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Commissioning

EL6692

133

Version: 3.2

Index 1A02 TxPDO-Map External Sync

Index (hex) Name

Meaning

Data type

Flags

Default

1A02:0

TxPDO-Map External
Sync

PDO Mapping TxPDO 3

UINT8

RW

0x0B (11

dec

)

1A02:01

SubIndex 001

1. PDO Mapping entry (object 0x10F4 (External synchro-
nization status), entry 0x02)

UINT32

RW

0x10F4:02, 2

1A02:02

SubIndex 002

2. PDO Mapping entry (6 bits align)

UINT32

RW

0x0000:00, 6

1A02:03

SubIndex 003

3. PDO Mapping entry (3 bits align)

UINT32

RW

0x0000:00, 3

1A02:04

SubIndex 004

4. PDO Mapping entry (object 0x1800, entry 0x09)

UINT32

RW

0x1800:09, 1

1A02:05

SubIndex 005

5. PDO Mapping entry (object 0x1800, entry 0x07)

UINT32

RW

0x1800:07, 1

1A02:06

SubIndex 006

6. PDO Mapping entry (object 0x10F4 (External synchro-
nization status), entry 0x0E (Control value update tog-
gle))

UINT32

RW

0x10F4:0E, 1

1A02:07

SubIndex 007

7. PDO Mapping entry (object 0x10F4 (External synchro-
nization status), entry 0x0F (Time stamp update toggle))

UINT32

RW

0x10F4:0F, 1

1A02:08

SubIndex 008

8. PDO Mapping entry (object 0x10F4 (External synchro-
nization status), entry 0x10 (External device not con-
nected))

UINT32

RW

0x10F4:10, 1

1A02:09

SubIndex 009

9. PDO Mapping entry (object 0x10F4 (External synchro-
nization status), entry 0x11 (Internal time stamp))

UINT32

RW

0x10F4:11, 64

1A02:0A

SubIndex 010

10. PDO Mapping entry (object 0x10F4 (External syn-
chronization status), entry 0x12 (External time stamp))

UINT32

RW

0x10F4:12, 64

1A02:0B

SubIndex 011

11. PDO Mapping entry (object 0x10F4 (External syn-
chronization status), entry 0x13 (Control Value for DC
Master Clock))

UINT32

RW

0x10F4:13, 32

Index 1A03 TxPDO-Map External Sync (32 Bit)

Index (hex) Name

Meaning

Data type

Flags

Default

1A03:0

TxPDO-Map External
Sync (32 Bit)

PDO Mapping TxPDO 4

UINT8

RW

0x0B (11

dec

)

1A03:01

SubIndex 001

1. PDO Mapping entry (object 0x10F4 (External synchro-
nization status), entry 0x02)

UINT32

RW

0x10F4:02, 2

1A03:02

SubIndex 002

2. PDO Mapping entry (6 bits align)

UINT32

RW

0x0000:00, 6

1A03:03

SubIndex 003

3. PDO Mapping entry (3 bits align)

UINT32

RW

0x0000:00, 3

1A03:04

SubIndex 004

4. PDO Mapping entry (object 0x1800, entry 0x09)

UINT32

RW

0x1800:09, 1

1A03:05

SubIndex 005

5. PDO Mapping entry (object 0x1800, entry 0x07)

UINT32

RW

0x1800:07, 1

1A03:06

SubIndex 006

6. PDO Mapping entry (object 0x10F4 (External synchro-
nization status), entry 0x0E (Control value update tog-
gle))

UINT32

RW

0x10F4:0E, 1

1A03:07

SubIndex 007

7. PDO Mapping entry (object 0x10F4 (External synchro-
nization status), entry 0x0F (Time stamp update toggle))

UINT32

RW

0x10F4:0F, 1

1A03:08

SubIndex 008

8. PDO Mapping entry (object 0x10F4 (External synchro-
nization status), entry 0x10 (External device not con-
nected))

UINT32

RW

0x10F4:10, 1

1A03:09

SubIndex 009

9. PDO Mapping entry (object 0x10F4 (External synchro-
nization status), entry 0x11 (Internal time stamp))

UINT32

RW

0x10F4:11, 32

1A03:0A

SubIndex 010

10. PDO Mapping entry (object 0x10F4 (External syn-
chronization status), entry 0x12 (External time stamp))

UINT32

RW

0x10F4:12, 32

1A03:0B

SubIndex 011

11. PDO Mapping entry (object 0x10F4 (External syn-
chronization status), entry 0x13 (Control Value for DC
Master Clock))

