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Commissioning

EL28xx-xxxx

102

Version: 2.2

5.2

TwinCAT Development Environment

The Software for automation TwinCAT (The Windows Control and Automation Technology) will be
distinguished into:

• TwinCAT 2: System Manager (Configuration) & PLC Control (Programming)

• TwinCAT 3: Enhancement of TwinCAT 2 (Programming and Configuration takes place via a common

Development Environment)

Details:

•

TwinCAT 2:

◦ Connects I/O devices to tasks in a variable-oriented manner

◦ Connects tasks to tasks in a variable-oriented manner

◦ Supports units at the bit level

◦ Supports synchronous or asynchronous relationships

◦ Exchange of consistent data areas and process images

◦ Datalink on NT - Programs by open Microsoft Standards (OLE, OCX, ActiveX, DCOM+, etc.)

◦ Integration of IEC 61131-3-Software-SPS, Software- NC and Software-CNC within Windows

NT/2000/XP/Vista, Windows 7, NT/XP Embedded, CE

◦ Interconnection to all common fieldbusses

◦

Additional features:

•

TwinCAT 3

(eXtended 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 TwinCAT Automation Interface

◦

Within the following sections commissioning of the TwinCAT Development Environment on a PC System for
the control and also the basically functions of unique control elements will be explained.

Please see further information to TwinCAT 2 and TwinCAT 3 at

http://infosys.beckhoff.com

.

5.2.1

Installation of the TwinCAT real-time driver

In order to assign real-time capability to a standard Ethernet port of an IPC controller, the Beckhoff real-time
driver has to be installed on this port under Windows.

This can be done in several ways. One option is described here.

In the System Manager call up the TwinCAT overview of the local network interfaces via Options → Show
Real Time Ethernet Compatible Devices.

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Содержание EL28 Series

Страница 1: ...Documentation EL28xx xxxx Digital HD Output Terminals 2 2 2019 01 03 Version Date...

Страница 2: ......

Страница 3: ...2 Technical data 24 2 3 3 Pin assignment and LEDs 25 2 4 EL2872 EL2872 0010 26 2 4 1 Introduction 26 2 4 2 Technical data 27 2 4 3 Pin assignment and LEDs 28 2 5 EL2819 29 2 5 1 Introduction 29 2 5 2...

Страница 4: ...regarding ESI device description 108 5 2 3 TwinCAT ESI Updater 112 5 2 4 Distinction between Online and Offline 112 5 2 5 OFFLINE configuration creation 113 5 2 6 ONLINE configuration creation 118 5 2...

Страница 5: ...safety including all the relevant laws regulations guidelines and standards Disclaimer The documentation has been prepared with care The products described are however constantly under development We...

Страница 6: ...duction 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...

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

Страница 8: ...date structure Update revision status 2 1 Chapter Non reactive Bus Terminals added Update structure 2 0 EL2819 added First publication in PDF format 1 8 Technical data chapter updated chapter Assembly...

Страница 9: ...nformation 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 stan...

Страница 10: ...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 IP...

Страница 11: ...202 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...

Страница 12: ...12 Version 2 2 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 b...

Страница 13: ...ng af fected The Bus or EtherCAT Terminals regarded as non reactive at the time of preparing this document are listed in the following tables together with their respective hardware versions Terminal...

Страница 14: ...TO input of a frequency converter could serve here as a negative example Exceptions to the general requirement are allowed only if the manufacturer of the connected load guarantees that feedback to th...

Страница 15: ...in order to be able to achieve Cat 4 PLe according to EN ISO 13849 1 2007 or SIL3 according to IEC 61508 2010 refer here to the overview in the chapter Effect of options on the safety level Option 2 C...

Страница 16: ...permanently fixed installed and protected against external damage All conductors connected to the non safe standard terminals are permanently fixed and e g protected against external damage by a cabl...

Страница 17: ...s protected against overload and short circuit The EtherCAT Terminal contains eight channels consisting of a signal output and 0 V whose signal states are displayed by LEDs The power contacts are conn...

Страница 18: ...ection solid wire conductors direct plug in technique stranded wire conductors and ferrules spring actuation by screwdriver Rated cross section solid wire 0 08 1 5 mm stranded wire 0 25 1 5 mm ferrule...

Страница 19: ...ative power contact 0 V 10 0 V internally connected to terminal point 9 11 12 13 14 15 16 and negative power contact 0 V 11 0 V internally connected to terminal point 9 10 12 13 14 15 16 and negative...

