Beckhoff EL5032, Документация

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Commissioning
EL5032, EL5032-0090 50 Version: 2.4
6 Commissioning
6.1 Quick start
Proceed as follows for standard commissioning of the EL5032 with EnDat 2.2 encoders.
1. Install the EL5032 in the E-bus terminal strand on an EtherCAT coupler, e.g. EK1100 or EK1501.
2. Connect the EnDat 2.2 encoder(s) according to the connection diagram (Data(+/-), Clock(+/-) and sup-
ply voltage).
The encoders must support EnDat 2.2 and a clock frequency >= 8 MHz.
3. Set up a correct EtherCAT configuration with the terminal.
Since the device is present and is electrically reachable, the simplest way of accomplishing this is by
scanning the devices [ } 66] .
4. Activate the EtherCAT master and start the terminal in OP state.
In the input variables the EL5032 must deliver State=8 and WC=0.
5. Parameterize the CoE settings of the EL5032 according to the EnDat2.2 encoder data sheet.
◦ Reverse any previous parameter changes by means of a CoE reset: enter 0x64616F6C in object
0x1011:01 [
}
101] .
◦ If an encoder voltage of, for sample, 9 V is set in object 0x8008:13 [ } 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 (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