Beckhoff EL7201-0010 Documentation Download Page 51

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Commissioning

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EL72x1-0010

Version: 2.0

Summary of Contents for EL7201-0010

Page 1: ...Documentation EL72x1 0010 Servo Motor Terminals with OCT One Cable Technology 2 0 2015 11 30 Version Date ...

Page 2: ......

Page 3: ...erview Servomotor terminal 1 Product overview Servomotor terminal EL7201 0010 12 Servomotor terminal 50 VDC with OCT 2 8 Arms EL7211 0010 12 Servomotor terminal 50 VDC with OCT 4 5 Arms EL72x1 0010 3 Version 2 0 ...

Page 4: ...concept 37 5 7 Notes on current measurements using Hall sensors 38 5 8 EL72x1 0010 LEDs and connection 40 6 Commissioning 44 6 1 TwinCAT 2 1x 44 6 1 1 Installation of the TwinCAT real time driver 44 6 1 2 Notes regarding ESI device description 48 6 1 3 Offline configuration creation master TwinCAT 2 x 52 6 1 4 Online configuration creation scanning master TwinCAT 2 x 58 6 1 5 EtherCAT slave proces...

Page 5: ...ormation diagnosis data 155 7 6 Standard objects 158 8 EL72x1 0010 MDP742 Object description and parameterization 165 8 1 Restore object 165 8 2 Configuration data 165 8 3 Configuration data vendor specific 170 8 4 Command object 170 8 5 Input data 170 8 6 Output data 172 8 7 Information diagnosis data 174 8 8 Standard objects 177 9 Error correction 186 9 1 Diagnose Diag Messages 186 10 Appendix 1...

Page 6: ...ns in this documentation Trademarks Beckhoff TwinCAT EtherCAT Safety over EtherCAT TwinSAFE XFC and XTS are registered trademarks of and licensed by Beckhoff Automation GmbH Other designations used in this publication may be trademarks whose use by third parties for their own purposes could violate the rights of the owners Patent Pending The EtherCAT Technology is covered including but not limited...

Page 7: ...le 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 read carefully and followed without fail DANGER Serious risk of injury Failure to follow the safety instructions associated with this symbol directly endangers the life and health of persons WARNING Risk of injury Failure ...

Page 8: ...inal 0000 basic type 0016 CU2008 0000 000 0 CU device 2008 8 port fast ethernet switch 0000 basic type 0000 ES3602 0010 0017 ES terminal 12 mm pluggable connection level 3602 2 channel voltage measurement 0010 high precision version 0017 Notes the elements named above make up the technical designation The order designation conversely is made up of family key EL EP CU ES KL CX etc type version The ...

Page 9: ...ple with ser no 12063A02 12 production week 12 06 production year 2006 3A firmware version 3A 02 hardware version 02 Exceptions can occur in the IP67 area where the following syntax can be used see respective device documentation Syntax D ww yy x y z u D prefix designation ww calendar week yy year x firmware version of the bus PCB y hardware version of the bus PCB z firmware version of the I O PCB...

Page 10: ...ig 1 EL5021 EL terminal standard IP20 IO device with batch number and revision ID since 2014 01 Fig 2 EK1100 EtherCAT coupler standard IP20 IO device with batch number Fig 3 CU2016 switch with batch number EL72x1 0010 10 Version 2 0 ...

Page 11: ...00001 IP67 EtherCAT Box with batch number 22090101 and serial number 158102 Fig 6 EP1908 0002 IP76 EtherCAT Safety Box with batch number 071201FF and serial number 00346070 Fig 7 EL2904 IP20 safety terminal with batch number date code 50110302 and serial number 00331701 EL72x1 0010 11 Version 2 0 ...

Page 12: ...Product overview 3 Product overview 3 1 Introduction Fig 8 EL7201 Fig 9 EL7211 EL72x1 0010 12 Version 2 0 ...

Page 13: ...r messages as well as possibly active limitations With the One Cable Technology OCT the encoder cable is omitted by transmitting the signals of the encoder digitally via the existing motor cable The option to read the electronic type plates of suitable motors from the AM81xx series enables a plug and play solution for maximum convenience during commissioning Note Recommended TwinCAT version In ord...

Page 14: ...supply yes through the body diode of the overvoltage protection device Fusing to be carried out by the user 24 V power supply 10 A 50 V power supply 10 A Electrical isolation 500 V E bus signal voltage Possible EtherCAT cycle times Multiple of 125 µs Configuration no address setting required configuration via TwinCAT System Manager Weight approx 60 g approx 95 g Permissible ambient temperature ran...

Page 15: ...st effective systems without having to give up the benefits of a servomotor The Beckhoff servo terminal The EL72x1 0010 is a fully capable servo drive for direct connection to servomotors in the lower performance range There is no need for further modules or cabling to make a connection to the control system This results in a very compact control system solution The E bus connection of the EL72x1 ...

Page 16: ...y developed for the EL72x1 0010 servomotor terminal One Cable Technology OCT In the servomotors from the AM8100 xF2 x series the feedback signals are transmitted directly via the power supply cable so that power and feedback system are combined in a single motor connection cable With the use of the One Cable technology the information is sent reliably and without interference through a digital int...

Page 17: ...to the rated motor current 3 4 Start For commissioning mount the EL72x1 0010 as described in the chapter Mounting and wiring 29 configure the EL72x1 0010 in TwinCAT as described in the chapter Commissioning 44 EL72x1 0010 17 Version 2 0 ...

Page 18: ...ductor 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 crossing symmetric 1 1 or cross over cables can be used between EtherCAT devices from Beckhoff Note Recommended cables Suitable cables for the connection of EtherCAT devices can be found on the Beckhoff web site E Bus supply A ...

Page 19: ... 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 unaffected The watchdog is only reset after a successful EtherCAT process data access Set the monitoring time as described below The SyncManager watchdog monitors correct and timely process data communication with the ESC from th...

Page 20: ...vated nothing is downloaded and the ESC settings remain unchanged Multiplier Multiplier Both watchdogs receive their pulses from the local terminal cycle divided by the watchdog multiplier 1 25 MHz watchdog multiplier 2 100 µs for default setting of 2498 for the multiplier The standard setting of 1000 for the SM watchdog corresponds to a release time of 100 ms The value in multiplier 2 corresponds...

Page 21: ...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 CAUTION Damage of devices and undefined state possible If the SM watchdog is activated and a value of 0 is entered the watchdog switches off com pletely This is the deactivation of the watchdog Set outputs are NOT set in a safe state if the communicatio...

Page 22: ...settings are also transferred Safe Operational Safe Op During transition between Pre Op and Safe Op the EtherCAT slave checks whether the sync manager channels for process data communication and if required the distributed clocks settings are correct Before it acknowledges the change of state the EtherCAT slave copies current input data into the associated DP RAM areas of the EtherCAT slave contro...

Page 23: ...rocess data settings device name calibration values for analog measurement or passwords The order is specified in 2 levels via hexadecimal numbering main index followed by subindex The value ranges are Index 0x0000 0xFFFF 0 65535dez SubIndex 0x00 0xFF 0 255dez A parameter localized in this way is normally written as 0x8010 07 with preceding x to identify the hexadecimal numerical range and a colon...

Page 24: ...vailable 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 write operations onwards it can no longer be guaranteed that new changed data are reliably saved or are still readable This is irrelevant for normal commissioning However if CoE parameters are continuously changed via AD...

Page 25: ...nently enter it in the Startup list The order of the Startup entries is usually irrelevant Fig 16 Startup list in the TwinCAT System Manager The Startup list may already contain values that were configured by the System Manager based on the ESI specifications Additional application specific entries can be created Online offline list While working with the TwinCAT System Manager a distinction has t...

Page 26: ...e 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 according to the electronic information is displayed Online is shown in green Fig 18 Online list EL72x1 0010 26 Version 2 0 ...

Page 27: ...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 based order is therefore arranged in 16dec 10hex steps The parameter range 0x8000 exemplifies this Channel 0 parameter range 0x8000 00 0x800F 255 Channel 1 parameter range 0x8010 00 0x801F 255 Channel 2 parameter range 0x8020 ...

