Beckhoff EL1502 Скачать руководство пользователя страница 137

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Commissioning

EL1502, EL1512

137

Version: 3.5

Index 1A01 CNT TxPDO-Map Ch.2

Index (hex) Name

Meaning

Data type

Flags

Default

1A01:0

CNT TxPDO-Map
Ch.2

PDO Mapping TxPDO 2

UINT8

0x0B (11

dec

)

1A01:01

SubIndex 001

1. PDO Mapping entry (object 0x6010 (CNT Inputs
Ch.2), entry 0x01 (Output functions enabled))

UINT32

0x6010:01, 1

1A01:02

SubIndex 002

2. PDO Mapping entry (object 0x6010 (CNT Inputs
Ch.2), entry 0x02 (Status of output))

UINT32

0x6010:02, 1

1A01:03

SubIndex 003

3. PDO Mapping entry (object 0x6010 (CNT Inputs
Ch.2), entry 0x03 (Set counter done))

UINT32

0x6010:03, 1

1A01:04

SubIndex 004

4. PDO Mapping entry (object 0x6010 (CNT Inputs
Ch.2), entry 0x04 (Counter inhibited))

UINT32

0x6010:04, 1

1A01:05

SubIndex 005

5. PDO Mapping entry (1 bits align)

UINT32

0x0000:00, 1

1A01:06

SubIndex 006

6. PDO Mapping entry (object 0x6010 (CNT Inputs
Ch.2), entry 0x06 (Status of input clock))

UINT32

0x6010:06, 1

1A01:07

SubIndex 007

7. PDO Mapping entry (7 bits align)

UINT32

0x0000:00, 7

1A01:08

SubIndex 008

8. PDO Mapping entry (object 0x1C32 (SM output pa-
rameter), entry 0x20 (Sync error))

UINT32

0x1C32:20, 1

1A01:09

SubIndex 009

9. PDO Mapping entry (1 bits align)

UINT32

0x0000:00, 1

1A01:0A

SubIndex 010

10. PDO Mapping entry (object 0x1801 (CNT TxPDO-
Par Ch.2), entry 0x09 (TxPDO-Toggle))

UINT32

0x1801:09, 1

1A01:0B

SubIndex 011

11. PDO Mapping entry (object 0x6010 (CNT Inputs
Ch.2), entry 0x11 (Counter value))

UINT32

0x6010:11, 32

Index 1A02 CNT TxPDO-Map

Index (hex) Name

Meaning

Data type

Flags

Default

1A02:0

CNT TxPDO-Map

PDO Mapping TxPDO 3

UINT8

0x0B (11

dec

)

1A02:01

SubIndex 001

1. PDO Mapping entry (object 0x6020 (CNT Inputs),
entry 0x01 (Output functions enabled))

UINT32

0x6020:01, 1

1A02:02

SubIndex 002

2. PDO Mapping entry (object 0x6020 (CNT Inputs),
entry 0x02 (Status of output))

UINT32

0x6020:02, 1

1A02:03

SubIndex 003

3. PDO Mapping entry (object 0x6020 (CNT Inputs),
entry 0x03 (Set counter done))

UINT32

0x6020:03, 1

1A02:04

SubIndex 004

4. PDO Mapping entry (object 0x6020 (CNT Inputs),
entry 0x04 (Counter inhibited))

UINT32

0x6020:04, 1

1A02:05

SubIndex 005

5. PDO Mapping entry (object 0x6020 (CNT Inputs),
entry 0x05 (Status of input UD))

UINT32

0x6020:05, 1

1A02:06

SubIndex 006

6. PDO Mapping entry (object 0x6020 (CNT Inputs),
entry 0x06 (Status of input clock))

UINT32

0x6020:06, 1

1A02:07

SubIndex 007

7. PDO Mapping entry (7 bits align)

UINT32

0x0000:00, 7

1A02:08

SubIndex 008

8. PDO Mapping entry (object 0x1C32 (SM output pa-
rameter), entry 0x20 (Sync error))

UINT32

0x1C32:20, 1

1A02:09

SubIndex 009

9. PDO Mapping entry (1 bits align)

UINT32

0x0000:00, 1

1A02:0A

SubIndex 010

10. PDO Mapping entry (object 0x1802 (CNT TxPDO-
Par), entry 0x09 (TxPDO-Toggle))

UINT32

0x1802:09, 1

1A02:0B

SubIndex 011

11. PDO Mapping entry (object 0x6020 (CNT Inputs),
entry 0x11 (Counter value))

UINT32

0x6020:11, 32

Index 1C00 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 001

Sync-Manager Type Channel 1: Mailbox Write

UINT8

0x01 (1

dec

)

1C00:02

SubIndex 002

Sync-Manager Type Channel 2: Mailbox Read

UINT8

0x02 (2

dec

)

1C00:03

SubIndex 003

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

UINT8

0x03 (3

dec

)

1C00:04

SubIndex 004

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

UINT8

0x04 (4

dec

)

Содержание EL1502

Страница 1: ...Documentation EL1502 EL1512 Up down Counter 24 VDC 3 5 2018 06 08 Version Date ...

Страница 2: ......

Страница 3: ...ine 20 3 5 CoE Interface 22 3 6 Distributed Clock 27 4 Mounting and wiring 28 4 1 Instructions for ESD protection 28 4 2 Installation on mounting rails 28 4 3 Installation instructions for enhanced mechanical load capacity 31 4 4 Connection 32 4 4 1 Connection system 32 4 4 2 Wiring 34 4 4 3 Shielding 35 4 5 Installation positions 35 4 6 Positioning of passive Terminals 37 4 7 ATEX Special conditi...

Страница 4: ...512 Operating Modes 121 5 5 3 Process data 127 5 6 Object description and parameterization 129 5 6 1 EL1502 Object description and parameterization 129 5 6 2 EL1512 Object description and parameterization 140 6 Appendix 150 6 1 EtherCAT AL Status Codes 150 6 2 Firmware compatibility 150 6 3 Firmware Update EL ES EM EPxxxx 150 6 3 1 Device description ESI file XML 151 6 3 2 Firmware explanation 154...

Страница 5: ...are however constantly under development We reserve the right to revise and change the documentation at any time and without prior announcement No claims for the modification of products that have already been supplied may be made on the basis of the data diagrams and descriptions in this documentation Trademarks Beckhoff TwinCAT EtherCAT Safety over EtherCAT TwinSAFE XFC and XTS are registered tr...

