample variables and a sample program have now been created...

Page 78: ...der followed by the compile process Fig 76 Start program compilation The following variables identified in the ST PLC program with AT are then available in under Assignments in the project folder expl...

Page 79: ...tion tree Fig 78 Selecting PDO of type BOOL According to the default setting certain PDO objects are now available for selection In this sample the input of channel 4 of the EL1004 terminal is selecte...

Page 80: ...7 for channel 8 of the PLC A special symbol at the yellow or red object of the variable indicates that a link exists The links can also be checked by selecting a Goto Link Variable from the context m...

Page 81: ...system in Run mode with OK The corresponding assignments can be seen in the project folder explorer A few seconds later the corresponding status of the Run mode is displayed in the form of a rotating...

Page 82: ...ware CNC within Windows NT 2000 XP Vista Windows 7 NT XP Embedded CE Interconnection to all common fieldbusses More Additional features TwinCAT 3 eXtended Automation Visual Studio Integration Choice o...

Page 83: ...ollowing dialog appears Fig 84 Overview of network interfaces Interfaces listed under Compatible devices can be assigned a driver via the Install button A driver should only be installed on compatible...

Page 84: ...ies 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 n...

Page 85: ...Commissioning EL72x1 901x 85 Version 1 9 Fig 87 Exemplary correct driver setting for the Ethernet port Other possible settings have to be avoided...

Page 86: ...Commissioning EL72x1 901x 86 Version 1 9 Fig 88 Incorrect driver settings for the Ethernet port...

Page 87: ...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 88: ...t was current at the time when the TwinCAT build was created For TwinCAT 2 11 TwinCAT 3 and higher the ESI directory can be updated from the System Manager if the programming PC is connected to the In...

Page 89: ...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 90: ...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 procedure...

Page 91: ...x1 901x 91 Version 1 9 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...

Page 92: ...resence 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 pos...

Page 93: ...ation 103 can also be carried out for comparison 5 2 5 OFFLINE configuration creation Creating the EtherCAT device Create an EtherCAT device in an empty System Manager window Fig 98 Append EtherCAT de...

Page 94: ...es can be appended by right clicking on a device in the configuration tree Fig 102 Appending EtherCAT devices left TwinCAT 2 right TwinCAT 3 The dialog for selecting a new device opens Only devices fo...

Page 95: ...vision can be displayed as Extended Information Fig 104 Display of device revision In many cases several device revisions were created for historic or functional reasons e g through technological adva...

Page 96: ...n 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 configurati...

Page 97: ...Commissioning EL72x1 901x 97 Version 1 9 Fig 107 EtherCAT terminal in the TwinCAT tree left TwinCAT 2 right TwinCAT 3...

Page 98: ...online search is not available in RUN mode production operation Note the differentiation be tween TwinCAT programming system and TwinCAT target system The TwinCAT 2 icon or TwinCAT 3 icon within the...

Page 99: ...The respective devices are lo cated in the stored ESI data and integrated in the configuration tree in the default state defined there Fig 112 Example default state NOTE Slave scanning in practice in...

Page 100: ...configuration B tsm in order to check the built machine However if the series machine production department now doesn t use B tsm but instead carries out a scan to create the productive configuration...

Page 101: ...itched to online state OPERATIONAL Fig 118 Config FreeRun query left TwinCAT 2 right TwinCAT 3 In Config FreeRun mode the System Manager display alternates between blue and red and the EtherCAT device...

Page 102: ...evice 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...

Page 103: ...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 104: ...based on the higher revision number Device selection based on revision compatibility The ESI description also defines the process image the communication type between master and slave device and the d...

Page 105: ...CAT offers a function Change to Compatible Type for the exchange of a device whilst retaining the links in the task Fig 127 Dialog Change to Compatible Type left TwinCAT 2 right TwinCAT 3 This functio...

Page 106: ...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 terminal EL3751...

Page 107: ...ing 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...

Page 108: ...modifications include mask out a channel displaying additional cyclic information 16 bit display instead of 8 bit data size etc In so called intelligent EtherCAT devices the process data information...

Page 109: ...of incorrect configuration the EtherCAT slave usu ally refuses to start and change to OP state The System Manager displays an invalid SM cfg log ger message This error message invalid SM IN cfg or inv...

Page 110: ...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 button add...

Page 111: ...object can be read but no data can be written to the object read only P An additional P identifies the object as a process data object Value Value of the object Update List The Update list button upda...

Page 112: ...bjects included in the object list of the slave is uploaded from the slave via SDO information The list below can be used to specify which object types are to be uploaded Offline via EDS File If this...

