Beckhoff EtherCAT EL6001, Documentation

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List of illustratrions
EL600x, EL602x 201 Version: 4.6
Fig. 42 Control configuration with Embedded PC, input (EL1004) and output (EL2008) ........................ 58
Fig. 43 Initial TwinCAT 2 user interface................................................................................................... 58
Fig. 44 Selection of the target system ..................................................................................................... 59
Fig. 45 Specify the PLC for access by the TwinCAT System Manager: selection of the target system .. 59
Fig. 46 Select "Scan Devices..." .............................................................................................................. 60
Fig. 47 Automatic detection of I/O devices: selection the devices to be integrated................................. 60
Fig. 48 Mapping of the configuration in the TwinCAT 2 System Manager............................................... 61
Fig. 49 Reading of individual terminals connected to a device................................................................ 61
Fig. 50 TwinCAT PLC Control after startup ............................................................................................. 62
Fig. 51 Sample program with variables after a compile process (without variable integration) ............... 63
Fig. 52 Appending the TwinCAT PLC Control project ............................................................................. 63
Fig. 53 PLC project integrated in the PLC configuration of the System Manager ................................... 64
Fig. 54 Creating the links between PLC variables and process objects .................................................. 64
Fig. 55 Selecting PDO of type BOOL ...................................................................................................... 65
Fig. 56 Selecting several PDOs simultaneously: activate "Continuous" and "All types".......................... 65
Fig. 57 Application of a "Goto Link" variable, using "MAIN.bEL1004_Ch4" as a sample ........................ 66
Fig. 58 Choose target system (remote) ................................................................................................... 67
Fig. 59 PLC Control logged in, ready for program startup ....................................................................... 68
Fig. 60 Initial TwinCAT 3 user interface................................................................................................... 69
Fig. 61 Create new TwinCAT project....................................................................................................... 69
Fig. 62 New TwinCAT3 project in the project folder explorer .................................................................. 70
Fig. 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 I/O devices: selection the devices to be integrated................................. 72
Fig. 67 Mapping of the configuration in VS shell of the TwinCAT3 environment..................................... 72
Fig. 68 Reading of individual terminals connected to a device................................................................ 73
Fig. 69 Adding the programming environment in "PLC" .......................................................................... 74
Fig. 70 Specifying the name and directory for the PLC programming environment ................................ 74
Fig. 71 Initial "Main" program of the standard PLC project...................................................................... 75
Fig. 72 Sample program with variables after a compile process (without variable integration) ............... 76
Fig. 73 Start program compilation............................................................................................................ 76
Fig. 74 Creating the links between PLC variables and process objects .................................................. 77
Fig. 75 Selecting PDO of type BOOL ...................................................................................................... 77
Fig. 76 Selecting several PDOs simultaneously: activate "Continuous" and "All types".......................... 78
Fig. 77 Application of a "Goto Link" variable, using "MAIN.bEL1004_Ch4" as a sample ........................ 78
Fig. 78 TwinCAT development environment (VS shell): logged-in, after program startup....................... 79
Fig. 79 System Manager “Options” (TwinCAT 2)..................................................................................... 81
Fig. 80 Call up under VS Shell (TwinCAT 3) ........................................................................................... 81
Fig. 81 Overview of network interfaces ................................................................................................... 81
Fig. 82 EtherCAT device properties(TwinCAT 2): click on „Compatible Devices…“ of tab “Adapter” ..... 82
Fig. 83 Windows properties of the network interface............................................................................... 82
Fig. 84 Exemplary correct driver setting for the Ethernet port ................................................................. 83
Fig. 85 Incorrect driver settings for the Ethernet port ............................................................................. 84
Fig. 86 TCP/IP setting for the Ethernet port ............................................................................................ 85
Fig. 87 Identifier structure ....................................................................................................................... 86