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Commissioning

EL31xx-00xx

201

Version: 5.9

Index 1C13 TxPDO assign (not applicable for EL31x2)

For operation on masters other than TwinCAT it must be ensured that the channels are entered in the PDO
assignment (“TxPDO assign”, object 0x1C13) successively.

Index (hex) Name

Meaning

Data type

Flags

Default

1C13:0

TxPDO assign

PDO Assign Inputs

UINT8

RW

0x04 (4

dec

)

1C13:01

SubIndex 001

1. allocated TxPDO (contains the index of the associ-
ated TxPDO mapping object)

UINT16

RW

0x1A00
(6656

dec

)

1C13:02*

SubIndex 002

2. allocated TxPDO (contains the index of the associ-
ated TxPDO mapping object)

UINT16

RW

0x1A02
(6658

dec

)

1C13:03*

SubIndex 003

3. allocated TxPDO (contains the index of the associ-
ated TxPDO mapping object)

UINT16

RW

0x1A04
(6660

dec

)

1C13:04*

SubIndex 004

4. allocated TxPDO (contains the index of the associ-
ated TxPDO mapping object)

UINT16

RW

0x1A06
(6662

dec

)

*) only for EL31x4

Index 1C13 TxPDO assign (only for EL31x2 from rev. EL31x2-0000-0016)

For operation on masters other than TwinCAT it must be ensured that the channels are entered in the PDO
assignment (“TxPDO assign”, object 0x1C13) successively.

Index (hex) Name

Meaning

Data type

Flags

Default

1C13:0

TxPDO assign

PDO Assign Inputs

UINT8

RW

0x02 (2

dec

)

1C13:01

SubIndex 001

1. allocated TxPDO (contains the index of the associ-
ated TxPDO mapping object)

UINT16

RW

0x1A02
(6658

dec

)

1C13:02

SubIndex 002

2. allocated TxPDO (contains the index of the associ-
ated TxPDO mapping object)

UINT16

RW

0x1A04
(6660

dec

)

Index 1C13 TxPDO assign (only for EL31x2 before rev. EL31x2-0000-0016)

For operation on masters other than TwinCAT it must be ensured that the channels are entered in the PDO
assignment (“TxPDO assign”, object 0x1C13) successively.

Index (hex) Name

Meaning

Data type

Flags

Default

1C13:0

TxPDO assign

PDO Assign Inputs

UINT8

RW

0x02 (2

dec

)

1C13:01

SubIndex 001

1. allocated TxPDO (contains the index of the associ-
ated TxPDO mapping object)

UINT16

RW

0x1A00
(6656

dec

)

1C13:02

SubIndex 002

2. allocated TxPDO (contains the index of the associ-
ated TxPDO mapping object)

UINT16

RW

0x1A01
(6657

dec

)

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Содержание EL3101

Страница 1: ...Documentation EL31xx 00xx Analog Input Terminals 16 Bit 5 9 2018 08 28 Version Date...

Страница 2: ......

Страница 3: ...hnical data 23 2 5 EL315x 24 2 5 1 EL315x Introduction 24 2 5 2 EL315x Technical data 25 2 6 EL316x 26 2 6 1 EL316x Introduction 26 2 6 2 EL316x Technical data 27 2 7 EL3174 EL3174 00xx 28 2 7 1 EL317...

Страница 4: ...84 5 2 3 Temperature coefficient tK ppm K 85 5 2 4 Single ended differential typification 86 5 2 5 Common mode voltage and reference ground based on differential inputs 91 5 2 6 Dielectric strength 91...

Страница 5: ...Objects TwinSAFE Single Channel EL31x4 0090 203 5 9 Error messages and diagnosis 204 6 Appendix 206 6 1 EtherCAT AL Status Codes 206 6 2 Firmware compatibility 206 6 3 Firmware Update EL ES EM EPxxxx...

Страница 6: ...Table of contents EL31xx 00xx 6 Version 5 9...

Страница 7: ...L3141 EL3142 EL3144 22 1 2 and 4 channel 0 mA to 20 mA single ended EL3142 0010 22 2 channel 10 mA to 10 mA single ended EL3151 EL3152 EL3154 24 1 2 and 4 channel 4 mA to 20 mA single ended EL3161 EL3...

Страница 8: ...ta diagrams and descriptions in this documentation Trademarks Beckhoff TwinCAT EtherCAT Safety over EtherCAT TwinSAFE XFC and XTS are registered trademarks of and licensed by Beckhoff Automation GmbH...

Страница 9: ...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 10: ...chapter Notices on Analog specification Update revision status 5 2 Update chapter Technical data Several corrections 5 1 Addenda of EL3174 and EL3174 0002 Update chapter Technical data 5 0 Migration...

Страница 11: ...ion identification of EtherCAT devices Designation A Beckhoff EtherCAT device has a 14 digit designation made up of family key type version revision Example Family Type Version Revision EL3314 0000 00...