Page 113: ...again Current State Indicates the current state of the EtherCAT device Requested State Indicates the state requested for the EtherCAT device DLL Status Indicates the DLL status data link layer status...

Page 114: ...input MbxIn SM2 is used for the output process data outputs and SM3 inputs for the input process data If an input is selected the corresponding PDO assignment is displayed in the PDO Assignment list...

Page 115: ...ust therefore be assigned to a Sync Manager Consequently this PDO cannot be deleted from the PDO Assignment list SM Sync Manager to which this PDO is assigned If this entry is empty this PDO does not...

Page 116: ...dding an axis automatically Once the terminals have been scanned successfully TwinCAT detects the new axes automatically The user is asked whether the detected axes should be added automatically see F...

Page 117: ...see Fig Adding a new axis Fig 142 Adding a new axis Select Continuous Axis type and confirm with OK see Fig Selecting and confirming the axis type Fig 143 Selecting and confirming the axis type Left c...

Page 118: ...is with the terminal Select the required terminal CANopen DS402 EtherCAT CoE and confirm with OK Fig 145 Selecting the right terminal All main links between the NC configuration and the terminal are s...

Page 119: ...the settings have to be made manually See chapters CoE settings 124 and NC set tings Table of contents Start up with the Drive Manager 120 Setting further parameters with the Drive Manager 123 Integra...

Page 120: ...115 Select the Configuration tab for the EL72x1 xxxx Select the connected voltage under Power Management Fig 147 Selecting the connected voltage You can subsequently scan or select the connected moto...

Page 121: ...9 Fig 148 Automatic scanning of the connected motor If you decide to manually input the connected motor please click on Select Motor Fig 149 Selecting the connected motor Select the suitable motor in...

Page 122: ...calculated If this is not confirmed these settings have to be entered manually See section NC settings Fig 151 Confirmation of the automatic NC settings parameters The scaling can be determined under...

Page 123: ...901x Resources zip 1859339787 zip is included in the documentation Some parameters can be adjusted manually for your particular application Setting further parameters with the Drive Manager The values...

Page 124: ...ue until the motor starts to oscillate slightly Then reduce the value by 80 Fig 154 Adapting Kp 5 3 3 Settings in the CoE register Master TwinCAT 2 11 R3 The data given here serve as an example for a...

Page 125: ...lable for download from the Beckhoff website To facilitate commissioning of the EL72x1 xxxx servo terminal motor XML files are provided for the servomotors that are supported by the EL72x1 xxxx The XM...

Page 126: ...set and the motor can be put into operation see Fig CoE parameters of the motor XML file Fig 157 CoE parameters of the motor XML file Startup list Any further application specific settings should also...

Page 127: ...esolution of one rotor rotation Multiturn bits after a rotor rotation the multi turn bits are incremented by one The motor may overheat If the number of single turn bits is changed the scaling factor...

Page 128: ...Dead time compensation 129 Setting the encoder mask 130 Scaling factor 130 Calculation of the scaling factor 131 Scaling output 131 Position lag monitoring 131 Commissioning the motor with the NC 132...

Page 129: ...aximum permitted velocity Below that separate values for the maximum and minimum velocity for manual NC mode can be set Dead time compensation The dead time compensation can be adjusted on the Time Co...

Page 130: ...ingle turn bits The default setting is 20 and therefore 12 multi turn bits The calculation is based on the following equation Further calculation example with 13 single turn bits and 8 multi turn bits...

Page 131: ...The position lag monitoring function checks whether the current position lag of an axis has exceeded the limit value The position lag is the difference between the set value control value and the act...

Page 132: ...s Fig 165 Lag monitoring Commissioning the motor with the NC Once the parameters are set the motor is basically ready for operation Individual further parameters have to be adapted to the respective a...

Page 133: ...ing the maximum velocity 129 The calculation provides a relatively precise value although the value may have to be corrected slightly To this end move the motor with a Kv factor of 0 until the actual...

Page 134: ...2x1 901x Resources zip 1859339787 zip Used Master TwinCAT 2 11 for older versions the control loop has to be programmed manually in this case it is already implemented in the NC This application examp...

Page 135: ...ion matches your actual configuration In the sample program only one EL7041 is integrated If further terminals are connected you have to add them or re scan your configuration You have to adjust the M...

Page 136: ...on an EL7041 is already linked to the NC To change the link or add additional devices proceed as described under Integration into the NC configuration 115 The PLC program is configured as follows The...

