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Parameterization and commissioning

BK11x0, BK1250

Version: 4.1

◦ via

AoE access [

}

55]

(ADS over EtherCAT) from a TwinCAT system by means of ADS

commands on the KL terminal

As a rule, it is not necessary to reboot the KL terminal after a parameter change; see terminal
documentation.

• KS2000 configuration software

The

KS2000 software

for parameterizing KL terminals runs on Windows IPCs and can communicate

with the terminals and the upstream coupler via two communication channels:

◦ Internal ADS.

◦ External via a serial RS232 COM cable or a USB cable. Both are available from Beckhoff. A

KS2000 interface at the coupler (e.g. BK1120) is a prerequisite for external access.

Fig. 35: Register access on KL terminals

Note

ADS access

In contrast to COM access via a cable, ADS access is not limited to the local IPC platform.
The routing capabilities of each TwinCAT IPC enable the KL registers to be accessed from
other TwinCAT stations.

Содержание BK11 0 Series

Страница 1: ...Documentation BK11x0 BK1250 EtherCAT Bus Coupler 4 1 25 04 2017 Version Date...

Страница 2: ......

Страница 3: ...w EtherCAT Bus Coupler BK11x0 BK1250 3 Version 4 1 1 Product overview EtherCAT Bus Coupler BK1120 BK1150 14 EtherCAT Bus Coupler for standard Bus Terminals BK1250 15 Compact coupler between E bus and...

Страница 4: ...ly potential groups 40 5 6 Ethernet cable 41 5 7 EtherCAT wiring 43 5 8 ATEX Special conditions extended temperature range 44 5 9 ATEX Documentation 45 6 Parameterization and commissioning 46 6 1 Star...

Страница 5: ...ation software 76 6 5 1 Example parameterization with the KS2000 configuration software 76 7 Error handling and diagnosis 80 7 1 Error messages to the EtherCAT master 80 8 Appendix 81 8 1 General oper...

Страница 6: ...Table of contents BK11x0 BK1250 6 Version 4 1...

Страница 7: ...the data diagrams and descriptions in this documentation Trademarks Beckhoff TwinCAT EtherCAT Safety over EtherCAT TwinSAFE XFC and XTS are registered trademarks of and licensed by Beckhoff Automatio...

Страница 8: ...familiar with the applicable national standards Description of symbols In this documentation the following symbols are used with an accompanying safety instruction or note The safety instructions must...

Страница 9: ...dded 2 4 Extension of terminal diagnostics 2 3 Correction Diagnostic LEDs 2 2 CoE access AoE 2 1 Object descriptions amended 2 0 BK1250 added object descriptions and technical data amended 1 0 Object...

Страница 10: ...s from the different lines have different kinds of identification numbers Production lot batch number serial number date code D number The serial number for Beckhoff IO devices is usually the 8 digit...

Страница 11: ...actory calibration certificate and other measuring terminals Examples of markings Fig 1 EL5021 EL terminal standard IP20 IO device with batch number and revision ID since 2014 01 Fig 2 EK1100 EtherCAT...

Страница 12: ...418 Fig 5 EP1258 00001 IP67 EtherCAT Box with batch number 22090101 and unique serial number 158102 Fig 6 EP1908 0002 IP76 EtherCAT Safety Box with batch number 071201FF and unique serial number 00346...

Страница 13: ...Foreword BK11x0 BK1250 13 Version 4 1 Fig 8 ELM3604 0002 terminal with ID number QR code 100001051 and unique serial number 44160201...

Страница 14: ...xtension and a bus end terminal The Bus Coupler recognizes the connected terminals and automatically allocates them into the EtherCAT process image The Bus Coupler is connected to the network via the...

Страница 15: ...s implementation of compact and cost effective control solutions The wide range of more than 300 available Bus Terminals incl special terminals can thus be optimally combined with the communication sp...

Страница 16: ...4 max 500 mA 70 mA K bus current 4 max 200 mA K bus power supply 5 V max 1750 mA max 2000 mA max 500 mA Power contacts max 24 VDC max 10 A Electrical isolation 500 V power contact supply voltage Ethe...

Страница 17: ...e subnet as the control computer However EtherCAT applications are not limited to a subnet EtherCAT UDP packs the EtherCAT protocol into UDP IP datagrams This enables any control with Ethernet protoco...

Страница 18: ...Ethernet patch cables transfer the signals in Ethernet mode 100Base TX The complete bandwidth of the Ethernet network such as different optical fibers and copper cables can be used in combination wit...

Страница 19: ...ntrol concepts that could not be realized with classic fieldbus systems For example the Ethernet system can now not only deal with velocity control but also with the current control of distributed dri...

