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Commissioning

EL3692

49

Version: 2.1

Fig. 49: PLC Control logged in, ready for program startup

The PLC can now be started via "Online" → "Run", F5 key or

.

5.1.2

TwinCAT 3

Startup

TwinCAT makes the development 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 startup:

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Содержание EL3692

Страница 1: ...Documentation EL3692 2 channel resistance measurement terminal high precision 2 1 2016 11 18 Version Date...

Страница 2: ......

Страница 3: ...enhanced mechanical load capacity 27 4 3 Connection system 28 4 4 Installation positions 31 4 5 Mounting of Passive Terminals 32 4 6 EL3692 34 4 6 1 LEDs and connection 34 4 6 2 Electrical connection...

Страница 4: ...n 119 5 8 Data processing 119 5 9 DC operation mode 121 5 10 Notices on analog specifications 121 5 11 Example program 129 5 12 CoE 132 5 12 1 Most important CoE entries 132 5 12 2 Object description...

Страница 5: ...data diagrams and descriptions in this documentation Trademarks Beckhoff TwinCAT EtherCAT Safety over EtherCAT TwinSAFE XFC and XTS are registered trademarks of and licensed by Beckhoff Automation Gm...

Страница 6: ...liar with the applicable national standards Description of symbols In this documentation the following symbols are used with an accompanying safety instruction or note The safety instructions must be...

Страница 7: ...ublication 0 1 Preliminary documentation for EL3692 1 4 Version identification of EtherCAT devices Designation A Beckhoff EtherCAT device has a 14 digit designation made up of family key type version...

Страница 8: ...is usually the 8 digit number printed on the device or on a sticker The serial number indicates the configuration in delivery state and therefore refers to a whole production batch without distinguis...

Страница 9: ...Examples of markings Fig 1 EL5021 EL terminal standard IP20 IO device with batch number and revision ID since 2014 01 Fig 2 EK1100 EtherCAT coupler standard IP20 IO device with batch number Fig 3 CU2...

Страница 10: ...Fig 5 EP1258 00001 IP67 EtherCAT Box with batch number 22090101 and unique serial number 158102 Fig 6 EP1908 0002 IP76 EtherCAT Safety Box with batch number 071201FF and unique serial number 00346070...

Страница 11: ...o the galvanic isolation of 1500 V between the field side and the E bus in single channel mode measurements can be carried out at live points within the permissible range The EtherCAT Terminal indicat...

Страница 12: ...once this delay time in ms has elapsed CoE 0x80n0 05 and 31 132 This delay time is particularly significant in Autorange mode If it is too small the measuring range may not change in Autorange mode b...

Страница 13: ...tinuous measurement Width in the process image max 24 bytes input max 4 bytes output Electrical isolation 1500 V E bus field voltage Configuration via TwinCAT System Manager Weight approx 60 g permiss...

Страница 14: ...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 cros...

Страница 15: ...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 16: ...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 watchdo...

Страница 17: ...itching off of the SM watchdog via SM watchdog 0 is only imple mented in terminals from version 0016 In previous versions this operating mode should not be used CAUTION Damage of devices and undefined...

Страница 18: ...iffer from the default settings are also transferred Safe Operational Safe Op During transition between Pre Op and Safe Op the EtherCAT slave checks whether the sync manager channels for process data...

Страница 19: ...turer ID serial number process data settings device name calibration values for analog measurement or passwords The order is specified in 2 levels via hexadecimal numbering main index followed by subi...

Страница 20: ...recommended for modifications while the system is running or if no System Manager or operating staff are available If slave CoE parameters are modified online Beckhoff devices store any changes in a f...

Страница 21: ...on it is then inactive Changed CoE values are not saved in the EEPROM and can thus be changed any number of times Function is not supported continuous changing of CoE values is not permissible in view...

Страница 22: ...ine online If the slave is offline The offline list from the ESI file is displayed In this case modifications are not meaningful or possible The configured status is shown under Identity No firmware o...

Страница 23: ...ation 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 c...

