Beckhoff EK1122 Documentation Download

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Documentation

EK1122, EK15xx

EtherCAT Junctions

3.4
29.11.2018

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Date:

Summary of Contents for EK1122

Page 1: ...Documentation EK1122 EK15xx EtherCAT Junctions 3 4 29 11 2018 Version Date ...

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Page 3: ...22 0080 14 2 port EtherCAT junction Fast Hot Connect Connection M8 EK1122 0008 20 2 port EtherCAT junction Connection Fiber optic EK1521 22 1 port EtherCAT multimode fiber optic junction EK1521 0010 24 1 port EtherCAT singlemode fiber optic junction Connection Polymeric Optical Fiber EK1561 26 1 port EtherCAT polymeric optical fiber junction ...

Page 4: ...ting the watchdog 36 4 5 EtherCAT State Machine 38 4 6 CoE Interface notes 40 4 7 EKxxxx Optional Distributed Clocks support 40 5 Mounting and wiring 43 5 1 Instructions for ESD protection 43 5 2 M8 Connector Cabling 43 5 3 Nut torque for connectors 45 5 4 Mounting and demounting terminals with front unlocking 46 5 5 Recommended mounting rails 47 5 6 Positioning of passive Terminals 48 5 7 ATEX Sp...

Page 5: ...ic LEDs EK1122 EK1122 0008 66 7 2 Diagnostic LEDs EK1521 EK1521 0010 67 7 3 Diagnostic LEDs EK1561 68 8 Appendix 69 8 1 Safety instructions and behavioral rules for Class 1 laser 69 8 2 UL notice 69 8 3 Firmware compatibility 71 8 4 Firmware Update EL ES EM EPxxxx 71 8 4 1 Device description ESI file XML 72 8 4 2 Firmware explanation 75 8 4 3 Updating controller firmware efw 76 8 4 4 FPGA firmware...

Page 6: ...Table of contents EK1122 EK15xx 6 Version 3 4 ...

Page 7: ...data diagrams and descriptions in this documentation Trademarks Beckhoff TwinCAT EtherCAT EtherCAT P Safety over EtherCAT TwinSAFE XFC and XTS are registered trademarks of and licensed by Beckhoff Automation GmbH Other designations used in this publication may be trademarks whose use by third parties for their own purposes could violate the rights of the owners Patent Pending The EtherCAT Technolo...

Page 8: ...r 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 are used These instructions must be read carefully and followed without fail DANGER Serious risk of injury Failure to follow this safety instruction directly endangers the life and health of persons WA...

Page 9: ...08 EtherCAT coupler with M8 sockets Migration 2 4 Update chapter Mounting and wiring Update chapter Technical data Update structure 2 3 Update Technical data 2 2 Update Technical data 2 1 Addenda chapter Optional DC support 2 0 Addenda EK1122 0080 1 9 Application notes POF junction added 1 8 EK1561 added 1 7 Update chapter Diagnostic LEDs 1 6 Technical notes added structure adjusted 1 5 EK1521 001...

Page 10: ... Information in the form of an XML file which is available for download from the Beckhoff web site From 2014 01 the revision is shown on the outside of the IP20 terminals see Fig EL5021 EL terminal standard IP20 IO device with batch number and revision ID since 2014 01 The type version and revision are read as decimal numbers even if they are technically saved in hexadecimal Identification number ...

Page 11: ...s PCB hardware version of I O PCB 1 Unique serial number ID ID number In addition in some series each individual module has its own unique serial number See also the further documentation in the area IP67 EtherCAT Box Safety TwinSafe Terminals with factory calibration certificate and other measuring terminals Examples of markings Fig 1 EL5021 EL terminal standard IP20 IO device with serial batch n...

Page 12: ...L3202 0020 with serial batch number 26131006 and unique ID number 204418 Fig 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 number 00346070 ...