Page 137: ...on of travel for the block MC_MoveVelocity which in turn initiates continuous travel of the motor An axis reset is carried out with the function block MC_Reset Absolute positioning is carried out with...

Page 138: ...is 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 Veloc...

Page 139: ...C status word control word Master TwinCAT 2 11 R3 In principle the operating modes CST CSTCA CSV and CSP can be used without TwinCAT NC Output stage enabled via control word The output stage has to be...

Page 140: ...Commissioning EL72x1 901x 140 Version 1 9 0hex 80hex Fault reset 6hex Shutdown 7hex Switch on Fhex Enable operation...

Page 141: ...Commissioning EL72x1 901x 141 Version 1 9 Fig 176 DS402 State Machine...

Page 142: ...ent MDP or index 0x6075 0 220 Motor rated current DS402 The value 1dec corresponds to one 1000th of the rated current The angle value must be converted 65536dec corresponds to 360 CSV cyclic synchrono...

Page 143: ...rt up if automatic configuration is switched on The automatic configuration can be switched on in the index 0x8008 01 189 0x2018 01 217 DS402 Profile Enable autoconfig In the index 0x8008 02 189 0x201...

Page 144: ...issioning EL72x1 901x 144 Version 1 9 Fig 177 Flow chart for the automatic configuration Parameter list of the automatic configuration The following parameters are affected by the automatic configurat...

Page 145: ...2003 2B 215 Motor temperature warn level is adopted directly from the electronic type plate of the connected motor 8011 2C 193 2003 2C 215 Motor temperature error level is adopted directly from the e...

Page 146: ...47 Referencing Referencing does not work via the online commissioning tab of the axis see Fig Online homing in the NC Fig 179 Online homing in the NC Function block MC_Home Referencing must be done fr...

Page 147: ...description Fig 181 Extraction from the functional description for MC_Home Reference modes The EL72x1 xxxx can be operated with the following NC reference modes see Fig Selection of the reference mod...

Page 148: ...EL72x1 901x 148 Version 1 9 Fig 182 Selection of the reference modes in the NC The velocity to be used for homing can also be set in the NC Fig Setting the reference velocity Fig 183 Setting the refer...

Page 149: ...to save the current position of the connected motor at a defined point in time The required inputs and outputs can be added in the Process data 167 tab see Fig Touch Probe inputs and Fig Touch Probe o...

Page 150: ...Commissioning EL72x1 901x 150 Version 1 9 Fig 184 Touch Probe inputs...

Page 151: ...P1 Enable must be set to true in order to generally activate the Touch Probe function Subsequently you must decide whether the position is to be saved on a positive edge at input 1 TP1 Enable pos edge...

Page 152: ...of operation DS402 In the respective process data the user can additionally select the respective Predefined PDO Assignment All required variables are then in the process data CSV 152 cyclic synchrono...

Page 153: ...Integration in the NC configuration 115 Import the motor XML file into the Startup directory as described in the chapter Settings in the CoE 124 Set the mode of operation in the CoE directory to Cycl...

Page 154: ...trl Shift F4 Run through the State Machine of the terminal There are two ways to do this If you use the TwinCAT NC The State Machine is run through automatically by the NC You can enable the axis in t...

Page 155: ...tate Machine manually To do this follow the instructions in the chapter Commissioning without the NC 139 The cyclic variable Target velocity Fig Torque specification can be used to specify a defined v...

Page 156: ...ettings 93 manual or Online scan 98 Link the terminal with the NC as described in the chapter Integration in the NC configuration 115 Import the motor XML file into the Startup directory as described...

Page 157: ...trl Shift F4 Run through the State Machine of the terminal There are two ways to do this If you use the TwinCAT NC The State Machine is run through automatically by the NC You can enable the axis in t...

Page 158: ...low the instructions in the chapter Commissioning without the NC 139 The cyclic variable Target torque Fig Torque specification can be used to specify a defined torque The value is specified in 1000th...

Page 159: ...e which is to be maintained with a defined torque set in variable Target torque Step by Step Add the terminal to the configuration as described in the chapter TwinCAT configuration settings 93 manual...

Page 160: ...L72x1 901x 160 Version 1 9 Fig 194 Selection of the mode of operation Under Predefined PDO assignment also select Cyclic synchronous torque mode with commutation angle CSTCA Fig Selecting a predefined...

Page 161: ...trl Shift F4 Run through the State Machine of the terminal There are two ways to do this If you use the TwinCAT NC The State Machine is run through automatically by the NC You can enable the axis in t...

Page 162: ...9 You can specify a defined torque via the cyclic variable Target torque The value is specified in 1000ths of the rated current and the torque is calculated according to the following equation where t...

