ation 2 Channel Analog Input Terminal for Condition Monitoring (IEPE)
EL3632 EL3632 ation 2 Channel Analog Input Terminal for Condition Monitoring (IEPE) EL3632en Ver2.9 version:2.9 lang:en-US signtarget: archivetarget:
EL3632, EL3632, ation, 2, Channel, Analog, Input, Terminal, for, Condition, Monitoring, (IEPE), EL3632en Ver2.9, version:2.9, lang:en-US, signtarget:, archivetarget:
Beckhoff Automation GmbH & Co. KG
IEPE - Directory contents of /download/ - Beckhoff
EL3632en Documentation | EN
EL3632
2 Channel Analog Input Terminal for Condition Monitoring (IEPE)
2021-03-05 | Version: 2.9
Table of contents
Table of contents
1 Foreword .................................................................................................................................................... 5 1.1 Notes on the documentation.............................................................................................................. 5 1.2 Safety instructions ............................................................................................................................. 6 1.3 Documentation issue status .............................................................................................................. 7 1.4 Version identification of EtherCAT devices ....................................................................................... 9 1.4.1 Beckhoff Identification Code (BIC)................................................................................... 13
2 Product overview..................................................................................................................................... 15 2.1 Introduction ...................................................................................................................................... 15 2.2 Technical data ................................................................................................................................. 16 2.3 Technology ...................................................................................................................................... 17 2.3.1 Vibration analysis............................................................................................................. 17 2.3.2 Application of condition monitoring .................................................................................. 18 2.3.3 Output signals of IEPE sensors ....................................................................................... 19 2.3.4 Basic principles of IEPE technology ................................................................................ 21 2.3.5 Beckhoff EL3632 ............................................................................................................. 23 2.4 Start ................................................................................................................................................. 23
3 Basics communication ........................................................................................................................... 24 3.1 EtherCAT basics.............................................................................................................................. 24 3.2 EtherCAT cabling wire-bound....................................................................................................... 24 3.3 General notes for setting the watchdog ........................................................................................... 25 3.4 EtherCAT State Machine ................................................................................................................. 27 3.5 CoE Interface................................................................................................................................... 29 3.6 Distributed Clock ............................................................................................................................. 34
4 Mounting and wiring................................................................................................................................ 35 4.1 Instructions for ESD protection ........................................................................................................ 35 4.2 Installation on mounting rails ........................................................................................................... 35 4.3 Installation instructions for enhanced mechanical load capacity ..................................................... 38 4.4 Positioning of passive Terminals ..................................................................................................... 39 4.5 Connection ...................................................................................................................................... 40 4.5.1 Connection system .......................................................................................................... 40 4.5.2 Wiring............................................................................................................................... 42 4.5.3 Shielding .......................................................................................................................... 43 4.6 ATEX - Special conditions (standard temperature range) ............................................................... 44 4.7 Continuative documentation for ATEX and IECEx .......................................................................... 45 4.8 UL notice ......................................................................................................................................... 45 4.9 LEDs and connection ...................................................................................................................... 46
5 Commissioning........................................................................................................................................ 48 5.1 TwinCAT Quick Start ....................................................................................................................... 48 5.1.1 TwinCAT 2 ....................................................................................................................... 51 5.1.2 TwinCAT 3 ....................................................................................................................... 61 5.2 TwinCAT Development Environment .............................................................................................. 74 5.2.1 Installation of the TwinCAT real-time driver..................................................................... 75 5.2.2 Notes regarding ESI device description........................................................................... 80
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5.2.3 TwinCAT ESI Updater ..................................................................................................... 84 5.2.4 Distinction between Online and Offline............................................................................ 84 5.2.5 OFFLINE configuration creation ...................................................................................... 85 5.2.6 ONLINE configuration creation ........................................................................................ 90 5.2.7 EtherCAT subscriber configuration.................................................................................. 98 5.2.8 Import/Export of EtherCAT devices with SCI and XTI ................................................... 107 5.3 General Notes - EtherCAT Slave Application ................................................................................ 113 5.4 Oversampling terminals/boxes and TwinCAT Scope .................................................................... 121 5.4.1 TwinCAT 3 procedure.................................................................................................... 122 5.4.2 TwinCAT 2 procedure.................................................................................................... 131 5.5 Basics and commissioning ............................................................................................................ 139 5.5.1 Commissioning .............................................................................................................. 139 5.5.2 Update of the terminal ................................................................................................... 164 5.6 CoE object description................................................................................................................... 165 5.6.1 Profile-specific and parameterization objects ................................................................ 165 5.6.2 Standard objects and PDO mapping ............................................................................. 168 5.7 Notices on analog specifications ................................................................................................... 185 5.7.1 Full scale value (FSV).................................................................................................... 185 5.7.2 Measuring error/ measurement deviation ...................................................................... 185 5.7.3 Temperature coefficient tK [ppm/K] ............................................................................... 186 5.7.4 Long-term use................................................................................................................ 187 5.7.5 Single-ended/differential typification .............................................................................. 187 5.7.6 Common-mode voltage and reference ground (based on differential inputs)................ 192 5.7.7 Dielectric strength .......................................................................................................... 192 5.7.8 Temporal aspects of analog/digital conversion.............................................................. 193 5.8 Application example ...................................................................................................................... 196
6 Error handling and diagnostics............................................................................................................ 199 6.1 Error descriptions and troubleshooting .......................................................................................... 199
7 Appendix ................................................................................................................................................ 200 7.1 EtherCAT AL Status Codes ........................................................................................................... 200 7.2 Diagnostics basic principles of diag messages .......................................................................... 200 7.3 Firmware compatibility ................................................................................................................... 209 7.4 Firmware Update EL/ES/EM/ELM/EPxxxx .................................................................................... 210 7.4.1 Device description ESI file/XML..................................................................................... 211 7.4.2 Firmware explanation .................................................................................................... 214 7.4.3 Updating controller firmware *.efw................................................................................. 215 7.4.4 FPGA firmware *.rbf....................................................................................................... 217 7.4.5 Simultaneous updating of several EtherCAT devices.................................................... 221 7.5 Restoring the delivery state ........................................................................................................... 222 7.6 Support and Service ...................................................................................................................... 223
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Foreword
Foreword
1.1
Notes on the documentation
Intended audience
This description is only intended for the use of trained specialists in control and automation engineering who are familiar with the applicable national standards. It is essential that the documentation and the following notes and explanations are followed when installing and commissioning these components. It is the duty of the technical personnel to use the documentation published at the respective time of each installation and commissioning.
The responsible staff must ensure that the application or use of the products described satisfy all the requirements for safety, including all the relevant laws, regulations, guidelines and standards.
Disclaimer
The documentation has been prepared with care. The products described are, however, constantly under development.
We reserve the right to revise and change the documentation at any time and without prior announcement.
No claims for the modification 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®, EtherCAT P®, Safety over EtherCAT®, TwinSAFE®, XFC®, XTS® and XPlanar® are registered trademarks of and licensed by Beckhoff Automation GmbH. Other designations used in this publication may be trademarks whose use by third parties for their own purposes could violate the rights of the owners.
Patent Pending
The EtherCAT Technology is covered, including but not limited to the following patent applications and patents: EP1590927, EP1789857, EP1456722, EP2137893, DE102015105702 with corresponding applications or registrations in various other countries.
EtherCAT® is registered trademark and patented technology, licensed by Beckhoff Automation GmbH, Germany.
Copyright
© Beckhoff Automation GmbH & Co. KG, Germany. The reproduction, distribution and utilization of this document as well as the communication of its contents to others without express authorization are prohibited. Offenders will be held liable for the payment of damages. All rights reserved in the event of the grant of a patent, utility model or design.
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Foreword
1.2
Safety instructions
Safety regulations
Please note the following safety instructions and explanations! Product-specific safety instructions can be found on following pages or in the areas mounting, wiring, commissioning etc.
Exclusion of liability
All the components are supplied in particular hardware and software configurations appropriate for the application. Modifications to hardware or software configurations other than those described in the documentation are not permitted, and nullify the liability of Beckhoff Automation GmbH & Co. KG.
Personnel qualification
This description is only intended for trained 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 used. These instructions must be read carefully and followed without fail!
DANGER Serious risk of injury!
Failure to follow this safety instruction directly endangers the life and health of persons.
WARNING Risk of injury!
Failure to follow this safety instruction endangers the life and health of persons.
CAUTION Personal injuries!
Failure to follow this safety instruction can lead to injuries to persons.
NOTE Damage to environment/equipment or data loss
Failure to follow this instruction can lead to environmental damage, equipment damage or data loss.
Tip or pointer
This symbol indicates information that contributes to better understanding.
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1.3
Documentation issue status
Foreword
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Foreword
Version 2.9
2.8
2.7 2.6
2.5
2.4 2.3
2.2 2.1
2.0
2.0
1.6
1.5
1.4 1.3 1.2 1.1 1.0 0.1
Comment · Chapter "Technical data" updated · Chapter "Commissioning" updated · Update structure · Chapter "Diag Messages" added · Update structure · Update revision status · Update chapter "LEDs and connection" · Update chapter "Technology" · Update structure · Update revision status · Update chapter "Technical data" · Addenda chapter "Instructions for ESD protection" · Update chapter "Notices on Analog specification" · Addenda chapter "Installation instructions for enhanced mechanical load capacity" · Update chapter "LEDs and connection" · Addenda chapter "Notices on analog specifications" · Update chapter "Notes on the documentation" · Correction of Technical data · Update chapter "TwinCAT 2.1x" -> "TwinCAT Development Environment" and "TwinCAT
Quick Start" · Update revision status · Section "Oversampling terminals and TwinCAT Scope" added · Update chapter "Object description" · Update chapter "Technology" · Update revision status · Migration · Update structure · Update revision status · Migration · Update structure · Update revision status · Update chapter "Object description" · Update chapter "Firmware status" · Update structure · Update chapter "Object description" · Update chapter "Technical data" · Update chapter "Firmware status" · Update structure · Update Technical data · Update chapter "Technology" · Update chapter "Firmware status" · Addenda chapter "Technology" · Addenda chapter "Technical data" · Amendments · 1. Publication · Preliminary documentation for EL3632
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1.4
Version identification 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 terminal
3314 (4-channel thermocouple
(12 mm, non-
terminal)
pluggable connection
level)
0000 (basic type) 0016
ES3602-0010-0017 ES terminal (12 mm, pluggable connection level)
3602 (2-channel voltage measurement)
0010 (high-
0017
precision version)
CU2008-0000-0000 CU device
2008 (8-port fast ethernet switch) 0000 (basic type) 0000
Notes
· The elements mentioned above result in the technical designation. EL3314-0000-0016 is used in the example below.
· EL3314-0000 is the order identifier, in the case of "-0000" usually abbreviated to EL3314. "-0016" is the EtherCAT revision.
· The order identifier is made up of - family key (EL, EP, CU, ES, KL, CX, etc.) - type (3314) - version (-0000)
· The revision -0016 shows the technical progress, such as the extension of features with regard to the EtherCAT communication, and is managed by Beckhoff. In principle, a device with a higher revision can replace a device with a lower revision, unless specified otherwise, e.g. in the documentation. Associated and synonymous with each revision there is usually a description (ESI, 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. "EL5021 EL terminal, standard IP20 IO device with batch number and revision ID (since 2014/01)".
· The type, version and revision are read as decimal numbers, even if they are technically saved in hexadecimal.
Identification number
Beckhoff EtherCAT devices from the different lines have different kinds of identification numbers:
Production lot/batch number/serial number/date code/D number
The serial number for Beckhoff IO devices is usually the 8-digit number printed on the 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.
Structure of the serial number: KK YY FF HH
KK - week of production (CW, calendar week) YY - year of production FF - firmware version HH - hardware version
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Example with Ser. no.: 12063A02: 12 - production week 12 06 - production year 2006 3A - firmware version 3A 02 hardware version 02 Exceptions can occur in the IP67 area, where the following syntax can be used (see respective device documentation): Syntax: D ww yy x y z u D - prefix designation ww - calendar week yy - year x - firmware version of the bus PCB y - hardware version of the bus PCB z - firmware version of the I/O PCB u - hardware version of the I/O PCB Example: D.22081501 calendar week 22 of the year 2008 firmware version of bus PCB: 1 hardware version of bus PCB: 5 firmware version of I/O PCB: 0 (no firmware necessary 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 in the area
· IP67: EtherCAT Box · Safety: TwinSafe · Terminals with factory calibration certificate and other measuring terminals
Examples of markings
Fig. 1: EL5021 EL terminal, standard IP20 IO device with serial/ batch number and revision ID (since 2014/01)
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Fig. 2: EK1100 EtherCAT coupler, standard IP20 IO device with serial/ batch number
Fig. 3: CU2016 switch with serial/ batch number
Fig. 4: EL3202-0020 with serial/ batch number 26131006 and unique ID-number 204418
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Fig. 5: EP1258-00001 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 number 00346070
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/ batch number 44160201
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1.4.1 Beckhoff Identification Code (BIC)
The Beckhoff Identification Code (BIC) is increasingly being applied to Beckhoff products to uniquely identify the product. The BIC is represented as a Data Matrix Code (DMC, code scheme ECC200), the content is based on the ANSI standard MH10.8.2-2016.
Fig. 9: BIC as data matrix code (DMC, code scheme ECC200)
The BIC will be introduced step by step across all product groups.
Depending on the 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 information that can also be used by the customer for handling and product management.
Each piece of information can be uniquely identified using the so-called data identifier (ANSI MH10.8.2-2016). The data identifier is followed by a character string. Both together have a maximum length according to the table below. If the information is shorter, spaces are added to it. The data under positions 1 to 4 are always available.
The following information is contained:
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Item Type of no. information
Explanation
Data identifier
1 Beckhoff order number
Beckhoff order number 1P
2 Beckhoff Traceability Unique serial number, S
Number (BTN)
see note below
3 Article description Beckhoff article
1K
description, e.g.
EL1008
4 Quantity
Quantity in packaging Q unit, e.g. 1, 10, etc.
5 Batch number
Optional: Year and week 2P of production
6 ID/serial number Optional: Present-day 51S serial number system, e.g. with safety products or calibrated terminals
7 Variant number
Optional: Product variant 30P number on the basis of standard products
...
Number of digits incl. data identifier 8 12 32
6 14 12
32
Example 1P072222 SBTNk4p562d7 1KEL1809
Q1 2P401503180016 51S678294104
30PF971, 2*K183
Further types of information and data identifiers 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 important component of the BIC is the Beckhoff Traceability Number (BTN, item no. 2). The BTN is a unique serial number consisting of eight characters that will replace all other serial number systems at Beckhoff in the long term (e.g. batch designations on IO components, previous serial number range for safety products, etc.). The BTN will also be introduced step by step, so it may happen that the BTN is not yet coded in the BIC.
NOTE
This information has been carefully prepared. However, the procedure described is constantly being further developed. We reserve the right to revise and change procedures and documentation at any time and without prior notice. No claims for changes can be made from the information, illustrations and descriptions in this information.
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Product overview
2.1
Introduction
Product overview
Fig. 10: EL3632
2-channel analog input terminal for Condition Monitoring (IEPE)
Accelerometers with IEPE interface can be directly connected to the EL3632 EtherCAT Terminal. The measuring signals are analyzed on the PC via the TwinCAT library. This enables all benefits of the PC platform, such as performance and flexibility, to be fully utilized. Alternatively, the evaluation can also be done using the user software. The terminal can be adapted to individual requirements through configurable filters and supply currents.
A galvanically isolated measurement configuration can be achieved using the EL9560. Through interfacing via EtherCAT and support of the distributed clocks function the measurement results and any detected defects can be precisely allocated to an axis position.
Quick links
· EtherCAT basic function principles · IEPE - Technology, areas of application, function [} 17] · Basic function principles EL3632 [} 139]
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Product overview
2.2
Technical data
Technical data
EL3632
Number of inputs
2
Measuring range
preset ±5 V up to 25 kHz, ±250 mV up to 10 Hz
Supply voltage UEXCITE Sensor state monitoring
24 VDC via power contacts UV -1 V typ. yes, through monitoring of the bias voltage
Supply current IEXCITE Input filter limit frequency
typ. 2 mA/4 mA/8 mA (separately adjustable for both channels)
analog parameterisable 5th order low-pass filter up to 25 KHz typ. 0.05 Hz high-pass
Max. sampling rate
50 kSamples/s
Input
single ended
AC coupling
0.05 Hz typ.
Resolution
16 bit
Measuring error
0,5%
Supply voltage for electronic via the E-bus
Current consumption via E-bus typ. 220 mA
Configuration
via TwinCAT System Manager
Weight
approx. 65 g
Permissible ambient temperature range during operation
0°C ... + 55°C
Permissible ambient temperature range during storage
-25°C ... + 85°C
Permissible relative humidity 95 %, no condensation
Dimensions (W x H x D)
approx. 15 mm x 100 mm x 70 mm (width aligned: 12 mm)
Mounting [} 35]
on 35 mm mounting rail conforms to EN 60715
Vibration/shock resistance
conforms to EN 60068-2-6 / EN 60068-2-27,
see also installation instructions for terminals with increased mechanical load capacity [} 38]
EMC immunity/emission
conforms to EN 61000-6-2 / EN 61000-6-4
Protection class
IP20
Installation position
variable
Approval
CE cULus [} 45] ATEX [} 44]
Ex markings
Standard ATEX
Marking II 3 G Ex nA IIC T4 Gc
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2.3
Technology
Product overview
2.3.1 Vibration analysis
Vibration analysis refers to deriving of information from existing (mechanical) vibrations e.g. in machines or certain production processes. It can take place during Condition Monitoring, e.g. for drives, punching and pressing tools, in production processes such as balancing of rotating parts, or during other movements such as torsion of towers/wind turbines.
The table below illustrates typical acceleration values for natural and technical processes.
Typical acceleration values
Machine or event
Typical g-value
Commercial aircraft (take-off)
0,5
Formula 1 car (start)
1 1,5
Commercial aircraft (turning, max.)
2,5
Pendulum at 90° amplitude
2
Space Shuttle during journey into orbit
max. 3 (exact)
Space Shuttle during re-entry into the Earth's atmosphere
max. 1.6
Typical roller coaster ride (max.)
4 (6)
Formula 1 car (cornering, max.)
4 5
Circular looping (base)
6
Combat aircraft/aerobatics (max.)
10 (13,8)
Ejector seat
15 20
Car back-rest breaks at
20
Head-on car collision
up to 50
Car passenger compartment during crash
max. 120
Survived by a human
180
Hard fist stroke
up to 100
Raindrop hitting the eye
up to 150
Ball pen hitting hard floor from 1 m height
order of magnitude 1000
Hard disk falling on hard floor from 1 m height (without deformation of the floor) 10,000 or more
Laboratory centrifuge
10.000
Ultra centrifuge
100.000
Rifle bullet during firing
100.000
Spike during ejection from a nettle cell
5.410.000
Nuclear bomb explosion (bomb case)
up to 1011
Neutron star surface
2·1011
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Product overview
2.3.2 Application of condition monitoring
Condition monitoring can be used to glean information on the state of rotating/moving parts through measurement of vibrations at machines/drives/gears and subsequent analysis with suitable mathematical tools (e.g. TwinCAT library, FFT, custom user programs).
The existing vibration is recorded continuously or at longer, regular time intervals and finally compared with a setpoint value/initial value (Fig. Sample of ball bearing damage and subsequent analysis). In this way any damage can be detected at an early stage. Instead of changing components preventively on a regular basis or waiting for sudden damage and subsequent expensive downtime and possible consequential damage, repairs and downtimes become plannable. Needless failures, consequential damage or prematurely and costly replacement of intact parts can be avoided.
Fig. 11: Example of ball bearing damage and subsequent analysis
In the example above the so-called envelope enables analysis of shock pulses resulting from unevenness in the roller bearing. The defective element can be identified based on the periodicity (envelope spectrum).
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2.3.3 Output signals of IEPE sensors
Vibrations can be recorded with IEPE (Integrated Electronics Piezo Electric) sensors, for example. The advantage of this technology is an integrated amplifier as impedance transformer, so that only a simple twowire connection (coax) is required for the low-impedance output signal. IEPE sensors are typically supplied with 2...20 mA constant current. In inactive state they produce a constant DC bias voltage (zero voltage/ Ubias) typically 7...14 V. Depending on the acceleration of the sensor, an analog AC voltage generated proportionally to the movement is added to the sensor's Ubias ; e.g. a 50 Hz sinusoidal deflection with an amplitude of 1 g (= 9.81 m/s2) produces a 50 Hz sinusoidal output voltage of AC +/-50 mV + Ubias in the case of a sensor with a sensitivity of 50 mV/g (Fig. Output signal of an IEPE sensor (sample)). The maximum output signal of a sensor is usually AC +/-5 V (+ Ubias).
Increasing cable length results in increasing cable capacitance (typically 100 pF/m), so that the control capability of the integrated amplifier drops with increasing signal frequency. This can be partly compensated by increasing the supply current (Fig. Control capability of the IEPE impedance transformer depending on cable capacitance and supply current).
Fig. 12: Control capability of the IEPE impedance transformer depending on cable capacitance and supply current.
The basic properties of IEPE acceleration sensors are described by various parameters such as sensitivity (e.g. 50 mV/g), measuring range (e.g. +/-100 g), +/-3 dB frequency range (under 1 Hz to several kHz), current consumption (2...20 mA), bias voltage etc. The figure Frequency response of an acceleration sensor shows an example of a frequency response (amplitude of the output signal in relation to the frequency).
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Fig. 13: Output signal of an IEPE sensor (sample)
Fig. 14: Frequency response of an acceleration sensor
Other proprietary names for this electrical technique include DeltaTron®, IsotronTM, ICPTM, PiezotronTM or CCLD
Note: At their core IEPE sensors usually have quartz crystals, which experience small charge changes due to the motion. Measuring and transporting these over several meters requires complex cable installations and measuring instruments for charge amplification. For cost-effective and robust application in industrial environments the solution is to integrate a simple charge amplifier as impedance transformer in the sensor. This enables it to generate the above-mentioned voltage signal and transport the vibration information over larger distance (several tens of meters).
