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Commissioning

EL37x2

79

Version: 3.5

6.2

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

◦

More…

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

◦

More…

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

.

6.2.1

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 EL3702

Страница 1: ...Documentation EL37x2 2 channel Analog Input Terminals with oversampling 3 5 2017 06 23 Version Date...

Страница 2: ......

Страница 3: ...with oversampling EL37x2 3 Version 3 5 1 Product overview analog input terminals with oversampling EL3702 14 Two channel analog input terminal 10 V 10 V with oversampling EL3742 16 Two channel analog...

Страница 4: ...and wiring 34 5 1 Instructions for ESD protection 34 5 2 Installation on mounting rails 34 5 3 Installation instructions for enhanced mechanical load capacity 37 5 4 Connection system 38 5 5 Installa...

Страница 5: ...ted clocks DC 145 6 6 Notices on analog specifications 151 6 6 1 Full scale value FSV 152 6 6 2 Measuring error measurement deviation 152 6 6 3 Temperature coefficient tK ppm K 153 6 6 4 Single ended...

Страница 6: ...Table of contents EL37x2 6 Version 3 5...

Страница 7: ...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 8: ...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 9: ...on Oversampling terminals and TwinCAT Scope added 3 0 Migration 2 0 Update chapter Technical data Addenda chapter Installation instructions for enhanced mechanical load capacity Update structure Updat...

Страница 10: ...Information in the form of an XML file which is available for download from the Beckhoff web site From 2014 01 the revision is shown on the outside of the IP20 terminals see Fig EL5021 EL terminal st...

Страница 11: ...his 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 are...

Страница 12: ...g 4 EL3202 0020 with batch numbers 26131006 and unique ID number 204418 Fig 5 EP1258 00001 IP67 EtherCAT Box with batch number 22090101 and unique serial number 158102 Fig 6 EP1908 0002 IP67 EtherCAT...

Страница 13: ...13 Version 3 5 Fig 7 EL2904 IP20 safety terminal with batch number date code 50110302 and unique serial number 00331701 Fig 8 ELM3604 0002 terminal with ID number QR code 100001051 and unique serial...

Страница 14: ...generates a set of n process data per channel for each EtherCAT bus cycle which is accumulated and transferred in the next bus cycle The timebase of the terminal can be synchronized precisely with ot...

Страница 15: ...ia E bus typ 200 mA Bit width in process image Input n x 2 x 16 bit data 2 x 16 bit CycleCounter if applicable 4 bytes StartNextLatchTime if applicable Configuration via TwinCAT System Manager Weight...

Страница 16: ...a set of n process data per channel for each EtherCAT bus cycle which is accumulated and transferred in the next bus cycle The timebase of the terminal can be synchronized precisely with other EtherCA...

Страница 17: ...typ 200 mA Bit width in process image Input n x 2 x 16 bit data 2 x 16 bit CycleCounter if applicable 4 bytes StartNextLatchTime if applicable Configuration via TwinCAT System Manager Weight approx 6...

Страница 18: ...herCAT master automatically synchronizes the local clock with the master clock in the EtherCAT bus with a precision of 100 ns The EL37x2 only offers 32 bit support Sample The fieldbus EtherCAT master...

Страница 19: ...0 s SYNC1 is therefore triggered every 500 s in all EL37x2 If both terminals operate with a corresponding oversampling factor e g 20 the SYNC0 pulse correlating to SYNC1 will occur simultaneously in a...

Страница 20: ...ted clock function can be correlated relatively freely in this way Attention Attention Risk of device damage The above notes and information should be used advisedly The EtherCAT master automatically...

Страница 21: ...ck B runs synchronous with the cycle time The data block is linked with the next but one LatchTime The next EtherCAT cycle fetches this data C Fig 12 Temporal relationship between SYNC signals and Syn...

Страница 22: ...samples The notices contained in this document explicitly do not refer to specific applications The customer is therefore responsible for assessing and deciding whether the product is suitable for a...