Страница 12: ...ction batch without distinguishing the individual modules of a batch Structure of the serial number KK YY FF HH KK week of production CW calendar week YY year of production FF firmware version HH hard...

Страница 13: ...es of markings Fig 1 EL5021 EL terminal standard IP20 IO device with serial batch number and revision ID since 2014 01 Fig 2 EK1100 EtherCAT coupler standard IP20 IO device with serial batch number Fi...

Страница 14: ...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...

Страница 15: ...Foreword EL31xx 00xx 15 Version 5 9 Fig 8 ELM3604 0002 terminal with unique ID number QR code 100001051 and serial batch number 44160201...

Страница 16: ...onversion time and support for distributed clocks enable use in time critical applications and set them apart from the EL30xx series The differential inputs of the EL3101 EL3102 have the same referenc...

Страница 17: ...via E bus typ 130 mA typ 170 mA typ 130 mA Electrical isolation 500 V E bus field voltage Bit width of the process image de fault setting Inputs 1 x 16 bit Status 1 x 8 bit Inputs 2 x 16 bit Status 2...

Страница 18: ...them apart from the EL30xx series Overcurrent is displayed not only in the process image but also by an error LED for each channel The differential inputs of the EL3111 EL3112 have the same reference...

Страница 19: ...umption via E bus typ 130 mA typ 170 mA typ 130 mA Electrical isolation 500 V E bus field voltage Bit width of the process image default setting Inputs 1 x 16 bit Status 1 x 8 bit Inputs 2 x 16 bit St...

Страница 20: ...played not only in the process image but also by an error LED for each channel The differential inputs of the EL3121 EL3122 have the same reference ground which is not connected to the power contacts...

Страница 21: ...130 mA typ 170 mA typ 130 mA Electrical isolation 500 V E bus field voltage Bit width of the process image de fault setting Inputs 1 x 16 bit Status 1 x 8 bit Inputs 2 x 16 bit Status 2 x 8 bit Inputs...

Страница 22: ...ks enable use in time critical applications and set them apart from the EL30xx series Overcurrent is displayed not only in the process image but also by an error LED for each channel In the EL3141 EL3...

Страница 23: ...ed temperature range is used Supply voltage for elec tronic via the E bus Current consumption via E bus typ 130 mA typ 170 mA typ 170 mA typ 130 mA Electrical isolation 500 V E bus field voltage Bit w...

Страница 24: ...series Overcurrent and undercurrent are displayed not only in the process image but also by an error LED for each channel In the EL3151 EL3152 the 0 V power contact is the reference potential for the...

Страница 25: ...us typ 130 mA typ 170 mA typ 130 mA Electrical isolation 500 V E bus field voltage Bit width of the process image default setting Inputs 1 x 16 bit Status 1 x 8 bit Inputs 2 x 16 bit Status 2 x 8 bit...

Страница 26: ...applications and set them apart from the EL30xx series Overrange and limit evaluation are displayed via the process data The inputs of the EL3161 EL3162 have a common reference potential which is con...

Страница 27: ...ical isolation 500 V E bus field voltage Bit width of the process image default setting Inputs 1 x 16 bit Status 1 x 8 bit Inputs 2 x 16 bit Status 2 x 8 bit Inputs 4 x 16 bit Status 4 x 8 bit Configu...

Страница 28: ...Product overview EL31xx 00xx 28 Version 5 9 2 7 EL3174 EL3174 00xx 2 7 1 EL3174 EL3174 00xx Introduction Fig 15 EL3174 EL3174 0090 Fig 16 EL3174 0002 EL3174 0032...

Страница 29: ...eeding of Voltage and current signal on different terminal points The voltage inputs operate differential The current inputs operate single ended to reference ground EL3174 0090 additionally supports...

Страница 30: ...image activatable FIR IIR filters EL3174 0090 with TwinSAFE SC technology Supply voltage for electronic via the E bus Current consumption via E bus typ 170 mA Electrical isolation 500 V E bus fieldbus...

Страница 31: ...nctional isolation testing voltage 2 500 V 7s channel chan nel and channel fieldbus production test Recommended operating voltage range ground related to GND 0V power contact Voltage measurement range...

Страница 32: ...overview EL31xx 00xx 32 Version 5 9 2 8 Start For commissioning mount the EL31xx as described in the chapter Mounting and wiring 43 configure the EL31xx in TwinCAT as described in the chapter Commissi...

Страница 33: ...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...

Страница 34: ...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 35: ...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 36: ...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 37: ...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 38: ...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 39: ...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 40: ...e is to be stored permanently enter it in the Startup list The order of the Startup entries is usually irrelevant Fig 21 Startup list in the TwinCAT System Manager The Startup list may already contain...

Страница 41: ...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 42: ...range 0x8000 exemplifies this Channel 0 parameter range 0x8000 00 0x800F 255 Channel 1 parameter range 0x8010 00 0x801F 255 Channel 2 parameter range 0x8020 00 0x802F 255 This is generally written as...