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2.3.4 Basic principles of IEPE technology
IEPE ("Integrated Electronics Piezo-Electric") is the standardized name for an analog electrical interface between piezoelectric sensors and electronic analysis equipment. Different manufacturers have developed their own brand names, such as ICP®, CCLD®, Isotron®, DeltaTron®, Piezotron®.
Application
Piezoelectric sensors are usually based on a quartz, in which an electrical charge is shifted under mechanical load. The charge can be detected as a voltage if the measurement is made with sufficiently high impedance. The measurement is a preferably static process, which must take place within a much smaller time interval than 10 seconds, since otherwise the charge difference is dissipated through external or internal derivatives. Such a sensor is therefore less suitable for static long-term loads, such as weighing a silo. Such sensors tend to be used for all kinds of predominantly higher frequency vibration measurements (unbalance detection, sound signals via microphones up to ultrasound, mechanical vibrations, foundation monitoring, etc.).
Over the decades, two electrical forms of interfaces to the evaluation unit have developed: · Direct charge output · IEPE output
Charge output
The sensor's output signal is provided by a very low change of charge (usually in the range of a little femto to pico coloumb) and tapped by a (possibly short) 2-wire cable. Thus a so called charge amplifier is an essential component of the measurement electronics.
Advantages: the sensor can be exposed to high temperatures over 150 °C; no power supply is required.
Disadvantages: very sensitive to external influences on the cable (line length, possible movement of the cable, type of cable and shielding, electromagnetic fields, etc.); elaborate receiving electronics and cable due to high source impedance.
IEPE output
Since the charging output interface is not generally accepted for industrial applications, a more robust transfer method was sought at an early stage. Thus, for IEPE integrates a field effect transistor (FET) directly at the output of the sensor.
If this sensor is supplied with constant current between 2 and 8 mA via the two-pole cable, the resulting bias voltage is usually approx. 8 to 15 V. If the piezo system is now directly or indirectly (e.g. by a diaphragm) loaded by a measure quantity e.g. force in form of pressure or acceleration, the FET changes its channel resistance caused by change of charge amount on its gate; according to this, a change of the gate source voltage. Because of the supply of Iconst by a constant current source, the bias voltage changes correspondingly by the mechanical load of about few volts. Although the evaluation unit now usually has to provide the constant current supply but is able to deduce the measurement quantity by the back-measured voltage.
Advantages: robust system, which is suitable for operation in industrial conditions.
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Product overview
Disadvantages: upper temperature limit for the sensor 150 to 200 °C, smaller dynamic range.
Notes on constant current · The higher the feed current, the more the vibration sensor heats up. This may cause a disadvantageous effect on e.g. the basic accuracy of the sensor. For this, note the information provided by the sensor manufacturer. · The higher the feed current, the higher the maximum transferable signal frequency, since charge inflows and outflows can be balanced more quickly on the cable. · The higher the supply current, the higher the resulting bias voltage. As a result, the transfer may become more robust against electromagnetic influence, but on the other hand that for large amplitudes the measurement quantity may enter the upper saturation faster.
Notes on the IEPE measuring device · In some IEPE measuring devices the supply current can be switched off (0 mA), so that they can be used for voltage measurements, cf. for example Beckhoff ELM3604 · Since normally only AC signals are of interest in the vibration range, IEPE evaluations have an electrical high-pass with a cutoff frequency of approximately 10 Hz on the input side. Depending on the application e.g. the capturing of slow tower vibrations, the limit of this high-pass may be relevant, cf. for example the configurable high-pass of the ELM3604, which can be switched off. · The bias voltage is suitable for detection of wire breakage or short circuit cases respectively, e.g. see also ELM3604 diagnostics options.
Notes on the IEPE sensor · If IEPE sensors are mounted on high-voltage or frequency converter-controlled motors, an electrically insulated installation or an insulated sensor may be recommendable. In other cases, interference effects on the IEPE measurement have already been observed. This purely functional consideration must be weighed up by the plant installer against normative and electrical safety requirements.
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2.3.5 Beckhoff EL3632
A suitable measuring transducer is the EL3632 with two independent channels, each with an integrated and separately configurable current source, integrated high-pass filter, separately parameterisable analog filter for signal processing and parameterisable sampling rate/oversampling factor. The EL3632 does not preanalyses the vibration data but transports the continuous amplitude information to the EtherCAT master. The master analyses the measured data on the existing higher-level PC via the TwinCAT library or custom software.
Fig. 15: EL3632 with periphery
2.4
Start
For commissioning: · mount the EL3632 as described in the chapter Mounting and wiring [} 35] · configure the EL3632 in TwinCAT as described in the chapter Commissioning [} 48].
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Basics communication
3
Basics communication
3.1
EtherCAT basics
Please refer to the EtherCAT System Documentation for the EtherCAT fieldbus basics.
3.2
EtherCAT cabling wire-bound
The cable length between two EtherCAT devices must not exceed 100 m. This results from the FastEthernet technology, which, above all for reasons of signal attenuation over the length of the cable, allows a maximum link length of 5 + 90 + 5 m if cables with appropriate properties are used. See also the Design recommendations for the infrastructure for EtherCAT/Ethernet.
Cables and connectors
For connecting EtherCAT devices only Ethernet connections (cables + plugs) that meet the requirements of at least category 5 (CAt5) according to EN 50173 or ISO/IEC 11801 should be used. EtherCAT uses 4 wires for signal transfer.
EtherCAT uses RJ45 plug connectors, for example. The pin assignment is compatible with the Ethernet standard (ISO/IEC 8802-3).
Pin
Color of conductor
Signal
Description
1
yellow
TD +
Transmission Data +
2
orange
TD -
Transmission Data -
3
white
RD +
Receiver Data +
6
blue
RD -
Receiver Data -
Due to automatic cable detection (auto-crossing) symmetric (1:1) or cross-over cables can be used between EtherCAT devices from Beckhoff.
Recommended cables
It is recommended to use the appropriate Beckhoff components e.g. - cable sets ZK1090-9191-xxxx respectively - RJ45 connector, field assembly ZS1090-0005 - EtherCAT cable, field assembly ZB9010, ZB9020
Suitable cables for the connection of EtherCAT devices can be found on the Beckhoff website!
E-Bus supply
A bus coupler can supply the EL terminals added to it with the E-bus system voltage of 5 V; a coupler is thereby loadable up to 2 A as a rule (see details in respective device documentation). Information on how much current each EL terminal requires from the E-bus supply is available online and in the catalogue. If the added terminals require more current than the coupler can supply, then power feed terminals (e.g. EL9410) must be inserted at appropriate places in the terminal strand.
The pre-calculated theoretical maximum E-Bus current is displayed in the TwinCAT System Manager. A shortfall is marked by a negative total amount and an exclamation mark; a power feed terminal is to be placed before such a position.
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Fig. 16: System manager current calculation
NOTE Malfunction possible!
The same ground potential must be used for the E-Bus supply of all EtherCAT terminals in a terminal block!
3.3
General notes for setting the watchdog
ELxxxx terminals are equipped with a safety feature (watchdog) that switches off the outputs after a specifiable time e.g. in the event of an interruption of the process data traffic, depending on the device and settings, e.g. in OFF state.
The EtherCAT slave controller (ESC) in the EL2xxx terminals features two watchdogs:
· SM watchdog (default: 100 ms) · PDI watchdog (default: 100 ms)
SM watchdog (SyncManager Watchdog)
The SyncManager watchdog is reset after each successful EtherCAT process data communication with the terminal. If no EtherCAT process data communication takes place with the terminal for longer than the set and activated SM watchdog time, e.g. in the event of a line interruption, the watchdog is triggered and the outputs are set to FALSE. The OP state of the terminal is unaffected. The watchdog is only reset after a successful EtherCAT process data access. Set the monitoring time as described below.
The SyncManager watchdog monitors correct and timely process data communication with the ESC from the EtherCAT side.
PDI watchdog (Process Data Watchdog)
If no PDI communication with the EtherCAT slave controller (ESC) takes place for longer than the set and activated PDI watchdog time, this watchdog is triggered. PDI (Process Data Interface) is the internal interface between the ESC and local processors in the EtherCAT slave, for example. The PDI watchdog can be used to monitor this communication for failure.
The PDI watchdog monitors correct and timely process data communication with the ESC from the application side.
The settings of the SM- and PDI-watchdog must be done for each slave separately in the TwinCAT System Manager.
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Fig. 17: EtherCAT tab -> Advanced Settings -> Behavior -> Watchdog
Notes: · the multiplier is valid for both watchdogs. · each watchdog has its own timer setting, the outcome of this in summary with the multiplier is a resulting time. · Important: the multiplier/timer setting is only loaded into the slave at the start up, if the checkbox is activated. 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 watchdog multiplier:
1/25 MHz * (watchdog multiplier + 2) = 100 µs (for default setting of 2498 for the multiplier)
The standard setting of 1000 for the SM 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 the watchdog time over a larger range.
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Example "Set SM watchdog"
This checkbox enables manual setting of the watchdog times. If the outputs are set and the EtherCAT communication is interrupted, the SM watchdog is triggered after the set time and the outputs are erased. This setting can be used for adapting a terminal to a slower EtherCAT master or long cycle times. The default SM watchdog setting is 100 ms. The setting range is 0...65535. Together with a multiplier with a range of 1...65535 this covers a watchdog period between 0...~170 seconds.
Calculation
Multiplier = 2498 watchdog base time = 1 / 25 MHz * (2498 + 2) = 0.0001 seconds = 100 µs SM watchdog = 10000 10000 * 100 µs = 1 second watchdog monitoring time
CAUTION Undefined state possible!
The function 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 undefined state possible!
If the SM watchdog is activated and a value of 0 is entered the watchdog switches off completely. This is the deactivation of the watchdog! Set outputs are NOT set in a safe state, if the communication is interrupted.
3.4
EtherCAT State Machine
The state of the EtherCAT slave is controlled via the EtherCAT State Machine (ESM). Depending upon the state, different functions are accessible or executable in the EtherCAT slave. Specific commands must be sent by the EtherCAT master to the device in each state, particularly during the bootup of the slave.
A distinction is made between the following states: · Init · Pre-Operational · Safe-Operational and · Operational · Boot
The regular state of each EtherCAT slave after bootup is the OP state.
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Fig. 18: States of the EtherCAT State Machine
Init
After switch-on the EtherCAT slave in the Init state. No mailbox or process data communication is possible. The EtherCAT master initializes sync manager channels 0 and 1 for mailbox communication.
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 process data communication. The EtherCAT master initializes the sync manager channels for process data (from sync manager channel 2), the FMMU channels and, if the slave supports configurable mapping, PDO mapping or the sync manager PDO assignment. In this state the settings for the process data transfer and perhaps terminal-specific parameters that may differ from the default settings are also transferred.
Safe-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 settings are correct. Before it acknowledges the change of state, the EtherCAT slave copies current input data into the associated DPRAM areas of the EtherCAT slave controller (ECSC).
In Safe-Op state mailbox and process data communication is possible, although the slave keeps its outputs in a safe state, while the input data are updated cyclically.
Outputs in SAFEOP state
The default set watchdog [} 25] monitoring sets the outputs of the module in a safe state - depending on the settings in SAFEOP and OP - e.g. in OFF state. If this is prevented by deactivation of the watchdog monitoring in the module, the outputs can be switched or set also in the SAFEOP state.
Operational (Op)
Before the EtherCAT master switches the EtherCAT 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.
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Boot In the 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, but no other mailbox communication and no process data communication.
3.5
CoE Interface
General description
The CoE interface (CAN application protocol over EtherCAT)) is used for parameter management of EtherCAT devices. EtherCAT slaves or the EtherCAT master manage fixed (read only) or variable parameters which they require for operation, diagnostics or commissioning.
CoE parameters are arranged in a table hierarchy. In principle, the user has read access via the fieldbus. The EtherCAT master (TwinCAT System Manager) can access the local CoE lists of the slaves via EtherCAT in read or write mode, depending on the attributes.
Different CoE parameter types are possible, including string (text), integer numbers, Boolean values or larger byte fields. They can be used to describe a wide range of features. Examples of such parameters include manufacturer ID, serial number, process data settings, device name, calibration values for analog measurement or passwords.
The order is specified in two levels via hexadecimal 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 preceding "0x" to identify the hexadecimal numerical range and a colon between index and subindex.
The relevant ranges for EtherCAT fieldbus users are:
· 0x1000: This is where fixed identity information for the device is stored, including name, manufacturer, serial number etc., plus information about the current and available process data configurations.
· 0x8000: This is where the operational and functional parameters for all channels are stored, such as filter settings or output frequency.
Other important ranges are:
· 0x4000: here are the channel parameters for some EtherCAT devices. Historically, this was the first parameter area before the 0x8000 area was introduced. EtherCAT devices that were previously equipped with parameters in 0x4000 and changed to 0x8000 support both ranges for compatibility reasons and mirror internally.
· 0x6000: Input PDOs ("input" from the perspective of the EtherCAT master) · 0x7000: Output PDOs ("output" from the perspective of the EtherCAT master)
Availability
Not every EtherCAT device must have a CoE list. Simple I/O modules without dedicated processor usually have no variable parameters and therefore no CoE list.
If a device has a CoE list, it is shown in the TwinCAT System Manager as a separate tab with a listing of the elements:
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Fig. 19: "CoE Online" tab
The figure above shows the CoE objects available in device "EL2502", ranging from 0x1000 to 0x1600. The subindices for 0x1018 are expanded.
Data management and function "NoCoeStorage"
Some parameters, particularly the setting parameters of the slave, are configurable and writeable. This can be done in write or read mode
· via the System Manager (Fig. "CoE Online" tab) by clicking This is useful for commissioning of the system/slaves. Click on the row of the index to be parameterized and enter a value in the "SetValue" dialog.
· from the control system/PLC via ADS, e.g. through blocks from the TcEtherCAT.lib library This is recommended for modifications while the system is running or if no System Manager or operating staff are available.
Data management
If slave CoE parameters are modified online, Beckhoff devices store any changes in a fail-safe manner in the EEPROM, i.e. the modified CoE 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 100,000 write operations onwards it can no longer be guaranteed that new (changed) data are reliably saved or are still readable. This is irrelevant for normal commissioning. However, if CoE parameters are continuously changed via ADS at machine runtime, it is quite possible for the lifetime limit to be reached. Support for the NoCoeStorage function, which suppresses the saving of changed CoE values, depends on the firmware version. Please refer to the technical data in this documentation as to whether this applies to the respective device.
· If the function is supported: the function is activated by entering the code word 0x12345678 once in CoE 0xF008 and remains active as long as the code word is not changed. After switching the device on it is then inactive. Changed CoE values are not saved in the EEPROM and can thus be changed any number of times.
· Function is not supported: continuous changing of CoE values is not permissible in view of the lifetime limit.
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Startup list
Changes in the local CoE list of the terminal are lost if the terminal is replaced. If a terminal is replaced with a new Beckhoff terminal, it will have the default settings. It is therefore advisable to link all changes in the CoE list of an EtherCAT slave with the Startup list of the slave, which is processed whenever the EtherCAT fieldbus is started. In this way a replacement EtherCAT slave can automatically be parameterized with the specifications of the user. If EtherCAT slaves are used which are unable to store local CoE values permanently, the Startup list must be used.
Recommended approach for manual modification of CoE parameters · Make the required change in the System Manager The values are stored locally in the EtherCAT slave · If the value is to be stored permanently, enter it in the Startup list. The order of the Startup entries is usually irrelevant.
Fig. 20: Startup list in the TwinCAT System Manager
The Startup list may already contain values that were configured by the System Manager based on the ESI specifications. Additional application-specific entries can be created.
Online/offline list
While working with the TwinCAT 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 without connected slaves.
In both cases a CoE list as shown in Fig. "CoE online tab" is displayed. The connectivity is shown as offline/ online.
· If the slave is offline The offline list from the ESI file is displayed. In this case modifications are not meaningful or possible. The configured status is shown under Identity. No firmware or hardware version is displayed, since these are features of the physical device. Offline is shown in red.
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Fig. 21: Offline list
· If the slave is 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 according to the electronic information is displayed Online is shown in green.
Fig. 22: Online list 32
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Channel-based order
The CoE list is available in EtherCAT devices that usually feature several functionally equivalent channels. For example, a 4-channel analog 0...10 V input terminal also has four logical channels and therefore four identical sets of parameter data for the channels. In order to avoid having to list each channel in the documentation, 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 channel-based order is therefore arranged in 16dec/10hex steps. The parameter range 0x8000 exemplifies this:
· Channel 0: parameter range 0x8000:00 ... 0x800F:255 · Channel 1: parameter range 0x8010:00 ... 0x801F:255 · Channel 2: parameter range 0x8020:00 ... 0x802F:255 · ...
This is generally written as 0x80n0.
Detailed information on the CoE interface can be found in the EtherCAT system documentation on the Beckhoff website.
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3.6
Distributed Clock
The distributed clock represents a local clock in the EtherCAT slave controller (ESC) with the following characteristics:
· Unit 1 ns
· Zero point 1.1.2000 00:00
· Size 64 bit (sufficient for the next 584 years; however, some EtherCAT slaves only offer 32-bit support, i.e. the variable overflows after approx. 4.2 seconds)
· The EtherCAT master automatically synchronizes the local clock with the master clock in the EtherCAT bus with a precision of < 100 ns.
For detailed information please refer to the EtherCAT system description.
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Mounting and wiring
4.1
Instructions for ESD protection
NOTE Destruction of the devices by electrostatic discharge possible!
The devices contain components at risk from electrostatic discharge caused by improper handling. · Please ensure you are electrostatically discharged and avoid touching the contacts of the device directly. · Avoid contact with highly insulating materials (synthetic fibers, plastic film etc.). · Surroundings (working place, packaging and personnel) should by grounded probably, when handling
with the devices.
· Each assembly must be terminated at the right hand end with an EL9011 or EL9012 bus end cap, to ensure the protection class and ESD protection.
Fig. 23: Spring contacts of the Beckhoff I/O components
4.2
Installation on mounting rails
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 wiring of the bus terminals!
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Fig. 24: Attaching on mounting rail
The bus coupler and bus terminals are attached to commercially available 35 mm mounting rails (DIN rails according to EN 60715) by applying slight pressure:
1. First attach the fieldbus coupler to the mounting rail. 2. The bus terminals are now attached on the right-hand side of the fieldbus coupler. Join the compo-
nents with tongue and groove and push the terminals against the mounting rail, until the lock clicks onto the mounting rail. If the terminals are clipped onto the mounting rail first and then pushed together without tongue and groove, the connection will not be operational! When correctly assembled, no significant gap should be visible between the housings.
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 not come into conflict with the fixing bolts of the mounting rail. To mount the mounting rails with a height of 7.5 mm under the terminals and couplers, you should use flat mounting connections (e.g. countersunk screws or blind rivets).
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Disassembly
Mounting and wiring
Fig. 25: Disassembling of terminal
Each terminal is secured by a lock on the mounting rail, which must be released for disassembly:
1. Pull the terminal by its orange-colored lugs approximately 1 cm away from the mounting rail. In doing so for this terminal the mounting rail lock is released automatically and you can pull the terminal out of the bus terminal block easily without excessive force.
2. Grasp the released terminal with thumb and index finger simultaneous at the upper and lower grooved housing surfaces and pull the terminal out of the bus terminal block.
Connections within a bus terminal block
The electric connections between the Bus Coupler and the Bus Terminals are automatically realized by joining the components:
· The six spring contacts of the K-Bus/E-Bus deal with the transfer of the data and the supply of the Bus Terminal electronics.
· The power contacts deal with the supply for the field electronics and thus represent a supply rail within the bus terminal block. The power contacts are supplied via terminals on the Bus Coupler (up to 24 V) or for higher voltages via power feed terminals.
Power Contacts
During the design of a bus terminal block, the pin assignment of the individual Bus Terminals must be taken account of, since some types (e.g. analog Bus Terminals or digital 4-channel Bus Terminals) do not or not fully loop through the power contacts. Power Feed Terminals (KL91xx, KL92xx or EL91xx, EL92xx) interrupt the power contacts and thus represent the start of a new supply rail.
PE power contact
The power contact labeled PE can be used as a protective earth. For safety reasons this contact mates first when plugging together, and can ground short-circuit currents of up to 125 A.
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Fig. 26: Power contact on left side
NOTE Possible damage of the device
Note that, for reasons of electromagnetic compatibility, the PE contacts are capacitatively coupled to the mounting rail. This may lead to incorrect results during insulation testing or to damage on the terminal (e.g. disruptive discharge to the PE line during insulation testing of a consumer with a nominal voltage of 230 V). For insulation testing, disconnect the PE supply line at the Bus Coupler or the Power Feed Terminal! In order to decouple further feed points for testing, these Power Feed Terminals can be released and pulled at least 10 mm from the group of terminals.
WARNING Risk of electric shock!
The PE power contact must not be used for other potentials!
4.3
Installation instructions for enhanced mechanical load
capacity
WARNING
Risk of injury through electric shock and damage to the device!
Bring the Bus Terminal system into a safe, de-energized state before starting mounting, disassembly or wiring of the Bus Terminals!
