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Commissioning

EL6652-00x0

59

Version: 2.5

5.2

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

◦

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

◦

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

.

5.2.1

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 EL6652-00 0 Series

Страница 1: ...Documentation EL6652 00x0 EtherNet IP Master Slave EtherCAT Terminal 2 5 2019 10 22 Version Date ...

Страница 2: ......

Страница 3: ...ails 28 4 3 Mounting and demounting terminals with front unlocking 28 4 4 Positioning of passive Terminals 31 4 5 Installation positions 31 4 6 UL notice 33 5 Commissioning 34 5 1 TwinCAT Quick Start 34 5 1 1 TwinCAT 2 37 5 1 2 TwinCAT 3 47 5 2 TwinCAT Development Environment 59 5 2 1 Installation of the TwinCAT real time driver 59 5 2 2 Notes regarding ESI device description 65 5 2 3 TwinCAT ESI ...

Страница 4: ...is 126 7 1 EL6652 0010 LEDs 126 7 2 EL6652 0000 EL6652 0010 diagnostic history 128 8 Appendix 130 8 1 Firmware Update EL ES EM ELM EPxxxx 130 8 1 1 Device description ESI file XML 131 8 1 2 Firmware explanation 134 8 1 3 Updating controller firmware efw 135 8 1 4 FPGA firmware rbf 136 8 1 5 Simultaneous updating of several EtherCAT devices 140 8 2 Firmware compatibility 141 8 3 Restoring the deliv...

Страница 5: ...cation of products that have already been supplied may be made on the basis of the data diagrams and descriptions in this documentation Trademarks Beckhoff TwinCAT EtherCAT EtherCAT G EtherCAT G10 EtherCAT P Safety over EtherCAT TwinSAFE XFC XTS and XPlanar are registered trademarks of and licensed by Beckhoff Automation GmbH Other designations used in this publication may be trademarks whose use ...

Страница 6: ... 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 are used These instructions must be read carefully and followed without fail DANGER Serious risk of injury Failure to follow this safety instruction directly endangers the life and health of persons WAR...

Страница 7: ...te Technical data Addenda chapter Instructions for ESD protection Addenda chapter UL notice 2 2 Update chapter Notes on the documentation Correction of Technical data Update chapter TwinCAT 2 1x TwinCAT Development Environment and TwinCAT Quick Start Update revision status 2 1 Update Technical data 2 0 Addenda and corrections Public issue 1 0 1 Addenda and corrections 1 0 Addenda 0 1 Preliminary d...

Страница 8: ...by Beckhoff In principle a device with a higher revision can replace a device with a lower revision unless specified otherwise e g in the documentation Associated and synonymous with each revision there is usually a description ESI EtherCAT Slave 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 th...

Страница 9: ...u hardware version of the I O PCB Example D 22081501 calendar week 22 of the year 2008 firmware version of bus PCB 1 hardware version of bus PCB 5 firmware version of I O PCB 0 no firmware necessary for this 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...

Страница 10: ...0 10 Version 2 5 Fig 2 EK1100 EtherCAT coupler standard IP20 IO device with serial batch number Fig 3 CU2016 switch with serial batch number Fig 4 EL3202 0020 with serial batch number 26131006 and unique ID number 204418 ...

Страница 11: ...mber 158102 Fig 6 EP1908 0002 IP67 EtherCAT Safety Box with batch number date code 071201FF and unique serial number 00346070 Fig 7 EL2904 IP20 safety terminal with batch number date code 50110302 and unique serial number 00331701 Fig 8 ELM3604 0002 terminal with unique ID number QR code 100001051 and serial batch number 44160201 ...

Страница 12: ... 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 information that can also be used by the customer for handling and product management Each piece of information can be uniquely identified using the so called data identifier ANSI MH10 8 2 2016 The data i...

Страница 13: ...iers 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 important component of the BIC is the Beckhoff Traceability Number BTN item no 2 The BTN is a unique serial number consisting of eight characters that will replace all other serial number systems at Beck...

Страница 14: ... are configured by an EtherCAT master allowing different process data and different sizes The EL6652 supports both multicast and unicast connections Up to 16 simple EtherNet IP Slave devices without configuration data can be connected via one generic node The import of EDS files is not supported see EDS file 104 The maximum process data size in both directions input and output is 1 kbyte Quick lin...

Страница 15: ...ave like two EtherNet IP slave devices The second slave is a virtual slave This enables you to connect two masters together or one master with two slaves and for example to transport more data or to operate with different polling times on the master The maximum process data size in both directions input and output is 1 kbyte Quick links EtherCAT function principles Configuration 110 Parameter 115 ...

Страница 16: ...00 mA Electrical isolation 500 V E Bus Ethernet Configuration via TwinCAT System Manager from TwinCAT 2 11 Build 2248 from TwinCAT 3 1 Build 4018 5 Weight ca 75 g Permissible relative humidity 95 no condensation Dimensions W x H x D approx 24 mm x 100 mm x 70 mm Mounting 28 on 35 mm mounting rail according to EN 60715 Vibrations shock resistance conforms to EN 60068 2 6 EN 60068 2 27 Permissible a...