Page 163: ...configuration settings 93 manual or Online scan 98 Link the terminal with the NC as described in the chapter Integration in the NC configuration 115 Configure the motor with the help of the automatic...

Page 164: ...trl Shift F4 Run through the State Machine of the terminal There are two ways to do this If you use the TwinCAT NC The State Machine is run through automatically by the NC You can enable the axis in t...

Page 165: ...hrough the State Machine manually To do this follow the instructions in the chapter Commissioning without the NC 139 You can specify a defined position via the cyclic variable Target position fig Posi...

Page 166: ...osition may differ from the set position positively and negatively The total accepted tolerance is thus twice as large as the position entered in the Following error window see fig Following error win...

Page 167: ...ject directory structure In both profiles the drive state machine of the EL72x1 x01x is based on the CiA402 State Machine 139 which means the functional behavior is identical The terminal is supplied...

Page 168: ...1 901x 168 Version 1 9 Sync Manager SM Sync Manager SM The extent of the process data that is made available can be changed through the Process data tab see following Fig Fig 204 Process Data tab SM2...

Page 169: ...n the Sync Manager field at the top left see Fig Process Data tab SM3 EL72x1 0010 The process data assigned to this Sync Manager can then be switched on or off in the PDO Assignment box underneath Res...

Page 170: ...fault 2 0 DRV Statusword Index 0x6010 01 196 0x1A02 4 0 DRV Velocity actual value Index 0x6010 07 196 0x1A03 2 0 DRV Torque actual value Index 0x6010 08 196 0x1A04 2 0 DRV Info data 1 Index 0x6010 12...

Page 171: ...ith commu tation angle CSTCA 0x1600 203 DRV Controlword 0x1602 203 DRV Target torque 0x1603 203 DRV Commutation angle 0x1A01 204 DRV Statusword Cyclic synchronous position mode CSP 0x1600 203 DRV Cont...

Page 172: ...Commissioning EL72x1 901x 172 Version 1 9 Fig 207 Process Data tab SM2 EL72x1 0010 default...

Page 173: ...ger SM 2 3 can be edited in the upper left hand Sync Manager box see fig The process data assigned to this Sync Manager can then be switched on or off in the PDO Assignment box underneath Restarting t...

Page 174: ...Index 0x6041 218 0x1A01 default 4 0 DS402 Position actual value Index 0x6064 219 0x1A02 4 0 DS402 Velocity actual value Index 0x606C 219 0x1A03 2 0 DS402 Torque actual value Index 0x6077 220 0x1A04 4...

Page 175: ...Target torque 0x1A00 228 DS402 Statusword 0x1A01 228 DS402 Position actual value 0x1A03 228 DS402 Torque actual value Cyclic synchronous torque mode with commu tation angle CSTCA 0x1600 227 DS402 Cont...

Page 176: ...inals are designed for machine safety functions and directly associated industrial automation tasks They are therefore only approved for applications with a defined fail safe state This safe state is...

Page 177: ...erminals may only be used in machines according to the machinery directive CAUTION Ensure traceability The buyer has to ensure the traceability of the device via the serial number 6 2 2 Dimensions Fig...

Page 178: ...nges safety oriented data via the Safety over EtherCAT protocol This chapter is intended to help you determine the system s reaction time from the change of signal at the sensor to the reaction at the...

Page 179: ...hin the range of 2 to 3 ms RTActor Reaction time of the servo terminal from the cut off of the 24 V at the terminal point until the safe cut off of the gate driver Under Voltage Lockout This time is t...

Page 180: ...h S2 1 safety input terminal EL1904 and 1 input terminal EL 1004 1 safety output terminal EL2904 1 safety logic terminal EL6900 with function block ESTOP 1 servo terminal EL72x1 9014 with STO input Pr...

Page 181: ...t in order to be able to assume a fault exclusion for the cross circuit or external power supply of the wiring between EL2904 and EL72x1 9014 The evaluation of this wiring and the evaluation of whethe...

Page 182: ...ent measurement active No Output test pulses active Yes Block formation and safety loops Safety function 1 Fig 215 EL72x1_9014_block_diagram Calculation PFH MTTFd B10d values Component Value EL1904 PF...

Page 183: ...183 Version 1 9 Calculation for block 1 Calculation of the PFH and MTTFd values from the B10d values From and Inserting the values this produces S1 S2 and the assumption that S1 and S2 are each singl...

Page 184: ...n these components This is assumed to be the worst case estimation where 10 EN 62061 contains a table with which this factor can be precisely determined Further it is assumed that all usual measures h...