Страница 43: ...h 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...

Страница 44: ...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 45: ...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 46: ...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 47: ...total extension of the terminal segment without coupler is 64 terminals 12 mm mounting with or 32 terminals 24 mm mounting with Avoid deformation twisting crushing and bending of the mounting rail du...

Страница 48: ...he risk of wires being mixed up The familiar dimensions of the terminal only had to be changed slightly The new connector adds about 3 mm The maximum height of the terminal remains unchanged A tab for...

Страница 49: ...erminals are implemented in spring force technology Connect the cables as follows 1 Open a spring loaded terminal by slightly pushing with a screwdriver or a rod into the square opening above the term...

Страница 50: ...he 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...

Страница 51: ...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 52: ...Mounting and wiring EL31xx 00xx 52 Version 5 9 Fig 33 Other installation positions...

Страница 53: ...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...

Страница 54: ...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 55: ...otect 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 56: ...ation circuits Basic principles Two UL certificates are met in the Beckhoff EtherCAT product range depending upon the components 1 UL certification according to UL508 Devices with this kind of certifi...

Страница 57: ...Mounting and wiring EL31xx 00xx 57 Version 5 9 These requirements apply to the supply of all EtherCAT bus couplers power adaptor terminals Bus Terminals and their power contacts...

Страница 58: ...iring EL31xx 00xx 58 Version 5 9 4 11 LEDs and connection 4 11 1 EL310x LEDs and connection Table of contents LEDs 60 Connection EL3101 60 Connection EL3102 60 Connection EL3104 60 Fig 36 EL3101 LEDs...

Страница 59: ...9 Version 5 9 Fig 37 EL3102 LEDs and Connection Fig 38 EL3104 LEDs and Connection Current carrying capacity of the input contacts The maximum permitted current on the signal relevant terminal points i...

Страница 60: ...of them have the same function Connection EL3101 Terminal point Description Designation No Input 1 1 Input 1 Input 1 2 Input 1 GND 3 Signal ground internally connected to terminal point 7 Shield 4 Sh...

Страница 61: ...unting and wiring EL31xx 00xx 61 Version 5 9 4 11 2 EL311x LEDs and connection Table of contents LEDs 63 Connection EL3111 63 Connection EL3112 63 Connection EL3114 63 Fig 39 EL3111 LEDs and Connectio...

Страница 62: ...ersion 5 9 Fig 40 EL3112 00xx LEDs and Connection Fig 41 EL3114 LEDs and Connection Current carrying capacity of the input contacts The maximum permitted current on the signal relevant terminal points...

Страница 63: ...present all of them have the same function The error display shows the signal processing state for each channel Connection EL3111 Terminal point Description Designation No Input 1 1 Input 1 Input 1 2...

Страница 64: ...and wiring EL31xx 00xx 64 Version 5 9 4 11 3 EL312x LEDs and connection Table of contents LEDs 66 Connection EL3121 67 Connection EL3122 67 Connection EL3124 EL3124 0090 67 Fig 42 EL3121 LEDs and Con...

Страница 65: ...Mounting and wiring EL31xx 00xx 65 Version 5 9 Fig 43 EL3122 LEDs and Connection Fig 44 EL3124 LEDs and Connection...

Страница 66: ...ion for firmware updates 211 of the terminal flashing State of the EtherCAT State Machine PREOP function for mailbox communication and differ ent standard settings set single flash State of the EtherC...

Страница 67: ...terminal point 4 Connection EL3122 Terminal point Description Designation No Input 1 1 Input 1 Input 1 2 Input 1 GND 3 Signal ground internally connected to terminal point 7 Shield 4 Shield internall...

Страница 68: ...L31xx 00xx 68 Version 5 9 4 11 4 EL314x LEDs and connection Table of contents LEDs 69 Connection EL3141 69 Connection EL3142 70 Connection EL3144 70 Fig 46 EL3141 LEDs and Connection Fig 47 EL3142 00x...

Страница 69: ...of the EtherCAT State Machine OP normal operating state mailbox and process data communication is possible ERROR red Fault indication in the event of undershooting or overshooting of the measuring ran...

Страница 70: ...onnected to terminal point 2 and positive power contact 0 V 7 0 V internally connected to terminal point 3 and negative power contact Shield 8 Shield internally connected to terminal point 4 Connectio...

Страница 71: ...EL31xx 00xx 71 Version 5 9 4 11 5 EL315x LEDs and connection Table of contents LEDs 72 Connection EL3151 72 Connection EL3152 73 Connection EL3154 73 Fig 49 EL3151 LEDs and Connection Fig 50 EL3152 L...

Страница 72: ...EtherCAT State Machine OP normal operating state mailbox and process data communication is possible ERROR red Fault indication in the event of broken wire or undershooting or overshooting of the measu...

Страница 73: ...V internally connected to terminal point 2 and positive power contact 0 V 7 0 V internally connected to terminal point 3 and negative power contact Shield 8 Shield internally connected to terminal poi...

