Beckhoff EtherCAT EL6001 Documentation Download Page 178

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Overview CoE objects EL6002, EL6022

EL600x, EL602x

178

Version: 4.6

Index 0x1A05 COM TxPDO-Map Inputs Ch.2

Index
(hex)

Name

Meaning

Data type

Flags Default

1A05:0

COM TxPDO-Map In-
puts Ch.2

PDO Mapping TxPDO 1

UINT8

0x17 (23

dec

)

1A05:01

SubIndex 0x001

1. PDO Mapping entry (object 0x6011 (Status Ch.2),
entry 0x01 (Status))

UINT16

0x6011:01, 16

1A05:02

SubIndex 0x002

2. PDO Mapping entry (object 0x6010 (COM Inputs
Ch.2), entry 0x11 (Data In 0))

UINT8

0x6010:11, 8

1A05:03

SubIndex 0x003

3. PDO Mapping entry (object 0x6010 (COM Inputs
Ch.2), entry 0x12 (Data In 1))

UINT8

0x6010:12, 8

1A05:04

SubIndex 0x004

4. PDO Mapping entry (object 0x6010 (COM Inputs
Ch.2), entry 0x13 (Data In 2))

UINT8

0x6010:13, 8

1A05:05

SubIndex 0x005

5. PDO Mapping entry (object 0x6010 (COM Inputs
Ch.2), entry 0x14 (Data In 3))

UINT8

0x6010:14, 8

1A05:06

SubIndex 0x006

6. PDO Mapping entry (object 0x6010 (COM Inputs
Ch.2), entry 0x15 (Data In 4))

UINT8

0x6010:15, 8

1A05:07

SubIndex 0x007

7. PDO Mapping entry (object 0x6010 (COM Inputs
Ch.2), entry 0x16 (Data In 5))

UINT8

0x6010:16, 8

1A05:08

SubIndex 0x008

8. PDO Mapping entry (object 0x6010 (COM Inputs
Ch.2), entry 0x17 (Data In 6))

UINT8

0x6010:17, 8

1A05:09

SubIndex 0x009

9. PDO Mapping entry (object 0x6010 (COM Inputs
Ch.2), entry 0x18 (Data In 7))

UINT8

0x6010:18, 8

1A05:0A

SubIndex 0x010

10. PDO Mapping entry (object 0x6010 (COM Inputs
Ch.2), entry 0x19 (Data In 8))

UINT8

0x6010:19, 8

1A05:0B

SubIndex 0x011

11. PDO Mapping entry (object 0x6010 (COM Inputs
Ch.2), entry 0x1A (Data In 9))

UINT8

0x6010:1A, 8

1A05:0C

SubIndex 0x012

12. PDO Mapping entry (object 0x6010 (COM Inputs
Ch.2), entry 0x1B (Data In 10))

UINT8

0x6010:1B, 8

1A05:0D

SubIndex 0x013

13. PDO Mapping entry (object 0x6010 (COM Inputs
Ch.2), entry 0x1C (Data In 11))

UINT8

0x6010:1C, 8

1A05:0E

SubIndex 0x014

14. PDO Mapping entry (object 0x6010 (COM Inputs
Ch.2), entry 0x1D (Data In 12))

UINT8

0x6010:1D, 8

1A05:0F

SubIndex 0x015

15. PDO Mapping entry (object 0x6010 (COM Inputs
Ch.2), entry 0x1E (Data In 13))

UINT8

0x6010:1E, 8

1A05:10

SubIndex 0x016

16. PDO Mapping entry (object 0x6010 (COM Inputs
Ch.2), entry 0x1F (Data In 14))

UINT8

0x6010:1F, 8

1A05:11

SubIndex 0x017

17. PDO Mapping entry (object 0x6010 (COM Inputs
Ch.2), entry 0x20 (Data In 15))

UINT8

0x6010:20, 8

1A05:12

SubIndex 0x018

17. PDO Mapping entry (object 0x6010 (COM Inputs
Ch.2), entry 0x21 (Data In 16))

UINT8

0x6010:21, 8

1A05:13

SubIndex 0x019

19. PDO Mapping entry (object 0x6010 (COM Inputs
Ch.2), entry 0x22 (Data In 17))

UINT8

0x6010:22, 8

1A05:14

SubIndex 0x020

20. PDO Mapping entry (object 0x6010 (COM Inputs
Ch.2), entry 0x23 (Data In 18))

UINT8

0x6010:23, 8

1A05:15

SubIndex 0x021

21. PDO Mapping entry (object 0x6010 (COM Inputs
Ch.2), entry 0x24 (Data In 19))

UINT8

0x6010:24, 8

1A05:16

SubIndex 0x022

22. PDO Mapping entry (object 0x6010 (COM Inputs
Ch.2), entry 0x25 (Data In 20))

UINT8

0x6010:25, 8

1A05:17

SubIndex 0x023

23. PDO Mapping entry (object 0x6010 (COM Inputs
Ch.2), entry 0x26 (Data In 21))

UINT8

0x6010:26, 8

Index 0x1C00 Sync manager type

Index
(hex)

Name

Meaning

Data type

Flags Default

1C00:0

Sync manager type

Using the sync managers

UINT8

0x04 (4

dec

)

1C00:01

SubIndex 0x001

Sync-Manager Type Channel 1: Mailbox Write

UINT8

0x01 (1

dec

)

1C00:02

SubIndex 0x002

Sync-Manager Type Channel 2: Mailbox Read

UINT8

0x02 (2

dec

)

1C00:03

SubIndex 0x003

Sync-Manager Type Channel 3: Process Data Write
(Outputs)

UINT8

0x03 (3

dec

)

1C00:04

SubIndex 0x004

Sync-Manager Type Channel 4: Process Data Read
(Inputs)

UINT8

0x04 (4

dec

)

Summary of Contents for EtherCAT EL6001

Page 1: ...Documentation EL600x EL602x Serial Interface Terminals 4 6 2018 09 24 Version Date...