Страница 20: ...plers for all usual bus systems The Beckhoff Bus Terminal system unites the advantages of a bus system with the possibilities of the compact series terminal Bus Terminals can be driven within all the...

Страница 21: ...m When converting to a different bus system it is necessary to bear in mind the need to change the timeout periods if the bus cycle time is longer The interfaces A Bus Coupler has six different method...

Страница 22: ...he slave are configurable and writeable This can be done in write or read mode via the System Manager Fig CoE Online tab by clicking This is useful for commissioning of the system slaves Click on the...

Страница 23: ...nce in CoE 0xF008 and remains active as long as the code word is not changed After switching the device on it is then inactive Changed CoE values are not saved in the EEPROM and can thus be changed an...

Страница 24: ...line online If the slave is offline The offline list from the ESI file is displayed In this case modifications are not meaningful or possible The configured status is shown under Identity No firmware...

Страница 25: ...x steps The parameter range 0x8000 exemplifies this Channel 0 parameter range 0x8000 00 0x800F 255 Channel 1 parameter range 0x8010 00 0x801F 255 Channel 2 parameter range 0x8020 00 0x802F 255 This is...

Страница 26: ...tional 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 a...

Страница 27: ...state the slave firmware can be updated The Boot state can only be reached via the Init state In the Boot state mailbox communication via the file access over EtherCAT FoE protocol is possible but no...

Страница 28: ...ED at the RJ45 sockets which indicates the fieldbus status The RUN and ERROR LEDs for BK1120 center top for BK1150 left row of the LED prism indicate the state of the EtherCAT state machine On the upp...

Страница 29: ...s Coupler BK1250 Fig 21 Diagnostic LEDs at Bus Coupler BK1250 LEDs for power supply diagnostics LED Display State Description POWER SUPPLY green off No operating voltage present at the Bus Coupler on...

Страница 30: ...rames LEDs for fieldbus diagnostics BK1120 BK1150 LED Display State Description LINK ACT X1 IN green off No connection on the incoming EtherCAT segment on linked Preceding EtherCAT device connected fl...

Страница 31: ...No Bus Terminal inserted One of the Bus Terminals is defective halve the number of Bus Terminals attached and check whether the error is still present with the remaining Bus Terminals Repeat until the...

Страница 32: ...internally connected to terminal point 6 0 V Up 3 Power supply for power contacts internally connected to terminal point 7 PE 4 PE connection internally connected to terminal point 8 0 V Us 5 Power s...

Страница 33: ...ly connected to terminal point 6 0 V Up 3 Power supply for power contacts internally connected to terminal point 7 PE 4 PE connection internally connected to terminal point 8 0 V Us 5 Power supply for...

Страница 34: ...ensure you are electrostatically discharged and avoid touching the contacts of the device directly a Avoid contact with highly insulating materials synthetic fibers plastic film etc b Surroundings wo...

Страница 35: ...Coupler Join the compo nents with tongue and groove and push the terminals against the mounting rail until the lock clicks onto the mounting rail If the Terminals are clipped onto the mounting rail fi...

Страница 36: ...ents 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 and...

Страница 37: ...ion testing or to damage on the terminal e g disruptive discharge to the PE line during insulation testing of a consumer with a nominal voltage of 230 V For insulation testing disconnect the PE supply...

Страница 38: ...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...

Страница 39: ...position 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 Th...

Страница 40: ...0 mA E bus current Power feed terminals are to be inserted if the added terminals require more current Input for power contacts The bottom six connections with spring loaded terminals can be used to f...

Страница 41: ...lectrically isolated The supply voltage is also used to generate the operating voltage for the fieldbus Note All the Bus Terminals are electrically isolated from the E bus The E bus is thus electrical...

Страница 42: ...type of cable belongs to category 3 and is not recommended for use in an industrial environment S UTP Screened unshielded twisted pair shielded with copper braid Has an overall shield of copper braid...

Страница 43: ...oss over cables can be used between EtherCAT devices from Beckhoff The following Beckhoff cables and connectors are suitable for application in EtherCAT systems ZB9010 Industrial Ethernet EtherCAT cab...

Страница 44: ...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 sys t...

Страница 45: ...of the Beckhoff terminal systems in potentially explo sive areas ATEX Pay also attention to the continuative documentation Notes about operation of the Beckhoff terminal systems in potentially explosi...

Страница 46: ...r enters the Stop state Once the start up has completed without error the Bus Coupler enters the fieldbus start state Fig 31 Flow chart showing start up behavior of the Bus Coupler The Bus Coupler can...

Страница 47: ...ck for example For this reason from a certain level the infrastructure components are able to operate as reference clocks based on special configuration settings According to the following table DC su...