Страница 74: ...EL31xx 00xx 74 Version 5 9 4 11 6 EL316x LEDs and connection Table of contents LEDs 75 Connection EL3161 75 Connection EL3162 76 Connection EL3164 76 Fig 52 EL3161 LEDs and Connection Fig 53 EL3162 L...

Страница 75: ...ger 143 chan nels and the distributed clocks Outputs remain in safe state on State of the EtherCAT State Machine OP normal operating state mailbox and process data communication is possible If several...

Страница 76: ...nected to terminal point 2 and positive power contact 0 V 7 0 V internally connected to terminal point 3 and negative power contact Shield 8 Shield internally connected to terminal point 4 Connection...

Страница 77: ...5 9 4 11 7 EL3174 EL3174 00xx LEDs and connection Table of contents LEDs 78 Connection EL3174 EL3174 0090 78 Connection EL3174 0002 EL3174 0032 78 Fig 55 EL3174 EL3174 0090 LEDs and Connection Fig 56...

Страница 78: ...t 1 voltage measurement U Ch2 U 2 Input 2 voltage measurement U Ch3 U 3 Input 3 voltage measurement U Ch4 U 4 Input 4 voltage measurement U 24 V 5 24 V internally connected to positive power contact 2...

Страница 79: ...ia the shunt Internal resistor configuration with GND point A central to the shunt The configuration of the resistors is symmetric such that the potential of A is central relative to the voltage drop...

Страница 80: ...ed out to a terminal point so that the UCM specification can be met through application specific configuration of this GND point even in cases of atypical sensor configuration Example 1 The 2 channel...

Страница 81: ...ple 1a Accordingly this also applies if the floating point GNDINT is connected to another potential Fig 60 Example 1a high side measurement Example 2 The same EL3012 is now again connected with the tw...

Страница 82: ...must be adhered to between CMP GNDint and CMPch x CMPch y If this cannot be guaranteed the single channel version should be used Terminal configuration EL3xx1 EL3xx2 GNDint is connected to terminal po...

Страница 83: ...lues The analog output value of a sensor that can be measured among other things as a certain current value represents the measurement information M By means of NAMUR NE43 a recommendation irrespectiv...

Страница 84: ...om Beckhoff the rule is that the limit with the largest value is chosen as the full scale value of the respective product also called the reference value and is given a positive sign This applies to b...

Страница 85: ...nd thermal stabiliza tion after a user calibration This applies to analog output devices 5 2 3 Temperature coefficient tK ppm K An electronic circuit is usually temperature dependent to a greater or l...

Страница 86: ...large R is used in order to ensure a high impedance For current measurements a small R is used as shunt If the purpose is resistance measurement corresponding considerations are applied Beckhoff gener...

Страница 87: ...tential noiselessness voltage stability At this GND point a wire may be connected to make sure that VCM max is not exceeded in the differential sensor cable If differential channels are not electrical...

Страница 88: ...nufactured on the application side to be connected with the right polarity to Signal and Signal It is important to refer to the information page Configuration of 0 4 20 mA differential inputs see docu...

Страница 89: ...L and related product groups exactly the same Differential EL3x1x 0 20 mA EL3x2x 4 20 mA KL and related product groups exactly the same Preferred current direction because of internal diode Preferred...

Страница 90: ...Commissioning EL31xx 00xx 90 Version 5 9 Single ended Differential Fig 68 2 3 and 4 wire connection at single ended and differential inputs...

Страница 91: ...nder consideration For multi channel terminals boxes with resistive direct ohmic galvanic or capacitive connection between the channels the reference ground should preferably be the symmetry point of...

Страница 92: ...a user perspective they all have a common characteristic after the conversion a certain digital value is available in the controller for further processing This digital value the so called analog proc...

Страница 93: ...onous or more quickly if the AI channel operates in slow FreeRun mode or more slowly e g with oversampling is then a question of the fieldbus setting and which modes the AI device supports For EtherCA...

Страница 94: ...erated externally with a frequency generator e g as sawtooth or sine A simultaneous square wave signal would be used as reference The signal delay ms s is then the interval between the applied electri...

Страница 95: ...lity for example For further information please refer to http infosys beckhoff com EtherCAT Systemmanual Fieldbus Components EtherCAT Terminals EtherCAT System Documentation Setup in the TwinCAT Syste...

Страница 96: ...CAT 2 and TwinCAT 3 The descriptions below relate to the online procedure Sample configuration actual configuration Based on the following sample configuration the subsequent subsections describe the...

Страница 97: ...which case the EK1100 coupler wouldn t be necessary 5 3 1 TwinCAT 2 Startup TwinCAT basically uses two user interfaces the TwinCAT System Manager for communication with the electromechanical component...

Страница 98: ...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 77 Selection of the target system Use Search Ethernet to enter the targe...