Additional checks
The terminals have undergone the following additional tests:
Verification Explanation
Vibration 10 frequency runs in 3 axes
6 Hz < f < 60 Hz displacement 0.35 mm, constant amplitude
60.1 Hz < f < 500 Hz acceleration 5 g, constant amplitude
Shocks
1000 shocks in each direction, in 3 axes
25 g, 6 ms
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Additional installation instructions
For terminals with enhanced mechanical load capacity, the following additional installation instructions apply: · The enhanced mechanical load capacity is valid for all permissible installation positions · Use a mounting rail according to EN 60715 TH35-15 · Fix the terminal segment on both sides of the mounting rail with a mechanical fixture, e.g. an earth terminal or reinforced end clamp · The maximum total extension of the terminal segment (without coupler) is: 64 terminals (12 mm mounting with) or 32 terminals (24 mm mounting with) · Avoid deformation, twisting, crushing and bending of the mounting rail during edging and installation of the rail · The mounting points of the mounting rail must be set at 5 cm intervals · Use countersunk head screws to fasten the mounting rail · The free length between the strain relief and the wire connection should be kept as short as possible. A distance of approx. 10 cm should be maintained to the cable duct.
4.4
Positioning of passive Terminals
Hint for positioning of passive terminals in the bus terminal block
EtherCAT Terminals (ELxxxx / ESxxxx), which do not take an active part in data transfer within the bus terminal block are so called passive terminals. The passive terminals have no current consumption out of the E-Bus. To ensure an optimal data transfer, you must not directly string together more than two passive terminals!
Examples for positioning of passive terminals (highlighted)
Fig. 27: Correct positioning
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Fig. 28: Incorrect positioning
4.5
Connection
4.5.1 Connection system
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 wiring of the bus terminals!
Overview
The bus terminal system offers different connection options for optimum adaptation to the respective application:
· The terminals of ELxxxx and KLxxxx series with standard wiring include electronics and connection level in a single enclosure.
· The terminals of ESxxxx and KSxxxx series feature a pluggable connection level and enable steady wiring while replacing.
· The High Density Terminals (HD Terminals) include electronics and connection level in a single enclosure and have advanced packaging density.
Standard wiring (ELxxxx / KLxxxx)
Fig. 29: Standard wiring
The terminals of ELxxxx and KLxxxx series have been tried and tested for years. They feature integrated screwless spring force technology for fast and simple assembly.
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Pluggable wiring (ESxxxx / KSxxxx)
Mounting and wiring
Fig. 30: Pluggable wiring
The terminals of ESxxxx and KSxxxx series feature a pluggable connection level. The assembly and wiring procedure is the same as for the ELxxxx and KLxxxx series. The pluggable connection level enables the complete wiring to be removed as a plug connector from the top of the housing for servicing. The lower section can be removed from the terminal block by pulling the unlocking tab. Insert the new component and plug in the connector with the wiring. This reduces the installation time and eliminates the risk of wires being mixed up.
The familiar dimensions of the terminal only had to be changed slightly. The new connector adds about 3 mm. The maximum height of the terminal remains unchanged.
A tab for strain relief of the cable simplifies assembly in many applications and prevents tangling of individual connection wires when the connector is removed.
Conductor cross sections between 0.08 mm2 and 2.5 mm2 can continue to be used with the proven spring force technology.
The overview and nomenclature of the product names for ESxxxx and KSxxxx series has been retained as known from ELxxxx and KLxxxx series.
High Density Terminals (HD Terminals)
Fig. 31: High Density Terminals
The terminals from these series with 16 terminal points are distinguished by a particularly compact design, as the packaging density is twice as large as that of the standard 12 mm bus terminals. Massive conductors and conductors with a wire end sleeve can be inserted directly into the spring loaded terminal point without tools.
Wiring HD Terminals
The High Density Terminals of the ELx8xx and KLx8xx series doesn't support pluggable wiring.
Ultrasonically "bonded" (ultrasonically welded) conductors
Ultrasonically "bonded" conductors
It is also possible to connect the Standard and High Density Terminals with ultrasonically "bonded" (ultrasonically welded) conductors. In this case, please note the tables concerning the wire-size width!
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4.5.2 Wiring
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 wiring of the bus terminals!
Terminals for standard wiring ELxxxx/KLxxxx and for pluggable wiring ESxxxx/KSxxxx
Fig. 32: Connecting a cable on a terminal point
Up to eight terminal points enable the connection of solid or finely stranded cables to the bus terminal. The terminal points are implemented in spring force technology. Connect the cables as follows:
1. Open a terminal point by pushing a screwdriver straight against the stop into the square opening above the terminal point. Do not turn the screwdriver or move it alternately (don't toggle).
2. The wire can now be inserted into the round terminal opening without any force.
3. The terminal point closes automatically when the pressure is released, holding the wire securely and permanently.
See the following table for the suitable wire size width.
Terminal housing Wire size width (single core wires) Wire size width (fine-wire conductors) Wire size width (conductors with a wire end sleeve) Wire stripping length
ELxxxx, KLxxxx 0.08 ... 2.5 mm2 0.08 ... 2.5 mm2 0.14 ... 1.5 mm2 8 ... 9 mm
ESxxxx, KSxxxx 0.08 ... 2.5 mm2 0,08 ... 2.5 mm2 0.14 ... 1.5 mm2 9 ... 10 mm
High Density Terminals (HD Terminals [} 41]) with 16 terminal points
The conductors of the HD Terminals are connected without tools for single-wire conductors using the direct plug-in technique, i.e. after stripping the wire is simply plugged into the terminal point. The cables are released, as usual, using the contact release with the aid of a screwdriver. See the following table for the suitable wire size width.
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Terminal housing Wire size width (single core wires) Wire size width (fine-wire conductors) Wire size width (conductors with a wire end sleeve) Wire size width (ultrasonically "bonded" conductors) Wire stripping length
High Density Housing 0.08 ... 1.5 mm2 0.25 ... 1.5 mm2 0.14 ... 0.75 mm2 only 1.5 mm2 8 ... 9 mm
4.5.3 Shielding
Shielding
Encoder, analog sensors and actors should always be connected with shielded, twisted paired wires.
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4.6
ATEX - Special conditions (standard temperature
range)
WARNING
Observe the special conditions for the intended use of Beckhoff fieldbus components with standard temperature range in potentially explosive areas (directive 2014/34/EU)!
· The certified components are to be installed in a suitable housing that guarantees a protection class of at least IP54 in accordance with EN 60079-15! The environmental conditions during use are thereby to be taken into account!
· For dust (only the fieldbus components of certificate no. KEMA 10ATEX0075 X Issue 9): The equipment shall be installed in a suitable enclosure providing a degree of protection of IP54 according to EN 60079-31 for group IIIA or IIIB and IP6X for group IIIC, taking into account the environmental conditions under which the equipment is used!
· If the temperatures during rated operation are higher than 70°C at the feed-in points of cables, lines or pipes, or higher than 80°C at the wire branching points, then cables must be selected whose temperature data correspond to the actual measured temperature values!
· Observe the permissible ambient temperature range of 0 to 55°C for the use of Beckhoff fieldbus components standard temperature range in potentially explosive areas!
· Measures must be taken to protect against the rated operating voltage being exceeded by more than 40% due to short-term interference voltages!
· The individual terminals may only be unplugged or removed from the Bus Terminal system if the supply voltage has been switched off or if a non-explosive atmosphere is ensured!
· The connections of the certified components may only be connected or disconnected if the supply voltage has been switched off or if a non-explosive atmosphere is ensured!
· The fuses of the KL92xx/EL92xx power feed terminals may only be exchanged if the supply voltage has been switched off or if a non-explosive atmosphere is ensured!
· Address selectors and ID switches may only be adjusted if the supply voltage has been switched off or if a non-explosive atmosphere is ensured!
Standards
The fundamental health and safety requirements are fulfilled by compliance with the following standards: · EN 60079-0:2012+A11:2013 · EN 60079-15:2010 · EN 60079-31:2013 (only for certificate no. KEMA 10ATEX0075 X Issue 9)
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Marking The Beckhoff fieldbus components with standard temperature range certified according to the ATEX directive for potentially explosive areas bear one of the following markings:
II 3G KEMA 10ATEX0075 X Ex nA IIC T4 Gc Ta: 0 ... +55°C II 3D KEMA 10ATEX0075 X Ex tc IIIC T135°C Dc Ta: 0 ... +55°C (only for fieldbus components of certificate no. KEMA 10ATEX0075 X Issue 9) or
II 3G KEMA 10ATEX0075 X Ex nA nC IIC T4 Gc Ta: 0 ... +55°C II 3D KEMA 10ATEX0075 X Ex tc IIIC T135°C Dc Ta: 0 ... +55°C (only for fieldbus components of certificate no. KEMA 10ATEX0075 X Issue 9)
4.7
Continuative documentation for ATEX and IECEx
Continuative documentation about explosion protection according to ATEX and IECEx
Pay also attention to the continuative documentation
Notes on the use of the Beckhoff terminal systems in hazardous areas according to ATEX and IECEx
that is available for download on the Beckhoff homepage https:\\www.beckhoff.com!
4.8
UL notice
Application
Beckhoff EtherCAT modules are intended for use with Beckhoff's UL Listed EtherCAT System only.
Examination
For cULus examination, the Beckhoff I/O System has only been investigated for risk of fire and electrical shock (in accordance with UL508 and CSA C22.2 No. 142).
For devices with Ethernet connectors
Not for connection to telecommunication circuits.
Basic principles UL certification according to UL508. Devices with this kind of certification are marked by this sign:
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4.9
LEDs and connection
Fig. 33: LEDs
LEDs
LED RUN
Error 1/2
Color green
red
Meaning
This LED indicates the terminal's operating state:
off
State of the EtherCAT State Machine [} 27]: INIT = initialization of the terminal
flashing
State of the EtherCAT State Machine: PREOP = function for mailbox communication and different standard-settings set
single flash State of the EtherCAT State Machine: SAFEOP = verification of the Sync Manager [} 98] channels and the distributed clocks. Outputs remain in safe state
on
State of the EtherCAT State Machine: OP = normal operating state; mailbox and process data
communication is possible
Open circuit error
Connection EL3632
Fig. 34: Connection
Note: Terminal point 2 and 6 (- Input of the channels) are internally linked. Thus, a multichannel IEPE sensor can be connected, that supports one GND returning wire only. If a three channel sensor (3 axis, triaxis) will be connected via two terminals, each GND and respectively each -Input have to bridged.
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Terminal point + Input 1 - Input 1 GND Shield + Input 2 - Input 2 GND Shield
Mounting and wiring
No.
Comment
1
+ Input 1
2
- Input 1
3
Ground (internally connected with terminal point 7)
4
Shield (internally connected to terminal point 8)
5
+ Input 2
6
- Input 2
7
Ground (internally connected with terminal point 3)
8
Shield (internally connected to terminal point 4)
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5.1
TwinCAT Quick Start
TwinCAT is a development environment for real-time control including multi-PLC system, NC axis control, programming and operation. The whole system is mapped through this environment and enables access to a programming environment (including compilation) for the controller. Individual digital or analog inputs or outputs can also be read or written directly, in order to verify their functionality, for example.
For further information please refer to http://infosys.beckhoff.com:
· EtherCAT Systemmanual: Fieldbus Components EtherCAT Terminals EtherCAT System Documentation Setup in the TwinCAT System Manager
· TwinCAT 2 TwinCAT System Manager I/O - Configuration · In particular, TwinCAT driver installation:
Fieldbus components Fieldbus Cards and Switches FC900x PCI Cards for Ethernet Installation
Devices contain the terminals for the actual configuration. All configuration data can be entered directly via editor functions (offline) or via the "Scan" function (online):
· "offline": The configuration can be customized by adding and positioning individual components. These can be selected from a directory and configured.
The procedure for offline mode can be found under http://infosys.beckhoff.com: TwinCAT 2 TwinCAT System Manager IO - Configuration Adding an I/O Device
· "online": The existing hardware configuration is read
See also http://infosys.beckhoff.com: Fieldbus components Fieldbus cards and switches FC900x PCI Cards for Ethernet Installation Searching for devices
The following relationship is envisaged from user PC to the individual control elements:
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Fig. 35: Relationship between user side (commissioning) and installation
The user inserting of certain components (I/O device, terminal, box...) is the same in TwinCAT 2 and TwinCAT 3. The descriptions below relate to the online procedure.
Sample configuration (actual configuration)
Based on the following sample configuration, the subsequent subsections describe the procedure for TwinCAT 2 and TwinCAT 3:
· Control system (PLC) CX2040 including CX2100-0004 power supply unit · Connected to the CX2040 on the right (E-bus):
EL1004 (4-channel digital input terminal 24 VDC) · Linked via the X001 port (RJ-45): EK1100 EtherCAT Coupler · Connected to the EK1100 EtherCAT coupler on the right (E-bus):
EL2008 (8-channel digital output terminal 24 VDC; 0.5 A) · (Optional via X000: a link to an external PC for the user interface)
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Fig. 36: Control configuration with Embedded PC, input (EL1004) and output (EL2008) Note that all combinations of a configuration are possible; for example, the EL1004 terminal could also be connected after the coupler, or the EL2008 terminal could additionally be connected to the CX2040 on the right, in which case the EK1100 coupler wouldn't be necessary.
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5.1.1 TwinCAT 2
Startup TwinCAT basically uses two user interfaces: the TwinCAT System Manager for communication with the electromechanical components and TwinCAT PLC Control for the development and compilation of a controller. The starting point is the TwinCAT System Manager. After successful installation of the TwinCAT system on the PC to be used for development, the TwinCAT 2 System Manager displays the following user interface after startup:
Fig. 37: Initial TwinCAT 2 user interface
Generally, TwinCAT can be used in local or remote mode. Once the TwinCAT system including the user interface (standard) is installed on the respective PLC, TwinCAT can be used in local mode and thereby the next step is "Insert Device [} 53]".
If the intention is to address the TwinCAT runtime environment installed on a PLC as development environment remotely from another system, the target system must be made known first. In the menu under
"Actions" "Choose Target System...", via the symbol "
" or the "F8" key, open the following window:
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Fig. 38: Selection of the target system Use "Search (Ethernet)..." to enter the target system. Thus a next dialog opens to either:
· enter the known computer name after "Enter Host Name / IP:" (as shown in red) · perform a "Broadcast Search" (if the exact computer name is not known) · enter the known computer IP or AmsNetID.
Fig. 39: Specify the PLC for access by the TwinCAT System Manager: selection of the target system Once the target system has been entered, it is available for selection as follows (a password may have to be entered):
After confirmation with "OK" the target system can be accessed via the System Manager.
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Adding devices
In the configuration tree of the TwinCAT 2 System Manager user interface on the left, select "I/O Devices" and then right-click to open a context menu and select "Scan Devices...", or start the action in the menu bar
via
. The TwinCAT System Manager may first have to be set to "Config mode" via
"Actions" "Set/Reset TwinCAT to Config Mode..." (Shift + F4).
or via menu
Fig. 40: Select "Scan Devices..." Confirm the warning message, which follows, and select "EtherCAT" in the dialog:
Fig. 41: Automatic detection of I/O devices: selection the devices to be integrated
Confirm the message "Find new boxes", in order to determine the terminals connected to the devices. "Free Run" enables manipulation of input and output values in "Config mode" and should also be acknowledged.
Based on the sample configuration [} 49] described at the beginning of this section, the result is as follows:
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Fig. 42: Mapping of the configuration in the TwinCAT 2 System Manager The whole process consists of two stages, which may be performed separately (first determine the devices, then determine the connected elements such as boxes, terminals, etc.). A scan can also be initiated by selecting "Device ..." from the context menu, which then reads the elements present in the configuration below:
Fig. 43: Reading of individual terminals connected to a device
This functionality is useful if the actual configuration is modified at short notice.
Programming and integrating the PLC TwinCAT PLC Control is the development environment for the creation of the controller in different program environments: TwinCAT PLC Control supports all languages described in IEC 61131-3. There are two textbased languages and three graphical languages.
· Text-based languages Instruction List (IL)
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Fig. 44: TwinCAT PLC Control after startup Sample variables and a sample program have been created and stored under the name "PLC_example.pro":
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Fig. 45: Sample program with variables after a compile process (without variable integration)
Warning 1990 (missing "VAR_CONFIG") after a compile process indicates that the variables defined as external (with the ID "AT%I*" or "AT%Q*") have not been assigned. After successful compilation, TwinCAT PLC Control creates a "*.tpy" file in the directory in which the project was stored. This file ("*.tpy") contains variable assignments and is not known to the System Manager, hence the warning. Once the System Manager has been notified, the warning no longer appears.
First, integrate the TwinCAT PLC Control project in the System Manager via the context menu of the PLC configuration; right-click and select "Append PLC Project...":
Fig. 46: Appending the TwinCAT PLC Control project
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Fig. 47: PLC project integrated in the PLC configuration of the System Manager The two variables "bEL1004_Ch4" and "nEL2008_value" can now be assigned to certain process objects of the I/O configuration. Assigning variables Open a window for selecting a suitable process object (PDO) via the context menu of a variable of the integrated project "PLC_example" and via "Modify Link..." "Standard":
Fig. 48: Creating the links between PLC variables and process objects
In the window that opens, the process object for the variable "bEL1004_Ch4" of type BOOL can be selected from the PLC configuration tree:
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Fig. 49: Selecting PDO of type BOOL
According to the default setting, certain PDO objects are now available for selection. In this sample the input of channel 4 of the EL1004 terminal is selected for linking. In contrast, the checkbox "All types" must be ticked for creating the link for the output variables, in order to allocate a set of eight separate output bits to a byte variable. The following diagram shows the whole process:
Fig. 50: Selecting several PDOs simultaneously: activate "Continuous" and "All types"
Note that the "Continuous" checkbox was also activated. This is designed to allocate the bits contained in the byte of the variable "nEL2008_value" sequentially to all eight selected output bits of the EL2008 terminal. In this way it is possible to subsequently address all eight outputs of the terminal in the program with a byte
corresponding to bit 0 for channel 1 to bit 7 for channel 8 of the PLC. A special symbol ( ) at the yellow or red object of the variable indicates that a link exists. The links can also be checked by selecting a "Goto Link Variable" from the context menu of a variable. The object opposite, in this case the PDO, is automatically selected:
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Fig. 51: Application of a "Goto Link" variable, using "MAIN.bEL1004_Ch4" as a sample The process of assigning variables to the PDO is completed via the menu selection "Actions" "Generate
Mappings", key Ctrl+M or by clicking on the symbol This can be visualized in the configuration:
in the menu.
The process of creating links can also take place in the opposite direction, i.e. starting with individual PDOs to variable. However, in this example it would then not be possible to select all output bits for the EL2008, since the terminal only makes individual digital outputs available. If a terminal has a byte, word, integer or similar PDO, it is possible to allocate this a set of bit-standardized variables (type "BOOL"). Here, too, a "Goto Link Variable" from the context menu of a PDO can be executed in the other direction, so that the respective PLC instance can then be selected.
Activation of the configuration
The allocation of PDO to PLC variables has now established the connection from the controller to the inputs and outputs of the terminals. The configuration can now be activated. First, the configuration can be verified
via
(or via "Actions" "Check Configuration"). If no error is present, the configuration can be
activated via
(or via "Actions" "Activate Configuration...") to transfer the System Manager settings
to the runtime system. Confirm the messages "Old configurations are overwritten!" and "Restart TwinCAT
system in Run mode" with "OK".
A few seconds later the real-time status
is displayed at the bottom right in the System Manager.
The PLC system can then be started as described below.
Starting the controller
Starting from a remote system, the PLC control has to be linked with the Embedded PC over Ethernet via "Online" "Choose Run-Time System...":
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Fig. 52: Choose target system (remote) In this sample "Runtime system 1 (port 801)" is selected and confirmed. Link the PLC with the real-time
system via menu option "Online" "Login", the F11 key or by clicking on the symbol
. The control
program can then be loaded for execution. This results in the message "No program on the controller!
Should the new program be loaded?", which should be acknowledged with "Yes". The runtime environment
is ready for the program start:
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Fig. 53: PLC Control logged in, ready for program startup
The PLC can now be started via "Online" "Run", F5 key or
.
5.1.2 TwinCAT 3
Startup
TwinCAT makes the development environment areas available together with Microsoft Visual Studio: after startup, the project folder explorer appears on the left in the general window area (cf. "TwinCAT System Manager" of TwinCAT 2) for communication with the electromechanical components.
After successful installation of the TwinCAT system on the PC to be used for development, TwinCAT 3 (shell) displays the following user interface after startup:
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Fig. 54: Initial TwinCAT 3 user interface
First create a new project via
(or under "File""New" "Project..."). In the
following dialog make the corresponding entries as required (as shown in the diagram):
Fig. 55: Create new TwinCAT project The new project is then available in the project folder explorer:
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Fig. 56: New TwinCAT3 project in the project folder explorer Generally, TwinCAT can be used in local or remote mode. Once the TwinCAT system including the user interface (standard) is installed on the respective PLC, TwinCAT can be used in local mode and thereby the next step is "Insert Device [} 64]". If the intention is to address the TwinCAT runtime environment installed on a PLC as development environment remotely from another system, the target system must be made known first. Via the symbol in the menu bar:
expand the pull-down menu:
and open the following window:
Fig. 57: Selection dialog: Choose the target system
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Use "Search (Ethernet)..." to enter the target system. Thus a next dialog opens to either: · enter the known computer name after "Enter Host Name / IP:" (as shown in red) · perform a "Broadcast Search" (if the exact computer name is not known) · enter the known computer IP or AmsNetID.