Page 185: ...Integrated safety EL72x1 901x 185 Version 1 9 Hence CAUTION Category This structure is possible up to category 3 at the most...

Page 186: ...e technical data If the TwinSAFE component is operated outside the permitted temperature range it will switch to Global Shutdown state Cleaning Protect the TwinSAFE component from unacceptable soling...

Page 187: ...cture YY Year of manufacture SW Software version HW Hardware version Sample Date Code 17 11 05 00 Calendar week 17 Year 2011 Software version 05 Hardware version 00 In addition the TwinSAFE terminals...

Page 188: ...dvise not to change settings in the CoE objects while the axis is active since this could impair the control 7 1 1 Restore object Index 1011 Restore default parameters Index hex Name Meaning Data type...

Page 189: ...lates 143 BOOLEAN RW 0x00 0dec 8008 02 Reconfig identical mo tor When replacing identical motors reconfiguration takes place automatically after reading the electronic type plate Enable autoconfig mus...

Page 190: ...l time Integral component of velocity controller Unit 0 1 ms UINT32 RW 0x00000032 50dec 8010 15 Velocity loop propor tional gain Proportional component of velocity controller Unit mA rad s UINT32 RW 0...

Page 191: ...r Bit6 I2T Motor Bit7 Encoder I2T Motor I2T Amplifier Input Level Bit0 Digital Input 1 Level Bit1 Digital Input 2 Level Bit8 STO Input Level STO variant only 8010 3A Select info data 2 Selection Info...

Page 192: ...n UINT16 RW 0x0000 0 dec 8010 52 Fault reaction option code Permitted values 0 Disable drive function motor is free to rotate 1 Slow down on slow down ramp UINT16 RW 0x0000 0 dec 8010 53 Position loop...

Page 193: ...11 13 Motor pole pairs Number of pole pairs This value is affected by automatic scanning see Automatic scanning of the electronic type plates 143 UINT8 RW 0x03 3dec 8011 15 Commutation offset Commutat...

Page 194: ...EAN RW 0x00 0dec 8012 11 Release delay Time the holding brake requires for opening releasing after the current was applied This value is affected by automatic scanning see Automatic scanning of the el...

Page 195: ...01 Request 0x1000 Clear the Diag History Clear the Diag History OCTET STRING 2 RW 0 0x1100 Get build number Read out the build number 0x1101 Get build date Read out the build date 0x1102 Get build tim...

Page 196: ...DRV Inputs Index hex Name Meaning Data type Flags Default 6010 0 DRV Inputs Maximum subindex UINT8 RO 0x13 19dec 6010 01 Statusword Statusword Bit 0 Ready to switch on Bit 1 Switched on Bit 2 Operatio...

Page 197: ...P1 Trigger mode Input 1 is triggered not changeable BIT2 RO 0x00 0dec 7001 05 TP1 Enable pos edge Trigger on positive edge BOOLEAN RO 0x00 0dec 7001 06 TP1 Enable neg edge Trigger on negative edge BOO...

Page 198: ...figured input value for torque monitoring The value is specified in 1000th of the rated current 0x8011 12 194 Equation for index 8010 54 190 0 M Torque actual value 1000 x rated current 2 x torque con...

Page 199: ...08 12 Resolution Resolution of the feedback Unit Steps per revolution UINT32 RO 0x00000000 0dec 9008 13 Range Working range of the feedback On leaving this range there is an overflow of the position U...

Page 200: ...urrent rms Effective rated current Unit mA UINT32 RO 0x00000000 0dec 9009 09 Peak current rms Effective peak current Unit mA UINT32 RO 0x00000000 0dec 9009 0A Nominal voltage rms Effective nominal vol...

Page 201: ...RO 0x0000 0dec 9009 21 Brake T off Time until the brake is released Unit ms UINT16 RO 0x0000 0dec 9009 22 Brake reduced holding voltage Reduced brake voltage Unit mV UINT32 RO 0x00000000 0dec 9009 23...

Page 202: ...modular de vice profile UINT32 RO 0x00001389 5001dec Index 1008 Device name Index hex Name Meaning Data type Flags Default 1008 0 Device name Device name of the EtherCAT slave STRING RO EL72x1 x01x In...

Page 203: ...UINT8 RO 0x01 1dec 1602 01 SubIndex 001 1 PDO Mapping entry object 0x7010 DRV Outputs entry 0x09 Target torque UINT32 RO 0x7010 09 16 Index 1603 DRV RxPDO Map Commutation angle Index hex Name Meaning...