Page 13: ...x 13 Version 3 4 Fig 7 EL2904 IP20 safety terminal with batch number date code 50110302 and unique serial number 00331701 Fig 8 ELM3604 0002 terminal with unique ID number QR code 100001051 and serial batch number 44160201 ...

Page 14: ...indicates the status of the EK1122 Through TwinCAT and other suitable EtherCAT masters the EK1122 also supports coupling and uncoupling of EtherCAT strands during operation hot connect EK1122 0080 Hot Connect is an EtherCAT feature for changing topologies through direct coupling or uncoupling during operation Coupled EtherCAT components are already quickly linked to the data communication after co...

Page 15: ...with a dotted border see Fig 2 Explanatory notes can be found in chapter EtherCAT Fast Hot Con nect 16 Fig 10 Fast Hot Connect ports at the EK1122 0080 Connection Terminal point Description Designation X1 X2 RJ45 connection for EtherCAT networks 100BASE TX Ethernet signal representation Quick links EtherCAT basics Notes on Fast Hot Connect 16 Application notes 51 Diagnostic LEDs 66 ...

Page 16: ...perature range during storage 40 C 85 C Permissible relative humidity 95 no condensation Mounting 43 on 35 mm mounting rail conforms to EN 60715 Vibration shock resistance conforms to EN 60068 2 6 EN 60068 2 27 EMC immunity emission conforms to EN 61000 6 2 EN 61000 6 4 Protection class IP20 Installation position variable Approval CE ATEX 49 cULus 69 3 1 1 3 Notes re EtherCAT Fast Hot Connect tech...

Page 17: ...t ports If corresponding ports are nevertheless connected a power reset of the devices involved branch terminal and coupler box is required With Fast Hot Connect devices the establishment of an Ethernet connection is accelerated compared to the normal Fast Ethernet connection If in addition the use of Distributed Clocks functions is omitted in the entire topology then the resynchronization time of...

Page 18: ...y the same way as Hot Connect groups specifying the associated group ID Fig 13 Configuration of a Fast Hot Connect group Corresponding Fast Hot Connect ports are marked red in the TwinCAT System Manager Fig 14 Marking in the TwinCAT System Manager A configuration of FHC groups is possible only if at least 1 corresponding junction is present e g EK1122 0080 ...

Page 19: ...aster settings by the absence of DC in use Fig 15 DC master setting This setting is automatically selected by the System Manager if there are no EtherCAT slaves in the configuration in which Distributed Clocks is activated DC in use should not be randomly deactivated by the user because otherwise these devices will no longer function ...

Page 20: ... the EK1122 0008 has two M8 sockets compatible to the two RJ45 sockets instead The EtherCAT junctions are connected via M8 sockets The link and activity status is indicated by separate LEDs at the front The Run LED indicates the status of the EK1122 With TwinCAT and other appropriate EtherCAT Masters the EK1122 0008 supports coupling and uncoupling of EtherCAT strands during operation hot connect ...

Page 21: ...urrent consumption the EL9410 power feed terminal can be used in addition max 2000 mA 25 C 55 C max 1000 mA 55 C Dimensions W x H x D approx 26 mm x 100 mm x 52 mm width aligned 23 mm Weight approx 65 g Permissible ambient temperature range during operation 25 C 60 C extended temperature range Permissible ambient temperature range during storage 40 C 85 C Permissible relative humidity 95 no conden...

Page 22: ...se TX to 100Base FX physics glass fiber In this way distances of up to 2 km can be bridged in conjunction with the EK1501 EtherCAT Coupler for multimode optical fibers Even cable redundant systems with optical fiber can be realized using the 1 port EtherCAT multimode fiber optic junction The run LED shows the status of the EK1521 Connection Terminal point Description Designation X1 SC duplex conne...

