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Parameterization and commissioning

EL6752

Version: 2.1

6.7

EtherCAT description

6.7.1

Introduction

The DeviceNet functionality and configuration options can be changed and parameterized depending on the
different EtherCAT states.

EtherCAT states

The EtherCAT states (INIT, PREOP, SAFEOP, OP) have the following meaning according to the fieldbus-
specific functions:

EtherCAT state

Meaning

INIT

Fieldbus not running

PREOP

Load fieldbus configuration

SAFEOP

Fieldbus cyclic operation, safe state. Inputs are read, outputs are not written

Fieldbus cyclic operation. Inputs are read, outputs are written

The procedure and the configuration options are described below

6.7.1.1

EL6752 DeviceNet master configuration

The DeviceNet master and the associated DeviceNet slaves are configured in EtherCAT state PREOP. The
DeviceNet master parameters are written via the EtherCAT object 0xF800, the slave parameters are written
via the EtherCAT objects from

0x80n0 [

}

71]

, see section EtherCAT Object Description.

The EtherCAT states are mapped to DeviceNet as follows:

Fig. 65: EtherCAT states in mapping on EL6752-0000

Содержание EtherCAT EL6752

Страница 1: ...Documentation EL6752 Master Slave Terminal for DeviceNet 2 1 2018 12 11 Version Date...

Страница 2: ......

Страница 3: ...Tap 21 4 5 5 CAN cable 22 4 5 6 Shielding 22 4 5 7 Cable colours and pin assignment 23 4 6 Installation positions 23 4 7 Positioning of passive Terminals 26 4 8 ATEX Special conditions standard temper...

Страница 4: ...viceNet slave device CouplerState 89 7 4 EL6752 0010 ADS Error Codes 90 7 5 DeviceNet CAN Trouble Shooting 94 8 Appendix 97 8 1 UL notice 97 8 2 EtherCAT AL Status Codes 98 8 3 Firmware compatibility...

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

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: ...ication of EtherCAT devices Designation A Beckhoff EtherCAT device has a 14 digit designation made up of family key type version revision Example Family Type Version Revision EL3314 0000 0016 EL termi...

Страница 8: ...device or on a sticker The serial number indicates the configuration in delivery state and therefore refers to a whole production batch without distinguishing the individual modules of a batch Struct...

Страница 9: ...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 standard IP20 IO device with serial batch number Fig 3...

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 EL6752 11 Version 2 1 Fig 8 ELM3604 0002 terminal with unique ID number QR code 100001051 and serial batch number 44160201...

Страница 12: ...rminal enables the integration of any DeviceNet devices The EL6752 is optionally available in a master or slave version and has a powerful protocol implementation with many features All I O modes of t...

Страница 13: ...rical isolation 500 V E bus CANopen Configuration with TwinCAT System Manager Weight approx 70 g Permissible ambient temperature range during operation 25 C 60 C extended temperature range 0 C 55 C ac...

Страница 14: ...devices which conform to the specification can operate together in one system regardless of their manufacturer CAN s bit arbitration procedure makes it theoretically possible to operate communication...

Страница 15: ...on class and ESD protection Fig 12 Spring contacts of the Beckhoff I O components 4 2 Recommended mounting rails Terminal Modules und EtherCAT Modules of KMxxxx and EMxxxx series same as the terminals...

Страница 16: ...tate before starting installation disassembly or wiring of the Bus Terminals Mounting Fit the mounting rail to the planned assembly location and press 1 the terminal module against the mounting rail u...

Страница 17: ...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 4 Mounting and demounting terminals with...

Страница 18: ...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 19: ...s are connected in parallel i e using short drop lines Fig DeviceNet Topology The bus must be terminated at each end with a 120 or 121 Ohm terminating resistor to prevent reflections This is also nece...

Страница 20: ...nce with the baud rate Baud rate Bus length 500 kbit s 100 m 250 kbit s 250 m 125 kbit s 500 m 4 5 3 Drop lines Drop lines must always be avoided as far as possible since they inevitably cause reflect...

Страница 21: ...hoff ZS5052 4500 Distributor Box The following table indicates the maximum drop line lengths and the maximum length of the trunk line without the drop lines Guide values The following values are recom...

Страница 22: ...aracteristic impedance 1 MHz 126 ohm Conductor resistance 54 Ohm km sheath grey PVC outside diameter 7 3 mm printed with InterlinkBT DeviceNet Type 572 as well as UL and CSA ratings stranded wire colo...

