Beckhoff EM7004 Documentation Download Page 103

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Object description and parameterization

EM7004

103

Version: 2.0

Index 1A06 ENC TxPDO-Map Ch.1

Index (hex) Name

Meaning

Data type

Flags

Default

1A06:0

ENC TxPDO-Map
Ch.1

PDO Mapping TxPDO 7

UINT8

0x0D (13

dec

)

1A06:01

SubIndex 001

1. PDO Mapping entry (1 bits align)

UINT32

0x0000:00, 1

1A06:02

SubIndex 002

2. PDO Mapping entry (object 0x6060 (ENC Inputs
Ch.1), entry 0x02 (Latch extern valid))

UINT32

0x6060:02, 1

1A06:03

SubIndex 003

3. PDO Mapping entry (object 0x6060 (ENC Inputs
Ch.1), entry 0x03 (Set counter done))

UINT32

0x6060:03, 1

1A06:04

SubIndex 004

4. PDO Mapping entry (5 bits align)

UINT32

0x0000:00, 5

1A06:05

SubIndex 005

5. PDO Mapping entry (object 0x6060 (ENC Inputs
Ch.1), entry 0x09 (Status of input A))

UINT32

0x6060:09, 1

1A06:06

SubIndex 006

6. PDO Mapping entry (object 0x6060 (ENC Inputs
Ch.1), entry 0x0A (Status of input B))

UINT32

0x6060:0A, 1

1A06:07

SubIndex 007

7. PDO Mapping entry (1 bits align)

UINT32

0x0000:00, 1

1A06:08

SubIndex 008

8. PDO Mapping entry (object 0x6060 (ENC Inputs
Ch.1), entry 0x0C (Status of input gate))

UINT32

0x6060:0C, 1

1A06:09

SubIndex 009

9. PDO Mapping entry (object 0x6060 (ENC Inputs
Ch.1), entry 0x0D (Status of extern latch))

UINT32

0x6060:0D, 1

1A06:0A

SubIndex 010

10. PDO Mapping entry (2 bits align)

UINT32

0x0000:00, 2

1A06:0B

SubIndex 011

11. PDO Mapping entry (object 0x1806, entry 0x09)

UINT32

0x1806:09, 1

1A06:0C

SubIndex 012

12. PDO Mapping entry (object 0x6060 (ENC Inputs
Ch.1), entry 0x11 (Counter value))

UINT32

0x6060:11, 16

1A06:0D

SubIndex 013

13. PDO Mapping entry (object 0x6060 (ENC Inputs
Ch.1), entry 0x12 (Latch value))

UINT32

0x6060:12, 16

Index 1A07 ENC TxPDO-Map Ch.2

Index (hex) Name

Meaning

Data type

Flags

Default

1A07:0

ENC TxPDO-Map
Ch.2

PDO Mapping TxPDO 8

UINT8

0x0D (13

dec

)

