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Basics of EnDat 2.2 technology

EL5032, EL5032-0090

Version: 2.4

The order designation indicates whether an encoder outputs incremental signals:

• EnDat 01 with 1 V

incremental signals

• EnDat H with HTL incremental signals

• EnDat T with TTL incremental signals

• EnDat 21 without incremental signals

• EnDat 02 with 1 V

incremental signals

• EnDat 22 without incremental signals

**) Source:

Dr. Johannes HEIDENHAIN GmbH

Connection of HEIDENHAIN EnDat-interfaces to the EL5032

The EL5032 can only be connected to measuring instruments that support a clock frequency of 8
MHz. This corresponds to the order designation EnDat22.

Encoders with the ordering designation EnDat02 can be operated at 8MHz on the EL5032 without
incremental signals using an appropriate adapter cable.

Содержание EL5032

Страница 1: ...Documentation EL5032 EL5032 0090 2 channel EnDat2 2 Interface 2 4 2019 10 30 Version Date...

Страница 2: ......

Страница 3: ...EnDat 2 2 technology 28 4 1 EnDat 2 2 Bidirectional interface for position measuring devices 28 4 2 Connection technology 30 4 3 Compatibility 30 4 4 Functional description 31 4 5 Data transfer 33 5 M...

Страница 4: ...0 TwinSAFE SC process data 100 6 7 EL5032 00x0 object description and parameterization 100 6 7 1 Restore object 101 6 7 2 Configuration data 101 6 7 3 Command object 102 6 7 4 Input data 102 6 7 5 Inf...

Страница 5: ...he documentation at any time and without prior announcement No claims for the modification of products that have already been supplied may be made on the basis of the data diagrams and descriptions in...

Страница 6: ...or 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...

Страница 7: ...nment updated Chapter Diagnosis updated Update revision status 2 0 Migration 1 2 Structural update Update chapter Technical data Revision status updated 1 0 1 Complements corrections 1 0 Addenda corre...

Страница 8: ...ces from the different lines have different kinds of identification numbers Production lot batch number serial number date code D number The serial number for Beckhoff IO devices is usually the 8 digi...

Страница 9: ...libration certificate and other measuring terminals Examples 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 c...

Страница 10: ...ig 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 seri...

Страница 11: ...Foreword EL5032 EL5032 0090 11 Version 2 4 Fig 8 ELM3604 0002 terminal with unique ID number QR code 100001051 and serial batch number 44160201...

Страница 12: ...on the product it can be found in the following places on the packaging unit directly on the product if space suffices on the packaging unit and the product The BIC is machine readable and contains in...

Страница 13: ...tifiers are used by Beckhoff and serve internal processes Structure of the BIC Example of composite information from item 1 to 4 and 6 The data identifiers are marked in red for better display BTN An...

Страница 14: ...n is directly available In addition user defined data can be stored in the encoder This enables cost effective and quicker commissioning The position value is output with up to 48 bits depending on th...

Страница 15: ...L5032 0090 supports TwinSAFE SC Single Channel technology This enables the use of standard signals for safety tasks in any networks of fieldbuses Quick links Basic Function Principles 28 Quick start 5...

Страница 16: ...type plate diagnostics warning including cable length compensation up to 100 m reading the encoder temperature values EL5032 0090 TwinSAFE SC Configuration via EtherCAT master CoE MTBF 55 C 790 000 h...

Страница 17: ...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 18: ...erminal 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 unaffe...

Страница 19: ...ed 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 w...

Страница 20: ...for switching off of the SM watchdog via SM watchdog 0 is only implemented in terminals from version 0016 In previous versions this operating mode should not be used CAUTION Damage of devices and und...

Страница 21: ...Operational Safe Op During transition between Pre Op and Safe Op the EtherCAT slave checks whether the sync manager channels for process data communication and if required the distributed clocks sett...

Страница 22: ...calibration 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...

Страница 23: ...parameters 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 00...

Страница 24: ...value is to be stored permanently enter it in the Startup list The order of the Startup entries is usually irrelevant Fig 16 Startup list in the TwinCAT System Manager The Startup list may already con...