Страница 23: ...ip file locally on your hard disk and unzip the TSM configuration and the PRO PLC program files into a temporary working folder The pro file can be opened by double click or by the TwinCAT PLC Control...

Страница 24: ...r Fig 15 Selection and confirmation of the Ethernet adapter Activate and confirm the configuration Fig Activation of the configuration Confirming the activation of the configuration Fig 16 Activation...

Страница 25: ...AT PLC under the Project menu select Rebuild all to compile the project Fig Compile project Fig 20 Compile project In TwinCAT PLC log in with the F11 button confirm loading the program Fig Confirming...

Страница 26: ...etc TcUtilities lib section INT64 provides numerous relevant functions Of particular significance are the cast functions LARGE_TO_ULARGE and vice versa This type should be used when working with time...

Страница 27: ...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 28: ...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 29: ...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 30: ...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 31: ...onal Safe Op During transition between Pre Op and Safe Op the EtherCAT slave checks whether the sync manager channels for process data communication and if required the distributed clocks settings are...

Страница 32: ...Init state In the Boot state mailbox communication via the file access over EtherCAT FoE protocol is possible but no other mailbox communication and no process data communication 4 5 CoE Interface no...

Страница 33: ...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 34: ...t with highly insulating materials synthetic fibers plastic film etc b Surroundings working place packaging and personnel should by grounded probably when handling with the devices c Each assembly mus...

Страница 35: ...k 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 assem...

Страница 36: ...s The six spring contacts of the K Bus E Bus deal with the transfer of the data and the supply of the Bus Terminal electronics The power contacts deal with the supply for the field electronics and thu...

Страница 37: ...ts 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 potential...

Страница 38: ...the 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 5 4 Connection system WARNING Risk of electric shock an...

Страница 39: ...n wires when the connector is removed Conductor cross sections between 0 08 mm2 and 2 5 mm2 can continue to be used with the proven spring force technology The overview and nomenclature of the product...

Страница 40: ...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 41: ...te spacing is maintained between other components above and below the terminal in order to guarantee adequate ventilation Optimum installation position standard The optimum installation position requi...

Страница 42: ...All other installation positions are characterized by different spatial arrangement of the mounting rail see Fig Other installation positions The minimum distances to ambient specified above also app...

Страница 43: ...ctive part in data transfer within the bus terminal block are so called Passive Terminals The Passive Terminals have no current consumption out of the E Bus To ensure an optimal data transfer you must...

Страница 44: ...ect against the rated operating voltage being exceeded by more than 40 due to short term interference voltages The individual terminals may only be unplugged or removed from the Bus Terminal sys tem i...

Страница 45: ...rnet connectors Not for connection to telecommunication circuits Basic principles Two UL certificates are met in the Beckhoff EtherCAT product range depending upon the components UL certification acco...

Страница 46: ...NEC class 2 A voltage source complying with NEC class 2 may not be connected in series or parallel with another NEC class 2 compliant voltage supply These requirements apply to the supply of all Ether...

Страница 47: ...x EL31xx Current measurement via a 33 shunt per channel resulting in a maximum voltage drop of 660 mV via the shunt Internal resistor configuration with GND point A central to the shunt The configurat...

Страница 48: ...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 EL3...

Страница 49: ...1a Accordingly this also applies if the floating point GNDINT is connected to another potential Fig 40 Example 1a high side measurement Example 2 The same EL3012 is now again connected with the two 2...

Страница 50: ...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 point f...

Страница 51: ...ly State of the EtherCAT State Machine PREOP function for mailbox communication and different standard settings set flashing slowly State of the EtherCAT State Machine SAFEOP verification of the Sync...

Страница 52: ...n assignment and wiring Terminal point Description Name No Input 1 1 Input 1 Input 1 2 Input 1 GND 3 Signal ground for input 1 internally connected to terminal point 7 Shield 4 Shield Input 2 5 Input...