UINT32

RW

0x10F4:13, 32

Index 1C00 Sync manager type

Index (hex) Name

Meaning

Data type

Flags

Default

1C00:0

Sync manager type

Using the sync managers

UINT8

RO

0x04 (4

dec

)

1C00:01

SubIndex 001

Sync-Manager Type Channel 1: Mailbox Write

UINT8

RO

0x01 (1

dec

)

1C00:02

SubIndex 002

Sync-Manager Type Channel 2: Mailbox Read

UINT8

RO

0x02 (2

dec

)

1C00:03

SubIndex 003

Sync-Manager Type Channel 3: Process Data Write
(Outputs)

UINT8

RO

0x03 (3

dec

)

1C00:04

SubIndex 004

Sync-Manager Type Channel 4: Process Data Read (In-
puts)

UINT8

RO

0x04 (4

dec

)

Содержание EL6692

Страница 1: ...Documentation EL6692 EtherCAT Bridge Terminal 3 2 2020 03 03 Version Date...

Страница 2: ......

Страница 3: ...h traction lever unlocking 33 4 3 Mounting and demounting terminals with front unlocking 34 4 4 Positioning of passive Terminals 36 4 5 Installation positions 37 4 6 ATEX Special conditions standard t...

Страница 4: ...1 6 Appendix 136 6 1 UL notice 136 6 2 ATEX Documentation 137 6 3 EtherCAT AL Status Codes 137 6 4 Firmware compatibility 137 6 5 Firmware Update EL ES EM ELM EPxxxx 138 6 5 1 Device description ESI f...

Страница 5: ...ion 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 EtherC...

Страница 6: ...ined 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 us...

Страница 7: ...mware compatibility list and technical notes added 1 6 Firmware compatibility list and technical notes added 1 5 Samples of external synchronization added 1 4 Chapter AoE Eoe added 1 3 Technical notes...

Страница 8: ...om 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 digit numb...

Страница 9: ...ion 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 coupler...

Страница 10: ...P1258 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 serial num...

Страница 11: ...Foreword EL6692 11 Version 3 2 Fig 8 ELM3604 0002 terminal with unique ID number QR code 100001051 and serial batch number 44160201...

Страница 12: ...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 informat...

Страница 13: ...s 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 import...

Страница 14: ...f the distributed clocks of the individual strands The power supply on the primary side E Bus comes from the E Bus on the secondary side RJ 45 via an external connection If several bridge terminals ar...

Страница 15: ...Current consumption 24 V supply secondary side typ 60 mA Electrical isolation 500 V E bus field voltage Configuration via TwinCAT System Manager Weight approx 70 g Permissible ambient temperature ran...

Страница 16: ...components must be coupled to a globally valid time e g Green wich world time or a network clock 4 tasks on different controllers should run synchronous and without phase shift The terms close tempor...

Страница 17: ...The EtherCAT master in the Beckhoff TwinCAT automation suite fully supports distributed clocks Slave Due to the high precision required this local clock is implemented in hardware ASIC FPGA Distribute...

Страница 18: ...al synchronization sources e g EL6688 EL6692 can only be used from TwinCAT 2 11 used In older versions of TwinCAT such EtherCAT slaves have no meaningful function If a higher level master clock is int...

Страница 19: ...TwinCAT 2 11 External synchronization via EtherCAT is supported from TwinCAT 2 11 The synchronization direction can be set in the associated dialog Distributed clock timing settings Fig 14 TwinCAT 2 1...

