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EtherCAT communication EL6731-00x0

EL6731

148

Version: 2.8

Index 1A86 DPM TxPDO-Map Cycle Statistics

Index (hex) Name

Meaning

Data type

Flags

Default

1A86:0

DPM TxPDO-Map Cy-
cle Statistics

PDO Mapping TxPDO 135 contains the DP master cycle
statistics (object

0xF10F [

}

157]

) for the SM synchronous

mode

UINT8

0x05 (5

dec

)

1A86:01

SubIndex 001

PDO Mapping entry (object 0xF10F (Cycle Statistic

data), entry 0x03 (Cycle Time))

UINT32

0xF10F:03, 16

1A86:02

SubIndex 002

PDO Mapping entry (object 0xF10F (Cycle Statistic

data), entry 0x04 (Cycle Distance Time))

UINT32

0xF10F:04, 16

1A86:03

SubIndex 003

PDO Mapping entry (object 0xF10F (Cycle Statistic

data), entry 0x05 (Output Calc And Copy Time))

UINT32

0xF10F:05, 16

1A86:04

SubIndex 004

PDO Mapping entry (object 0xF10F (Cycle Statistic

data), entry 0x06 (Input Calc And Copy Time))

UINT32

0xF10F:04, 16

1A86:05

SubIndex 005

PDO Mapping entry (object 0xF10F (Cycle Statistic

data), entry 0x07 (Output Delay Time))

UINT32

0xF10F:07, 16

Index 1A87 DPM TxPDO-Map DC Cyclic Statistics

Index (hex) Name

Meaning

Data type

Flags

Default

1A87:0

DPM TxPDO-Map DC
Cyclic Statistics

PDO Mapping TxPDO 136 contains the DP master cycle
statistics (object

0xF10F [

}

157]

) for the DC mode

UINT8

0x06 (6

dec

)

1A87:01

SubIndex 001

PDO Mapping entry (object 0xF10F (Cycle Statistic

data), entry 0x03 (Cycle Time))

UINT32

0xF10F:03, 16

1A87:02

SubIndex 002

PDO Mapping entry (object 0xF10F (Cycle Statistic

data), entry 0x04 (Cycle Distance Time))

UINT32

0xF10F:04, 16

1A87:03

SubIndex 003

PDO Mapping entry (object 0xF10F (Cycle Statistic

data), entry 0x05 (Output Calc And Copy Time))

UINT32

0xF10F:05, 16

1A87:04

SubIndex 004

PDO Mapping entry (object 0xF10F (Cycle Statistic

data), entry 0x06 (Input Calc And Copy Time))

UINT32

0xF10F:04, 16

1A87:05

SubIndex 005

PDO Mapping entry (object 0xF10F (Cycle Statistic

data), entry 0x07 (Output Delay Time))

UINT32

0xF10F:07, 32

1A87:06

SubIndex 006

PDO Mapping entry (object 0xF10F (Cycle Statistic

data), entry 0x08 (SM/SYNC Event Distance Time))

UINT32

0xF10F:08, 32

Index 1A88 DPM TxPDO-Map Redundancy Status

Index (hex) Name

Meaning

Data type

Flags

Default

1A88:0

DPM TxPDO-Map
Redundancy Status

PDO Mapping TxPDO 137

UINT8

0x05 (5

dec

)

1A88:01

SubIndex 001

PDO Mapping entry (object 0xF118, entry 0x01)

UINT32

0xF118:01, 1

1A88:02

SubIndex 002

PDO Mapping entry (15 bits align)

UINT32

0x0000:00, 15

1A88:03

SubIndex 003

PDO Mapping entry (object 0xF118, entry 0x11)

UINT32

0xF118:11, 16

1A88:04

SubIndex 004

PDO Mapping entry (object 0xF118, entry 0x12)

UINT32

0xF118:12, 16

1A88:05

SubIndex 005

PDO Mapping entry (object 0xF118, entry 0x11)

UINT32

0xF118:13, 16

Index 1C00 Sync manager type

Index (hex) Name

Meaning

Data type

Flags

Default

1C00:0

Sync manager type

Using the sync managers

UINT8

0x04 (4

dec

)

1C00:01

SubIndex 001

Sync-Manager Type Channel 1: Mailbox Write

UINT8

0x01 (1

dec

)

1C00:02

SubIndex 002

Sync-Manager Type Channel 2: Mailbox Read

UINT8

0x02 (2

dec

)

1C00:03

SubIndex 003

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

UINT8

0x03 (3

dec

)

1C00:04

SubIndex 004

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

UINT8

0x04 (4

dec

)

Содержание EL6731

Страница 1: ...Documentation EL6731 Master Slave terminal for PROFIBUS 2 8 2020 03 16 Version Date...

Страница 2: ......

Страница 3: ...S Connection 24 3 9 ATEX Special conditions extended temperature range 26 3 10 ATEX Documentation 27 3 11 UL notice 27 4 Basics communication 28 4 1 EtherCAT basics 28 4 2 General notes for setting th...

