Beckhoff EL6751, Документация

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Table of figures
EL6751 209 Version: 3.5
Fig. 86 PLC function blocks .................................................................................................................... 73
Fig. 87 Illegally exceeding the E-Bus current ......................................................................................... 74
Fig. 88 Warning message for exceeding E-Bus current ......................................................................... 74
Fig. 89 TwinCAT System Manager logo .................................................................................................. 75
Fig. 90 Add Box... <Insert> ...................................................................................................................... 76
Fig. 91 EL6751 tab .................................................................................................................................. 77
Fig. 92 Diagram: Sync-Tx-PDO-Delay sample ........................................................................................ 78
Fig. 93 ”Box States" tab ........................................................................................................................... 79
Fig. 94 Selection dialog "Inserting a box" ................................................................................................ 80
Fig. 95 Can Queue Sizes setting ............................................................................................................. 80
Fig. 96 CAN interface process image ...................................................................................................... 81
Fig. 97 Dialog „Add CAN Filter“ ............................................................................................................... 82
Fig. 98 EL6751-0010: Dialog "Appending an I/O device" ........................................................................ 83
Fig. 99 "EL6751-0010" tab....................................................................................................................... 83
Fig. 100 EL6751-0010 TwinCAT tree ........................................................................................................ 84
Fig. 101 "CAN node" tab............................................................................................................................ 85
Fig. 102 EL6751-0010 TwinCAT tree, outputs .......................................................................................... 85
Fig. 103 Dialog "Inserting variables" .......................................................................................................... 86
Fig. 104 "BK51x0" tab................................................................................................................................ 87
Fig. 105 "SDOs" tab................................................................................................................................... 88
Fig. 106 "CAN Node" tab ........................................................................................................................... 89
Fig. 107 ”PDO" tab..................................................................................................................................... 91
Fig. 108 TwinCAT tree: CANopen Box ...................................................................................................... 92
Fig. 109 Context menu for inserting further Tx or Rx-PDOs...................................................................... 92
Fig. 110 "SDOs" tab................................................................................................................................... 93
Fig. 111 CANopen bootup state diagram .................................................................................................. 94
Fig. 112 Schematic diagram: "Guarding procedure" ................................................................................. 96
Fig. 113 Schematic diagram: "Heartbeat procedure" ................................................................................ 97
Fig. 114 Default identifier allocation: Master/Slave.................................................................................... 103
Fig. 115 PDO linking: Peer to Peer............................................................................................................ 103
Fig. 116 Diagram: CAN process data transmission................................................................................... 104
Fig. 117 Diagram: CAN "SYNC" telegram ................................................................................................. 105
Fig. 118 Timing diagram: "Inhibit time" ...................................................................................................... 106
Fig. 119 Time representation of the event timer ........................................................................................ 107
Fig. 120 Mapping representation ............................................................................................................... 108
Fig. 121 SDO protocol: access to the object directory............................................................................... 111
Fig. 122 SDO tab, editing an SDO entry.................................................................................................... 114
Fig. 123 ADS tab ....................................................................................................................................... 115
Fig. 124 Schematic: CANopen default identifier ........................................................................................ 119
Fig. 125 Advanced Settings tab................................................................................................................. 121
Fig. 126 Flow chart for the EL6751 with Start SDOs ................................................................................. 123
Fig. 127 Flow chart for EL6751 with scanning of the CAN bus ................................................................. 125
Fig. 128 Flow chart for EL6751 with Backup Parameter Storage.............................................................. 126
Fig. 129 Flow chart for CAN cycle (Sync Multiplier = 1) ............................................................................ 128
Fig. 130 Flow chart for CAN cycle (Sync Multiplier > 1) ............................................................................ 130
Fig. 131 Flow chart for CAN interface startup............................................................................................ 155