Page 28: ...0 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 master automatically synchronizes the local clock with the master clock in the EtherCAT bus with a precision of 100 ns For detailed information please refer to the EtherCAT system description EL72x1 0010 28 Version 2 0 ...

Page 29: ...ents 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 rail first and then pushed together without tongue and groove the connection will not be operational When correctly assembled no significant gap should be visible between the housings Note Fixing of mounting rails The locking mecha...

Page 30: ...f 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 thus represent a supply rail within the bus terminal block The power contacts are supplied via terminals on the Bus Coupler up to 24 V or for higher voltages via power feed terminals Note Power Contacts During the design of a bus ...

Page 31: ...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 potentials 5 2 Installation instructions for enhanced mechanical load capacity WARNING Risk of injury through electric shock and damage to the device Bring the Bus Terminal system into a safe de energized state before starting mounting ...

Page 32: ...kept as short as possible A distance of approx 10 cm should be maintained to the cable duct 5 3 Connection system WARNING Risk of electric shock and damage of device Bring the bus terminal system into a safe powered down state before starting installation disassembly or wiring of the Bus Terminals Overview The Bus Terminal system offers different connection options for optimum adaptation to the re...

Page 33: ...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 product names for KSxxxx and ESxxxx series has been retained as known from KLxxxx and ELxxxx series High Density Terminals HD Terminals Fig 24 High Density Terminals The Bus Terminals from these series with 16 connection points are di...

Page 34: ... permanently Terminal housing ELxxxx KLxxxx ESxxxx KSxxxx Wire size width 0 08 2 5 mm2 0 08 2 5 mm2 Wire stripping length 8 9 mm 9 10 mm High Density Terminals ELx8xx KLx8xx HD The conductors of the HD Terminals are connected without tools for single wire conductors using the direct plug in technique i e after stripping the wire is simply plugged into the contact point The cables are released as u...

Page 35: ...x ESxxxx which do not take an active part in data trans fer within the bus terminal block are so called Passive Terminals The Passive Terminals have no current consumption out of the E Bus To ensure an optimal data transfer you must not directly string together more than 2 Passive Terminals Examples for mounting passive terminals highlighted Fig 26 Correct configuration Fig 27 Incorrect configurat...

Page 36: ...g rail to be installed horizontally and the connection surfaces of the EL KL terminals to face forward see Fig Recommended distances for standard installation position The terminals are ventilated from below which enables optimum cooling of the electronics through convection From below is relative to the acceleration of gravity Fig 28 Recommended distances for standard installation position Compli...

Page 37: ...omation offer optimum protection against electromagnetic interference Connection of the motor cable to the shield busbar Fasten the shield busbar supports 1 to the DIN rail 2 The DIN rail 2 must be in contact with the metallic rear wall of the control cabinet over a wide area Install the shield busbar 3 as shown below EL72x1 0010 37 Version 2 0 ...

Page 38: ...also be connected Connect the cores of the feedback cable and attach the copper sheathed end of the feedback cable to the shield busbar 3 with the shield clamp 7 The motor cable and the feedback cable can be connected to the shield clamp 7 with the screw 8 5 7 Notes on current measurements using Hall sensors The device described in this documentation features one or several integrated Hall sensor ...

Page 39: ...ernal 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 conductor and the device surface as follows Current 10 A 12 mm Current 20 A 25 mm Current 40 A 50 mm Unless specified otherwise in the device documentation stringing together modules e g terminal blocks based on a 12 mm gri...

Page 40: ...n The LED is linked with bit 11 of the status word MDP742 171 DS402 151 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 of the electronic type plate has been completed Warning orange flashing Error while reading the type plate on The LED is linked with bit 7 of the status word MDP742 171 DS402 151 warning...

Page 41: ...ower 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 Digital input 2 11 0 V Power contact 0 V 12 V Motor phase V 13 n c not connected 14 Brake GND Motor brake 0 V 15 0 V DC link 0 V supply 16 EL7211 0010 Fig 35 EL7211 0010 LEDs EL72x1 0010 41 Version 2 0 ...

Page 42: ...he status word MDP742 171 DS402 151 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 of the electronic type plate has been completed Warning orange flashing Error while reading the type plate on The LED is linked with bit 7 of the status word MDP742 171 DS402 151 warning The Warning threshold value is exce...

Page 43: ...put 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 Digital input 2 11 0 V Power contact 0 V 12 V Motor phase V 13 n c not connected 14 Brake GND Motor brake 0 V 15 0 V DC link 0 V supply 16 1 16 n c EL72x1 0010 43 Version 2 0 ...

Page 44: ... up the TwinCAT overview of the local network interfaces via Options Show Real Time Ethernet Compatible Devices Fig 37 System Manager option Fig 38 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 devices A Windows warning regarding the unsigned driver can be ignored Alternative...

Page 45: ...the driver appears activated in the Windows overview for the network interface Windows Start System Properties Network Fig 40 Windows properties of the network interface Other possible settings are to be avoided EL72x1 0010 45 Version 2 0 ...

Page 46: ...r this reason and in cases where an EL6601 or similar devices are used it is useful to specify a fixed IP address for this port via the Internet Protocol TCP IP driver setting and to disable DHCP In this way the delay associated with the DHCP client for the Ethernet port assigning itself a default IP address in the absence of a DHCP server is avoided A suitable address space is 192 168 x x for exa...

Page 47: ...Commissioning Fig 42 TCP IP setting for the Ethernet port EL72x1 0010 47 Version 2 0 ...

Page 48: ...or TwinCAT 2 11 and higher the System Manager can search for current Beckhoff ESI files auto matically if an online connection is available Note ESI The xml files are associated with xsd files which describe the structure of the ESI XML files To update the ESI device descriptions both file types should therefore be updated Device differentiation EtherCAT devices slaves are distinguished by 4 prope...

Page 49: ...ould first be performed to determine whether the spare parts stock allows the integration of the increased revision into the configuration at all A new higher revision usually also brings along new features If these are not to be used work can continue without reservations with the previous revision 1018 in the configuration This is also stated by the Beckhoff compatibility rule Refer in particula...

Page 50: ...l restart TwinCAt System Manager This file should not be visible after this procedure if necessary press F5 to update Note OnlineDescription for TwinCAT 3 x In addition to the file described above OnlineDescription0000 xml a so called EtherCAT cache with new discovered devices is created by TwinCAT 3 x e g under Windows 7 C User USERNAME AppData Roaming Beckhoff TwinCAT3 Components Base EtherCAT C...

Page 51: ...ioning 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 file manufacturer EL72x1 0010 51 Version 2 0 ...

Page 52: ...ration in online or offline mode The de vice descriptions are contained in the so called ESI files EtherCAT Slave Information in XML format These files can be requested from the respective manufacturer and are made available for download The ESIs for Beckhoff EtherCAT devices are provided on the Beck hoff website The ESI files should be saved in the TwinCAT installation directory default C TwinCAT...

Page 53: ...11 R2 Then assign a real Ethernet port to this virtual device in the runtime system Fig 54 Selecting the Ethernet port This query may appear automatically when the EtherCAT device is created or the assignment can be set modified later in the properties dialog see Fig EtherCAT properties dialog EL72x1 0010 53 Version 2 0 ...

Page 54: ...lection that can be appended to the previously selected device Therefore the physical layer available for this port is also displayed Fig Selection dialog for new EtherCAT device A In the case of cable based Fast Ethernet physical layer with PHY transfer then also only cable based devices are available as shown in Fig Selection dialog for new EtherCAT device If the preceding device has several fre...

Page 55: ...vice revisions were created for historic or functional reasons e g through technological advancement For simplification purposes see Fig Selection dialog for new EtherCAT device only the last i e highest revision and therefore the latest state of production is displayed in the selection dialog for Beckhoff devices To show all device revisions available in the system as ESI descriptions tick the Sh...

Page 56: ...nt replacement of devices without changing the configuration different specifications are possible for drives Example If an EL2521 0025 1018 is specified in the configuration an EL2521 0025 1018 or higher 1019 1020 can be used in practice Fig 60 Name revision of the terminal If current ESI descriptions are available in the TwinCAT system the last revision offered in the selection dialog matches th...