Страница 6: ...roduction 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 of damages All rights reserved in the event of the grant of a patent utility model or design ...

Страница 7: ...ntended for 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 ...

Страница 8: ...0 Migration Update structure Update revision status 2 5 Update chapter Technical data Addenda chapter Installation instructions for enhanced mechanical load capacity Update structure 2 4 Update chapter Technical data 2 3 Update chapter CoE interface 2 2 Update Basic function principles and Process data Update chapter Firmware status 2 1 Notes regarding operating modes added 2 0 EL1512 added revisi...

Страница 9: ... 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 ...

Страница 10: ...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...

Страница 11: ...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 ...

Страница 12: ...2 12 Version 3 5 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 ...

Страница 13: ... U D input delivery state a single channel counter 32 bit that is controlled via the gate connection two separate logic counters 32 bit that can count in one direction only with the Clock 1 and Clock 2 inputs The signal state of the inputs and outputs is indicated by light emitting diodes The two outputs Output 1 and Output 2 are switched in relation to the counter value and can thus be used as fa...

Страница 14: ...n power contacts typ 14 mA load Current consumption via E bus typ 130 mA Electrical isolation 500 V E bus field voltage Supports NoCoeStorage 22 function yes Configuration via TwinCAT System Manager Weight approx 50 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 humidi...

Страница 15: ...ing up and down via the U D input a single channel counter 32 bit that is controlled via the gate connection two separate logic counters 32 bit that can count in one direction only with the Clock 1 and Clock 2 inputs delivery state The signal state of the inputs and outputs is indicated by light emitting diodes The EL1512 is particularly suitable for simple counting tasks such as the connection of...

Страница 16: ...a TwinCAT System Manager Special features Set counters Weight approx 50 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 Dimensions W x H x D approx 15 mm x 100 mm x 70 mm Mounting 28 on 35 mm mounting rail conforms to EN 60715 Vibration shock...

Страница 17: ...SO 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 auto crossing symmetric 1 1 or cross over cables can be used between EtherCAT devices from Beckhoff Recommended cables Suitable cables for the connection of EtherCAT devices can be found on the Beckhoff...

Страница 18: ...rminal 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 communicatio...

Страница 19: ... 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 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...

Страница 20: ...for 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 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 i...

Страница 21: ...Operational 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 ...

Страница 22: ...alibration 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 SubIndex 0x00 0xFF 0 255dez A parameter localized in this way is normally written as 0x8010 07 with preceding x to identify the hexadecimal numerical range and a colon between index and subindex The re...

Страница 23: ...rameters 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 write operations onwards it can no longer be guaranteed that new changed data are reliably saved or are still readable This is irrelevant for normal commissioning However if CoE parameters are continu...

Страница 24: ...lue is to be stored permanently enter it in the Startup list The order of the Startup entries is usually irrelevant Fig 15 Startup list in the TwinCAT System Manager The Startup list may already contain values that were configured by the System Manager based on the ESI specifications Additional application specific entries can be created Online offline list While working with the TwinCAT System Ma...

Страница 25: ...line 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 according to the electronic information is displayed Online is shown in green Fig 17 Online list ...

Страница 26: ... 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 based order is therefore arranged in 16dec 10hex steps The parameter range 0x8000 exemplifies this Channel 0 parameter range 0x8000 00 0x800F 255 Channel 1 parameter range 0x8010 00 0x801F 255 Chann...

Страница 27: ...Unit 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 master automatically synchronizes the local clock with the master clock in the EtherCAT bus with a precision of 100 ns For detailed information please refer to the EtherCAT system description ...

Страница 28: ...with highly 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 terminated at the right hand end with an EL9011 or EL9012 bus end cap to en sure the protection class and ESD protection Fig 18 Spring contacts of the Beckhoff I O components 4 2 Installation on mo...

Страница 29: ... 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 correctly assembled no significant gap should be visible between the housings Fixing of mounting rails The locking mechanism of the terminals and couplers extends to the profile of the mounting rail At the i...

Страница 30: ...mponents 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 thus represent a supply rail within the bus terminal block The power contacts are supplied via terminals on the Bus Coupler up to 24 V or for higher voltages via power feed terminals Power Contact...

Страница 31: ...oints for testing these Power Feed Terminals can be released and pulled at least 10 mm from the group of terminals WARNING Risk of electric shock The PE power contact must not be used for other potentials 4 3 Installation instructions for enhanced mechanical load capacity WARNING Risk of injury through electric shock and damage to the device Bring the Bus Terminal system into a safe de energized s...

Страница 32: ... relief and the wire connection should be kept as short as possible A distance of approx 10 cm should be maintained to the cable duct 4 4 Connection 4 4 1 Connection system 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 Overview The Bus Terminal system offers di...

Страница 33: ...l connection wires when the connector is removed Conductor cross sections between 0 08 mm2 and 2 5 mm2 can continue to be used with the proven spring force technology The overview and nomenclature of the product names for ESxxxx and KSxxxx series has been retained as known from ELxxxx and KLxxxx series High Density Terminals HD Terminals Fig 24 High Density Terminals The Bus Terminals from these s...

Страница 34: ...don t toggle 2 The wire can now be inserted into the round terminal opening without any force 3 The terminal point closes automatically when the pressure is released holding the wire securely and permanently See the following table for the suitable wire size width Terminal housing ELxxxx KLxxxx ESxxxx KSxxxx Wire size width single core wires 0 08 2 5 mm2 0 08 2 5 mm2 Wire size width fine wire cond...

Страница 35: ... the technical data for a terminal to ascertain whether any restrictions regarding the installa tion position and or the operating temperature range have been specified When installing high power dissi pation terminals ensure that an adequate spacing is maintained between other components above and be low the terminal in order to guarantee adequate ventilation Optimum installation position standar...

Страница 36: ...hown in Fig Recommended distances for standard installation position is recommended Other installation positions All other installation positions are characterized by different spatial arrangement of the mounting rail see Fig Other installation positions The minimum distances to ambient specified above also apply to these installation positions ...

Страница 37: ...CAT Terminals ELxxxx ESxxxx which 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 28 Correct positioning ...

Страница 38: ... range ET in potentially explosive areas Measures must be taken to 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...