Page 2: ......

Page 3: ...CoE Interface 27 3 6 Distributed Clock 32 4 Mounting and Wiring 33 4 1 Instructions for ESD protection 33 4 2 EL6001 EL6021 33 4 2 1 Installation on mounting rails 33 4 2 2 Connection 36 4 2 3 Positio...

Page 4: ...144 6 1 Object description and parameterization 144 6 1 1 Objects for commissioning 144 6 1 2 Standard objects 0x1000 0x1FFF 146 6 1 3 Profile specific objects 0x6000 0xFFFF from hardware version 03...

Page 5: ...ion has been prepared with care The products described are however constantly under development We reserve the right to revise and change the documentation at any time and without prior announcement N...

Page 6: ...oduction distribution and utilization of this document as well as the communication of its contents to others without express authorization are prohibited Offenders will be held liable for the payment...

Page 7: ...trained specialists in control automation and drive engineering who are familiar with the applicable national standards Description of instructions In this documentation the following instructions ar...

Page 8: ...ion Installation instructions for enhanced mechanical load capacity moved from subsection EL6001 EL6021 to section Mounting and wiring Section Installation positions removed from subsection EL6001 EL6...

Page 9: ...n EL3314 0000 0016 EL terminal 12 mm non pluggable connection level 3314 4 channel thermocouple terminal 0000 basic type 0016 ES3602 0010 0017 ES terminal 12 mm pluggable connection level 3602 2 chann...

Page 10: ...atch 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 with Ser no 12063A02 12 production week 12...

Page 11: ...les of markings Fig 1 EL5021 EL terminal standard IP20 IO device with serial batch number and revision ID since 2014 01 Fig 2 EK1100 EtherCAT coupler standard IP20 IO device with serial batch number F...

Page 12: ...5 EP1258 00001 IP67 EtherCAT Box with batch number date code 22090101 and unique serial number 158102 Fig 6 EP1908 0002 IP67 EtherCAT Safety Box with batch number date code 071201FF and unique serial...

Page 13: ...Foreword EL600x EL602x 13 Version 4 6 Fig 8 ELM3604 0002 terminal with unique ID number QR code 100001051 and serial batch number 44160201...

Page 14: ...the parity is even O ODD The parity bit is set by the sender such that the parity is odd N NOT no parity bit M MARK The parity bit is set to 1 by the sender S SPACE The parity bit is set to 0 by the s...

Page 15: ...RS422 485 these are 120 resistors which together with the line resistance result in a voltage drop over the transmission link Permitted cable length The line resistance together with the termination r...

Page 16: ...logy The termination and the bias resistors generate a load on the bus However they are essential for unambiguous bus levels and therefore have to be positioned with diligence Ideally the RS422 485 bu...

Page 17: ...Product overview EL600x EL602x 17 Version 4 6 Fig 12 EL60xx shield connection In the 2 channel versions the D Sub 9 shield is connected with the mounting rail via a high resistance RC combination...

Page 18: ...ependently of the higher level bus system in full duplex mode or selectable half duplex mode EL6021 at up to 115 2 kbaud The RS232 interface guarantees high immunity to interference through electrical...

Page 19: ...yp 250 mA Electrical isolation 500 V E bus RS232C 500 V E bus RS422 E bus RS485 Bit width in process image 1 x 8 bit Control Status Inputs Outputs 3 x 8 bit user data or 1 x 8 bit Control Status Input...

Page 20: ...communication channel operates independently of the higher level EtherCAT system in full duplex mode with 300 baud up to 115 2 kbaud The RS232 RS422 RS485 interfaces guarantee high interference immun...

Page 21: ...RS232C 500 V E bus RS422 E bus RS485 Bit width in process image 1 x 16 bit Control Status Inputs Outputs 22 x 8 bit user data Configuration no address setting required configuration via TwinCAT System...

Page 22: ...O IEC 8802 3 Pin Color of conductor Signal Description 1 yellow TD Transmission Data 2 orange TD Transmission Data 3 white RD Receiver Data 6 blue RD Receiver Data Due to automatic cable detection aut...

Page 23: ...minal for longer than the set and activated SM watchdog time e g in the event of a line interruption the watchdog is triggered and the outputs are set to FALSE The OP state of the terminal is unaffect...

Page 24: ...If the checkbox is not activated nothing is downloaded and the ESC settings remain unchanged Multiplier Multiplier Both watchdogs receive their pulses from the local terminal cycle divided by the wat...

Page 25: ...r switching off of the SM watchdog via SM watchdog 0 is only implemented in terminals from version 0016 In previous versions this operating mode should not be used CAUTION Damage of devices and undefi...

Page 26: ...perational 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 settin...

Page 27: ...libration 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 Su...

Page 28: ...ameters are still available after a restart The situation may be different with other manufacturers An EEPROM is subject to a limited lifetime with respect to write operations From typically 100 000 w...