Страница 20: ...tEL1252 timestamp channel 1 local DC time tExtToDcOffset Fig 15 display current offsets Fig 16 Current offsets 2 4 Start For commissioning Install the EL6692 as described in chapter Installation and...

Страница 21: ...802 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 cross...

Страница 22: ...l 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 T...

Страница 23: ...the checkbox is not activated nothing is downloaded and the ESC settings remain unchanged Multiplier Multiplier Both watchdogs receive their pulses from the local terminal cycle divided by the watchdo...

Страница 24: ...witching 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...

Страница 25: ...tional 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 a...

Страница 26: ...ecimal 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...

Страница 27: ...ters 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 writ...

Страница 28: ...is to be stored permanently enter it in the Startup list The order of the Startup entries is usually irrelevant Fig 21 Startup list in the TwinCAT System Manager The Startup list may already contain v...

Страница 29: ...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 t...

Страница 30: ...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 bas...

Страница 31: ...1 ns Zero point 1 1 2000 00 00 Size 64 bit sufficient for the next 584 years however some EtherCAT slaves only offer 32 bit support i e the variable overflows after approx 4 2 seconds The EtherCAT mas...

Страница 32: ...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 material thickness Pay attention to the material thickness...

Страница 33: ...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 ra...

Страница 34: ...er the second unlatching hook on the right hand side of the terminal module upwards in the same way Pull 4 the terminal module away from the mounting surface 4 3 Mounting and demounting terminals with...

Страница 35: ...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 wiri...

Страница 36: ...of passive terminals in the bus terminal block EtherCAT Terminals ELxxxx ESxxxx which do not take an active part in data transfer within the bus terminal block are so called passive terminals The pas...

Страница 37: ...dissi pation terminals ensure that an adequate spacing is maintained between other components above and be low the terminal in order to guarantee adequate ventilation Optimum installation position sta...

Страница 38: ...in Fig Recommended distances for standard installation position is recommended Other installation positions All other installation positions are characterized by different spatial arrangement of the m...

Страница 39: ...ly explosive areas Measures must be taken to protect against the rated operating voltage being exceeded by more than 40 due to short term interference voltages The individual terminals may only be unp...

Страница 40: ...Mounting and wiring EL6692 40 Version 3 2 II 3G KEMA 10ATEX0075 X Ex nA IIC T4 Gc Ta 0 55 C or II 3G KEMA 10ATEX0075 X Ex nC IIC T4 Gc Ta 0 55 C...

Страница 41: ...he EtherCAT State Machine BOOTSTRAP function for terminal firmware up dates RUN SEC green LED for indicating the operating state of the primary EtherCAT strand off State of the EtherCAT State Machine...

Страница 42: ...Description X1 EtherCAT Input RJ45 with 10BASE T 100BASE TX Ethernet X2 EtherCAT output RJ45 with 10BASE T 100BASE TX Ethernet X3 2 pole socket terminal connection 24 VDC secondary side power supply D...

Страница 43: ...ger I O Configuration In particular TwinCAT driver installation Fieldbus components Fieldbus Cards and Switches FC900x PCI Cards for Ethernet Installation Devices contain the terminals for the actual...

Страница 44: ...on the following sample configuration the subsequent subsections describe the procedure for TwinCAT 2 and TwinCAT 3 Control system PLC CX2040 including CX2100 0004 power supply unit Connected to the...

Страница 45: ...004 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...

Страница 46: ...tem Manager displays the following user interface after startup Fig 32 Initial TwinCAT 2 user interface Generally TwinCAT can be used in local or remote mode Once the TwinCAT system including the user...

Страница 47: ...shown in red perform a Broadcast Search if the exact computer name is not known enter the known computer IP or AmsNetID Fig 34 Specify the PLC for access by the TwinCAT System Manager selection of the...

Страница 48: ...enu Actions Set Reset TwinCAT to Config Mode Shift F4 Fig 35 Select Scan Devices Confirm the warning message which follows and select EtherCAT in the dialog Fig 36 Automatic detection of I O devices s...