Страница 20: ...circuit The EtherCAT Terminal contains eight channels consisting of a signal output and 0 V whose signal states are displayed by LEDs The power contacts are connected through The outputs are fed via t...

Страница 21: ...solid wire conductors direct plug in technique stranded wire conductors and ferrules spring actuation by screwdriver Rated cross section solid wire 0 08 1 5 mm stranded wire 0 25 1 5 mm ferrule 0 14 0...

Страница 22: ...ative power contact 0 V 10 0 V internally connected to terminal point 9 11 12 13 14 15 16 and negative power contact 0 V 11 0 V internally connected to terminal point 9 10 12 13 14 15 16 and negative...

Страница 23: ...he EtherCAT Terminal contains 16 channels whose signal state is indicated by LEDs The power contacts are connected through The outputs of the EL2809 are fed via the 24 V power contact and the outputs...

Страница 24: ...solid wire stranded wire and ferrule Conductor connection solid wire conductors direct plug in technique stranded wire conductors and ferrules spring actuation by screwdriver Rated cross section solid...

Страница 25: ...0 V EL2889 EL2809 EL2889 pin assignment Terminal point Description Name No Output 1 1 Output 1 Output 2 2 Output 2 Output 3 3 Output 3 Output 4 4 Output 4 Output 5 5 Output 5 Output 6 6 Output 6 Outpu...

Страница 26: ...onnectors using insulation displacement contact as is usual for ribbon cables and special round cables This significantly simplifies the wiring of many channels State of the art output drivers guarant...

Страница 27: ...ion no address or configuration settings required Conductor connection 20 pin contact strip Weight approx 55 g Permissible ambient temperature range during operation 0 C 55 C Permissible ambient tempe...

Страница 28: ...signal on 24 VDC output signal at the respective output EL2872 0000 0 V output signal at the respective output EL2872 0010 EL2872 EL2872 0010 Pin assignment Terminal point Description Name No 24 V 1...

Страница 29: ...c information Beyond that each channel can among other things signal a short circuit individually The output behavior of the channels in the case of a bus error can be parameterized The switching stat...

Страница 30: ...Configuration via System Manager Conductor types solid wire stranded wire and ferrule Conductor connection solid wire conductors direct plug in technique stranded wire conductors and ferrules spring a...

Страница 31: ...cuit to 24 V red green alternating ERROR Open Load EL2819 Pin assignment Terminal point Description Name No Output 1 1 Output 1 Output 2 2 Output 2 Output 3 3 Output 3 Output 4 4 Output 4 Output 5 5 O...

Страница 32: ...and or short circuit the output is protected by the thermal switch off of the channel The output circuit of the terminal limits the current The terminal maintains this current until important self he...

Страница 33: ...d free wheeling diode breaking energy see Technical data Since the current reduces only slowly a delayed switch off can occur in many control applications For example a valve remains open for many mil...

Страница 34: ...red in non volatile memory in the terminal slave They should be entered in the CoE StartUp list so that the settings are accepted after a replacement of the terminal The CoE StartUp list is processed...

Страница 35: ...e opened for linking B Activation of the Show Sub Variables button C displays all subvariables and links to the PLC D in the online view Predefined PDO Assignment selection dialog from TwinCAT 2 11 bu...

Страница 36: ...600 switching state of the outputs is displayed and transmitted Compact Diagnostics Inputs Selection of the PDO 0x1A02 device diagnostics Only the diagnostic data for the device are displayed in the S...

Страница 37: ...s the short circuit is present Overcurrent diagnostics is no longer possible once the output is switched off The Overcurrent bit index 0x60n1 03 is only set to TRUE when the output is switched on agai...

Страница 38: ...e State Active Ch n index 0x80n0 D and DIG Safe State Value Ch n index 0x80n1 E can be changed online please also observe the Notes on the CoE interface 57 and on the StartUp List 58 The diagnostic da...

Страница 39: ...f a bus error is defined with DIG Safe State Value index 0x80n1 01 1 DIG Safe State Active TRUE and DIG Safe State Value TRUE the output is switched on 2 DIG Safe State Active TRUE and DIG Safe State...

Страница 40: ...the channel state during a bus error 2 5 6 Object description and parameterization EtherCAT XML Device Description The display matches that of the CoE objects from the EtherCAT XML Device Description...

Страница 41: ...0x01 1dec 80n0 01 Active Enabling of the output state defined in index 0x80n1 01 in case of a bus error 0 output retains its current state 1 output is switched to the state defined in index 0x80n1 BO...

Страница 42: ...bindex UINT8 RO 0x14 20dec F600 11 Common Fault 37 The Common Fault bit is set if an error occurs on one or more channels of the terminal BOOLEAN RO 0x00 0dec F600 12 Overtemperature De vice 37 The Ov...