Страница 53: ...isolation of the inputs Sample EL3602 wiring In figure 2 the circuit diagram with a variable voltage source channel 2 should be regarded as equivalent to the configuration of channel 1 with a sensor...

Страница 54: ...ample EL3742 wiring In figure 2 the circuit diagram with a variable current source channel 2 should be regarded as equivalent to the configuration of channel 1 with a sensor Fig 47 EL3742 equivalent c...

Страница 55: ...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 56: ...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 57: ...ch case the EK1100 coupler wouldn t be necessary 6 1 1 TwinCAT 2 Startup TwinCAT basically uses two user interfaces the TwinCAT System Manager for communication with the electromechanical components a...

Страница 58: ...e made known first In the menu under Actions Choose Target System via the symbol or the F8 key open the following window Fig 51 Selection of the target system Use Search Ethernet to enter the target s...

Страница 59: ...have to be set to Config mode via or via menu Actions Set Reset TwinCAT to Config Mode Shift F4 Fig 53 Select Scan Devices Confirm the warning message which follows and select EtherCAT in the dialog F...

Страница 60: ...en reads the elements present in the configuration below Fig 56 Reading of individual terminals connected to a device This functionality is useful if the actual configuration is modified at short noti...

Страница 61: ...t 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 57 Twi...

Страница 62: ...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 63: ...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 64: ...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 65: ...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 66: ...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 67: ...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 68: ...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 68 Create new TwinCAT project The...

Страница 69: ...ed on the respective PLC TwinCAT can be used in local mode and thereby the next step is Insert Device 70 If the intention is to address the TwinCAT runtime environment installed on a PLC as developmen...

Страница 70: ...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 71: ...be acknowledged Based on the sample configuration 56 described at the beginning of this section the result is as follows Fig 74 Mapping of the configuration in VS shell of the TwinCAT3 environment The...

Страница 72: ...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 73: ...LC_example as project name for example and select a corresponding directory Fig 77 Specifying the name and directory for the PLC programming environment The Main program which already exists by select...

Страница 74: ...Commissioning EL37x2 74 Version 3 5 Fig 78 Initial Main program of the standard PLC project To continue sample variables and a sample program have now been created...

Страница 75: ...r followed by the compile process Fig 80 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 76: ...on tree Fig 82 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 77: ...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 84 Application of a Goto Link variabl...

Страница 78: ...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 79: ...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 80: ...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 81: ...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 82: ...Commissioning EL37x2 82 Version 3 5 Fig 91 Exemplary correct driver setting for the Ethernet port Other possible settings have to be avoided...

Страница 83: ...Commissioning EL37x2 83 Version 3 5 Fig 92 Incorrect driver settings for the Ethernet port...

Страница 84: ...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 85: ...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 86: ...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 87: ...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 88: ...37x2 88 Version 3 5 Reasons may include Structure of the xml does not correspond to the associated xsd file check your schematics Contents cannot be translated into a device description contact the fi...

Страница 89: ...esence 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 poss...

Страница 90: ...n 100 can also be carried out for comparison 6 2 5 OFFLINE configuration creation Creating the EtherCAT device Create an EtherCAT device in an empty System Manager window Fig 102 Append EtherCAT devic...

Страница 91: ...ces can be appended by right clicking on a device in the configuration tree Fig 106 Appending EtherCAT devices left TwinCAT 2 right TwinCAT 3 The dialog for selecting a new device opens Only devices f...

Страница 92: ...ion can be displayed as Extended Information Fig 108 Display of device revision In many cases several device revisions were created for historic or functional reasons e g through technological advance...

Страница 93: ...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 94: ...Commissioning EL37x2 94 Version 3 5 Fig 111 EtherCAT terminal in the TwinCAT tree left TwinCAT 2 right TwinCAT 3...

Страница 95: ...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 2...