Страница 49: ...u which then reads the elements present in the configuration below Fig 38 Reading of individual terminals connected to a device This functionality is useful if the actual configuration is modified at...

Страница 50: ...ction 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...

Страница 51: ...cessful compilation TwinCAT PLC Control creates a tpy file in the directory in which the project was stored This file tpy contains variable assignments and is not known to the System Manager hence the...

Страница 52: ...Manager The two variables bEL1004_Ch4 and nEL2008_value can now be assigned to certain process objects of the I O configuration Assigning variables Open a window for selecting a suitable process objec...

Страница 53: ...aneously activate Continuous and All types Note that the Continuous checkbox was also activated This is designed to allocate the bits contained in the byte of the variable nEL2008_value sequentially t...

Страница 54: ...ntext menu of a PDO can be executed in the other direction so that the respective PLC instance can then be selected Activation of the configuration The allocation of PDO to PLC variables has now estab...

Страница 55: ...k the PLC with the real time system via menu option Online Login the F11 key or by clicking on the symbol The control program can then be loaded for execution This results in the message No program on...

Страница 56: ...onment areas available together with Microsoft Visual Studio after startup the project folder explorer appears on the left in the general window area cf TwinCAT System Manager of TwinCAT 2 for communi...

Страница 57: ...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 50 Create new TwinCAT project The...

Страница 58: ...ed on the respective PLC TwinCAT can be used in local mode and thereby the next step is Insert Device 59 If the intention is to address the TwinCAT runtime environment installed on a PLC as developmen...

Страница 59: ...n entered it is available for selection as follows a password may have to be entered After confirmation with OK the target system can be accessed via the Visual Studio shell Adding devices In the proj...

Страница 60: ...be acknowledged Based on the sample configuration 44 described at the beginning of this section the result is as follows Fig 56 Mapping of the configuration in VS shell of the TwinCAT3 environment The...

Страница 61: ...l supports all languages described in IEC 61131 3 There are two text based languages and three graphical languages Text based languages Instruction List IL Structured Text ST Graphical languages Funct...

Страница 62: ...LC_example as project name for example and select a corresponding directory Fig 59 Specifying the name and directory for the PLC programming environment The Main program which already exists by select...

Страница 63: ...Commissioning EL6692 63 Version 3 2 Fig 60 Initial Main program of the standard PLC project To continue sample variables and a sample program have now been created...

Страница 64: ...r followed by the compile process Fig 62 Start program compilation The following variables identified in the ST PLC program with AT are then available in under Assignments in the project folder explor...

Страница 65: ...on tree Fig 64 Selecting PDO of type BOOL According to the default setting certain PDO objects are now available for selection In this sample the input of channel 4 of the EL1004 terminal is selected...

Страница 66: ...for channel 8 of the PLC A special symbol at the yellow or red object of the variable indicates that a link exists The links can also be checked by selecting a Goto Link Variable from the context men...

Страница 67: ...ystem in Run mode with OK The corresponding assignments can be seen in the project folder explorer A few seconds later the corresponding status of the Run mode is displayed in the form of a rotating s...

Страница 68: ...re 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...

Страница 69: ...lowing dialog appears Fig 70 Overview of network interfaces Interfaces listed under Compatible devices can be assigned a driver via the Install button A driver should only be installed on compatible d...

Страница 70: ...s of the EtherCAT device can be opened by double click on Device EtherCAT within the Solution Explorer under I O After the installation the driver appears activated in the Windows overview for the net...

Страница 71: ...Commissioning EL6692 71 Version 3 2 Fig 73 Exemplary correct driver setting for the Ethernet port Other possible settings have to be avoided...

Страница 72: ...Commissioning EL6692 72 Version 3 2 Fig 74 Incorrect driver settings for the Ethernet port...

Страница 73: ...here 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...

Страница 74: ...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 Inte...

Страница 75: ...on 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 101...

Страница 76: ...leted 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...