Страница 23: ...s regarding the installa tion position and or the operating temperature range have been specified When installing high power dissi pation terminals ensure that an adequate spacing is maintained betwee...

Страница 24: ...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...

Страница 25: ...Mounting and cabling EL6752 25 Version 2 1 Fig 19 Other installation positions...

Страница 26: ...not take an active part in data transfer within the bus terminal block are so called passive terminals The passive terminals have no current consump tion out of the E Bus To ensure an optimal data tr...

Страница 27: ...inst the rated operating voltage being exceeded by more than 40 due to short term interference voltages The individual terminals may only be unplugged or removed from the Bus Terminal system if the su...

Страница 28: ...ly standardised EN50325 and is based on CAN Controller Area Network DeviceNet supports a number of communication types for the input and output data Polling The master module scanner sends the output...

Страница 29: ...present generation of drivers allows up to 64 nodes in one network segment The maximum possible size of the network for any particular data rate is limited by the signal propagation delay required on...

Страница 30: ...tAttributeData 0 READ ADSReadCommand TMOUT T 5s BUSY ADSReadBusy ERR ADSReadErr ERRID ADSReadErrID COMMON SERVICE via ADSReadWrite Data Transfer IDXGRP Index GroupNumber Object Class IDXOFFS Index Off...

Страница 31: ...2 31 Version 2 1 IDXOFFS IOff_ADSWrite LEN ADSWriteLen SRCADDR ADR SetAttributeWriteData 0 WRITE ADSWriteCommand TMOUT T 5s BUSY ADSWriteBusy ERR ADSWriteErr ERRID ADSWriteErrID Fig 24 Using ADS NetID...

Страница 32: ...index followed by subindex The value ranges are Index 0x0000 0xFFFF 0 65535dez SubIndex 0x00 0xFF 0 255dez A parameter localized in this way is normally written as 0x8010 07 with preceding x to ident...

Страница 33: ...parameters 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 0...

Страница 34: ...value is to be stored permanently enter it in the Startup list The order of the Startup entries is usually irrelevant Fig 26 Startup list in the TwinCAT System Manager The Startup list may already co...

Страница 35: ...online 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 acco...

Страница 36: ...the device and settings e g in OFF state The EtherCAT slave controller ESC in the EL2xxx terminals features 2 watchdogs SM watchdog default 100 ms PDI watchdog default 100 ms SM watchdog SyncManager W...

Страница 37: ...ted If the checkbox is not activated nothing is downloaded and the ESC settings remain unchanged Multiplier Multiplier Both watchdogs receive their pulses from the local terminal cycle divided by the...

Страница 38: ...n for switching off of the SM watchdog via SM watchdog 0 is only implemented in terminals from version 0016 In previous versions this operating mode should not be used CAUTION Damage of devices and un...

Страница 39: ...e Operational 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 set...

Страница 40: ...Boot state the slave firmware can be updated The Boot state can only be reached via the Init state In the Boot state mailbox communication via the file access over EtherCAT FoE protocol is possible b...

Страница 41: ...projects Script interface ADS script DLL for e g VBScript JScript etc System Manager Features Bit wise association of server process images and I O channels Standard data formats such as arrays and st...

Страница 42: ...on the Device EL6752 in the TwinCAT tree and then on the EL6752 tab Fig 33 EL6752 tab EtherCAT Terminal ID in the terminal network MAC ID Each DeviceNet device master included requires a unique stati...

Страница 43: ...g of the watchdog Search This function searches for all existing channels of the EL6752 and the desired one can be selected Check configuration In preparation Firmware Shows the current firmware versi...

Страница 44: ...tree structure right click on I O Devices and Append device to open the selection list of supported fieldbus cards Select EL6752 0010 CANopenSlave TwinCAT searches for the terminal and displays the m...

Страница 45: ...ing the I O device for the EL6752 0010 in the tree structure opens a dialog with various configuration options EL6752 0010 tab Fig 38 EL6752 0010 tab EtherCAT Terminal ID in the terminal network MAC I...

Страница 46: ...s Firmware Displays the current EL6752 0010 firmware version Firmware Update Updates the EL6752 0010 firmware Attention The TwinCAT System must be stopped for this function ADS tab Fig 39 ADS tab The...

Страница 47: ...of State 0 255 0 255 Cyclic 0 255 0 255 Bit strobe 1 bit 0 8 Polling Change of State COS Cyclic The cyclic polling mode is characterized by cyclic polling of the IO data by the master The change of st...

Страница 48: ...ing to needs and the application further input or output data can be appended by right clicking Fig Adding further variables Any data type can be selected Fig 42 Adding further variables The data leng...