Страница 24: ...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 mas...

Страница 25: ...Coupler Join the compo nents with tongue and groove and push the terminals against the mounting rail until the lock clicks onto the mounting rail If the Terminals are clipped onto the mounting rail fi...

Страница 26: ...e 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 re...

Страница 27: ...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...

Страница 28: ...strain 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 3 Connection system WARNING Risk of electric shock and da...

Страница 29: ...res 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 nam...

Страница 30: ...g the wire securely and per manently Terminal housing ELxxxx KLxxxx ESxxxx KSxxxx Wire size width 0 08 2 5 mm2 0 08 2 5 mm2 Wire stripping length 8 9 mm 9 10 mm High Density Terminals ELx8xx KLx8xx HD...

Страница 31: ...pacing is maintained between other components above and below the terminal in order to guarantee adequate ventilation Optimum installation position standard The optimum installation position requires...

Страница 32: ...y to these installation positions Fig 25 Other installation positions 4 5 Mounting of Passive Terminals Note Hint for mounting passive terminals EtherCAT Bus Terminals ELxxxx ESxxxx which do not take...

Страница 33: ...Installation EL3692 33 Version 2 1 Examples for mounting passive terminals highlighted Fig 26 Correct configuration Fig 27 Incorrect configuration...

Страница 34: ...possible LED states The following figure shows the terminal overview including the connection options Fig 28 Connection diagram EL3692 pin assignment Terminal point No Comment Input R1 1 Input R1 Inp...

Страница 35: ...ess data communication is possible flashing rapidly State of the EtherCAT State Machine BOOTSTRAP function for terminal firmware updates STATUS1 STATUS2 green The respective channel is carrying out a...

Страница 36: ...efore be carried out in single channel mode The following figure shows three potential applications only the first two cases are possible In the last case either no measurement takes place since the t...

Страница 37: ...ger 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...

Страница 38: ...d 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...

Страница 39: ...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 componen...

Страница 40: ...e made known first In the menu under Actions Choose Target System via the symbol or the F8 key open the following window Fig 34 Selection of the target system Use Search Ethernet to enter the target s...

Страница 41: ...have to be set to Config mode via or via menu Actions Set Reset TwinCAT to Config Mode Shift F4 Fig 36 Select Scan Devices Confirm the warning message which follows and select EtherCAT in the dialog F...

Страница 42: ...u which then reads the elements present in the configuration below Fig 39 Reading of individual terminals connected to a device This functionality is useful if the actual configuration is modified at...

Страница 43: ...ction 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...

Страница 44: ...cessful 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...

Страница 45: ...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 objec...

Страница 46: ...aneously 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 t...

Страница 47: ...ntext 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 estab...

Страница 48: ...k 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...

Страница 49: ...onment 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 communi...

Страница 50: ...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 51 Create new TwinCAT project The...

Страница 51: ...ed on the respective PLC TwinCAT can be used in local mode and thereby the next step is Insert Device 52 If the intention is to address the TwinCAT runtime environment installed on a PLC as developmen...

Страница 52: ...n 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 proj...

Страница 53: ...be acknowledged Based on the sample configuration 38 described at the beginning of this section the result is as follows Fig 57 Mapping of the configuration in VS shell of the TwinCAT3 environment The...

Страница 54: ...l 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 Funct...

Страница 55: ...LC_example as project name for example and select a corresponding directory Fig 60 Specifying the name and directory for the PLC programming environment The Main program which already exists by select...

Страница 56: ...Commissioning EL3692 56 Version 2 1 Fig 61 Initial Main program of the standard PLC project To continue sample variables and a sample program have now been created...

Страница 57: ...r followed by the compile process Fig 63 Start program compilation The following variables identified in the ST PLC program with AT are then available in under Assignments in the project folder explor...

Страница 58: ...on tree Fig 65 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...

Страница 59: ...s 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 67 Application of a Goto Link variabl...

Страница 60: ...he 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...

Страница 61: ...tomation 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...

