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Basics of EtherCAT

EP8309-1022

Version: 2.0.0

Fig. 12: Offline list

If the slave is online

• the actual current slave directory 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. 13: Online list

Содержание EP8309-1022

Страница 1: ...Documentation for EP8309 1022 Multi functional I O Box 2 0 0 2017 11 07 Version Date...

Страница 2: ......

Страница 3: ...ensions 27 4 1 2 Fixing 28 4 2 Cabling 29 4 2 1 Connections 29 4 2 2 Nut torque for connectors 30 4 2 3 EtherCAT 32 4 2 4 Power Connection 35 4 2 5 Signal connection 41 4 2 6 UL Requirements 44 5 Comm...

Страница 4: ...022 4 Version 2 0 0 7 2 3 Updating controller firmware efw 107 7 2 4 FPGA firmware rbf 108 7 2 5 Simultaneous updating of several EtherCAT devices 112 7 3 EtherCAT Box EtherCAT P Box Accessories 113 7...

Страница 5: ...the data diagrams and descriptions in this documentation Trademarks Beckhoff TwinCAT EtherCAT Safety over EtherCAT TwinSAFE XFC and XTS are registered trademarks of and licensed by Beckhoff Automatio...

Страница 6: ...familiar with the applicable national standards Description of symbols In this documentation the following symbols are used with an accompanying safety instruction or note The safety instructions must...

Страница 7: ...he same properties as modules with the latest status However existing properties are retained and are not changed so that older modules can always be replaced with new ones Documentation Version EP830...

Страница 8: ...robust design of the EtherCAT Box modules enables them to be used directly at the machine Control cabinets and terminal boxes are now no longer required The modules are fully sealed and therefore ide...

Страница 9: ...AT documentation You will find a detailed description of the EtherCAT system in the Basic System Documen tation for EtherCAT which is available for download from our website www beckhoff com under Dow...

Страница 10: ...possible output currents are different and can be found in the technical data The resolution for the current signals takes place with 12 bits signed This applies to input and output signals The signa...

Страница 11: ...om the control voltage Us Current consumption of the sensors max 0 5 A short circuit proof overall Digital inputs and outputs DIO Technical Data EP8309 x022 Number of digital inputs and outputs DIO 42...

Страница 12: ...ted Clocks yes Analog inputs AI Technical Data EP8309 x022 Number of analog inputs 2 Input connections 42 M12 sockets Signal type 0 20 mA or 4 20 mA can be set for each CoE Input resistance 85 typ dio...

Страница 13: ...n position variable Approvals CE cULus 2 4 EP8309 Process image In the default setting the EP8309 is configured for analog input channel 1 analog input channel 2 Tacho signal from two sensors on one a...

Страница 14: ...the tacho input can be found under TACHO Dual Shaft Mode Input Channel 1 or 2 see data under commissioning DIG Inputs The data for the digital inputs can be found under DIG Inputs X4 Pin4 socket 4 pin...

Страница 15: ...ough PDO assignment 0x1603 not activated by default The values for the analog output can be found under AO Outputs Analog Output output value 2 5 Pulse width modulation PWM The Beckhoff terminals and...

Страница 16: ...permitted Note Pulse width current terminals require inductive loads The load inductance should have a minimum inductance of 1 mH Operation of the pulse width current terminals at loads with an induct...

Страница 17: ...ox 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 status of the terminal box is unaffe...

Страница 18: ...watchdog corresponds to a release time of 100 ms The value in multiplier 2 corresponds to the number of basic 40 ns ticks representing a watchdog tick The multiplier can be modified in order to adjust...

Страница 19: ...sible If the SM watchdog is activated and a value of 0 is entered the watchdog switches off com pletely This is watchdog deactivation Outputs are then NOT set to a safe state in the event of an interr...

Страница 20: ...n Pre Operational Pre Op During the transition between Init and Pre Op the EtherCAT slave checks whether the mailbox was initialized correctly In Pre Op state mailbox communication is possible but not...