Страница 4: ...x 172 7 1 EtherCAT AL Status Codes 172 7 2 Firmware compatibility 172 7 3 Firmware Update EL ES EM ELM EPxxxx 173 7 3 1 Device description ESI file XML 174 7 3 2 Firmware explanation 177 7 3 3 Updatin...

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: ...ved 2 1 Update chapter Technical data Update chapter ADS interface Addenda chapter ESD protection Update revision status Update structure 2 0 Migration 1 7 Update chapter Technical data Update chapter...

Страница 8: ...SI 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 the IP20 terminals see Fig EL50...

Страница 9: ...sary 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...

Страница 10: ...0020 with serial batch number 26131006 and unique ID number 204418 Fig 5 EP1258 00001 IP67 EtherCAT Box with batch number date code 22090101 and unique serial number 158102 Fig 6 EP1908 0002 IP67 Eth...

Страница 11: ...Version 2 8 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 bat...

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: ...es Thanks to the in house development of the PROFIBUS chip the terminals are equipped with the latest version of the PROFIBUS technology including high precision isochronous mode for axis control and...

Страница 15: ...put and 1 4 kbyte output data Diagnostics Status LEDs Power supply via the E bus Current consumption via E bus typ 350 mA Electrical isolation 500 V E bus Profibus Configuration with TwinCAT System Ma...

Страница 16: ...e terminated at the right hand end with an EL9011 or EL9012 bus end cap to en sure the protection class and ESD protection Fig 11 Spring contacts of the Beckhoff I O components 3 2 Recommended mountin...

Страница 17: ...tion requires the mounting rail to be installed horizontally and the connection surfaces of the EL KL terminals to face forward see Fig Recommended distances for standard installation position The ter...

Страница 18: ...rofile of the mounting rail At the installation the locking mechanism of the components must not come into conflict with the fixing bolts of the mounting rail To mount the recommended mounting rails u...

Страница 19: ...it is not necessary to remove all the cables separately for this but for each KM EM connector simply undo 2 screws so that you can pull them off fixed wiring Lever the unlatching hook on the left han...

Страница 20: ...il TH 35 15 Fixing of mounting rails The locking mechanism of the terminals and couplers extends to the profile of the mounting rail At the installation the locking mechanism of the components must no...

Страница 21: ...he cables Demounting Remove all the cables Lever the unlatching hook back with thumb and forefinger 3 An internal mechanism pulls the two latching lugs 3a from the top hat rail back into the terminal...

Страница 22: ...itioning of passive terminals highlighted Fig 14 Correct positioning Fig 15 Incorrect positioning 3 7 PROFIBUS cabling Physical aspects of the data transmission are defined in the PROFIBUS standard se...

Страница 23: ...nector for IP20 M12 round connector for IP65 67 Cabling for PROFIBUS DP and PROFIBUS FMS Note the special requirements on the data cable for baud rates greater than 1 5 Mbaud The correct cable is a ba...

Страница 24: ...and laying the cables observe the technical guidelines provided by the PROFIBUS User Organization PROFIBUS Nutzerorganisation e V for PROFIBUS DP FMS see www profibus de Checking the PROFIBUS wiring A...

Страница 25: ...over as this will prevent communication Pin assignment of the PROFIBUS D sub socket Fig 19 Pin assignment of the PROFIBUS D sub socket PROFIBUS wire colors PROFIBUS line M12 D Sub B red Pin 4 Pin 3 A...

Страница 26: ...ables must be selected whose tempera ture data correspond to the actual measured temperature values Observe the permissible ambient temperature range of 25 to 60 C for the use of Beckhoff fieldbus com...

Страница 27: ...n potentially explosive ar eas ATEX Pay also attention to the continuative documentation Notes about operation of the Beckhoff terminal systems in potentially explosive areas ATEX that is available in...

Страница 28: ...t 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 rese...

Страница 29: ...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 30: ...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 31: ...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 32: ...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 33: ...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 34: ...is to be stored permanently enter it in the Startup list The order of the Startup entries is usually irrelevant Fig 24 Startup list in the TwinCAT System Manager The Startup list may already contain v...

Страница 35: ...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 36: ...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 37: ...a number of DP cycles can be carried out for each task cycle as described in the section on Slave Prioritization Multiple DP Cycles 129 Diagnostics The diagnostic 118 facilities are described in this...

Страница 38: ...nCAT system manager Configure the DP Master FC310x It is first necessary to configure a Profibus Master FC310x PCI I O device selecting I O devices with the right hand mouse button and then selecting...

Страница 39: ...associated Variables tab from the System Manager TwinCAT Run Mode For the TwinCAT Run mode it is now necessary for at least one variable of the PROFIBUS master or of the configured slave to be linked...

Страница 40: ...task uses the equidistant functionality of the EL6731 most often this is the NC task should have the highest priority as otherwise the synchronicity can be disturbed The EL6731 generally runs in Sync...