Страница 25: ...nline 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 accor...

Страница 26: ...n 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 chann...

Страница 27: ...Unit 1 ns Zero point 1 1 2000 00 00 Size 64 bit sufficient for the next 584 years however some EtherCAT slaves only offer 32 bit support i e the variable overflows after approx 4 2 seconds The EtherC...

Страница 28: ...measuring devices It is able to output position values of incremental and absolute measuring devices and read and update information stored in the measuring device as well as store new information 4 s...

Страница 29: ...emental signals EnDat 02 with 1 VPP incremental signals EnDat 22 without incremental signals Source Dr Johannes HEIDENHAIN GmbH Connection of HEIDENHAIN EnDat interfaces to the EL5032 The EL5032 can o...

Страница 30: ...ng sensors and EL5032 Fig 20 Connection of measuring sensor and EL5032 4 3 Compatibility The extended interface version EnDat 2 2 is compatible to the previous version 2 1 as regards communication the...

Страница 31: ...ction with the position value Parameters can be read or written after selection of the memory range Reset functions The reset functions serve to reset the measuring device in case of a malfunction A r...

Страница 32: ...hnology EL5032 EL5032 0090 32 Version 2 4 These errors can be reset using the command 0x8001 EnDat Reset An overview of the commands and examples of their use can be found in the chapter Overview of c...

Страница 33: ...frequency cable length With the runtime compensation employed in the EL5032 a cable length of maximally 100 m is possible with a clock frequency of 8 MHz Correspondingly suitable cables and plug conne...

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

Страница 35: ...l the lock clicks onto the mounting rail If the terminals are clipped onto the mounting rail first and then pushed together without tongue and groove the connection will not be operational When correc...

Страница 36: ...components 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 electronic...

Страница 37: ...on 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...

Страница 38: ...gment on both sides of the mounting rail with a mechanical fixture e g an earth terminal or reinforced end clamp The maximum total extension of the terminal segment without coupler is 64 terminals 12...

Страница 39: ...The pluggable connection level enables the complete wiring to be removed as a plug connector from the top of the housing for servicing The lower section can be removed from the terminal block by pull...

Страница 40: ...ductors and conductors with a wire end sleeve can be inserted directly into the spring loaded terminal point without tools Wiring HD Terminals The High Density HD Terminals of the ELx8xx and KLx8xx se...

Страница 41: ...y don t toggle 2 The wire can now be inserted into the round terminal opening without any force 3 The terminal point closes automatically when the pressure is released holding the wire securely and pe...

Страница 42: ...to the technical data for a terminal to ascertain whether any restrictions regarding the installa tion position and or the operating temperature range have been specified When installing high power di...

Страница 43: ...shown in Fig Recommended distances for standard installation position is recommended Other installation positions All other installation positions are characterized by different spatial arrangement of...

Страница 44: ...Mounting and wiring EL5032 EL5032 0090 44 Version 2 4 Fig 31 Other installation positions...

Страница 45: ...ch 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 da...

Страница 46: ...e rated operating voltage being exceeded by more than 40 due to short term interference voltages The individual terminals may only be unplugged or removed from the Bus Terminal system if the supply vo...

Страница 47: ...area of the Beckhoff homepage http www beckhoff com 5 9 UL notice Application Beckhoff EtherCAT modules are intended for use with Beckhoff s UL Listed EtherCAT Sys tem only Examination For cULus exam...

Страница 48: ...he sync manager channels 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 fli...

Страница 49: ...eld 4 Shield Data 2 5 Data input channel 2 Clock 2 6 Clock input channel 2 ENC supply 7 Supply voltage for encoder 5 V 9 V Shield 8 Shield Data 1 9 Data input channel 1 Clock 1 10 Clock input channel...

Страница 50: ...08 13 101 ensure before connecting that this is supported by both encoders 6 The data can now be read via the process data 100 6 2 TwinCAT Development Environment The Software for automation TwinCAT T...

Страница 51: ...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...