Page 57: ...Commissioning Fig 61 EtherCAT terminal in the TwinCAT tree EL72x1 0010 57 Version 2 0 ...

Page 58: ... from the respective manufacturer and are made available for download The ESIs for Beckhoff EtherCAT devices are provided on the Beck hoff website The ESI files should be saved in the TwinCAT installation directory default C TwinCAT IO EtherCAT The files are read once when a new System Manager win dow is opened A TwinCAT installation includes the set of Beckhoff ESI files that was cur rent at the ...

Page 59: ...stem Right clicking on I O Devices in the configuration tree opens the search dialog Fig 65 Scan Devices This scan mode attempts to find not only EtherCAT devices or Ethernet ports that are usable as such but also NOVRAM fieldbus cards SMB etc However not all devices can be found automatically Fig 66 Note for automatic device scan Ethernet ports with installed TwinCAT real time driver are shown as...

Page 60: ... used with care It is a practical and fast tool for creating an initial configuration as a basis for commissioning In series machine production or reproduc tion of the plant however the function should no longer be used for the creation of the con figuration but if necessary for comparison 64 with the defined initial configura tion Background since Beckhoff occasionally increases the revision vers...

Page 61: ... 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 the revision 1019 is automatically detected and built into the configuration Fig 70 Detection of EtherCAT terminal with revision 1019 This is usually not noticed by the commissioning engineers TwinCAT cannot signa...

Page 62: ...tablished and can then be switched to online state OPERATIONAL Fig 74 Config FreeRun query In Config FreeRun mode the System Manager display alternates between blue and red and the EtherCAT device continues to operate with the idling cycle time of 4 ms default setting even without active task NC PLC Fig 75 Config FreeRun indicator Fig 76 TwinCAT kann auch durch einen Button in diesen Zustand verse...

Page 63: ...ing scanning An unknown device is detected i e an EtherCAT slave for which no ESI XML description is available In this case the System Manager offers to read any ESI that may be stored in the device This case is described in the chapter Notes regarding ESI device description Device are not detected properly Possible reasons include faulty data links resulting in data loss during the scan slave has...

Page 64: ...ion 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 configuration exactly or it may differ This enables the configuration to be compared Fig 79 Identical configuration If differences are detected they are shown in the correction dialog so that the user can m...

Page 65: ...sed The found device may not support all functions that the master expects based on the higher revision number Note Device selection based on revision compatibility The ESI description also defines the process image the communication type between mas ter and slave device and the device functions if applicable The physical device firmware if available has to support the communication queries settin...

Page 66: ...ng the links in the task Change to compatible device Fig 83 TwinCAT 2 Dialog ChangeToCompatibleDevice This function is preferably to be used on AX5000 devices If called the System Manager suggests the devices that it finds in the associated sub folder in the case of the AX5000 for example in TwiNCAT IO EtherCAT Beckhoff AX5xxx Change to Alternative Type The TwinCAT System Manager offers a function...

Page 67: ...ster uses the ESI description to configure the slave correctly The process data can be modified in the system manager See the device documentation Examples of modifications include mask out a channel displaying additional cyclic information 16 bit display instead of 8 bit data size etc In so called intelligent EtherCAT devices the process data information is also stored in the CoE directory Any ch...

Page 68: ...on This summary briefly deals with a number of aspects of EtherCAT Slave operation under TwinCAT More detailed information on this may be found in the corresponding sections of for instance the EtherCAT System Documentation Diagnosis in real time WorkingCounter EtherCAT State and Status Generally speaking an EtherCAT Slave provides a variety of diagnostic information that can be used by the contro...

Page 69: ...ut 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 variables for the EtherCAT Master that are updated acyclically This means that it is possible that in any particular cycle they do not represent the latest possible status It is therefore useful to read such variables through ...

Page 70: ...Commissioning Fig 87 Basic EtherCAT Slave Diagnosis in the PLC The following aspects are covered here EL72x1 0010 70 Version 2 0 ...

Page 71: ...ct data the function status must be evaluated there Such information is therefore provided with the process data for the most recent cycle C For every EtherCAT Slave that has cyclic process data the Master displays using what is known as a WorkingCounter whether the slave is participating successfully and without error in the cyclic exchange of process data This important elementary information is...

Page 72: ...e AMS NetID of the EtherCAT Master communication with the individual Slave is possible via the port EtherCAT address Information variables for the EtherCAT Master that are updated acyclically This means that it is possible that in any particular cycle they do not represent the latest possible status It is therefore possible to read such variables through ADS Attention Diagnostic information It is ...

Page 73: ...opriately extended ESI configuration files Fig 89 Example of commissioning aid for a EL3204 This commissioning process simultaneously manages CoE Parameter Directory DC FreeRun mode the available process data records PDO Although the Process Data DC Startup and CoE Online that used to be necessary for this are still displayed it is recommended that if the commissioning aid is used the automaticall...

Page 74: ...f must go through these routines when starting until it has reached at least the OP target state The target state wanted by the user and which is brought about automatically at start up by TwinCAT can be set in the System Manager As soon as TwinCAT reaches the status RUN the TwinCAT EtherCAT Master will approach the target states Standard setting The advanced settings of the EtherCAT Master are se...

Page 75: ...f axes because a change in the times involved in starting is desirable In that case it is appropriate in the PLC application to use the PLC function blocks from the TcEtherCAT lib which is available as standard and to work through the states in a controlled manner using for instance FB_EcSetMasterState It is then useful to put the settings in the EtherCAT Master to INIT for master and slave Fig 92...

Page 76: ...erted at appropriate places in the terminal strand The pre calculated theoretical maximum E Bus current is displayed in the TwinCAT System Manager as a column value A shortfall is marked by a negative total amount and an exclamation mark a power feed terminal is to be placed before such a position Fig 93 Illegally exceeding the E Bus current From TwinCAT 2 11 and above a warning message E Bus Powe...

Page 77: ...g 95 Branch of EL5001 In the right hand window of the TwinCAT System manager various tabs are now available for configuring the terminal General tab Fig 96 General tab Name Name of the EtherCAT device Id Number of the EtherCAT device Type EtherCAT device type Comment Here you can add a comment e g regarding the system Disabled Here you can deactivate the EtherCAT device Create symbols Access to th...

Page 78: ... 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 is possible to connect this device with another one without changing the order of the EtherCAT devices in the communication ring then this combination field is activated and the EtherCAT device to which this devic...

Page 79: ...he 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 the PDO as displayed in the PDO list If an entry in the PDO assignment list is deactivated not selected and greyed out this indicates that the input is excluded from the PDO assignment In order to be able do select a greyed out PDO the cu...

Page 80: ...he configuration of the PDO and the PDO assignments can be downloaded to the device This is an optional feature that is not supported by all EtherCAT slaves PDO Assignment If this check box is selected the PDO assignment that is configured in the PDO Assignment list is downloaded to the device on startup The required commands to be sent to the device can be viewed in the Startup 80 tab PDO Configu...

Page 81: ...ton 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 new mailbox download request to be sent during startup Delete This button deletes the selected entry Edit This button edits an existing request CoE Online tab The additional CoE Online tab is displayed if the EtherCAT slave supports ...

Page 82: ...e 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 object read only P An additional P identifies the object as a process data object Value Value of the object EL72x1 0010 82 Version 2 0 ...

Page 83: ...re displayed in the list Fig 101 Dialog Advanced settings Online via SDO Information If this option button is selected the list of the objects 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 option button is selected the list of the objects included in th...

Page 84: ...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 operational If the slave fails during change of state it sets the error flag The current state is now displayed as ERR PREOP When the Clear Error button is pressed the error flag is cleared and the current state is displayed as ...

Page 85: ...on Master TwinCAT 2 11 R3 Note Installation of the latest XML device description Please ensure that you have installed the corresponding latest XML device description in TwinCAT This can be downloaded from the Beckhoff Website and installed according to the installation instructions Integration into the NC can be accomplished as follows The terminal must already have been added manually under I O ...

Page 86: ...guration of the main parameters 93 Please set these parameters before continuing with the motor commissioning procedure Adding an axis manually First add a new task Right click on NC configuration and select Append Task see Fig Adding a new task Rename the task if required and confirm with OK Fig 104 Adding a new task EL72x1 0010 86 Version 2 0 ...