Страница 96: ...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 97: ...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 98: ...nfiguration is established and can then be switched to online state OPERATIONAL Fig 122 Config FreeRun query left TwinCAT 2 right TwinCAT 3 In Config FreeRun mode the System Manager display alternates...

Страница 99: ...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 100: ...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 101: ...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 102: ...aining the links in the task Fig 131 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 103: ...bs 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 pr...

Страница 104: ...g 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 105: ...odifications 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 106: ...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 107: ...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 108: ...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 109: ...specify which objects are displayed in the list Fig 140 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 110: ...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 111: ...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 infos...

Страница 112: ...ist 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 113: ...ng task for diagnosis that is accurate for the current cycle when in operation not during commissioning are discussed below Fig 143 Selection of the diagnostic information of an EtherCAT Slave In gene...

Страница 114: ...ff 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 crea...

Страница 115: ...have effects on the process data of other Slaves that are located in the same Syn cUnit In order for the higher level PLC task or cor responding control applications to be able to rely on correct data...

Страница 116: ...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 117: ...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 i...

Страница 118: ...as standard EtherCAT Master OP Slaves OP This setting applies equally to all Slaves Fig 147 Default behaviour of the System Manager In addition the target state of any particular Slave can be set in...

Страница 119: ...e Fig 149 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 120: ...a warning message E Bus Power of Terminal is output in the logger window when such a configuration is activated Fig 151 Warning message for exceeding E Bus current Attention Caution Malfunction possi...

Страница 121: ...The definition of oversampling by the Beckhoff s point of view shouldn t be mixed up with the oversampling process of a deltaSigma ADC deltaSigma ADC the frequency used by the ADC to sample the analog...

Страница 122: ...3 EL3773 0000 0019 EL3751 all EL3742 all EL3702 all EL3632 all EL2262 all EL1262 0050 all EL1262 all Recording a PLC Variable with the TwinCAT 3 ScopeView By a precondition of an already created TwinC...

Страница 123: ...identification AT I stands for swapping out this array variable to link it with the process data objects PDOs of a terminal later Notice that at least the number of elements have to be the same as th...

Страница 124: ...f EL3773 Step 2b Creation of a PLC variable via a free task When a POU is not needed onto the particular system a referenced variable could be applied via a free task also If a free task is not existi...

Страница 125: ...rty Create symbols must be activated There s a default value given for the Port number 301 that should be changed if necessary This number have to make acquainted for the Scope if applicable later on...

Страница 126: ...O U1 Samples of the EL3773 for MAIN aUI_Samples based by the last preceding paragraph Step 2a as illustrated above have to be done in the same way for Var 1 accordingly Step 4 Selection of the PLC arr...

Страница 127: ...able aUI_Samples C have to be done Fig 161 Appending the variable aUI_Samples below axis within the scope project of the solution explorer Note Variable don t appears into the target browser If ROUTES...

Страница 128: ...ment cycle time The X axis view was fitted properly by using Panning X after the recording was stopped Following the Chart property Use X Axis SubGrid was set to true with 10 divisions as well as the...

Страница 129: ...left sided solution explorer I O Devices Device EtherCAT Image Next the register card ADS have to be selected to activate each checkbox Enable ADS Server and Create symbols then the port entry is don...

Страница 130: ...of an EtherCAT device Also see Beckhoff Information System 6 4 2 TwinCAT 2 procedure The TwinCAT Scope2 supports the import and display of oversampling process data such as is used by oversampling abl...

Страница 131: ...via ADS without further measures since PLC variables are always created as ADS symbols in the background Fig 166 PLC in the System Manager Note the Scope2 can only see such variables in the variable...

Страница 132: ...System Manager an instance of it can be assigned to an additional task with a right click It appears in the overview sorted according to bit size Fig 169 Overview of declared types In this example the...