Page 29: ...ue is to be stored permanently enter it in the Startup list The order of the Startup entries is usually irrelevant Fig 17 Startup list in the TwinCAT System Manager The Startup list may already contai...

Page 30: ...ine The actual current slave list is read This may take several seconds depending on the size and cycle time The actual identity is displayed The firmware and hardware version of the equipment accordi...

Page 31: ...the placeholder n tends to be used for the individual channel numbers In the CoE system 16 indices each with 255 subindices are generally sufficient for representing all channel parameters The channel...

Page 32: ...nit 1 ns Zero point 1 1 2000 00 00 Size 64 bit sufficient for the next 584 years however some EtherCAT slaves only offer 32 bit support i e the variable overflows after approx 4 2 seconds The EtherCAT...

Page 33: ...insulating materials synthetic fibers plastic film etc b Surroundings working place packaging and personnel should by grounded probably when handling with the devices c Each assembly must be terminate...

Page 34: ...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 correctl...

Page 35: ...ponents The six spring contacts of the K Bus E Bus deal with the transfer of the data and the supply of the Bus Terminal electronics The power contacts deal with the supply for the field electronics a...

Page 36: ...mm from the group of terminals WARNING Risk of electric shock The PE power contact must not be used for other potentials 4 2 2 Connection 4 2 2 1 Connection system WARNING Risk of electric shock and...

Page 37: ...minates the risk of wires being mixed up The familiar dimensions of the terminal only had to be changed slightly The new connector adds about 3 mm The maximum height of the terminal remains unchanged...

Page 38: ...n disassembly or wiring of the Bus Terminals Terminals for standard wiring ELxxxx KLxxxx and for pluggable wiring ESxxxx KSxxxx Fig 27 Connecting a cable on a terminal point Up to eight terminal point...

Page 39: ...nductors using the direct plug in technique i e after stripping the wire is simply plugged into the terminal point The cables are released as usual using the contact release with the aid of a screwdri...

Page 40: ...h do not take an active part in data transfer within the bus terminal block are so called passive terminals The passive terminals have no current consump tion out of the E Bus To ensure an optimal dat...

Page 41: ...rminal flashing State of the EtherCAT state machine PREOP function for mailbox communication and variant standard settings Single flash State of the EtherCAT state machine SAFEOP verification of the S...

Page 42: ...7 7 GND Ground internally bridged with terminal 3 4 Shield Shield internally bridged with terminal 8 8 Shield Shield internally bridged with terminal 4 EL6021 terminal connector assignments Terminal...

Page 43: ...its own transmitted data This can be suppressed with the index 0x8000 06 Enable half duplex in the Settings object In operating mode RS485 the reception of new data is only possible if transmission is...

Page 44: ...ns e g countersunk screws or blind rivets 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 w...

Page 45: ...as the terminals of the EL66xx and EL67xx series can be snapped onto the following recommended mounting rails DIN Rail TH 35 7 5 with 1 mm material thickness according to EN 60715 DIN Rail TH 35 15 wi...

Page 46: ...mailbox communication and variant standard settings Single flash State of the EtherCAT State Machine SAFEOP verification of the Sync Manager 105 channels and the distributed clocks Outputs remain in s...

Page 47: ...5 GND 6 DSR internally bridged with pins 1 and 4 6 DSR internally bridged with pins 1 and 4 7 RTS CH1 7 RTS CH2 8 CTS CH1 8 CTS CH2 9 9 GND connections GND for both channels is internally connected vi...

Page 48: ...RS485 operating mode As a result the terminal receives not only the data from other devices but also its own transmitted data This can be suppressed with the index 0x8000 06 Enable half duplex in the...

Page 49: ...do not take an active part in data transfer within the bus terminal block are so called passive terminals The passive terminals have no current consump tion out of the E Bus To ensure an optimal data...

Page 50: ...cal load capacity the following additional installation instructions apply The enhanced mechanical load capacity is valid for all permissible installation positions Use a mounting rail according to EN...

Page 51: ...osition requires the mounting 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...

Page 52: ...Mounting and Wiring EL600x EL602x 52 Version 4 6 Fig 40 Other installation positions...

Page 53: ...rtification according to UL508 with limited power consumption The current consumed by the de vice is limited to a max possible current consumption of 4 A Devices with this kind of certification are ma...

Page 54: ...protect against the rated operating voltage being exceeded by more than 40 due to short term interference voltages The individual terminals may only be unplugged or removed from the Bus Terminal syste...

Page 55: ...the Beckhoff terminal systems in potentially explosive ar eas ATEX Pay also attention to the continuative documentation Notes about operation of the Beckhoff terminal systems in potentially explosive...

Page 56: ...Manager 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 act...

Page 57: ...ased 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...

Page 58: ...which case the EK1100 coupler wouldn t be necessary 5 1 1 TwinCAT 2 Startup TwinCAT basically uses two user interfaces the TwinCAT System Manager for communication with the electromechanical componen...

Page 59: ...st be made known first In the menu under Actions Choose Target System via the symbol or the F8 key open the following window Fig 44 Selection of the target system Use Search Ethernet to enter the targ...

Page 60: ...st have to be set to Config mode via or via menu Actions Set Reset TwinCAT to Config Mode Shift F4 Fig 46 Select Scan Devices Confirm the warning message which follows and select EtherCAT in the dialo...

Page 61: ...h then reads the elements present in the configuration below Fig 49 Reading of individual terminals connected to a device This functionality is useful if the actual configuration is modified at short...

Page 62: ...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 Fig 50...