Страница 52: ...ribed in chapter Offline configuration creation section Creating the EtherCAT device 61 in order to view the compatible ethernet ports via its EtherCAT properties tab Adapter button Compatible Devices...

Страница 53: ...L5032 0090 53 Version 2 4 Fig 40 Windows properties of the network interface A correct setting of the driver could be Fig 41 Exemplary correct driver setting for the Ethernet port Other possible setti...

Страница 54: ...Commissioning EL5032 EL5032 0090 54 Version 2 4 Fig 42 Incorrect driver settings for the Ethernet port...

Страница 55: ...ases 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 asso...

Страница 56: ...that 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 th...

Страница 57: ...revision 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...

Страница 58: ...be 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 proced...

Страница 59: ...L5032 0090 59 Version 2 4 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...

Страница 60: ...he 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...

Страница 61: ...iguration 71 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 52 Append EtherCAT...

Страница 62: ...evices can be appended by right clicking on a device in the configuration tree Fig 56 Appending EtherCAT devices left TwinCAT 2 right TwinCAT 3 The dialog for selecting a new device opens Only devices...

Страница 63: ...revision can be displayed as Extended Information Fig 58 Display of device revision In many cases several device revisions were created for historic or functional reasons e g through technological ad...

Страница 64: ...ation 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 configu...

Страница 65: ...Commissioning EL5032 EL5032 0090 65 Version 2 4 Fig 61 EtherCAT terminal in the TwinCAT tree left TwinCAT 2 right TwinCAT 3...

Страница 66: ...e The online search is not available in RUN mode production operation Note the differentiation be tween TwinCAT programming system and TwinCAT target system The TwinCAT 2 icon or TwinCAT 3 icon within...

Страница 67: ...ype The respective devices are lo cated in the stored ESI data and integrated in the configuration tree in the default state defined there Fig 66 Example default state NOTE Slave scanning in practice...

Страница 68: ...al 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 configurati...

Страница 69: ...switched to online state OPERATIONAL Fig 72 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 devi...

Страница 70: ...n device is detected i e an EtherCAT slave for which no ESI XML description is available In this case the System Manager offers to read any ESI that may be stored in the device This case is described...

Страница 71: ...configuration 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...

Страница 72: ...cts 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 t...

Страница 73: ...winCAT offers a function Change to Compatible Type for the exchange of a device whilst retaining the links in the task Fig 81 Dialog Change to Compatible Type left TwinCAT 2 right TwinCAT 3 This funct...

Страница 74: ...us 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 EL37...

Страница 75: ...during 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...

Страница 76: ...of modifications include mask out a channel displaying additional cyclic information 16 bit display instead of 8 bit data size etc In so called intelligent EtherCAT devices the process data informati...

Страница 77: ...se 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...

Страница 78: ...be 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 a...

Страница 79: ...e object can be read but no data can be written to the object read only P An additional P identifies the object as a process data object Value Value of the object Update List The Update list button up...

Страница 80: ...e objects included in the object list of the slave is uploaded from the slave via SDO information The list below can be used to specify which object types are to be uploaded Offline via EDS File If th...

Страница 81: ...EOP again Current State Indicates the current state of the EtherCAT device Requested State Indicates the state requested for the EtherCAT device DLL Status Indicates the DLL status data link layer sta...

Страница 82: ...t list is deactivated not selected and greyed out this indicates that the input is excluded from the PDO assignment In order to be able to select a greyed out PDO the currently selected PDO has to be...

Страница 83: ...mary briefly deals with a number of aspects of EtherCAT Slave operation under TwinCAT More detailed information on this may be found in the corresponding sections of for instance the EtherCAT System D...

Страница 84: ...o the EtherCAT Master updated in every cycle red Output variables from the Slave to the EtherCAT Master updated in every cycle green Information variables for the EtherCAT Master that are updated acyc...

Страница 85: ...nication This may possibly 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 a...

Страница 86: ...ved locally in the slave depends on the device EL terminals except the EL66xx are able to save in this way The user must manage the changes to the StartUp list Commissioning aid in the TwinCAT System...