Страница 62: ...s 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...

Страница 63: ...s 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 net...

Страница 64: ...Commissioning EL3692 64 Version 2 1 Fig 74 Exemplary correct driver setting for the Ethernet port Other possible settings have to be avoided...

Страница 65: ...rt general IP packets For this reason and in cases 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...

Страница 66: ...Commissioning EL3692 66 Version 2 1 Fig 76 TCP IP setting for the Ethernet port...

Страница 67: ...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 Interne...

Страница 68: ...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 69: ...ed 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 ne...

Страница 70: ...3692 70 Version 2 1 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 fi...

Страница 71: ...sence 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 possi...

Страница 72: ...ion 82 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 85 Append EtherCAT devic...

Страница 73: ...ces can be appended by right clicking on a device in the configuration tree Fig 89 Appending EtherCAT devices left TwinCAT 2 right TwinCAT 3 The dialog for selecting a new device opens Only devices fo...

Страница 74: ...ion can be displayed as Extended Information Fig 91 Display of device revision In many cases several device revisions were created for historic or functional reasons e g through technological advancem...

Страница 75: ...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 76: ...Commissioning EL3692 76 Version 2 1 Fig 94 EtherCAT terminal in the TwinCAT tree left TwinCAT 2 right TwinCAT 3...

Страница 77: ...e Online scanning in Config mode The online search is not available in RUN mode production operation Note the differenti ation between TwinCAT programming system and TwinCAT target system The TwinCAT...

Страница 78: ...nning the EtherCAT devices Note Online scan functionality During a scan the master queries the identity information of the EtherCAT slaves from the slave EEPROM The name and revision are used for dete...

Страница 79: ...predecessor version s an adaptation of B tsm or even B pro is therefore unnecessary The series produced machines can continue to be built with B tsm and B pro it makes sense to perform a comparative s...

Страница 80: ...nfiguration is established and can then be switched to online state OPERATIONAL Fig 105 Config FreeRun query left TwinCAT 2 right TwinCAT 3 In Config FreeRun mode the System Manager display alternates...

Страница 81: ...ce 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...

Страница 82: ...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 83: ...on the higher revision number Note Device selection based on revision compatibility The ESI description also defines the process image the communication type between mas ter and slave device and the d...

Страница 84: ...aining the links in the task Fig 114 Dialog Change to Compatible Type left TwinCAT 2 right TwinCAT 3 This function is preferably to be used on AX5000 devices If called the System Manager suggests the...

Страница 85: ...s 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 pro...

Страница 86: ...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...

Страница 87: ...difications 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...

Страница 88: ...of incorrect con figuration the EtherCAT slave usually refuses to start and change to OP state The System Manager displays an invalid SM cfg logger message This error message invalid SM IN cfg or inva...

Страница 89: ...nt 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...

Страница 90: ...ndex 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 ob...

Страница 91: ...specify which objects are displayed in the list Fig 123 Dialog Advanced settings Online via SDO Information If this option button is selected the list of the objects included in the object list of th...

Страница 92: ...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 oper...

Страница 93: ...ocks Operation Mode Options optional FreeRun SM Synchron DC Synchron Input based DC Synchron Advanced Settings Advanced settings for readjustment of the real time determinant TwinCAT clock Detailed in...

Страница 94: ...button for TwinCAT 3 PDO list List of all PDOs supported by this EtherCAT device The content of the selected PDOs is displayed in the PDO Content list The PDO configuration can be modified by double...

Страница 95: ...ny application that relies on I O data from a fieldbus being correct and up to date must make diagnostic access to the corresponding underlying layers EtherCAT and the TwinCAT System Manager offer com...

Страница 96: ...nt the latest possible status It is therefore useful to read such variables through ADS Fig Basic EtherCAT Slave Diagnosis in the PLC shows an example of an implementation of basic EtherCAT Slave Diag...

Страница 97: ...ave 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...

Страница 98: ...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 Man...

Страница 99: ...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...