Страница 77: ...6692 77 Version 3 2 Reasons may include Structure of the xml does not correspond to the associated xsd file check your schematics Contents cannot be translated into a device description contact the fi...

Страница 78: ...sence 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 possi...

Страница 79: ...ion 89 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 84 Append EtherCAT devic...

Страница 80: ...can be appended by right clicking on a device in the configuration tree Fig 88 Appending EtherCAT devices left TwinCAT 2 right TwinCAT 3 The dialog for selecting a new device opens Only devices for w...

Страница 81: ...ion can be displayed as Extended Information Fig 90 Display of device revision In many cases several device revisions were created for historic or functional reasons e g through technological advancem...

Страница 82: ...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...

Страница 83: ...Commissioning EL6692 83 Version 3 2 Fig 93 EtherCAT terminal in the TwinCAT tree left TwinCAT 2 right TwinCAT 3...

Страница 84: ...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 W...

Страница 85: ...e respective devices are lo cated in the stored ESI data and integrated in the configuration tree in the default state defined there Fig 98 Example default state NOTE Slave scanning in practice in ser...

Страница 86: ...iguration 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...

Страница 87: ...hed to online state OPERATIONAL Fig 104 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 co...

Страница 88: ...ce is detected i e an EtherCAT slave for which no ESI XML description is available In this case the System Manager offers to read any ESI that may be stored in the device This case is described in the...

Страница 89: ...uration 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 co...

Страница 90: ...ed 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 devi...

Страница 91: ...offers a function Change to Compatible Type for the exchange of a device whilst retaining the links in the task Fig 113 Dialog Change to Compatible Type left TwinCAT 2 right TwinCAT 3 This function i...

Страница 92: ...s 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 pro...

Страница 93: ...the start up phase Tick the control box to the left of the input field in order to modify the default value Previous Port Name and port of the EtherCAT device to which this device is connected If it...

Страница 94: ...difications include mask out a channel displaying additional cyclic information 16 bit display instead of 8 bit data size etc In so called intelligent EtherCAT devices the process data information is...

Страница 95: ...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 invali...

Страница 96: ...nt to the mailbox Move Up This button moves the selected request up by one position in the list Move Down This button moves the selected request down by one position in the list New This button adds a...

Страница 97: ...ect 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...

Страница 98: ...cts 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 opt...

Страница 99: ...ain 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...

Страница 100: ...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 desele...

Страница 101: ...AT Slave Application This summary 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 i...

Страница 102: ...olour Meaning yellow Input variables from the Slave to the EtherCAT Master updated in every cycle red Output variables from the Slave to the EtherCAT Master updated in every cycle green Information va...

Страница 103: ...Commissioning EL6692 103 Version 3 2 Fig 126 Basic EtherCAT Slave Diagnosis in the PLC The following aspects are covered here...

Страница 104: ...y have effects on the process data of other Slaves that are located in the same Syn cUnit In order for the higher level PLC task or cor responding control applications to be able to rely on correct da...

Страница 105: ...ocally 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 Manag...

Страница 106: ...operation After the operating power is switched on an EtherCAT Slave must go through the following statuses INIT PREOP SAFEOP OP to ensure sound operation The EtherCAT Master directs these statuses i...

Страница 107: ...as standard EtherCAT Master OP Slaves OP This setting applies equally to all Slaves Fig 129 Default behaviour of the System Manager In addition the target state of any particular Slave can be set in...

Страница 108: ...e Fig 131 PLC function blocks Note regarding E Bus current EL ES terminals are placed on the DIN rail at a coupler on the terminal strand A Bus Coupler can supply the EL terminals added to it with the...

Страница 109: ...ove a warning message E Bus Power of Terminal is output in the logger window when such a configuration is activated Fig 133 Warning message for exceeding E Bus current NOTE Caution Malfunction possibl...

Страница 110: ...rable DC synchronous mode does not apply to the process data exchange but to the application of the EL6692 for distributed clock synchronization The EL6692 does not deal with throughput control i e th...