Fig. 58: Specify the PLC for access by the TwinCAT System Manager: selection of the target system
Once the target system has been entered, it is available for selection as follows (a password may have to be entered):
After confirmation with "OK" the target system can be accessed via the Visual Studio shell. Adding devices In the project folder explorer of the Visual Studio shell user interface on the left, select "Devices" within
element "I/O", then right-click to open a context menu and select "Scan" or start the action via
in the
menu bar. The TwinCAT System Manager may first have to be set to "Config mode" via menu "TwinCAT" "Restart TwinCAT (Config mode)".
or via the
Fig. 59: Select "Scan" Confirm the warning message, which follows, and select "EtherCAT" in the dialog:
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Fig. 60: Automatic detection of I/O devices: selection the devices to be integrated Confirm the message "Find new boxes", in order to determine the terminals connected to the devices. "Free Run" enables manipulation of input and output values in "Config mode" and should also be acknowledged. Based on the sample configuration [} 49] described at the beginning of this section, the result is as follows:
Fig. 61: Mapping of the configuration in VS shell of the TwinCAT3 environment
The whole process consists of two stages, which may be performed separately (first determine the devices, then determine the connected elements such as boxes, terminals, etc.). A scan can also be initiated by selecting "Device ..." from the context menu, which then reads the elements present in the configuration below:
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Fig. 62: Reading of individual terminals connected to a device
This functionality is useful if the actual configuration is modified at short notice.
Programming the PLC
TwinCAT PLC Control is the development environment for the creation of the controller in different program environments: TwinCAT PLC Control supports all languages described in IEC 61131-3. There are two textbased languages and three graphical languages.
· Text-based languages Instruction List (IL) Structured Text (ST)
· Graphical languages Function Block Diagram (FBD) Ladder Diagram (LD) The Continuous Function Chart Editor (CFC) Sequential Function Chart (SFC)
The following section refers to Structured Text (ST).
In order to create a programming environment, a PLC subproject is added to the project sample via the context menu of "PLC" in the project folder explorer by selecting "Add New Item....":
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Fig. 63: Adding the programming environment in "PLC" In the dialog that opens select "Standard PLC project" and enter "PLC_example" as project name, for example, and select a corresponding directory:
Fig. 64: Specifying the name and directory for the PLC programming environment
The "Main" program, which already exists by selecting "Standard PLC project", can be opened by doubleclicking on "PLC_example_project" in "POUs". The following user interface is shown for an initial project:
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Fig. 65: Initial "Main" program of the standard PLC project To continue, sample variables and a sample program have now been created:
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Fig. 66: Sample program with variables after a compile process (without variable integration) The control program is now created as a project folder, followed by the compile process:
Fig. 67: Start program compilation
The following variables, identified in the ST/ PLC program with "AT%", are then available in under "Assignments" in the project folder explorer:
Assigning variables
Via the menu of an instance - variables in the "PLC" context, use the "Modify Link..." option to open a window for selecting a suitable process object (PDO) for linking:
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Fig. 68: Creating the links between PLC variables and process objects In the window that opens, the process object for the variable "bEL1004_Ch4" of type BOOL can be selected from the PLC configuration tree:
Fig. 69: Selecting PDO of type BOOL
According to the default setting, certain PDO objects are now available for selection. In this sample the input of channel 4 of the EL1004 terminal is selected for linking. In contrast, the checkbox "All types" must be ticked for creating the link for the output variables, in order to allocate a set of eight separate output bits to a byte variable. The following diagram shows the whole process:
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Fig. 70: Selecting several PDOs simultaneously: activate "Continuous" and "All types" Note that the "Continuous" checkbox was also activated. This is designed to allocate the bits contained in the byte of the variable "nEL2008_value" sequentially to all eight selected output bits of the EL2008 terminal. In this way it is possible to subsequently address all eight outputs of the terminal in the program with a byte corresponding to bit 0 for channel 1 to bit 7 for channel 8 of the PLC. A special symbol ( ) at the yellow or red object of the variable indicates that a link exists. The links can also be checked by selecting a "Goto Link Variable" from the context menu of a variable. The object opposite, in this case the PDO, is automatically selected:
Fig. 71: Application of a "Goto Link" variable, using "MAIN.bEL1004_Ch4" as a sample
The process of creating links can also take place in the opposite direction, i.e. starting with individual PDOs to variable. However, in this example it would then not be possible to select all output bits for the EL2008, since the terminal only makes individual digital outputs available. If a terminal has a byte, word, integer or
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Note on the type of variable assignment
The following type of variable assignment can only be used from TwinCAT version V3.1.4024.4 onwards and is only available for terminals with a microcontroller. In TwinCAT it is possible to create a structure from the mapped process data of a terminal. An instance of this structure can then be created in the PLC, so it is possible to access the process data directly from the PLC without having to declare own variables. The procedure for the EL3001 1-channel analog input terminal -10...+10 V is shown as an example. 1. First the required process data must be selected in the "Process data" tab in TwinCAT. 2. After that, the PLC data type must be generated in the tab "PLC" via the check box. 3. The data type in the "Data Type" field can then be copied using the "Copy" button.
Fig. 72: Creating a PLC data type 4. An instance of the data structure of the copied data type must then be created in the PLC.
Fig. 73: Instance_of_struct 5. Then the project folder must be created. This can be done either via the key combination "CTRL + Shift + B" or via the "Build" tab in TwinCAT. 6. The structure in the "PLC" tab of the terminal must then be linked to the created instance.
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Fig. 74: Linking the structure 7. In the PLC the process data can then be read or written via the structure in the program code.
Fig. 75: Reading a variable from the structure of the process data
Activation of the configuration The allocation of PDO to PLC variables has now established the connection from the controller to the inputs
and outputs of the terminals. The configuration can now be activated with
or via the menu under
"TwinCAT" in order to transfer settings of the development environment to the runtime system. Confirm the
messages "Old configurations are overwritten!" and "Restart TwinCAT system in Run mode" with "OK". The
corresponding assignments can be seen in the project folder explorer:
A few seconds later the corresponding status of the Run mode is displayed in the form of a rotating symbol
at the bottom right of the VS shell development environment. The PLC system can then be started as described below.
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Select the menu option "PLC" "Login" or click on
to link the PLC with the real-time system and load
the control program for execution. This results in the message No program on the controller! Should the new
program be loaded?, which should be acknowledged with "Yes". The runtime environment is ready for
program start by click on symbol , the "F5" key or via "PLC" in the menu selecting "Start". The started programming environment shows the runtime values of individual variables:
Fig. 76: TwinCAT development environment (VS shell): logged-in, after program startup
The two operator control elements for stopping
and logout
result in the required action
(accordingly also for stop "Shift + F5", or both actions can be selected via the PLC menu).
5.2
TwinCAT Development Environment
The Software for automation TwinCAT (The Windows Control and Automation Technology) will be distinguished into:
· TwinCAT 2: System Manager (Configuration) & PLC Control (Programming)
· TwinCAT 3: Enhancement of TwinCAT 2 (Programming and Configuration takes place via a common Development Environment)
Details: · TwinCAT 2: Connects I/O devices to tasks in a variable-oriented manner Connects tasks to tasks in a variable-oriented manner Supports units at the bit level Supports synchronous or asynchronous relationships Exchange of consistent data areas and process images Datalink on NT - Programs by open Microsoft Standards (OLE, OCX, ActiveX, DCOM+, etc.)
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Integration of IEC 61131-3-Software-SPS, Software- NC and Software-CNC within Windows NT/2000/XP/Vista, Windows 7, NT/XP Embedded, CE
Interconnection to all common fieldbusses More...
Additional features: · TwinCAT 3 (eXtended Automation): Visual-Studio®-Integration Choice of the programming language Supports object orientated extension of IEC 61131-3 Usage of C/C++ as programming language for real time applications Connection to MATLAB®/Simulink® Open interface for expandability Flexible run-time environment Active support of Multi-Core- und 64-Bit-Operatingsystem Automatic code generation and project creation with the TwinCAT Automation Interface More...
Within the following sections commissioning of the TwinCAT Development Environment on a PC System for the control and also the basically functions of unique control elements will be explained. Please see further information to TwinCAT 2 and TwinCAT 3 at http://infosys.beckhoff.com.
5.2.1 Installation of the TwinCAT real-time driver
In order to assign real-time capability to a standard Ethernet port of an IPC controller, the Beckhoff real-time driver has to be installed on this port under Windows. This can be done in several ways. One option is described here. In the System Manager call up the TwinCAT overview of the local network interfaces via Options Show Real Time Ethernet Compatible Devices.
Fig. 77: System Manager "Options" (TwinCAT 2)
This have to be called up by the Menü "TwinCAT" within the TwinCAT 3 environment:
Fig. 78: Call up under VS Shell (TwinCAT 3)
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Fig. 79: Overview of network interfaces
Interfaces listed under "Compatible devices" can be assigned a driver via the "Install" button. A driver should only be installed on compatible devices.
A Windows warning regarding the unsigned driver can be ignored.
Alternatively an EtherCAT-device can be inserted first of all as described in chapter Offline configuration creation, section "Creating the EtherCAT device" [} 85] in order to view the compatible ethernet ports via its EtherCAT properties (tab "Adapter", button "Compatible Devices..."):
Fig. 80: EtherCAT device properties(TwinCAT 2): click on "Compatible Devices..." of tab "Adapte"" TwinCAT 3: the 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 for the network interface (Windows Start System Properties Network)
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Fig. 81: Windows properties of the network interface A correct setting of the driver could be:
Fig. 82: Exemplary correct driver setting for the Ethernet port Other possible settings have to be avoided:
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Fig. 83: Incorrect driver settings for the Ethernet port
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IP address of the port used
IP address/DHCP
In most cases an Ethernet port that is configured as an EtherCAT device will not transport general IP packets. For this reason and 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 associated with the DHCP client for the Ethernet port assigning itself a default IP address in the absence of a DHCP server is avoided. A suitable address space is 192.168.x.x, for example.
Fig. 84: TCP/IP setting for the Ethernet port
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5.2.2 Notes regarding ESI device description
Installation of the latest ESI device description The TwinCAT EtherCAT master/System Manager needs the device description files for the devices to be used in order to generate the configuration in online or offline mode. The device descriptions are contained in the so-called ESI files (EtherCAT Slave Information) in XML format. These files can be requested from the respective manufacturer and are made available for download. An *.xml file may contain several device descriptions.
The ESI files for Beckhoff EtherCAT devices are available on the Beckhoff website. The ESI files should be stored in the TwinCAT installation directory. Default settings:
· TwinCAT 2: C:\TwinCAT\IO\EtherCAT · TwinCAT 3: C:\TwinCAT\3.1\Config\Io\EtherCAT The files are read (once) when a new System Manager window is opened, if they have changed since the last time the System Manager window was opened. A TwinCAT installation includes the set of Beckhoff ESI files 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 the Internet; by · TwinCAT 2: Option "Update EtherCAT Device Descriptions" · TwinCAT 3: TwinCAT EtherCAT Devices "Update Device Descriptions (via ETG Website)..." The TwinCAT ESI Updater [} 84] is available for this purpose.
ESI
The *.xml files are associated with *.xsd files, which describe the structure of the ESI XML files. To update the ESI device descriptions, both file types should therefore be updated.
Device differentiation EtherCAT devices/slaves are distinguished by four properties, which determine the full device identifier. For example, the device identifier EL2521-0025-1018 consists of:
· family key "EL" · name "2521" · type "0025" · and revision "1018"
Fig. 85: Identifier structure
The order identifier consisting of name + type (here: EL2521-0010) describes the device function. The revision indicates the technical progress and is managed by Beckhoff. In principle, a device with a higher revision can replace a device with a lower revision, unless specified otherwise, e.g. in the documentation. Each revision has its own ESI description. See further notes [} 9].
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Online description
If the EtherCAT configuration is created online through scanning of real devices (see section Online setup) and no ESI descriptions are available for a slave (specified by name and revision) that was found, the System Manager asks whether the description stored in the device should be used. In any case, the System Manager needs this information for setting up the cyclic and acyclic communication with the slave correctly.
Fig. 86: OnlineDescription information window (TwinCAT 2) In TwinCAT 3 a similar window appears, which also offers the Web update:
Fig. 87: Information window OnlineDescription (TwinCAT 3)
If possible, the Yes is to be rejected and the required ESI is to be requested from the device manufacturer. After installation of the XML/XSD file the configuration process should be repeated.
NOTE Changing the "usual" configuration through a scan
ü If a scan discovers a device that is not yet known to TwinCAT, distinction has to be made between two cases. Taking the example here of the EL2521-0000 in the revision 1019
a) no ESI is present for the EL2521-0000 device at all, either for 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. 1018 or 1017. In this case an in-house check should first be performed to determine whether the spare parts stock allows the integration of the increased revision into the configuration at all. A new/higher revision usually also brings along new features. If these are not to be used, work can continue without reservations with the previous revision 1018 in the configuration. This is also stated by the Beckhoff compatibility rule.
Refer in particular to the chapter "General notes on the use of Beckhoff EtherCAT IO components" and for manual configuration to the chapter "Offline configuration creation [} 85]".
If the OnlineDescription is used regardless, the System Manager reads a copy of the device description from the EEPROM in the EtherCAT slave. In complex slaves the size of the EEPROM may not be sufficient for the complete ESI, in which case the ESI would be incomplete in the configurator. Therefore it's recommended using an offline ESI file with priority in such a case.
The System Manager creates for online recorded device descriptions a new file "OnlineDescription0000...xml" in its ESI directory, which contains all ESI descriptions that were read online.
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Fig. 88: File OnlineDescription.xml created by the System Manager Is a slave desired to be added manually to the configuration at a later stage, online created slaves are indicated by a prepended symbol ">" in the selection list (see Figure Indication of an online recorded ESI of EL2521 as an example).
Fig. 89: Indication of an online recorded ESI of EL2521 as an example
If such ESI files are used and the manufacturer's files become available later, the file OnlineDescription.xml should 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 procedure, if necessary press <F5> to update
OnlineDescription for TwinCAT 3.x
In addition to the file described above "OnlineDescription0000...xml", a so called EtherCAT cache with new discovered devices is created by TwinCAT 3.x, e.g. under Windows 7:
(Please note the language settings of the OS!) You have to delete this file, too.
Faulty ESI file If an ESI file is faulty and the System Manager is unable to read it, the System Manager brings up an information window.
Fig. 90: Information window for faulty ESI file (left: TwinCAT 2; right: TwinCAT 3)
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Reasons may include: · Structure of the *.xml does not correspond to the associated *.xsd file check your schematics · Contents cannot be translated into a device description contact the file manufacturer
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5.2.3 TwinCAT ESI Updater
For TwinCAT 2.11 and higher, the System Manager can search for current Beckhoff ESI files automatically, if an online connection is available:
Fig. 91: Using the ESI Updater (>= TwinCAT 2.11) The call up takes place under: "Options" "Update EtherCAT Device Descriptions" Selection under TwinCAT 3:
Fig. 92: Using the ESI Updater (TwinCAT 3)
The ESI Updater (TwinCAT 3) is a convenient option for automatic downloading of ESI data provided by EtherCAT manufacturers via the Internet into the TwinCAT directory (ESI = EtherCAT slave information). TwinCAT accesses the central ESI ULR directory list stored at ETG; the entries can then be viewed in the Updater dialog, although they cannot be changed there.
The call up takes place under: "TwinCAT" "EtherCAT Devices" "Update Device Description (via ETG Website)...".
5.2.4 Distinction between Online and Offline
The distinction between online and offline refers to the presence of the actual I/O environment (drives, terminals, EJ-modules). If the configuration is to be prepared in advance of the system configuration as a programming system, e.g. on a laptop, this is only possible in "Offline configuration" mode. In this case all components have to be entered manually in the configuration, e.g. based on the electrical design.
If the designed control system is already connected to the EtherCAT system and all components are energised and the infrastructure is ready for operation, the TwinCAT configuration can simply be generated through "scanning" from the runtime system. This is referred to as online configuration.
In any case, during each startup the EtherCAT master checks whether the slaves it finds match the configuration. This test can be parameterised in the extended slave settings. Refer to note "Installation of the latest ESI-XML device description" [} 80].
For preparation of a configuration: · the real EtherCAT hardware (devices, couplers, drives) must be present and installed · the devices/modules must be connected via EtherCAT cables or in the terminal/ module strand in the same way as they are intended to be used later
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preceding step · troubleshooting [} 94] The scan with existing configuration [} 95] can also be carried out for comparison.
5.2.5 OFFLINE configuration creation
Creating the EtherCAT device Create an EtherCAT device in an empty System Manager window.
Fig. 93: Append EtherCAT device (left: TwinCAT 2; right: TwinCAT 3) Select type "EtherCAT" for an EtherCAT I/O application with EtherCAT slaves. For the present publisher/ subscriber service in combination with an EL6601/EL6614 terminal select "EtherCAT Automation Protocol via EL6601".
Fig. 94: Selecting the EtherCAT connection (TwinCAT 2.11, TwinCAT 3) Then assign a real Ethernet port to this virtual device in the runtime system.
Fig. 95: Selecting the Ethernet port
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This query may appear automatically when the EtherCAT device is created, or the assignment can be set/ modified later in the properties dialog; see Fig. "EtherCAT device properties (TwinCAT 2)".
Fig. 96: EtherCAT device properties (TwinCAT 2) TwinCAT 3: the properties of the EtherCAT device can be opened by double click on "Device .. (EtherCAT)" within the Solution Explorer under "I/O":
Selecting the Ethernet port
Ethernet ports can only be selected for EtherCAT devices for which the TwinCAT real-time driver is installed. This has to be done separately for each port. Please refer to the respective installation page [} 75].
Defining EtherCAT slaves Further devices can be appended by right-clicking on a device in the configuration tree.
Fig. 97: Appending EtherCAT devices (left: TwinCAT 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 selected device. Therefore the physical layer available for this port is also displayed (Fig. "Selection dialog for new EtherCAT device", A). In the case of cable-based Fast-Ethernet physical layer with PHY transfer, then also only cable-based devices are available, as shown in Fig. "Selection dialog for new EtherCAT device". If the preceding device has several free ports (e.g. EK1122 or EK1100), the required port can be selected on the right-hand side (A).
Overview of physical layer · "Ethernet": cable-based 100BASE-TX: EK couplers, EP boxes, devices with RJ45/M8/M12 connector
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· "E-Bus": LVDS "terminal bus", "EJ-module": EL/ES terminals, various modular modules The search field facilitates finding specific devices (since TwinCAT 2.11 or TwinCAT 3).
Fig. 98: Selection dialog for new EtherCAT device
By default only the name/device type is used as selection criterion. For selecting a specific revision of the device the revision can be displayed as "Extended Information".
Fig. 99: Display of device revision
In many cases several device revisions were created for historic or functional reasons, e.g. through technological advancement. For simplification purposes (see Fig. "Selection dialog for new EtherCAT device") only the last (i.e. highest) revision and therefore the latest state of production is displayed in the selection dialog for Beckhoff devices. To show all device revisions available in the system as ESI descriptions tick the "Show Hidden Devices" check box, see Fig. "Display of previous revisions".
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Fig. 100: Display of previous revisions
Device selection based on revision, compatibility
The ESI description also defines the process image, the communication type between master and slave/device and the device functions, if applicable. The physical device (firmware, if available) has to support the communication queries/settings of the master. This is backward compatible, i.e. newer devices (higher revision) should be supported if the EtherCAT master addresses them as an older revision. The following compatibility rule of thumb is to be assumed for Beckhoff EtherCAT Terminals/ Boxes/ EJ-modules: device revision in the system >= device revision in the configuration This also enables subsequent replacement of devices without changing the configuration (different specifications are possible for drives).
Example If an EL2521-0025-1018 is specified in the configuration, an EL2521-0025-1018 or higher (-1019, -1020) can be used in practice.
Fig. 101: Name/revision of the terminal
If current ESI descriptions are available in the TwinCAT system, the last revision offered in the selection dialog matches the Beckhoff state of production. It is recommended to use the last device revision when creating a new configuration, if current Beckhoff devices are used in the real application. Older revisions should only be used if older devices from stock are to be used in the application. In this case the process image of the device is shown in the configuration tree and can be parameterized as follows: linking with the task, CoE/DC settings, plug-in definition, startup settings, ...
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5.2.6 ONLINE configuration creation
Detecting/scanning of the EtherCAT device
The online device search can be used if the TwinCAT system is in CONFIG mode. This can be indicated by a symbol right below in the information bar:
· on TwinCAT 2 by a blue display "Config Mode" within the System Manager window:
.
· on TwinCAT 3 within the user interface of the development environment by a symbol . TwinCAT can be set into this mode:
· TwinCAT 2: by selection of Mode..."
in the Menubar or by "Actions" "Set/Reset TwinCAT to Config
· TwinCAT 3: by selection of in the Menubar or by "TwinCAT" "Restart TwinCAT (Config Mode)"
Online scanning in Config mode
The online search is not available in RUN mode (production operation). Note the differentiation between TwinCAT programming system and TwinCAT target system.
The TwinCAT 2 icon ( ) or TwinCAT 3 icon ( ) within the Windows-Taskbar always shows the TwinCAT mode of the local IPC. Compared to that, the System Manager window of TwinCAT 2 or the user interface of TwinCAT 3 indicates the state of the target system.
Fig. 103: Differentiation local/target system (left: TwinCAT 2; right: TwinCAT 3) Right-clicking on "I/O Devices" in the configuration tree opens the search dialog.
Fig. 104: Scan Devices (left: TwinCAT 2; right: TwinCAT 3)
This scan mode attempts to find not only EtherCAT devices (or Ethernet ports that are usable as such), but also NOVRAM, fieldbus cards, SMB etc. However, not all devices can be found automatically.
Fig. 105: Note for automatic device scan (left: TwinCAT 2; right: TwinCAT 3)
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Ethernet ports with installed TwinCAT real-time driver are shown as "RT Ethernet" devices. An EtherCAT frame is sent to these ports for testing purposes. If the scan agent detects from the response that an EtherCAT slave is connected, the port is immediately shown as an "EtherCAT Device" .
Fig. 106: Detected Ethernet devices
Via respective checkboxes devices can be selected (as illustrated in Fig. "Detected Ethernet devices" e.g. Device 3 and Device 4 were chosen). After confirmation with "OK" a device scan is suggested for all selected devices, see Fig.: "Scan query after automatic creation of an EtherCAT device".