Страница 43: ...rCAT slave UINT32 RO 0x00000002 2dec 1018 02 Product code Product code of the EtherCAT slave UINT32 RO 0x0B033052 184758354dec 1018 03 Revision Revision number of the EtherCAT slave the low word bit 0...

Страница 44: ...012 12 PDO Mapping entry object 0x70B0 DIG Outputs Ch 12 entry 0x01 Output UINT32 RO 0x70B0 01 1 1600 0D SubIndex 013 13 PDO Mapping entry object 0x70C0 DIG Outputs Ch 13 entry 0x01 Output UINT32 RO...

Страница 45: ...entry object 0x6051 DIG Inputs Ch 06 entry 0x04 Short Circuit UINT32 RO 0x6061 04 1 1A00 19 Subindex 025 25 PDO Mapping entry object 0x6061 DIG Inputs Ch 07 entry 0x01 Overtemperature UINT32 RO 0x6061...

Страница 46: ...bject 0x60D1 DIG Inputs Ch 14 entry 0x03 Overcurrent UINT32 RO 0x60D1 03 1 1A00 38 Subindex 056 56 PDO Mapping entry object 0x60D1 DIG Inputs Ch 14 entry 0x04 Short Circuit UINT32 RO 0x60D1 04 1 1A00...

Страница 47: ...0x04 4dec Index 1C12 RxPDO assign Index hex Name Meaning Data type Flags Default 1C12 0 RxPDO assign PDO Assign Outputs UINT8 RW 0x01 1dec 1C12 01 SubIndex 001 1 allocated RxPDO contains the index of...

Страница 48: ...010 UINT16 RW 1C13 0B Subindex 011 UINT16 RW 1C13 0C Subindex 012 UINT16 RW 1C13 0D Subindex 013 UINT16 RW 1C13 0E Subindex 014 UINT16 RW 1C13 0F Subindex 015 UINT16 RW 1C13 10 Subindex 016 UINT16 RW...

Страница 49: ...O 0x00002710 10000dec 1C32 06 Calc and copy time Minimum time between SYNC0 and SYNC1 event in ns DC mode only UINT32 RO 0x00000000 0dec 1C32 07 Minimum delay time UINT32 RO 0x00000384 900dec 1C32 08...

Страница 50: ...10000dec 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 07 Minimum delay time UINT32 RO...

Страница 51: ...nded Digital Input and Output with Di agnostics UINT32 RW 0x00000118 280dec F010 08 SubIndex 008 Profil 280 Extended Digital Input and Output with Di agnostics UINT32 RW 0x00000118 280dec F010 09 SubI...

Страница 52: ...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 cro...

Страница 53: ...inal 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 unaffecte...

Страница 54: ...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 watc...

Страница 55: ...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 undefin...

Страница 56: ...erational 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 setting...

Страница 57: ...ibration 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 Sub...

Страница 58: ...meters 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 wr...

Страница 59: ...e is to be stored permanently enter it in the Startup list The order of the Startup entries is usually irrelevant Fig 36 Startup list in the TwinCAT System Manager The Startup list may already contain...

Страница 60: ...ne 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 accordin...

Страница 61: ...he 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...

Страница 62: ...it 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...

Страница 63: ...th highly insulating materials synthetic fibers plastic film etc Surroundings working place packaging and personnel should by grounded probably when handling with the devices Each assembly must be ter...

Страница 64: ...he 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...

Страница 65: ...onents 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 an...

Страница 66: ...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 lin...

Страница 67: ...nt on both sides of the mounting rail with a mechanical fixture e g an earth terminal or reinforced end clamp The maximum total extension of the terminal segment without coupler is 64 terminals 12 mm...

Страница 68: ...les the complete wiring to be removed as a plug connector from the top of the housing for servicing The lower section can be removed from the terminal block by pulling the unlocking tab Insert the new...

Страница 69: ...s concerning the wire size width below 4 4 2 Wiring WARNING Risk of electric shock and damage of device Bring the bus terminal system into a safe powered down state before starting installation disass...

Страница 70: ...h a wire end sleeve 0 14 0 75 mm2 Wire size width ultrasonically bonded conductors only 1 5 mm2 Wire stripping length 8 9 mm 4 4 3 Shielding Shielding Encoder analog sensors and actors should always b...

Страница 71: ...wn in Fig Recommended distances for standard installation position is recommended Other installation positions All other installation positions are characterized by different spatial arrangement of th...