Страница 39: ...eckhoff EtherCAT product range depending upon the components UL certification according to UL508 Devices with this kind of certification are marked by this sign Almost all current EtherCAT products as at 2010 05 are UL certified without restrictions UL certification according to UL508 with limited power consumption The current consumed by the device is limited to a max possible current consumption...

Страница 40: ...ith NEC 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 EtherCAT bus couplers power adaptor terminals Bus Terminals and their power contacts ...

Страница 41: ...onnection Terminal point Description Name No U D Gate Clock Ch 1 1 Up down input operating mode 32 bit up down counter 115 Gate input operating mode 32 bit counter with gate function 115 Clock 1 input operating mode 2 x 32 bit counter 115 24 V 2 24 V internally connected to terminal point 6 and positive power contact 0 V 3 0 V internally connected to terminal point 7 and negative power contact Out...

Страница 42: ...cription Name No Clock Ch 1 U D Gate 1 Clock 1 input operating mode 2 x 32 bit counter 115 Up down input operating mode 32 bit up down counter 115 Gate input operating mode 32 bit counter with gate function 115 24 V 2 24 V internally connected to terminal point 6 and positive power contact 0 V 3 0 V internally connected to terminal point 7 and negative power contact PE 4 PE Clock Ch 2 Clock 5 Cloc...

Страница 43: ... 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 actual configuration All configuration data can be entered directly via editor functions offline or via the Scan function online offline The configuration can be customized by adding and positioning ind...

Страница 44: ...Based 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 the CX2040 on the right E bus EL1004 4 channel analog input terminal 10 10 V Linked via the X001 port RJ 45 EK1100 EtherCAT Coupler Connected to the EK1100 EtherCAT coupler on the right E bus EL2008 ...

Страница 45: ...n 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 components and TwinCAT PLC Control for the development and compilation of a controller The starting point is the TwinCAT System Manager After successful installation of the TwinCAT system on the PC to be use...

Страница 46: ...ust be made known first In the menu under Actions Choose Target System via the symbol or the F8 key open the following window Fig 35 Selection of the target system Use Search Ethernet to enter the target system Thus a next dialog opens to either enter the known computer name after Enter Host Name IP as shown in red perform a Broadcast Search if the exact computer name is not known enter the known ...

Страница 47: ...rst have to be set to Config mode via or via menu Actions Set Reset TwinCAT to Config Mode Shift F4 Fig 37 Select Scan Devices Confirm the warning message which follows and select EtherCAT in the dialog Fig 38 Automatic detection of I O devices selection the devices to be integrated Confirm the message Find new boxes in order to determine the terminals connected to the devices Free Run enables man...

Страница 48: ...ch then reads the elements present in the configuration below Fig 40 Reading of individual terminals connected to a device This functionality is useful if the actual configuration is modified at short notice Programming and integrating the PLC TwinCAT PLC Control is the development environment for the creation of the controller in different program environments TwinCAT PLC Control supports all lan...

Страница 49: ... 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 41 TwinCAT PLC Control after startup Sample variables and a sample program have been created and stored under the name PLC_example pro ...

Страница 50: ...r 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 the warning Once the System Manager has been notified the warning no longer appears First integrate the TwinCAT PLC Control project in the System Manager via the context menu of the PLC configuratio...

Страница 51: ...stem 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 object PDO via the context menu of a variable of the integrated project PLC_example and via Modify Link Standard Fig 45 Creating the links between PLC variables and process objects In the window that ...

Страница 52: ...multaneously 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 sequentially to all eight selected output bits of the EL2008 terminal In this way it is possible to subsequently address all eight outputs of the terminal in the program with a byte corresponding to bit 0 for c...

Страница 53: ...he 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 established the connection from the controller to the inputs and outputs of the terminals The configuration can now be activated First the configuration can be verified via or via Actions Check Config...

Страница 54: ... 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 on the controller Should the new program be loaded which should be acknowledged with Yes The runtime environment is ready for the program start ...

Страница 55: ...environment 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 communication with the electromechanical components After successful installation of the TwinCAT system on the PC to be used for development TwinCAT 3 shell displays the following user interface after s...

Страница 56: ...T 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 52 Create new TwinCAT project The new project is then available in the project folder explorer ...

Страница 57: ...talled on the respective PLC TwinCAT can be used in local mode and thereby the next step is Insert Device 58 If the intention is to address the TwinCAT runtime environment installed on a PLC as development environment remotely from another system the target system must be made known first Via the symbol in the menu bar expand the pull down menu and open the following window Fig 54 Selection dialog...

Страница 58: ... 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 project folder explorer of the Visual Studio shell user interface on the left select Devices within element I O then right click to open a context menu and select Scan or start the action via in the m...

Страница 59: ...lso be acknowledged Based on the sample configuration 44 described at the beginning of this section the result is as follows Fig 58 Mapping of the configuration in VS shell of the TwinCAT3 environment The whole process consists of two stages which may be performed separately first determine the devices then determine the connected elements such as boxes terminals etc A scan can also be initiated b...

Страница 60: ...ontrol 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 Function Block Diagram FBD Ladder Diagram LD The Continuous Function Chart Editor CFC Sequential Function Chart SFC The following section refers to Structured Text ST In order to create a programming ...

Страница 61: ...er PLC_example as project name for example and select a corresponding directory Fig 61 Specifying the name and directory for the PLC programming environment The Main program which already exists by selecting Standard PLC project can be opened by double clicking on PLC_example_project in POUs The following user interface is shown for an initial project ...

Страница 62: ...Commissioning EL1502 EL1512 62 Version 3 5 Fig 62 Initial Main program of the standard PLC project To continue sample variables and a sample program have now been created ...

Страница 63: ...older followed by the compile process Fig 64 Start program compilation The following variables identified in the ST PLC program with AT are then available in under Assignments in the project folder explorer Assigning variables Via the menu of an instance variables in the PLC context use the Modify Link option to open a window for selecting a suitable process object PDO for linking ...

Страница 64: ...ration tree Fig 66 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 selected for linking In contrast the checkbox All types must be ticked for creating the link for the output variables in order to allocate a set of eight separate output bits to a byte variable The followi...

Страница 65: ... 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 68 Application of a Goto Link variable using MAIN bEL1004_Ch4 as a sample The process of creating links can also take place in the opposite direction i e starting with individual PDOs to variable However in this example it would the...