Selecting the Ethernet port
Ethernet ports can only be selected for EtherCAT devices for which the TwinCAT real-time driver is installed. This has to be done separately for each port. Please refer to the respective installation page [} 75].
Detecting/Scanning the EtherCAT devices
Online scan functionality
During a scan the master queries the identity information of the EtherCAT slaves from the slave EEPROM. The name and revision are used for determining the type. The respective devices are located in the stored ESI data and integrated in the configuration tree in the default state defined there.
Fig. 107: Example default state
NOTE Slave scanning in practice in series machine production
The scanning function should be used with care. It is a practical and fast tool for creating an initial configuration as a basis for commissioning. In series machine production or reproduction of the plant, however, the function should no longer be used for the creation of the configuration, but if necessary for comparison [} 95] with the defined initial configuration.Background: since Beckhoff occasionally increases the revision version of the delivered products for product maintenance reasons, a configuration can be created by such a scan which (with an identical machine construction) is identical according to the device list; however, the respective device revision may differ from the initial configuration.
Example:
Company A builds the prototype of a machine B, which is to be produced in series later on. To do this the prototype is built, a scan of the IO devices is performed in TwinCAT and the initial configuration "B.tsm" is created. The EL2521-0025 EtherCAT terminal with the revision 1018 is located somewhere. It is thus built into the TwinCAT configuration in this way:
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Fig. 108: Installing EthetCAT terminal with revision -1018
Likewise, during the prototype test phase, the functions and properties of this terminal are tested by the programmers/commissioning engineers and used if necessary, i.e. addressed from the PLC "B.pro" or the NC. (the same applies correspondingly to the TwinCAT 3 solution files). The prototype development is now completed and series production of machine B starts, for which Beckhoff continues to supply the EL2521-0025-0018. If the commissioning engineers of the series machine production department always carry out a scan, a B configuration with the identical contents results again for each machine. Likewise, A might create spare parts stores worldwide for the coming series-produced machines with EL2521-0025-1018 terminals. After some time Beckhoff extends the EL2521-0025 by a new feature C. Therefore the FW is changed, outwardly recognizable by a higher FW version and a new revision -1019. Nevertheless the new device naturally supports functions and interfaces of the predecessor version(s); an adaptation of "B.tsm" or even "B.pro" is therefore unnecessary. The series-produced machines can continue to be built with "B.tsm" and "B.pro"; it makes sense to perform a comparative scan [} 95] against the initial 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 configuration, the revision -1019 is automatically detected and built into the configuration:
Fig. 109: Detection of EtherCAT terminal with revision -1019
This is usually not noticed by the commissioning engineers. TwinCAT cannot signal anything either, since virtually a new configuration is created. According to the compatibility rule, however, this means that no EL2521-0025-1018 should be built into this machine as a spare part (even if this nevertheless works in the vast majority of cases). In addition, it could be the case that, due to the development accompanying production in company A, the new feature C of the EL2521-0025-1019 (for example, an improved analog filter or an additional process data for the diagnosis) is discovered and used without in-house consultation. The previous stock of spare part devices are then no longer to be used for the new configuration "B2.tsm" created in this way. Þ if series machine production is established, the scan should only be performed for informative purposes for comparison with a defined initial configuration. Changes are to be made with care! If an EtherCAT device was created in the configuration (manually or through a scan), the I/O field can be scanned for devices/slaves.
Fig. 110: Scan query after automatic creation of an EtherCAT device (left: TwinCAT 2; right: TwinCAT 3)
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Fig. 111: Manual triggering of a device scan on a specified EtherCAT device (left: TwinCAT 2; right: TwinCAT 3) In the System Manager (TwinCAT 2) or the User Interface (TwinCAT 3) the scan process can be monitored via the progress bar at the bottom in the status bar.
Fig. 112: Scan progressexemplary by TwinCAT 2 The configuration is established and can then be switched to online state (OPERATIONAL).
Fig. 113: Config/FreeRun query (left: TwinCAT 2; right: TwinCAT 3) In Config/FreeRun mode the System Manager display alternates between blue and red, and the EtherCAT device continues to operate with the idling cycle time of 4 ms (default setting), even without active task (NC, PLC).
Fig. 114: Displaying of "Free Run" and "Config Mode" toggling right below in the status bar
Fig. 115: TwinCAT can also be switched to this state by using a button (left: TwinCAT 2; right: TwinCAT 3) The EtherCAT system should then be in a functional cyclic state, as shown in Fig. Online display example.
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Fig. 116: Online display example
Please note: · all slaves should be in OP state · the EtherCAT master should be in "Actual State" OP · "frames/sec" should match the cycle time taking into account the sent number of frames · no excessive "LostFrames" or CRC errors should occur
The configuration is now complete. It can be modified as described under manual procedure [} 85].
Troubleshooting
Various effects may occur during scanning. · An unknown 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 described in the chapter "Notes regarding ESI device description". · Device are not detected properly Possible reasons include: faulty data links, resulting in data loss during the scan slave has invalid device description The connections and devices should be checked in a targeted manner, e.g. via the emergency scan. Then re-run the scan.
Fig. 117: Faulty identification
In the System Manager such devices may be set up as EK0000 or unknown devices. Operation is not possible or meaningful.
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Scan over existing Configuration
NOTE Change of the configuration after comparison
With this scan (TwinCAT 2.11 or 3.1) only the device properties vendor (manufacturer), device name and revision are compared at present! A "ChangeTo" or "Copy" should only be carried out with care, taking into consideration the Beckhoff IO compatibility rule (see above). The device 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 match the configuration exactly or it may differ. This enables the configuration to be compared.
Fig. 118: Identical configuration (left: TwinCAT 2; right: TwinCAT 3) If differences are detected, they are shown in the correction dialog, so that the user can modify the configuration as required.
Fig. 119: Correction dialog It is advisable to tick the "Extended Information" check box to reveal differences in the revision.
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Color green blue
light blue red
Explanation
This EtherCAT slave matches the entry on the other side. Both type and revision match.
This EtherCAT slave is present on the other side, but in a different revision. This other revision can have other default values for the process data as well as other/additional functions. If the found revision is higher than the configured revision, the slave may be used provided compatibility issues are taken into account.
If the found revision is lower than the configured revision, it is likely that the slave cannot be used. The found device may not support all functions that the master expects based on the higher revision number.
This EtherCAT slave is ignored ("Ignore" button)
· This EtherCAT slave is not present on the other side.
· It is present, but in a different revision, which also differs in its properties from the one specified. The compatibility principle then also applies here: if the found revision is higher than the configured revision, use is possible provided compatibility issues are taken into account, since the successor devices should support the functions of the predecessor devices. If the found revision is lower than the configured revision, it is likely that the slave cannot be used. The found device may not support all functions that the master 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 and the device functions, if applicable. The physical device (firmware, if available) has to support the communication queries/settings of the master. This is backward compatible, i.e. newer devices (higher revision) should be supported if the EtherCAT master addresses them as an older revision. The following compatibility rule of thumb is to be assumed for Beckhoff EtherCAT Terminals/ Boxes/ EJ-modules:
device revision in the system >= device revision in the configuration
This also enables subsequent replacement of devices without changing the configuration (different specifications are possible for drives).
Example
If an EL2521-0025-1018 is specified in the configuration, an EL2521-0025-1018 or higher (-1019, -1020) can be used in practice.
Fig. 120: Name/revision of the terminal
If current ESI descriptions are available in the TwinCAT system, the last revision offered in the selection dialog matches the Beckhoff state of production. It is recommended to use the last device revision when creating a new configuration, if current Beckhoff devices are used in the real application. Older revisions should only be used if older devices from stock are to be used in the application.
In this case the process image of the device is shown in the configuration tree and can be parameterized as follows: linking with the task, CoE/DC settings, plug-in definition, startup settings, ...
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Fig. 121: Correction dialog with modifications Once all modifications have been saved or accepted, click "OK" to transfer them to the real *.tsm configuration. Change to Compatible Type TwinCAT offers a function Change to Compatible Type... for the exchange of a device whilst retaining the links in the task.
Fig. 122: Dialog "Change to Compatible Type..." (left: TwinCAT 2; right: TwinCAT 3) This function is preferably to be used on AX5000 devices. Change to Alternative Type The TwinCAT System Manager offers a function for the exchange of a device: Change to Alternative Type
Fig. 123: TwinCAT 2 Dialog Change to Alternative Type
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If called, the System Manager searches in the procured device ESI (in this example: EL1202-0000) for details of compatible devices contained there. The configuration is changed and the ESI-EEPROM is overwritten at the same time therefore this process is possible only in the online state (ConfigMode).
5.2.7 EtherCAT subscriber configuration
In the left-hand window of the TwinCAT 2 System Manager or the Solution Explorer of the TwinCAT 3 Development Environment respectively, click on the element of the terminal within the tree you wish to configure (in the example: EL3751 Terminal 3).
Fig. 124: Branch element as terminal EL3751 In the right-hand window of the TwinCAT System Manager (TwinCAT 2) or the Development Environment (TwinCAT 3), various tabs are now available for configuring the terminal. And yet the dimension of complexity of a subscriber determines which tabs are provided. Thus as illustrated in the example above the terminal EL3751 provides many setup options and also a respective number of tabs are available. On the contrary by the terminal EL1004 for example the tabs "General", "EtherCAT", "Process Data" and "Online" are available only. Several terminals, as for instance the EL6695 provide special functions by a tab with its own terminal name, so "EL6695" in this case. A specific tab "Settings" by terminals with a wide range of setup options will be provided also (e.g. EL3751).
"General" tab
Fig. 125: "General" tab
Name Id Type Comment Disabled Create symbols
Name of the EtherCAT device Number of the EtherCAT device EtherCAT device type Here you can add a comment (e.g. regarding the system). Here you can deactivate the EtherCAT device. Access to this EtherCAT slave via ADS is only available if this control box is activated.
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Fig. 126: "EtherCAT" tab
Type Product/Revision Auto Inc Addr.
EtherCAT Addr. Previous Port
Advanced Settings
EtherCAT device type
Product and revision number of the EtherCAT device
Auto increment address of the EtherCAT device. The auto increment address can be used for addressing each EtherCAT device in the communication ring through its physical position. Auto increment addressing is used during the start-up phase when the EtherCAT master allocates addresses to the EtherCAT devices. With auto increment addressing the first EtherCAT slave in the ring has the address 0000hex. For each further slave the address is decremented by 1 (FFFFhex, FFFEhex etc.).
Fixed address of an EtherCAT slave. This address is allocated by the EtherCAT master during the start-up phase. Tick the control box to the left of the input field in order to modify the default value.
Name and port of the EtherCAT device to which this device is connected. If it is possible to connect this device with another one without changing the order of the EtherCAT devices in the communication ring, then this combination field is activated and the EtherCAT device to which this device is to be connected can be selected.
This button opens the dialogs for advanced settings.
The link at the bottom of the tab points to the product page for this EtherCAT device on the web.
"Process Data" tab
Indicates the configuration of the process data. The input and output data of the EtherCAT slave are represented as CANopen process data objects (Process Data Objects, PDOs). The user can select a PDO via PDO assignment and modify the content of the individual PDO via this dialog, if the EtherCAT slave supports this function.
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Fig. 127: "Process Data" tab
The process data (PDOs) transferred by an EtherCAT slave during each cycle are user data which the application expects to be updated cyclically or which are sent to the slave. To this end the EtherCAT master (Beckhoff TwinCAT) parameterizes each EtherCAT slave during the start-up phase to define which process data (size in bits/bytes, source location, transmission type) it wants to transfer to or from this slave. Incorrect configuration can prevent successful start-up of the slave.
For Beckhoff EtherCAT EL, ES, EM, EJ and EP slaves the following applies in general:
· The input/output process data supported by the device are defined by the manufacturer in the ESI/XML description. The TwinCAT EtherCAT 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 channel, displaying additional cyclic information, 16-bit display instead of 8-bit data size, etc.
· In so-called "intelligent" EtherCAT devices the process data information is also stored in the CoE directory. Any changes in the CoE directory that lead to different PDO settings prevent successful startup of the slave. It is not advisable to deviate from the designated process data, because the device firmware (if available) is adapted to these PDO combinations.
If the device documentation allows modification of process data, proceed as follows (see Figure Configuring the process data).
· A: select the device to configure
· B: in the "Process Data" tab select Input or Output under SyncManager (C)
· D: the PDOs can be selected or deselected
· H: the new process data are visible as linkable variables in the System Manager The new process data are active once the configuration has been activated and TwinCAT has been restarted (or the EtherCAT master has been restarted)
· E: if a slave supports this, Input and Output PDO can be modified simultaneously by selecting a socalled PDO record ("predefined PDO settings").
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Fig. 128: Configuring the process data
Manual modification of the process data
According to the ESI description, a PDO can be identified as "fixed" with the flag "F" in the PDO overview (Fig. Configuring the process data, J). The configuration of such PDOs cannot be changed, even if TwinCAT offers the associated dialog ("Edit"). In particular, CoE content cannot be displayed as cyclic process data. This generally also applies in cases where a device supports download of the PDO configuration, "G". In case of incorrect configuration the EtherCAT slave usually refuses to start and change to OP state. The System Manager displays an "invalid SM cfg" logger message: This error message ("invalid SM IN cfg" or "invalid SM OUT cfg") also indicates the reason for the failed start.
A detailed description [} 106] can be found at the end of this section.
"Startup" tab
The Startup tab is displayed if the EtherCAT slave has a mailbox and supports the CANopen over EtherCAT (CoE) or Servo drive over EtherCAT protocol. This tab indicates which download requests are sent to the mailbox during startup. It is also possible to add new mailbox requests to the list display. The download requests are sent to the slave in the same order as they are shown in the list.
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Fig. 129: "Startup" tab
Column Transition
Protocol Index Data Comment
Description Transition to which the request is sent. This can either be · the transition from pre-operational to safe-operational (PS), or · the transition from safe-operational to operational (SO). If the transition is enclosed in "<>" (e.g. <PS>), the mailbox request is fixed and cannot be modified or deleted by the user. Type of mailbox protocol Index of the object Date on which this object is to be downloaded. Description of the request to be sent to the mailbox
Move Up Move Down New Delete Edit
This button moves the selected request up by one position in the list. This button moves the selected request down by one position in the list. This button adds a new mailbox download request to be sent during startup. This button deletes the selected entry. This button edits an existing request.
"CoE - Online" tab
The additional CoE - Online tab is displayed if the EtherCAT slave supports the CANopen over EtherCAT (CoE) protocol. This dialog lists the content of the object list of the slave (SDO upload) and enables the user to modify the content of an object from this list. Details for the objects of the individual EtherCAT devices can be found in the device-specific object descriptions.
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Fig. 130: "CoE - Online" tab
Object list display
Column Index Name Flags
Value
Description Index and sub-index of the object Name of the object RW The object can be read, and data can be written to the object (read/write) 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 of the object
Update List Auto Update Advanced
The Update list button updates all objects in the displayed list If this check box is selected, the content of the objects is updated automatically. The Advanced button opens the Advanced Settings dialog. Here you can specify which objects are displayed in the list.
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Fig. 131: Dialog "Advanced settings"
Online - via SDO Information Offline - via EDS File
If this option button is selected, the list of the objects included in the object list of the slave is uploaded from the slave via SDO information. The list below can be used to specify which object types are to be uploaded.
If this option button is selected, the list of the objects included in the object list is read from an EDS file provided by the user.
"Online" tab
Fig. 132: "Online" tab
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State Machine Init Pre-Op Op Bootstrap Safe-Op Clear Error
Current State Requested State
This button attempts to set the EtherCAT device to the Init state. This button attempts to set the EtherCAT device to the pre-operational state. This button attempts to set the EtherCAT device to the operational state. This button attempts to set the EtherCAT device to the Bootstrap state. This button attempts to set the EtherCAT device to the safe-operational state. This button attempts to delete the fault display. If an EtherCAT slave fails during change of state it sets an error flag.
Example: An EtherCAT slave is in PREOP state (pre-operational). The master now requests the SAFEOP state (safe-operational). If the slave fails during change of state it sets 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. Indicates the current state of the EtherCAT device. Indicates the state requested for the EtherCAT device.
DLL Status
Indicates the DLL status (data link layer status) of the individual ports of the EtherCAT slave. The DLL status can have four different states:
Status No Carrier / Open No Carrier / Closed Carrier / Open Carrier / Closed
Description No carrier signal is available at the port, but the port is open. No carrier signal is available at the port, and the port is closed. A carrier signal is available at the port, and the port is open. A carrier signal is available at the port, but the port is closed.
File Access over EtherCAT
Download Upload
With this button a file can be written to the EtherCAT device. With this button a file can be read from the EtherCAT device.
"DC" tab (Distributed Clocks)
Fig. 133: "DC" tab (Distributed Clocks)
Operation Mode
Options (optional):
· FreeRun
· SM-Synchron
· DC-Synchron (Input based)
· DC-Synchron Advanced Settings... Advanced settings for readjustment of the real time determinant TwinCAT-clock
Detailed information to Distributed Clocks is specified on http://infosys.beckhoff.com:
Fieldbus Components EtherCAT Terminals EtherCAT System documentation EtherCAT basics Distributed Clocks
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5.2.7.1 Detailed description of Process Data tab
Sync Manager
Lists the configuration of the Sync Manager (SM). If the EtherCAT device has a mailbox, SM0 is used for the mailbox output (MbxOut) and SM1 for the mailbox input (MbxIn). SM2 is used for the output process data (outputs) and SM3 (inputs) for the input process data.
If an input is selected, the corresponding PDO assignment is displayed in the PDO Assignment list below.
PDO Assignment
PDO assignment of the selected Sync Manager. All PDOs defined for this Sync Manager 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 TxPDOs are displayed.
The selected entries are the PDOs involved in the process data transfer. In the tree diagram of the System Manager these PDOs are displayed as variables of the EtherCAT device. The name of the variable is identical to the Name parameter of the PDO, as displayed in the PDO list. If an entry in the PDO assignment list is deactivated (not selected and greyed out), this indicates that the input is excluded from the PDO assignment. In order to be able to select a greyed out PDO, the currently selected PDO has to be deselected first.
Activation of PDO assignment
ü If you have changed the PDO assignment, in order to activate the new PDO assignment, a) the EtherCAT slave has to run through the PS status transition cycle (from pre-operational to
safe-operational) once (see Online tab [} 104]), b) and the System Manager has to reload the EtherCAT slaves
(
button for TwinCAT 2 or
button for TwinCAT 3)
PDO list
List of all PDOs supported by this EtherCAT device. The content of the selected PDOs is displayed in the PDO Content list. The PDO configuration can be modified by double-clicking on an entry.
Column Index Size Name
Flags
SM SU
Description
PDO index.
Size of the PDO in bytes.
Name of the PDO. If this PDO is assigned to a Sync Manager, it appears as a variable of the slave with this parameter as the name.
F
Fixed content: The content of this PDO is fixed and cannot be changed by the
System Manager.
M
Mandatory PDO. This PDO is mandatory and must therefore be assigned to a
Sync Manager! Consequently, this PDO cannot be deleted from the PDO
Assignment list
Sync Manager to which this PDO is assigned. If this entry is empty, this PDO does not take part in the process data traffic.
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 modified.
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Download
If the device is intelligent and has a mailbox, the configuration of the PDO and the PDO assignments can be downloaded to the device. This is an optional feature that is not supported by all EtherCAT slaves.
PDO Assignment
If this check box is selected, the PDO assignment that is configured in the PDO Assignment list is downloaded to the device on startup. The required commands to be sent to the device can be viewed in the Startup [} 101] tab.
PDO Configuration
If this check box is selected, the configuration of the respective PDOs (as shown in the PDO list and the PDO Content display) is downloaded to the EtherCAT slave.
5.2.8 Import/Export of EtherCAT devices with SCI and XTI
SCI and XTI Export/Import Handling of user-defined modified EtherCAT slaves
5.2.8.1 Basic principles
An EtherCAT slave is basically parameterized through the following elements: · Cyclic process data (PDO) · Synchronization (Distributed Clocks, FreeRun, SM-Synchron) · CoE parameters (acyclic object dictionary)
Note: Not all three elements may be present, depending on the slave.
For a better understanding of the export/import function, let's consider the usual procedure for IO configuration:
· The user/programmer processes the IO configuration in the TwinCAT system environment. This involves all input/output devices such as drives that are connected to the fieldbuses used. Note: In the following sections, only EtherCAT configurations in the TwinCAT system environment are considered.
· For example, the user manually adds devices to a configuration or performs a scan on the online system.
· This results in the IO system configuration. · On insertion, the slave appears in the system configuration in the default configuration provided by the
vendor, consisting of default PDO, default synchronization method and CoE StartUp parameter as defined in the ESI (XML device description). · If necessary, elements of the slave configuration can be changed, e.g. the PDO configuration or the synchronization method, based on the respective device documentation.
It may become necessary to reuse the modified slave in other projects in this way, without having to make equivalent configuration changes to the slave again. To accomplish this, proceed as follows:
· Export the slave configuration from the project, · Store and transport as a file, · Import into another EtherCAT project.
TwinCAT offers two methods for this purpose: · within the TwinCAT environment: Export/Import as xti file or · outside, i.e. beyond the TwinCAT limits: Export/Import as sci file.
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An example is provided below for illustration purposes: an EL3702 terminal with standard setting is switched to 2-fold oversampling (blue) and the optional PDO "StartTimeNextLatch" is added (red):
The two methods for exporting and importing the modified terminal referred to above are demonstrated below.
5.2.8.2 Procedure within TwinCAT with xti files
Each IO device can be exported/saved individually:
The xti file can be stored:
and imported again in another TwinCAT system via "Insert Existing item":
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5.2.8.3 Procedure within and outside TwinCAT with sci file
Note regarding availability (2021/01) The SCI method is available from TwinCAT 3.1 build 4024.14. The Slave Configuration Information (SCI) describes a specific complete configuration for an EtherCAT slave (terminal, box, drive...) based on the setting options of the device description file (ESI, EtherCAT Slave Information). That is, it includes PDO, CoE, synchronization. Export:
· select a single device via the menu (multiple selection is also possible): TwinCAT EtherCAT Devices Export SCI.