Страница 21: ...erCAT slave from Safe Op to Op it must transfer valid output data In the Op state the slave copies the output data of the masters to its outputs Process data and mailbox communication is possible Boot...

Страница 22: ...is named first then the subindex The value ranges are Index 0 to 65535 Subindex 0 255 A parameter localized in this way is normally written as x8010 07 with preceding x to identify the hexadecimal num...

Страница 23: ...E parameters on the slave are changed online this is saved fail safe in the device EEPROM in Beckhoff devices This means that the changed CoE parameters are still re tained after a restart The situati...

Страница 24: ...inCAT System Manager a distinction has to be made whether the EtherCAT device is available i e switched on and linked via EtherCAT and therefore online or whether a configuration is created offline wi...

Страница 25: ...the actual current slave directory 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 accord...

Страница 26: ...he 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...

Страница 27: ...sting compound Polyurethane Mounting two fastening holes 3 mm for M3 two fastening holes 3 mm for M3 two fastening holes 4 5 mm for M4 Metal parts Brass nickel plated Contacts CuZn gold plated Power f...

Страница 28: ...s are not threaded When assembling remember that the fieldbus connectors increases the overall height See chapter accessories Mounting Rail ZS5300 0001 The mounting rail ZS5300 0001 500 mm x 129 mm al...

Страница 29: ...1 analog In Socket 5 digital In Out channel 1 digital In Out channel 2 Socket 2 analog In Socket 6 digital In Out channel 1 digital In Out channel 2 Socket 3 digital In channel 1 Tacho input 1 digita...

Страница 30: ...he M8 connectors tight with a nut torque of 0 4 Nm When using the torque control screwdriver ZB8800 is also a max torque of 0 5 Nm permissible Fig 16 EtherCAT Box with M8 connectors M12 connectors It...

Страница 31: ...mend fastening the 7 8 plug connectors with a torque of 1 5 Nm Fig 18 7 8 plug connectors Torque socket wrenches Fig 19 ZB8801 torque socket wrench Note Ensure the right torque Use the torque socket w...

Страница 32: ...3 1 EtherCAT connection For the incoming and ongoing EtherCAT connection the EtherCAT Box EPxxxx has two M8 sockets marked in green the Coupler Box FBB x110 has two M12 sockets Fig 20 EtherCAT Box M8...

Страница 33: ...in 2 Pin 3 white2 blue white3 white green Rx Receive Data Pin 3 Pin 4 Pin 6 blue2 blue3 green Shield Shield Housing Shroud Screen Screen Screen 1 colored markings according to EN 61918 in the four pin...

Страница 34: ...isplay Meaning IN L A off no connection to the preceding EtherCAT module Lit LINK connection to the preceding EtherCAT module flashing ACT Communication with the preceding EtherCAT module OUT L A off...

Страница 35: ...C 2 Auxiliary voltage Up 24 VDC 3 GNDs may be connected internally to each other depending on the module see specific module descriptions 4 GNDp The pins M8 connectors carry a maximum current of 4 A T...

Страница 36: ...lity of the inputs are retained Redirection of the supply voltages The IN and OUT power connections are bridged in the module not IP204x Bxxx and IE204x The supply voltages Us and Up can thus easily b...

Страница 37: ...th included power supply the usage of four cannel power distribution modules EP9214 or EP9224 with integrated data logging see www beckhoff com EP9224 is recommended With these modules intelligent pow...

Страница 38: ...is then available to the sensors e g smoothed 10 V for measuring potentiometers Details of the power supply may be taken from the specific module descriptions Attention Electrical isolation may be ca...

Страница 39: ...er available power cables and the associated data sheets can be found in the Beckhoff catalogue or on our website http www beckhoff de Technical Data Data Rated voltage according to IEC61076 2 101 30...

Страница 40: ...mple 8 m power cable with 0 34 mm cross section has a voltage drop of 3 2 V at 4 A Note EP92x4 Power Distribution Modules With EP9214 and EP9224 Power Distribution Modules intelligent concepts for vol...