Страница 66: ... 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 with the real time system and load the control program for execution This results in the message No program on the controller Should the new program be loaded which should be acknowledged with Yes The...

Страница 67: ...d 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 to MATLAB Simulink Open interface for expandability Flexible run time environment Active support of Multi Core und 64 Bit Operatingsystem Automatic code generation and project creation with the TwinC...

Страница 68: ...rfaces 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 ignored Alternatively an EtherCAT device can be inserted first of all as described in chapter Offline configuration creation section Creating the EtherCAT device 78 in order to view the compatible ether...

Страница 69: ...rties 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 network interface Windows Start System Properties Network Fig 74 Windows properties of the network interface A correct setting of the driver could be ...

Страница 70: ...Commissioning EL1502 EL1512 70 Version 3 5 Fig 75 Exemplary correct driver setting for the Ethernet port Other possible settings have to be avoided ...

Страница 71: ...Commissioning EL1502 EL1512 71 Version 3 5 Fig 76 Incorrect driver settings for the Ethernet port ...

Страница 72: ...es 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 associated with the DHCP client for the Ethernet port assigning itself a default IP address in the absence of a DHCP server is avoided A suitable address space is 192 168 x x for example Fig 77 TCP IP setti...

Страница 73: ...hat 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 Internet by TwinCAT 2 Option Update EtherCAT Device Descriptions TwinCAT 3 TwinCAT EtherCAT Devices Update Device Descriptions via ETG Website The TwinCAT ESI Updater 77 is available for this purpose ...

Страница 74: ...evision 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 1017 In this case an in house check should first be performed to determine whether the spare parts stock al lows the integration of the increased revision into the configuration at all A new higher ...

Страница 75: ...e 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 if necessary press F5 to update OnlineDescription for TwinCAT 3 x In addition to the file described above OnlineDescription0000 xml a so called EtherCAT cache with new discovered devices is created ...

Страница 76: ...02 EL1512 76 Version 3 5 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 the file manufacturer ...

Страница 77: ... 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 possible in Offline configuration mode In this case all components have to be entered manually in the configuration e g based on the electrical design If the designed control system is already connecte...

Страница 78: ...guration 88 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 86 Append EtherCAT device left TwinCAT 2 right TwinCAT 3 Select type EtherCAT for an EtherCAT I O application with EtherCAT slaves For the present publisher subscriber service in combination with an EL6601 EL6614 termin...

Страница 79: ...ices can be appended by right clicking on a device in the configuration tree Fig 90 Appending EtherCAT devices left TwinCAT 2 right TwinCAT 3 The dialog for selecting a new device opens Only devices for which ESI files are available are displayed Only devices are offered for selection that can be appended to the previously selected device Therefore the physical layer available for this port is als...

Страница 80: ...revision can be displayed as Extended Information Fig 92 Display of device revision In many cases several device revisions were created for historic or functional reasons e g through technological advancement For simplification purposes see Fig Selection dialog for new EtherCAT device only the last i e highest revision and therefore the latest state of production is displayed in the selection dial...

Страница 81: ...ion 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 configuration an EL2521 0025 1018 or higher 1019 1020 can be used in practice Fig 94 Name revision of the terminal If current ESI descriptions are available in the TwinCAT system the last revision offered in t...

Страница 82: ...Commissioning EL1502 EL1512 82 Version 3 5 Fig 95 EtherCAT terminal in the TwinCAT tree left TwinCAT 2 right TwinCAT 3 ...

Страница 83: ... The 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 Windows Taskbar always shows the TwinCAT mode of the local IPC Compared to that the System Manager window of TwinCAT 2 or the user interface of TwinCAT 3 indicates the state of the target system F...

Страница 84: ...e The respective devices are lo cated in the stored ESI data and integrated in the configuration tree in the default state defined there Fig 100 Example default state NOTE Slave scanning in practice in series machine production The scanning function should be used with care It is a practical and fast tool for creating an initial configu ration as a basis for commissioning In series machine product...

Страница 85: ...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 the revision 1019 is automatically detected and built into the configuration Fig 102 Detection of EtherCAT terminal with revision 1019 This is usually not noticed by the commissioning engineers TwinCA...

Страница 86: ...witched to online state OPERATIONAL Fig 106 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 continues to operate with the idling cycle time of 4 ms default setting even without active task NC PLC Fig 107 Displaying of Free Run and Config Mode toggling right below in the status bar Fig 108 ...

Страница 87: ...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 the chapter Notes regarding ESI device description Device are not detected properly Possible reasons include faulty data links resulting in data loss during the scan slave has invalid device descript...

Страница 88: ...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 the configuration exactly or it may differ This enables the configuration to be compared Fig 111 Identical configuration left TwinCAT 2 right TwinCAT 3 If differences are detected they are shown in the ...

Страница 89: ...s 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 device functions if applicable The physical device firmware if available has to support the communication queries settings of the master This is backward compatible i e newer devices higher revision ...

Страница 90: ...nCAT offers a function Change to Compatible Type for the exchange of a device whilst retaining the links in the task Fig 115 Dialog Change to Compatible Type left TwinCAT 2 right TwinCAT 3 This function is preferably to be used on AX5000 devices Change to Alternative Type The TwinCAT System Manager offers a function for the exchange of a device Change to Alternative Type Fig 116 TwinCAT 2 Dialog C...

Страница 91: ...s 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 provides many setup options and also a respective number of tabs are available On the contrary by the terminal EL1004 for example the tabs General EtherCAT Process Data and Online are available only...

Страница 92: ...uring 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 it is possible to connect this device with another one without changing the order of the EtherCAT devices in the communication ring then this combination field is activated and the EtherCAT device t...

Страница 93: ...of 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 is also stored in the CoE directory Any changes in the CoE directory that lead to different PDO settings prevent successful startup of the slave It is not advisable to deviate from the designated pr...

Страница 94: ...e 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 invalid SM OUT cfg also indicates the reason for the failed start A detailed description 99 can be found at the end of this section Startup tab The Startup tab is displayed if the EtherCAT slave has a ...

Страница 95: ...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 adds a new mailbox download request to be sent during startup Delete This button deletes the selected entry Edit This button edits an existing request CoE Online tab The additional CoE Online tab is dis...

Страница 96: ...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 the object read only P An additional P identifies the object as a process data object Value Value of the object ...