Page 204: ...Trigger mode UINT32 RO 0x7001 0B 2 1607 0A SubIndex 010 10 PDO Mapping entry object 0x7001 FB Touch probe outputs entry 0x0D TP2 Enable pos edge UINT32 RO 0x7001 0D 1 1607 0B SubIndex 011 11 PDO Mapp...

Page 205: ...dex 002 2 PDO Mapping entry object 0x6001 FB Touch probe inputs entry 0x02 TP1 pos value stored UINT32 RO 0x6001 02 1 1A07 03 SubIndex 003 3 PDO Mapping entry object 0x6001 FB Touch probe inputs entry...

Page 206: ...annel 3 Process Data Write Outputs UINT8 RO 0x03 3dec 1C00 04 SubIndex 004 Sync Manager Type Channel 4 Process Data Read Inputs UINT8 RO 0x04 4dec Index 1C12 RxPDO assign Index hex Name Meaning Data t...

Page 207: ...contains the index of the associ ated TxPDO mapping object UINT16 RW 0x0000 0dec 1C13 06 Subindex 006 6 allocated TxPDO contains the index of the associ ated TxPDO mapping object UINT16 RW 0x0000 0dec...

Page 208: ...125000dec 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 0 Mea...

Page 209: ...ailability of the inputs for the master in ns only DC mode UINT32 RO 0x00000000 0dec 1C33 07 Minimum delay time UINT32 RO 0x00001C52 7250dec 1C33 08 Command as 0x1C32 08 208 UINT16 RW 0x0000 0dec 1C33...

Page 210: ...ex FB40 Memory interface Index hex Name Meaning Data type Flags Default FB40 0 Memory interface Maximum subindex UINT8 RO 0x03 3dec FB40 01 Address reserved UINT32 RW 0x00000000 0dec FB40 02 Length re...

Page 211: ...st CAN over EtherCAT The terminal is parameterized via the CoE Online tab double click on the respective object or via the Process Data tab allocation of PDOs Please note the following general CoE inf...

Page 212: ...position controller Unit rad s rad UINT32 RW 0x0000000A 10dec 2002 19 Nominal DC link voltage Nominal DC link voltage Unit mV UINT32 RW 0x0000BB80 48000dec 2002 1A Min DC link voltage Minimum DC link...

Page 213: ...e set 0dec normal output current interpreted as peak value 1dec normal output current interpreted as rms value 2dec increased output current interpreted as peak value 3dec increased output current int...

Page 214: ...ms 1000th of rated current DC link voltage mV PCB temperature 0 1 C Errors Bit0 ADC Error Bit1 Overcurrent Bit2 Undervoltage Bit3 Overvoltage Bit4 Overtemperature Bit5 I2T Amplifier Bit6 I2T Motor Bit...

Page 215: ...tomatic scanning see Au tomatic scanning of the electronic type plates 143 UINT32 RW 0x00000000 0dec 2003 18 Rotor moment of iner tia Mass moment of inertia of the motor Unit g cm 2 This value is affe...

Page 216: ...tation speed Note For rotatory axes and the setting torque off in error case this parameter has to be set at least to the coast to the stop time of the axis For suspended hanging axes and the setting...

Page 217: ...scanning of the electronic type plates 143 BOOLEAN RW 0x00 0dec 7 2 2 Configuration data vendor specific Index 2020 Vendor data Index hex Name Meaning Data type Flags Default 2020 0 Vendor data Maxim...

Page 218: ...ion selection via subindex 2002 56 212 UINT16 RO 0x0000 0dec Index 603E TxPDO Data invalid Index hex Name Meaning Data type Flags Default 603E 0 TxPDO Data invalid Max subindex UINT8 RO 0x02 2dec 603E...

Page 219: ...mmutation angle CSTCA UINT8 RO 0x00 0dec Index 6064 Position actual value Index hex Name Meaning Data type Flags Default 6064 0 Position actual value Position Unit the given value must be multiplied b...

Page 220: ...Torque actual value 1000 x rated current 2 x torque constant 2003 16 215 Equation for index 2002 54 212 1 M Torque actual value 1000 x rated current x torque constant 2003 16 215 UINT16 RW 0x7FFF 327...

Page 221: ...ndex 6090 Velocity Encoder Resolution Index hex Name Meaning Data type Flags Default 6090 0 Velocity Encoder Res olution Display of configured encoder increments s and motor revolutions s The velocity...

Page 222: ...ags Default 60D9 0 Supported functions This object shall provide information on the supported functions in the device UINT3232 RO 0x00000000 0dec Index 60DA Function settings Index hex Name Meaning Da...