Страница 72: ...Mounting and wiring EL28xx xxxx 72 Version 2 2 Fig 48 Other installation positions...

Страница 73: ...onsump 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 49 Co...

Страница 74: ...of 4 A 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 Application If terminals certified with...

Страница 75: ...gainst 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...

Страница 76: ...rotect 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...

Страница 77: ...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...

Страница 78: ...anager 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 actu...

Страница 79: ...sed 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 t...

Страница 80: ...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 component...

Страница 81: ...t be made known first In the menu under Actions Choose Target System via the symbol or the F8 key open the following window Fig 54 Selection of the target system Use Search Ethernet to enter the targe...

Страница 82: ...t have to be set to Config mode via or via menu Actions Set Reset TwinCAT to Config Mode Shift F4 Fig 56 Select Scan Devices Confirm the warning message which follows and select EtherCAT in the dialog...

Страница 83: ...then reads the elements present in the configuration below Fig 59 Reading of individual terminals connected to a device This functionality is useful if the actual configuration is modified at short n...

Страница 84: ...hart 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 60...

Страница 85: ...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...

Страница 86: ...em 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 ob...

Страница 87: ...ltaneously 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...

Страница 88: ...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 es...

Страница 89: ...ink 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...

Страница 90: ...vironment 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 comm...

Страница 91: ...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 71 Create new TwinCAT project T...

Страница 92: ...lled on the respective PLC TwinCAT can be used in local mode and thereby the next step is Insert Device 93 If the intention is to address the TwinCAT runtime environment installed on a PLC as developm...

Страница 93: ...een 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 pr...

Страница 94: ...o be acknowledged Based on the sample configuration 79 described at the beginning of this section the result is as follows Fig 77 Mapping of the configuration in VS shell of the TwinCAT3 environment T...

Страница 95: ...trol 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 Fu...

Страница 96: ...PLC_example as project name for example and select a corresponding directory Fig 80 Specifying the name and directory for the PLC programming environment The Main program which already exists by sele...

Страница 97: ...Commissioning EL28xx xxxx 97 Version 2 2 Fig 81 Initial Main program of the standard PLC project To continue sample variables and a sample program have now been created...

Страница 98: ...der followed by the compile process Fig 83 Start program compilation The following variables identified in the ST PLC program with AT are then available in under Assignments in the project folder expl...

Страница 99: ...tion tree Fig 85 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 selecte...

Страница 100: ...inks 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 87 Application of a Goto Link vari...

Страница 101: ...t 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 wi...

Страница 102: ...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...

Страница 103: ...ces 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 ignor...

Страница 104: ...ties of the EtherCAT device can be opened by double click on Device EtherCAT within the Solution Explorer under I O After the installation the driver appears activated in the Windows overview for the...

Страница 105: ...Commissioning EL28xx xxxx 105 Version 2 2 Fig 94 Exemplary correct driver setting for the Ethernet port Other possible settings have to be avoided...

Страница 106: ...Commissioning EL28xx xxxx 106 Version 2 2 Fig 95 Incorrect driver settings for the Ethernet port...

Страница 107: ...s where an EL6601 or similar devices are used it is useful to specify a fixed IP address for this port via the Internet Protocol TCP IP driver setting and to disable DHCP In this way the delay associa...

Страница 108: ...t 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 In...

Страница 109: ...sion 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 1...

Страница 110: ...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...

Страница 111: ...x xxxx 111 Version 2 2 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...

Страница 112: ...presence of the actual I O environment drives terminals EJ modules If the configuration is to be prepared in advance of the system configuration as a programming system e g on a laptop this is only po...

Страница 113: ...ration 123 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 105 Append EtherCAT...

Страница 114: ...ces can be appended by right clicking on a device in the configuration tree Fig 109 Appending EtherCAT devices left TwinCAT 2 right TwinCAT 3 The dialog for selecting a new device opens Only devices f...

Страница 115: ...vision can be displayed as Extended Information Fig 111 Display of device revision In many cases several device revisions were created for historic or functional reasons e g through technological adva...

Страница 116: ...on This also enables subsequent replacement of devices without changing the configuration different specifications are possible for drives Example If an EL2521 0025 1018 is specified in the configurat...

Страница 117: ...Commissioning EL28xx xxxx 117 Version 2 2 Fig 114 EtherCAT terminal in the TwinCAT tree left TwinCAT 2 right TwinCAT 3...

Страница 118: ...e online search is not available in RUN mode production operation Note the differentiation be tween TwinCAT programming system and TwinCAT target system The TwinCAT 2 icon or TwinCAT 3 icon within the...