Страница 49: ...e indicated input and output data lengths must be configured for the corresponding DeviceNet master Bit strobe The IO mode bit strobe involves an 8 byte command from the master to the slaves For each...

Страница 50: ...of output parameters in the TwinCAT tree for connection type Bit strobe Maximum output data length The maximum output data length is 8 bytes The input data length is fixed Since the communication set...

Страница 51: ...us Coupler BK5250 Compact Bus Coupler BC5250 Compact Bus Terminal Controller with 48 kbyte program memory BX5200 BX Bus Terminal Controller with 256 kbyte program memory IPxxxx B520 Fieldbus compact b...

Страница 52: ...robed IO connections You can choose between digital data or diagnostic data Change of State Cyclic Produced Consumed Setting of the data content of the data transmitted via the change of state cyclica...

Страница 53: ...startup attributes are sent to the slave before the cyclic data exchange The messages are sent before the actual IO data traffic Use the New or Edit button for configuration Fig 47 Edit an attribute e...

Страница 54: ...DeviceNet Communication under Explicit Messages DeviceNet objects can be accessed via Online Access To this end the DeviceNet specific information such as Class Instance Attributes has to be entered R...

Страница 55: ...eters read from the EDS file are shown under the Parameters tab Parameters can be read written and entered in the list of the startup parameters Diag tab Fig 50 Diag tab The Diag tab indicates the sta...

Страница 56: ...Net device with EDS file If an EDS file is available for the DeviceNet to be integrated it must be copied into the TwinCAT IO DeviceNet directory Subsequently the device appears under the Append Box s...

Страница 57: ...r with or without Parameters tab The IO mode and the corresponding data lengths are specified in the EDS file 6 6 2 Integrating a DeviceNet device without EDS file A DeviceNet device without EDS file...

Страница 58: ...of State 0 255 0 255 Cyclic 0 255 0 255 Bit strobe 1 bit 0 8 Total of all IO data max xxx bytes max xxx bytes polling change of state COS cyclic The cyclic polling mode is characterized by cyclic poll...

Страница 59: ...h is converted to a byte stream according to the DeviceNet specification and displayed in the tab for the corresponding connection Fig 57 Connection tab showing connection type Polling and input and o...

Страница 60: ...ngly Any data type can be selected see polling COS cyclic The data length is converted to a byte stream according to the DeviceNet specification and displayed in the tab for the bit strobe connection...

Страница 61: ...at the system StartUp The electronic key is read from the devices at every system StartUp and compared with the saved configuration Polled Produced Consumed Activation of the Polling mode cyclic writ...

Страница 62: ...e cycle time with which the IO data are sent Inhibit Time Delay time in Change of State mode after a change of state IO data are sent after the specified time at the earliest Acknowledge Timeout Time...

Страница 63: ...d A detailed description of explicit messages can be found in section DeviceNet Communication under Explicit Messages DeviceNet objects can be accessed via Online Access To this end the DeviceNet spec...

Страница 64: ...arameter tab The parameters read from the EDS file are shown under the Parameters tab Parameters can be read written and entered in the list of the startup parameters Diag tab Fig 64 Diag tab The Diag...

Страница 65: ...FEOP Fieldbus cyclic operation safe state Inputs are read outputs are not written OP Fieldbus cyclic operation Inputs are read outputs are written The procedure and the configuration options are descr...

Страница 66: ...e DeviceNet master switches to RUN mode Loading a new configuration A new DeviceNet configuration can only be loaded through an EtherCAT state transition to IDLE or PREOP The DeviceNet master paramete...

Страница 67: ...an EtherCAT state transition to IDLE or PREOP The DeviceNet slave parameters and DeviceNet slave configuration data then have to be written again 6 7 1 3 EL6752 0010 Changing the DeviceNet address and...

Страница 68: ...a 3C MACId 60dec and 01 baud rate 500k Reset Once the MAC ID and the baud rate have been set using the ADS command the terminal stores the information persistently Once these data have been written th...

Страница 69: ...y the slave terminal after successfully setting the MACId and baud rate using ADS ADS command reset IDXGRP 0x1F480 Index Offset 0x00 LEN 6 DATA 0 0 DATA 1 0 DATA 2 0 DATA 3 0 DATA 4 0 DATA 5 0 Ams Net...

Страница 70: ...ameterized via the CoE Online tab double click on the respective ob ject or via the Process Data tab allocation of PDOs Please note the following general CoE notes 32 when using manipulating the CoE p...