1A07:01

SubIndex 001

1. PDO Mapping entry (1 bits align)

UINT32

0x0000:00, 1

1A07:02

SubIndex 002

2. PDO Mapping entry (object 0x6070 (ENC Inputs
Ch.2), entry 0x02 (Latch extern valid))

UINT32

0x6070:02, 1

1A07:03

SubIndex 003

3. PDO Mapping entry (object 0x6070 (ENC Inputs
Ch.2), entry 0x03 (Set counter done))

UINT32

0x6070:03, 1

1A07:04

SubIndex 004

4. PDO Mapping entry (5 bits align)

UINT32

0x0000:00, 5

1A07:05

SubIndex 005

5. PDO Mapping entry (object 0x6070 (ENC Inputs
Ch.2), entry 0x09 (Status of input A))

UINT32

0x6070:09, 1

1A07:06

SubIndex 006

6. PDO Mapping entry (object 0x6070 (ENC Inputs
Ch.2), entry 0x0A (Status of input B))

UINT32

0x6070:0A, 1

1A07:07

SubIndex 007

7. PDO Mapping entry (1 bits align)

UINT32

0x0000:00, 1

1A07:08

SubIndex 008

8. PDO Mapping entry (object 0x6070 (ENC Inputs
Ch.2), entry 0x0C (Status of input gate))

UINT32

0x6070:0C, 1

1A07:09

SubIndex 009

9. PDO Mapping entry (object 0x6070 (ENC Inputs
Ch.2), entry 0x0D (Status of extern latch))

UINT32

0x6070:0D, 1

1A07:0A

SubIndex 010

10. PDO Mapping entry (2 bits align)

UINT32

0x0000:00, 2

1A07:0B

SubIndex 011

11. PDO Mapping entry (object 0x1807, entry 0x09)

UINT32

0x1807:09, 1

1A07:0C

SubIndex 012

12. PDO Mapping entry (object 0x6070 (ENC Inputs
Ch.2), entry 0x11 (Counter value))

UINT32

0x6070:11, 16

1A07:0D

SubIndex 013

13. PDO Mapping entry (object 0x6070 (ENC Inputs
Ch.2), entry 0x12 (Latch value))

UINT32

0x6070:12, 16

Summary of Contents for EM7004

Page 1: ...Documentation EM7004 4 Axis Interface 16 Digital Inputs 16 Digital Outputs 4 Analog Outputs 4 Encoder Inputs 2 0 2016 09 21 Version Date...

Page 2: ......

Page 3: ...1 1 TwinCAT 2 32 4 1 2 TwinCAT 3 42 4 2 TwinCAT Development Environment 54 4 2 1 Installation of the TwinCAT real time driver 54 4 2 2 Notes regarding ESI device description 60 4 2 3 TwinCAT ESI Upda...

Page 4: ...he data diagrams and descriptions in this documentation Trademarks Beckhoff TwinCAT EtherCAT Safety over EtherCAT TwinSAFE XFC and XTS are registered trademarks of and licensed by Beckhoff Automation...

Page 5: ...liar with the applicable national standards Description of symbols In this documentation the following symbols are used with an accompanying safety instruction or note The safety instructions must be...

Page 6: ...erminal 12 mm non pluggable connection level 3314 4 channel thermocouple terminal 0000 basic type 0016 CU2008 0000 000 0 CU device 2008 8 port fast ethernet switch 0000 basic type 0000 ES3602 0010 001...

Page 7: ...istinguishing the individual modules of a batch Structure of the serial number KK YY FF HH KK week of production CW calendar week YY year of production FF firmware version HH hardware version Example...

Page 8: ...Examples of markings Fig 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 CU2...

Page 9: ...Fig 5 EP1258 00001 IP67 EtherCAT Box with batch number 22090101 and unique serial number 158102 Fig 6 EP1908 0002 IP76 EtherCAT Safety Box with batch number 071201FF and unique serial number 00346070...

Page 10: ...overall installed size and application specific signal mix The new Terminal Modules are fully system compatible Like the Bus Terminals they are bus neutral and can therefore be operated with any Beckh...

Page 11: ...od ZS2001 0002 Fig 11 Terminal module with connector for three wire connection ZS2001 0004 Packing density The Terminal Modules combine 16 32 or 64 digital inputs or outputs on a very small area This...

Page 12: ...Product overview EM7004 12 Version 2 0 Fig 12 Terminal module with 16 channels Fig 13 Terminal module with 32 channels Fig 14 Terminal module with 64 channels...

Page 13: ...ts and outputs and 4 analog 10 V outputs For fast preprocessing the digital outputs can be connected directly via the 4 encoders PLS This function is parameterizable All inputs and outputs operate wit...

Page 14: ...ing storage 25 C 85 C Permissible relative humidity 95 no condensation Mounting 19 on 35 mm mounting rail conforms to EN 60715 Vibration shock resistance conforms to EN 60068 2 6 EN 60068 2 27 EMC imm...

Page 15: ...at absolute value Output value Output voltage hexadecimal decimal 0x8001 32769 10 V 0xC001 16383 5 V 0x0000 0 0 V 0x3FFF 16383 5 V 0x7FFF 32767 10 V 2 4 2 Process data equations Calculation The proces...

Page 16: ...acturer calibration gain can only be changed if the Producer codeword object 0xF008 112 is set 0x802F 02 98 0x803F 02 98 0x804F 02 98 0x805F 02 98 BW User scaling offset can be activated via feature o...

Page 17: ...tput value through the OFFSET is linear up to the lower 10 V or upper limit value 10 V User specific output value user default output The analog output value can e g in the case of a failure of commun...