Page 23: ... 1 x SC Duplex connector Power supply from E bus Current consumption typ 350 mA Dimensions W x H x D approx 26 mm x 100 mm x 52 mm width aligned 23 mm Weight approx 70 g Permissible ambient temperature range during operation 25 C 60 C extended temperature range Permissible ambient temperature range during storage 40 C 85 C Permissible relative humidity 95 no condensation Mounting 43 on 35 mm mount...

Page 24: ...FX physics glass fiber In conjunction with the EK1501 0010 EtherCAT coupler for single mode optical glass fiber distances of up to 20 km can be bridged Even cable redundant systems with optical fiber can be realized using the 1 port EtherCAT single mode fiber optic junction The run LED shows the status of the EK1521 0010 Connection Terminal point Description Designation X1 SC duplex connector Quic...

Page 25: ...ction 1 x SC Duplex connector Power supply from E bus Current consumption typ 350 mA Dimensions W x H x D approx 26 mm x 100 mm x 52 mm width aligned 23 mm Weight approx 70 g Permissible ambient temperature range during operation 25 C 60 C extended temperature range Permissible ambient temperature range during storage 40 C 85 C Permissible relative humidity 95 no condensation Mounting 43 on 35 mm ...

Page 26: ...cs to 100BASE FX physics POF Polymeric Optical Fiber Distances of up to 50 m between two couplers can be bridged using the EK1561 and the EK1541 EtherCAT coupler for POF Unlike the glass fiber the POF fiber is easily wireable in the field The Run LED indicates the status of the EK1561 Connection Terminal point Description Designation X1 Versatile Link connection for POF duplex connector ZS1090 000...

Page 27: ...OF duplex connector connector set ZS1090 0008 Delay approx 1 µs Power supply from E bus E Bus current consumption typ 200 mA Dimensions W x H x D approx 26 mm x 100 mm x 52 mm width aligned 23 mm Weight approx 65 g Permissible ambient temperature range during operation 25 C 60 C extended temperature range Permissible ambient temperature range during storage 40 C 85 C Permissible relative humidity ...

Page 28: ...y support even ring topology The simplest topology is the line topology in which each EtherCAT slave passes the data on to the only next slave see following Fig EtherCAT line topology Fig 20 EtherCAT line topology When using for example EK1100 EtherCAT Couplers a junction and thus a type of tree topology is possible see following Fig Line topology with extensions Fig 21 Line topology with extensio...

Page 29: ... router is usually used for standard Ethernet traffic forwarding Any collisions or frame losses are compensated through frame repetition in the higher level protocol layers e g TCP This mode is generally not used for EtherCAT due to the short cycle times and the real time requirement Some Ethernet devices such as special switches for example report a link to the remote terminal even if they will o...

Page 30: ...ice with a single port is therefore only of limited use since it can only be used as end device Implementation EK1100 EtherCAT Coupler Three of the four available ports in the EK1100 EtherCAT Coupler are used thus enabling a connection to the right to terminals and via an RJ45 socket to further couplers cf Fig Line topology with extensions 28 In the EK1100 the processing unit is not used for proce...

Page 31: ...g 23 Example configuration The TwinCAT online topology shows the wiring scheme see Fig Online Topology The EK1122 is selected so that further information is shown The green bars above the slaves indicate the correct RUN state in all slaves ...

Page 32: ...e Within a few µs the ESC in the EK1122 detects the lost link and automatically closes the affected port This has the effect that the next incoming EtherCAT telegram is immediately forwarded to port D port 3 and the EL4732 The link is thus missing here and the System Manager marks this in the online display see following Fig Example configuration with interrupted cable ...

Page 33: ...tion Address 1003 EK1100 INIT NO_COMM Since communication with this slave is interrupted its state is shown as INIT Address 1004 EL3104 ditto Logger output The logger output can be displayed in the lower part of the System Manager Display Show Log ger Output This may be helpful for diagnostic purposes for link interruptions and other situations In the topology display any slaves affected by interr...