Страница 17: ...C 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 crossing symmetric 1 1 or cross over cables can be used between EtherCAT devices from Beckhoff Recommended cables Suitable cables for the connection of EtherCAT devices can be found on the Beckhoff webs...

Страница 18: ...minal 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 unaffected The watchdog is only reset after a successful EtherCAT process data access Set the monitoring time as described below The SyncManager watchdog monitors correct and timely process data communication...

Страница 19: ...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 watchdog multiplier 1 25 MHz watchdog multiplier 2 100 µs for default setting of 2498 for the multiplier The standard setting of 1000 for the SM watchdog corresponds to a release time of 100 ms The value ...

Страница 20: ...or 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 undefined state possible If the SM watchdog is activated and a value of 0 is entered the watchdog switches off completely This is the deactivation of the watchdog Set outputs are NOT set in a safe state if...

Страница 21: ...perational 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 correct Before it acknowledges the change of state the EtherCAT slave copies current input data into the associated DP RAM areas of the EtherCAT slave controller ECSC In Safe Op state mailbox a...

Страница 22: ...libration 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 SubIndex 0x00 0xFF 0 255dez A parameter localized in this way is normally written as 0x8010 07 with preceding x to identify the hexadecimal numerical range and a colon between index and subindex The rel...

Страница 23: ...ameters 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 100 000 write operations onwards it can no longer be guaranteed that new changed data are reliably saved or are still readable This is irrelevant for normal commissioning However if CoE parameters are continuo...

Страница 24: ...ue 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 contain values that were configured by the System Manager based on the ESI specifications Additional application specific entries can be created Online offline list While working with the TwinCAT System Man...

Страница 25: ...ine 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 according to the electronic information is displayed Online is shown in green Fig 18 Online list ...

Страница 26: ...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 channel based order is therefore arranged in 16dec 10hex steps The parameter range 0x8000 exemplifies this Channel 0 parameter range 0x8000 00 0x800F 255 Channel 1 parameter range 0x8010 00 0x801F 255 Channe...

Страница 27: ...nit 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 master automatically synchronizes the local clock with the master clock in the EtherCAT bus with a precision of 100 ns For detailed information please refer to the EtherCAT system description ...

Страница 28: ...on class and ESD protection Fig 19 Spring contacts of the Beckhoff I O components 4 2 Recommended mounting rails Terminal Modules und EtherCAT Modules of KMxxxx and EMxxxx series same as the terminals of the EL66xx and EL67xx series can be snapped onto the following recommended mounting rails DIN Rail TH 35 7 5 with 1 mm material thickness according to EN 60715 DIN Rail TH 35 15 with 1 5 mm materi...

Страница 29: ...e g countersunk screws or blind rivets WARNING Risk of electric shock and damage of device Bring the bus terminal system into a safe powered down state before starting installation disassembly or wiring of the Bus Terminals Mounting Fit the mounting rail to the planned assembly location and press 1 the terminal module against the mounting rail until it latches in place on the mounting rail 2 Attac...

Страница 30: ...Installation EL6652 00x0 30 Version 2 5 Pull 4 the terminal module away from the mounting surface Avoid canting of the module you should stabilize the module with the other hand if required ...

Страница 31: ... more than 2 passive termi nals Examples for positioning of passive terminals highlighted Fig 20 Correct positioning Fig 21 Incorrect positioning 4 5 Installation positions NOTE Constraints regarding installation position and operating temperature range Please refer to the technical data for a terminal to ascertain whether any restrictions regarding the installa tion position and or the operating ...

Страница 32: ...les optimum cooling of the electronics through convection From below is relative to the acceleration of gravity Fig 22 Recommended distances for standard installation position Compliance with the distances shown in Fig Recommended distances for standard installation position is recommended Other installation positions All other installation positions are characterized by different spatial arrangem...

Страница 33: ... Sys tem only Examination For cULus examination the Beckhoff I O System has only been investigated for risk of fire and electrical shock in accordance with UL508 and CSA C22 2 No 142 For devices with Ethernet connectors Not for connection to telecommunication circuits Basic principles UL certification according to UL508 Devices with this kind of certification are marked by this sign ...

Страница 34: ...Manager 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 configuration All configuration data can be entered directly via editor functions offline or via the Scan function online offline The configuration can be customized by adding and positioning indi...

Страница 35: ...ased 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 CX2040 on the right E bus EL1004 4 channel digital input terminal 24 V DC Linked via the X001 port RJ 45 EK1100 EtherCAT Coupler Connected to the EK1100 EtherCAT coupler on the right E bus EL2008 ...

Страница 36: ...EL1004 and output EL2008 Note that all combinations of a configuration are possible for example the EL1004 terminal could also be connected after the coupler or the EL2008 terminal could additionally be connected to the CX2040 on the right in which case the EK1100 coupler wouldn t be necessary ...

