Beckhoff EM7004, Documentation

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Table of contents
EM7004 3 Version: 2.0
Table of contents
1 Foreword .................................................................................................................................................... 4
1.1 Notes on the documentation............................................................................................................... 4
1.2 Safety instructions .............................................................................................................................. 5
1.3 Documentation issue status................................................................................................................ 6
1.4 Version identification of EtherCAT devices......................................................................................... 6
2 Product overview..................................................................................................................................... 10
2.1 Terminal Modules – System Overview ............................................................................................. 10
2.2 Introduction ....................................................................................................................................... 13
2.3 Technical data .................................................................................................................................. 14
2.4 Basic function principles ................................................................................................................... 14
2.4.1 Analog process data .............................................................................................................. 15
2.4.2 Process data equations ......................................................................................................... 15
3 Mounting and wiring ............................................................................................................................... 19
3.1 Recommended mounting rails .......................................................................................................... 19
3.2 Dimensions ....................................................................................................................................... 19
3.3 Mounting and demounting - terminals with traction lever unlocking ................................................. 19
3.4 Installation positions ......................................................................................................................... 21
3.5 Wiring................................................................................................................................................ 24
3.6 Connection technology ..................................................................................................................... 28
4 Commissioning........................................................................................................................................ 30
4.1 TwinCAT Quick Start ........................................................................................................................ 30
4.1.1 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 Updater............................................................................................................ 64
4.2.4 Distinction between Online and Offline .................................................................................. 64
4.2.5 OFFLINE configuration creation ............................................................................................ 65
4.2.6 ONLINE configuration creation .............................................................................................. 70
4.2.7 EtherCAT subscriber configuration ........................................................................................ 78
4.3 General Notes - EtherCAT Slave Application ................................................................................... 88
5 Object description and parameterization.............................................................................................. 96
5.1 Objects for commissioning................................................................................................................ 97
5.2 Objects for regular operation ............................................................................................................ 98
5.3 Standard objects (0x1000-0x1FFF) .................................................................................................. 98
5.4 Profile-specific objects (0x6000-0xFFFF) ....................................................................................... 107
6 Appendix ................................................................................................................................................ 113
6.1 Ordering information for EM7004 modules and EM/KM connectors .............................................. 113
6.2 EtherCAT AL Status Codes ............................................................................................................ 114
6.3 Firmware compatibility .................................................................................................................... 114
6.4 Firmware Update EL/ES/EM/EPxxxx.............................................................................................. 114
6.5 Restoring the delivery state ............................................................................................................ 125
6.6 Support and Service ....................................................................................................................... 126