Страница 41: ...to set for the task whether the I O at task start should be updated or not I O at Task Start If the setting I O at Task Start check box is selected default setting for NC task the EtherCAT telegram i...

Страница 42: ...at the start of the next task cycle etc Outputs and inputs are therefore always one cycle old Fig 31 TwinCAT task DP cycle and K bus cycle sequence On the FC310x EL6731 set the Operation Mode on the F...

Страница 43: ...nswered correctly The data contain the Ident no of the slave BYTE offset 0 1 and the read CfgData from BYTE offset 2 see section Upload Configuration 49 0xF840 0 0 This is used to read the firmware ve...

Страница 44: ...V1 46 0x0000 0xFFF 0x10000000 0xF0000000 0x00 0xFF This will transmit a PKW Read to the appropriate configured PROFIDRIVE slave the parameter number PNU is contained in the Low WORD of the IndexGroup...

Страница 45: ...e see section PKW Interface 49 0 0x01000000 0 This will send FDL Write for Siemens AG interfacing to the appropriate configured FDL station only FC310x see documentation for FC310x section S5 FDL 0 0x...

Страница 46: ...specific unique error code High Word chapter ADS error codes 127 The appropriate text message will also be displayed in the TwinCAT System Manager Logger 5 1 5 2 PROFIBUS DPV1 On a C1 connection the m...

Страница 47: ...ception this is initialized in accordance with the value set in the System Manager Watchdog under DPV1 Class 2 on the slave s Profibus 96 tab It is also necessary for the C2 functionality to be activa...

Страница 48: ...Net ID Net ID of the master see the device s ADS 92 tab Port 0x1000 station address of the slave IndexGroup 0x200 slot number DPV1 parameter IndexOffset 0 Read Length Length of the Initiate Response p...

Страница 49: ...ces tables 0 1 and 9 are to be read then the following data is supplied provided the device is a Beckhoff device Offset Description 0 1 0 2 513 Table 0 Amongst the information contained here is the pr...

Страница 50: ...slave IndexGroup Bit 0 11 parameter number PNU Bit 12 25 0 Bit 26 1 Sub index in octet 3 standard 0 sub index in octet 4 Simodrive 611U Bit 27 1 ARRAY codes are not supported by PROFIDRIVE slave Bit...

Страница 51: ...0 Cmd 1 request follows 3 response follows 255 enable reception for FDL service on all SAPs no further data length 1 1 Request 0 Response 0 send single 1 send multiple 2 DA byte bit 7 indicates whethe...

Страница 52: ...r SRD indications Confirmation 0 2 DA byte bit 7 indicates whether a DSAP exists 3 SA byte bit 7 indicates whether an SSAP exists 4 Indication 0x03 SDA low 0x05 SDA high 0x04 SDN low 0x06 SDN high 0x0...

Страница 53: ...dows 7 NT XP Embedded CE Interconnection to all common fieldbusses More Additional features TwinCAT 3 eXtended Automation Visual Studio Integration Choice of the programming language Supports object o...

Страница 54: ...3 The following dialog appears Fig 34 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 co...

Страница 55: ...properties 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 f...

Страница 56: ...Parameterization and commissioning EL6731 56 Version 2 8 Fig 37 Exemplary correct driver setting for the Ethernet port Other possible settings have to be avoided...

Страница 57: ...Parameterization and commissioning EL6731 57 Version 2 8 Fig 38 Incorrect driver settings for the Ethernet port...

Страница 58: ...in cases 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...

Страница 59: ...les that was current at the time when the TwinCAT build was created For TwinCAT 2 11 TwinCAT 3 and higher the ESI directory can be updated from the System Manager if the programming PC is connected to...

Страница 60: ...the revision 1019 or for an older revision The ESI must then be requested from the manufacturer in this case Beckhoff b an ESI is present for the EL2521 0000 device but only in an older revision e g 1...

Страница 61: ...ould be deleted as follows close all System Manager windows restart TwinCAT in Config mode delete OnlineDescription0000 xml restart TwinCAT System Manager This file should not be visible after this pr...

Страница 62: ...ssioning EL6731 62 Version 2 8 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 con...

Страница 63: ...laves For the present publisher subscriber service in combination with an EL6601 EL6614 terminal select EtherCAT Automation Protocol via EL6601 Fig 47 Selecting the EtherCAT connection TwinCAT 2 11 Tw...

Страница 64: ...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...

Страница 65: ...tended Information Fig 52 Display of device revision In many cases several device revisions were created for historic or functional reasons e g through technological advancement For simplification pur...

Страница 66: ...iguration 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 con...

Страница 67: ...Parameterization and commissioning EL6731 67 Version 2 8 Fig 55 EtherCAT terminal in the TwinCAT tree left TwinCAT 2 right TwinCAT 3...

Страница 68: ...ode 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 with...