Страница 71: ...d dress Reserved for AMS via DeviceNet OCTET STRING 6 RW 0 8000 n 16 20 Allocation Choice DeviceNet mode selection see DeviceNet specification Bit 0 reserved 0 Bit1 Polled Bit2 Bit Strobed Bit3 reserv...

Страница 72: ...30 Produced data type COS cyclic reserved UINT16 RW 0x0000 0dec 8000 n 16 31 Consumed data type poll reserved UINT16 RW 0x0000 0dec 8000 n 16 32 Consumed data type Bit strobe reserved UINT16 RW 0x0000...

Страница 73: ...0xF100 10 1 1A85 04 SubIndex 004 4 PDO Mapping entry object 0xF101 Network status entry 0x01 Device status UINT32 RW 0xF101 01 8 1A85 05 SubIndex 005 5 PDO Mapping entry object 0xF101 Network status...

Страница 74: ...Name Meaning Data type Flags Default 6000 n 16 0 Poll Produced Data Output data of the polling connection UINT8 RO 0x01 1dec 6000 n 16 01 6000 n 16 01 Index 6001 603F COS Produced Data Index hex Name...

Страница 75: ...Name Meaning Data type Flags Default F100 0 DeviceNet status DeviceNet status of the EL6752 UINT8 RO 0x10 16dec F100 01 Number of Slaves not in Run Number of DeviceNet slaves that are not in the RUN...

Страница 76: ...0x0100 256dec 6 7 2 2 DeviceNet Slave EL6752 0010 EtherCAT XML Device Description The display matches that of the CoE objects from the EtherCAT XML Device Description We rec ommend downloading the lat...

Страница 77: ...et OCTET STRING 2 RW 0 8000 20 Allocation Choice DeviceNet mode selection see DeviceNet specification Bit 0 reserved 0 Bit 1 Polled Bit 2 Bit Strobed Bit 3 reserved 0 Bit 4 Change of State Bit 5 Cycli...

Страница 78: ...f the EtherCAT slave STRING RO 00 Index 1018 Identity Index hex Name Meaning Data type Flags Default 1018 0 Identity Information for identifying the slave UINT8 RO 0x04 4dec 1018 01 Vendor ID Vendor I...

Страница 79: ...dex hex Name Meaning Data type Flags Default 1C00 0 Sync manager type Using the sync managers UINT8 RO 0x04 4dec 1C00 01 SubIndex 001 Sync Manager Type Channel 1 Mailbox Write UINT8 RO 0x01 1dec 1C00...

Страница 80: ...x02 2dec F000 01 Module index dis tance Index distance of the objects of the individual channels UINT16 RO 0x0010 16dec F000 02 Maximum number of modules Number of channels UINT16 RO 0x0001 1dec Index...

Страница 81: ...0 UINT16 RO 0x0000 0dez Index F800 bus parameter set Index hex Name Meaning Data type Flags Default F800 0 Bus Parameter set Max Subindex UINT8 RW 0x08 8dec F800 01 MAC ID Device address of the Device...

Страница 82: ...P function for mailbox communication and different standard settings set Single flash State of the EtherCAT State Machine SAFEOP verification of the sync manager channels and the distributed clocks Ou...

Страница 83: ...EtherCAT State Machine SAFEOP verification of the sync manager channels and the distributed clocks Outputs remain in safe state on State of the EtherCAT State Machine OP normal operating state mailbox...

Страница 84: ...toring the following process data Error if 0 the indicated number of DeviceNet devices has a BoxState not equal zero i e check which DeviceNet devices are not operating correctly in the bus DiagFlag i...

Страница 85: ...___2 Slave in PREOP state 0x___3 Slave in BOOT state 0x___4 Slave in SAFEOP state 0x___8 Slave in OP state 0x001_ Slave signals error 0x002_ Invalid vendorId productCode read 0x004_ Initialization err...

Страница 86: ...describe the DeviceNet communication state and can be linked in the PLC We recommend monitoring the following process data during each cycle MacState if 0 this DeviceNet device is not participating co...

Страница 87: ...exists 18 Station ready 40 Heartbeat Message not received 41 Shutdown Message received 42 Electronic Key Fault Vendor Id 43 Electronic Key Fault Device Type 44 Electronic Key Fault Product Code 45 El...

Страница 88: ...vice EL6752 0010 DiagFlag The DiagFlag indicates pending diagnostic data Pending diagnostic data can be read via an AdsRead command Fig 75 DiagFlag in the TwinCAT tree DiagFlag 0 no diagnostic data ar...