Страница 87: ...anual 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 statu...

Страница 88: ...are set as standard EtherCAT Master OP Slaves OP This setting applies equally to all Slaves Fig 97 Default behaviour of the System Manager In addition the target state of any particular Slave can be s...

Страница 89: ...d slave Fig 99 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 wit...

Страница 90: ...nd above a warning message E Bus Power of Terminal is output in the logger window when such a configuration is activated Fig 101 Warning message for exceeding E Bus current NOTE Caution Malfunction po...

Страница 91: ...DO Assignment To configure the process data select the required Sync Manager SM 2 or SM 3 in the Sync Manager field at the top left see Fig Process data tab SM3 EL5032 default The process data assigne...

Страница 92: ...0 0D 102 0 1 Status_TxPDO State Index 0x6010 0E 102 0 1 Status_Input Cycle counter Index 0x6010 0F 102 0 2 Position Index 0x6010 11 102 8 0 0x1A02 FB Inputs Channel 1 compact 6 0 Status_Warning Index...

Страница 93: ...Channel 2 compact Fig 103 Process data tab Predefined PDO Assignment EL5032 6 4 4 Overview of commands and samples The FB EnDat Command Object 0xB0n8 102 can be used to initiate various actions such a...

Страница 94: ...Commissioning EL5032 EL5032 0090 94 Version 2 4 Fig 104 Entry of the command in the Set Value dialogue of the System Manager...

Страница 95: ...h in words 5 LOBYTE word 0 6 HIBYTE word 0 5 n 2 LOBYTE word n 5 n 2 HIBYTE word n Example Read measuring device designation Read command 0x9000 MRS code Parameters of the measuring device manufacture...

Страница 96: ...e context of safety relevant applications Detailed examples for the correct application of the TwinSAFE SC components and the respective normative classification which were confirmed calculated by T V...

Страница 97: ...o a TwinSAFE SC terminal Only suitable TwinSAFE SC terminals are offered in the selection dialog Fig 108 Creating a link to TwinSAFE SC terminal The CRC to be used can be selected or a free CRC can be...

Страница 98: ...es 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...

Страница 99: ...s 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 free CRC must start...

Страница 100: ...e of 32 bits The parameterization of the process data and their effect must be taken into account accordingly in the safety application especially with regard to overflow of the counter position value...

Страница 101: ...Meaning Data type Flags Default 80p0 0 FB Settings Max subindex UINT8 RO 17 80p0 01 Invert feedback direc tion TRUE Negates the 64 bit position value BOOLEAN RW FALSE 80p0 11 Device type 02 EnDat UINT...

Страница 102: ...Default 60p0 0 FB Inputs Max subindex UINT8 RO 18 60p0 01 STATUS_Warning Warning bit of the EnDat protocol BOOLEAN RO FALSE 60p0 02 STATUS_Error Error collecting bit of the EnDat protocol error messag...

Страница 103: ...esolution Only for Rotary angle encoder Number of measuring steps per revolution UINT32 RO 0x00000000 0dec 90p8 16 Measuring step Only for Linear encoder Step size in nm UINT32 RO 0x00000000 0dec 90p8...

Страница 104: ...t Message Subindex of the latest message UINT8 RO 0x00 0dec 10F3 03 Newest Acknowl edged Message Subindex of the last confirmed message UINT8 RW 0x00 0dec 10F3 04 New Messages Avail able Indicates tha...

Страница 105: ...e of absolute measuring devices BOOLEAN RO FALSE A0p8 11 CRC Error Position counter Incremented with each CRC error position Reset during re initialization UINT16 RW 0x0000 0dec A0p8 12 CRC Error Z1 c...

Страница 106: ...al Temperature sensor 1 0x8000 is output if not supported Unit 0 1 C INT16 RO 0x8000 32768dec A0p8 42 Temperature sensor 2 external Temperature sensor 1 0x8000 is output if not supported Unit 0 1 C IN...