Страница 69: ...the type The respective devices are lo cated in the stored ESI data and integrated in the configuration tree in the default state defined there Fig 60 Example default state NOTE Slave scanning in prac...

Страница 70: ...nitial configuration B tsm in order to check the built machine However if the series machine production department now doesn t use B tsm but instead carries out a scan to create the productive configu...

Страница 71: ...en be switched to online state OPERATIONAL Fig 66 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...

Страница 72: ...known device is detected i e an EtherCAT slave for which no ESI XML description is available In this case the System Manager offers to read any ESI that may be stored in the device This case is descri...

Страница 73: ...vice configuration is then replaced by the revision found this can affect the supported process data and functions If a scan is initiated for an existing configuration the actual I O environment may m...

Страница 74: ...expects 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 a...

Страница 75: ...ype TwinCAT offers a function Change to Compatible Type for the exchange of a device whilst retaining the links in the task Fig 75 Dialog Change to Compatible Type left TwinCAT 2 right TwinCAT 3 This...

Страница 76: ...rCAT Master uses the ESI description to configure the slave correctly The process data can be modified in the system manager See the device documentation Examples of modifications include mask out a c...

Страница 77: ...ral Notes EtherCAT 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 s...

Страница 78: ...the PLC Colour 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 Info...

Страница 79: ...Parameterization and commissioning EL6731 79 Version 2 8 Fig 79 Basic EtherCAT Slave Diagnosis in the PLC The following aspects are covered here...

Страница 80: ...ay possibly have effects on the process data of other Slaves that are located in the same Syn cUnit In order for the higher level PLC task or cor responding control applications to be able to rely on...

Страница 81: ...re saved locally in the slave depends on the device EL terminals except the EL66xx are able to save in this way The user must manage the changes to the StartUp list Commissioning aid in the TwinCAT Sy...

Страница 82: ...nd manual 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 s...

Страница 83: ...ter are set as standard EtherCAT Master OP Slaves OP This setting applies equally to all Slaves Fig 82 Default behaviour of the System Manager In addition the target state of any particular Slave can...

Страница 84: ...er and slave Fig 84 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 i...

Страница 85: ...11 and above a warning message E Bus Power of Terminal is output in the logger window when such a configuration is activated Fig 86 Warning message for exceeding E Bus current NOTE Caution Malfunctio...

Страница 86: ...or reaches a breakpoint the EL6731 switches to CLEAR mode slave outputs will assume 0 or safe values see the Error reactions 115 section All other tasks are served asynchronously via corresponding bu...

Страница 87: ...All devices that are found are added to the EL6731 In the case of Beckhoff boxes the configuration is read precisely In the case of external devices the corresponding GSD file will be searched Check...

Страница 88: ...m a device However in this case it would make sense to set the Features 97 tab for the box such that lack of response of the slave would not lead to DATA EXCH being exited The fact that a device has n...

Страница 89: ...ause the switch over from the primary master to the redundant master should not have any interactions for the DP slave see the Master Redundancy section Operate delay The DP master changes automatical...

Страница 90: ...on Error Reactions 115 Windows watchdog only FC310x Not relevant for EL6731 Set WD individually for each slave Here you can select whether the WD should be set individually for each slave on the Profi...

Страница 91: ...Reduced MC jitter optional for FC CX selected by default for EL The FC CX cycle is controlled through a local timer which is synchronized with TwinCAT In order to compensate the interrupt latency time...

Страница 92: ...6731 is an ADS device with its own net ID which can be changed here All ADS services diagnosis non cyclical communication going to the EL6731 must address this net ID Fig 91 ADS tab 5 1 6 2 6 DP Diag...

Страница 93: ...tions within a cycle is displayed min max actual cycle time Here the minimum maximum and current DP cycle time is displayed Only those cycles are considered during which all slaves participated in the...

Страница 94: ...slaves the last MC slaves at the EL6731 will usually get a synchronization error error 597 or 598 for Simodrive 611U max repeats equi cycle This will show the maximum number of repeated Data_Exchange...

Страница 95: ...r EL6731 MC Statistics For each MC slave the To time specifies when relative to the DP cycle start the slave should accept the outputs received from the master The MC slaves can be synchronized with e...

Страница 96: ...10 For particularly critical outputs it is possible to set a DP watchdog time down to as little as 2 ms for DP slaves that support a watchdog base time of 1 ms namely all Beckhoff slaves with the exc...

Страница 97: ...ss different cycles in order to minimize the maximum cycle time divider 2 and modulo 0 means that the slave is polled every even numbered cycle divider 2 and modulo 1 means that the slave is polled ev...

Страница 98: ...or remain unchanged see the Error Reactions 115 section acyclic services The number of parallel ADS services to one box can be set here 5 1 6 3 3 Beckhoff tab Fig 97 Beckhoff tab Firmware Update This...