Page 223: ...he latest message UINT8 RO 0x00 0dec 10F3 03 Newest Acknowledged Message Subindex of the last confirmed message UINT8 RW 0x00 0dec 10F3 04 New Messages Avail able Indicates that a new message is avail...

Page 224: ...re is an overflow of the position Unit Revolutions UINT32 RO 0x00000000 0dec 2058 14 Type Code Name Name of the feedback STRING RO 2058 15 Serial No Serial number of the feedback STRING RO 2058 16 Fir...

Page 225: ...rent rms Effective rated current Unit mA UINT32 RO 0x00000000 0dec 2059 09 Peak current rms Effective peak current Unit mA UINT32 RO 0x00000000 0dec 2059 0A Nominal voltage rms Effective nominal volta...

Page 226: ...mNm UINT32 RO 0x00000000 0dec 2059 20 Brake T on Time until the brake is applied Unit ms UINT16 RO 0x0000 0dec 2059 21 Brake T off Time until the brake is released Unit ms UINT16 RO 0x0000 0dec 2059 2...

Page 227: ...Map Controlword PDO Mapping RxPDO 1 UINT8 RO 0x01 1dec 1600 01 SubIndex 001 1 PDO Mapping entry UINT32 RO 0x6040 00 16 Index 1601 DS402 RxPDO Map Target velocity Index hex Name Meaning Data type Flags...

Page 228: ...02 TxPDO Map Velocity actual value Index hex Name Meaning Data type Flags Default 1A02 0 DS402 TxPDO Map Velocity actual value PDO Mapping TxPDO 3 UINT8 RO 0x01 1dec 1A02 01 SubIndex 001 1 PDO Mapping...

Page 229: ...0 32 Index 1A0B DS402 TxPDO Map Info data 1 Index Name Meaning Data type Flags Default 1A0B 0 DS402 TxPDO Map Info data 1 PDO Mapping TxPDO 12 UINT8 RO 0x01 1dec 1A0B 01 SubIndex 001 1st PDO Mapping e...

Page 230: ...RW 0x0000 0dec Index 1C13 TxPDO assign Index Name Meaning Data type Flags Default 1C13 0 TxPDO assign PDO Assign Inputs UINT8 RW 0x02 2dec 1C13 01 Subindex 001 1 allocated TxPDO contains the index of...

Page 231: ...x0001E848 125000dec 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 Comm...

Page 232: ...able Bit 4 5 10 input shift with SYNC1 event no outputs available Bit 14 1 dynamic times measurement through writing of 0x1C32 08 231 or 0x1C33 08 232 UINT16 RO 0x4808 18440dec 1C33 05 Minimum cycle t...

Page 233: ...e firmware can store up to 250 DiagMessages in its own CoE Each DiagMessage consists of Diag Code 4 byte Flags 2 byte info warning or error Text ID 2 byte reference to explanatory text from the ESI XM...

Page 234: ...Eventlogger Since TwinCAT 3 1 build 4022 DiagMessages send by the terminal are shown by the TwinCAT ADS Logger Given that DiagMessages are represented IO comprehensive at one place commissioning will...

Page 235: ...defined In the case of Beckhoff EtherCAT devices EL EP it usually reads according to xyzz x y zz 0 Systeminfo 2 reserved 1 Info 4 Warning 8 Error 0 System 1 General 2 Communication 3 Encoder 4 Drive 5...

Page 236: ...Data deleted Idx 0x X SubIdx 0x X Data deleted 0x117F Information General Information 0x X 0x X 0x X Information 0x1201 Information Communication Communication re es tablished Communication to the fi...

Page 237: ...uration 0x2004 Information System s valid IP Configura tion IP d d d d assigned by Dhcp server d d d d Valid IP configuration assigned by the DHCP server 0x2005 Information System s Dhcp client timed...

Page 238: ...cy in the PDO Configuration The selected PDOs do not match the set operating mode Sample Drive operates in velocity mode but the ve locity PDO is but not mapped in the PDOs 0x417F Warning General Warn...

Page 239: ...ing Drive Limit Current Limit current is limited 0x4419 Warning Drive Limit Amplifier I2T model exceeds 100 The threshold values for the maximum current were exceeded 0x441A Warning Drive Limit Motor...

Page 240: ...chdog Communication between the fieldbus and the output stage is secured by a Watchdog The axis is stopped automatically if the fieldbus communication is inter rupted The EtherCAT connection was inter...