Страница 133: ...e task will not run automatically ADS symbol tables are then created for all variables that have this task in their process data images Fig 172 Settings in the additional task Step 2 Configuration in...

Страница 134: ...ForceOversampling and DataType INT16 must be set in the channel which has now been created If necessary SymbolBased must be temporarily deactivated in addition Fig 175 Channel settings In order to che...

Страница 135: ...issioning EL37x2 135 Version 3 5 Fig 176 Activation of the marks An additional example illustrates the following image by representation of an oversampling variable from the EL3751 with 10 x oversampl...

Страница 136: ...ng was activated due to the oversampling variable is not provided by the terminal Proceeding with TwinCAT 2 alternatively via ADS In former TwinCAT 2 versions or a lower revision as specified in the t...

Страница 137: ...tion tree I O Configuration I O Devices Device EtherCAT Device Image Next the register card ADS have to be selected to activate each checkbox Enable ADS Server and Create symbols then the port entry i...

Страница 138: ...versampling record Beckhoff TwinCAT supports the Scope2 with some oversampling devices in a special way by automatically calculating a special ADS array symbol in the background which appears in the S...

Страница 139: ...tem Manager for setting the parameters Once the terminal has been scanned in the following tree structure appears see Fig TwinCAT tree EL37x2 Fig 181 TwinCAT tree EL37x2 Ch1 Ch2 CycleCount and Ch1 Ch2...

Страница 140: ...Commissioning EL37x2 140 Version 3 5 Fig 182 WCState Online tab InfoData State Shows the online status EtherCAT state machine of the terminal Fig 183 InfoData Online tab...

Страница 141: ...not present 0x020_ Slave signals link error 0x040_ Slave signals missing link 0x080_ Slave signals unexpected link 0x100_ Communication port A 0x200_ Communication port B 0x400_ Communication port C 0...

Страница 142: ...Commissioning EL37x2 142 Version 3 5 Fig 184 Process data tab SM0 EL37x2...

Страница 143: ...Commissioning EL37x2 143 Version 3 5 Fig 185 Process data tab SM1 EL37x2...

Страница 144: ...hen be switched on or off in the PDO Assignment box underneath index 0x1B10 Restarting the EtherCAT system or reloading the configuration in configuration mode F4 causes the EtherCAT communication to...

Страница 145: ...ersampling factor can be set in the DC tab see Fig Process data tab sample setting 2 channel 2 times oversampling If only one channel of the EL37x2 is required the corresponding operating mode can be...

Страница 146: ...g TwinCAT tree example setting two channel 2 x oversampling Fig 188 TwinCAT tree sample setting 2 channel 2 times oversampling StartTimeNextLatch activation The assigned process record StartTimeNextLa...

Страница 147: ...distributed clock time In this way all samples can be synchronized with other time data within the EtherCAT bus based on the known oversampling factor Sample With a cycle time of 1 ms 1 000 000 ns an...

Страница 148: ...Correct function of the terminal with all conceivable setting options cannot be guaranteed To set an oversampling factor that is not listed in the dialog the ratio between SYNC0 and SYNC1 pulse can b...

Страница 149: ...cycle time 4000 s The SYNC1 pulse is triggered every 4000 s The oversampling factor should be set to 80 This requires a SYNC0 interval of 50 s To this end either select a suitable factor for SYNC0 Cyc...

Страница 150: ...Commissioning EL37x2 150 Version 3 5 Fig 193 Process Data tab adaptation of process data in SM0...

Страница 151: ...n the terminal will reach the OP state but no process data will be created Sample Sample for setting a Shift Time Under SYNC0 Shift Time User defined Fig DC tab activation Advanced Settings Distribut...

Страница 152: ...the above examples this means Measuring range 0 10 V asymmetric unipolar full scale value 10 V measuring span 10 V Measuring range 4 20 mA asymmetric unipolar full scale value 20 mA measuring span 16...