Page 87: ... see Fig Selecting and confirming the axis type Fig 106 Selecting and confirming the axis type Left click your axis to select it Under the Settings tab select Link To see Fig Linking the axis with the terminal Fig 107 Linking the axis with the terminal Select the required terminal CANopen DS402 EtherCAT CoE and confirm with OK EL72x1 0010 87 Version 2 0 ...

Page 88: ...o be set before the motor can be started up The values can be found in sections CoE settings 93 and NC settings 97 Please set these parameters before continuing with the motor commissioning procedure 6 2 2 Settings with the Drive Manager Master TwinCAT 2 11 R3 The data given here serve as an example for a servomotor type AM8131 0F20 0000 from Beckhoff Automation For other motors the values may var...

Page 89: ...e intended to enable you to start up the servo terminal relatively quickly More detailed information on the Drive Manager can be found in the corresponding documentation AX5000 Introduction in the TCDrivemanager Start up with the Drive Manager The terminal must already have been added manually under I O devices or have been scanned in by the system see section Configuration set up in TwinCAT 52 Th...

Page 90: ...g of the connected motor If you decide to manually input the connected motor please click on Select Motor Fig 112 Selecting the connected motor Select the suitable motor in the selection window and confirm with Ok EL72x1 0010 90 Version 2 0 ...

Page 91: ...nfirmed these settings have to be entered manually See section NC settings 97 Fig 114 Confirmation of the automatic NC settings parameters The scaling can be determined under Scalings and NC Parameters A motor revolution is defined as 360 as an example All required parameters are adjusted automatically The setting only becomes active once the configuration is activated EL72x1 0010 91 Version 2 0 ...

Page 92: ...87 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 specified here are exemplary although in most cases they have led to excellent results Depending on the application other values may yield better results These values can be changed during operation Click on Download to apply ...

Page 93: ...to oscillate slightly Then reduce the value by 80 Fig 117 Adapting Kp 6 2 3 Settings in the CoE register Master TwinCAT 2 11 R3 The data given here serve as an example for a servomotor type AM8131 0F20 0001 from Beckhoff Automation For other motors the values may vary depending on the application EL72x1 0010 93 Version 2 0 ...

Page 94: ... Beckhoff website To facilitate commissioning of the EL72x1 0010 servo terminal motor XML files are provided for the servomotors that are supported by the EL72x1 0010 The XML files can be read in the System Manager All CoE parameters and DS402 parameters are then set as required To read the motor XML file select the EL72x1 0010 and open the Startup tab Right click in the empty field and select Imp...

Page 95: ...nto operation see Fig CoE parameters of the motor XML file Fig 120 CoE parameters of the motor XML file Note Startup list Any further application specific settings should also be implemented in the Startup list Oth erwise the modified settings will be overwritten next time the terminal starts up EL72x1 0010 95 Version 2 0 ...

Page 96: ... setting is 20 single turn bits and 12 multi turn bits Singleturn bits number of bits relating to the resolution of one rotor rotation Multiturn bits after a rotor rotation the multi turn bits are incremented by one Note The motor may overheat If the number of single turn bits is changed the scaling factor in the NC 97 has to be adjusted Fig 121 Multi turn single turn bits Torque limitation MDP742...

Page 97: ...lues may vary depending on the application Table of contents Definition of the unit 97 Selecting the maximum velocity 98 Dead time compensation 99 Setting the encoder mask 99 Scaling factor 100 Calculation of the scaling factor 100 Scaling output 101 Position lag monitoring 101 Commissioning the motor with the NC 102 Several important parameters are required for the commissioning with the NC These...

Page 98: ...Selecting the maximum velocity The maximum permitted velocity is calculated based on the maximum motor speed name plate and the distance in this case in relation to 360 per second Fig 123 Adjusting the reference velocity EL72x1 0010 98 Version 2 0 ...

Page 99: ...an be found under Advanced Settings in the encoder parameters Fig 124 Dead time compensation The dead time compensation can only be set in expert mode Fig Expert mode setting Fig 125 Expert mode setting Setting the encoder mask The maximum values for the encoder mask can be set in the Parameter tab for the Axis1_ENC encoder settings The EL72x1 0010 provides a maximum of 32 bits for the encoder The...

Page 100: ... changed by selecting Axis 1_Enc and tab Parameter in the NC see Setting the Scaling Factor The value can be calculated with the formulas specified below The calculation is based on the assumption that one revolution corresponds to 360 The number of single turn bits is taken into account in the calculation of the scaling factor As indicated above the default setting for the EL72x1 0010 is 20 singl...

Page 101: ...fference between the set value control value and the actual value reported back If the terminal parameters are set inadequately the position lag monitoring function may report an error when the axis is moved During commissioning it may therefore be advisable to increase the limits of the Position lag monitoring slightly Attention Damage to equipment machines and peripheral components possible Sett...

Page 102: ...eration Individual further parameters have to be adapted to the respective application To commission the axis activate the configuration Ctrl Shift F4 select the axis select tab Online and enable the axis under Set Set all tick marks and set Override to 100 see Fig Enabling an axis The axis can then be moved EL72x1 0010 102 Version 2 0 ...

Page 103: ...8 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 velocity matches the setpoint velocity Alternatively you can control the axis via the Functions tab An example is provided below Select as Reversing Sequence as the start type Enter the required Target Position2 e g 12000 Enter...

Page 104: ...59339787 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 example demonstrates movement of a motor to any position or in continuous mode with the aid of visualization The velocity the starting acceleration and the deceleration can be specified The sample program consists of 2 files PLC f...

Page 105: ...figuration 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 MAC address To do this click on your EtherCAT device then select the Adapter tab and click on Search after the MAC address see Fig Selecting the MAC address Select the right adapter Fig 133 Selecting the MAC address EL72x1 0010 ...

Page 106: ...nked to the NC To change the link or add additional devices proceed as described under Integration into the NC configuration 85 The PLC program is configured as follows The libraries TcMC lib and TcNC lib must be integrated see Fig Required libraries Fig 135 Required libraries Once this is done certain global variables are declared see Fig Global variables The data types PLCTONC_AXLESTRUCT and NCT...

Page 107: ...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 the function block MC_MoveAbsolute The current axis position can be read with the function block MC_ActualPosition MC_Power enables the axis MC_Stop is required for stopping the axis Fig 137 Local variables The program code is...

Page 108: ... 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 Acceleration Deceleration and the Setpoint Position and initiate the motion with Start Job If no values are entered for acceleration and deceleration the default value of the NC is used EL72x1 0010 108 Version 2 0 ...

Page 109: ...rd 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 enabled for each operating mode To this end enter the following values in the specified order via the PLC control word MDP742 173 DS402 151 see Fig DS402 State Machine The respective status messages are output in the status...

Page 110: ...Commissioning 0hex 80hex Fault reset 6hex Shutdown 7hex Switch on Fhex Enable operation Fig 140 DS402 State Machine EL72x1 0010 110 Version 2 0 ...

Page 111: ...52 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 synchronous velocity Select Cyclic synchronous velocity in index 0x7010 03 173 Modes of operation MDP or index 0x6060 0 151 Modes of operation DS402 The Predefined PDO Assignment Cyclic synchronous velocity mode CSV should also be selec...

Page 112: ... configuration is switched on The automatic configuration can be switched on in the index 0x8001 01 0x2018 01 149 DS402 Profile Enable autoconfig In the index 0x8001 02 0x2018 02 149 DS402 Profile Reconfig identical motor the user can decide in the case of replacing an identical motor whether the terminal should automatically re configure the motor setting true or whether the motor should be opera...

Page 113: ...missioning Fig 141 Flow chart for the automatic configuration Parameter list of the automatic configuration The following parameters are affected by the automatic configuration EL72x1 0010 113 Version 2 0 ...

Page 114: ...e electronic type plate of the connected motor 8011 2C 168 2003 2C 148 Motor temperature error level is adopted directly from the electronic type plate of the connected motor 8011 2D 168 2003 2D 148 Motor thermal time constant is adopted directly from the electronic type plate of the connected motor 8012 11 169 2004 11 149 Release delay is adopted directly from the electronic type plate of the con...