Страница 48: ...3 1 Parameterization of KL terminals If a KL terminal supports this kind of parameterization the parameters can be changed via the KL register communication The parameters are managed in so called re...

Страница 49: ...runs on Windows IPCs and can communicate with the terminals and the upstream coupler via two communication channels Internal ADS External via a serial RS232 COM cable or a USB cable Both are availabl...

Страница 50: ...00 as a 2 byte value the first KL terminal after the BK11x0 BK1250 also has the number 1 accordingly consecutive if necessary set the code word in register 31 0x4280 20 0x1235 List the register values...

Страница 51: ...o saved in the terminal in the event of the terminal being exchanged 2 entries have already been created selection of terminal 3 and setting of the code word Now the user scaling offset will be set in...

Страница 52: ...y Fig 38 Entry Since the code word was used it must also be reset in order to complete the terminal access Fig 39 Complete terminal access More extensive register access is possible if required see Fi...

Страница 53: ...try CANopen over EtherCAT online access to a KL terminal is also possible via the CoE directory of the BK11x0 BK1250 EtherCAT coupler used Using this route access to the coupler internal tables or to...

Страница 54: ...ters 63 if available are each in channel n HI the sub index corresponds to the register number Subindexhex Register number 1 specify values data as a 2 byte value Note Online display based on Fig Onli...

Страница 55: ...EtherCAT is useful from TwinCAT 2 11 An additional AoE NetId is required for the coupler used so that the TwinCAT internal ADS router can access it It is useful to link this AoE NetId with the PLC pro...

Страница 56: ...s connect a type K thermocouple to channel 1 Note In the startup list of the BK1120 entries are available that set the user offset to a start value at each switch on or INIT OP transition 6 3 5 Beckho...

Страница 57: ...lf the value in subindex 0 corresponds to the number of terminals including the KL9010 For each KL KM terminal the type is specified as a 16 bit value based on the following key see index 0x4012 67 Te...

Страница 58: ...onfig mode under Devices enter the BK1120 BK1150 as EtherCAT device Fig TwinCAT tree showing BK1120 as example Any Bus Couplers already connected to the network can also be read This will cause all th...

Страница 59: ...Manager Config mode as a further box under a corresponding coupler e g EK1100 by right clicking in the terminal network Fig TwinCAT tree BK1250 If the Bus Coupler is already integrated in the network...

Страница 60: ...0 Version 4 1 6 4 3 Inputs configuration overview CouplerState Online tab Display of general coupler errors Fig 46 CouplerState Online tab 6 4 4 Outputs configuration overview CouplerCtrl Online tab D...

Страница 61: ...tl Online tab 6 4 5 Status of the working counter Wc state configuration overview WCstate Online tab Boolean variable indicating the working counter status of coupler An invalid working counter value...

Страница 62: ...ion and commissioning BK11x0 BK1250 62 Version 4 1 Fig 48 WCstate Online tab 6 4 6 Online status info data configuration overview State Online tab Indicates the online status of the coupler Fig 49 Sta...

Страница 63: ...ent 0x020_ Slave signals link error 0x040_ Slave signals missing link 0x080_ Slave signals unexpected link 0x100_ Communication port A 0x200_ Communication port B 0x400_ Communication port C 0x800_ Co...

Страница 64: ...the K bus operates asynchronous relative to EtherCAT Faster polling than Estimated Cycle offline is therefore possible but may lead to outdated input data or outputs not being set in time via the K bu...

Страница 65: ...l PDO Index hex Name Meaning Flags Default 16FF 0 Control PDO Length of this object RW 16FF 01 Output Mapping Area Control word RW 0xF200 01 16 Index 1701 RxPDO Digital Align Index hex Name Meaning Fl...

Страница 66: ...x1701 5889dec Index 1C13 TxPDO Assign Value ranges hh 01 FF hex ddd 001 255 dec Index hex Name Meaning Flags Default 1C13 0 TxPDO Assign Length of this object RW 1C13 01 Subindex 001 Assignment of the...

Страница 67: ...figuration of the Bus Terminal block continuation if more than 127 terminals Index hex Name Meaning Flags Default 4013 0 Coupler Table 9 HI Length of this object RO max 128dec 4013 01 Subindex 001 Reg...

Страница 68: ...ster 1 reserved RO 40FE 04 Subindex 128 Register 127 reserved RO Index 40FF Coupler Table 127 HI Reserved for internal settings cont Index hex Name Meaning Flags Default 40FF 0 Coupler Table 100 HI Le...