Страница 100: ...as standard EtherCAT Master OP Slaves OP This setting applies equally to all Slaves Fig 130 Default behaviour of the System Manager In addition the target state of any particular Slave can be set in...

Страница 101: ...e Fig 132 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...

Страница 102: ...a warning message E Bus Power of Terminal is output in the logger window when such a configuration is activated Fig 134 Warning message for exceeding E Bus current Attention Caution Malfunction possi...

Страница 103: ...ified measuring time In Autorange mode with signifi cant changes in resistance and associated changes in measuring range this may result in the correct measuring range not being reached which would im...

Страница 104: ...Commissioning EL3692 104 Version 2 1 Fig 135 Connection examples 4 In TwinCAT the EL3692 appears as follows channel 1 red grouped channel 2 blue grouped...

Страница 105: ...lue 32 bit PLC fixed point float measuring range independent scaled representation Please note the information relating to the process data 111 5 for 2 wire measurement In CoE entry x80n0 0D set the m...

Страница 106: ...suring range independent float Explanation This 32 bit variable can be linked directly with a FLOAT variable of the PLC according to IEC61131 The conversion takes place in the EL3692 no measuring rang...

Страница 107: ...in each cycle Monitoring of TxPDO state 0 and TxPDO toggle toggling Status Error 0 Status DataInvalid 0 4 The value can be used when Status steadyState 1 5 5 3 Default state Process image with range...

Страница 108: ...ng mode 0 or 2 the other channel mode 1 or 3 Table 1 Operating modes Alternating mode This mode is the delivery state of the terminal Both channels alternately measure a resistance at their connection...

Страница 109: ...range 2 10 100 ohm since the three lower measuring ranges are not calibrated by the manufacturer See also 4 2 wire mode 5 5 8 Filter In the COE object 0x80n0 21 136 the EL3692 has a filter setting op...

Страница 110: ...in general the EL3692 terminal operates in a two channel alternating mode thus the conversion time doubles Filter setting Conversion time after filtering 2 5 Hz 400 ms 5 Hz 200 ms 10 Hz default 100 ms...

Страница 111: ...tomatic restart 1 0 0 0 0 1 off Measuring range invalid Select valid measuring range with Autorange perhaps select Presentation Scaled or activate SAI range outputs 0 0 0 1 0 0 off Data invalid Reques...

Страница 112: ...e Input 0x1A01 0x1A04 SAI Inputs Real Input 0x1A02 0x1A05 SAI Range Output 0x1600 0x1601 Table 1 PDO channel numbers Note Measured value display The EL3692 can output the current channel based measure...

Страница 113: ...he configuration typical configurations based on process data are stored in the EtherCAT XML Device Description The predefined configurations can be selected in the process data overview The function...

Страница 114: ...ata of the associated TxPDO is updated 0x6000 10 1 bit SW 15 Value Current measured value as INT32 measuring range end 0x7F FF FF standard 0x6000 11 4 bytes Table 2 Process data 0x1A00 Example Program...

Страница 115: ...urement request rising edge only required in single shot mode 0x6000 04 1 bit CW 3 Control Mode Current measuring mode 0 4 wire measurement 1 4 wire measurement single shot mode 2 2 wire measurement 3...

Страница 116: ...nd on the same channel The delay time largely allows charging processes at the test specimen to complete Once the charging process is complete based on the sensitivity setting steady state tolerance o...

Страница 117: ...1 bit Measured value in upper limit at 2 147 k 1 000 000dec 1 3 scaled 1 bit m Measured value in m upper limit at 2 147 M not recommended for measuring ranges below 10 1 000 000dec 1 k 4 scaled 1 bit...

Страница 118: ...of the EL3692 with 4 wire connection is 0 5 relative to the respective full scale value The thus assured maximum absolute error relative to the respective full scale value is specified as the upper e...

Страница 119: ...illustration and is not a valid measuring range 5 7 6 Resolution The following table shows the resolution for each measuring range Measuring range Measured variable Resolution 1 0xFF 255 10 m 0 1 11...