Страница 99: ...t have to be set to Config mode via or via menu Actions Set Reset TwinCAT to Config Mode Shift F4 Fig 79 Select Scan Devices Confirm the warning message which follows and select EtherCAT in the dialog...

Страница 100: ...then reads the elements present in the configuration below Fig 82 Reading of individual terminals connected to a device This functionality is useful if the actual configuration is modified at short n...

Страница 101: ...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 83...

Страница 102: ...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 103: ...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 104: ...ultaneously 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 sequentiall...

Страница 105: ...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 106: ...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...

Страница 107: ...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 108: ...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 94 Create new TwinCAT project...

Страница 109: ...lled on the respective PLC TwinCAT can be used in local mode and thereby the next step is Insert Device 110 If the intention is to address the TwinCAT runtime environment installed on a PLC as develop...

Страница 110: ...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 p...

Страница 111: ...o be acknowledged Based on the sample configuration 96 described at the beginning of this section the result is as follows Fig 100 Mapping of the configuration in VS shell of the TwinCAT3 environment...

Страница 112: ...ntrol 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 F...

Страница 113: ...r PLC_example as project name for example and select a corresponding directory Fig 103 Specifying the name and directory for the PLC programming environment The Main program which already exists by se...

Страница 114: ...Commissioning EL31xx 00xx 114 Version 5 9 Fig 104 Initial Main program of the standard PLC project To continue sample variables and a sample program have now been created...

Страница 115: ...lder followed by the compile process Fig 106 Start program compilation The following variables identified in the ST PLC program with AT are then available in under Assignments in the project folder ex...

Страница 116: ...ation tree Fig 108 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 selec...

Страница 117: ...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 110 Application of a Goto Link var...

Страница 118: ...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 119: ...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 120: ...faces 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 ign...

Страница 121: ...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 122: ...Commissioning EL31xx 00xx 122 Version 5 9 Fig 117 Exemplary correct driver setting for the Ethernet port Other possible settings have to be avoided...

Страница 123: ...Commissioning EL31xx 00xx 123 Version 5 9 Fig 118 Incorrect driver settings for the Ethernet port...

Страница 124: ...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 associat...

Страница 125: ...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 Int...

Страница 126: ...ision 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...

Страница 127: ...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 128: ...x 00xx 128 Version 5 9 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 129: ...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 130: ...ration 140 can also be carried out for comparison 5 4 5 OFFLINE configuration creation Creating the EtherCAT device Create an EtherCAT device in an empty System Manager window Fig 128 Append EtherCAT...

Страница 131: ...ces can be appended by right clicking on a device in the configuration tree Fig 132 Appending EtherCAT devices left TwinCAT 2 right TwinCAT 3 The dialog for selecting a new device opens Only devices f...

Страница 132: ...vision can be displayed as Extended Information Fig 134 Display of device revision In many cases several device revisions were created for historic or functional reasons e g through technological adva...

Страница 133: ...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 134: ...Commissioning EL31xx 00xx 134 Version 5 9 Fig 137 EtherCAT terminal in the TwinCAT tree left TwinCAT 2 right TwinCAT 3...

Страница 135: ...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 136: ...The respective devices are lo cated in the stored ESI data and integrated in the configuration tree in the default state defined there Fig 142 Example default state NOTE Slave scanning in practice in...

Страница 137: ...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 138: ...itched to online state OPERATIONAL Fig 148 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 139: ...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 140: ...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 141: ...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 142: ...CAT offers a function Change to Compatible Type for the exchange of a device whilst retaining the links in the task Fig 157 Dialog Change to Compatible Type left TwinCAT 2 right TwinCAT 3 This functio...

Страница 143: ...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 144: ...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 145: ...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 146: ...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 147: ...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 148: ...x 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...

Страница 149: ...can specify which objects are displayed in the list Fig 166 Dialog Advanced settings Online via SDO Information If this option button is selected the list of the objects included in the object list of...

Страница 150: ...te 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 o...

Страница 151: ...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 inf...

Страница 152: ...st 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...

Страница 153: ...ling task for diagnosis that is accurate for the current cycle when in operation not during commissioning are discussed below Fig 169 Selection of the diagnostic information of an EtherCAT Slave In ge...

Страница 154: ...khoff 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 c...

Страница 155: ...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 156: ...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 157: ...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 158: ...set as standard EtherCAT Master OP Slaves OP This setting applies equally to all Slaves Fig 173 Default behaviour of the System Manager In addition the target state of any particular Slave can be set...

Страница 159: ...lave Fig 175 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 160: ...above a warning message E Bus Power of Terminal is output in the logger window when such a configuration is activated Fig 177 Warning message for exceeding E Bus current NOTE Caution Malfunction possi...

Страница 161: ...to the online CoE directory are in general immediately effective are in general stored non volatile only in the terminal in the slave and should therefore be entered in the CoE StartUp list This list...