Страница 41: ...e the binary control signals from the process level and transmit them to the higher level automation device The signals are connected via M12 connectors Fig 30 Digital inputs M12 The sensors are suppl...

Страница 42: ...corresponding signal in the input process image The signals are connected via M12 connectors Fig 31 Digital inputs outputs M12 The outputs are short circuit proof and protected against inverse connec...

Страница 43: ...LEDs Fig 34 Status LEDs Status LEDs at the M12 connections Connection LED Display Meaning M12 socket analog inputs PWMi left off No data transfer to the D A converter green Data transfer to the D A co...

Страница 44: ...m 4 Amp or by a 24 VDC power source that has to satisfy NEC class 2 A NEC class 2 power supply shall not be connected in series or parallel with another class 2 power source CAUTION CAUTION To meet th...

Страница 45: ...ng appending 45 of fieldbus devices couplers and slaves Automatic scanning in of the box The EtherCAT system must be in a safe de energized state before the EtherCAT modules are connected to the Ether...

Страница 46: ...37 Appending a new I O device I O Devices right click Append Device Fig 38 Selecting the device EtherCAT Append a new box Fig 39 Appending a new box Device right click Append Box In the dialog that ap...

Страница 47: ...Commissioning and Configuration EP8309 1022 47 Version 2 0 0 Fig 40 Selecting a Box e g EP2816 0008 Fig 41 Appended Box in the TwinCAT tree...

Страница 48: ...be configured In the right hand window of the TwinCAT System manager various tabs are now available for configuring the EtherCAT Box General tab Fig 43 General tab Name Name of the EtherCAT device Id...

Страница 49: ...by the EtherCAT master during the start up phase Tick the checkbox 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...

Страница 50: ...anager type are listed here If the output Sync Manager outputs is selected in the Sync Manager list all RxPDOs are displayed If the input Sync Manager inputs is selected in the Sync Manager list all T...

Страница 51: ...not take part in the process data traffic SU Sync unit to which this PDO is assigned PDO Content Indicates the content of the PDO If flag F fixed content of the PDO is not set the content can be modif...

Страница 52: ...to be 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 butt...

Страница 53: ...RO The 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 but...

Страница 54: ...objects included in the object directory 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...

Страница 55: ...ts the error flag The current state is now displayed as ERR PREOP When the Clear Error button is pressed the error flag is cleared and the current state is displayed as PREOP again Current State Indic...

Страница 56: ...argets or high velocity with few targets can be achieved Mode selection via the PDOs The different modes are activated via the PDO assignment Single shaft mode The input PDO 0x1A02 activates the corre...

Страница 57: ...2 0 0 Display of the rotational speed Fig 51 Tacho evaluation display of the rotational speed Dual Shaft Mode The input PDOs 0x1A03 and 0x1A04 activate the two dual shaft process data The output data...

Страница 58: ...tion The following settings apply to all channels CoE Value Description 80xx 12 Input Signal Timeout The process record Speed Below Threshold is set after x msec without signal change at the input The...

Страница 59: ...rectly via a PWM signal The valve requires no control electronics In analog mode a current value of 0 20 mA or 4 20 mA is output via which the control electronics integrated in the valve controls the...

Страница 60: ...ximum inductance current is not exceeded If an EP8309 with 1 2 A rated current and an inductance with a maximum current of 600 mA is used this parameter can be set to 50 50 This means that at a maximu...

Страница 61: ...1 Version 2 0 0 Fig 56 Info data objects activation of the synchronous info data Objects 0x8060 21 80 and 0x8060 22 80 can be used to set the value to be transferred synchronously Fig 57 Info data obj...

Страница 62: ...ee parameterization options are available for this purpose Watchdog object 0x8060 05 83 Behavior 0 Default watchdog value The substitute switching value 0x8060 0D 83 is output on error 1 Watchdog ramp...