Страница 37: ...System Manager displays the following user interface after startup Fig 26 Initial TwinCAT 2 user interface Generally TwinCAT can be used in local or remote mode Once the TwinCAT system including the user interface standard is installed on the respective PLC TwinCAT can be used in local mode and thereby the next step is Insert Device 39 If the intention is to address the TwinCAT runtime environment...

Страница 38: ... as shown in red perform a Broadcast Search if the exact computer name is not known enter the known computer IP or AmsNetID Fig 28 Specify the PLC for access by the TwinCAT System Manager selection of the target system Once the target system has been 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 t...

Страница 39: ...a menu Actions Set Reset TwinCAT to Config Mode Shift F4 Fig 29 Select Scan Devices Confirm the warning message which follows and select EtherCAT in the dialog Fig 30 Automatic detection of I O devices selection the devices to be integrated Confirm the message Find new boxes in order to determine the terminals connected to the devices Free Run enables manipulation of input and output values in Con...

Страница 40: ...menu which then reads the elements present in the configuration below Fig 32 Reading of individual terminals connected to a device This functionality is useful if the actual configuration is modified at short notice Programming and integrating the PLC TwinCAT PLC Control is the development environment for the creation of the controller in different program environments TwinCAT PLC Control supports...

Страница 41: ...Function 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 Fig 33 TwinCAT PLC Control after startup Sample variables and a sample program have been created and stored under the name PLC_example pro ...

Страница 42: ... successful 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 warning Once the System Manager has been notified the warning no longer appears First integrate the TwinCAT PLC Control project in the System Manager via the context menu of the PLC configuration...

Страница 43: ...tem 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 object PDO via the context menu of a variable of the integrated project PLC_example and via Modify Link Standard Fig 37 Creating the links between PLC variables and process objects In the window that o...

Страница 44: ...ultaneously 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 to all eight selected output bits of the EL2008 terminal In this way it is possible to subsequently address all eight outputs of the terminal in the program with a byte corresponding to bit 0 for ch...

Страница 45: ...e context 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 established the connection from the controller to the inputs and outputs of the terminals The configuration can now be activated First the configuration can be verified via or via Actions Check Configu...

Страница 46: ...Link 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 the controller Should the new program be loaded which should be acknowledged with Yes The runtime environment is ready for the program start ...

Страница 47: ...nvironment 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 st...

Страница 48: ... 3 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 44 Create new TwinCAT project The new project is then available in the project folder explorer ...

Страница 49: ...alled on the respective PLC TwinCAT can be used in local mode and thereby the next step is Insert Device 50 If the intention is to address the TwinCAT runtime environment installed on a PLC as development environment remotely from another system the target system must be made known first Via the symbol in the menu bar expand the pull down menu and open the following window Fig 46 Selection dialog ...

Страница 50: ...been 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 project folder explorer of the Visual Studio shell user interface on the left select Devices within element I O then right click to open a context menu and select Scan or start the action via in the me...

Страница 51: ...so be acknowledged Based on the sample configuration 35 described at the beginning of this section the result is as follows Fig 50 Mapping of the configuration in VS shell of the TwinCAT3 environment The whole process consists of two stages which may be performed separately first determine the devices then determine the connected elements such as boxes terminals etc A scan can also be initiated by...

Страница 52: ...ntrol 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 Function Block Diagram FBD Ladder Diagram LD The Continuous Function Chart Editor CFC Sequential Function Chart SFC The following section refers to Structured Text ST In order to create a programming e...

Страница 53: ...r PLC_example as project name for example and select a corresponding directory Fig 53 Specifying the name and directory for the PLC programming environment The Main program which already exists by selecting Standard PLC project can be opened by double clicking on PLC_example_project in POUs The following user interface is shown for an initial project ...

Страница 54: ...Commissioning EL6652 00x0 54 Version 2 5 Fig 54 Initial Main program of the standard PLC project To continue sample variables and a sample program have now been created ...

Страница 55: ...lder followed by the compile process Fig 56 Start program compilation The following variables identified in the ST PLC program with AT are then available in under Assignments in the project folder explorer Assigning variables Via the menu of an instance variables in the PLC context use the Modify Link option to open a window for selecting a suitable process object PDO for linking ...

Страница 56: ...ation tree Fig 58 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 for linking In contrast the checkbox All types must be ticked for creating the link for the output variables in order to allocate a set of eight separate output bits to a byte variable The followin...

Страница 57: ...links 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 60 Application of a Goto Link variable using MAIN bEL1004_Ch4 as a sample The process of creating links can also take place in the opposite direction i e starting with individual PDOs to variable However in this example it would then...

Страница 58: ...at the 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 the real time system and load the control program for execution This results in the message No program on the controller Should the new program be loaded which should be acknowledged with Yes The ...

Страница 59: ... 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 TwinCA...