Page 18: ...witch values object 0x80A2 111 contains up to 75 output data PLS output data The PLS function can only be activated if the subindex 0 number of following subindices for objects 0x80A1 111 and 0x80A2 1...

Page 19: ...EL67xx series does not fit to the DIN Rail TH 35 15 with 2 2 to 2 5 mm material thickness according to EN 60715 3 2 Dimensions EM7004 Fig 16 EM7004 dimensions 3 3 Mounting and demounting terminals wi...

Page 20: ...l it latches in place on the mounting rail 2 Attach the cables Demounting Remove all the cables Thanks to the KM EM connector it is not necessary to remove all the cables separately for this but for e...

Page 21: ...ace 3 4 Installation positions Attention Constraints regarding installation position and operating temperature range Please refer to the technical data for a terminal to ascertain whether any restrict...

Page 22: ...les optimum cooling of the electronics through convection From below is relative to the acceleration of gravity Fig 17 Recommended distances for standard installation position Compliance with the dist...

Page 23: ...Mounting and wiring EM7004 23 Version 2 0 Fig 18 Other installation positions...

Page 24: ...module connect the clamped joint X8 see Fig Clamped joint for power supply with the 24 V supply voltage Fig 19 Clamped joint for power supply Attention Risk of damage to the module note sum current Re...

Page 25: ...For alternative supply US of the EM module connect connectors X0 X3 see Fig Connec tion of the module with alternative power supply the positive supply voltage to terminal location 24 V the negative s...

Page 26: ...put 13 5 X1 Input 14 6 X1 Input 15 7 X1 0 V 0 V X1 Connection for clamped joints X2 X3 Digital outputs channel 0 15 16 channels with connector ZS2001 0002 or ZS2001 0004 Connection Terminal point on E...

Page 27: ...ut A 1 X5 Encoder 2 input A 2 X5 Encoder 2 input B 3 X5 Encoder 2 input B 4 X5 Encoder 2 Gate 5 X5 Encoder 2 Latch 6 X5 Ground 7 X5 Analog output 2 10 V 8 X5 Analog output 2 10 V 9 X5 Shield 10 X5 Enc...

Page 28: ...The digital inputs and outputs can be connected in single conductor see example terminal point 0 two conductor see example terminal point 3 or three conductor mode see example terminal point 6 Input...

Page 29: ...Mounting and wiring EM7004 29 Version 2 0 Output circuits Fig 22 Output circuits single two and three conductor mode...

Page 30: ...ger I O Configuration In particular TwinCAT driver installation Fieldbus components Fieldbus Cards and Switches FC900x PCI Cards for Ethernet Installation Devices contain the terminals for the actual...

Page 31: ...d on the following sample configuration the subsequent subsections describe the procedure for TwinCAT 2 and TwinCAT 3 Control system PLC CX2040 including CX2100 0004 power supply unit Connected to the...

Page 32: ...which case the EK1100 coupler wouldn t be necessary 4 1 1 TwinCAT 2 Startup TwinCAT basically uses two user interfaces the TwinCAT System Manager for communication with the electromechanical componen...

Page 33: ...e made known first In the menu under Actions Choose Target System via the symbol or the F8 key open the following window Fig 26 Selection of the target system Use Search Ethernet to enter the target s...

Page 34: ...have to be set to Config mode via or via menu Actions Set Reset TwinCAT to Config Mode Shift F4 Fig 28 Select Scan Devices Confirm the warning message which follows and select EtherCAT in the dialog F...

Page 35: ...u which then reads the elements present in the configuration below Fig 31 Reading of individual terminals connected to a device This functionality is useful if the actual configuration is modified at...

Page 36: ...ction 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 project...

Page 37: ...cessful compilation TwinCAT PLC Control creates a tpy file in the directory in which the project was stored This file tpy contains variable assignments and is not known to the System Manager hence the...

Page 38: ...Manager The two variables bEL1004_Ch4 and nEL2008_value can now be assigned to certain process objects of the I O configuration Assigning variables Open a window for selecting a suitable process objec...

Page 39: ...aneously activate Continuous and All types Note that the Continuous checkbox was also activated This is designed to allocate the bits contained in the byte of the variable nEL2008_value sequentially t...

Page 40: ...ntext menu of a PDO can be executed in the other direction so that the respective PLC instance can then be selected Activation of the configuration The allocation of PDO to PLC variables has now estab...