Page 63: ...successful compilation TwinCAT PLC Control creates a tpy file in the directory in which the project was stored This file tpy contains variable assignments and is not known to the System Manager hence...

Page 64: ...tem 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 o...

Page 65: ...ultaneously 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 sequentiall...

Page 66: ...e context menu of a PDO can be executed in the other direction so that the respective PLC instance can then be selected Activation of the configuration The allocation of PDO to PLC variables has now e...

Page 67: ...Link the PLC with the real time system via menu option Online Login the F11 key or by clicking on the symbol The control program can then be loaded for execution This results in the message No program...

Page 68: ...nvironment 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 com...

Page 69: ...3 user interface First create a new project via or under File New Project In the following dialog make the corresponding entries as required as shown in the diagram Fig 61 Create new TwinCAT project...

Page 70: ...alled on the respective PLC TwinCAT can be used in local mode and thereby the next step is Insert Device 71 If the intention is to address the TwinCAT runtime environment installed on a PLC as develop...

Page 71: ...been 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 p...

Page 72: ...so be acknowledged Based on the sample configuration 57 described at the beginning of this section the result is as follows Fig 67 Mapping of the configuration in VS shell of the TwinCAT3 environment...

Page 73: ...ntrol 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 F...

Page 74: ...r PLC_example as project name for example and select a corresponding directory Fig 70 Specifying the name and directory for the PLC programming environment The Main program which already exists by sel...

Page 75: ...Commissioning EL600x EL602x 75 Version 4 6 Fig 71 Initial Main program of the standard PLC project To continue sample variables and a sample program have now been created...

Page 76: ...lder followed by the compile process Fig 73 Start program compilation The following variables identified in the ST PLC program with AT are then available in under Assignments in the project folder exp...

Page 77: ...ation tree Fig 75 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 select...

Page 78: ...links 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 77 Application of a Goto Link var...

Page 79: ...at the 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 w...

Page 80: ...Automation 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...

Page 81: ...aces 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 igno...

Page 82: ...ties 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...

Page 83: ...Commissioning EL600x EL602x 83 Version 4 6 Fig 84 Exemplary correct driver setting for the Ethernet port Other possible settings have to be avoided...

Page 84: ...Commissioning EL600x EL602x 84 Version 4 6 Fig 85 Incorrect driver settings for the Ethernet port...

Page 85: ...s 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 associa...

Page 86: ...at was current at the time when the TwinCAT build was created For TwinCAT 2 11 TwinCAT 3 and higher the ESI directory can be updated from the System Manager if the programming PC is connected to the I...

Page 87: ...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 88: ...deleted as follows close all System Manager windows restart TwinCAT in Config mode delete OnlineDescription0000 xml restart TwinCAT System Manager This file should not be visible after this procedure...

Page 89: ...x EL602x 89 Version 4 6 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 th...

Page 90: ...presence 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 po...

Page 91: ...uration 101 can also be carried out for comparison 5 2 5 OFFLINE configuration creation Creating the EtherCAT device Create an EtherCAT device in an empty System Manager window Fig 95 Append EtherCAT...

Page 92: ...ces can be appended by right clicking on a device in the configuration tree Fig 99 Appending EtherCAT devices left TwinCAT 2 right TwinCAT 3 The dialog for selecting a new device opens Only devices fo...

Page 93: ...evision can be displayed as Extended Information Fig 101 Display of device revision In many cases several device revisions were created for historic or functional reasons e g through technological adv...

Page 94: ...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 95: ...Commissioning EL600x EL602x 95 Version 4 6 Fig 104 EtherCAT terminal in the TwinCAT tree left TwinCAT 2 right TwinCAT 3...

Page 96: ...e online search is not available in RUN mode production operation Note the differentiation be tween TwinCAT programming system and TwinCAT target system The TwinCAT 2 icon or TwinCAT 3 icon within the...

Page 97: ...The respective devices are lo cated in the stored ESI data and integrated in the configuration tree in the default state defined there Fig 109 Example default state NOTE Slave scanning in practice in...

Page 98: ...configuration B tsm in order to check the built machine However if the series machine production department now doesn t use B tsm but instead carries out a scan to create the productive configuration...

Page 99: ...itched to online state OPERATIONAL Fig 115 Config FreeRun query left TwinCAT 2 right TwinCAT 3 In Config FreeRun mode the System Manager display alternates between blue and red and the EtherCAT device...

Page 100: ...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...

Page 101: ...nfiguration 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 th...

Page 102: ...based on the higher revision number Device selection based on revision compatibility The ESI description also defines the process image the communication type between master and slave device and the...

Page 103: ...nCAT offers a function Change to Compatible Type for the exchange of a device whilst retaining the links in the task Fig 124 Dialog Change to Compatible Type left TwinCAT 2 right TwinCAT 3 This functi...

Page 104: ...tabs are now available for configuring the terminal And yet the dimension of complexity of a subscriber determines which tabs are provided Thus as illustrated in the example above the terminal EL3751...

Page 105: ...ring the start up phase Tick the control box to the left of the input field in order to modify the default value Previous Port Name and port of the EtherCAT device to which this device is connected If...

Page 106: ...f modifications include mask out a channel displaying additional cyclic information 16 bit display instead of 8 bit data size etc In so called intelligent EtherCAT devices the process data information...

Page 107: ...of incorrect configuration the EtherCAT slave usu ally refuses to start and change to OP state The System Manager displays an invalid SM cfg log ger message This error message invalid SM IN cfg or in...