Page 115: ...does not work via the online commissioning tab of the axis see Fig Online homing in the NC Fig 143 Online homing in the NC Function block MC_Home Referencing must be done from the PLC The function block MC_Home from the TC MC2 Lib is used for this purpose The following minimum configuration is required in MC_Home HomingMode enables selection of mode to be used for referencing Execute is used to in...

Page 116: ...tion from the functional description for MC_Home Reference modes The EL72x1 0010 can be operated with the following NC reference modes see Fig Selection of the reference modes in the NC Default Is suitable as a general setting and for most applications Once the motor reaches the reference cam the direction is reversed The declining cam signal causes the motor to stop The reference position is then...

Page 117: ... Fig 146 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 147 Setting the reference velocity EL72x1 0010 117 Version 2 0 ...

Page 118: ... of the connected motor at a defined point in time The required inputs and outputs can be added in the Process data 137 tab see Fig Touch Probe inputs and Fig Touch Probe outputs The EL72x1 0010 has two digital inputs that can be used for the Touch Probe function The abbreviation TP1 stands for Touch Probe 1 and is linked to input 1 of the terminal connection pin 3 while the abbreviation TP2 stand...

Page 119: ...Commissioning Fig 148 Touch Probe inputs EL72x1 0010 119 Version 2 0 ...

Page 120: ... at input 1 TP1 Enable pos edge true on a negative edge TP1 Enable neg edge true or in both cases both set to true With TP1 Continuous you can decide whether the position is to be saved only at the first event TP1 Continuous false or whether this should take place at every event TP1 Continuous true For example if TP1 Continous and TP1 Enablepos edge are set the position is saved on each positive E...

Page 121: ... 121 cyclic synchronous velocity velocity control In CSV mode the EL72x1 0010 operates with the cyclic velocity interface A defined velocity can be set via the Target velocity variable CST 125 cyclic synchronous torque torque control In CST mode the EL72x1 0010 operates in the cyclic torque interface A defined torque can be set via the Target torque variable CSTCA 128 cyclic synchronous torque wit...

Page 122: ...figuration 85 Import the motor XML file into the Startup directory as described in the chapter Settings in the CoE 93 Set the mode of operation in the CoE directory to Cyclic synchronous velocity mode CSV Fig Selection of the mode of operation Fig 150 Selection of the mode of operation Under Predefined PDO assignment also select Cyclic synchronous velocity mode CSV Fig Selecting a predefined PDO a...

Page 123: ...e 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 the On line tab of the axis Set all tick marks and set Override to 100 see Fig Set enables The axis can then be moved EL72x1 0010 123 Version 2 0 ...

Page 124: ...y To do this follow the instruc tions in the chapter Commissioning without the NC 109 The cyclic variable Target velocity Fig Torque specification can be used to specify a defined velocity The value in the index 0x9010 14 Velocity encoder resolution corresponds to 1 rpm Fig 153 Torque specification EL72x1 0010 124 Version 2 0 ...

Page 125: ...e scan 58 Link the terminal with the NC as described in the chapter Integration in the NC configuration 85 Import the motor XML file into the Startup directory as described in the chapter Settings in the CoE 93 Set the mode of operation in the CoE directory to Cyclic synchronous torque mode CST Fig Selection of the mode of operation Fig 154 Selection of the mode of operation Under Predefined PDO a...

Page 126: ...e 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 the On line tab of the axis Set all tick marks and set Override to 100 see Fig Set enables The axis can then be moved EL72x1 0010 126 Version 2 0 ...

Page 127: ...chapter Commissioning without the NC 109 The cyclic variable Target torque Fig Torque specification can be used to specify a defined torque The value is specified in 1000ths of the rated current and the torque is calculated according to the following equation where the rated current refers to the value in the index 0x8011 12 168 rated current EL72x1 0010 127 Version 2 0 ...

Page 128: ...d 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 52 manual or Online scan 58 Link the terminal with the NC as described in the chapter Integration in the NC configuration 85 Import the motor XML file into the Startup directory as described in the chapter Settings in the CoE 93 Set the...

Page 129: ...Fig 158 Selection of the mode of operation Under Predefined PDO assignment also select Cyclic synchronous torque mode with commutation angle CSTCA Fig Selecting a predefined PDO assignment EL72x1 0010 129 Version 2 0 ...

Page 130: ...e 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 the On line tab of the axis Set all tick marks and set Override to 100 see Fig Set enables The axis can then be moved EL72x1 0010 130 Version 2 0 ...

Page 131: ... 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 the rated current refers to the value in the index 0x8011 12 168 rated current You can specify a defined angle via the cyclic variable Commutation angle The value is specified in 360 216 EL72x1 0010 131...

Page 132: ... terminal to the configuration as described in the chapter TwinCAT configuration settings 52 manual or Online scan 58 Link the terminal with the NC as described in the chapter Integration in the NC configuration 85 Configure the motor with the help of the automatic configuration 112 using the Drive Manager 88 or import the motor XML file into the Start up directory as described in the chapter Sett...

Page 133: ...missioning Fig 162 Selection of the mode of operation Under Predefined PDO assignment also select Cyclic synchronous position mode CSP Fig Selecting a predefined PDO assignment EL72x1 0010 133 Version 2 0 ...

Page 134: ...e 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 the On line tab of the axis Set all tick marks and set Override to 100 see Fig Set enables The axis can then be moved EL72x1 0010 134 Version 2 0 ...

Page 135: ...ally To do this follow the instruc tions in the chapter Commissioning without the NC 109 You can specify a defined position via the cyclic variable Target position fig Position specification The value must be multiplied by the calculated scaling factor 100 in order to obtain the correct position EL72x1 0010 135 Version 2 0 ...

Page 136: ... 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 window Fig 166 Following error window The time in ms allowed for a following error exceedance can be set with the Following error time out Index 0x8010 51 166 MDP742 Index 0x6066 152 DS402 As soon as the target position is exceeded by...

Page 137: ...khoff EtherCAT Terminals The DS402 drive profile is specified in IEC61800 7 200 CiA402 It uses a different object directory structure In both profiles the drive state machine of the EL72x1 0010 is based on the CiA402 State Machine 109 which means the functional behavior is identical The EL72x1 0010 is delivered with the MDP 742 profile ex factory Changing the profile After a profile change an EEPR...

Page 138: ...Commissioning Fig 168 Process Data tab SM2 EL72x1 0010 default EL72x1 0010 138 Version 2 0 ...

Page 139: ... 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 Restarting the EtherCAT system or reloading the configuration in configuration mode F4 causes the EtherCAT communication to restart and the process data is transferred from the terminal EL72x1 0010 139 Version 2 0 ...

Page 140: ...dex 0x6010 01 171 0x1A02 4 0 DRV Velocity actual value Index 0x6010 07 171 0x1A03 2 0 DRV Torque actual value Index 0x6010 08 171 0x1A04 2 0 DRV Info data 1 Index 0x6010 12 171 0x1A05 2 0 DRV Info data 2 Index 0x6010 13 171 0x1A06 4 0 DRV Following error actual value Index 0x6010 09 171 0x1A07 2 0 FB Touch probe status Index 0x6001 0 Index 0x6001 01 171 Index 0x6001 02 171 Index 0x6001 03 171 Inde...

Page 141: ...A 0x1600 178 DRV Controlword 0x1602 178 DRV Target torque 0x1603 178 DRV Commutation angle 0x1A01 179 DRV Statusword Cyclic synchronous position mode CSP 0x1600 178 DRV Controlword 0x1606 179 DRV Target position 0x1A00 179 FB Position 0x1A01 179 DRV Statusword Fig 170 Process data tab Predefined PDO Assignment EL72x1 0010 6 6 DS402 process data Table of contents Sync Manager 141 PDO Assignment 143...

Page 142: ...Commissioning Fig 171 Process Data tab SM2 EL72x1 0010 default EL72x1 0010 142 Version 2 0 ...

Page 143: ... 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 the EtherCAT system or reloading the configuration in configuration mode F4 causes the EtherCAT communication to restart and the process data is transferred from the terminal EL72x1 0010 143 Version 2 0 ...