Страница 162: ...V 0 V 0 mA 0 mA 4 mA 4 mA 0 0x0000 0 mA 7629 0xE233 3 V 20 mA 30518 0x88CA 3 221 V 21 474 mA 32768 0x8000 Overview of further representations Unsigned integer representation The output value is repres...

Страница 163: ...n0 03 196 and 0x60n0 05 196 are set accordingly see example below The indices 0x80n0 07 194 or 0x80n0 08 194 serve to activate the limit value monitoring Output limit n 2 bit 0 not active 1 Value is s...

Страница 164: ...lue undershot 2 8 V 0x03hex Limit 1 limit value reached 0x01hex Limit 2 limit value undershot 4 2 V 0x02hex Limit 1 limit value exceeded 0x01hex Limit 2 limit value undershot 8 5 V 0x02hex Limit 1 lim...

Страница 165: ...er interrupt Synchron filter off SyncManager interrupt and DC DC Sync interrupt Fig 181 Relationship of operating modes The terminal switches between the Freerun filter on and Synchron modes by activa...

Страница 166: ...ly set in side the terminal see following values EtherCAT cycle time if value does not fall below the lower setting dependent limit See following values for typical limit Operation with a faster Ether...

Страница 167: ...IR index 0x80n0 06 0x80n0 15 Filter operation FIR and IIR index 0x80n0 06 194 0x80n0 15 194 The EL 31xx terminals incorporate a digital filter which depending on its settings can adopt the characteris...

Страница 168: ...t levels level 1 weak recursive filter up to level 8 strong recursive filter The IIR can be understood to be a moving average value calculation after a low pass filter Through the synchronization mode...

Страница 169: ...r 16 bit are transmitted per channel Compact only the Value 16 bit is transmitted per channel The settings are described below taking the EL3102 2 channels 10V as an example The data apply to TwinCAT...

Страница 170: ...onwards Control status word Status word The status word SW is located in the input process image and is transmitted from terminal to the controller Bit SW 15 SW 14 SW 13 SW 12 SW 11 SW 10 SW 9 SW 8 Na...

Страница 171: ...signal lies above the upper permissible threshold for this terminal SW 0 Underrange 1bin Analog input signal lies under the lower permissible threshold for this terminal from rev EL31xx 0000 0016 Cont...

Страница 172: ...0016 All channels of the EL31x2 are simultaneously set to legacy legacy compact standard or compact process image Selective PDO selection All TwinCAT versions support the selective selection of indiv...

Страница 173: ...mode for previous 2 channel 16 bit input terminals EL31x2 and should not be used for new configurations This mode ensures complication free re placement of older EL31x2 models with new ones See also...

Страница 174: ...ring sizes are also offered for linking Select the corresponding 1 byte input variable for your application The 8 bit coverage is confirmed in the following SizeMismatch dialog Fig Element orientated...

Страница 175: ...otected for unrequested or mistaken write access by a password to be entered within CoE 0xF009 CoE write access by the user PLC or start up entries in Single or CompleteAccess access Overwriting the v...

Страница 176: ...tes the password protection object indicates 1 switched on Protected objects can no longer be changed there is no error message by a write access Insertion of 0x11223344 deactivates the password prote...

Страница 177: ...certificate Actually this is a description of the vendor or customer calibration data adjustment data used by the device during operation in order to maintain the assured measuring accuracy The termi...

Страница 178: ...0x80n0 18 194 BS User scaling offset can be activated via index 0x80n0 01 194 0x80n0 11 194 AS User scaling gain can be activated via index 0x80n0 01 194 0x80n0 12 194 YS Process data for controller M...

Страница 179: ...Version 5 9 Terminal Measurement range 10 V 10 mA 20 mA EL310x X EL3112 0011 X EL3142 0010 X EL311x EL314x Fig 194 Measurement range 0 20 mA EL312x EL315x Fig 195 Measurement range 4 20 mA EL316x Fig...

Страница 180: ...e value Example the full scale value is 10 V so the technical range is 10 7 V to 10 7 V The Legacy Range however provides the conventional range from 100 to 100 e g usable range 10 V to 10 V and 100 c...

Страница 181: ...sioning EL31xx 00xx 181 Version 5 9 Measurement range 3 V bipole Fig 198 EL3174 0032 measurement range 3 3 V Measurement range 0 10 V unipole Fig 199 EL3174 EL3174 0002 EL3174 0090 measurement range 0...

Страница 182: ...ommissioning EL31xx 00xx 182 Version 5 9 Measurement range 0 3 V unipole Fig 200 EL3174 0032 measurement range 0 3 V Measurement range 20 mA bipole Fig 201 EL3174 EL3174 00xx measurement range 20 20 m...

Страница 183: ...EL31xx 00xx 183 Version 5 9 Measurement range 0 20 mA current loop Fig 202 EL3174 EL3174 00xx measurement range 0 20 mA Measurement range 4 20 mA current loop Fig 203 EL3174 EL3174 00xx measurement r...