Page 108: ...e sent to the mailbox Move Up This button moves the selected request up by one position in the list Move Down This button moves the selected request down by one position in the list New This button ad...

Page 109: ...ex Index 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 th...

Page 110: ...can specify which objects are displayed in the list Fig 133 Dialog Advanced settings Online via SDO Information If this option button is selected the list of the objects included in the object list o...

Page 111: ...ete 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...

Page 112: ...DC Synchron Input based DC Synchron Advanced Settings Advanced settings for readjustment of the real time determinant TwinCAT clock Detailed information to Distributed Clocks are specified on http in...

Page 113: ...ist The PDO configuration can be modified by double clicking on an entry Column Description Index PDO index Size Size of the PDO in bytes Name Name of the PDO If this PDO is assigned to a Sync Manager...

Page 114: ...lling task for diagnosis that is accurate for the current cycle when in operation not during commissioning are discussed below Fig 136 Selection of the diagnostic information of an EtherCAT Slave In g...

Page 115: ...ckhoff EL3102 2 channel analogue input terminal is used here as it offers both the communication diagnosis typical of a slave and the functional diagnosis that is specific to a channel Structures are...

Page 116: ...ibly have 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...

Page 117: ...ed 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 M...

Page 118: ...ual 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 statuse...

Page 119: ...set as standard EtherCAT Master OP Slaves OP This setting applies equally to all Slaves Fig 140 Default behaviour of the System Manager In addition the target state of any particular Slave can be set...

Page 120: ...slave Fig 142 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...

Page 121: ...above a warning message E Bus Power of Terminal is output in the logger window when such a configuration is activated Fig 144 Warning message for exceeding E Bus current NOTE Caution Malfunction poss...

Page 122: ...tes in receive buffer Index 0x4072 Diagnosis Index 0x4073 Baud rate Index 0x4074 Data frame Index 0x4075 Feature bits EL6001 05 03 EL6021 04 03 from EL6001 0000 0016 from EL6021 0000 0016 in addition...

Page 123: ...generated from CoE objects 0x6000 Inputs and 0x7000 Outputs and are described in chapter Object description and parameterization 168 in detail Enlarged process image 50x 16 bit An enlarged process da...

Page 124: ...l__Receive accepted Index 0x7000 03 Ctrl__Init request Index 0x7000 04 Ctrl__Send continous Index 0x7000 09 Ctrl__Output length Index 0x7000 11 Data out 0 Index 0x7000 26 0x1601 24 0 COM Outputs Chann...

Page 125: ...07 Index 0x6010 09 Index 0x6010 11 Index 0x6010 26 0x1A04 defa ult 24 0 COM Inputs Channel1 Index 0x6001 01 Index 0x6000 11 Index 0x6000 26 0x1A05 defa ult 24 0 COM Inputs Channel2 Index 0x6011 01 Ind...

Page 126: ...fer at a maximum baud rate of 9600 can be secured with a cycle time of 10 ms From firmware 11 the CoE 0x8000 1B supports with explicitBaudrate all baud rates 1000 115200 baud When the baud rate is sel...

Page 127: ...ent in two blocks of 5 and 15 or 7 and 13 telegrams for example or with a different distribution In a two channel terminal channel 1 is given priority Prioritization Since received data normally canno...

Page 128: ...t transmission reception The terminal is thereby parameterized with the data from the corresponding Settings object Procedure 1 Set Init request to 1 2 The terminal confirms successful initialization...

Page 129: ...relevant Fig 147 Each higher level if available or activated dictates the communication features to the level below it NOTE TcVirtualComDriver version Check whether the desired Baud rate coding combin...

Page 130: ...default entries in this case 0x1C12 and 0x1C13 are required Fig 150 VirtualComDriver Settings example The settings are relevant only if no specification of the COM features is made or can be made from...

Page 131: ...baud rate Available coding Device Baud rate baud CoE Value 0x80n0 11 from FW HW Coding CoE Value 0x80n0 15 from FW HW EL6001 2400 4 7E1 1 4800 5 7O1 2 9600 6 8N1 3 12000 14 from FW07 8E1 4 14400 15 fr...

Page 132: ...8O2 13 EP6022 300 1 7E1 1 600 2 7O1 2 1200 3 8N1 3 2400 4 8E1 4 4800 5 8O1 5 9600 6 7E2 9 19200 7 7O2 10 38400 8 8N2 11 57600 9 8E2 12 115200 10 8O2 13 any integer baud rate can be set as an int32 va...

Page 133: ...n of this function The terminal is then ready for receiving frames on the LIN bus containing the 13 bit sync break and the sync field 0x55 and to make only the following information in the receive dat...

Page 134: ...f one wire bus with corresponding signal levels 0V 12V This is best done with an RS232 LIN converter which is connected to a sub D connector and on the other side provides three poles for ground power...

Page 135: ...ing in the PID field 0x47 The message on the LIN bus then looks as follows Fig 152 LIN frame example Query from master to node with ID 0x07 Fig 153 LIN frame example ID0x07 with data 0xEA 0xBD 0x08 0x...

Page 136: ...equired A detailed description for the use of the serial communication library is stored in the Beckhoff Information System Beckhoff Information System TwinCAT TwinCAT PLC TwinCAT libraries for PC bas...

Page 137: ...EL602x 137 Version 4 6 Fig 155 Searching the Ethernet adapter Fig 156 Selection and confirmation of the Ethernet adapter Activation of the configuration and confirmation Fig 3a 3b Fig 157 Activation...