Page 41: ...k the PLC with the real time system via menu option Online Login the F11 key or by clicking on the symbol The control program can then be loaded for execution This results in the message No program on...

Page 42: ...onment areas available together with Microsoft Visual Studio after startup the project folder explorer appears on the left in the general window area cf TwinCAT System Manager of TwinCAT 2 for communi...

Page 43: ...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 43 Create new TwinCAT project The...

Page 44: ...ed on the respective PLC TwinCAT can be used in local mode and thereby the next step is Insert Device 45 If the intention is to address the TwinCAT runtime environment installed on a PLC as developmen...

Page 45: ...n entered it is available for selection as follows a password may have to be entered After confirmation with OK the target system can be accessed via the Visual Studio shell Adding devices In the proj...

Page 46: ...be acknowledged Based on the sample configuration 31 described at the beginning of this section the result is as follows Fig 49 Mapping of the configuration in VS shell of the TwinCAT3 environment The...

Page 47: ...l supports all languages described in IEC 61131 3 There are two text based languages and three graphical languages Text based languages Instruction List IL Structured Text ST Graphical languages Funct...

Page 48: ...LC_example as project name for example and select a corresponding directory Fig 52 Specifying the name and directory for the PLC programming environment The Main program which already exists by select...

Page 49: ...Commissioning EM7004 49 Version 2 0 Fig 53 Initial Main program of the standard PLC project To continue sample variables and a sample program have now been created...

Page 50: ...r followed by the compile process Fig 55 Start program compilation The following variables identified in the ST PLC program with AT are then available in under Assignments in the project folder explor...

Page 51: ...on tree Fig 57 Selecting PDO of type BOOL According to the default setting certain PDO objects are now available for selection In this sample the input of channel 4 of the EL1004 terminal is selected...

Page 52: ...s can also be checked by selecting a Goto Link Variable from the context menu of a variable The object opposite in this case the PDO is automatically selected Fig 59 Application of a Goto Link variabl...

Page 53: ...he bottom right of the VS shell development environment The PLC system can then be started as described below Starting the controller Select the menu option PLC Login or click on to link the PLC with...

Page 54: ...tomation Visual Studio Integration Choice of the programming language Supports object orientated extension of IEC 61131 3 Usage of C C as programming language for real time applications Connection to...

Page 55: ...s listed under Compatible devices can be assigned a driver via the Install button A driver should only be installed on compatible devices A Windows warning regarding the unsigned driver can be ignored...

Page 56: ...s of the EtherCAT device can be opened by double click on Device EtherCAT within the Solution Explorer under I O After the installation the driver appears activated in the Windows overview for the net...

Page 57: ...Commissioning EM7004 57 Version 2 0 Fig 66 Exemplary correct driver setting for the Ethernet port Other possible settings have to be avoided...

Page 58: ...rt general IP packets For 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...

Page 59: ...Commissioning EM7004 59 Version 2 0 Fig 68 TCP IP setting for the Ethernet port...

Page 60: ...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 Interne...

Page 61: ...ision 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...

Page 62: ...ed as follows close all System Manager windows restart TwinCAT in Config mode delete OnlineDescription0000 xml restart TwinCAT System Manager This file should not be visible after this procedure if ne...

Page 63: ...7004 63 Version 2 0 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 fi...

Page 64: ...sence of the actual I O environment drives terminals EJ modules If the configuration is to be prepared in advance of the system configuration as a programming system e g on a laptop this is only possi...

Page 65: ...ion 75 can also be carried out for comparison 4 2 5 OFFLINE configuration creation Creating the EtherCAT device Create an EtherCAT device in an empty System Manager window Fig 77 Append EtherCAT devic...

Page 66: ...ces can be appended by right clicking on a device in the configuration tree Fig 81 Appending EtherCAT devices left TwinCAT 2 right TwinCAT 3 The dialog for selecting a new device opens Only devices fo...

Page 67: ...ion can be displayed as Extended Information Fig 83 Display of device revision In many cases several device revisions were created for historic or functional reasons e g through technological advancem...

Page 68: ...on 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 configurat...

Page 69: ...Commissioning EM7004 69 Version 2 0 Fig 86 EtherCAT terminal in the TwinCAT tree left TwinCAT 2 right TwinCAT 3...