Страница 69: ...4 Register 63 RW 0x0000 0dec Index 4285 Terminal Table 2 HI for parameterization of the terminal specified with object 427F cont Index hex Name Meaning Flags Default 4085 0 Terminal Table 2 Length of...

Страница 70: ...Channel 1 Status Channel 1 status KL3403 6020 02 Channel 1 Word Alig ment Channel 1 word alignment KL3403 6020 03 Channel 1 Data Channel 1 data KL3403 6020 04 Channel 2 Status Channel 2 status KL3403...

Страница 71: ...status KL4032 7030 02 Channel 1 Word Alig ment Channel 1 word alignment KL4032 7030 03 Channel 1 Data Channel 1 data KL4032 7030 04 Channel 2 Status Channel 2 status KL4032 7030 05 Channel 2 Word Alig...

Страница 72: ...ork RO 9kk0 09 Module PDO Group Module PDO Group Non digital terminals Group 1 Digital terminals Group 2 RO 9kk0 0A Module Ident Module name terminal designation 67 RO Index F000 Modular Device Profil...

Страница 73: ...RO F010 hh Subindex ddd Terminal designation module 67 ddd RO Index F030 Configured Module List Value ranges hh 01 FF hex ddd 001 255 dec Index hex Name Meaning Flags Default F030 0 Module list Lengt...

Страница 74: ...plerCtrl Coupler control word RO P 0x0000 0dec 6 4 10 Mapping the Bus Terminals The precise assignment of the byte oriented Bus Terminals may be found in the configuration guide for the particular bus...

Страница 75: ...on regarding the mapping details The non digital terminals are mapped first followed by the digital terminals The first 16 bits of the process image are reserved for the status word process input imag...

Страница 76: ...el 1 2 Register communication data channel 1 3 Dummy for Word alignment Control byte channel 2 4 Register communication data channel 2 5 Digital terminals KL2012 6 5 KS2000 configuration software 6 5...

Страница 77: ...BK11x0 BK1250 The AmsServerNetId of the target system is required for this purpose Step 1 In the TwinCAT System Manager select the corresponding coupler BK11x0 BK1250 navigate to the EtherCAT tab and...

Страница 78: ...ox transferring the AmsServerNetID in the pull down menu of the ADS tab Fig 4 Existing device If you select an existing device under Name 1 the AmsServerNetId 2 is entered automatically The AdsPort se...

Страница 79: ...ck OK to close the dialog box Fig 58 Confirmation of successful communication test Step 5 Click OK to accept the set value Fig KS2000 ADS tab entering the AmsServerNetID Step 6 Log into the KS2000 sys...

Страница 80: ...EOP Rectify the K bus error Error Message Fig 61 Display of the error message AL Status Code 0x001e invalid SM IN cfg in the logger window Error code AL Status Code 0x001e Invalid SM IN cfg Explanatio...

Страница 81: ...allation position variable Vibration resistance conforms to EN 60068 2 6 Shock resistance conforms to EN 60068 2 27 EN 60068 2 29 see also installation instructions for enhanced mechanical load capaci...

Страница 82: ...et connectors Not for connection to telecommunication circuits Basic principles Two UL certificates are met in the Beckhoff EtherCAT product range depending upon the components UL certification accord...

Страница 83: ...C class 2 A voltage source complying with NEC class 2 may not be connected in series or parallel with another NEC class 2 compliant voltage supply These requirements apply to the supply of all EtherCA...

Страница 84: ...Appendix BK11x0 BK1250 84 Version 4 1 8 4 Test standards for device testing EMC EN 61000 6 2 EN 61000 6 4 Vibration resistance EN 60068 2 6 vibration test EN 60068 2 27 29 shock test...

Страница 85: ...1 08 B8 05 2 0 08 B8 03 1 0 06 02 0 2 06 02 0 1 06 02 Documentation Version BK1250 Firmware Hardware 4 1 12 13 3 0 11 13 2 9 05 10 2 8 05 09 2 7 04 05 2 6 04 05 2 5 04 05 2 4 04 05 2 3 04 05 2 2 03 03...

Страница 86: ...also find further documentation for Beckhoff components 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 ma...

Страница 87: ...Fig 15 Startup list in the TwinCAT System Manager 23 Fig 16 Offline list 24 Fig 17 Online list 25 Fig 18 States of the EtherCAT State Machine 26 Fig 19 Diagnostic LEDs at Bus Coupler BK1120 28 Fig 20...

Страница 88: ...xample for explaining the process image 75 Fig 53 Configuration software KS2000 76 Fig 54 TwinCAT System Manager EtherCAT tab for Box BK11x0 BK1250 77 Fig 55 Dialog EtherCAT Advanced Settings AoE 77 F...

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