Страница 60: ...faces 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 Alternatively an EtherCAT device can be inserted first of all as described in chapter Offline configuration creation section Creating the EtherCAT device 70 in order to view the compatible ethern...

Страница 61: ...ties 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 network interface Windows Start System Properties Network Fig 66 Windows properties of the network interface A correct setting of the driver could be ...

Страница 62: ...Commissioning EL6652 00x0 62 Version 2 5 Fig 67 Exemplary correct driver setting for the Ethernet port Other possible settings have to be avoided ...

Страница 63: ...Commissioning EL6652 00x0 63 Version 2 5 Fig 68 Incorrect driver settings for the Ethernet port ...

Страница 64: ...s 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 associated with the DHCP client for the Ethernet port assigning itself a default IP address in the absence of a DHCP server is avoided A suitable address space is 192 168 x x for example Fig 69 TCP IP settin...

Страница 65: ...at 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 the Internet by TwinCAT 2 Option Update EtherCAT Device Descriptions TwinCAT 3 TwinCAT EtherCAT Devices Update Device Descriptions via ETG Website The TwinCAT ESI Updater 69 is available for this purpose E...

Страница 66: ...vision 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 1017 In this case an in house check should first be performed to determine whether the spare parts stock al lows the integration of the increased revision into the configuration at all A new higher r...

Страница 67: ... 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 procedure if necessary press F5 to update OnlineDescription for TwinCAT 3 x In addition to the file described above OnlineDescription0000 xml a so called EtherCAT cache with new discovered devices is created b...

Страница 68: ...652 00x0 68 Version 2 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 file manufacturer ...

Страница 69: ...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 possible in Offline configuration mode In this case all components have to be entered manually in the configuration e g based on the electrical design If the designed control system is already connected...

Страница 70: ...uration 80 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 78 Append EtherCAT device left TwinCAT 2 right TwinCAT 3 Select type EtherCAT for an EtherCAT I O application with EtherCAT slaves For the present publisher subscriber service in combination with an EL6601 EL6614 termina...

Страница 71: ...ces can be appended by right clicking on a device in the configuration tree Fig 82 Appending EtherCAT devices left TwinCAT 2 right TwinCAT 3 The dialog for selecting a new device opens Only devices for which ESI files are available are displayed Only devices are offered for selection that can be appended to the previously selected device Therefore the physical layer available for this port is also...

Страница 72: ...evision can be displayed as Extended Information Fig 84 Display of device revision In many cases several device revisions were created for historic or functional reasons e g through technological advancement For simplification purposes see Fig Selection dialog for new EtherCAT device only the last i e highest revision and therefore the latest state of production is displayed in the selection dialo...

Страница 73: ...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 configuration an EL2521 0025 1018 or higher 1019 1020 can be used in practice Fig 86 Name revision of the terminal If current ESI descriptions are available in the TwinCAT system the last revision offered in th...

Страница 74: ...Commissioning EL6652 00x0 74 Version 2 5 Fig 87 EtherCAT terminal in the TwinCAT tree left TwinCAT 2 right TwinCAT 3 ...

Страница 75: ...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 the Windows Taskbar always shows the TwinCAT mode of the local IPC Compared to that the System Manager window of TwinCAT 2 or the user interface of TwinCAT 3 indicates the state of the target system Fi...

Страница 76: ...e The respective devices are lo cated in the stored ESI data and integrated in the configuration tree in the default state defined there Fig 92 Example default state NOTE Slave scanning in practice in series machine production The scanning function should be used with care It is a practical and fast tool for creating an initial configu ration as a basis for commissioning In series machine producti...

Страница 77: ...onfiguration 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 configuration the revision 1019 is automatically detected and built into the configuration Fig 94 Detection of EtherCAT terminal with revision 1019 This is usually not noticed by the commissioning engineers TwinCAT ...

Страница 78: ...itched to online state OPERATIONAL Fig 98 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 device continues to operate with the idling cycle time of 4 ms default setting even without active task NC PLC Fig 99 Displaying of Free Run and Config Mode toggling right below in the status bar Fig 100 Twi...

Страница 79: ...evice 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 chapter Notes regarding ESI device description Device are not detected properly Possible reasons include faulty data links resulting in data loss during the scan slave has invalid device descripti...

Страница 80: ...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 configuration exactly or it may differ This enables the configuration to be compared Fig 103 Identical configuration left TwinCAT 2 right TwinCAT 3 If differences are detected they are shown in the c...

Страница 81: ... 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 the device functions if applicable The physical device firmware if available has to support the communication queries settings of the master This is backward compatible i e newer devices higher revision s...

Страница 82: ...CAT offers a function Change to Compatible Type for the exchange of a device whilst retaining the links in the task Fig 107 Dialog Change to Compatible Type left TwinCAT 2 right TwinCAT 3 This function is preferably to be used on AX5000 devices Change to Alternative Type The TwinCAT System Manager offers a function for the exchange of a device Change to Alternative Type Fig 108 TwinCAT 2 Dialog Ch...