Страница 120: ...two diagrams illustrate the internal measurement sequence in the terminal The first diagram shows the route for measurement of a value the second diagram shows processing of the value in the terminal...

Страница 121: ...ata in the respective documents Some explanations are given below for the correct interpretation of these characteristic data Full scale value An I O device with an analog input measures over a nomina...

Страница 122: ...viation The relative measuring error is referenced to the full scale value and is calculated as the quotient of the largest numerical deviation from the true value measuring error referenced to the fu...

Страница 123: ...erature A manufacturer can alleviate this by using components of a higher quality or by software means The temperature coefficient specified by Beckhoff allows the user to calculate the expected measu...

Страница 124: ...urement corresponding considerations are applied Beckhoff generally refers to these two points as input signal potential and input reference potential For measurements between two potential points two...

Страница 125: ...age 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 electrically isolated usually only o...

Страница 126: ...ND is then manufactured 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 in...

Страница 127: ...y the same Differential EL3x1x 0 20 mA EL3x2x 4 20 mA KL exactly the same Preferred current direction because of internal diode Preferred current direction because of internal diode Designed for the c...

Страница 128: ...Commissioning EL3692 128 Version 2 1 Single ended Differential Fig 148 2 3 and 4 wire connection at single ended and differential inputs...

Страница 129: ...ponsi bility for errors and missing information The program presented here reads the individual values from the terminal and visualizes them The process data Status and Control are linked as WORD in t...

Страница 130: ...PRO file the TwinCAT System Manager and TwinCAT PLC will open Connect the hardware in accordance with fig Connection for sample program and connect the Ethernet adapter of your PC to the EtherCAT coup...

Страница 131: ...of the configuration Confirming the activation of the configuration Fig 153 Activation of the configuration Fig 154 Confirming the activation of the configuration Confirm new variable mapping restart...

Страница 132: ...issioning 133 Objects for the user calibration 133 This chapter describes the CoE objects required for commissioning and user calibration Note Parameterization via the CoE list CAN over EtherCAT The t...

Страница 133: ...l 0 4 wire measurement 1 4 wire measurement single shot mode 2 2 wire measurement 3 2 wire measurement single shot mode Is only saved if the output data are not active Bit Field 4 RW 0x00 0dec 80n0 11...

Страница 134: ...alue per measuring range for user calibra tion 0x10000 corresponds to 1 UINT32 RW 0x10000 65536dec Fig 159 Offset value per measuring range for user calibration 5 12 2 Object description and parameter...

Страница 135: ...can be used in cases where values are to be written whenever the system starts The list can be found in the Startup tab of the TwinCAT System Manager if the ter minal is selected on the left 5 12 3 Re...

Страница 136: ...1 10m 100m 0 100m 1 1 1 10 2 10 100 3 100 1k 4 1k 10k 5 10k 100k 6 100k 1M 7 1M 10M Is only applied if the output data are not active INT8 RW 0x00 0dec 80n0 1D Presentation 0 left aligned 1 right ali...

Страница 137: ...ue of Steady state tolerance index 0x80n0 3E 1024 BOOLEAN RO 0x00 0dec 60n0 0F TxPDO State Validity of the data of the associated TxPDO 0 valid 1 invalid BOOLEAN RO 0x00 0dec 60n0 10 TxPDO Toggle The...

Страница 138: ...dd Range x 2 4W offset one offset value per measuring range for manufacturer calibration INT16 RO 0x00 0dec 80nF 0m even Range x 2 4W gain one gain value per measuring range for manufacturer calibrati...

Страница 139: ...s Default 1009 0 Hardware version Hardware version of the EtherCAT slave STRING RO 00 Index 100A Software version Index hex Name Meaning Data type Flags Default 100A 0 Software version Firmware versio...

Страница 140: ...n try 0x05 Range Invalid UINT32 RO 0x6000 05 1 1A0n 06 SubIndex 006 6 PDO Mapping Entry object 0x6000 SAI Inputs en try 0x06 Autorange disabled UINT32 RO 0x6000 06 1 1A0n 07 SubIndex 007 7 PDO Mapping...