Page 138: ...ng restart in RUN mode Fig 4a 4b Fig 159 Generating variable mapping Fig 160 Restarting TwinCAT in RUN mode In TwinCAT PLC under the Project menu select Rebuild all to compile the project Fig 5 Fig 16...

Page 139: ...tion Not only in maritime applications is time and place information transported via serial buses In the majority of cases an existing source distributes its information to lower level listeners liste...

Page 140: ...spread PPS pulses per second If the serial telegram from the gateway is placed cyclically to the bus the time of the first bit can often be interpreted as a PPS signal In the block in this example thi...

Page 141: ..._VAR Data types for LIN master slave example program TYPE tDataFrame ARRAY 0 8 OF BYTE END_TYPE Datentyp f r ein LIN Frame Function for adding data length information and parity bits Declaration part...

Page 142: ...eive timeout ReceiveCounter UDINT 0 Number of received frames aDataRX tDataFrame Receiving data frame buffer nDataLen BYTE 4 Fixed data length nState BYTE 0 Initial state start bNodeId_SL1 BYTE 16 07...

Page 143: ...ast task RS232 background communication In this example third task should be created with as few cycle ticks as possible which deals with the background communication with the EL6001 terminal as maste...

Page 144: ...fic objects 162 which represent the status displays of the inputs and outputs from hardware version 03 186 The following section first describes the objects required for normal operation followed by a...

Page 145: ...rate optimization 0 Transfer rate optimization switched off 1 Transfer rate optimization switched on The content of the input buffer is automatically transferred into the process image if no further b...

Page 146: ...tomatically transferred into the process image if no further byte was received for approx 16 bit times i e the time it would have taken to receive 2 bytes after data were received the process image is...

Page 147: ...slave UINT32 RO 0x00000002 2dec 1018 02 Product code Product code of the EtherCAT slave UINT32 RO 0x17853052 394604626dec 1018 03 Revision Revision number of the EtherCAT slave the low word bit 0 15...

Page 148: ...01 01 8 1600 02 SubIndex 0x002 2 PDO Mapping entry object 0x3001 Outputs entry 0x02 Data Out 0 UINT32 RO 0x3001 02 8 1600 03 SubIndex 0x003 3 PDO Mapping entry object 0x3001 Outputs entry 0x03 Data Ou...

Page 149: ...UINT32 RO 0x3003 0A 8 1602 0B SubIndex 0x011 11 PDO Mapping entry object 0x3003 Outputs en try 0x0B Data Out 9 UINT32 RO 0x3003 0B 8 1602 0C SubIndex 0x012 12 PDO Mapping entry object 0x3003 Outputs e...

Page 150: ...pping entry object 0x7000 COM Out puts entry 0x17 Data Out 6 UINT32 RO 0x7000 17 8 1604 0E SubIndex 0x014 14 PDO Mapping entry object 0x7000 COM Out puts entry 0x18 Data Out 7 UINT32 RO 0x7000 18 8 16...

Page 151: ...605 0F SubIndex 0x015 15 PDO Mapping entry object 0x7001 COM ext out puts entry 0x19 Data Out 8 UINT32 RO 0x7001 19 16 1605 10 SubIndex 0x016 16 PDO Mapping entry object 0x7001 COM ext out puts entry...

Page 152: ...COM ext out puts entry 0x36 Data Out 37 UINT32 RO 0x7001 36 16 1605 2D SubIndex 0x045 45 PDO Mapping entry object 0x7001 COM ext out puts entry 0x37 Data Out 38 UINT32 RO 0x7001 37 16 1605 2E SubInde...

Page 153: ...t not be transferred together with Tx PDO 6 OCTET STRING 8 RO 00 1A 01 1A 02 1A 04 1A Index 0x1A00 TxPDO Map Inputs Index hex Name Meaning Data type Flags Default 1A00 0 TxPDO Map Inputs PDO Mapping T...

Page 154: ...ata In 8 UINT32 RO 0x3103 0A 8 1A02 0B SubIndex 0x011 11 PDO Mapping entry object 0x3103 Inputs entry 0x0B Data In 9 UINT32 RO 0x3103 0B 8 1A02 0C SubIndex 0x012 12 PDO Mapping entry object 0x3103 Inp...

Page 155: ...try 0x15 Data In 4 UINT32 RO 0x6000 15 8 1A04 0F SubIndex 0x015 15 PDO Mapping entry object 0x6000 COM Inputs entry 0x16 Data In 5 UINT32 RO 0x6000 16 8 1A04 10 SubIndex 0x016 16 PDO Mapping entry obj...

Page 156: ...01 15 16 1A05 0F SubIndex 0x015 15 PDO Mapping entry object 0x6001 COM ext in puts entry 0x16 Data In 5 UINT32 RO 0x6001 16 16 1A05 10 SubIndex 0x016 16 PDO Mapping entry object 0x6001 COM ext in puts...

Page 157: ...0x33 Data In 34 UINT32 RO 0x6001 33 16 1A05 2D SubIndex 0x045 45 PDO Mapping entry object 0x6001 COM ext in puts entry 0x34 Data In 35 UINT32 RO 0x6001 34 16 1A05 2E SubIndex 0x046 46 PDO Mapping entr...

Page 158: ...001 1st allocated TxPDO contains the index 0x of the as sociated TxPDO mapping object UINT16 RW 0x1A02 6658dec 1C13 02 SubIndex 0x002 2nd allocated TxPDO contains the index 0x of the as sociated TxPDO...