Страница 63: ...l load To determine the settings a current pulse is applied to the load This pulse can be picked up with an oscilloscope or with TwinCAT ScopeView For evaluation with TwinCAT ScopeView the set and act...

Страница 64: ...g 60 Enable dithering The following parameters can be set Value Text Description 0x8060 1E 83 Dithering frequency Hz Frequency of the applied dither in Hz 0x8060 1F 83 Dithering amplitude Amplitude of...

Страница 65: ...div Green Set current Red Actual current 5 6 Range settings for inputs and outputs CoE Online tab The CoE Online tab lists the contents of the slave object directory of the slave SDO upload and enable...

Страница 66: ...process data settings device name calibration values for analog measurement or passwords Organization takes place on 2 levels by means of hexadecimal numbering the main index is named first then the...

Страница 67: ...tting parameters of the slave are configurable and writeable This can be done in write or read mode via the System Manager figure above by clicking This is useful for commissioning of the system slave...

Страница 68: ...value is to be stored permanently enter it in the Startup list The order of the Startup entries is usually irrelevant Fig 64 Startup list in the TwinCAT System Manager The Startup list may already con...

Страница 69: ...online the actual current slave directory 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...

Страница 70: ...tion 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 ch...

Страница 71: ...0000000 0dec 10F0 85 0 Subindex Backup parameter handling RO 0x01 1dec 10F0 01 Checksum RO 0x00000000 0dec 1402 86 0 Subindex PWM RxPDO Par Control RO 0x06 6dec 1402 06 Exclude RxPDOs RO 03 16 1403 86...

Страница 72: ...A00 08 SubIndex 008 RO 0x6000 0F 1 1A00 09 SubIndex 009 RO 0x6000 10 1 1A00 0A SubIndex 010 RO 0x6000 11 16 1A01 88 0 Subindex AI TxPDO Map Inputs Ch 2 RO 0x0A 10dec 1A01 01 SubIndex 001 RO 0x6010 01...

Страница 73: ...ndex 008 RO 0x6030 10 1 1A04 09 SubIndex 009 RO 0x6030 11 16 1A05 89 0 Subindex DI TxPDO Map Inputs RO 0x07 7dec 1A05 01 SubIndex 001 RO 0x6040 01 1 1A05 02 SubIndex 002 RO 0x6040 02 1 1A05 03 SubInde...

Страница 74: ...7 49159dec 1C32 05 Minimum cycle time RO 0x0007A120 500000dec 1C32 06 Calc and copy time RO 0x00000000 0dec 1C32 07 Minimum delay time RO 0x00000000 0dec 1C32 08 Command RW 0x0000 0dec 1C32 09 Maximum...

Страница 75: ...tal input RO 0x00 0dec 6020 0C Speed Below Threshold RO 0x00 0dec 6020 10 TxPDO Toggle RO 0x00 0dec 6020 11 Rotational Speed RO 0x0000 0dec 6030 94 0 Subindex TACHO Dual Shaft Mode Input Ch 2 RO 0x11...

Страница 76: ...Subindex PWM Outputs RO 0x11 17dec 7060 01 Enable dithering RO 0x00 0dec 7060 06 Enable RO 0x00 0dec 7060 07 Reset RO 0x00 0dec 7060 11 PWM output RO 0x0000 0dec 7070 96 0 Subindex AO Outputs RO 0x11...

Страница 77: ...ttings RW 0x0000 0dec 8010 17 User calibration offset RW 0x0000 0dec 8010 18 User calibration gain RW 0x4000 16384dec 801E 96 0 Subindex AI Internal Data Ch 2 RO 0x01 1dec 801E 01 ADC raw value RO 0x0...

Страница 78: ...070 02 Presentation RW 0x00 0dec 8070 05 Watchdog RW 0x00 0dec 8070 07 Enable user calibration RW 0x00 0dec 8070 08 Enable vendor calibration RW 0x01 1dec 8070 11 User scale offset RW 0x0000 0dec 8070...