Страница 111: ...required A right click on IO Inputs or IO Outputs opens the dialog box from the fig Appending process data variables Fig 135 Appending process data variables In the full configuration with activated...

Страница 112: ...e Timestamp update toggle Bit toggles when new DC data were supplied External device not connected 1 other side is not connected to its EtherCAT fieldbus Internal time stamp Distributed clocks time on...

Страница 113: ...ad on the secondary side Corresponding support is necessary in the TwinCAT system manager for this and both EtherCAT sides must be accessible online This avoids the manual configuration of the seconda...

Страница 114: ...iguration tree Fig 140 Create configuration on the primary side Fig 141 Get configuration on the secondary side The CoE folders of both halves of the EL6692 are used to save the process data configura...

Страница 115: ...ta types Application notes Process data The following must be observed in relation to the EL6692 process data Data quantity a maximum of 480 bytes can be transmitted in each direction Number of variab...

Страница 116: ...variables are possible without error message but this should not be used Fig 147 Deactivate PDO configuration download Operation without primary side The central controller of the EL669x is supplied...

Страница 117: ...other takes a certain amount of time depending on the number of bytes The data transfer is free running and therefore not synchronized with one of the two EtherCAT sides As a typical sample measureme...

Страница 118: ...ariable of type Byte for linking opens Fig 151 Definition of a variable of type Byte for linking Select All Types to make Var109 available for selection Otherwise only exactly matching 2 bit process d...

Страница 119: ...ta In the IEC61131 PLC a bit process data is only created on a bit address if it was defined alone Fig 153 Bit value declaration In Fig Bit values declaration bBit 1 and bBit2 are created as individua...

Страница 120: ...d in the Beckhoff Information System AoE is a VoE vendor specific protocol over EtherCAT The EL6692 can transport ADS telegrams to the other side directly AoE i e without underlying IP channel To this...

Страница 121: ...hanged E under RouteSettings B NetIdManagement C Fig 156 New NetId entered After activating the configuration and restarting TwinCAT the ADS router is now instructed to send queries to the ADS device...

Страница 122: ...start of EtherCAT the initial offset between the two times is determined The subsequent adjustment keeps this offset constant and makes it known The readjustment takes place continuously In the case o...

Страница 123: ...ple TwinCAT cyclically receives e g every second a pair 64 bit unit 1 ns made up of an internal DC and an external time stamp These two time stamps are originally obtained simultaneously The offset be...

Страница 124: ...vate PDO 0x1A02 to display the time stamps Timestamp PDO The activation of the timestamp PDO indicates to the TwinCAT software on the respective side that this side is to be synchronized i e that it i...

Страница 125: ...nchronization direction on the PrimarySide in this case SyncSettings Primary Secondary Fig 163 Activate the display of the DC offsets in the EtherCAT master can be evaluated on the master side Fig 164...

Страница 126: ...vate PDO 0x1A02 to display the time stamp After reloading the configuration or restarting in ConfigMode FreeRun the synchronization direction can be read out by means of GetConfiguration on the Second...

Страница 127: ...mo program discussed here and the example code it contains and not to the analysis functions of the system manager See also the note 122 On the slave side the start of the synchronization can be obser...

Страница 128: ...Following receipt of the first time stamps via the EL6692 the offset is known in this case it is around 3 minutes different to the time of the IPC used Synchronization has begun in this sample a windo...

Страница 129: ...dor specific index 0x80nF Input data index 0x60n0 Information and diagnostic data index 0x80nE 0xF000 0xF008 0xF010 Standard objects The following section first describes the objects required for norm...

Страница 130: ...jects 5 7 3 Input data Index 6000 Input Data Index hex Name Meaning Data type Flags Default 6000 0 Input Data Declared input process data 113 dynamically created UINT8 RO 0x00 0dec 6000 01 6000 FF 5 7...

Страница 131: ...0A Software version Index hex Name Meaning Data type Flags Default 100A 0 Software version Firmware version of the EtherCAT slave STRING RO 02 Index 1018 Identity Index hex Name Meaning Data type Flag...