Страница 184: ...r calibration The vendor reserves the authority for the basic calibration of the terminals Therefore the vendor calibration cannot be changed 5 6 5 Fast mode The Fast mode in Beckhoff EtherCAT Termina...

Страница 185: ...tion All existing channels can convert faster as a result of this In EL31x2 terminals the Fast mode is automatic enabled but disabled for CoE access Here is an example for each group FastMode by means...

Страница 186: ...must be implemented for the object 0x1C32 01 More generally the mailbox traffic of this terminal is turned off by this FastMode The CoE access can be reactivated by writing the original value or for...

Страница 187: ...fective option for full integration of safety tasks in the existing infrastructure With the aid of the TwinSAFE SC technology it is typically possible to achieve a safety level equivalent to PL d Cat...

Страница 188: ...offered in the selection dialog Fig 210 Creating a link to TwinSAFE SC terminal The CRC to be used can be selected or a free CRC can be entered under the Connection tab of the alias device Entry Mode...

Страница 189: ...all available process data available The Safety Parameters tab typically contains no parameters The process data size and the process data themselves can be selected under the Process Image tab Fig 21...

Страница 190: ...so be set in the alias device as FSoE address under the Linking tab Under the object 0x80n0 02 Connection Mode the CRC to be used is selected or a free CRC is entered A total of 8 CRCs are available A...

Страница 191: ...four channels are transmitted by default Via the Process Image tab individual channels can be completely deselected in the Safety Editor Depending on the TwinCAT 3 1 version process data can be rename...

Страница 192: ...s although they are still func tionally supported EL3101 0000 FW12 EL3112 0000 FW13 EL3122 0000 FW13 EL3142 0000 FW13 EL3142 0010 FW11 EL3152 0000 FW14 EL3162 0000 FW13 5 8 1 Restore object Index 1011...

Страница 193: ...The measured value is output as signed integer in the two s complement EL3102 10 V 0x7FFF 10 V 0x8001 EL3142 0010 10 mA 0x7FFF 10 mA 0x8001 40n1 03 Enable fil ter TRUE The digital filter index 40n5 1...

Страница 194: ...which makes PLC cycle synchronous data exchange unnecessary BOOLEAN RW 0x00 0dec 80n0 07 Enable limit 1 163 Limit 1 enabled BOOLEAN RW 0x00 0dec 80n0 08 Enable limit 2 163 Limit 2 enabled BOOLEAN RW 0...

Страница 195: ...er threshold for setting the error bit and error led INT32 RW Dependent on 80nD 11 Index 80nE AI internal data for 0 n 3 Index hex Name Meaning Data type Flags Default 80nE 0 AI internal data Maximum...

Страница 196: ...lue 1 BIT2 RO 0x00 0dec 60n0 05 Limit 2 Limit value monitoring limit 2 0 not active 1 value is smaller than limit value 2 2 value is larger than limit value 2 3 Value is equal to limit value 2 BIT2 RO...

Страница 197: ...x 1018 Identity Index hex Name Meaning Data type Flags Default 1018 0 Identity Information for identifying the slave UINT8 RO 0x04 4dec 1018 01 Vendor ID Vendor ID of the EtherCAT slave UINT32 RO 1018...

Страница 198: ...0x031A 0x101A 3 0x001A 0x021A 0x101A 4 0x011A 0x051A 0x101A 5 0x011A 0x041A 0x101A 10 0x001A 0x011A 0x021A 0x031A 0x041A 0x051A Index 180n AI TxPDO Par for 0 n 7 depends on number of channels Index he...

Страница 199: ...standard entry 0x07 TxPDO State UINT32 RO 0x180n 07 1 1A0n 0A SubIndex 010 10 PDO Mapping entry object 0x180n AI TxPDO Par standard entry 0x09 TxPDO Toggle UINT32 RO 0x180n 09 1 1A0n 0B SubIndex 011...

Страница 200: ...n 09 1 1A0n 0B SubIndex 011 11 PDO Mapping entry object 0x60p0 AI Inputs en try 0x11 Value UINT32 RO 0x60p0 11 16 since revision no EL31xx 00xx 0016 Index 1A0n AI TxPDO Map Compact for n 3 5 p 0 1 onl...

Страница 201: ...om rev EL31x2 0000 0016 For operation on masters other than TwinCAT it must be ensured that the channels are entered in the PDO assignment TxPDO assign object 0x1C13 successively Index hex Name Meanin...

Страница 202: ...3 05 Minimum cycle time Minimum cycle time in ns UINT32 RO 0x000186A0 100000dec 1C33 06 Calc and copy time Time between reading of the inputs and availability of the inputs for the master in ns only D...

Страница 203: ...dec for EL31xx see note 175 Index F010 module list for 1 n 4 depends on number of channels Index hex Name Meaning Data type Flags Default F010 0 Module list Maximum subindex UINT8 RW 0x08 8dec F010 0n...