Страница 83: ... 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 EL3751 provides many setup options and also a respective number of tabs are available On the contrary by the terminal EL1004 for example the tabs General EtherCAT Process Data and Online are available only ...

Страница 84: ...ring 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 is possible to connect this device with another one without changing the order of the EtherCAT devices in the communication ring then this combination field is activated and the EtherCAT device to...

Страница 85: ...f 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 information is also stored in the CoE directory Any changes in the CoE directory that lead to different PDO settings prevent successful startup of the slave It is not advisable to deviate from the designated pro...

Страница 86: ... 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 invalid SM OUT cfg also indicates the reason for the failed start A detailed description 91 can be found at the end of this section Startup tab The Startup tab is displayed if the EtherCAT slave has a m...

Страница 87: ... 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 adds a new mailbox download request to be sent during startup Delete This button deletes the selected entry Edit This button edits an existing request CoE Online tab The additional CoE Online tab is disp...

Страница 88: ...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 updates all objects in the displayed list Auto Update If this check box is selected the content of the objects is updated automatically Advanced The Advanced button opens the Advanced Settings dialog Here...

Страница 89: ...bjects 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 this option button is selected the list of the objects included in the object list is read from an EDS file provided by the user Online tab Fig 117 Online tab ...

Страница 90: ... 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 status of the individual ports of the EtherCAT slave The DLL status can have four different states Status Description No Carrier Open No carrier signal is available at the port but the port is open No Carri...

Страница 91: ...st 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 deselected first Activation of PDO assignment ü If you have changed the PDO assignment in order to activate the new PDO assignment a the EtherCAT slave has to run through the PS status transition cycle fr...

Страница 92: ...he device This is an optional feature that is not supported by all EtherCAT slaves PDO Assignment If this check box is selected the PDO assignment that is configured in the PDO Assignment list is downloaded to the device on startup The required commands to be sent to the device can be viewed in the Startup 86 tab PDO Configuration If this check box is selected the configuration of the respective P...

Страница 93: ...transport more data or to operate with different polling times on the master The maximum process data in both directions is 1 kbyte The terminal is an EtherCAT slave device and is configured via the EtherCAT master The IP settings as well as the number and types of data items are defined here The terminal behaves on the EtherNet IP side as a slave device in the EtherNet IP network No further confi...

Страница 94: ...tional 2nd slave If the corresponding flag is set the IP address from the memory is used if nothing is entered there the flag is ignored and parameters from the System Manager are used Fig 119 Object 0xF800 Master Settings ADS Write command AMSNetId In the case of the EL6652 0010 this is the same as the EtherCAT AmsNetId in the case of the supplement the AMSNetId is to be taken from the System Man...

Страница 95: ...ss BYTE 6 32 0x84 0x87 IP Address UINT32 33 X 0x88 0x8B Network Mask UINT32 34 X 0x8C 0x8F Gateway Address UINT32 35 X 0x90 0x91 DHCP Max Retries UINT16 36 0x92 0x93 TCP IP TTL UINT16 37 0x94 0x95 TCP IP UDP Check sum UINT16 38 0x96 0x97 TCP IP TCP Time out UINT16 39 0x98 0x99 Multicast TTL UINT16 40 0x9A 0x9B Multicast Checksum UINT16 41 0x9C 0x9D Forwaord Class3 to PLC UINT16 42 0x9E 0x9F Flags ...

Страница 96: ...n The EL6652 EtherCAT Terminal is a simple Ethernet IP Master and supports the exchange of process data without configuration data Only Ethernet IP Slaves that require no configuration can be used The feature corresponds to the Generic Node in the case of Rockwell Before using the EL6652 you must check whether the slave can enter into process data exchange mode without configuration The import of ...

Страница 97: ...ed the terminal you must also create the EtherNet IP device in the System Manager Go onto I O devices and append a further device Fig 122 Insert a device EtherNet IP in I O devices Under EtherNet IP you will find the adapter EtherNet IP adapter EL6652 Select this Fig 123 Selection of adapter EtherNet IP Scanner EL6652 ...

Страница 98: ...1 Adapter 2 and then finding the terminal in the Device Name If that is not the case go onto Search 3 and then select the correct terminal 4 Fig 124 Searching for the EL6652 terminal The MAC address and IP address are not updated in this dialog box These can be found on the EtherNet IP box under Configuration Configuration Now create a configuration the master must be configured with an IP address...

Страница 99: ...52 with the right mouse button and add a Generic Ethernet IP adapter Alternatively you can search for Ethernet IP devices Scan Boxes Fig 126 Add Generic EtherNet IP Adapter You will now be requested to enter the IP address After that you can append a Connection the Message Object is not currently supported Fig 127 Append Connection Object ...

Страница 100: ...le 104 for the settings for this Fig 128 Dialog box Add I O Connection Object Now append the variables that you want to use for the cyclic data exchange these do not have to correspond to the EDS file in terms of type only the overall length of the data is important here Fig 129 Appending variables ...