Page 34: ...Fig 27 Comparison of the frame displays in the System Manager The image on the left shows a small number 2 of acyclic frames sent by the master during the respective second all slaves are operating properly The image on the right shows a significant increase currently 77 acyclic frames sec The EtherCAT master has quickly detected that not all slaves are properly taking part in the data exchange On...

Page 35: ...ommendations for the infrastructure for EtherCAT Ethernet Cables and connectors For connecting EtherCAT devices only Ethernet connections cables plugs that meet the requirements of at least category 5 CAt5 according to EN 50173 or ISO IEC 11801 should be used EtherCAT uses 4 wires for signal transfer EtherCAT uses RJ45 plug connectors for example The pin assignment is compatible with the Ethernet ...

Page 36: ...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 unaffected The watchdog is only reset after a successful EtherCAT process data access Set the monitoring time as described below The SyncManager watchdog monitors correct and timely process data communication with ...

Page 37: ... 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 watchdog multiplier 1 25 MHz watchdog multiplier 2 100 µs for default setting of 2498 for the multiplier The standard setting of 1000 for the SM watchdog corresponds to a release time of 100 ms The value in mul...

Page 38: ...tching 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 undefined state possible If the SM watchdog is activated and a value of 0 is entered the watchdog switches off completely This is the deactivation of the watchdog Set outputs are NOT set in a safe state if the c...

Page 39: ...onal 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 settings are correct Before it acknowledges the change of state the EtherCAT slave copies current input data into the associated DP RAM areas of the EtherCAT slave controller ECSC In Safe Op state mailbox and pro...

Page 40: ...Clocks procedure It is only supported by slaves whose function requires it In the TwinCAT System Manager a slave indicates its DC capability by showing DC in the settings dialog Fig 31 DC tab for indicating the Distributed Clocks function Once of these local clocks is the reference clock based on which all other clocks are synchronized See also explanatory notes in the Basic EtherCAT documentation...

Page 41: ...016 from firmware 01 xxxx01yy CU1128 from CU1128 0000 0000 from firmware 00 xxxx00yy EK1100 from EK1100 0000 0017 from firmware 06 xxxx06yy EK1101 from EK1101 0000 0017 from firmware 01 xxxx01yy EK1501 from EK1501 0000 0017 from firmware 01 xxxx01yy EK1501 0010 from EK1501 0010 0017 from firmware 02 xxxx02yy EK1122 from EK1122 0000 0017 from firmware 01 xxxx02yy EK1521 from EK1521 0000 0018 from f...

Page 42: ... procedure described here is only successful for the components described above The checkboxes can be set for other components too although the hardware does not sup port this function unless specified in the respective documentation In particularly please note that after commissioning the component may not be replaced with a previous version without DC sup port ...

Page 43: ...and personnel should by grounded probably when handling with the devices Each assembly must be terminated at the right hand end with an EL9011 or EL9012 bus end cap to en sure the protection class and ESD protection Fig 34 Spring contacts of the Beckhoff I O components 5 2 M8 Connector Cabling A list of the EtherCAT cable power cable sensor cable Ethernet EtherCAT connectors and the field assemble...

Page 44: ...ommendations about cabling EtherCAT from the documentation Recom mendations for the design of the infrastructure for EtherCAT Ethernet that is available for down load at www Beckhoff com EtherCAT uses 4 wires for signal transfer Due to automatic cable detection auto crossing symmetric 1 1 or cross over cables can be used between EtherCAT devices from Beckhoff M8 Connector pin assignment Signal Des...

Page 45: ... For usage of the EtherCAT connectors M8 of EK1122 0008 the following have to be noticed M8 connectors It is recommended to pull the M8 connectors tight with a nut torque of 0 4 Nm When using the torque control screwdriver ZB8800 is also a max torque of 0 5 Nm permissible Fig 37 EtherCAT Box with M8 connectors ...

Page 46: ...nded mounting rails under the terminals and cou plers you should use flat mounting connections 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 wiring of the Bus Terminals Mounting Fit the mounting rail to the planned assembly location and press 1 the t...