Страница 97: ... can specify which objects are displayed in the list Fig 124 Dialog Advanced settings Online via SDO Information If this option button is selected the list of the objects included in the object list of the slave is uploaded from the slave via SDO information The list below can be used to specify which object types are to be uploaded Offline via EDS File If this option button is selected the list o...

Страница 98: ...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 operational If the slave fails during change of state it sets the error flag The current state is now displayed as ERR PREOP When the Clear Error button is pressed the error flag is cleared and the cu...

Страница 99: ...n 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 infosys beckhoff com Fieldbus Components EtherCAT Terminals EtherCAT System documentation EtherCAT basics Distributed Clocks 5 2 7 1 Detailed description of Process Data tab Sync Manager Lists the conf...

Страница 100: ... list 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 it appears as a variable of the slave with this parameter as the name Flags F Fixed content The content of this PDO is fixed and cannot be changed by the System Manager M Mandatory PDO This PDO is ...

Страница 101: ...olling task for diagnosis that is accurate for the current cycle when in operation not during commissioning are discussed below Fig 127 Selection of the diagnostic information of an EtherCAT Slave In general an EtherCAT Slave offers communication diagnosis typical for a slave diagnosis of successful participation in the exchange of process data and correct operating mode This diagnosis is the same...

Страница 102: ...eckhoff 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 created as input variables in the PLC each corresponding to the process image Fig 128 Basic EtherCAT Slave Diagnosis in the PLC The following aspects are covered here ...

Страница 103: ...sibly 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 data the communication sta tus of the EtherCAT Slave must be evaluated there Such information is therefore provided with the process data for the most recent cy cle D Diagnostic information of the E...

Страница 104: ...ved 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 Manager Commissioning interfaces are being introduced as part of an ongoing process for EL EP EtherCAT devices These are available in TwinCAT System Managers from TwinCAT 2 11R2 and above They are int...

Страница 105: ...nual 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 statuses in accordance with the initialization routines that are defined for commissioning the device by the ES XML and user settings Distributed Clocks DC PDO CoE See also the section on Principles of Comm...

Страница 106: ...e set as standard EtherCAT Master OP Slaves OP This setting applies equally to all Slaves Fig 131 Default behaviour of the System Manager In addition the target state of any particular Slave can be set in the Advanced Settings dialogue the standard setting is again OP Fig 132 Default target state in the Slave ...

Страница 107: ... slave Fig 133 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 the E bus system voltage of 5 V a coupler is thereby loadable up to 2 A as a rule Information on how much current each EL terminal requires from the E bus supply is available online and in the catal...

Страница 108: ...d above a warning message E Bus Power of Terminal is output in the logger window when such a configuration is activated Fig 135 Warning message for exceeding E Bus current NOTE Caution Malfunction possible The same ground potential must be used for the E Bus supply of all EtherCAT terminals in a terminal block ...

Страница 109: ... for the first counter and the Clock 2 input terminal point 5 as the input for the second counter Beyond that two digital outputs can be set EL1502 only The maximum input frequency is limited to 100 kHz for the EL1502 and 1 kHz for the EL1512 the counters react to the rising edge of the input signal The use of the EL1502 is described below the same steps are to be performed analogously for the EL1...

Страница 110: ...this click on the button Reload I O devices Fig 138 CoE Online tab From the controller TwinCAT PLC the counter value can be set index 0x7000 03 132 0x7010 03 132 0x7020 03 133 the counter function of the terminal inhibited index 0x7000 04 132 0x7010 04 132 0x7020 04 133 and the outputs activated index 0x7000 02 132 0x7010 02 132 0x7020 02 133 EL1502 only In addition an internal function can be act...

Страница 111: ...ches 0x80nn 12 130 set Control EnableOutputFunctions to TRUE The output switches when the counter value is reached Counting direction inverted With decremental counting the reverse switching action occurs when the value falls below the pa rameterized switching counter value from 0x80nn 11 12 i e output 1 is switched off if 0x80nn 01 TRUE and the value falls below 0x80nn 11 Activating the output ci...

Страница 112: ...ns shown here for range 0x8020 and operating mode 1 or 2 Counter Reload If the internal counter should only count up to and including a limit value and automatically reset itself to 0 when the value is exceeded this can parameterized as follows Fig 140 CounterReload parameterized to 30 ...

Страница 113: ...h level up Low level Down Clock input terminal point 5 indicates the individual pulses Output 1 2 Index 0x8020 05 1 Enable pos gate Gate is inhibited by a positive level on the gate input terminal point 1 Clock input terminal point 5 indicates the individual pulses Index 0x8020 04 0 up counter 1 down counter 3 Index 0x8020 05 2 Enable neg gate Gate is inhibited by a negative level on the gate inpu...

Страница 114: ...clusion criteria prevent irregular combinations Excluded PDOs have a grey background Therefore for example the PDOs 0x1A00 and 0x1A01 cannot be selected as long as 0x1A02 is activated These changes become effective after activation and an EtherCAT restart or a reload The assignment of the PDOs to the respective Sync Manager is displayed in the SM column in the PDO List see fig C below The contents...

Страница 115: ...r is inhibited if a high level is encountered at the gate input of the terminal terminal point 1 The counting direction is set by index 0x8020 04 0 up 1 down The clock input terminal point 5 indicates the individual pulses Enable neg gate single channel gated counter closes in the case of a low level operating mode 3 The counter is inhibited if a low level is encountered at the gate input of the t...

Страница 116: ...Commissioning EL1502 EL1512 116 Version 3 5 Fig 142 Setting the counter via the CoE directory Please observe the notes on settings in the CoE directory 23 ...

Страница 117: ...nter value available in the designated process data in time before the arrival of the querying EtherCAT datagram a suitable signal must be generated cyclically within the terminal This signal can be triggered in the EL1502 through two events the SyncManager SM and the distributed clock DC Under operating mode selection the following options are available see Fig DC Disributed Clocks tab SM Synchro...

Страница 118: ...increases the risk that the position determination may not be finished in time before the arrival of EtherCAT frame so that no current position value is available in this cycle A left shift negative shift value means the counter value will be queried earlier resulting in older position values with an associated increase in the safety buffer before the arrival of the EtherCAT datagram This setting ...