Page 144: ...ault 4 0 DS402 Position actual value Index 0x6064 151 0x1A02 4 0 DS402 Velocity actual value Index 0x606C 152 0x1A03 2 0 DS402 Torque actual value Index 0x6077 153 0x1A04 4 0 DS402 Following error actual value Index 0x60F4 154 0x1A05 2 0 DS402 Touch probe status Index 0x60B9 153 Bit 0 Bit 1 Bit 2 Bit 7 Bit 8 Bit 9 Bit 10 Index 6001 10 TP1 Enable TP1 Pos value stored TP1 Neg value stored TP1 Input ...

Page 145: ...402 Statusword 0x1A01 160 DS402 Position actual value 0x1A03 160 DS402 Torque actual value Cyclic synchronous torque mode with commu tation angel CSTCA 0x1600 159 DS402 Controlword 0x1602 159 DS402 Target torque 0x1603 159 DS402 Commutation an gle 0x1A00 160 DS402 Statusword Cyclic synchronous position mode CSP 0x1600 159 DS402 Controlword 0x1606 160 DS402 Target position 0x1A00 160 DS402 Statuswo...

Page 146: ...list CAN over EtherCAT The terminal is parameterized via the CoE Online tab double click on the respective ob ject or via the Process Data tab allocation of PDOs Please note the following general CoE information 23 when using manipulating the CoE parameters Keep a startup list if components have to be replaced Differentiation between online offline dictionary existence of current XML description u...

Page 147: ... UINT32 RW 0x0000000A 10dec 2002 19 Nominal DC link volt age Nominal DC link voltage Unit mV UINT32 RW 0x0000BB80 48000dec 2002 1A Min DC link voltage Minimum DC link voltage Unit mV UINT32 RW 0x00001A90 6800dec 2002 1B Max DC link voltage Maximum DC link voltage Unit mV UINT32 RW 0x0000EA60 60000dec 2002 29 Amplifier I2T warn level I T model warning threshold Unit UINT8 RW 0x50 80dec 2002 2A Ampl...

Page 148: ... tia Mass moment of inertia of the motor Unit g cm 2 This value is affected by automatic scanning see Au tomatic scanning of the electronic type plates 112 UINT32 RW 0x00000000 0dec 2003 19 Winding inductance Inductance Unit 0 1 mH This value is affected by automatic scanning see Au tomatic scanning of the electronic type plates 112 UINT16 RW 0x000E 14dec 2003 29 Motor I2T warn level I2T model war...

Page 149: ...index 2059 FB OCT Nameplate Index 2010 Feedback Settings Index hex Name Meaning Data type Flags Default 2010 0 Feedback Settings Maximum subindex UINT8 RO 0x13 19dec 2010 01 Invert feedback direc tion Inverting the count direction BOOLEAN RW 0x00 0dec 2010 11 Device type 3 OCT not changeable UINT32 RW 0x00000003 3dec 2010 12 Single turn bits Number of single and multi turn bits 96 UINT8 RW 0x14 20...

Page 150: ... Unit 0 1 ms UINT16 RW 0x0023 35dec 2020 14 Amplifier overcur rent thresh old Threshold value for short circuit detection Unit mA UINT32 RW 0x00002E E0 12000dec 7 3 Command object Index FB00 Command Index hex Name Meaning Data type Flags Default FB00 0 Com mand Maximum subindex UINT8 RO 0x03 3dec FB00 01 Request reserved OCTET STRING 2 RW 0 FB00 02 Status reserved UINT8 RO 0x00 0dec FB00 03 Re spo...

Page 151: ... RO 0x0000 0dec Index 6060 Modes of operation Index hex Name Meaning Data type Flags Default 6060 0 Modes of opera tion permitted values 0x08 Cyclic synchronous position mode CSP 0x09 Cyclic synchronous velocity mode CSV 0x0A Cyclic synchronous torque mode CST 0x0B Cyclic synchronous torque mode with commutation angle CSTCA UINT8 RW 0x00 0dec Index 6061 Modes of operation display Index hex Name Me...

Page 152: ...1616 RO 0x0000 0dec Index 606C Velocity actual value Index hex Name Meaning Data type Flags Default 606C 0 Velocity actual value This object shall provide the actual velocity value INT3232 RO 0x000000 00 0dec Index 6071 Target torque Index hex Name Meaning Data type Flags Default 6071 0 Target torque This object shall indicate the configured input value for the torque controller The value is speci...

Page 153: ...e Flags Default 6090 0 Velocity Encoder Res olution Display of configured encoder increments s and motor revolutions s The velocity encoder resolution is calculated according to the following formula Velocity Encoder Resolution encoder_increments s motor_revolutions s UINT32 RO 0x00000000 0dec Index 60B8 Touch probe function Index hex Name Meaning Data type Flags Default 60B8 0 Touch probe functio...

Page 154: ...a type Flags 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 Data type Flags Default 60DA 0 Function settings This object shall enable disable supported functions in the device Bit 0 Enable TxPDOToggle Bit in Statusword Bit 10 Bit 1 31 reserved UINT32 RW...

Page 155: ...NT8 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 available BOOLEAN RO 0x00 0dec 10F3 05 Flags not used UINT16 RW 0x0000 0dec 10F3 06 Diagnosis Message 001 Message 1 1 OCTET STRING 28 RO 0 10F3 37 Diagnosis Message 050 Message 50 OCTET STRING 28 RO 0 Index 10F8 Actual Time S...

Page 156: ...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 Firmware Revision No Revision of the firmware STRING RO 2058 17 Firmware Date Date of the firmware STRING RO 2058 18 EEPROM Size EEPROM size UINT16 RO 0x0000 0dec 2058 19 Temperature Temperature Unit 0 1 INT16 RO 0x0000 0...

Page 157: ... 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 voltage Unit mV UINT32 RO 0x00000000 0dec 2059 0B Max voltage rms Maximum voltage Unit mV UINT32 RO 0x00000000 0dec 2059 0C Max winding du dt Maximum permissible voltage rise on the winding Unit kV s UINT32 RO 0x00000000 0d...

Page 158: ...0000000 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 22 Brake reduced holding voltage Reduced brake voltage Unit mV UINT32 RO 0x00000000 0dec 2059 23 Brake time to red holding volt Time from which the brake holds with reduced voltage Unit ms UINT16 RO 0x0000 0dec 2059 24...

Page 159: ...O 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 Default 1601 0 DS402 RxPDO Map Target velocity PDO Mapping RxPDO 2 UINT8 RO 0x01 1dec 1601 01 SubIndex 001 1 PDO Mapping entry UINT32 RO 0x60FF 00 32 Index 1602 DS402 RxPDO Map Target torque Index hex Name Meaning Dat...

Page 160: ...ity 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 entry UINT32 RO 0x606C 00 32 Index 1A03 DS402 TxPDO Map Torque actual value Index hex Name Meaning Data type Flags Default 1A03 0 DS402 TxPDO Map Torque actual value PDO Mapping TxPDO 4 UINT8 RO 0x01 1dec 1A03 01 SubI...

Page 161: ... RO 0x02 2dec 1C00 03 SubIndex 003 Sync Manager Type Channel 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 type Flags Default 1C12 0 RxPDO assign PDO Assign Outputs UINT8 RW 0x02 2dec 1C12 01 Subindex 001 1 allocated RxPDO contains the index of the asso...

Page 162: ...f the associ ated TxPDO mapping object UINT16 RW 0x0000 0dec 1C13 05 Subindex 005 5 allocated TxPDO 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 1C13 07 Subindex 007 7 allocated TxPDO contains the index of the associ ated TxPDO mapping object U...

Page 163: ...c 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 Measurement of the local cycle time is stopped 1 Measurement of the local cycle time is started The entries 0x1C32 03 0x1C32 05 0x1C32 06 0x1C32 09 0x1C33 03 164 0x1C33 06 163 and 0x1C33 09 164 are updated with t...