Page 70: ...e Online scanning in Config mode The online search is not available in RUN mode production operation Note the differenti ation between TwinCAT programming system and TwinCAT target system The TwinCAT...

Page 71: ...nning the EtherCAT devices Note Online scan functionality During a scan the master queries the identity information of the EtherCAT slaves from the slave EEPROM The name and revision are used for dete...

Page 72: ...predecessor version s an adaptation of B tsm or even B pro is therefore unnecessary The series produced machines can continue to be built with B tsm and B pro it makes sense to perform a comparative s...

Page 73: ...nfiguration is established and can then be switched to online state OPERATIONAL Fig 97 Config FreeRun query left TwinCAT 2 right TwinCAT 3 In Config FreeRun mode the System Manager display alternates...

Page 74: ...ce 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...

Page 75: ...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 76: ...on the higher revision number Note Device selection based on revision compatibility The ESI description also defines the process image the communication type between mas ter and slave device and the d...

Page 77: ...aining the links in the task Fig 106 Dialog Change to Compatible Type left TwinCAT 2 right TwinCAT 3 This function is preferably to be used on AX5000 devices If called the System Manager suggests the...

Page 78: ...s 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 pro...

Page 79: ...the start up phase Tick the control box to the left of the input field in order to modify the default value Previous Port Name and port of the EtherCAT device to which this device is connected If it...

Page 80: ...difications include mask out a channel displaying additional cyclic information 16 bit display instead of 8 bit data size etc In so called intelligent EtherCAT devices the process data information is...

Page 81: ...of incorrect con figuration the EtherCAT slave usually refuses to start and change to OP state The System Manager displays an invalid SM cfg logger message This error message invalid SM IN cfg or inva...

Page 82: ...nt to the mailbox Move Up This button moves the selected request up by one position in the list Move Down This button moves the selected request down by one position in the list New This button adds a...

Page 83: ...ndex and sub index of the object Name Name of the object Flags RW The object can be read and data can be written to the object read write RO The object can be read but no data can be written to the ob...

Page 84: ...specify which objects are displayed in the list Fig 115 Dialog Advanced settings Online via SDO Information If this option button is selected the list of the objects included in the object list of th...

Page 85: ...the fault display If an EtherCAT slave fails during change of state it sets an error flag Example An EtherCAT slave is in PREOP state pre operational The master now requests the SAFEOP state safe oper...

Page 86: ...ocks Operation Mode Options optional FreeRun SM Synchron DC Synchron Input based DC Synchron Advanced Settings Advanced settings for readjustment of the real time determinant TwinCAT clock Detailed in...

Page 87: ...button for TwinCAT 3 PDO list List of all PDOs supported by this EtherCAT device The content of the selected PDOs is displayed in the PDO Content list The PDO configuration can be modified by double...

Page 88: ...ny application that relies on I O data from a fieldbus being correct and up to date must make diagnostic access to the corresponding underlying layers EtherCAT and the TwinCAT System Manager offer com...

Page 89: ...nt the latest possible status It is therefore useful to read such variables through ADS Fig Basic EtherCAT Slave Diagnosis in the PLC shows an example of an implementation of basic EtherCAT Slave Diag...

Page 90: ...ave effects on the process data of other Slaves that are located in the same Syn cUnit In order for the higher level PLC task or cor responding control applications to be able to rely on correct data...

Page 91: ...locally in the slave depends on the device EL terminals except the EL66xx are able to save in this way The user must manage the changes to the StartUp list Commissioning aid in the TwinCAT System Man...

Page 92: ...l operation After the operating power is switched on an EtherCAT Slave must go through the following statuses INIT PREOP SAFEOP OP to ensure sound operation The EtherCAT Master directs these statuses...

Page 93: ...as standard EtherCAT Master OP Slaves OP This setting applies equally to all Slaves Fig 122 Default behaviour of the System Manager In addition the target state of any particular Slave can be set in...

Page 94: ...e Fig 124 PLC function blocks Note regarding E Bus current EL ES terminals are placed on the DIN rail at a coupler on the terminal strand A Bus Coupler can supply the EL terminals added to it with the...

Page 95: ...a warning message E Bus Power of Terminal is output in the logger window when such a configuration is activated Fig 126 Warning message for exceeding E Bus current Attention Caution Malfunction possi...