Страница 119: ...sed on input reference If this option is activated an additional Input Shift is added to the configurable terminal specific SYNC0 shift user defined This value is calculated and made available by the EtherCAT master SysMan Device EtherCAT tab EtherCAT Advanced Settings Distributed Clocks Input Shift Time see Fig Activation of PDOs 0x1600 0x1601 and 0x1A00 0x1A01 index 0x8000 04 for setting the cou...

Страница 120: ...ters can be modified under advanced settings for the EtherCAT master Refer also to the basic introduction to the topic of EtherCAT and Distributed Clocks download the Distributed clocks system description Fig 146 EtherCAT Master EtherCAT tab Advanced Settings Fig 147 EtherCAT Master EtherCAT tab Advanced Settings ...

Страница 121: ... objects 123 Setting in the CoE directory 124 Standard scope of process data 126 5 5 2 1 Operating mode selection The EL1512 can be operated in four operating modes The setting takes place by the setting of single channel operation or operation with two separate channels through the selection of the process data objects 123 Counter settings up down counter gated counter in the CoE directory 124 Th...

Страница 122: ...te is inhibited by a positive level on the gate input terminal point 1 Clock input terminal point 5 indicates the individual pulses Index 0x8020 04 0 up counter 1 down counter 3 Index 0x8020 05 2 Enable neg gate Gate is inhibited by a negative level on the gate input terminal point 1 Clock input terminal point 5 indicates the individual pulses Index 0x8020 04 0 up counter 1 down counter 4 default ...

Страница 123: ...xclusion criteria prevent irregular combinations Excluded PDOs have a grey background Therefore for example the PDO 0x1A02 cannot be selected as long as 0x1A00 and 0x1A01 are activated These changes become effective after activation and an EtherCAT restart or a reload The assignment of the PDOs to the respective Sync Manager is displayed in the SM column in the PDO List see fig C below The content...

Страница 124: ...r is inhibited if a high level is encountered at the gate input of the terminal terminal point 1 The counting direction is set by index 0x8020 04 0 up 1 down The clock input terminal point 5 indicates the individual pulses Enable neg gate single channel gated counter closes in the case of a low level operating mode 3 The counter is inhibited if a low level is encountered at the gate input of the t...

Страница 125: ...Commissioning EL1502 EL1512 125 Version 3 5 Fig 150 Setting the counter via the CoE directory Please observe the notes on settings in the CoE directory 23 ...

Страница 126: ...Commissioning EL1502 EL1512 126 Version 3 5 Fig 151 EL1512 0000 0020 Standard scope of process data ...

Страница 127: ...ssignment 0x1C13 Index Index of excluded PDOs Size byte bit Name PDO content 0x1A00 0x1A02 6 0 CNT Outputs Channel 1 Operating mode 4 Index 0x6000 01 131 Output function enabled Index 0x6000 02 131 Status of output Index 0x6000 03 131 Set counter done Index 0x6000 04 131 Counter inhibited Index 0x6000 06 131 Status of input clock Index 0x1800 09 135 TxPDO Toggle Index 0x1C32 20 139 Sync error Inde...

Страница 128: ...C13 Index Index of excluded PDOs Size byte bit Name PDO content 0x1A00 default 0x1A02 6 0 CNT Outputs Channel 1 Operating mode 4 Index 0x6000 03 142 Set counter done Index 0x6000 04 142 Counter inhibited Index 0x6000 06 142 Status of input clock Index 0x1800 09 145 TxPDO Toggle Index 0x6000 11 142 Counter value 0x1A01 default 0x1A02 6 0 CNT Outputs Channel 2 Operating mode 4 Index 0x6010 03 142 Se...

Страница 129: ...equired for normal operation followed by a complete overview of missing objects Parameterization via the CoE list CAN over EtherCAT The terminal is parameterized via the CoE Online tab 98 double click on the respective object or via the Process Data tab 127 allocation of PDOs Please note the following general CoE information when using manipulating the CoE parameters Keep a startup list if compone...

Страница 130: ...d in dex 0x8000 03 130 The counter counts to this limit and on exceeding it begins again at zero UINT32 RW 0x00000001 1dec Index 8010 CNT Settings Ch 2 Index hex Name Meaning Data type Flags Default 8010 0 CNT Settings Ch 2 Maximum subindex UINT8 RO 0x13 19dec 8010 01 Enable function to set output Activates the function for setting Output 2 BOOLEAN RW 0x00 0dec 8010 02 Enable function to re set ou...

Страница 131: ...000000 0dec 8020 13 Counter reload value The limit that can be activated via Enable reload in dex 0x8020 03 131 The counter counts to this limit and on exceeding it begins again at zero UINT32 RW 0x00000001 1dec 5 6 1 3 Profile specific objects 0x6000 0xFFFF The profile specific objects have the same meaning for all EtherCAT slaves that support the profile 5001 Index 6000 CNT Inputs Ch 1 Index hex...

Страница 132: ...own input high level applied BOOLEAN RO 0x00 0dec 6020 06 Status of input clock State of the Clock input high level applied BOOLEAN RO 0x00 0dec 6020 0E Sync Error Synchronization error BOOLEAN RO 0x00 0dec 6020 10 TxPDO Toggle The TxPDO toggle is toggled by the slave when the data of the associated TxPDO is updated BOOLEAN RO 0x00 0dec 6020 11 Counter value Counter value UINT32 RO 0x00000000 0dec...

Страница 133: ...03 3dec Index F008 Code word Index hex Name Meaning Data type Flags Default F008 0 Code word NoCoeStorage function The input code of the code word 0x12345678 activates the NoCoeStorage function Changes to the CoE directory are not saved if the func tion is active The function is deactivated by 1 changing the code word or 2 restarting the terminal UINT32 RW 0x00000000 0dec Function NoCoeStorage fro...

Страница 134: ...oduction the high byte bit 8 15 of the low word contains the week of production the high word bit 16 31 is 0 UINT32 RO 0x00000000 0dec Index 10F0 Backup parameter Index hex Name Meaning Data type Flags Default 10F0 0 Backup parameter Information for standardized loading and saving of backup entries UINT8 RO 0x01 1dec 10F0 01 Checksum Checksum across all backup entries of the EtherCAT slave UINT32 ...