Page 47: ...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 with 1 5 mm material thickness Pay attention to the material thickness of the DIN Rail Terminal Modules und EtherCAT Modules of KMxxxx and EMxxxx series same as the terminals of the EL66xx and EL67xx se...

Page 48: ...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 data transfer you must not directly string together more than 2 passive termi nals Examples for positioning of passive terminals highlighted Fig 38 Correct positioning Fig 39 Incorrect positioning ...

Page 49: ... 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 system if the supply voltage has been switched off or if a non explosive atmosphere is ensured The connections of the certified components may only be connected or disconnected if the supply volt age has ...

Page 50: ... 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 areas ATEX that is available in the download area of the Beckhoff homepage http www beckhoff com ...

Page 51: ...the EK1122 engages properly on the DIN rail See mounting rail installation 46 and recommended mounting rails 47 6 1 Application notes RJ45 junction 6 1 1 Settings and port assignment For normal operation the EK1122 can be used with default settings The port ID used in the TwinCAT System Manager is mapped on the EK1122 as follows Fig 40 EK1122 port ID ...

Page 52: ...Internal and external port assignment for EK1122 6 2 Application notes M8 junction 6 2 1 Settings and port assignment For normal operation no settings are required at the EK1122 0008 The port ID used in the TwinCAT System Manager is mapped on the EK1122 0008 as follows ...

Page 53: ...Commissioning application notes EK1122 EK15xx 53 Version 3 4 Fig 42 Port ID for EK1122 0008 Fig 43 Internal and external port assignment for EK1122 0008 ...

Page 54: ...EK1521 EK1521 0010 engages properly on the DIN rail See mounting rail installation 46 and recommended mounting rails 47 6 3 1 Settings and port assignment For normal operation the EK1521 EK1521 0010 can be used with default settings The port ID used in the TwinCAT System Manager is mapped on the EK1521 EK1521 0010 as follows Fig 44 Port ID for EK1521 EK1521 0010 ...

Page 55: ...the modes are gradually diffracted back to the core leading to propagation time compensation and significantly higher quality of the light pulse at the outlet compared with a multimode step index fiber where the different light modes have different signal run times mode dispersion with associated front distortion Single mode Single mode fibers have a very thin core 9 µm and therefore conduct only ...

Page 56: ... s end face which is at an angle of about 8 to the fiber axis is refracted from the core by the cladding glass into the air This avoids in terference with the data transmission optimizing the core size of the back scatter 50 125 µm or 62 5 125 µm The use of both diameters is possible However the use of 50 125 µm is recommended due to the lower attenuation In optical fibers the wavelengths 850 nm a...

Page 57: ...the locking mechanism never pull the optical fiber cable itself Crossover cables Not that crossover cables may have to be used for connecting the EK1521 EK1521 0010 with the EK1501 EK1501 0010 Practical tip The infrared light emission can be made visible via a digital or smartphone camera at the junction or at the coupler see figure Avoid light meeting light when connecting the optical fiber cable...

Page 58: ...e Blind plugs in unused sockets 6 4 Application notes POF junction Mounting rail installation Mounting Please ensure that the EK1561 engages properly on the DIN rail See mounting rail installation 46 and recommended mounting rails 47 6 4 1 Settings and port assignment For normal operation the EK1561 can be used with default settings The port ID used in the TwinCAT System Manager is mapped on the E...

Page 59: ...Commissioning application notes EK1122 EK15xx 59 Version 3 4 Fig 46 EK1561 port ID Fig 47 Internal and external port assignment for EK1561 ...

Page 60: ...eads to a reduction in the bandwidth Due to the simple and almost universally applicable connection techniques compared to glass fibers POFs are used in particular for short transmission distances such as inside rooms technical equipment mechanical systems or cars POFs have an attenuation of about 140 dB km at a wavelength of 650 Nm so that a maximum data transmission distance of 50 m can be achie...