Page 96: ...ve object or via the Process Data tab 79 allocation of PDOs Please note the following general CoE notes when using manipulating the CoE parameters Keep a startup list if components have to be replaced...

Page 97: ...l be set to either the manufacturer s or the user s default value TRUE The watchdog timer is deactivated In the event of a fail ure of communication the analog output value will not be set to either t...

Page 98: ...BIT2 RW 0x03 3dec Index 80A0 PLS Settings Index hex Name Meaning Data type Flags Default 80A0 0 PLS Settings Maximum subindex UINT8 RO 0x12 18dec 80A0 01 Encoder as PLS source 0 Channel 1 is the sour...

Page 99: ...ty Index hex Name Meaning Data type Flags Default 1018 0 Identity Information for identifying the slave UINT8 RO 0x04 4dec 1018 01 Vendor ID Vendor ID of the EtherCAT slave UINT32 RO 0x00000002 2dec 1...

Page 100: ...INT32 RO 0x7010 0B 1 1601 0C SubIndex 012 12 PDO Mapping entry object 0x7010 DO Outputs entry 0x0C Output 11 UINT32 RO 0x7010 0C 1 1601 0D SubIndex 013 13 PDO Mapping entry object 0x7010 DO Outputs en...

Page 101: ...tputs Ch 2 entry 0x02 Enable latch extern on positive edge UINT32 RO 0x7070 02 1 1607 03 SubIndex 003 3 PDO Mapping entry object 0x7070 ENC Outputs Ch 2 entry 0x03 Set counter UINT32 RO 0x7070 03 1 16...

Page 102: ...0x01 Input 0 UINT32 RO 0x6000 01 1 1A00 02 SubIndex 002 2 PDO Mapping entry object 0x6000 DI Inputs entry 0x02 Input 1 UINT32 RO 0x6000 02 1 1A00 03 SubIndex 003 3 PDO Mapping entry object 0x6000 DI...

Page 103: ...0x6060 11 16 1A06 0D SubIndex 013 13 PDO Mapping entry object 0x6060 ENC Inputs Ch 1 entry 0x12 Latch value UINT32 RO 0x6060 12 16 Index 1A07 ENC TxPDO Map Ch 2 Index hex Name Meaning Data type Flags...

Page 104: ...TxPDO Map Ch 4 PDO Mapping TxPDO 10 UINT8 RO 0x0D 13dec 1A09 01 SubIndex 001 1 PDO Mapping entry 1 bits align UINT32 RO 0x0000 00 1 1A09 02 SubIndex 002 2 PDO Mapping entry object 0x6090 ENC Inputs C...

Page 105: ...x1605 5637dec 1C12 06 SubIndex 006 6 allocated RxPDO contains the index of the associated RxPDO mapping object UINT16 RO 0x1606 5638dec 1C12 07 SubIndex 007 7 allocated RxPDO contains the index of the...

Page 106: ...Minimum cycle time Minimum cycle time in ns UINT32 RO 0x00000000 0dec 1C32 06 Calc and copy time Minimum time between SYNC0 and SYNC1 event in ns DC mode only UINT32 RO 0x00000000 0dec 1C32 08 Command...

Page 107: ...3 01 DC mode is supported Bit 4 5 01 input shift through local event outputs available Bit 4 5 10 input shift with SYNC1 event no outputs available Bit 14 1 dynamic times measurement through writing o...

Page 108: ...dec 6060 09 Status of input A Status of input A BOOLEAN RO 0x00 0dec 6060 0A Status of input B Status of input B BOOLEAN RO 0x00 0dec 6060 0C Status of input gate Status of the gate input BOOLEAN RO 0...

Page 109: ...Ch 4 Index hex Name Meaning Data type Flags Default 6090 0 ENC Inputs Ch 4 Maximum subindex UINT8 RO 0x12 18dec 6090 02 Latch extern valid The counter value was stored via the external latch in dex 0x...

Page 110: ...ubindex UINT8 RO 0x11 17dec 7020 11 Analog output Analog output value INT16 RO 0x0000 0dec Index 7030 AO Outputs Ch 2 Index hex Name Meaning Data type Flags Default 7030 0 AO Outputs Ch 2 Maximum subi...