Страница 99: ...IBUS MC slaves the identification number must be appropriately changed on the slave s Profibus 96 tab The required telegram type can be set on the ProcessData tab and must usually correspond with para...

Страница 100: ...Data text tab Fig 99 The PrmData text tab Click on a line to change the current value The description of the respective settings can be found in the documentation of the relevant manufacturer 5 1 6 3...

Страница 101: ...based on TwinCAT NC PTP version 2 10 TwinCAT NC PTP 2 10 build 1340 or higher is recommended Familiarity with Beckhoff TwinCAT NC PTP is a prerequisite 5 1 7 1 1 Configuring a fieldbus master Selecti...

Страница 102: ...O device in this case Profibus master FC31xx PCI Operation with a Profibus master EL6731 via EtherCAT is tested with 2 CU Configuring Profibus DP The Profibus master card is configured via the tab FC3...

Страница 103: ...ing The firmware version of the FC310x Profibus card should be 2 58 or higher for the FC3151 2 5b or higher 2 The station address of the fieldbus master is preset to 1 Avoid address conflicts with oth...

Страница 104: ...nfiguration of the STARTER software 5 1 7 1 2 Configuring fieldbus devices Append box In the context menu of the Profibus master card Device1 select Append Box Select from folder PROFIdrive MC DPV2 wi...

Страница 105: ...Fig 104 Inserting a box GSG file Please select Sinamics S from the Select Box dialog Ensure that the file Profidrive2 dat and the GSG file editor referred to in this file are in directory TwinCAT IO...

Страница 106: ...the Profibus tab Set the Profibus address station no 2 in the screenshot below according to the CU address specified in the drive configuration STARTER program Fig 106 Profibus tab address selection...

Страница 107: ...ssioning EL6731 107 Version 2 8 Fig 107 Process Data tab telegram assignment Up to TwinCAT 2 10 B1319 this telegram 370 is not predefined for the Active Line Module ALM but it can be configured via th...

Страница 108: ...modrive 611U no longer supports the PKW interface Determining the Profibus DP cycle Once the complete fieldbus has been configured press the button Calculate MC Times in the MC tab of the FC31xx The E...

Страница 109: ...ecution task NC task x SAF has to be parameterized The cycle ticks define the cycle time in multiples of the set basic TwinCAT time standard 1 ms for the task The cycle time takes effect if when auto...

Страница 110: ...litate identification the names of the function are specified in the software or the structures from a previous project are adopted Set the axis type to Profidrive MC DPV2 and the unit for actual posi...

Страница 111: ...us have been configured in online mode press the button Calculate MC Times in the MC tab of the master card FC31xx I O configuration and note any warnings The Estimated DP Cycle Time for all axes must...

Страница 112: ...ratio of the axis the value INC rev increments per revolution can be used to calculate the scaling factor in the linear axis example in mm INC Formula Scaling factor path per revolution of the drive...

Страница 113: ...Parameterization and commissioning EL6731 113 Version 2 8 Fig 113 Global tab scaling factor entry All other axis settings and commissioning steps correspond to the usual procedure...

Страница 114: ...EtherCAT State Machine PREOP function for mailbox communication and different standard settings set Flashing State of the EtherCAT State Machine SAFEOP verification of the sync manager channels and t...

Страница 115: ...n be set see below Normal DP cycle 12 Mbaud 5 slaves an average of 20 bytes I 20 bytes O for each slave Fig 115 Diagram showing a normal DP cycle First occurrence of a faulty DP cycle slave 3 does not...

Страница 116: ...es can be tolerated e g in the DP MC Equidistant 40 operation mode In this case the DP watchdog time for the slave should be set according to the tolerable outage time of the slave and the Max Retry L...

Страница 117: ...task FC310x or EtherCAT interruption EL6731 A distinction is made between the cases PLC stop reaching of a breakpoint and task stop EL6731 EtherCAT interruption IO task NC task is only stopped on syst...

Страница 118: ...lure of the Host section the DP connections to all slaves are removed and the master logs itself off from the bus 5 1 8 3 Master Diagnostics Diagnostic Inputs The EL6731 features various diagnostic va...

Страница 119: ...Time Control Failed Counter see MC Diag 94 tab 262 263 reserved for extensions 264 265 Minimum reload value of real time timer 266 267 Maximum reload value of the real time timer max jitter see MC Dia...

Страница 120: ...The diagnostic data contains the slave statistics 32 bytes and the DP diagnostic data sent by the slave up to 244 bytes and is constructed as follows Offset Meaning Slave statistics 0 Receive Error Co...

Страница 121: ...s overflow slave signaling a diagnosis overflow check diagnostic data using ADS Read see below and operating state at the slave 11 Physical fault physical fault interfering with slave response check c...

Страница 122: ...minus 1 i e bits 0 3 0000B corresponds to a length of one word while bits 0 3 1111B corresponds to a length of 16 words 1000B A special identification format for outputs A byte follows that describes...