Страница 107: ...CAT slave UINT32 RO 0x00000D06 3334dec Index 1800 FB TxPDO Par Inputs Ch 1 Index hex Name Meaning Data type Flags Default 1800 0 FB TxPDO Par Inputs Ch 1 PDO parameter TxPDO 1 UINT8 RO 6 1800 06 Exclu...

Страница 108: ...F 102 2 1A00 09 SubIndex 009 9 PDO Mapping entry object 0x6000 FB Inputs Ch 1 entry 0x11 Position UINT32 RO 0x6000 11 102 64 Index 1A01 FB TxPDO Map Inputs Ch 2 Index hex Name Meaning Data type Flags...

Страница 109: ...001 1 PDO Mapping entry object 0x6010 FB Inputs Ch 2 entry 0x01 Warning UINT32 RO 0x6010 01 102 1 1A03 02 SubIndex 002 2 PDO Mapping entry object 0x6010 FB Inputs Ch 2 entry 0x02 Error UINT32 RO 0x601...

Страница 110: ...ndex 1C13 TxPDO assign Index hex Name Meaning Data type Flags Default 1C13 0 TxPDO assign PDO Assign Inputs UINT8 RW 2 1C13 01 Subindex 001 1 allocated TxPDO contains the index of the associated TxPDO...

Страница 111: ...times measurement through writing of 0x1C32 08 111 UINT16 RO 0x0807 2055dec 1C32 05 Minimum cycle time Minimum cycle time in ns UINT32 RO 0x000186A0 100000dec 1C32 06 Calc and copy time Time between r...

Страница 112: ...g of the inputs and availability of the inputs for the master in ns only DC mode UINT32 RO 0x00000000 0dec 1C33 07 Minimum delay time UINT32 RO 0x00000000 0dec 1C33 08 Command 0 Measurement of the loc...

Страница 113: ...bindex UINT8 RO 3 FB40 01 Address reserved UINT32 RW 0x00000000 0dec FB40 02 Length reserved UINT16 RW 0x0000 0dec FB40 03 Data reserved OCTET STRING 8 RW 0 6 8 EL5032 0090 TwinSAFE Single Channel obj...

Страница 114: ...ubIndex 009 9 PDO Mapping entry object 0x6020 TSC Slave Frame Elements entry 0x06 TSC__Slave CRC_3 UINT32 RW 0x6020 06 16 1A10 0A SubIndex 010 10 PDO Mapping entry object 0x6010 TSC Slave Frame Elemen...

Страница 115: ...the right by the number of bits in 0x8021 1n Shift right data Ch n If the bit is set the position value is automatically shifted to the right to the max MSB BOOLEAN RO 0x00 0dec 8021 02 Auto align to...

Страница 116: ...firmware can store up to 250 DiagMessages in its own CoE Each DiagMessage consists of Diag Code 4 byte Flags 2 byte info warning or error Text ID 2 byte reference to explanatory text from the ESI XML...

Страница 117: ...r Eventlogger Since TwinCAT 3 1 build 4022 DiagMessages send by the terminal are shown by the TwinCAT ADS Logger Given that DiagMessages are represented IO comprehensive at one place commissioning wil...

Страница 118: ...defined In the case of Beckhoff EtherCAT devices EL EP it usually reads according to xyzz x y zz 0 Systeminfo 2 reserved 1 Info 4 Warning 8 Error 0 System 1 General 2 Communication 3 Encoder 4 Drive...

Страница 119: ...l Data deleted Idx 0x X SubIdx 0x X Data deleted 0x117F Information General Information 0x X 0x X 0x X Information 0x1201 Information Communication Communication re es tablished Communication to the f...

Страница 120: ...guration 0x2004 Information System s valid IP Configura tion IP d d d d assigned by Dhcp server d d d d Valid IP configuration assigned by the DHCP server 0x2005 Information System s Dhcp client timed...

Страница 121: ...ncy in the PDO Configuration The selected PDOs do not match the set operating mode Sample Drive operates in velocity mode but the ve locity PDO is but not mapped in the PDOs 0x417F Warning General War...