· If TwinCAT is offline (i.e. if there is no connection to an actual running controller) a warning message may appear, because after executing the function the system attempts to reload the EtherCAT segment. However, in this case this is not relevant for the result and can be acknowledged by clicking OK:
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· Explanation of the dialog box:
Name Description Options Keep modules
AoE | Set AmsNetId
EoE | Set MAC and IP
ESI Export
CoE | Set cycle time(0x1C3x.2)
Name of the SCI, assigned by the user.
Description of the slave configuration for the use case, assigned by the user.
If a slave supports modules/slots, the user can decide whether these are to be exported or whether the module and device data are to be combined during export.
The configured AmsNetId is exported. Usually this is network-dependent and cannot always be determined in advance.
The configured virtual MAC and IP addresses are stored in the SCI. Usually these are network-dependent and cannot always be determined in advance.
The configured cycle time is exported. Usually this is network-dependent and cannot always be determined in advance.
Reference to the original ESI file.
Save SCI file.
· A list view is available for multiple selections (Export multiple SCI files):
· Selection of the slaves to be exported:
All: All slaves are selected for export.
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None: All slaves are deselected.
· The sci file can be saved locally:
· The export takes place:
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Import · An sci description can be inserted manually into the TwinCAT configuration like any normal Beckhoff device description. · The sci file must be located in the TwinCAT ESI path, usually under: C:\TwinCAT\3.1\Config\Io\EtherCAT
· Open the selection dialog:
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Additional Notes · Settings for the SCI function can be made via the general Options dialog (Tools Options TwinCAT Export SCI):
Explanation of the settings:
Default export options
Generic
AoE | Set AmsNetId CoE | Set cycle time(0x1C3x.2) EoE | Set MAC and IP Keep modules Reload Devices
Default setting whether the configured AmsNetId is exported.
Default setting whether the configured cycle time is exported.
Default setting whether the configured MAC and IP addresses are exported.
Default setting whether the modules persist.
Setting whether the Reload Devices command is executed before the SCI export. This is strongly recommended to ensure a consistent slave configuration.
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SCI error messages are displayed in the TwinCAT logger output window if required:
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5.3
General 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 sections of, for instance, the EtherCAT System Documentation.
Diagnosis in real time: WorkingCounter, EtherCAT State and Status
Generally speaking an EtherCAT Slave provides a variety of diagnostic information that can be used by the controlling task.
This diagnostic information relates to differing levels of communication. It therefore has a variety of sources, and is also updated at various times.
Any application that relies on I/O data from a fieldbus being correct and up to date must make diagnostic access to the corresponding underlying layers. EtherCAT and the TwinCAT System Manager offer comprehensive diagnostic elements of this kind. Those diagnostic elements that are helpful to the controlling task for diagnosis that is accurate for the current cycle when in operation (not during commissioning) are discussed below.
Fig. 134: Selection of the diagnostic information of an EtherCAT Slave
In general, an EtherCAT Slave offers · communication diagnosis typical for a slave (diagnosis of successful participation in the exchange of process data, and correct operating mode) This diagnosis is the same for all slaves.
as well as · function diagnosis typical for a channel (device-dependent)
See the corresponding device documentation
The colors in Fig. Selection of the diagnostic information of an EtherCAT Slave also correspond to the variable colors in the System Manager, see Fig. Basic EtherCAT Slave Diagnosis in the PLC.
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Colour yellow red green
Meaning
Input variables from the Slave to the EtherCAT Master, updated in every cycle
Output variables from the Slave to the EtherCAT Master, updated in every cycle
Information variables for the EtherCAT Master that are updated acyclically. This means that it is possible that in any particular cycle they do not represent the latest possible status. It is therefore useful to read such variables through ADS.
Fig. Basic EtherCAT Slave Diagnosis in the PLC shows an example of an implementation of basic EtherCAT Slave Diagnosis. A Beckhoff EL3102 (2-channel analogue input terminal) is used here, as it offers both the communication diagnosis typical of a slave and the functional diagnosis that is specific to a channel. Structures are created as input variables in the PLC, each corresponding to the process image.
Fig. 135: Basic EtherCAT Slave Diagnosis in the PLC The following aspects are covered here:
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Code A
B C
D
Function
Implementation
Application/evaluation
The EtherCAT Master's diagnostic information
At least the DevState is to be evaluated for the most recent cycle in the PLC.
updated acyclically (yellow) or provided acyclically (green).
The EtherCAT Master's diagnostic information offers many more possibilities than are treated in the EtherCAT System Documentation. A few keywords:
· CoE in the Master for communication with/through the Slaves
· Functions from TcEtherCAT.lib
· Perform an OnlineScan
In the example chosen (EL3102) the EL3102 comprises two analogue input channels that transmit a single function status for the most recent cycle.
Status
In order for the higher-level PLC task (or cor-
·
the bit significations may be found in the device documentation
responding control applications) to be able to rely on correct data, the function status must be evaluated there. Such information is therefore provided with the process data for
· other devices may supply the most recent cycle.
more information, or none
that is typical of a slave
For every EtherCAT Slave that has cyclic WcState (Working Counter)
In order for the higher-level PLC task (or cor-
process data, the Master displays, using what is known as a WorkingCounter, whether the slave is participating success-
0: valid real-time communication in the last cycle
responding control applications) to be able to rely on correct data, the communication status of the EtherCAT Slave must be evaluated
fully and without error in the cyclic ex-
1: invalid real-time communication there. Such information is therefore provided
change of process data. This important, el- This may possibly have effects on
ementary information is therefore provided the process data of other Slaves
for the most recent cycle in the System that are located in the same Syn-
Manager
cUnit
with the process data for the most recent cycle.
1. at the EtherCAT Slave, and, with identical contents
2. as a collective variable at the EtherCAT Master (see Point A)
for linking.
Diagnostic information of the EtherCAT State
Master which, while it is represented at the slave for linking, is actually determined by the Master for the Slave concerned and represented there. This information cannot
current Status (INIT..OP) of the Slave. The Slave must be in OP (=8) when operating normally.
be characterized as real-time, because it AdsAddr
Information variables for the EtherCAT Master that are updated acyclically. This means that it is possible that in any particular cycle they do not represent the latest possible status. It is therefore possible to read such variables through ADS.
· is only rarely/never changed,
The ADS address is useful for
except when the system starts up communicating from the PLC/task
·
is itself determined acyclically (e.g. EtherCAT Status)
via ADS with the EtherCAT Slave, e.g. for reading/writing to the CoE. The AMS-NetID of a slave corre-
sponds to the AMS-NetID of the
EtherCAT Master; communication
with the individual Slave is possible
via the port (= EtherCAT address).
NOTE
Diagnostic information
It is strongly recommended that the diagnostic information made available is evaluated so that the application can react accordingly.
CoE Parameter Directory
The CoE parameter directory (CanOpen-over-EtherCAT) is used to manage the set values for the slave concerned. Changes may, in some circumstances, have to be made here when commissioning a relatively complex EtherCAT Slave. It can be accessed through the TwinCAT System Manager, see Fig. EL3102, CoE directory:
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Fig. 136: EL3102, CoE directory
EtherCAT System Documentation
The comprehensive description in the EtherCAT System Documentation (EtherCAT Basics --> CoE Interface) must be observed! A few brief extracts: · Whether changes in the online directory are 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 System Manager Commissioning interfaces are being introduced as part of an ongoing process for EL/EP EtherCAT devices. These are available in TwinCAT System Managers from TwinCAT 2.11R2 and above. They are integrated into the System Manager through appropriately extended ESI configuration files.
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Fig. 137: Example of commissioning aid for a EL3204
This commissioning process simultaneously manages · CoE Parameter Directory · DC/FreeRun mode · the available process data records (PDO)
Although the "Process Data", "DC", "Startup" and "CoE-Online" that used to be necessary for this are still displayed, it is recommended that, if the commissioning aid is used, the automatically generated settings are not changed by it.
The commissioning tool does not cover every possible application of an EL/EP device. If the available setting options are not adequate, the user can make the DC, PDO and CoE settings manually, as in the past.
EtherCAT State: automatic default behaviour of the TwinCAT System Manager and 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 statuses in accordance with the initialization routines that are defined for commissioning the device by the ES/XML and user settings (Distributed Clocks (DC), PDO, CoE). See also the section on "Principles of Communication, EtherCAT State Machine [} 27]" in this connection. Depending how much configuration has to be done, and on the overall communication, booting can take up to a few seconds.
The EtherCAT Master itself must go through these routines when starting, until it has reached at least the OP target state.
The target state wanted by the user, and which is brought about automatically at start-up by TwinCAT, can be set in the System Manager. As soon as TwinCAT reaches the status RUN, the TwinCAT EtherCAT Master will approach the target states.
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· EtherCAT Master: OP · Slaves: OP
This setting applies equally to all Slaves.
Fig. 138: Default behaviour of the System Manager In addition, the target state of any particular Slave can be set in the "Advanced Settings" dialogue; the standard setting is again OP.
Fig. 139: Default target state in the Slave
Manual Control There are particular reasons why it may be appropriate to control the states from the application/task/PLC. For instance:
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· for diagnostic reasons · to induce a controlled restart of axes · because a change in the times involved in starting is desirable In that case it is appropriate in the PLC application to use the PLC function blocks from the TcEtherCAT.lib, which is available as standard, and to work through the states in a controlled manner using, for instance, FB_EcSetMasterState. It is then useful to put the settings in the EtherCAT Master to INIT for master and slave.
Fig. 140: PLC function blocks
Note regarding E-Bus current
EL/ES terminals are placed on the DIN rail at a coupler on the terminal strand. A Bus Coupler can supply the EL terminals added to it with the E-bus system voltage of 5 V; a coupler is thereby loadable up to 2 A as a rule. Information on how much current each EL terminal requires from the E-bus supply is available online and in the catalogue. If the added terminals require more current than the coupler can supply, then power feed terminals (e.g. EL9410) must be inserted at appropriate places in the terminal strand.
The pre-calculated theoretical maximum E-Bus current is displayed in the TwinCAT System Manager as a column value. A shortfall is marked by a negative total amount and an exclamation mark; a power feed terminal is to be placed before such a position.
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Fig. 141: Illegally exceeding the E-Bus current From TwinCAT 2.11 and above, a warning message "E-Bus Power of Terminal..." is output in the logger window when such a configuration is activated: Fig. 142: Warning message for exceeding E-Bus current
NOTE Caution! Malfunction possible!
The same ground potential must be used for the E-Bus supply of all EtherCAT terminals in a terminal block!
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5.4
Oversampling terminals/boxes and TwinCAT Scope
Generally input data of a terminal/box could be achieved by the scope either directly (via the activated ADS server) or by creation of a PLC variable which is linked to the PDO of a terminal/box for recording them. Both procedures will be explained for TwinCAT 3 (TC3) at first and for TwinCAT 2 (TC2) respectively.
Oversampling means that an analog or digital input device supplies not only one measured value for each process data cycle/EtherCAT cycle (duration T), but several, which are determined at a constant interval t < T. The ratio T/t is the oversampling factor n.
A channel thus offers not only one PDO for linking in the process data, as in the example here with the EL3102, but n PDOs as in the case of the EL3702 and other oversampling terminals/boxes.
The definition of "oversampling" by the Beckhoff's point of view shouldn't be mixed up with the oversampling process of a deltaSigma ADC:
· deltaSigma ADC: the frequency used by the ADC to sample the analogue signal is faster than a multiple times than the frequency of the provided digital data (typically in kHz range). This is called oversampling resulting by the functional principle of this converter type and serve amongst others for anti-aliasing.
· Beckhoff: the device/ the terminal/box read of the used ADC (could be a deltaSigma ADC also) digital sample data n-times more than the PLC/ bus cycle time is set and transfers every sample to the control bundled as an oversampling PDO package.
For example these both procedures are arranged sequentially by their technical implementation within the EL3751 and can also be present simultaneously.
Fig. 143: Oversampling PDO of the EL37xx series and in the comparison with EL31xx
Accordingly the Scope2 (TC2) or ScopeView (TC3) can read in and display several PDOs per cycle in correct time.
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5.4.1 TwinCAT 3 procedure
From TwinCAT 3.1 build 4012 and using the revision as below specified in the configuration, the integrated ScopeView recognizes in its variable browser that the oversampling data is an array package and activates ForceOversampling automatically. The array as a whole must be selected using AddSymbol (see description in the next section).The extended PDO name provides the basis for this. Since a specific revision of the respective terminal ScopeView is able to detect the array type of a set of variables autonomous.
Terminal EL4732 EL4712 EL3783 EL3773 EL3751 EL3742 EL3702 EL3632 EL2262 EL1262-0050 EL1262 EP3632-0001 EPP3632-0001
Revision all all EL3783-0000-0017 EL3773-0000-0019 all all all all all all all all all
Recording a PLC Variable with the TwinCAT 3 ScopeView
By a precondition of an already created TwinCAT 3 project and a connected PLC with an oversampling able terminal/box within the configuration it will be illustrated how an oversampling variable can be represented by the Scope (as a standard part of the TwinCAT 3 environment). This will be explained by means of several steps based on an example project "SCOPE_with_Oversampling" as a standard PLC project.
Step 1: Adding a project ,,Scope YT"
The example project "SCOPE_with_Oversampling" has to be added a TwinCAT Measurement project "Scope YT project" (C) by right click (A) and selection (B) "Add" "New Project..". Then "Scope for OS" will be entered as name. The new project just appears within the solution explorer (D).
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Fig. 144: Adding a Scope project into an already existing project
Step 2a: Creation of a PLC variable within a POU
Within the TwinCAT 3 development environment an input variable as an array with respective amount than is given by the oversampling factor have to be defined at first how it's illustrated in an example for the POU "MAIN" and an oversampling factor 10 with structured text (ST) as follows:
PROGRAM MAIN VAR
aU1_Samples AT%I* : ARRAY[0..9] OF INT; END_VAR
The identification "AT%I*" stands for swapping out this array variable to link it with the process data objects (PDOs) of a terminal/box later. Notice that at least the number of elements has to be the same as the oversampling factor so that the indices can be set from 0 to 9 also. As soon as the compiling procedure was started and ended successful (in doing so no program code may be present) the array appears into the solution explorer of the TwinCAT 3 development environment within the section PLC under "..Instance".
The following illustration shows extracts of the solution explorer on the right. As an example that linking of an array variable to a set of oversampling process data is represented herewith:
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Fig. 145: Representation of a created PLC array variable (,,aUI_Samples") to link with oversampling PDOs of EL3773
Step 2b: Creation of a PLC variable via a free task
When a POU is not needed onto the particular system, a referenced variable could be applied via a free task also. If a free task is not existing still yet, it can be created by a right-click to "Task" of the project within SYSTEM with "Add New Item...".
Fig. 146: Insertion of a free task 124
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The Task has to be inserted as "TwinCAT Task With Image" and also creates an "Inputs" and "Outputs" folder therefore. The properties of the new (or as the case may be already existing) task must have activated the attribute "Create symbols" to make them selectable by the "Target Browser" of the Scope later on. The task cycle time has to be changed if so. Then, with10 x Oversampling 1 ms at 100 µs base time, resulting 10 ticks will be set by the usage of the EL3751 for example:
Fig. 147: Task property "Create symbols" must be activated
There's a default value given for the Port number (301) that should be changed, if necessary. This number has to make acquainted for the Scope, if applicable, later on. By a right click on "Inputs" that oversampling based variable can now be appended with the fitting datatype of an array. ,,ARRAY [0..9] OF DINT" referred to as ,,Var 1" in this case:
Fig. 148: Insertion of variable "Var 1" fitting to the oversampling (-factor)
Step 3: Linking an array variable with an oversampling PDO
By right click on "MAIN.aUI_Samples" (according to the last preceding paragraph Step 2a) or rather "Var 1" (according to the last preceding paragraph Step 2b) within the Solution Explorer a window opens to select the process data:
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Fig. 149: Set up the link of the PLC array variable (left: for the last preceding paragraph Step 2a, right: for the last preceding paragraph Step 2b)
Fig. 150: Select the EL3773 PDO "L1 Voltage Samples" to create a link to the PLC array variable ,,aUI_Samples"
The selection of PDO "U1 Samples" of the EL3773 for "MAIN.aUI_Samples" based by the last preceding paragraph Step 2a as illustrated above have to be done in the same way for "Var 1" accordingly.
Step 4: Selection of the PLC array variable for the Y-axis of the scope
Now the configuration will be activated (
) and logged in the PLC (
visible for the target browser of the scope for being selected.
), so the array variable will be
Thereby the drop down menu will be opened by right clicking on "Axis" (A) for selection of the scope features (B):
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Fig. 151: Selection of the oversampling variable with the target browser By addressing the corresponding system that represents the PLC containing the array variable ("Any PC (CX2040)" in this case) navigation up to the variable "aUI_Samples" (C) have to be done.
Fig. 152: Appending the variable "aUI_Samples" below "axis" within the scope project of the solution explorer
Variable don't appears into the target browser
If ,,ROUTES" don't offer a possibility for selection of the provided variables, the corresponding port should be declared for the target browser:
Using "Add symbol" displays the variable "aUI_Samples" below "axis" within the scope project of the solution explorer directly.
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Now the program start has to be done with
formally although there's no program still yet. Using "Start
Recording"
the process data value of the oversampling PDO "L1 Voltage Samples " via the linked PLC
array variable can be recorded time dependent now.
As an example a sine wave input measurement value (204.5 Hz) will be illustrated below:
Fig. 153: Example of recording a sine signal with 10 x oversampling at 1 ms measurement cycle time
The X-axis view was fitted properly by using "Panning X"
after the recording was stopped .
Following the "Chart" property "Use X-Axis SubGrid" was set to true with 10 divisions as well as the
"ChannelNodeProperties" attribute "Marks" was set to "On" with the colors "Line Color" blue and "Mark Color"
red. Therefore the latter indicates that 10 oversampling measurement points by the red marks.
Proceeding with / via ADS alternatively
In former TwinCAT 3 versions (or a lower revision as specified in the table [} 122] above) the oversampling PDO of the respective oversampling able terminal/box can be made visible for the ScopeView by activation of the ADS server.
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Fig. 154: Activation of the ADS server of the EtherCAT device (TwinCAT 3)
The activation of the server can be carried out by selection of "Image" within the left sided solution explorer: ,,I/O Devices Device .. (EtherCAT) Image".
Next the register card "ADS" have to be selected to activate each checkbox ,,Enable ADS Server" and ,,Create symbols" then (the port entry is done automatically).
Thereby it is possible to access process data without an embedded POU and accordingly without a linked variable:
Fig. 155: Direct access to PDOs of the terminal by ScopeView
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Data type not valid
It may happen that the target browser is unable to determine the data type after insertion of the oversampling PDO (according to an array variable usually). In this case it can be changed by the channel properties:
TwinCAT 3: Activate the ADS Server of an EtherCAT device
Also see Beckhoff Information System:
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5.4.2 TwinCAT 2 procedure
The TwinCAT Scope2 supports the import and display of oversampling process data such as is used by oversampling-able terminals/boxes.
System requirements
A TwinCAT Scope2 must be installed on the system. An oversampling-able terminal must be present in the configuration. The data type of the variables is also conveyed to the TwinCAT Scope2 via the ADS data. Therefore the array variable must be created · in the PLC, see step 1a [} 131] · or directly in the System Manager if only one free task is present, see step 1b [} 131] The same settings are to be made in the Scope2 for both cases, see step 2 [} 133]
Recording of a PLC variable with the TwinCAT 2 Scope2
Step 1a: TwinCAT 2 PLC Since the channel data are to be used in the PLC, a linkable ARRAY variable must be created there, as shown in the following example:
Fig. 156: PLC declaration This then appears in the list in the System Manager; as a rule it can also be reached via ADS without further measures since PLC variables are always created as ADS symbols in the background.
Fig. 157: PLC in the System Manager
Note: the Scope2 can only "see" such variables in the variable browser if TwinCAT and the PLC are in RUN mode.
Step 1b: TwinCAT 2 - free task
So that the linking works, an array variable with the channel data must be present in the system manager; i.e. each oversampling data package must be present in an array. This array variable must be defined and created manually in the System Manager.
Fig. 158: Add Variable Type
An ARRAY variable of the type as known by the PLC must be created in the syntax as known from the PLC. In this example an array of 0..9 of type INT, i.e. with 10 fields.
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Fig. 159: Definition of the variable type
If this variable is known to the System Manager, an instance of it can be assigned to an additional task with a right-click. It appears in the overview, sorted according to bit size.
Fig. 160: Overview of declared types
In this example the variable Var152 is created. It can now be linked with the PDO-Array of the respective channel of the terminal/box.
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Fig. 161: Linking If MatchingSize is activated in the dialog, the individual channels are offered directly.
Fig. 162: Array variables of an oversampling terminal
So that the variables can also be found via ADS in the Scope2, the ADS symbols must be activated as well as the Enable Auto-Start, otherwise the task will not run automatically. ADS symbol tables are then created for all variables that have this task in their process data images.
Fig. 163: Settings in the additional task
Step 2: Configuration in the Scope2 So that the linking works, an array variable with the channel data of the respective terminal/box must be present in the system manager; i.e. each oversampling data package must be present in an array. This array variable must be defined and created manually; see above [} 131]. You can now browse to the variable concerned in the Scope2.
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Fig. 164: Variable browser up to the array VAR152 The array is then not to be opened; instead the array symbol is to be selected by right-clicking on AddSymbol.
Fig. 165: AddSymbol on the array ForceOversampling and DataType INT16 must be set in the channel which has now been created. If necessary SymbolBased must be temporarily deactivated in addition.