Страница 123: ...ing a configuration error 0x00 3 ExtDiag extended DiagData available and valid 0x00 4 NotSupported slave does not support a feature requested via Set_Prm or Global_Control 0x00 5 InvalidSlaveResponse...

Страница 124: ...a distinction is made between status messages and alarms is sent instead of the manufacturer specific diagnosis Byte Meaning 0 Header Byte bits 6 7 0 bits 0 5 4 63 1 Bit 0 6 Alarm type Bit 7 0 Alarm 1...

Страница 125: ...agnosis provides a closer description of the cause of the diagnosis of a DP module Byte Meaning 0 Header byte 0x83 3 bytes including header bits 6 7 2 1 Bit 0 5 Channel number Bit 6 7 0 reserved 1 inp...

Страница 126: ...e 1 Error_Decode 0x80 DPV1 0xFE FMS 0xFF HART byte 2 Error_Code_1 Error Class bits 4 7 Error Code bits 0 3 0x0A 0x00 Application Read Error 0x01 Application Write Error 0x02 Application Module Failure...

Страница 127: ...s not support PKW 0x2113 PKW Write Incorrect IndexGroup 0x2114 Read general Incorrect IndexGroup 0x2115 DPV1 C1 Write FDL fault no response etc 0x2116 DPV1 C1 Write syntax error DPV1 syntax not correc...

Страница 128: ...5C DPV1 C2 Write DPV1 fault 4 bytes error code in the diagnostic data of the slave 0x215D DPV1 C2 DataTransport FDL fault no response etc 0x215E DPV1 C2 DataTransport connection aborted 0x215F DPV1 C2...

Страница 129: ...twice as long as the DP cycle time it is possible for a number of DP cycles to be carried out within a single task cycle in order to acquire the most up to date input data possible Based on the Numbe...

Страница 130: ...th these settings Additional Data_Exchange Samples Multiplier 2 Additional Data_Exchange Samples Modulo 0 or 1 Slaves 3 and 5 would only be entered into the System Manager once and would have these se...

Страница 131: ...tion that is established along with the cyclic connection This can be used so that larger quantities of acyclic data can be transferred alongside the cyclic data A DPV1 read telegram received by the m...

Страница 132: ...th LENGTH Length of the data that is to be written Data DATAADDR data that is to be written An ADS read response is represented in a DPV1 MSAC_C1 read response as follows ADS read response parameter M...

Страница 133: ...8 Fig 127 DP master ADS tab Activating the ADS interface and entering the Net ID At the DP slave the Net ID of the DP master PC is to be added under Add NetIds on the device s ADS tab Fig 128 DP slave...

Страница 134: ...in the EtherCAT configurator and transferred to the EtherCAT master in the same way as is carried out for example in the TwinCAT System Manager 2 Configuration of the EL6731 with Backup Parameter Sto...

Страница 135: ...00x0 EL6731 135 Version 2 8 Fig 129 Flow chart Sequence of the configuration of the EL6731 with start SDOs Following a power on the EL6731 is in the INIT state and has no DP configuration The EL6731...

Страница 136: ...pping thus serves only to check the PDO mapping calculated by the EtherCAT configurator and can therefore be omitted PDO Assign In addition there are a few other EtherCAT PDOs that contain control sta...

Страница 137: ...The configuration stored in the Backup Parameter Storage object 0x10F2 is loaded during the transition from INIT to PREOP Since the StartUp SDOs from the Configuration of the EL6731 with StartUp SDOs...

Страница 138: ...has to be written to entry 0x1011 01 6 1 2 Synchronization In the EL 6731 the DP cycle is synchronized with the EtherCAT cycle Synchronization takes place by default via the Sync Manager 2 event or i...

Страница 139: ...ta with LRW telegram Separate Input Update FALSE The illustration below shows the sequence of the DP cycle and the meaning of the Sync Manager parameters if the DP cycle is controlled with Distributed...

Страница 140: ...m and the input data with LRD telegram Separate Input Update TRUE Task Cycle Time 4 Base Time pre ticks 1 If the Task Cycle Time EtherCAT Master Cycle Time is larger than the TwinCAT Realtime Base Tim...

Страница 141: ...trol telegram is sent with a maximum jitter of 500 ns The remainder of the DP cycle sequence corresponds to that in the case of synchronization without Distributed Clocks The same settings for Separat...

Страница 142: ...ave the same meaning for all EtherCAT slaves Index 1000 Device type Index hex Name Meaning Data type Flags Default 1000 0 Device type Device type of the EtherCAT slave The Lo Word con tains the CoE pr...

Страница 143: ...arameter storage Index hex Name Meaning Data type Flags Default 10F2 0 Backup parameter storage If this object is used no StartUp SDOs may be transmit ted in the PREOP state since the Backup Parameter...

Страница 144: ...ry in the RxPDO mapping object 0x1600 n for each DP module with DP output data configured in object 0x8002 155 n 16 If a DP slave does not contain any DP output data then the PDO mapping object 0x1600...