Страница 119: ...The respective devices are lo cated in the stored ESI data and integrated in the configuration tree in the default state defined there Fig 119 Example default state NOTE Slave scanning in practice in...

Страница 120: ...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...

Страница 121: ...itched to online state OPERATIONAL Fig 125 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...

Страница 122: ...evice 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...

Страница 123: ...figuration 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...

Страница 124: ...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 d...

Страница 125: ...CAT offers a function Change to Compatible Type for the exchange of a device whilst retaining the links in the task Fig 134 Dialog Change to Compatible Type left TwinCAT 2 right TwinCAT 3 This functio...

Страница 126: ...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...

Страница 127: ...ing 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...

Страница 128: ...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...

Страница 129: ...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 inv...

Страница 130: ...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 add...

Страница 131: ...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 Update List The Update list button upda...

Страница 132: ...bjects 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...

Страница 133: ...the EtherCAT device Requested State Indicates the state requested for the EtherCAT device DLL Status Indicates the DLL status data link layer status of the individual ports of the EtherCAT slave The D...

Страница 134: ...In order to be able to select a greyed out PDO the currently selected PDO has to be deselected first Activation of PDO assignment If you have changed the PDO assignment in order to activate the new P...

Страница 135: ...inCAT More detailed information on this may be found in the corresponding sections of for instance the EtherCAT System Documentation Diagnosis in real time WorkingCounter EtherCAT State and Status Gen...

Страница 136: ...cle red Output variables from the Slave to the EtherCAT Master updated in every cycle green Information variables for the EtherCAT Master that are updated acyclically This means that it is possible th...

Страница 137: ...bly 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...

Страница 138: ...d 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 Ma...

Страница 139: ...al 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...

Страница 140: ...set as standard EtherCAT Master OP Slaves OP This setting applies equally to all Slaves Fig 150 Default behaviour of the System Manager In addition the target state of any particular Slave can be set...

Страница 141: ...lave Fig 152 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...

Страница 142: ...above a warning message E Bus Power of Terminal is output in the logger window when such a configuration is activated Fig 154 Warning message for exceeding E Bus current NOTE Caution Malfunction possi...

Страница 143: ...0000 0018 2016 03 There are no further terminals from the EL28xx series that have firmware This is the current compatible firmware hardware version at the time of the preparing this documentation Che...

Страница 144: ...y cannot be retrofitted it is a component of many new developments from year of manufacture 2016 Following the update its success should be verified ESI Revision e g by means of an online scan in Twin...

Страница 145: ...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...

Страница 146: ...s 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...

Страница 147: ...st 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...

Страница 148: ...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 but...

Страница 149: ...wise 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 operat...

Страница 150: ...le 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...

Страница 151: ...ed right click the table header and select Properties in the context menu Fig 164 Context menu Properties The Advanced Settings dialog appears where the columns to be displayed can be selected Under D...

Страница 152: ...he 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 o...

Страница 153: ...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 appea...

Страница 154: ...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 EtherC...

Страница 155: ...ers SubIndex 001 can be selected in the TwinCAT System Manager Config mode see Fig Selecting the Restore default parameters PDO Fig 167 Selecting the Restore default parameters PDO Double click on Sub...

Страница 156: ...can be found on her internet pages http www beckhoff com You will also find further documentation for Beckhoff components there Beckhoff Headquarters Beckhoff Automation GmbH Co KG Huelshorstweg 20 3...

Страница 157: ...08 17 Fig 13 EL2808 19 Fig 14 EL2828 20 Fig 15 EL2828 22 Fig 16 EL2809 EL2889 23 Fig 17 EL2809 EL2889 25 Fig 18 EL2872 EL2872 0010 26 Fig 19 EL2872 EL2872 0010 28 Fig 20 Dimensions of the 20 pin conta...

Страница 158: ...tion of the System Manager 86 Fig 64 Creating the links between PLC variables and process objects 86 Fig 65 Selecting PDO of type BOOL 87 Fig 66 Selecting several PDOs simultaneously activate Continuo...

Страница 159: ...07 Selecting the Ethernet port 113 Fig 108 EtherCAT device properties TwinCAT 2 114 Fig 109 Appending EtherCAT devices left TwinCAT 2 right TwinCAT 3 114 Fig 110 Selection dialog for new EtherCAT devi...

Страница 160: ...02 CoE directory 138 Fig 149 Example of commissioning aid for a EL3204 139 Fig 150 Default behaviour of the System Manager 140 Fig 151 Default target state in the Slave 140 Fig 152 PLC function blocks...

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