Страница 79: ...Key Flags RO Read Only this object can be read only RW Read Write this object can be read and written to 5 7 3 Object description and parameterization Note Parameterization The terminal is parameteriz...

Страница 80: ...B Enable vendor cali bration 1 Enabling of the vendor calibration BOOLEAN RW 0x01 1dec 8000 11 User scale offset User scale offset INT16 RW 0x0000 0dec 8000 12 User scale gain User scale gain The gain...

Страница 81: ...he status bits INT16 RW 0x0000 0dec 8010 15 Filter settings This object determines the digital filter settings for all channels of the module if it is activated via Enable filter index 0x80n0 06 80 Th...

Страница 82: ...State Value if communication is can celed BOOLEAN RW TRUE 8040 08 X7 Pin2 Activation of Safe State Value if communication is can celed BOOLEAN RW TRUE Index 8041 DIG Safe State Value Index hex Name M...

Страница 83: ...own to the default value The value is specified in digits ms If the entry is 100 and the default value 0 for example it takes 327 ms 32767 100 for the output value to change from the maximum value 327...

Страница 84: ...70 08 Enable vendor cali bration Enable vendor calibration BOOLEAN RW 0x01 1dec 8070 11 User scale offset This is the user scaling offset INT16 RW 0x0000 0dec 8070 12 User scale gain This is the user...

Страница 85: ...UINT8 RO 0x01 1dec 1011 01 SubIndex 001 If this object is set to 0x64616F6C in the set value dia log all backup objects are reset to their delivery state UINT32 RW 0x00000000 0dec Index 1018 Identity...

Страница 86: ...bIndex 001 1 PDO Mapping entry object 0x7030 PWM Outputs Ch 2 entry 0x01 Enable dithering UINT32 RO 0x7050 01 1 1601 02 SubIndex 002 2 PDO Mapping entry 4 bits align UINT32 RO 0x7050 02 1 1601 03 SubI...

Страница 87: ...0x06 6dec 1804 06 Exclude TxPDOs Specifies the TxPDOs index of TxPDO mapping objects that must not be transferred together with TxPDO 5 OCTET STRING 4 RO 02 1A 00 00 Index 1A00 AI TxPDO Map Inputs Ch...

Страница 88: ...ACHO TxPDO Map Single Shaft Mode In put Ch 1 PDO Mapping TxPDO 3 UINT8 RO 0x0C 12dec 1A02 01 SubIndex 001 1 PDO Mapping entry object 0x6010 AI Inputs Ch 2 entry 0x01 Underrange UINT32 RO 0x0000 00 1 1...

Страница 89: ...O 0x6030 01 1 1A04 02 SubIndex 002 2 PDO Mapping entry 3 bits align UINT32 RO 0x0000 00 2 1A04 03 SubIndex 003 3 PDO Mapping entry object 0x6020 PWM Inputs Ch 1 entry 0x05 Ready to enable UINT32 RO 0x...

Страница 90: ...efault 1A07 0 PWM TxPDO Map Synchronous Info Data PDO Mapping TxPDO 8 UINT8 RO 0x02 2dec 1A07 01 SubIndex 001 1 PDO Mapping entry object 0x6060 PWM Inputs en try 0x01 Digital input 1 UINT32 RO 0x6060...

Страница 91: ...1 6657dec 1C13 03 Subindex 003 3rd allocated TxPDO contains the index of the associ ated TxPDO mapping object UINT16 RW 0x1A02 6658dec 1C13 04 Subindex 004 4th allocated TxPDO contains the index of th...

Страница 92: ...inimum cycle time in ns UINT32 RO 0x0007A120 500000dec 1C32 06 Calc and copy time Minimum time between SYNC0 and SYNC1 event in ns DC mode only UINT32 RO 0x00000000 0dec 1C32 07 Minimum delay time UIN...

Страница 93: ...th 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 availabl...

Страница 94: ...rrange Underrange event active BOOLEAN RO 0x00 0dec 6010 02 Overrange Overrange event active BOOLEAN RO 0x00 0dec 6010 03 Limit 1 Bit0 Value greater than Limit1 Bit1 Value smaller than Limit1 BIT2 RO...