Fig. 166: Channel settings In order to check that individual oversampling values are really being logged, the Marks can be activated in the Scope2. Please observe the interrelationships between task cycle time, sampling time of the Scope2 channel and oversampling factor.
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Fig. 167: Activation of the marks
An additional example illustrates the following image by representation of an oversampling variable from the EL3751 with 10 x oversampling:
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Commissioning
Fig. 168: Illustration of a 10 x oversampling variable of the EL3751 by the Scope2
Within the image was marked subsequently that the oversampling variable originated by the PLC was just added to the Y-axis (observe selection of the PLC-POU name "MAIN" within the "ROUTES" tree). Herewith "Force Oversampling" was activated due to the oversampling variable is not provided by the terminal/box.
Proceeding with TwinCAT 2/ alternatively via ADS
In former TwinCAT 2 versions (or a lower revision as specified in the table [} 122] above) the oversampling PDO of the respective oversampling able terminal/box can be made visible for the Scope2 by activation of the ADS server.
So the creation of a PLC variable can be disclaimed as well. Therefore the ADS server of the EtherCAT Device where the oversampling able terminal/box is connected with have to be activated.
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Fig. 169: Activation of the ADS server of the EtherCAT Device (TwinCAT 2)
The activation of the ADS server have to be carried out by selection of the "Device Image" on the left sided configuration tree: ,,I/O Configuration I/O Devices Device .. (EtherCAT) Device .. Image".
Next the register card "ADS" have to be selected to activate each checkbox ,,Enable ADS Server" and ,,Create symbols" then (the port entry is done automatically).
Thus with the Scope2 process data can be accessed via the target browser without an embedded POU and without a variable reference respectively.
Fig. 170: Direct access of the Scope2 to the terminal's PDOs
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Commissioning
Also see Beckhoff Information System
infosys.beckhoff.com TwinCAT 2 TwinCAT Supplement Category Measurement TS3xxx TS3300 | TwinCAT Scope 2 Annex Oversampling record:
Beckhoff TwinCAT supports the Scope2 with some oversampling devices in a special way by automatically calculating a special ADS array symbol in the background, which appears in the Scope2 in the variable browser. This can be then linked as a variable and automatically brings along the array information.
Fig. 171: Automatically calculated array variable (red) in the Scope2
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Summary: an array variable have to be provided which is reachable via ADS. This can be a PLC variable of a POU or a defined array variable by the system manager or alternatively the ADS server of the terminals/ boxes device is just activated. This is then detected by Scope2.
5.5
Basics and commissioning
5.5.1 Commissioning
The data flow through of the terminal's channel is recorded below. The elements involved are described in detail in this chapter.
Fig. 172: Data flow of a channel
Note: The sampling rate in the ADC and the low-pass filter can be set independently of each other. For example, the filter can be set to half the sampling rate or to the next possible setting if required for the application.
Determination of the desired sampling rate
The necessary/desired sampling rate results from the selected cycle time and the set oversampling factor. Automatic setting of the terminal/box by the selection of the sampling rate alone is not possible.
Maximum values: 50-fold oversampling, 50 kSP/s, cycle time 10 ms
Fig. 173: Sampling rates in relation to cycle time and oversampling
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Commissioning
Fig. 174: Sampling times in relation to cycle times and oversampling Configurations that demand sampling times not divisible by 500 ns are not supported. Setting the sampling rate 1. Select the terminal/box in the TwinCAT tree 2. Select the "DC/Oversampling" tab 3. Select the operating mode (1/2-channel) 4. "Sync Unit Cycle Time" is indicated; on the basis of the above table... 5. Select the oversampling factor. The "Sample Cycle Time (µs)" indicates the reciprocal value of the sampling rate. The SM automatically activates all process data entries thereafter.
Fig. 175: Setting the sampling rate in TwinCAT
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Loading the configuration data (ESI) from the terminal
If the online description is used, the DC/Oversampling dialog is not displayed in the TwinCAT System Manager. To use the dialog, copy the XML Description into the designated TwinCAT/Io/EtherCAT folder before the TwinCAT System Manager is started.
Application with external masters
The oversampling function can also be activated manually: The oversampling factor should be specified depending on the required sampling rate and cycle time.
For each required channel the status word and the corresponding number of samples have to be entered in object 0x1C13. Activate PDOs "Next Sync1 Time" and/or "Sample Counter", if necessary. To this end, initially set subindex 0 to 0 and at the end to the number of entered values.
The sync interrupts should be parameterized as follows: Sync0: CycleTime/Oversampling Factor, set Enable; Sync1 Cycle Unit Cycle, set Enable.
The master must support Distributed Clocks.
Selection of the process data
No longer necessary with TwinCAT.
Filter
Each channel has a parameterizable 5th order filter with Butterworth characteristic with upstream and downstream anti-aliasing filters that are parameterized automatically. The whole filter stage is based on hardware. There are no software filters (except for the active offset setting described below). When the limit frequency is set to 10 Hz (0), an additional amplification factor 20 is activated automatically.
Fig. 176: Filter structure
The analog input filters can be set via the CoE objects 0x80n0:15 [} 145] (channel 1/2). It is not possible to switch off the filters.
The characteristic of the filter stage is adjustable: 0: 10 Hz, Gain 20 1: 100 Hz 2: 500 Hz 3: 1000 Hz 4: 5000 Hz 5: 10000 Hz 6: 25000 Hz 7: 2000 Hz (from firmware [} 209] 11)
Setting the filters
The filters must be configured separately for both channels. Setting the filters will interrupt the conversion of new data for a short time.
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Commissioning
Active offset setting
The function "Active offset adjustment" calculates the long-term average of the values. The calculated offset value is used instead of the set "user" and "vendor calibration offset" entries. At least one function, "user" or "vendor calibration", must be activated
The calculation of the average value is configurable: Level 1: b = 1/4096 Level 2: b = 1/8192 Level 3: b = 1/16384 Level 4: b = 1/32768 Level 5: b = 1/65536 Level 6: b = 1/131072 (128 k) Level 7: b = 1/262144 (256 k) Level 8: b = 1/524288 (512 k).
Calibration
The input values can be calibrated by means of manufacturer or user values:
Fig. 5: Data flow
Vendor calibration, index 0x80n0:0B [} 145]
The vendor calibration is enabled via index 0x80n0:0B [} 145]. Parameterization takes place via the indices · 0x80nF:01 [} 145] offset (manufacturer compensation) · 0x80nF:02 [} 145] gain (manufacturer compensation)
YH = (XADC - BK) * AK
Measured value following manufacturer calibration (corresponds to XADC if index 0x80n0:0B [} 145] is inactive)
User calibration, index 0x80n0:0A [} 145]
The user calibration is enabled via index 0x80n0:0A [} 145]. Parameterization takes place via the indices · 0x80n0:17 [} 145] User calibration offset · 0x80n0:18 [} 145] User gain compensation
YA = (YH - BW) * AW
Measured value following user calibration (corresponds to YH if index 0x80n0:0A [} 145] is inactive)
Active offset adjustment
If the function "Active offset adjustment" is active the offset values are not used. Instead, a dynamically calculated offset is subtracted.
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Example interpretation
Sample: A sensor with a sensitivity S of 100 mV / g (10.2 mV/(m/s^2) ) is connected to a synchronized EL3632/EP3632 (15-bit resolution + sign, +/- 5 V). In the process data an amplitude of 1507 is measured.
a = YA * 5 V / ( 2^15 * S ) a = 1507 * 5 V / ( 2^15 * 0.1 V/g ) a = 2.3 g a = 2.3 g * 9.81 (m/s^2) / g a = 22.5 m/s^2
Conversion of process data value YA to acceleration a.
YA = 2^15 / 5 V * S * a YA = 2^15 / 5 V * 0.1 V/g * 2.3 g YA = 1507
Conversion of acceleration g to process data value YA.
Sensor connection
The supply current for the sensors is configurable. With 8 mA the vertical (standard) installation position of the terminal must be ensured. The smallest possible supply current should be set, depending on the sensor and cable length.
After switching on the 24 V supply voltage or connecting the sensor, a leakage current forms due to the input capacity on the high-pass filter. This current is based on the physical properties of electrolytic capacitors and is technically impossible to prevent. This current stabilizes at a constant value within a few minutes, and during the measurement it generates a constant offset of typically a few mV within the specified tolerance range. If this offset should prove to be disturbing when analyzing the measurement, it can be permanently and automatically subtracted out by activating the "Active offset adjustment" (object 0x80n0:21 [} 145]).
A shielded (simple or multiple) sensor cable must be used. The shield should be connected directly at the shield connections of the terminal.
The red error LED comes on and the error bit is set in the event of an open circuit or if no sensor is connected. If only the first channel is activated, the red LED for the second channel is disabled in SAFEOP and OP state.
Multi-channel IEPE sensors with a common GND can be connected to the EL3632 if the GND and AGND connection points are connected via an external bridge:
Unused inputs
Unused inputs must not be short-circuited.
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Version: 2.9
143
Commissioning Measuring error Measuring error < ±0,5% (DC; relative to full scale value), taking into account the Butterworth characteristic.
5.5.1.1 CoE object description
5.5.1.1.1 Profile-specific and parameterization objects
EtherCAT XML Device Description
The display matches that of the CoE objects from the EtherCAT XML Device Description. We recommend downloading the latest XML file from the download area of the Beckhoff website and installing it according to installation instructions.
Parameterization via the CoE list (CAN over EtherCAT)
The EtherCAT device is parameterized via the CoE-Online tab [} 102] (double-click on the respective object) or via the Process Data tab [} 99](allocation of PDOs). Please note the following general CoE notes [} 29] when using/manipulating the CoE parameters: · Keep a startup list if components have to be replaced · Differentiation between online/offline dictionary, existence of current XML description · use "CoE reload" for resetting changes
Restore object
Index 1011 Restore default parameters
Index (hex) 1011:0
1011:01
Name
Meaning
Data type
Restore default parame- Restore default parameters ters [} 222]
UINT8
SubIndex 001
If this object is set to "0x64616F6C" in the set value dia- UINT32 log, all backup objects are reset to their delivery state.
Flags Default RO 0x01 (1dec) RW 0x00000000 (0dec)
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Configuration data
Index 80n0 AI settings (for n = 0: channel 1; n = 1: channel 2)
Index (hex) Name
80n0:0
AI Settings
Meaning Maximum subindex
80n0:07 Enable limit
Activate limit evaluation (deviates from other EL terminals!)
80n0:0A 80n0:0B 80n0:13
Enable user calibration
Enable vendor calibration
Limit 1
Enabling of the user calibration Enabling of the vendor calibration Upper limit value
80n0:14 Limit 2
Lower limit value
80n0:15 Filter settings
Filter [} 141] settings
0: 10 Hz, Gain 20 1: 100 Hz 2: 500 Hz 3: 1000 Hz 4: 5000 Hz 5: 10000 Hz 6: 25000 Hz
7: 2000 Hz (from firmware [} 209] 11)
80n0:17 User calibration offset User calibration offset
80n0:18 User calibration gain User calibration gain factor
80n0:20 80n0:21
Supply current
Active offset adjustment
Sensor current setting 0: 2 mA 1: 4 mA 2: 8 mA
Automatic offset calculation [} 142] 0: Disabled 1: Level 1 2: Level 2 3: Level 3 4: Level 4 5: Level 5 6: Level 6 7: Level 7 8: Level 8
Data type UINT8 BOOLEAN BOOLEAN BOOLEAN INT16 INT16 ENUM
INT16 INT16 ENUM
ENUM
Flags RO RW
Default 0x20 (32dec) 0x0 (FALSE)
RW
0x0 (FALSE
RW
0x1 (TRUE)
RW
0x0000 (0dec)
RW
0x0000 (0dec)
RW
10000 Hz (5)
RW
0
RW
16384
RW
2 mA (0)
RW
Disabled (0)
Index 80n8 AI advanced settings (for n = 0: channel 1; n = 1: channel 2)
Index (hex) Name
Meaning
Data type
80n8:0
AI Advanced Settings Maximum subindex
UINT8
80n8:06 Input Amplifier
permitted values:
BIT2
0: Preset (setting via object 0x80n0:15 [} 145])
1: ON (switch-on of the analog amplifier x20 irrespective of filter settings; gain factor of 20 is not changeable)
2: OFF (switch-off of the analog amplifier irrespective of the filter settings)
Flags RO RW
Default 0x06 (6dec) 0x00 (0dec)
Index 80nF AI Vendor data (for n = 0: channel 1; n = 1: channel 2)
Index (hex) Name
Meaning
80nF:0
AI vendor data
Maximum subindex
80nF:01
Calibration offset (gain 1)
Offset (vendor calibration), gain 1
80nF:02
Calibration gain (gain Gain (vendor calibration), gain 1 1)
80nF:03
Calibration offset (gain 20)
Offset (vendor calibration), gain 20
80nF:04
Calibration gain (gain Gain (vendor calibration), gain 20 20)
Data type UINT8 INT16
INT16
INT16
INT16
Flags RO RW
Default 0x04 (4dec) 0x0000 (0dec)
RW
0x0000 (0dec)
RW
0x0000 (0dec)
RW
0x0000 (0dec)
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Commissioning
Command object
Index FB00 command
Index (hex) Name
FB00:0
DCM Command
FB00:01 Request
FB00:02 FB00:03
Status Response
Meaning
Data type
Command interface
UINT8
0x8000: Software reset, hardware is re-initialized with the OCTETcurrent CoE configuration (this otherwise happens only STRING[2] during the transition to INIT)
0x8000: 0x01 if a reset has taken place
UINT8
0x8000: not used
OCTETSTRING[4]
Flags RO RW
Default 0x03 (3dec) {0}
RO
0x00 (0dec)
RO
{0}
Input data
Index 60n0 Status (for n = 0: channel 1; n = 1: channel 2)
Index (hex) Name
60n0:0
SAI Inputs
60n0:01 Underrange
60n0:02 Overrange
60n0:03 Limit 1
60n0:07 60n0:0E 60n0:0F
60n0:10
Error Sync error TxPDO State
TxPDO Toggle
Meaning
Data type
Maximum subindex
UINT8
Indicates that the electrical measuring range is undershot BOOLEAN
Indicates that the electrical measuring range is exceeded BOOLEAN
1: one or more values smaller than or equal to Limit 2 2: one or more values greater than or equal to Limit 1 3: 1 and 2 both true
BIT2
Measuring error
BOOLEAN
Synchronization error
BOOLEAN
Validity of the data of the associated TxPDO (0 = valid, 1 BOOLEAN = invalid).
A new measured value is available (if the toggle bit was BOOLEAN changed). Status bits may be changed independent from the toggle bit.
Flags RO RO RO RO
Default 0x10 (16dec) 0x00 (0dec) 0x00 (0dec) 0x00 (0dec)
RO
0x00 (0dec)
RO
0x00 (0dec)
RO
0x00 (0dec)
RO
0x00 (0dec)
Index 60n1 Samples (for n = 0: channel 1; n = 1: channel 2)
Index (hex) Name
60n1:0
Samples
60n1:01 Subindex 001
...
...
60n1:32 Subindex 050
Meaning Maximum subindex 1. Sample ... 50. Sample
Index 6020 Next Sync 1 Time
Index (hex) Name
6020:0
Next Sync 1 Time
6020:01 Start time next latch
Meaning Maximum subindex DC timestamp of the next data set
Index 6021 Sample Count
Index (hex) Name
6021:0
Sample Count
6021:01 Sample Count
Meaning Maximum subindex Sample counter (incremented with each ADC value)
Data type UINT8 UINT16 ... UINT16
Flags RO RO P ... RO P
Default 0x32 (50dec) 0x0000 (0dec) ... 0x0000 (0dec)
Data type UINT8 UINT64
Flags RO RO P
Default
0x01 (1dec)
0x00 00 00 00 00 00 00 00 (0dec)
Data type UINT8 UINT16
Flags RO RO P
Default 0x01 (1dec) 0x0000 (0dec)
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Information / diagnosis data (device-specific)
Index 10F3 Diagnosis History
Index (hex) Name
Meaning
10F3:0
Diagnosis History Maximum subindex
10F3:01
Maximum Messages Maximum number of stored messages A maximum of 16 messages can be stored
10F3:02 Newest Message
Subindex of the latest message
10F3:03
Newest Acknowledged Message
Subindex of the last confirmed message
10F3:04
New Messages Avail- Indicates that a new message is available able
10F3:05 Flags
not used
10F3:06
Diagnosis Message Message 1 001
...
...
..
10F3:15
Diagnosis Message Message 16 016
Index 10F8 Actual Time Stamp
Index (hex) Name
10F8:0
Actual Time Stamp
Meaning Time stamp
Commissioning
Data type UINT8 UINT8
Flags RO RO
Default 0x15 (21dec) 0x00 (0dec)
UINT8 UINT8
RO
0x00 (0dec)
RW
0x00 (0dec)
BOOLEAN RO
0x00 (0dec)
UINT16
RW
OCTET-
RO
STRING[20]
...
...
OCTET-
RO
STRING[20]
0x0000 (0dec) {0}
... {0}
Data type UINT64
Flags Default RO
5.5.1.1.2 Standard objects and PDO mapping
EtherCAT XML Device Description
The display matches that of the CoE objects from the EtherCAT XML Device Description. We recommend downloading the latest XML file from the download area of the Beckhoff website and installing it according to installation instructions.
Parameterization via the CoE list (CAN over EtherCAT)
The EtherCAT device is parameterized via the CoE-Online tab [} 102] (double-click on the respective object) or via the Process Data tab [} 99](allocation of PDOs). Please note the following general CoE notes [} 29] when using/manipulating the CoE parameters: · Keep a startup list if components have to be replaced · Differentiation between online/offline dictionary, existence of current XML description · use "CoE reload" for resetting changes
Index 1000 Device type
Index (hex) Name
1000:0
Device type
Meaning
Device type of the EtherCAT slave: The Lo-Word contains the CoE profile used (5001). The Hi-Word contains the module profile according to the modular device profile.