Страница 135: ...UINT32 RO 0x7010 03 1 1601 04 SubIndex 004 4 PDO Mapping entry object 0x7010 CNT Outputs Ch 2 entry 0x04 Inhibit counter UINT32 RO 0x7010 04 1 1601 05 SubIndex 005 5 PDO Mapping entry 12 bits align UINT32 RO 0x0000 00 12 1601 06 SubIndex 006 6 PDO Mapping entry object 0x7010 CNT Outputs Ch 2 entry 0x11 Set counter value UINT32 RO 0x7010 11 32 Index 1602 CNT RxPDO Map Index hex Name Meaning Data ty...

Страница 136: ...dec 1A00 01 SubIndex 001 1 PDO Mapping entry object 0x6000 CNT Inputs Ch 1 entry 0x01 Output functions enabled UINT32 RO 0x6000 01 1 1A00 02 SubIndex 002 2 PDO Mapping entry object 0x6000 CNT Inputs Ch 1 entry 0x02 Status of output UINT32 RO 0x6000 02 1 1A00 03 SubIndex 003 3 PDO Mapping entry object 0x6000 CNT Inputs Ch 1 entry 0x03 Set counter done UINT32 RO 0x6000 03 1 1A00 04 SubIndex 004 4 PD...

Страница 137: ...x0B 11dec 1A02 01 SubIndex 001 1 PDO Mapping entry object 0x6020 CNT Inputs entry 0x01 Output functions enabled UINT32 RO 0x6020 01 1 1A02 02 SubIndex 002 2 PDO Mapping entry object 0x6020 CNT Inputs entry 0x02 Status of output UINT32 RO 0x6020 02 1 1A02 03 SubIndex 003 3 PDO Mapping entry object 0x6020 CNT Inputs entry 0x03 Set counter done UINT32 RO 0x6020 03 1 1A02 04 SubIndex 004 4 PDO Mapping...

Страница 138: ...dec 1C12 02 Subindex 002 2 allocated RxPDO contains the index of the associ ated RxPDO mapping object UINT16 RW 0x0000 0dec Index 1C13 TxPDO assign Index hex Name Meaning Data type Flags Default 1C13 0 TxPDO assign PDO Assign Inputs UINT8 RW 0x01 1dec 1C13 01 Subindex 001 1 allocated TxPDO contains the index of the associ ated TxPDO mapping object UINT16 RW 0x1A02 6658dec 1C13 02 Subindex 002 2 al...

Страница 139: ...nimum cycle time Minimum cycle time in ns UINT32 RO 0x00000000 0dec 1C32 06 Calc and copy time Minimum time between SYNC0 and SYNC1 event in ns DC mode only UINT32 RO 0x00000000 0dec 1C32 08 Command 0 Measurement of the local cycle time is stopped 1 Measurement of the local cycle time is started The entries 0x1C32 03 139 0x1C32 05 139 0x1C32 06 139 0x1C32 09 139 0x1C33 03 140 0x1C33 06 139 0x1C33 ...

Страница 140: ...or 0x1C33 08 140 UINT16 RO 0x8007 32775dec 1C33 05 Minimum cycle time as 0x1C32 05 139 UINT32 RO 0x00000000 0dec 1C33 06 Calc and copy time Time between reading of the inputs and availability of the inputs for the master in ns only DC mode UINT32 RO 0x00000000 0dec 1C33 08 Command as 0x1C32 08 139 UINT16 RO 0x0000 0dec 1C33 09 Delay time Time between SYNC1 event and reading of the inputs in ns onl...

Страница 141: ...set to 0x64616F6C in the set value di alog all backup objects are reset to their delivery state UINT32 RW 0x00000000 0dec Index 8000 CNT Settings Ch 1 Index hex Name Meaning Data type Flags Default 8000 0 CNT Settings Ch 1 Maximum subindex UINT8 RO 0x13 19dec 8000 04 Count down 115 Counting direction 0 Up 1 Down BOOLEAN RW 0x00 0dec Index 8010 CNT Settings Ch 2 Index hex Name Meaning Data type Fla...

Страница 142: ... CNT Inputs Maximum subindex UINT8 RO 0x11 17dec 6020 03 Set counter done The counter was set BOOLEAN RO 0x00 0dec 6020 04 Counter inhibited The counter is stopped for as long as this bit is set BOOLEAN RO 0x00 0dec 6020 05 Status of input UD State of the Up Down input high level applied BOOLEAN RO 0x00 0dec 6020 06 Status of input clock State of the Clock input high level applied BOOLEAN RO 0x00 ...

Страница 143: ...678 activates the NoCoeStorage 22 function Changes to the CoE directory are not saved if the func tion is active The function is deactivated by 1 changing the code word or 2 restarting the terminal UINT32 RW 0x00000000 0dec Function NoCoeStorage from Firmware 01 Code word The vendor reserves the authority for the basic calibration of the terminals The code word is there fore at present reserved In...

Страница 144: ...production the high word bit 16 31 is 0 UINT32 RO 0x00000000 0dec Index 10F0 Backup parameter Index hex Name Meaning Data type Flags Default 10F0 0 Backup parameter Information for standardized loading and saving of backup entries UINT8 RO 0x01 1dec 10F0 01 Checksum Checksum across all backup entries of the EtherCAT slave UINT32 RO 0x00000000 0dec Index 1400 CNT RxPDO Par Ch 1 Index hex Name Meani...

Страница 145: ...0x11 Set counter value UINT32 RO 0x7010 11 32 Index 1602 CNT RxPDO Map Index hex Name Meaning Data type Flags Default 1602 0 CNT RxPDO Map PDO Mapping RxPDO 3 UINT8 RO 0x05 5dec 1602 01 SubIndex 001 1 PDO Mapping entry 2 bits align UINT32 RO 0x0000 00 2 1602 02 SubIndex 002 3 PDO Mapping entry object 0x7020 CNT Outputs entry 0x03 Set counter UINT32 RO 0x7020 03 1 1602 03 SubIndex 003 4 PDO Mapping...

Страница 146: ...PDO Mapping entry 2 bits align UINT32 RO 0x0000 00 2 1A01 02 SubIndex 002 2 PDO Mapping entry object 0x6010 CNT Inputs Ch 2 entry 0x03 Set counter done UINT32 RO 0x6010 03 1 1A01 03 SubIndex 003 3 PDO Mapping entry object 0x6010 CNT Inputs Ch 2 entry 0x04 Counter inhibited UINT32 RO 0x6010 04 1 1A01 04 SubIndex 004 4 PDO Mapping entry 1 bits align UINT32 RO 0x0000 00 1 1A01 05 SubIndex 005 5 PDO M...