Page 111: ...ENC Outputs Ch 4 Index hex Name Meaning Data type Flags Default 7090 0 ENC Outputs Ch 4 Maximum subindex UINT8 RO 0x11 17dec 7090 02 Enable latch extern on positive edge The external latch is enabled...

Page 112: ...lags Default F010 0 Module list Maximum subindex UINT8 RW 0x0B 11dec F010 01 SubIndex 001 Digital Input Profil 100 UINT32 RW 0x00000064 100dec F010 02 SubIndex 002 Digital Output Profil 200 UINT32 RW...

Page 113: ...the combination options and ordering information for the modules and connectors Order identifier enclosed EM KM connectors EM7004 0000 none EM7004 0002 4x ZS2001 0002 4x ZS2001 0005 EM7004 0004 4x ZS...

Page 114: ...a firmware can be operated Note It is recommended to use the newest possible firmware for the respective hardware Beckhoff is not under any obligation to provide customers with free firmware updates...

Page 115: ...happen it is necessary for the firmware to be in a packed format recognizable by the file name which also contains the revision number e g ELxxxx xxxx_REV0016_SW01 efw for password 1 to be entered in...

Page 116: ...erCAT system documentation Note 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 shut...

Page 117: ...configured In this case the configuration can be adapted with the Copy Before button The Extended Information checkbox must be set in order to display the revision Changing the ESI slave identifier Th...

Page 118: ...EtherCAT devices read a modified ESI description immediately or after startup from the INIT Some communication settings such as distributed clocks are only read during power on The EtherCAT slave the...

Page 119: ...therCAT Slave Information ESI XML may contain the default content of the CoE This CoE directory can only be displayed if it is included in the ESI e g Beckhoff EL5xxx xml The Advanced button must be u...

Page 120: ...firmware for processing I O signals FPGA firmware for EtherCAT communication only for terminals with FPGA The firmware version number included in the terminal serial number contains both firmware com...

Page 121: ...right click the table header and select Properties in the context menu Fig 139 Context menu Properties The Advanced Settings dialog appears where the columns to be displayed can be selected Under Dia...

Page 122: ...11 or higher of an E Bus Terminal the terminal must have FPGA firmware version 10 or higher Older firmware versions can only be updated by the manufacturer Updating an EtherCAT device In the TwinCAT S...

Page 123: ...Appendix EM7004 123 Version 2 0 Fig 141 Select dialog Advanced Settings The Advanced Settings dialog appears Under ESC Access E PROM FPGA click on Write FPGA button Fig 142 Select dialog Write FPGA...

Page 124: ...rupted the Ether CAT device can only be recommissioned by the manufacturer In order to activate the new FPGA firmware a restart switching the power supply off and on again of the EtherCAT device is re...

Page 125: ...parameters PDO Double click on SubIndex 001 to enter the Set Value dialog Enter the value 1684107116 in field Dec or the value 0x64616F6C in field Hex and confirm with OK Fig Entering a restore value...

Page 126: ...nents there Beckhoff Headquarters Beckhoff Automation GmbH Co KG Huelshorstweg 20 33415 Verl Germany Phone 49 0 5246 963 0 Fax 49 0 5246 963 198 e mail info beckhoff com Beckhoff Support Support offer...

Page 127: ...for power supply 24 Fig 20 Connection of the module with alternative power supply 25 Fig 21 Input circuits single two and three conductor mode 28 Fig 22 Output circuits single two and three conductor...

Page 128: ...er Options TwinCAT 2 55 Fig 62 Call up under VS Shell TwinCAT 3 55 Fig 63 Overview of network interfaces 55 Fig 64 EtherCAT device properties TwinCAT 2 click on Compatible Devices of tab Adapter 56 Fi...

Page 129: ...n of the terminal 76 Fig 105 Correction dialog with modifications 77 Fig 106 Dialog Change to Compatible Type left TwinCAT 2 right TwinCAT 3 77 Fig 107 TwinCAT 2 Dialog Change to Alternative Type 77 F...

Page 130: ...ig 137 Firmware Update 120 Fig 138 FPGA firmware version definition 121 Fig 139 Context menu Properties 121 Fig 140 Dialog Advanced Settings 122 Fig 141 Select dialog Advanced Settings 123 Fig 142 Sel...

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