Page 164: ...put shift with SYNC1 event no outputs available Bit 14 1 dynamic times measurement through writing of 0x1C32 08 163 or 0x1C33 08 164 UINT16 RO 0x4808 18440dec 1C33 05 Minimum cycle time as 0x1C32 05 163 UINT32 RO 0x0001E848 125000dec 1C33 06 Calc and copy time Time between reading of the inputs and availability of the inputs for the master in ns only DC mode UINT32 RO 0x00000000 0dec 1C33 07 Minim...

Page 165: ... description 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 8 1 Restore object Index 1011 Restore default parameters Index hex Name Meaning Data type Flags Default 1011 0 Restore default param eters Restore default parameters UINT8 RO 0x01 1dec 1011...

Page 166: ...16 RW 0x000A 10dec 8010 13 Current loop propor tional gain Proportional component of current controller Unit 0 1 V A This value is affected by automatic scanning see Automatic scanning of the electronic type plates 112 UINT16 RW 0x0064 100dec 8010 14 Velocity loop integral time Integral component of velocity controller Unit 0 1 ms UINT32 RW 0x00000032 50dec 8010 15 Velocity loop propor tional gain...

Page 167: ...ings 8010 41 Low pass filter fre quency Low pass filter frequency Unit Hz The following values can be set 0 Hz off 320 Hz 640 Hz UINT16 RW 0x0140 320dec 8010 42 Halt ramp deceleration Halt ramp deceleration Unit 0 1 rad s UINT32 RW 0x0000F570 62832dec 8010 50 Following error window Following error monitor Following error window Unit the given value must be multiplied by the corre sponding scaling ...

Page 168: ...tion and mechanical single turn zero position Unit This value is affected by automatic scanning see Automatic scanning of the electronic type plates 112 INT16 RW 0x0000 0dec 8011 16 Torque constant Torque constant Unit mNm A This value is affected by automatic scanning see Automatic scanning of the electronic type plates 112 UINT32 RW 0x00000000 0dec 8011 18 Rotor moment of iner tia Mass moment of...

Page 169: ...RV Brake Settings Index hex Name Meaning Data type Flags Default 8012 0 DRV Brake Settings Maximum subindex UINT8 RO 0x14 20dec 8012 01 Manual override re lease Manual release of the motor holding brake BOOLEAN 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...

Page 170: ... Clear 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 time Read out the build time 0x8000 Software re set Perform a software reset hardware is re initialized with the current CoE configuration this otherwise happens only during the transition to INIT FB00 02 Status 0 Finished n...

Page 171: ...e multiplied by the corre sponding scaling factor 100 UINT32 RO 0x00000000 0dec Index 6010 DRV Inputs Index hex Name Meaning Data type Flags Default 6010 0 DRV In puts Maximum subindex UINT8 RO 0x13 19dec 6010 01 Status word Statusword Bit 0 Ready to switch on Bit 1 Switched on Bit 2 Operation enabled Bit 3 Fault Bit 4 reserved Bit 5 Quick stop inverse Bit 6 Switch on disabled Bit 7 Warning Bit 8 ...

Page 172: ...ut 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 BOOLEAN RO 0x00 0dec 7001 09 TP2 Enable Switch on Touchprobe 2 BOOLEAN RO 0x00 0dec 7001 0A TP2 Continous 0 triggered only on the first event 1 triggered on every event BOOLEAN RO 0x00 0dec 7001 0B TP2 Trigger mode Input 2...

Page 173: ...nfigured target position Unit the value must be multiplied by the corresponding scaling factor 100 INT32 RW 0x000000 00 0dec 7010 06 Target velocity Configured target velocity The velocity scaling can be found in object 0x9010 14 176 Velocity encoder resolution INT32 RO 0x000000 00 0dec 7010 09 Target torque Configured input value for torque monitoring The value is specified in 1000th of the rated...

Page 174: ... data Maximum subindex UINT8 RO 0x1F 31dec 9008 11 Encoder Type Feedback type 2 rotary encoder unipolar counting UINT16 RO 0x0000 0dec 9008 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 Unit Revolutions UINT32 RO 0x00000000 0dec 9008 14 Type Code Nam...

Page 175: ...pairs UINT32 RO 0x00000000 0dec 9009 07 Standstill current rms Effective holding current Unit mA UINT32 RO 0x00000000 0dec 9009 08 Rated current 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 voltage Unit mV UINT32 RO 0x00000000 0dec 9009 0B Max voltage rms...

Page 176: ...9 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 Brake time to red holding volt Time from which the brake holds with reduced voltage Unit ms UINT16 RO 0x0000 0dec 9009 24 Motor temp sensor connection Temperature sensor connection Feedback port not changeable STRING R...

Page 177: ... Einheit UINT8 RO 0x00 0dec A011 13 Motor temperature Temperature utilization ratio Unit INT16 RO 0x0000 0dec 8 8 Standard objects Index 1000 Device type Index hex Name Meaning Data type Flags Default 1000 0 Device type Device type of the EtherCAT slave the Lo Word con tains the CoE profile used 5001 The Hi Word con tains the module profile according to the modular de vice profile UINT32 RO 0x0000...

Page 178: ...aning Data type Flags Default 1600 0 DRV RxPDO Map Controlword PDO Mapping RxPDO 1 UINT8 RO 0x01 1dec 1600 01 SubIndex 001 1 PDO Mapping entry object 0x7010 DRV Outputs entry 0x01 Controlword UINT32 RO 0x7010 01 16 Index 1601 DRV RxPDO Map Target velocity Index hex Name Meaning Data type Flags Default 1601 0 DRV RxPDO Map Tar get velocity PDO Mapping RxPDO 2 UINT8 RO 0x01 1dec 1601 01 SubIndex 001...

Page 179: ...001 05 1 1607 05 SubIndex 005 5 PDO Mapping entry object 0x7001 FB Touch probe outputs entry 0x06 TP1 Enable neg edge UINT32 RO 0x7001 06 1 1607 06 SubIndex 006 6 PDO Mapping entry 2 bits align UINT32 RO 0x0000 00 2 1607 07 SubIndex 007 7 PDO Mapping entry object 0x7001 FB Touch probe outputs entry 0x09 TP2 Enable UINT32 RO 0x7001 09 1 1607 08 SubIndex 008 8 PDO Mapping entry object 0x7001 FB Touc...

Page 180: ... TxPDO Map Following error actual value Index hex Name Meaning Data type Flags Default 1A06 0 DRV TxPDO Map Fol lowing error actual value PDO Mapping TxPDO 7 UINT8 RO 0x01 1dec 1A06 01 SubIndex 001 1 PDO Mapping entry object 0x6010 DRV Inputs entry 0x01 Statusword UINT32 RO 0x6010 09 32 Index 1A07 FB TxPDO Map Touch probe status Index hex Name Meaning Data type Flags Default 1A07 0 FB TxPDO Map To...

Page 181: ...lt 1C00 0 Sync manager type Using the sync managers UINT8 RO 0x04 4dec 1C00 01 SubIndex 001 Sync Manager Type Channel 1 Mailbox Write UINT8 RO 0x01 1dec 1C00 02 SubIndex 002 Sync Manager Type Channel 2 Mailbox Read UINT8 RO 0x02 2dec 1C00 03 SubIndex 003 Sync Manager Type Channel 3 Process Data Write Outputs UINT8 RO 0x03 3dec 1C00 04 SubIndex 004 Sync Manager Type Channel 4 Process Data Read Inpu...

Page 182: ...x 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 1C13 07 Subindex 007 7 allocated TxPDO contains the index of the associ ated TxPDO mapping object UINT16 RW 0x0000 0dec 1C13 08 Subindex 008 8 allocated TxPDO contains the index of the associ ated TxPDO mapping objec...

Page 183: ... 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 Measurement of the local cycle time is stopped 1 Measurement of the local cycle time is started The entries 0x1C32 03 183 0x1C32 05 183 0x1C32 06 183 0x1C32 09 183 0x1C33 03 184 0x1C33 06 183 and 0x1C33 09 184 are updated...

Page 184: ...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 08 183 UINT16 RW 0x0000 0dec 1C33 09 Maximum delay time Time between SYNC1 event and reading of the inputs in ns only DC mode UINT32 RO 0x00001C52 7250dec 1C33 0B SM event missed counter as 0x1C32 11 183 UINT16 RO 0x0000 0dec 1C33 0C Cycle exceeded co...