Страница 132: ...mapping objects that must not be transferred together with TxPDO 4 OCTET STRING 4 RO 01 1A 02 1A 1803 07 TxPDO State The TxPDO state is set if it was not possible to correctly read in the associated...

Страница 133: ...ng TxPDO 4 UINT8 RW 0x0B 11dec 1A03 01 SubIndex 001 1 PDO Mapping entry object 0x10F4 External synchro nization status entry 0x02 UINT32 RW 0x10F4 02 2 1A03 02 SubIndex 002 2 PDO Mapping entry 6 bits...

Страница 134: ...orted Supported synchronization modes Bit 0 1 free run is supported Bit 1 1 Synchron with SM 2 event is supported Bit 2 3 01 DC mode is supported Bit 4 5 10 Output shift with SYNC1 event only DC mode...

Страница 135: ...onous with SM 3 Event is supported no outputs available Bit 2 3 01 DC mode is supported Bit 4 5 01 input shift through local event outputs available Bit 4 5 10 input shift with SYNC1 event no outputs...

Страница 136: ...ination 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 connector...

Страница 137: ...ow shows the hardware versions on which a firmware can be operated Note It is recommended to use the newest possible firmware for the respective hardware Beckhoff is not under any obligation to provid...

Страница 138: ...some EtherCAT slaves the EtherCAT communication may also be integrated in these controllers In this case the controller is usually a so called FPGA chip with rbf firmware In addition each EtherCAT sl...

Страница 139: ...y dimensioned The signal level must meet the specification In the event of malfunctions during the update process the EtherCAT device may become unusable and re quire re commissioning by the manufactu...

Страница 140: ...nsultation with Beckhoff support Display of ESI slave identifier The simplest way to ascertain compliance of configured and actual device description is to scan the EtherCAT boxes in TwinCAT mode Conf...

Страница 141: ...ion Changing the ESI slave identifier The ESI EEPROM identifier can be updated as follows under TwinCAT Trouble free EtherCAT communication must be established with the slave The state of the slave is...

Страница 142: ...0 03 02 12 week of production 12 10 year of production 2010 03 firmware version 03 02 hardware version 02 Determining the version via the System Manager The TwinCAT System Manager shows the version of...

Страница 143: ...ectory can be loaded via the Online option in Advanced Settings B and double clicking on AllObjects 6 5 3 Updating controller firmware efw CoE directory The Online CoE directory is managed by the cont...

Страница 144: ...e 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...

Страница 145: ...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 f...

Страница 146: ...right click the table header and select Properties in the context menu Fig 180 Context menu Properties The Advanced Settings dialog appears where the columns to be displayed can be selected Under Dia...

Страница 147: ...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 othe...

Страница 148: ...nager 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...

Страница 149: ...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...

Страница 150: ...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 the Set...

Страница 151: ...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 Support off...

Страница 152: ...ref erence for the local EtherCAT system 19 Fig 15 display current offsets 20 Fig 16 Current offsets 20 Fig 17 System manager current calculation 22 Fig 18 EtherCAT tab Advanced Settings Behavior Wat...

Страница 153: ...les after a compile process without variable integration 64 Fig 62 Start program compilation 64 Fig 63 Creating the links between PLC variables and process objects 65 Fig 64 Selecting PDO of type BOOL...

Страница 154: ...Fig 104 Config FreeRun query left TwinCAT 2 right TwinCAT 3 87 Fig 105 Displaying of Free Run and Config Mode toggling right below in the status bar 87 Fig 106 TwinCAT can also be switched to this sta...

Страница 155: ...ckhoff reserves the right to modifications without notification 117 Fig 150 Byte process data definition 117 Fig 151 Definition of a variable of type Byte for linking 118 Fig 152 Offset specification...

Страница 156: ...of EL3204 firmware version 143 Fig 178 Firmware Update 144 Fig 179 FPGA firmware version definition 146 Fig 180 Context menu Properties 146 Fig 181 Dialog Advanced Settings 147 Fig 182 Multiple selec...

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