Beckhoff EL6201, Документация

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Table of Contents
EL6201 3 Version: 2.2
Table of Contents
1 Foreword .................................................................................................................................................... 5
1.1 Notes on the documentation........................................................................................................... 5
1.2 Safety instructions .......................................................................................................................... 6
1.3 Documentation issue status............................................................................................................ 7
1.4 Version identification of EtherCAT devices..................................................................................... 7
2 Product overview..................................................................................................................................... 12
2.1 Introduction ................................................................................................................................... 12
2.2 Technical data .............................................................................................................................. 13
2.3 Technology ................................................................................................................................... 14
2.3.1
• AS-i requirements .......................................................................................................... 14
2.3.2 Assembly using the piercing technology .......................................................................... 14
2.3.3 AS interface for every topology ........................................................................................ 16
2.4 Start .............................................................................................................................................. 16
3 Basics communication ........................................................................................................................... 17
3.1 EtherCAT basics ........................................................................................................................... 17
3.2 EtherCAT cabling – wire-bound.................................................................................................... 17
3.3 General notes for setting the watchdog ........................................................................................ 18
3.4 EtherCAT State Machine .............................................................................................................. 20
3.5 CoE Interface ................................................................................................................................ 22
4 Installation................................................................................................................................................ 27
4.1 Instructions for ESD protection ..................................................................................................... 27
4.2 Installation on mounting rails ........................................................................................................ 27
4.3 Installation instructions for enhanced mechanical load capacity .................................................. 30
4.4 Connection system ....................................................................................................................... 31
4.5 Prescribed installation position ..................................................................................................... 34
4.6 Mounting of Passive Terminals..................................................................................................... 35
4.7 LEDs and connection.................................................................................................................... 36
5 Commissioning........................................................................................................................................ 40
5.1 TwinCAT Quick Start .................................................................................................................... 40
5.1.1
TwinCAT 2 ....................................................................................................................... 42
5.1.2 TwinCAT 3 ....................................................................................................................... 52
5.2 TwinCAT Development Environment............................................................................................ 64
5.2.1
Installation of the TwinCAT real-time driver ..................................................................... 64
5.2.2 Notes regarding ESI device description ........................................................................... 70
5.2.3 TwinCAT ESI Updater...................................................................................................... 74
5.2.4 Distinction between Online and Offline ............................................................................ 74
5.2.5 OFFLINE configuration creation ...................................................................................... 75
5.2.6 ONLINE configuration creation ........................................................................................ 80
5.2.7 EtherCAT subscriber configuration .................................................................................. 88
5.3 General Notes - EtherCAT Slave Application ............................................................................... 98
5.4 Functionality of the AS-i master.................................................................................................. 106
5.4.1
AS-i status machine ....................................................................................................... 106
5.4.2 Lists................................................................................................................................ 107
5.4.3 Operating modes ........................................................................................................... 107
5.4.4 Operating phases........................................................................................................... 108
5.4.5 Address assignment of the AS-i slaves ......................................................................... 109