Страница 89: ...devices from the IPxxxx B520 IP Box family and the IP Link family Fig 76 CouplerState in the TwinCAT tree CouplerState 0x00 I O Run 0x01 I O Error KBus IO or Terminal Error 0x80 I O idle mode fieldbu...

Страница 90: ...taTransfer 0x110A Incorrect AdsState in STOP state 0x110B Device cannot change from RUN to INIT 0x110C Incorrect data length at StopDataTransfer 0x110D Incorrect DeviceState at StopDataTransfer 0x1110...

Страница 91: ...CDL no is too large 0x1202 DeleteCdl only possible when CDL is stopped 0x1203 DeleteCdl not possible as no CDL defined 0x1204 Cycle could not be completed within the internal watchdog time 0x1301 AddC...

Страница 92: ...ox Insufficient memory for CDL telegram 0x1606 AddBox Number of CDL telegrams is too large 0x1607 BoxRestart Box is not stopped 0x1608 BoxRestart AdsWriteControl syntax error 0x1609 BoxRestart Incorre...

Страница 93: ...o large 0x1807 StartFieldbus Cycle times shorter than 1 ms must be integral divisors of 1 ms 0x1A01 Memory could not be allocated from the huge heap because it is larger than 0x8000 bytes 0x1A02 Memor...

Страница 94: ...first to reach a critical level MAC ID baud rate setting Duplicate allocation of node addresses MAC IDs must be avoided Test 1 Check MAC ID If the DeviceNet communication works at least temporarily a...

Страница 95: ...ngth in CAN networks depends heavily on the selected baud rate CAN will tolerate short drop lines although this again depends on the baud rate The maximum permitted drop line length should not be exce...

Страница 96: ...oach rule is the best localisation method disconnect parts of the network and observe when the fault disappears But the approach based on this method is inadequate in the event of problems such as exc...

Страница 97: ...fication according to UL508 with limited power consumption The current consumed by the de vice is limited to a max possible current consumption of 4 A Devices with this kind of certification are marke...

Страница 98: ...device is placed in BOOTSTRAP mode for a firmware update it does not check when downloading whether the new firmware is suitable This can result in damage to the device Therefore always make sure that...

Страница 99: ...his purpose Generally the slave does not check whether the new data are suitable i e it may no longer be able to operate if the data are unsuitable Simplified update by bundle firmware The update usin...

Страница 100: ...vision 0016 The configured identifier must be compatible with the actual device description used as hardware i e the description which the slave has loaded on start up in this case EL3204 Normally the...

Страница 101: ...uration is identical otherwise a change dialog appears for entering the actual data in the configuration Fig 81 Change dialog In this example in Fig Change dialog an EL3201 0000 0017 was found while a...

Страница 102: ...d 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 83 Selecting the new ESI A progress bar in the Syst...

Страница 103: ...terminal 2 EL3204 and select the tab CoE Online CAN over EtherCAT CoE Online and Offline CoE Two CoE directories are available online This is offered in the EtherCAT slave by the controller if the Et...

Страница 104: ...ring a firmware update Switch to the Online tab to update the controller firmware of a slave see Fig Firmware Update Fig 85 Firmware Update Proceed as follows unless instructed otherwise by Beckhoff s...

Страница 105: ...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 106: ...right click the table header and select Properties in the context menu Fig 87 Context menu Properties The Advanced Settings dialog appears where the columns to be displayed can be selected Under Diag...

Страница 107: ...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 108: ...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 109: ...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 110: ...address not to be confused with the node address CANopen uses the 11 bit identifier according to CAN 2 0A CoE CANopen over EtherCAT ESC EtherCAT Slave Controller FBM Fieldbus master MC Motion Control...

Страница 111: ...nents 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 offer...

Страница 112: ...onents 15 Fig 13 DeviceNet topology 19 Fig 14 Low interference through difference levels 20 Fig 15 Drop line topology 20 Fig 16 DeviceNet cable configuration 22 Fig 17 Pin assignment top view EL6752 2...

Страница 113: ...ig 62 ADS tab 63 Fig 63 Parameter tab 64 Fig 64 Diag tab 64 Fig 65 EtherCAT states in mapping on EL6752 0000 65 Fig 66 EtherCAT states in mapping on EL6752 0010 66 Fig 67 ADS command with the data 3C...

Страница 114: ...Table of figures EL6752 114 Version 2 1 Fig 87 Context menu Properties 106 Fig 88 Dialog Advanced Settings 107 Fig 89 Multiple selection and firmware update 109...

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