Page 241: ...d 0x8400 Error Drive Incorrect drive configura tion 0x X d Drive incorrectly configured 0x8401 Error Drive Limiting of calibration ve locity d d Limitation of the calibration velocity 0x8402 Error Dri...

Page 242: ...voltage not in the correct range 0x8611 Error General IO Output voltage to low Output voltage too low 0x8612 Error General IO Output voltage to high Output voltage too high 0x8613 Error General IO Ove...

Page 243: ...o the device Pay attention to the instructions for firmware updates on the separate page If a device is placed in BOOT STRAP mode for a firmware update it does not check when downloading whether the n...

Page 244: ...ription is available from the download area of the Beckhoff website at https www beckhoff de All ESI files are accessible there as zip files Customers can access the data via the EtherCAT fieldbus and...

Page 245: ...nique 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 219 Device identif...

Page 246: ...figuration is identical otherwise a change dialog appears for entering the actual data in the configuration Fig 222 Change dialog In this example in Fig Change dialog an EL3201 0000 0017 was found whi...

Page 247: ...cted 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 224 Selecting the new ESI A progress bar in the...

Page 248: ...ccess the slave online Click on the E Bus Terminal whose controller firmware you want to check in the example terminal 2 EL3204 and select the tab CoE Online CAN over EtherCAT CoE Online and Offline C...

Page 249: ...CoE directory is managed by the controller and stored in a dedicated EEPROM which is generally not changed during a firmware update Switch to the Online tab to update the controller firmware of a sla...

Page 250: ...update may be accomplished via an rbf file Controller firmware for processing I O signals FPGA firmware for EtherCAT communication only for terminals with FPGA The firmware version number included in...

Page 251: ...ed right click the table header and select Properties in the context menu Fig 228 Context menu Properties The Advanced Settings dialog appears where the columns to be displayed can be selected Under D...

Page 252: ...he terminal must have FPGA firmware version 10 or higher Older firmware versions can only be updated by the manufacturer Updating an EtherCAT device The following sequence order have to be met if no o...

Page 253: ...Manager select the terminal for which the FPGA firmware is to be updated in the example Terminal 5 EL5001 and click the Advanced Settings button in the EtherCAT tab The Advanced Settings dialog appea...

Page 254: ...to the device A download of firmware to an EtherCAT device must not be interrupted in any case If you interrupt this process by switching off power supply or disconnecting the Ethernet link the EtherC...

Page 255: ...rs PDO Double click on SubIndex 001 to enter the Set Value dialog Enter the value 1684107116 in field Dec or the value 0x64616F6C in field Hex and confirm with OK Fig Entering a restore value in the S...

Page 256: ...Appendix EL72x1 901x 256 Version 1 9 9 5 Certificates Fig 233 EL72x1 9014_Certificate...

Page 257: ...off components there Beckhoff Headquarters Beckhoff Automation GmbH Co KG Huelshorstweg 20 33415 Verl Germany Phone 49 5246 963 0 Fax 49 5246 963 198 e mail info beckhoff com Beckhoff Support Support...

Page 258: ...fset by 120 22 Fig 13 Limitation to the rated motor current 24 Fig 14 System manager current calculation 26 Fig 15 EtherCAT tab Advanced Settings Behavior Watchdog 27 Fig 16 States of the EtherCAT Sta...

Page 259: ...ig 63 Initial TwinCAT 3 user interface 71 Fig 64 Create new TwinCAT project 71 Fig 65 New TwinCAT3 project in the project folder explorer 72 Fig 66 Selection dialog Choose the target system 72 Fig 67...

Page 260: ...target system left TwinCAT 2 right TwinCAT 3 98 Fig 109 Scan Devices left TwinCAT 2 right TwinCAT 3 98 Fig 110 Note for automatic device scan left TwinCAT 2 right TwinCAT 3 98 Fig 111 Detected Etherne...

Page 261: ...onfirmation of the automatic NC settings parameters 122 Fig 152 Adapting the scaling 123 Fig 153 Adapting Tn 124 Fig 154 Adapting Kp 124 Fig 155 Importing the motor XML file 125 Fig 156 Selecting the...

Page 262: ...defined PDO assignment 164 Fig 200 Set enables 165 Fig 201 Position specification 166 Fig 202 Following error window 166 Fig 203 Following error over time 167 Fig 204 Process Data tab SM2 EL72x1 0010...

Page 263: ...ware Update 249 Fig 227 FPGA firmware version definition 251 Fig 228 Context menu Properties 251 Fig 229 Dialog Advanced Settings 252 Fig 230 Multiple selection and firmware update 254 Fig 231 Selecti...

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