Page 61: ...amage to the cable To release the cable press the release catch on the plug and pull the plug at the same time never pull by the POF cable alone NOTE TX Rx channel assignment During cable assembly 62 note the assignment of the optical channels in the connection socket In the EK1561 the light emitting transmitter channel Tx is the upper outlet in the connection socket Figure Transmitter channel in ...

Page 62: ...ver against environmental influences unused sockets should be sealed using the blind plugs provided Figure Blind plugs in unused sockets 6 5 Notes regarding assembly of POF cables with the connector set ZS1090 0008 Fig 49 Duplex connector set ZS1090 0008 The duplex connector set ZS1090 0008 from Beckhoff consists of 10 duplex Versatile Link connectors and several sheets of abrasive paper and polis...

Page 63: ...ers 4 Polishing set included with connector set ZS1090 0008 from Beckhoff 5 Versatile Link duplex connector included in connector set ZS1090 0008 from Beckhoff 1 Stripping the POF cable The cable should be split over a length between 100 and 150 mm from the cable end so that the following steps can be carried out properly Once you have shortened the cable to the required length use the wire stripp...

Page 64: ...g 53 Correctly connected optical channels 3 Grinding and polishing Any fibers protruding more than 1 5 mm from the connector should be shortened with a cutter knife or a pair of scissors Now push the connector fully into the sanding gauge so that the ends to be polished protrude from the lower side The sanding gauge is suitable for polishing one or two simplex connectors or a duplex connector Fig ...

Page 65: ...ith a soft dry cloth Fig 55 Polishing in the form of a figure of 8 4 Fine polishing Now use the pink polishing sheet for fine polishing in the same manner Apply the connector with the sanding gauge to the matt side of the polishing sheet with slight pressure and polish in the form of a figure of 8 up to 25 times After the procedure the fiber end should be flat smooth and clean Improving the transf...

Page 66: ...his LED indicates the terminal s operating state off State of the EtherCAT State Machine INIT initialization of the terminal single flash State of the EtherCAT State Machine PREOP function for mailbox communication and different standard settings set flashing State of the EtherCAT State Machine SAFEOP verification of the sync manager channels and the distributed clocks Outputs remain in safe state...

Page 67: ...the terminal s operating state off State of the EtherCAT State Machine INIT initialization of the terminal single flash State of the EtherCAT State Machine PREOP function for mailbox communication and different standard settings set flashing State of the EtherCAT State Machine SAFEOP verification of the sync manager channels and the distributed clocks Outputs remain in safe state on State of the E...

Page 68: ... terminal s operating state off State of the EtherCAT State Machine INIT initialization of the terminal single flash State of the EtherCAT State Machine PREOP function for mailbox communication and different standard settings set flashing State of the EtherCAT State Machine SAFEOP verification of the sync manager channels and the distributed clocks Outputs remain in safe state on State of the Ethe...

Page 69: ...xceeded Manipulations modifications of the laser device are not permitted 8 2 UL notice Application Beckhoff EtherCAT modules are intended for use with Beckhoff s UL Listed EtherCAT Sys tem only Examination For cULus examination the Beckhoff I O System has only been investigated for risk of fire and electrical shock in accordance with UL508 and CSA C22 2 No 142 For devices with Ethernet connectors...

Page 70: ...be limited accordingly by means of supply from an isolated source protected by a fuse of max 4 A according to UL248 or from a voltage supply complying with NEC class 2 A voltage source complying with NEC class 2 may not be connected in series or parallel with another NEC class 2compliant voltage supply These requirements apply to the supply of all EtherCAT bus couplers power adaptor terminals Bus ...

Page 71: ...with new data if the slave is set up for this purpose Generally the slave does not check whether the new data are suitable i e it may no longer be able to operate if the data are unsuitable Simplified update by bundle firmware The update using so called bundle firmware is more convenient in this case the controller firmware and the ESI description are combined in a efw file during the update both ...