Страница 95: ...x 6060 PWM Inputs Index hex Name Meaning Data type Flags Default 6060 0 PWM Inputs UINT8 RO 0x12 18dec 6060 05 Ready to enable BOOLEAN RO 0x00 0dec 6060 06 Warning BOOLEAN RO 0x00 0dec 6060 07 Error B...

Страница 96: ...01 R0 Offset INT16 RW 0x0000 0dec 800F 02 R0 Gain INT16 RW 0x4000 16384dec 800F 03 R1 Offset INT16 RW 0x0000 0dec 800F 04 R1 Gain INT16 RW 0x4000 16384dec 800F 05 R2 Offset INT16 RW 0x0000 0dec 800F 0...

Страница 97: ...ags Default A060 0 PWM Diag data UINT8 RO 0x06 6dec A060 02 Overtemperature BOOLEAN RO 0x00 0dec A060 06 Short circuit BOOLEAN RO 0x00 0dec Index F000 Modular Device Profile Index hex Name Meaning Dat...

Страница 98: ...tus UINT8 RO 0x00 0dec FB00 03 Response OCTET STRING 4 RO 0 5 8 Restoring the delivery state The CoE object Restore default parameters Subindex 001 can be selected in the TwinCAT System Manager Config...

Страница 99: ...ng a restore value in the Set Value dialog Note Alternative restore value With some older modules the backup objects can be changed with an alternative restore value Decimal value 1819238756 Hexadecim...

Страница 100: ...lly Errors may result in the output stage being switched off PWMi and have to be acknowledged in the control word 0x7050 07 Reset Error warning for the PWM stage Index hex Warning Meaning A050 02 Over...

Страница 101: ...ous parts with a wire Dust tight No intrusion of dust 2 Number water pro tection Definition 0 Non protected 1 Protected against water drops 2 Protected against water drops when enclosure tilted up to...

Страница 102: ...isms for programming all 3 parts with new data if the slave is 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 t...

Страница 103: ...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...

Страница 104: ...s Fig 72 Configuration is identical otherwise a change dialog appears for entering the actual data in the configuration Fig 73 Change dialog In this example in Fig Change dialog an EL3201 0000 0017 wa...

Страница 105: ...ted 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 75 Selecting the new ESI A progress bar in the Sy...

Страница 106: ...cess 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 Note CoE Online and Offli...

Страница 107: ...line CoE 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...

Страница 108: ...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 i...

Страница 109: ...yed right click the table header and select Properties in the context menu Fig 79 Context menu Properties The Advanced Settings dialog appears where the columns to be displayed can be selected Under D...

Страница 110: ...he 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 o...

Страница 111: ...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 appe...

Страница 112: ...age 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 Et...

Страница 113: ...ing labels on request Tools Ordering information Description ZB8800 torque wrench for M8 cables with knurl incl ratchet ZB8800 0001 M12 ratchet for torque wrench ZB8800 ZB8800 0002 M8 ratchet field as...

Страница 114: ...omponents there Beckhoff Headquarters Beckhoff Automation GmbH Co KG Huelshorstweg 20 33415 Verl Germany Phone 49 0 5246 963 0 Fax 49 0 5246 963 198 e mail info beckhoff com Beckhoff Support Support o...

Страница 115: ...e socket wrench 31 Fig 20 EtherCAT Box M8 30 mm housing 32 Fig 21 EtherCAT Box M8 60 mm housing EP9214 for example 32 Fig 22 Coupler Box M12 33 Fig 23 EtherCAT LEDs 34 Fig 24 EtherCAT Box Connectors f...

Страница 116: ...line tab 65 Fig 62 Changing the settings 66 Fig 63 CoE Online tab 67 Fig 64 Startup list in the TwinCAT System Manager 68 Fig 65 Offline list 69 Fig 66 Online list 69 Fig 67 Selecting the PDO restore...

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