Page 185: ...terface 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 reserved UINT16 RW 0x0000 0dec FB40 03 Data reserved OCTET STRING 8 RW 0 EL72x1 0010 185 Version 2 0 ...

Page 186: ...he process can therefore be implemented supplier independently Support is optional The 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 XML Timestamp 8 byte local slave time or 64 bit Distributed Clock time if available Dynamic parameters added by the f...

Page 187: ... System Manager implementation From TwinCAT 2 11 DiagMessages if available are displayed in the device s own interface Operation collection confirmation also takes place via this interface Fig 175 Implementation of the DiagMessage system in the TwinCAT System Manager The operating buttons B and the history read out C can be seen on the Diag History tab A The components of the message Info Warning ...

Page 188: ...dization and can be supplier specifically defined In the case of Beckhoff EtherCAT devices EL EP it usually reads according to xyzz x y zz 0 Systeminfo 1 Info 4 Warning 8 Error 1 General 2 Communication 3 Encoder 4 Drive 5 Inputs Error number Example Message 0x4413 Drive Warning Number 0x13 EL72x1 0010 188 Version 2 0 ...

Page 189: ...e Drive is not calibrated 0x4401 Warning Drive Start type is not supported 0x4402 Warning Drive Command rejected 0x4405 Warning Drive Modulo sub type invalid 0x4410 Warning Drive Target position exceeded 0x4411 Warning Drive DC Link undervoltage Warning The DC link voltage of the terminal is lower than the pa rameterized minimum voltage Activation of the output stage is prevented 0x4412 Warning Dr...

Page 190: ...X chan nel X Delay time tolerance limit exceeded 0x X channel X 0x8307 Error Encoder Delay time maximum value exceeded 0x X channel X Delay time maximum value exceeded 0x X channel X 0x8308 Error Encoder Unsupported ordering designation 0x X chan nel X only 02 and 22 is supported Unsupported ordering designation 0x X channel X only 02 and 22 is supported 0x8309 Error Encoder Encoder CRC error chan...

Page 191: ... firmware is suitable This can result in damage to the device Therefore always make sure that the firmware is suitable for the hardware version EL7201 0010 Hardware HW Firmware FW Revision no Release date 00 02 01 EL7201 0010 0019 2013 10 02 2013 10 02 05 03 EL7201 0010 0020 2014 02 04 EL7201 0010 0021 2014 02 05 EL7201 0010 0022 2014 04 06 EL7201 0010 0023 2014 05 07 2014 07 08 EL7201 0010 0024 2...

Page 192: ...cation mechanisms Acyclic mailbox communication or register access to the ESC is used for updating or reading of these data The TwinCAT System Manager offers mechanisms for programming all 3 parts with new data if the slave is set up for this purpose Generally the slave does not check whether the new data are suitable i e it may no longer be able to operate if the data are unsuitable Attention Ris...

Page 193: ...Update of XML ESI description The device revision is closely linked to the firmware and hardware used Incompatible com binations lead to malfunctions or even final shutdown of the device Corresponding updates should only be carried out in consultation with Beckhoff support Display of ESI slave identifier The simplest way to ascertain compliance of configured and actual device description is to sca...

Page 194: ...makes sense to adapt the configuration with the Copy Before button The Extended Information checkbox must be set in order to have the revision displayed Changing the ESI slave identifier The ESI EEPROM identifier can be updated as follows under TwinCAT The EtherCAT communication with the slave must be flawless The state of the slave is irrelevant Right click on the slave in the online display to b...

Page 195: ... 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 therefore has to be switched off briefly in order for the change to take effect Determining the firmware version Determining the version on laser inscription Beckhoff EtherCAT slaves feature serial numbers applied by laser The serial nu...

Page 196: ...ion 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 used for switching between the two views In Fig Display of EL3204 firmware version the firmware version of the selected EL3204 is shown as 03 in CoE entry 0x100A Fig 182 Display of EL3204 firmware version In A TwinCAT 2 11 ...

Page 197: ... 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 components If one of these firmware components is modified this version number is updated Determining the version via the System Manager The TwinCAT System Manager indicates the FPGA firmware version Click on the Ethernet card ...

Page 198: ...ader and select Properties in the context menu Fig 185 Context menu Properties The Advanced Settings dialog appears where the columns to be displayed can be selected Under Diagnosis Online View select the 0002 ETxxxx Build check box in order to activate the FPGA firmware version display EL72x1 0010 198 Version 2 0 ...

Page 199: ... 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 System Manager select the terminal whose FPGA firmware you want to update in this example terminal 5 EL5001 and click on Advanced Settings in the EtherCAT tab EL72x1 0010 199 Version 2 0 ...

Page 200: ...Appendix Fig 187 Select dialog Advanced Settings The Advanced Settings dialog appears Under ESC Access E PROM FPGA click on Write FPGA button Fig 188 Select dialog FPGA EL72x1 0010 200 Version 2 0 ...

Page 201: ...ce 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 required Simultaneous updating of several EtherCAT devices The firmware and ESI descriptions of several devices can be updated simultaneously provided the devices have the same firmware file ESI Fig 190 Multiple selection and f...

Page 202: ...lick 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 Set Value dialog All backup objects are reset to the delivery state Fig 192 Entering a restore value in the Set Value dialog Note Alternative restore value In some older terminals the backup objects can be switched w...

Page 203: ...dquarters 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 offers you comprehensive technical assistance helping you not only with the application of individual Beckhoff products but also with other wide ranging services support design programming and commissioning of complex automation ...

Page 204: ...ig 14 States of the EtherCAT State Machine 22 Fig 15 CoE Online tab 24 Fig 16 Startup list in the TwinCAT System Manager 25 Fig 17 Offline list 26 Fig 18 Online list 26 Fig 19 Attaching on mounting rail 29 Fig 20 Disassembling of terminal 30 Fig 21 Power contact on left side 31 Fig 22 Standard wiring 32 Fig 23 Pluggable wiring 33 Fig 24 High Density Terminals 33 Fig 25 Mounting a cable on a termin...

Page 205: ...CAT tree 57 Fig 62 Updating ESI directory 58 Fig 63 TwinCAT CONFIG mode display 59 Fig 64 Differentiation local target system 59 Fig 65 Scan Devices 59 Fig 66 Note for automatic device scan 59 Fig 67 Detected Ethernet devices 60 Fig 68 Example default state 60 Fig 69 Installing EthetCAT terminal with revision 1018 61 Fig 70 Detection of EtherCAT terminal with revision 1019 61 Fig 71 Scan query aft...

Page 206: ...tic linking of all main variables 88 Fig 110 Selecting the connected voltage 89 Fig 111 Automatic scanning of the connected motor 90 Fig 112 Selecting the connected motor 90 Fig 113 List of available motors 91 Fig 114 Confirmation of the automatic NC settings parameters 91 Fig 115 Adapting the scaling 92 Fig 116 Adapting Tn 93 Fig 117 Adapting Kp 93 Fig 118 Importing the motor XML file 94 Fig 119 ...

Page 207: ...ation 128 Fig 158 Selection of the mode of operation 129 Fig 159 Selecting a predefined PDO assignment 130 Fig 160 Set enables 131 Fig 161 Specification of torque and commutation angle 132 Fig 162 Selection of the mode of operation 133 Fig 163 Selecting a predefined PDO assignment 134 Fig 164 Set enables 135 Fig 165 Position specification 136 Fig 166 Following error window 136 Fig 167 Following er...

Page 208: ...on definition 198 Fig 185 Context menu Properties 198 Fig 186 Dialog Advanced Settings 199 Fig 187 Select dialog Advanced Settings 200 Fig 188 Select dialog FPGA 200 Fig 189 Write FPGA 201 Fig 190 Multiple selection and firmware update 201 Fig 191 Selecting the Restore default parameters PDO 202 Fig 192 Entering a restore value in the Set Value dialog 202 EL72x1 0010 208 Version 2 0 ...

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Summary of Contents for EL7201-0010

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Beckhoff EL7201-0010, Documentation, Page: 51 / 208

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