Страница 145: ...me Meaning Data type Flags Default 1883 0 DPM TxPDO Par DP Diag PDO parameter TxPDO 132 UINT8 RO 0x06 6dec 1883 06 Exclude TxPDOs Specifies the TxPDOs index of TxPDO mapping objects that must not be t...

Страница 146: ...DP input data of the n 1 th config ured DP slave UINT32 RO Index 1A7F DPM TxPDO Map Status PDO Index hex Name Meaning Data type Flags Default 1A7F 0 DPM TxPDO Map Status PDO PDO Mapping TxPDO 128 UIN...

Страница 147: ...red DP slave config ured via the objects 0x800z m 1 16 1 m 127 UINT32 RO 0xF103 m 1 Index 1A85 DPM TxPDO Map DP Master Diag Index hex Name Meaning Data type Flags Default 1A85 0 DPM TxPDO Map DP Maste...

Страница 148: ...xF10F 04 16 1A87 03 SubIndex 003 3rd PDO Mapping entry object 0xF10F Cycle Statistic data entry 0x05 Output Calc And Copy Time UINT32 RW 0xF10F 05 16 1A87 04 SubIndex 004 4th PDO Mapping entry object...

Страница 149: ...eaning Data type Flags Default 1C13 0 TxPDO assign PDO Assign Inputs the TxPDOs must be assigned in the order of their indexes The TxPDOs of the configured DP slaves 0x1A00 146 0x1A7C must be assigned...

Страница 150: ...ated here If the CycleExceeded counter 0x1C32 0C or 0x1C33 0C increments then the cycle time set in 0x1C32 02 is too low for the configured DP bus structure UINT32 RO 0x0003CFB1 249777dec 1C32 06 Calc...

Страница 151: ...f the EtherCAT mas ter is too short UINT16 RO 0x0000 0dec 1C32 0D Shift too short counter This entry contains the number of times the distance be tween SM2 and SYNC 0 event DC SYNC0 or between SYNC0 a...

Страница 152: ...puts available Bit 14 1 dynamic times measurement through writing of 0x1C32 08 150 or 0x1C33 08 152 UINT16 RO 0x440B 17419dec 1C33 05 Minimum cycle time as 0x1C32 05 150 UINT32 RO 0x0003CFB1 249777dec...

Страница 153: ...01 if the first DP module has DP input data DP input data of the first DP module OCTET STRING RO 6000 n 16 m if the mth DP module has DP input data DP input data of the mth DP module OCTET STRING RO...

Страница 154: ...unction send data exchange without data in the CLEAR SAFE OP state is active Bit 6 Reserve must be 0 Bit 7 Reserve must be 1 8000 n 16 21 Slave_Type Reserve must be 0 UINT8 RW 0x00 0dec 8000 n 16 22 M...

Страница 155: ...y This object contains the DP Cfg Data of the n 1 th con figured DP slave OCTET STRING 244 RW 0 Index A000 A7C0DP Status data Slave yyy Index hex Name Meaning Data type Flags Default A000 n 16 0 DP St...

Страница 156: ...O 0x0000 0dec F101 02 Cycle Counter increments on each DP cycle UINT16 RO 0x0000 0dec F101 03 Slave Status Counter Number of DP slaves that were not exchanging data in the preceding cycle UINT16 RO 0x...

Страница 157: ...et F102 7D Communication status of the mth configured DP slave UINT8 RO Index F10F Cycle Statistic data Index hex Name Meaning Data type Flags Default F10F 0 Cycle Statistic data This object contains...

Страница 158: ...repeats 1 8 UINT8 RW F800 0C Bp_Flag Bit 0 Single master operation no GAP update is sent UINT8 RW 0x00 0dec Bits 1 6 Reserve must be 0 Bit 8 Auto Clear mode is on DP master goes to CLEAR if a DP slav...

Страница 159: ...default values for the respective baud rate Data_rate Tsl max Tsdr Tqui Tset Ttr max_retry_limit Min_Slave_Interval Data_Con trol_Time Max Retry DX 9 12 Mbaud 1000 800 9 16 12000 4 10 1 4 8 6 Mbaud 60...

Страница 160: ...or and transferred to the EtherCAT master in the same way as is carried out for example in the TwinCAT System Manager 2 Configuration of the EL6731 0010 with Backup Parameter Storage 162 Here the conf...

Страница 161: ...out via SDO download in the PREOP state The objects to be loaded must be transmitted either with Complete Access or with consistency nesting first set SubIndex 0 to 0 then write SubIndex 1 n then set...

Страница 162: ...rtant to ensure that the index of the assigned EtherCAT PDO increases with each entry in the corresponding PDO Assign object If the EtherCAT master does not transfer a PDO Assign to the StartUp SDOs t...

Страница 163: ...ive on the PROFIBUS DP bus parameters DP slave configuration The configuration stored in the Backup Parameter Storage object 0x10F2 is loaded during the transition from INIT to PREOP Since the StartUp...