Страница 101: ...o independent of other tasks that are linked with the variables Fig 130 Selection of the task time Diagnostics Two steps are necessary for the diagnosis Firstly the monitoring of the EtherCAT status with ECatState red which must be equal to 0 Secondly the monitoring of the Ethernet IP status in the State green State 0x8000 is a configuration error in this case the I O connection must be checked If...

Страница 102: ...Commissioning EL6652 00x0 102 Version 2 5 Fig 131 Diagnosis of ECatState and State ...

Страница 103: ...y other value results in fixed Gateway Address F800 24 DHCP Max Retries RW 0 infinite number of dhcp retries actually only infinite retries implemented F800 25 TCP IP TTL RW Time to live for Unicast TCP UDP Communication F800 26 TCP IP UDP Checksum RW 0 UDP Checksum disabled 1 UDP Checksum enabled F800 27 TCP IP TCP Timeout RW Tcp Idle Timout in seconds 0 Timout disabled F800 28 MultiCast TTL RW T...

Страница 104: ...connection options in the yellow line you can see that the slave next to connection 1 requires 398 bytes of configuration data Since the EL6652 does not support this this connection cannot be used There are further connection options in the EDS in this case Connection 7 The configuration data are set to 0 in this connection This can be used for communication with the EL6652 Config input and output...

Страница 105: ...ves are not designed for this time The Cycle Time Multiplier can increase the time Check the EDS file to see which minimum value your slave can handle If the slave is not able to process the cycle time of 1 ms the time must be increased by a factor via the multiplier Theoretically different RPI times can be used for the transmitting and receiving directions however the EL6652 always uses the same ...

Страница 106: ... entered 1 ms 20 20 ms Specifying the data length As the final step the data length must be entered here again the values are taken from the EDS file Assem102 corresponds to the output data in the EDS file with 64 bytes the green data correspond to the bits in total 64 bytes again These values can be taken in the System Manager as a basis in order to use the data just as they are represented in th...

Страница 107: ...ning EL6652 00x0 107 Version 2 5 The output data in the System Manager are illustrated below first of all 8 bits are inserted then 3 x byte 6 x INT 1 x DWord 2 x INT etc until the length corresponds to 64 bytes ...

Страница 108: ...Commissioning EL6652 00x0 108 Version 2 5 Fig 133 Output data in the System Manager The inputs Assem101 are handled analogously On completion the configuration must look like the following ...

Страница 109: ... 2 5 Fig 134 Configuration IO Connection Object Summary Green cycle time of the slave Blue config parameter size always 0 config instance 105 Yellow input instance Len 88 connection point 101 Red output instance Len 64 connection point 102 ...

Страница 110: ...ple you can set 10 ms on the master side The task of the EtherNet I slave may then be 10 5 2 and 1 ms for example In terms of communication Unicast or Multicast can be used on the master side the EL6652 0010 supports both modes of operation In the case of Multicast pay attention to the high network load that this causes especially in systems with many or short cycle times A high network load may p...

Страница 111: ...m the System Manager links it automatically You should nevertheless check this see fig Searching for the EL6652 0010 terminal by going onto the EtherNet IP Device 1 Adapter 2 and then finding the terminal in the Device Name If that is not the case go onto Search 3 and then select the correct terminal 4 Fig 138 Searching for the EL6652 0010 terminal ...

Страница 112: ...the box and enter the IP address 0x8000 21 and SubNetMask 0x8000 22 green marking that you wish to use on the slave Fig 139 Configuration of the IP address network mask Then append the IO connection Fig 140 Append Connection Object The IO assembly already has inputs and outputs here you insert any desired types of data and their quantity These are then linked with the PLC or the task In the next s...

Страница 113: ... for the output data the length is 6 bytes 4 bytes which are automatically created in the system and 2 bytes for the word created by the user Fig 142 Configuration of the slave settings Task time The time with which the EtherNet IP is to operate is specified with the SyncTask Two methods are available here SyncTask via Mapping in this case the task is used with which the variables are linked That ...

Страница 114: ...ve Note here that the virtual interface must share the maximum process data with the real slave The advantage with this option is that you can simply connect two EtherNet IP controllers together or that you can get around limitations in the bus communication with the slave without using additional terminals A second box is created in the System Manager and the procedure is exactly the same as when...

Страница 115: ... value results in fixed SubNetMask 8000 23 Gateway Adress 0 means DHCP enabled any other value results in fixed Gateway Address 8000 24 DHCP Max Retries 0 infinite number of dhcp retries actually only infinite retries implemented 8000 25 TCP IP TTL Time to live for Unicast TCP UDP Communication 8000 26 TCP IP UDP Checksum 0 UDP Checksum disabled 1 UDP Checksum enabled 8000 27 TCP IP TCP Timeout Tc...

Страница 116: ...O Connection All other bits always 0 reserve Heartbeat Instance Listen Only allows monitoring of the input data the output data in the case of the EL6652 0010 if a connection exists The listen only connection is also terminated when the normal connection is terminated Heartbeat Instance Input Only allows monitoring of the input data the output data in the case of the EL6652 0010 This connection is...