Страница 147: ...x 1C12 RxPDO assign Index hex Name Meaning Data type Flags Default 1C12 0 RxPDO assign PDO Assign Outputs UINT8 RW 0x02 2dec 1C12 01 Subindex 001 1 allocated RxPDO contains the index of the associ ated RxPDO mapping object UINT16 RW 0x1600 5632dec 1C12 02 Subindex 002 2 allocated RxPDO contains the index of the associ ated RxPDO mapping object UINT16 RW 0x1601 5633dec Index 1C13 TxPDO assign Index...

Страница 148: ...event in ns DC mode only UINT32 RO 0x00000000 0dec 1C32 08 Command 0 Measurement of the local cycle time is stopped 1 Measurement of the local cycle time is started The entries 0x1C32 03 148 0x1C32 05 148 0x1C32 06 148 0x1C32 09 148 0x1C33 03 149 0x1C33 06 148 0x1C33 09 149 are up dated with the maximum measured values For a subsequent measurement the measured values are reset UINT16 RW 0x0000 0de...

Страница 149: ...synchronous with SM 2 event is supported outputs available Bit 1 synchronous with SM 3 event is supported no outputs available UINT16 RO 0x8007 32775dec 1C33 05 Minimum cycle time as 0x1C32 05 148 UINT32 RO 0x00000000 0dec 1C33 06 Calc and copy time Time between reading of the inputs and availability of the inputs for the master in ns only DC mode UINT32 RO 0x00000000 0dec 1C33 08 Command as 0x1C3...

Страница 150: ...ther the new firmware is suitable This can result in damage to the device Therefore always make sure that the firmware is suit able for the hardware version EL1502 Hardware HW Firmware FW Revision no Release date 00 01 EL1502 0000 0016 2007 07 01 02 2007 09 02 11 03 EL1502 0000 0017 2009 03 04 EL1502 0000 0018 2010 10 EL1502 0000 0019 2012 06 EL1502 0000 0020 2012 07 EL1502 0000 0021 2014 11 EL150...

Страница 151: ...e ESI are changed in the terminal For this to happen it is necessary for the firmware to be in a packed format recognizable by the file name which also contains the revision number e g ELxxxx xxxx_REV0016_SW01 efw for password 1 to be entered in the download dialog If password 0 default setting only the firmware update is carried out without an ESI update for the device to support this function Th...

Страница 152: ...se refer to the EtherCAT system documentation Update of XML ESI description The device revision is closely linked to the firmware and hardware used Incompatible combinations lead to malfunctions or even final shutdown of the device Corresponding updates should only be carried out in consultation with Beckhoff support Display of ESI slave identifier The simplest way to ascertain compliance of confi...

Страница 153: ...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 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 is irrelevant Right clicking on the sl...

Страница 154: ...Most EtherCAT devices read a modified ESI description immediately or after startup from the INIT Some communication settings such as distributed clocks are only read during power on The Ether CAT slave therefore has to be switched off briefly in order for the change to take effect 6 3 2 Firmware explanation Determining the firmware version Determining the version on laser inscription Beckhoff Ethe...

Страница 155: ...l offline The EtherCAT Slave Information ESI XML may contain the default content of the CoE This CoE directory can only be displayed if it is included in the ESI e g Beckhoff EL5xxx xml The Advanced button must be used for switching between the two views In Fig Display of EL3204 firmware version the firmware version of the selected EL3204 is shown as 03 in CoE entry 0x100A Fig 158 Display of EL320...

Страница 156: ...erwise 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 recommended Switch EtherCAT Master to PreOP Switch slave to INIT A Switch slave to BOOTSTRAP ...

Страница 157: ...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 System Manager indicates the FPGA firmw...

Страница 158: ...ayed right click the table header and select Properties in the context menu Fig 161 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 ...

Страница 159: ... 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...

Страница 160: ...em 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 ...

Страница 161: ...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 6 3 5 Simultaneous updating of several EtherCAT devices The firmware and ESI descriptions of several devices can be updated simultaneously pr...

Страница 162: ...ters 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 Set Value dialog All backup objects are reset to the delivery state Fig 165 Entering a restore value in the Set Value dialog Alternative restore value In some older terminals the backup objects can b...

Страница 163: ...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 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 commiss...

Страница 164: ...e tab 23 Fig 15 Startup list in the TwinCAT System Manager 24 Fig 16 Offline list 25 Fig 17 Online list 25 Fig 18 Spring contacts of the Beckhoff I O components 28 Fig 19 Attaching on mounting rail 29 Fig 20 Disassembling of terminal 30 Fig 21 Power contact on left side 31 Fig 22 Standard wiring 32 Fig 23 Pluggable wiring 33 Fig 24 High Density Terminals 33 Fig 25 Connecting a cable on a terminal ...

Страница 165: ...ogram of the standard PLC project 62 Fig 63 Sample program with variables after a compile process without variable integration 63 Fig 64 Start program compilation 63 Fig 65 Creating the links between PLC variables and process objects 64 Fig 66 Selecting PDO of type BOOL 64 Fig 67 Selecting several PDOs simultaneously activate Continuous and All types 65 Fig 68 Application of a Goto Link variable u...

Страница 166: ... Fig 105 Scan progressexemplary by TwinCAT 2 86 Fig 106 Config FreeRun query left TwinCAT 2 right TwinCAT 3 86 Fig 107 Displaying of Free Run and Config Mode toggling right below in the status bar 86 Fig 108 TwinCAT can also be switched to this state by using a button left TwinCAT 2 right Twin CAT 3 86 Fig 109 Online display example 87 Fig 110 Faulty identification 87 Fig 111 Identical configurati...

Страница 167: ...ster EtherCAT tab Advanced Settings 120 Fig 147 EtherCAT Master EtherCAT tab Advanced Settings 120 Fig 148 EtherCAT Master Advanced Settings Distributed Clock 121 Fig 149 EL1512 0000 0020 Predefined PDO selection 123 Fig 150 Setting the counter via the CoE directory 125 Fig 151 EL1512 0000 0020 Standard scope of process data 126 Fig 152 Device identifier consisting of name EL3204 0000 and revision...

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