Страница 164: ...g the latest XML file from the download area of the Beckhoff website and in stalling it according to installation instructions Parameterization via the CoE list CAN over EtherCAT The EtherCAT device i...

Страница 165: ...or ID Vendor ID of the EtherCAT slave UINT32 RO 0x00000002 2dec 1018 02 Product code Product code of the EtherCAT slave UINT32 RO 0x1A4B3052 441135186dec 1018 03 Revision Revision number of the EtherC...

Страница 166: ...e object of the 3rd StartUp SDO m 1 len3 Length of the object of the 3rd StartUp SDO as CompleteAccess from SubIndex 0 in bytes m 2 n3 Data of the object of the 3rd StartUp SDO as CompleteAccess n3 2...

Страница 167: ...atus entry 0x0F TxPDO State UINT32 RO 0xF100 0F 01 1A7F 04 4th PDO Mapping entry object 0x1800 TxPDO Par Sta tus PDO entry 0x09 TxPDO Toggle UINT32 RO 0x1800 09 01 Index 1C00 Sync manager type Index h...

Страница 168: ...ugh writing of 0x1C32 08 168 UINT16 RO 0x0001 1dec 1C32 05 Minimum cycle time not supported UINT32 RO 0x00000000 0dec 1C32 06 Calc and copy time not supported UINT32 RO 0x00000000 0dec 1C32 08 Command...

Страница 169: ...UINT8 RO 6000 01 if the first DP module has DP output data DP output data of the first DP module OCTET STRING RO 6000 m if the mth DP module has DP output data DP output data of the mth DP module OCTE...

Страница 170: ...0 23 Max_Alarm_Len Reserve must be 0 UINT8 RW 0x00 0dec 8000 24 Max_Chan nel_Data_Length Reserve must be 240 UINT8 RW 0xF0 240dec 8000 25 Diag_Upd_Delay Reserve must be 0 UINT8 RW 0x00 0dec 8000 26 Al...

Страница 171: ...DP Status This object contains the DP status data which are mapped into TxPDO 128 Index 0x1A7F 167 UINT8 RO F100 01 DP Communication Status 0 Slave is exchanging data UINT8 RO 128 Slave is ready for d...

Страница 172: ...irmware updates for delivered products NOTE Risk of damage to the device Pay attention to the instructions for firmware updates on the separate page 173 If a device is placed in BOOTSTRAP mode for a f...

Страница 173: ...CAT Slave Information On power up this description is loaded and the EtherCAT communication is set up accordingly The device description is available from the download area of the Beckhoff website at...

Страница 174: ...the EEPROM These are irretrievably overwritten during an update The ESI device description is stored locally on the slave and loaded on start up Each device description has a unique identifier consis...

Страница 175: ...on is to scan the EtherCAT boxes in TwinCAT mode Config FreeRun Fig 139 Scan the subordinate field by right clicking on the EtherCAT device If the found field matches the configured field the display...

Страница 176: ...ave in the online display opens the EEPROM Update dialog Fig EEPROM Update Fig 142 EEPROM Update The new ESI description is selected in the following dialog see Fig Selecting the new ESI The checkbox...

Страница 177: ...ess the slave online Click on the E Bus Terminal whose controller firmware you want to check in the example terminal 2 EL3204 and select the tab CoE Online CAN over EtherCAT CoE Online and Offline CoE...

Страница 178: ...E directory is managed by the controller and stored in a dedicated EEPROM which is generally not changed during a firmware update Switch to the Online tab to update the controller firmware of a slave...

Страница 179: ...date 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 th...

Страница 180: ...right click the table header and select Properties in the context menu Fig 147 Context menu Properties The Advanced Settings dialog appears where the columns to be displayed can be selected Under Dia...

Страница 181: ...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 182: ...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 183: ...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 184: ...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 185: ...orrect positioning 22 Fig 15 Incorrect positioning 22 Fig 16 PROFIBUS cable assignment 23 Fig 17 Pin assignment M12 socket B310 25 Fig 18 Pin assignment M12 socket plug connector B318 25 Fig 19 Pin as...

Страница 186: ...n 1018 70 Fig 62 Detection of EtherCAT terminal with revision 1019 70 Fig 63 Scan query after automatic creation of an EtherCAT device left TwinCAT 2 right Twin CAT 3 70 Fig 64 Manual triggering of a...

Страница 187: ...Global tab scaling factor entry 113 Fig 114 LEDs 114 Fig 115 Diagram showing a normal DP cycle 115 Fig 116 Diagram showing the first occurrence of a faulty DP cycle 115 Fig 117 Diagram showing subsequ...

Страница 188: ...ent 141 Fig 136 Flow chart Sequence of the configuration of the EL6731 0010 with start SDOs 161 Fig 137 Flow chart Sequence of the configuration of the EL6731 0010 with backup parameter storage 163 Fi...

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