Page 159: ...mode only BOOLEAN RO 0x00 0dec Index 0x1C33 SM input parameter from hardware version 03 Index hex Name Meaning Data type Flags Default 1C33 0 SM input parameter Synchronization parameters for the inpu...

Page 160: ...c 3002 06 Data Out 4 Output byte 4 UINT8 RO 0x00 0dec Index 0x3003 Outputs Index hex Name Meaning Data type Flags Default 3003 0 Outputs Length of this object UINT8 RO 0x17 23dec 3003 01 Ctrl Control...

Page 161: ...Data In 1 Input byte 1 UINT8 RO 0x00 0dec 3103 04 Data In 2 Input byte 2 UINT8 RO 0x00 0dec 3103 05 Data In 3 Input byte 3 UINT8 RO 0x00 0dec 3103 06 Data In 4 Input byte 4 UINT8 RO 0x00 0dec 3103 07...

Page 162: ...file 5001 Index 0x6000 COM Inputs Index hex Name Meaning Data type Flags Default 6000 0 COM Inputs Max SubIndex hex UINT8 RO 0x26 38dec 6000 01 Transmit accepted The terminal acknowledges receipt of d...

Page 163: ...the terminal BOOLEAN RO 0x00 0dec 7000 02 Receive accepted The controller acknowledges receipt of data by chang ing the state of this bit Only then new data can be transferred from the terminal to th...

Page 164: ...c A000 11 Data bytes in send buf fer Number of data bytes in the send FIFO UINT16 RO 0x0000 0dec A000 21 Data bytes in receive buffer Number of data bytes in the receive FIFO UINT16 RO 0x0000 0dec Ind...

Page 165: ...lable for transfer from the controller to the terminal 1 4 If the small process image is used Number of output bytes available for transfer from the controller to the terminal CW 3 SC SendContinuous r...

Page 166: ...the large process image is used A framing error has occurred The affected data item is not loaded into the receive FIFO of the terminal and is lost 1 6 If the medium process image is used Number of in...

Page 167: ...0bin 0000 0001bin xxxx xxxxbin 0000 x0x0bin The controller requests transmission of 2 bytes by the terminal 0000 0010bin 0000 0001bin xxxx xxxxbin 0000 x0x1bin Command is executed Terminal has loaded...

Page 168: ...view contains objects for different intended applications Objects required for parameterization 168 during commissioning Objects for indicating internal settings 169 may be fixed Profile specific obje...

Page 169: ...fer is automatically transferred into the process image if no further byte was received for approx 16 bit times i e the time it would have taken to receive 2 bytes after data were received the process...

Page 170: ...2 RO 0x00000002 2dec 1018 02 Product code Product code of the EtherCAT slave UINT32 RO EL6002 0x17723052 393359442dec EL6022 0x17863052 394670162dec 1018 03 Revision Revision number of the EtherCAT sl...

Page 171: ...entry object 0x7000 COM Outputs Ch 1 entry 0x17 Data Out 6 UINT8 RO 0x7000 17 8 1600 0E SubIndex 0x014 14 PDO Mapping entry object 0x7000 COM Outputs Ch 1 entry 0x18 Data Out 7 UINT8 RO 0x7000 18 8 1...

Page 172: ...entry object 0x7010 COM Outputs Ch 2 entry 0x17 Data Out 6 UINT8 RO 0x7010 17 8 1601 0E SubIndex 0x014 14 PDO Mapping entry object 0x7010 COM Outputs Ch 2 entry 0x18 Data Out 7 UINT8 RO 0x7010 18 8 1...

Page 173: ...UINT8 RO 0x7000 19 8 1604 0B SubIndex 0x011 11 PDO Mapping entry object 0x7000 COM Outputs Ch 1 entry 0x1A Data Out 9 UINT8 RO 0x7000 1A 8 1604 0C SubIndex 0x012 12 PDO Mapping entry object 0x7000 COM...

Page 174: ...UINT8 RO 0x7010 19 8 1605 0B SubIndex 0x011 11 PDO Mapping entry object 0x7010 COM Outputs Ch 2 entry 0x1A Data Out 9 UINT8 RO 0x7010 1A 8 1605 0C SubIndex 0x012 12 PDO Mapping entry object 0x7010 COM...

Page 175: ...15 Data In 4 UINT8 RO 0x6000 15 8 1A00 0F SubIndex 0x015 15 PDO Mapping entry object 0x6000 COM Inputs Ch 1 entry 0x16 Data In 5 UINT8 RO 0x6000 16 8 1A00 10 SubIndex 0x016 16 PDO Mapping entry object...

Page 176: ...15 Data In 4 UINT8 RO 0x6010 15 8 1A01 0F SubIndex 0x015 15 PDO Mapping entry object 0x6010 COM Inputs Ch 2 entry 0x16 Data In 5 UINT8 RO 0x6010 16 8 1A01 10 SubIndex 0x016 16 PDO Mapping entry object...

Page 177: ...In 8 UINT8 RO 0x6000 19 8 1A04 0B SubIndex 0x011 11 PDO Mapping entry object 0x6000 COM Inputs Ch 1 entry 0x1A Data In 9 UINT8 RO 0x6000 1A 8 1A04 0C SubIndex 0x012 12 PDO Mapping entry object 0x6000...