Страница 117: ...Commissioning EL6652 00x0 117 Version 2 5 Fig 144 Creating a new controller Append a new module ...

Страница 118: ...Commissioning EL6652 00x0 118 Version 2 5 Fig 145 Appending a new module Select ETHERNET MODULE Generic Ethernet Module ...

Страница 119: ...s dependent on the Comm format INT was selected in the illustration Transferring the parameters into the New modules mask therefore the number of data items from objects 0x8001 05 and 0x8001 07 must be divided once again by 2 since these are specified in TwinCAT in bytes and on the RSLogix in Word length INT If an odd number of bytes is created you must round up this also applies even if the Comm ...

Страница 120: ...Commissioning EL6652 00x0 120 Version 2 5 Fig 147 Transferring the parameters into the New Modules mask ...

Страница 121: ...store default pa rameters Restore default parameters UINT8 RO 0x01 1dec 1011 01 SubIndex 001 If this object is set to 0x64616F6C in the set value dialog all backup objects are reset to their delivery state UINT32 RW 0x00000000 0dec Complete overview Standard objects Index 1000 Device type Index hex Name Meaning Format Flags Default value 1000 0 Device type Device type of the EtherCAT slave the Lo ...

Страница 122: ...of produc tion the high byte bit 8 15 of the low word contains the week of production the high word bit 16 31 is 0 UINT32 RO variable Index 10F0 Backup parameter handling Index hex Name Meaning Format Flags Default value 10F0 0 Backup parameter handling Information for standardized loading and saving of backup entries UINT8 RO 0x01 1dec 10F0 01 Checksum Checksum across all backup entries of the Et...

Страница 123: ...59dec 1C32 05 Minimum cycle time Minimum cycle time in ns UINT32 RO 0x000186A0 100000dec 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 Measurement of the local cycle time is stopped 1 Measurement of the local cycle time is started The entries 0x1C32 03 123 0x1C32 05 123 0x1C32 06 123 0x1C32 09 123 0x1C33 03 124 ...

Страница 124: ...ic times measurement through writing of 0x1C32 08 123 or 0x1C33 08 124 UINT16 RO 0xC007 49159dec 1C33 05 Minimum cycle time as 0x1C32 05 123 UINT32 RO 0x000186A0 100000dec 1C33 06 Calc and copy time Time between reading of the inputs and availability of the inputs for the master in ns only DC mode UINT32 RO 0x00000000 0dec 1C33 08 Command as 0x1C32 08 123 UINT16 RW 0x0000 0dec 1C33 09 Delay time T...

Страница 125: ... Code word Index hex Name Meaning Format Flags Default value F008 0 Code word reserved UINT32 RW 0x00000000 0dec Index F010 Module list Index hex Name Meaning Format Flags Default value F010 0 Module list Max subindex UINT8 RW 0x05 5dec F010 01 SubIndex 001 UINT32 RW 0x00000320 0800dec ...

Страница 126: ...function for terminal firmware updates flashes 200 ms State of the EtherCAT state machine PREOP function for mailbox communication and different standard settings set off 1 s on 200 ms State of the EtherCAT state machine SAFEOP verification of the sync manager channels and the distributed clocks Outputs remain in safe state on State of the EtherCAT state machine OP normal operating state mailbox a...

Страница 127: ...nd was configured correctly flashes 400 ms off At least one Ethernet port has an active link and a configured EtherNet IP Slave interface has no valid IP address configured off 1 s on 200 ms off All configured EtherNet I slaves have a valid IP address configuration UDP and TCP Layer was initialized off on Internal error Replace the EtherCAT Terminal off off 1 s on 200 ms A general error occurred w...

Страница 128: ...inal and the Ethernet port and to display the diagnostic messages in plain text with a time stamp Furthermore information errors that occurred in the past or only briefly are also logged in order to also allow precise fault finding at a later time The diagnostic history is a component of the System Manager and can be found there under the EL6652 in the Diag History tab Fig 149 Diag History tab ...

Страница 129: ...sk time usually doesn t match make sure that the EL6652 operates internally with 1 ms and that you can adjust this with the Cycle Time Multiplier Otherwise adapt the task time to suit CN_ORC_NO_CM_RES OURCES 0x113 hex 275 dec Conn Mgr out of connections CN_ORC_BAD_VENDOR _PRODUCT 0x114 hex 276 dec Mismatch in electronic key CN_ORC_BAD_DEVICE_ TYPE 0x115 hex 277 dec Mismatch in electronic key CN_OR...

Страница 130: ... set up for this 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 so called bundle firmware is more convenient in this case the controller firmware and the ESI description are combined in a efw file during the update both the firmware and the ESI are ...

Страница 131: ...d revision 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 configured revision must be the same or lower than that actually present in the terminal network For further information on this please refer to the EtherCAT system documentation Update of XML ES...