Страница 141: ...12 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 hex Name Meaning Data type Flags Default 1C13 0 T...

Страница 142: ...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 Measuremen...

Страница 143: ...Synchronous with SM 3 Event is supported no outputs available Bit 2 3 01 DC mode is supported Bit 4 5 01 input shift through local event outputs available Bit 4 5 10 input shift with SYNC1 event no ou...

Страница 144: ...vices 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...

Страница 145: ...Appendix EL3692 145 Version 2 1 These requirements apply to the supply of all EtherCAT bus couplers power adaptor terminals Bus Terminals and their power contacts...

Страница 146: ...purpose Generally the slave does not check whether the new data are suitable i e it may no longer be able to operate if the data are unsuitable Simplified update by bundle firmware The update using s...

Страница 147: ...on 0016 The configured identifier must be compatible with the actual device description used as hardware i e the description which the slave has loaded on start up in this case EL3204 Normally the con...

Страница 148: ...g 162 Configuration is identical otherwise a change dialog appears for entering the actual data in the configuration Fig 163 Change dialog In this example in Fig Change dialog an EL3201 0000 0017 was...

Страница 149: ...in the following dialog see Fig Selecting the new ESI The checkbox Show Hidden Devices also displays older normally hidden versions of a slave Fig 165 Selecting the new ESI A progress bar in the Syste...

Страница 150: ...and select the tab CoE Online CAN over EtherCAT Note CoE Online and Offline CoE Two CoE directories are available online This is offered in the EtherCAT slave by the controller if the EtherCAT slave d...

Страница 151: ...he slave briefly FPGA firmware rbf If an FPGA chip deals with the EtherCAT communication an update may be accomplished via an rbf file Controller firmware for processing I O signals FPGA firmware for...

Страница 152: ...right click the table header and select Properties in the context menu Fig 169 Context menu Properties The Advanced Settings dialog appears where the columns to be displayed can be selected Under Dia...

Страница 153: ...11 or higher of an E Bus Terminal the terminal must have FPGA firmware version 10 or higher Older firmware versions can only be updated by the manufacturer Updating an EtherCAT device In the TwinCAT S...

Страница 154: ...Appendix EL3692 154 Version 2 1 Fig 171 Select dialog Advanced Settings The Advanced Settings dialog appears Under ESC Access E PROM FPGA click on Write FPGA button Fig 172 Select dialog Write FPGA...

Страница 155: ...rupted the Ether CAT device can only be recommissioned by the manufacturer In order to activate the new FPGA firmware a restart switching the power supply off and on again of the EtherCAT device is re...

Страница 156: ...oes not check when down loading whether the new firmware is suitable This can result in damage to the device Therefore always make sure that the firmware is suitable for the hardware version EL3692 Ha...

Страница 157: ...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 176 Entering a restore value in the Set Value dialog Note Alternativ...

Страница 158: ...nents 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 offer...

Страница 159: ...on mounting rail 25 Fig 18 Disassembling of terminal 26 Fig 19 Power contact on left side 27 Fig 20 Standard wiring 28 Fig 21 Pluggable wiring 29 Fig 22 High Density Terminals 29 Fig 23 Mounting a ca...

Страница 160: ...les after a compile process without variable integration 57 Fig 63 Start program compilation 57 Fig 64 Creating the links between PLC variables and process objects 58 Fig 65 Selecting PDO of type BOOL...

Страница 161: ...80 Fig 105 Config FreeRun query left TwinCAT 2 right TwinCAT 3 80 Fig 106 Displaying of Free Run and Config Mode toggling right below in the status bar 80 Fig 107 TwinCAT can also be switched to this...

Страница 162: ...dress 130 Fig 151 Searching the Ethernet adapter 130 Fig 152 Selection and confirmation of the Ethernet adapter 131 Fig 153 Activation of the configuration 131 Fig 154 Confirming the activation of the...

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