Beckhoff EL95 Series, Documentation

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Commissioning
EL95xx 35 Version: 2.2
6 Commissioning
6.1 Inserting the terminal in the EtherCAT terminal network
(Master: TwinCAT 2.1x)
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 in-
structions.
The configuration tree in the Beckhoff TwinCAT System Manager can be created in 2 ways:
• by scanning of existing hardware (referred to as “online”), or
• by manually inserting/appending fieldbus devices, couplers and slaves.
Automatic scanning in of the terminal
• The Bus Terminal system must be in a safe, de-energized state before the terminals are inserted into
the terminal network as described in section Mounting rail installation [
}
22] .
• Once the operating voltage has been switched on, open the TwinCAT System Manager (Config mode)
and scan in the terminal (see Fig. Scanning in the EtherCAT configuration (I/O Devices -> right click ->
Scan Devices… ). Acknowledge all dialogs with “ OK” , so that the configuration is in “FreeRun” mode.
Fig. 27: Scanning in the EtherCAT configuration (I/O Devices-> right-click -> Scan Devices...)
Appending a terminal manually
• The Bus Terminal system must be in a safe, de-energized state before the terminals are inserted into
the terminal network as described in section Mounting rail installation [
}
22] .
• Switch on the operating voltage, open the TwinCAT System Manager (Config mode)
• Appending a new I/O device (see Fig. Appending a new I/O device (I/O Devices -> right click ->
Append Device… ). In the dialog that follows select the device EtherCAT (Direct Mode) , see Fig.
Selecting the device EtherCAT (Direct Mode) and confirm with OK.