Страница 122: ...ning Drive Limit Current Limit current is limited 0x4419 Warning Drive Limit Amplifier I2T model exceeds 100 The threshold values for the maximum current were exceeded 0x441A Warning Drive Limit Motor...

Страница 123: ...tchdog Communication between the fieldbus and the output stage is secured by a Watchdog The axis is stopped automatically if the fieldbus communication is inter rupted The EtherCAT connection was inte...

Страница 124: ...ad 0x8400 Error Drive Incorrect drive configura tion 0x X d Drive incorrectly configured 0x8401 Error Drive Limiting of calibration ve locity d d Limitation of the calibration velocity 0x8402 Error Dr...

Страница 125: ...voltage not in the correct range 0x8611 Error General IO Output voltage to low Output voltage too low 0x8612 Error General IO Output voltage to high Output voltage too high 0x8613 Error General IO Ov...

Страница 126: ...for the hardware version EL5032 0000 Hardware HW Firmware Revision no Release date 01 07 06 EL5032 0000 0021 2012 11 07 2013 01 EL5032 0000 0023 2012 08 08 2013 01 09 2013 02 11 2014 04 12 2014 07 13...

Страница 127: ...file name which also contains the revision number e g ELxxxx xxxx_REV0016_SW01 efw for password 1 to be entered in the download dialog If password 0 default setting only the firmware update is carried...

Страница 128: ...ase refer to the EtherCAT system documentation Update of XML ESI description The device revision is closely linked to the firmware and hardware used Incompatible combinations lead to malfunctions or e...

Страница 129: ...6 was configured In this case the configuration can be adapted with the Copy Before button The Extended Information checkbox must be set in order to display the revision Changing the ESI slave identif...

Страница 130: ...Most EtherCAT devices read a modified ESI description immediately or after startup from the INIT Some communication settings such as distributed clocks are only read during power on The Ether CAT sla...

Страница 131: ...nal offline The EtherCAT Slave Information ESI XML may contain the default content of the CoE This CoE directory can only be displayed if it is included in the ESI e g Beckhoff EL5xxx xml The Advanced...

Страница 132: ...herwise by Beckhoff support Valid for TwinCAT 2 and 3 as EtherCAT master Switch TwinCAT system to ConfigMode FreeRun with cycle time 1 ms default in ConfigMode is 4 ms A FW Update during real time ope...

Страница 133: ...f file Controller firmware for processing I O signals FPGA firmware for EtherCAT communication only for terminals with FPGA The firmware version number included in the terminal serial number contains...

Страница 134: ...played right click the table header and select Properties in the context menu Fig 125 Context menu Properties The Advanced Settings dialog appears where the columns to be displayed can be selected Und...

Страница 135: ...l the terminal must have FPGA firmware version 10 or higher Older firmware versions can only be updated by the manufacturer Updating an EtherCAT device The following sequence order have to be met if n...

Страница 136: ...tem 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 ap...

Страница 137: ...age 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 Et...

Страница 138: ...eters 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 th...

Страница 139: ...ckhoff components there Beckhoff Headquarters Beckhoff Automation GmbH Co KG Huelshorstweg 20 33415 Verl Germany Phone 49 5246 963 0 Fax 49 5246 963 198 e mail info beckhoff com Beckhoff Support Suppo...

Страница 140: ...ehavior Watchdog 19 Fig 14 States of the EtherCAT State Machine 21 Fig 15 CoE Online tab 23 Fig 16 Startup list in the TwinCAT System Manager 24 Fig 17 Offline list 25 Fig 18 Online list 25 Fig 19 Sig...

Страница 141: ...Differentiation local target system left TwinCAT 2 right TwinCAT 3 66 Fig 63 Scan Devices left TwinCAT 2 right TwinCAT 3 66 Fig 64 Note for automatic device scan left TwinCAT 2 right TwinCAT 3 66 Fig...

Страница 142: ...96 Fig 106 TwinSAFE SC component process data example EL5021 0090 96 Fig 107 Adding a TwinSAFE SC connection 97 Fig 108 Creating a link to TwinSAFE SC terminal 97 Fig 109 Selecting a free CRC 98 Fig...

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