Страница 153: ...dependent to a greater or lesser degree In analog measurement technology this means that when a measured value is determined by means of an electronic circuit its deviation from the true value is repr...

Страница 154: ...arge 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 genera...

Страница 155: ...ntial 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 electrically...

Страница 156: ...ufactured 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 docum...

Страница 157: ...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 cu...

Страница 158: ...Commissioning EL37x2 158 Version 3 5 Single ended Differential Fig 199 2 3 and 4 wire connection at single ended and differential inputs...

Страница 159: ...der 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 a...

Страница 160: ...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 proces...

Страница 161: ...ous 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 EtherCAT...

Страница 162: ...ated 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 electrica...

Страница 163: ...Diagram signal delay linear 3 Additional information may be provided in the specification e g 3 1 Actual sampling rate of the ADC if different from the channel sampling rate 3 2 Time correction values...

Страница 164: ...serial number on the housing in ESC register 0E00hex To view the register proceed as follows see Fig Firmware version in EL37xx EL47xx oversampling terminals EL terminal in the EtherCAT system instal...

Страница 165: ...re version EL3702 Hardware HW Firmware FW Revision no Release date 00 04 02 EL3702 0000 0002 2007 11 03 2008 06 04 2009 12 05 13 05 2010 11 06 2011 01 07 2011 02 08 2011 06 09 EL3702 0000 0002 2012 12...

Страница 166: ...e which also contains the revision number e g ELxxxx xxxx_REV0016_SW01 efw for password 1 to be entered in the download dialog If password 0 default setting only the firmware update is carried out wit...

Страница 167: ...erCAT system documentation Note Update of XML ESI description The device revision is closely linked to the firmware and hardware used Incompatible com binations lead to malfunctions or even final shut...

Страница 168: ...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 Th...

Страница 169: ...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 EtherCAT slave the...

Страница 170: ...therCAT Slave Information ESI XML may contain the default content of the CoE This CoE directory can only be displayed if it is included in the ESI e g Beckhoff EL5xxx xml The Advanced button must be u...

Страница 171: ...firmware for processing I O signals FPGA firmware for EtherCAT communication only for terminals with FPGA The firmware version number included in the terminal serial number contains both firmware com...

Страница 172: ...right click the table header and select Properties in the context menu Fig 215 Context menu Properties The Advanced Settings dialog appears where the columns to be displayed can be selected Under Dia...

Страница 173: ...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 174: ...Appendix EL37x2 174 Version 3 5 Fig 217 Select dialog Advanced Settings The Advanced Settings dialog appears Under ESC Access E PROM FPGA click on Write FPGA button Fig 218 Select dialog Write FPGA...

Страница 175: ...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 176: ...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 177: ...he Ethernet adapter 24 Fig 15 Selection and confirmation of the Ethernet adapter 24 Fig 16 Activation of the configuration 24 Fig 17 Confirming the activation of the configuration 24 Fig 18 Generating...

Страница 178: ...multaneously activate Continuous and All types 64 Fig 64 Application of a Goto Link variable using MAIN bEL1004_Ch4 as a sample 65 Fig 65 Choose target system remote 66 Fig 66 PLC Control logged in re...

Страница 179: ...ce revision 92 Fig 109 Display of previous revisions 93 Fig 110 Name revision of the terminal 93 Fig 111 EtherCAT terminal in the TwinCAT tree left TwinCAT 2 right TwinCAT 3 94 Fig 112 Differentiation...

Страница 180: ...es to link with oversampling PDOs of EL3773 124 Fig 155 Insertion of a free task 124 Fig 156 Task property Create symbols must be activated 125 Fig 157 Insertion of variable Var 1 fitting to the overs...

Страница 181: ...0 150 Fig 194 Process Data tab adaptation of process data in SM1 151 Fig 195 Full scale value measuring span 152 Fig 196 SE and DIFF module as 2 channel version 154 Fig 197 2 wire connection 156 Fig 1...

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