Страница 132: ...nfiguration is identical otherwise a change dialog appears for entering the actual data in the configuration Fig 153 Change dialog In this example in Fig Change dialog an EL3201 0000 0017 was found while an EL3201 0000 0016 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 ...

Страница 133: ...ected 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 155 Selecting the new ESI A progress bar in the System Manager shows the progress Data are first written then verified The change only takes effect after a restart Most EtherCAT devices read a modified ESI description immediately or after startup ...

Страница 134: ...ple terminal 2 EL3204 and select the tab CoE Online CAN over EtherCAT 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 supports this This CoE directory can only be displayed if a slave is connected and operational offline The EtherCAT Slave Information ESI XML may contain the default content of the CoE...

Страница 135: ... during a firmware update Switch to the Online tab to update the controller firmware of a slave see Fig Firmware Update Fig 157 Firmware Update Proceed as follows unless instructed otherwise 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 operation is not rec...

Страница 136: ...n update may be accomplished via an rbf 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 both firmware components If one of these firmware components is modified this version number is updated Determining the version via the System Manager The TwinCAT...

Страница 137: ...yed right click the table header and select Properties in the context menu Fig 159 Context menu Properties The Advanced Settings dialog appears where the columns to be displayed can be selected Under Diagnosis Online View select the 0002 ETxxxx Build check box in order to activate the FPGA firmware version display ...

Страница 138: ...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 no other specifications are given e g by the Beckhoff support Switch TwinCAT system to ConfigMode FreeRun with cycle time 1 ms default in ConfigMode is 4 ms A FW Update during real time operation is not ...

Страница 139: ...m 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 appears Under ESC Access E PROM FPGA click on Write FPGA button ...

Страница 140: ... 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 EtherCAT device can only be recommissioned by the manufacturer 8 1 5 Simultaneous updating of several EtherCAT devices The firmware and ESI descriptions of several devices can be updated simultaneously pro...

Страница 141: ... mode for a firmware update it does not check when downloading whether the new firmware is suit able This can result in damage to the device Therefore always make sure that the firmware is suitable for the hardware version EL6652 0000 Hardware HW Firmware FW Revision No Release date 10 14 01 EL6652 0000 0017 2015 04 EL6652 0010 Hardware HW Firmware FW Revision No Release date 10 14 01 EL6652 0010 ...

Страница 142: ...o the delivery state Fig 163 Entering a restore value in the Set Value dialog Alternative restore value In some older terminals the backup objects can be switched with an alternative restore value Deci mal value 1819238756 Hexadecimal value 0x6C6F6164An incorrect entry for the restore value has no effect 8 4 Support and Service Beckhoff and their partners around the world offer comprehensive suppo...

Страница 143: ...one 49 5246 963 0 Fax 49 5246 963 198 e mail info beckhoff com Beckhoff Support Support offers you comprehensive technical assistance helping you not only with the application of individual Beckhoff products but also with other wide ranging services support design programming and commissioning of complex automation systems and extensive training program for Beckhoff system components Hotline 49 52...

Страница 144: ...st 25 Fig 19 Spring contacts of the Beckhoff I O components 28 Fig 20 Correct positioning 31 Fig 21 Incorrect positioning 31 Fig 22 Recommended distances for standard installation position 32 Fig 23 Other installation positions 33 Fig 24 Relationship between user side commissioning and installation 35 Fig 25 Control configuration with Embedded PC input EL1004 and output EL2008 36 Fig 26 Initial Tw...

Страница 145: ...ment VS shell logged in after program startup 58 Fig 62 System Manager Options TwinCAT 2 60 Fig 63 Call up under VS Shell TwinCAT 3 60 Fig 64 Overview of network interfaces 60 Fig 65 EtherCAT device properties TwinCAT 2 click on Compatible Devices of tab Adapter 61 Fig 66 Windows properties of the network interface 61 Fig 67 Exemplary correct driver setting for the Ethernet port 62 Fig 68 Incorrec...

Страница 146: ...entical configuration left TwinCAT 2 right TwinCAT 3 80 Fig 104 Correction dialog 80 Fig 105 Name revision of the terminal 81 Fig 106 Correction dialog with modifications 82 Fig 107 Dialog Change to Compatible Type left TwinCAT 2 right TwinCAT 3 82 Fig 108 TwinCAT 2 Dialog Change to Alternative Type 82 Fig 109 Branch element as terminal EL3751 83 Fig 110 General tab 83 Fig 111 EtherCAT tab 84 Fig ...

Страница 147: ...ler 117 Fig 145 Appending a new module 118 Fig 146 Selection of the ETHERNET MODULE Generic Ethernet Module 119 Fig 147 Transferring the parameters into the New Modules mask 120 Fig 148 EL6652 LEDs 126 Fig 149 Diag History tab 128 Fig 150 Device identifier consisting of name EL3204 0000 and revision 0016 131 Fig 151 Scan the subordinate field by right clicking on the EtherCAT device 132 Fig 152 Co...

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