Страница 204: ...Slave Frame Elements entry 0x06 TSC__Slave_CRC_3 UINT32 RW 0x6040 06 16 1A08 0A SubIndex 010 10 PDO Mapping entry object 0x6040 TSC Slave Frame Elements entry 0x02 TSC__Slave ConnID UINT32 RW 0x6040...

Страница 205: ...a CoE 1C33 Contents locked because filter active The Beckhoff TwinCAT EtherCAT master outputs the slave error message according to the ETG specification in plain text in the logger window Fig 216 Twin...

Страница 206: ...oducts NOTE Risk of damage to the device Pay attention to the instructions for firmware updates on the separate page 211 If a device is placed in BOOTSTRAP mode for a firmware update it does not check...

Страница 207: ...0 2016 02 EL3112 Hardware HW Firmware FW Revision no Date of release 00 02 00 EL3112 0000 0000 2005 09 02 12 07 EL3112 0000 0016 2010 04 08 EL3112 0000 0017 2010 06 09 2010 10 10 2011 01 11 2012 03 EL...

Страница 208: ...03 EL3122 0000 0018 2012 11 13 EL3122 0000 0019 2014 05 EL3124 Hardware HW Firmware FW Revision no Date of release 00 07 01 EL3124 0000 0016 2010 01 02 2011 01 03 2011 05 04 2012 03 EL3124 0000 0017 2...

Страница 209: ...0017 2010 09 08 2010 10 09 2011 01 10 2012 03 EL3142 0010 0018 2012 10 EL3142 0010 0019 2013 05 11 EL3142 0010 0020 2014 05 EL3142 0010 0021 2014 01 EL3144 Hardware HW Firmware FW Revision no Date of...

Страница 210: ...7 02 2011 05 03 2011 05 04 2012 03 EL3154 0000 0017 2012 07 05 EL3154 0000 0018 2013 12 EL3154 0000 0019 2016 06 EL3154 0000 0020 2017 02 EL3161 Hardware HW Firmware FW Revision no Date of release 00...

Страница 211: ...s An EtherCAT slave stores operating data in up to 3 locations Depending on functionality and performance EtherCAT slaves have one or several local controllers for processing I O data The correspondin...

Страница 212: ...vision Firmware e g by looking in the online CoE of the device NOTE Risk of damage to the device Note the following when downloading new device files Firmware downloads to an EtherCAT device must not...

Страница 213: ...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 wi...

Страница 214: ...ision 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...

Страница 215: ...2 10 03 02 12 week of production 12 10 year of production 2010 03 firmware version 03 02 hardware version 02 Determining the version via the System Manager The TwinCAT System Manager shows the version...

Страница 216: ...n be loaded via the Online option in Advanced Settings B and double clicking on AllObjects 6 3 3 Updating controller firmware efw CoE directory The Online CoE directory is managed by the controller an...

Страница 217: ...IT A Switch slave to BOOTSTRAP Check the current status B C Download the new efw file wait until it ends A pass word will not be neccessary usually After the download switch to INIT then PreOP Switch...

Страница 218: ...and Device 2 in the example and select the Online tab The Reg 0002 column indicates the firmware version of the individual EtherCAT devices in hexadecimal and decimal representation Fig 225 FPGA firmw...

Страница 219: ...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 220: ...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 221: ...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 222: ...rs 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 S...

Страница 223: ...mponents 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 of...

Страница 224: ...g 12 EL314x 22 Fig 13 EL315x 24 Fig 14 EL316x 26 Fig 15 EL3174 EL3174 0090 28 Fig 16 EL3174 0002 EL3174 0032 28 Fig 17 System manager current calculation 34 Fig 18 EtherCAT tab Advanced Settings Behav...

Страница 225: ...channel version 86 Fig 66 2 wire connection 88 Fig 67 Connection of externally supplied sensors 89 Fig 68 2 3 and 4 wire connection at single ended and differential inputs 90 Fig 69 Common mode volta...

Страница 226: ...pe BOOL 116 Fig 109 Selecting several PDOs simultaneously activate Continuous and All types 117 Fig 110 Application of a Goto Link variable using MAIN bEL1004_Ch4 as a sample 117 Fig 111 TwinCAT devel...

Страница 227: ...r 138 Fig 150 TwinCAT can also be switched to this state by using a button left TwinCAT 2 right Twin CAT 3 138 Fig 151 Online display example 139 Fig 152 Faulty identification 139 Fig 153 Identical co...

Страница 228: ...range 10 10 V 180 Fig 198 EL3174 0032 measurement range 3 3 V 181 Fig 199 EL3174 EL3174 0002 EL3174 0090 measurement range 0 10 V 181 Fig 200 EL3174 0032 measurement range 0 3 V 182 Fig 201 EL3174 EL3...

Страница 229: ...irmware Update 216 Fig 225 FPGA firmware version definition 218 Fig 226 Context menu Properties 218 Fig 227 Dialog Advanced Settings 219 Fig 228 Multiple selection and firmware update 221 Fig 229 Sele...

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