Page 178: ...1B 8 1A05 0D SubIndex 0x013 13 PDO Mapping entry object 0x6010 COM Inputs Ch 2 entry 0x1C Data In 11 UINT8 RO 0x6010 1C 8 1A05 0E SubIndex 0x014 14 PDO Mapping entry object 0x6010 COM Inputs Ch 2 ent...

Page 179: ...ec 1C12 02 SubIndex 0x002 2nd allocated RxPDO contains the index 0x of the as sociated RxPDO mapping object UINT16 RO 0x1601 5633dec Index 0x1C13 TxPDO assign Index hex Name Meaning Data type Flags De...

Page 180: ...007 49159dec 1C32 05 Minimum cycle time Minimum cycle time in ns UINT32 RO 0x00004E20 20000dec 1C32 06 Calc and copy time Minimum time between SYNC0 and SYNC1 event in ns DC mode only UINT32 RO 0x0000...

Page 181: ...available Bit 2 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 t...

Page 182: ...terminal to the controller BOOLEAN RO 0x00 0dec 60n0 03 Init accepted 0 The terminal is ready again for serial data exchange BOOLEAN RO 0x00 0dec 1 Initialization was completed by the terminal 60n0 0...

Page 183: ...m the FIFO The send buffer is filled up to 128 bytes by the controller The filled buffer contents will be sent on the rising edge of the bit If the data has been trans mitted the terminal informs the...

Page 184: ...between the terminal and the controller is controlled via this data Status data Bit position Name Meaning Data type 0 Transmit accepted The terminal acknowledges receipt of data by changing the state...

Page 185: ...accepted bit 3 Send continuous Continuous sending of data from the FIFO The send buffer is filled up to 128 bytes by the controller The filled buffer contents will be sent on the rising edge of the b...

Page 186: ...laced in BOOTSTRAP mode for a firmware update it does not check when downloading whether the new firmware is suitable This can result in damage to the device Therefore always make sure that the firmwa...

Page 187: ...are in efw format In some EtherCAT slaves the EtherCAT communication may also be integrated in these controllers In this case the controller is usually a so called FPGA chip with rbf firmware In addit...

Page 188: ...tely dimensioned The signal level must meet the specification In the event of malfunctions during the update process the EtherCAT device may become unusable and re quire re commissioning by the manufa...

Page 189: ...n consultation with Beckhoff support Display of ESI slave identifier The simplest way to ascertain compliance of configured and actual device description is to scan the EtherCAT boxes in TwinCAT mode...

Page 190: ...vision Changing the ESI slave identifier The ESI EEPROM identifier can be updated as follows under TwinCAT Trouble free EtherCAT communication must be established with the slave The state of the slave...

Page 191: ...12 10 03 02 12 week of production 12 10 year of production 2010 03 firmware version 03 02 hardware version 02 Determining the version via the System Manager The TwinCAT System Manager shows the versio...

Page 192: ...an be loaded via the Online option in Advanced Settings B and double clicking on AllObjects 8 3 3 Updating controller firmware efw CoE directory The Online CoE directory is managed by the controller a...

Page 193: ...NIT A Switch slave to BOOTSTRAP Check the current status B C Download the new efw file wait until it ends A pass word will not be neccessary usually After the download switch to INIT then PreOP Switch...

Page 194: ...rand Device 2 in the example and select the Online tab The Reg 0002 column indicates the firmware version of the individual EtherCAT devices in hexadecimal and decimal representation Fig 172 FPGA firm...

Page 195: ...the terminal must have FPGA firmware version 10 or higher Older firmware versions can only be updated by the manufacturer Updating an EtherCAT device The following sequence order have to be met if no...

Page 196: ...m Manager select the terminal for which the FPGA firmware is to be updated in the example Terminal 5 EL5001 and click the Advanced Settings button in the EtherCAT tab The Advanced Settings dialog appe...

Page 197: ...to the device A download of firmware to an EtherCAT device must not be interrupted in any case If you interrupt this process by switching off power supply or disconnecting the Ethernet link the Ether...

Page 198: ...ers PDO Double click on SubIndex 001 to enter the Set Value dialog Enter the value 1684107116 in field Dec or the value 0x64616F6C in field Hex and confirm with OK Fig Entering a restore value in the...

Page 199: ...omponents 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 o...

Page 200: ...tion 17 Fig 13 System manager current calculation 23 Fig 14 EtherCAT tab Advanced Settings Behavior Watchdog 24 Fig 15 States of the EtherCAT State Machine 26 Fig 16 CoE Online tab 28 Fig 17 Startup l...

Page 201: ...ig 63 Selection dialog Choose the target system 70 Fig 64 Specify the PLC for access by the TwinCAT System Manager selection of the target system 71 Fig 65 Select Scan 71 Fig 66 Automatic detection of...

Page 202: ...7 Note for automatic device scan left TwinCAT 2 right TwinCAT 3 96 Fig 108 Detected Ethernet devices 97 Fig 109 Example default state 97 Fig 110 Installing EthetCAT terminal with revision 1018 98 Fig...

Page 203: ...gs example 130 Fig 151 RS232 LIN sub D connector connected to the EL6001 terminal 134 Fig 152 LIN frame example Query from master to node with ID 0x07 135 Fig 153 LIN frame example ID0x07 with data 0x...

Page 204: ...List of illustratrions EL600x EL602x 204 Version 4 6 Fig 176 Selecting the Restore default parameters PDO 198 Fig 177 Entering a restore value in the Set Value dialog 198...

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