Page 72: ...d revision 0016 The configured identifier must be compatible with the actual device description used as hardware i e the description which the slave has loaded on start up in this case EL3204 Normally the configured revision must be the same or lower than that actually present in the terminal network For further information on this please refer to the EtherCAT system documentation Update of XML ES...

Page 73: ...nfiguration is identical otherwise a change dialog appears for entering the actual data in the configuration Fig 60 Change dialog In this example in Fig Change dialog an EL3201 0000 0017 was found while an EL3201 0000 0016 was 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 ...

Page 74: ...ected in the following dialog see Fig Selecting the new ESI The checkbox Show Hidden Devices also displays older normally hidden versions of a slave Fig 62 Selecting the new ESI A progress bar in the System Manager shows the progress Data are first written then verified The change only takes effect after a restart Most EtherCAT devices read a modified ESI description immediately or after startup f...

Page 75: ...mple terminal 2 EL3204 and select the tab CoE Online CAN over EtherCAT CoE Online and Offline CoE Two CoE directories are available online This is offered in the EtherCAT slave by the controller if the EtherCAT slave supports this This CoE directory can only be displayed if a slave is connected and operational offline The EtherCAT Slave Information ESI XML may contain the default content of the Co...

Page 76: ...d during a firmware update Switch to the Online tab to update the controller firmware of a slave see Fig Firmware Update Fig 64 Firmware Update Proceed as follows unless instructed otherwise by Beckhoff support Valid for TwinCAT 2 and 3 as EtherCAT master Switch TwinCAT system to ConfigMode FreeRun with cycle time 1 ms default in ConfigMode is 4 ms A FW Update during real time operation is not rec...

Page 77: ...n update may be accomplished via an rbf file Controller 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 components If one of these firmware components is modified this version number is updated Determining the version via the System Manager The TwinCAT...

Page 78: ...ayed right click the table header and select Properties in the context menu Fig 66 Context menu Properties The Advanced Settings dialog appears where the columns to be displayed can be selected Under Diagnosis Online View select the 0002 ETxxxx Build check box in order to activate the FPGA firmware version display ...

Page 79: ...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 other specifications are given e g by the Beckhoff support Switch TwinCAT system to ConfigMode FreeRun with cycle time 1 ms default in ConfigMode is 4 ms A FW Update during real time operation is not ...

Page 80: ...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 appears Under ESC Access E PROM FPGA click on Write FPGA button ...

Page 81: ...e 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 EtherCAT device can only be recommissioned by the manufacturer 8 4 5 Simultaneous updating of several EtherCAT devices The firmware and ESI descriptions of several devices can be updated simultaneously pr...

Page 82: ...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 offers you comprehensive technical assistance helping you not only with the application of individual Beckhoff products but also with other wide ranging services support design programming and commissi...

Page 83: ...ports 17 Fig 13 Configuration of a Fast Hot Connect group 18 Fig 14 Marking in the TwinCAT System Manager 18 Fig 15 DC master setting 19 Fig 16 EK1122 0008 20 Fig 17 EK1521 22 Fig 18 EK1521 0010 24 Fig 19 EK1561 26 Fig 20 EtherCAT line topology 28 Fig 21 Line topology with extensions 28 Fig 22 Direction of data flow in the ESC 29 Fig 23 Example configuration 31 Fig 24 Online topology 32 Fig 25 Exa...

Page 84: ...ector 63 Fig 52 Closed connector 64 Fig 53 Correctly connected optical channels 64 Fig 54 Sanding gauge with protruding fiber ends 64 Fig 55 Polishing in the form of a figure of 8 65 Fig 56 Fine polished fibers in the connector 65 Fig 57 Device identifier consisting of name EL3204 0000 and revision 0016 72 Fig 58 Scan the subordinate field by right clicking on the EtherCAT device 73 Fig 59 Configu...

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