Data type UINT32
Flags RO
Default
0x012C1389 (19665801dec)
Index 1008 Device name
Index (hex) Name
1008:0
Device name
Meaning Device name of the EtherCAT slave
Data type STRING
Flags Default
RO
EL3632
Index 1009 Hardware version
Index (hex) Name
1009:0
Hardware version
Meaning Hardware version of the EtherCAT slave
Data type STRING
Flags Default RO
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Commissioning
Index 100A Software version
Index (hex) Name
100A:0
Software version
Meaning Firmware version of the EtherCAT slave
Data type STRING
Flags Default
RO
05
Index 1018 Identity
Index (hex) Name
1018:0
Identity
1018:01 Vendor ID
1018:02 Product code
1018:03 Revision
1018:04 Serial number
Meaning Information for identifying the slave Vendor ID of the EtherCAT slave
Product code of the EtherCAT slave
Data type UINT8 UINT32
UINT32
Revision number of the EtherCAT slave; the low word (bit UINT32 0-15) indicates the special terminal number, the high word (bit 16-31) refers to the device description
Serial number of the EtherCAT slave; the low byte (bit 0-7) of the low word contains the year of production, the high byte (bit 8-15) of the low word contains the week of production, the high word (bit 16-31) is 0
UINT32
Flags RO RO RO
RO
Default
0x04 (4dec)
0x00000002 (2dec)
0x0E303052 (238039122dec )
0x00110000 (1114112dec)
RO
0x00000000
(0dec)
Index 10F0 Backup parameter handling
Index (hex) Name
10F0:0
Backup parameter handling
10F0:01 Checksum
Meaning
Information for standardized loading and saving of backup entries
Checksum across all backup entries of the EtherCAT slave
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x00000000
(0dec)
Index 1A00 Analog Input TxPDO-MapStatus Ch.1
Index (hex) Name
Meaning
1A00:0
Analog Input TxPDO- PDO Mapping TxPDO 1 MapStatus Ch.1
1A00:01 SubIndex 001
1. PDO Mapping entry (object 0x6000 (AI Inputs), entry 0x01 (Underrange))
1A00:02 SubIndex 002
2. PDO Mapping entry (object 0x6000 (AI Inputs), entry 0x02 (Overrange))
1A00:03 SubIndex 003
3. PDO Mapping entry (object 0x6000 (AI Inputs), entry 0x03 (Limit 1))
1A00:04 SubIndex 004
4. PDO Mapping entry (object 0x6000 (AI Inputs), entry 0x05 (Limit 2))
1A00:05 SubIndex 005
5. PDO Mapping entry (2 bits align)
1A00:06 SubIndex 006
6. PDO Mapping entry (6 bits align)
1A00:07 SubIndex 007
7. PDO Mapping entry (object 0x1800 (AI TxPDO-Par Standard Ch.1), entry 0x07 (TxPDO State))
1A00:08 SubIndex 008
8. PDO Mapping entry (object 0x1800, entry 0x09)
1A00:09 SubIndex 009
9. PDO Mapping entry (object 0x6000 (AI Inputs), entry 0x11 (Value))
Data type UINT8
UINT32
UINT32
UINT32
UINT32
UINT32 UINT32 UINT32
UINT32 UINT32
Flags RO
Default 0x09 (9dec)
RO
0x6000:01, 1
RO
0x6000:02, 1
RO
0x6000:03, 2
RO
0x0000:00, 2
RO
0x6000:07, 1
RO
0x0000:00, 6
RO
0x1C33:20, 1
RO
0x1800:07, 1
RO
0x1800:09, 1
Index 1A01 Analog Input TxPDO-MapSamples 1 Ch.1
Index (hex) Name
Meaning
1A01:0
Analog Input TxPDO- PDO Mapping TxPDO 2 MapSamples 1 Ch.1
1A01:01 SubIndex 001
1. PDO Mapping entry (object 0x6000 (AI Inputs), entry 0x11 (Value))
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6001:01, 16
Index 1A02 Analog Input TxPDO-MapSamples 2 Ch.1
Index (hex) Name
Meaning
1A02:0
Analog Input TxPDO- PDO Mapping TxPDO 3 MapSamples 2 Ch.1
1A02:01 SubIndex 001
1. PDO Mapping entry (object 0x6002 (Sample 2), entry 0x01 (Value))
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6001:02, 16
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Index 1A03 Analog Input TxPDO-MapSamples 3 Ch.1
Index (hex) Name
Meaning
1A03:0
Analog Input TxPDO- PDO Mapping TxPDO 4 MapSamples 3 Ch.1
1A03:01 SubIndex 001
1. PDO Mapping entry (object 0x6003 (Sample 3), entry 0x01 (Value))
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6001:03, 16
Index 1A04 Analog Input TxPDO-MapSamples 4 Ch.1
Index (hex) Name
Meaning
1A04:0
Analog Input TxPDO- PDO Mapping TxPDO 5 MapSamples 4 Ch.1
1A04:01 SubIndex 001
1. PDO Mapping entry (object 0x6004 (Sample 4), entry 0x01 (Value))
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6001:04, 16
Index 1A05 Analog Input TxPDO-MapSamples 5 Ch.1
Index (hex) Name
Meaning
1A05:0
Analog Input TxPDO- PDO Mapping TxPDO 6 MapSamples 5 Ch.1
1A05:01 SubIndex 001
1. PDO Mapping entry (object 0x6005 (Sample 5), entry 0x01 (Value))
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6001:05, 16
Index 1A06 Analog Input TxPDO-MapSamples 6 Ch.1
Index (hex) Name
Meaning
1A06:0
Analog Input TxPDO- PDO Mapping TxPDO 7 MapSamples 6 Ch.1
1A06:01 SubIndex 001
1. PDO Mapping entry (object 0x6006 (Sample 6), entry 0x01 (Value))
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6001:06, 16
Index 1A07 Analog Input TxPDO-MapSamples 7 Ch.1
Index (hex) Name
Meaning
1A07:0
Analog Input TxPDO- PDO Mapping TxPDO 8 MapSamples 7 Ch.1
1A07:01 SubIndex 001
1. PDO Mapping entry (object 0x6007 (Sample 7), entry 0x01 (Value))
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6001:07, 16
Index 1A08 Analog Input TxPDO-MapSamples 8 Ch.1
Index (hex) Name
Meaning
1A08:0
Analog Input TxPDO- PDO Mapping TxPDO 9 MapSamples 8 Ch.1
1A08:01 SubIndex 001
1. PDO Mapping entry (object 0x6008 (Sample 8), entry 0x01 (Value))
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6001:08, 16
Index 1A09 Analog Input TxPDO-MapSamples 9 Ch.1
Index (hex) Name
Meaning
1A09:0
Analog Input TxPDO- PDO Mapping TxPDO 10 MapSamples 9 Ch.1
1A09:01 SubIndex 001
1. PDO Mapping entry (object 0x6009 (Sample 9), entry 0x01 (Value))
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6001:09, 16
Index 1A0A Analog Input TxPDO-MapSamples 10 Ch.1
Index (hex) Name
Meaning
Data type
1A0A:0
Analog Input TxPDO- PDO Mapping TxPDO 11 MapSamples 10 Ch.1
UINT8
1A0A:01 SubIndex 001
1. PDO Mapping entry (object 0x600A (Sample 10), entry UINT32 0x01 (Value))
Flags RO
Default 0x01 (1dec)
RO
0x6001:0A, 16
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Version: 2.9
149
Commissioning
Index 1A0B Analog Input TxPDO-MapSamples 11 Ch.1
Index (hex) Name
Meaning
Data type
1A0B:0
Analog Input TxPDO- PDO Mapping TxPDO 12 MapSamples 11 Ch.1
UINT8
1A0B:01 SubIndex 001
1. PDO Mapping entry (object 0x600B (Sample 11), entry UINT32 0x01 (Value))
Flags RO
Default 0x01 (1dec)
RO
0x6001:0B, 16
Index 1A0C Analog Input TxPDO-MapSamples 12 Ch.1
Index (hex) Name
Meaning
Data type
1A0C:0
Analog Input TxPDO- PDO Mapping TxPDO 13 MapSamples 12 Ch.1
UINT8
1A0C:01 SubIndex 001
1. PDO Mapping entry (object 0x600C (Sample 12), entry UINT32 0x01 (Value))
Flags RO
Default 0x01 (1dec)
RO
0x6001:0C,
16
Index 1A0D Analog Input TxPDO-MapSamples 13 Ch.1
Index (hex) Name
Meaning
Data type
1A0D:0
Analog Input TxPDO- PDO Mapping TxPDO 14 MapSamples 13 Ch.1
UINT8
1A0D:01 SubIndex 001
1. PDO Mapping entry (object 0x600D (Sample 13), entry UINT32 0x01 (Value))
Flags RO
Default 0x01 (1dec)
RO
0x6001:0D,
16
Index 1A0E Analog Input TxPDO-MapSamples 14 Ch.1
Index (hex) Name
Meaning
Data type
1A0E:0
Analog Input TxPDO- PDO Mapping TxPDO 15 MapSamples 14 Ch.1
UINT8
1A0E:01 SubIndex 001
1. PDO Mapping entry (object 0x600E (Sample 14), entry UINT32 0x01 (Value))
Flags RO
Default 0x01 (1dec)
RO
0x6001:0E, 16
Index 1A0F Analog Input TxPDO-MapSamples 15 Ch.1
Index (hex) Name
Meaning
Data type
1A0F:0
Analog Input TxPDO- PDO Mapping TxPDO 16 MapSamples 15 Ch.1
UINT8
1A0F:01 SubIndex 001
1. PDO Mapping entry (object 0x600F (Sample 15), entry UINT32 0x01 (Value))
Flags RO
Default 0x01 (1dec)
RO
0x6001:0F, 16
Index 1A10 Analog Input TxPDO-MapSamples 16 Ch.1
Index (hex) Name
Meaning
1A10:0
Analog Input TxPDO- PDO Mapping TxPDO 17 MapSamples 16 Ch.1
1A10:01 SubIndex 001
1. PDO Mapping entry (object 0x6000 (Sample 0), entry 0x01 (Underrange))
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6001:10, 16
Index 1A11 Analog Input TxPDO-MapSamples 17 Ch.1
Index (hex) Name
Meaning
1A11:0
Analog Input TxPDO- PDO Mapping TxPDO 18 MapSamples 17 Ch.1
1A11:01 SubIndex 001
1. PDO Mapping entry (object 0x6001 (Sample 1), entry 0x01 (Value))
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6001:11, 16
Index 1A12 Analog Input TxPDO-MapSamples 18 Ch.1
Index (hex) Name
Meaning
1A12:0
Analog Input TxPDO- PDO Mapping TxPDO 19 MapSamples 18 Ch.1
1A12:01 SubIndex 001
1. PDO Mapping entry (object 0x6002 (Sample 2), entry 0x01 (Value))
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6001:12, 16
150
Version: 2.9
EL3632
Commissioning
Index 1A13 Analog Input TxPDO-MapSamples 19 Ch.1
Index (hex) Name
Meaning
1A13:0
Analog Input TxPDO- PDO Mapping TxPDO 20 MapSamples 19 Ch.1
1A13:01 SubIndex 001
1. PDO Mapping entry (object 0x6003 (Sample 3), entry 0x01 (Value))
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6001:13, 16
Index 1A14 Analog Input TxPDO-MapSamples 20 Ch.1
Index (hex) Name
Meaning
Data type
1A14:0
Analog Input TxPDO- PDO Mapping TxPDO 21 MapSamples 20 Ch.1
UINT8
1A14:01 SubIndex 001
1. PDO Mapping entry (object 0x6010 (Sample 16), entry UINT32 0x01 (Value))
Flags RO
Default 0x01 (1dec)
RO
0x6001:14, 16
Index 1A15 Analog Input TxPDO-MapSamples 21 Ch.1
Index (hex) Name
Meaning
Data type
1A15:0
Analog Input TxPDO- PDO Mapping TxPDO 22 MapSamples 21 Ch.1
UINT8
1A15:01 SubIndex 001
1. PDO Mapping entry (object 0x6011 (Sample 17), entry UINT32 0x01 (Value))
Flags RO
Default 0x01 (1dec)
RO
0x6001:15, 16
Index 1A16 Analog Input TxPDO-MapSamples 22 Ch.1
Index (hex) Name
Meaning
1A16:0
Analog Input TxPDO- PDO Mapping TxPDO 23 MapSamples 22 Ch.1
1A16:01 SubIndex 001
1. PDO Mapping entry (object 0x6002 (Samples), entry 0x15 ())
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6001:16, 16
Index 1A17 Analog Input TxPDO-MapSamples 23 Ch.1
Index (hex) Name
Meaning
1A17:0
Analog Input TxPDO- PDO Mapping TxPDO 24 MapSamples 23 Ch.1
1A17:01 SubIndex 001
1. PDO Mapping entry (object 0x6002 (Samples), entry 0x16 ())
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6001:17, 16
Index 1A18 Analog Input TxPDO-MapSamples 24 Ch.1
Index (hex) Name
Meaning
1A18:0
Analog Input TxPDO- PDO Mapping TxPDO 25 MapSamples 24 Ch.1
1A18:01 SubIndex 001
1. PDO Mapping entry (object 0x6002 (Samples), entry 0x17 ())
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6001:18, 16
Index 1A19 Analog Input TxPDO-MapSamples 25 Ch.1
Index (hex) Name
Meaning
1A19:0
Analog Input TxPDO- PDO Mapping TxPDO 26 MapSamples 25 Ch.1
1A19:01 SubIndex 001
1. PDO Mapping entry (object 0x6002 (Samples), entry 0x18 ())
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6001:19, 16
Index 1A1A Analog Input TxPDO-MapSamples 26 Ch.1
Index (hex) Name
Meaning
1A1A:0
Analog Input TxPDO- PDO Mapping TxPDO 27 MapSamples 26 Ch.1
1A1A:01 SubIndex 001
1. PDO Mapping entry (object 0x6002 (Samples), entry 0x19 ())
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6001:1A, 16
EL3632
Version: 2.9
151
Commissioning
Index 1A1B Analog Input TxPDO-MapSamples 27 Ch.1
Index (hex) Name
Meaning
1A1B:0
Analog Input TxPDO- PDO Mapping TxPDO 28 MapSamples 27 Ch.1
1A1B:01 SubIndex 001
1. PDO Mapping entry (object 0x6002 (Samples), entry 0x1A ())
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6001:1B, 16
Index 1A1C Analog Input TxPDO-MapSamples 28 Ch.1
Index (hex) Name
Meaning
1A1C:0
Analog Input TxPDO- PDO Mapping TxPDO 29 MapSamples 28 Ch.1
1A1C:01 SubIndex 001
1. PDO Mapping entry (object 0x6002 (Samples), entry 0x1B ())
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6001:1C,
16
Index 1A1D Analog Input TxPDO-MapSamples 29 Ch.1
Index (hex) Name
Meaning
1A1D:0
Analog Input TxPDO- PDO Mapping TxPDO 30 MapSamples 29 Ch.1
1A1D:01 SubIndex 001
1. PDO Mapping entry (object 0x6002 (Samples), entry 0x1C ())
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6001:1D,
16
Index 1A1E Analog Input TxPDO-MapSamples 30 Ch.1
Index (hex) Name
Meaning
1A1E:0
Analog Input TxPDO- PDO Mapping TxPDO 31 MapSamples 30 Ch.1
1A1E:01 SubIndex 001
1. PDO Mapping entry (object 0x6002 (Samples), entry 0x1D ())
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6001:1E, 16
Index 1A1F Analog Input TxPDO-MapSamples 31 Ch.1
Index (hex) Name
Meaning
1A1F:0
Analog Input TxPDO- PDO Mapping TxPDO 32 MapSamples 31 Ch.1
1A1F:01 SubIndex 001
1. PDO Mapping entry (object 0x6002 (Samples), entry 0x1E ())
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6001:1F, 16
Index 1A20 Analog Input TxPDO-MapSamples 32 Ch.1
Index (hex) Name
Meaning
1A20:0
Analog Input TxPDO- PDO Mapping TxPDO 33 MapSamples 32 Ch.1
1A20:01 SubIndex 001
1. PDO Mapping entry (object 0x6002 (Samples), entry 0x1F ())
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6001:20, 16
Index 1A21 Analog Input TxPDO-MapSamples 33 Ch.1
Index (hex) Name
Meaning
1A21:0
Analog Input TxPDO- PDO Mapping TxPDO 34 MapSamples 33 Ch.1
1A21:01 SubIndex 001
1. PDO Mapping entry (object 0x6002 (Samples), entry 0x20 ())
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6001:21, 16
Index 1A22 Analog Input TxPDO-MapSamples 34 Ch.1
Index (hex) Name
Meaning
1A22:0
Analog Input TxPDO- PDO Mapping TxPDO 35 MapSamples 34 Ch.1
1A22:01 SubIndex 001
1. PDO Mapping entry (object 0x6002 (Samples), entry 0x21 ())
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6001:22, 16
152
Version: 2.9
EL3632
Commissioning
Index 1A23 Analog Input TxPDO-MapSamples 35 Ch.1
Index (hex) Name
Meaning
1A23:0
Analog Input TxPDO- PDO Mapping TxPDO 36 MapSamples 35 Ch.1
1A23:01 SubIndex 001
1. PDO Mapping entry (object 0x6002 (Samples), entry 0x22 ())
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6001:23, 16
Index 1A24 Analog Input TxPDO-MapSamples 36 Ch.1
Index (hex) Name
Meaning
1A24:0
Analog Input TxPDO- PDO Mapping TxPDO 37 MapSamples 36 Ch.1
1A24:01 SubIndex 001
1. PDO Mapping entry (object 0x6002 (Samples), entry 0x23 ())
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6001:24, 16
Index 1A25 Analog Input TxPDO-MapSamples 37 Ch.1
Index (hex) Name
Meaning
1A25:0
Analog Input TxPDO- PDO Mapping TxPDO 38 MapSamples 37 Ch.1
1A25:01 SubIndex 001
1. PDO Mapping entry (object 0x6002 (Samples), entry 0x24 ())
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6001:25, 16
Index 1A26 Analog Input TxPDO-MapSamples 38 Ch.1
Index (hex) Name
Meaning
1A26:0
Analog Input TxPDO- PDO Mapping TxPDO 39 MapSamples 38 Ch.1
1A26:01 SubIndex 001
1. PDO Mapping entry (object 0x6002 (Samples), entry 0x25 ())
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6001:26, 16
Index 1A27 Analog Input TxPDO-MapSamples 39 Ch.1
Index (hex) Name
Meaning
1A27:0
Analog Input TxPDO- PDO Mapping TxPDO 40 MapSamples 39 Ch.1
1A27:01 SubIndex 001
1. PDO Mapping entry (object 0x6002 (Samples), entry 0x26 ())
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6001:27, 16
Index 1A28 Analog Input TxPDO-MapSamples 40 Ch.1
Index (hex) Name
Meaning
1A28:0
Analog Input TxPDO- PDO Mapping TxPDO 41 MapSamples 40 Ch.1
1A28:01 SubIndex 001
1. PDO Mapping entry (object 0x6002 (Samples), entry 0x27 ())
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6001:28, 16
Index 1A29 Analog Input TxPDO-MapSamples 41 Ch.1
Index (hex) Name
Meaning
1A29:0
Analog Input TxPDO- PDO Mapping TxPDO 42 MapSamples 41 Ch.1
1A29:01 SubIndex 001
1. PDO Mapping entry (object 0x6002 (Samples), entry 0x28 ())
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6001:29, 16
Index 1A2A Analog Input TxPDO-MapSamples 42 Ch.1
Index (hex) Name
Meaning
1A2A:0
Analog Input TxPDO- PDO Mapping TxPDO 43 MapSamples 42 Ch.1
1A2A:01 SubIndex 001
1. PDO Mapping entry (object 0x6002 (Samples), entry 0x29 ())
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6001:2A, 16
EL3632
Version: 2.9
153
Commissioning
Index 1A2B Analog Input TxPDO-MapSamples 43 Ch.1
Index (hex) Name
Meaning
1A2B:0
Analog Input TxPDO- PDO Mapping TxPDO 44 MapSamples 43 Ch.1
1A2B:01 SubIndex 001
1. PDO Mapping entry (object 0x6002 (Samples), entry 0x2A ())
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6001:2B, 16
Index 1A2C Analog Input TxPDO-MapSamples 44 Ch.1
Index (hex) Name
Meaning
1A2C:0
Analog Input TxPDO- PDO Mapping TxPDO 45 MapSamples 44 Ch.1
1A2C:01 SubIndex 001
1. PDO Mapping entry (object 0x6002 (Samples), entry 0x2B ())
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6001:2C,
16
Index 1A2D Analog Input TxPDO-MapSamples 45 Ch.1
Index (hex) Name
Meaning
1A2D:0
Analog Input TxPDO- PDO Mapping TxPDO 46 MapSamples 45 Ch.1
1A2D:01 SubIndex 001
1. PDO Mapping entry (object 0x6002 (Samples), entry 0x2C ())
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6001:2D,
16
Index 1A2E Analog Input TxPDO-MapSamples 46 Ch.1
Index (hex) Name
Meaning
1A2E:0
Analog Input TxPDO- PDO Mapping TxPDO 47 MapSamples 46 Ch.1
1A2E:01 SubIndex 001
1. PDO Mapping entry (object 0x6002 (Samples), entry 0x2D ())
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6001:2E, 16
Index 1A2F Analog Input TxPDO-MapSamples 47 Ch.1
Index (hex) Name
Meaning
1A2F:0
Analog Input TxPDO- PDO Mapping TxPDO 48 MapSamples 47 Ch.1
1A2F:01 SubIndex 001
1. PDO Mapping entry (object 0x6002 (Samples), entry 0x2E ())
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6001:2F, 16
Index 1A30 Analog Input TxPDO-MapSamples 48 Ch.1
Index (hex) Name
Meaning
1A30:0
Analog Input TxPDO- PDO Mapping TxPDO 49 MapSamples 48 Ch.1
1A30:01 SubIndex 001
1. PDO Mapping entry (object 0x6002 (Samples), entry 0x2F ())
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6001:30, 16
Index 1A31 Analog Input TxPDO-MapSamples 49 Ch.1
Index (hex) Name
Meaning
1A31:0
Analog Input TxPDO- PDO Mapping TxPDO 50 MapSamples 49 Ch.1
1A31:01 SubIndex 001
1. PDO Mapping entry (object 0x6002 (Samples), entry 0x30 ())
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6001:31, 16
Index 1A32 Analog Input TxPDO-MapSamples 50 Ch.1
Index (hex) Name
Meaning
1A32:0
Analog Input TxPDO- PDO Mapping TxPDO 51 MapSamples 50 Ch.1
1A32:01 SubIndex 001
1. PDO Mapping entry (object 0x6002 (Samples), entry 0x31 ())
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6001:32, 16
154
Version: 2.9
EL3632
Commissioning
Index 1A40 Analog Input TxPDO-MapStatus Ch.2
Index (hex) Name
Meaning
Data type
1A40:0
Analog Input TxPDO- PDO Mapping TxPDO 65 MapStatus Ch.2
UINT8
1A40:01 SubIndex 001
1. PDO Mapping entry (object 0x6012 (Samples), entry UINT32 0x0B ())
1A40:02 SubIndex 002
2. PDO Mapping entry (object 0x6010 (Status), entry 0x02 (Overrange))
UINT32
1A40:03 SubIndex 003
3. PDO Mapping entry (object 0x6010 (Status), entry 0x03 (Limit 1))
UINT32
1A40:04 SubIndex 004
4. PDO Mapping entry (object 0x6010 (Status), entry 0x05 (Limit 2))
UINT32
1A40:05 SubIndex 005
5. PDO Mapping entry (object 0x6010 (Status), entry 0x07 (Error))
UINT32
1A40:06 SubIndex 006
6. PDO Mapping entry (6 bits align)
UINT32
1A40:07 SubIndex 007
7. PDO Mapping entry (object 0x1C33 (SM input param- UINT32 eter), entry 0x20 (Sync error))
1A40:08 SubIndex 008
8. PDO Mapping entry (object 0x1840, entry 0x07)
UINT32
1A40:09 SubIndex 009
9. PDO Mapping entry (object 0x1840, entry 0x09)
UINT32
Flags RO
Default 0x09 (9dec)
RO
0x6010:01, 1
RO
0x6010:02, 1
RO
0x6010:03, 2
RO
0x0000:00, 2
RO
0x6010:07, 1
RO
0x0000:00, 6
RO
0x1C33:20, 1
RO
0x1840:07, 1
RO
0x1840:09, 1
Index 1A41 Analog Input TxPDO-MapSamples 1 Ch.2
Index (hex) Name
Meaning
1A41:0
Analog Input TxPDO- PDO Mapping TxPDO 66 MapSamples 1 Ch.2
1A41:01 SubIndex 001
1. PDO Mapping entry (object 0x6002 (Samples), entry 0x40 ())
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6011:01, 16
Index 1A42 Analog Input TxPDO-MapSamples 2 Ch.2
Index (hex) Name
Meaning
1A42:0
Analog Input TxPDO- PDO Mapping TxPDO 67 MapSamples 2 Ch.2
1A42:01 SubIndex 001
1. PDO Mapping entry (object 0x6012 (Samples), entry 0x02 ())
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6011:02, 16
Index 1A43 Analog Input TxPDO-MapSamples 3 Ch.2
Index (hex) Name
Meaning
1A43:0
Analog Input TxPDO- PDO Mapping TxPDO 68 MapSamples 3 Ch.2
1A43:01 SubIndex 001
1. PDO Mapping entry (object 0x6012 (Samples), entry 0x03 ())
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6011:03, 16
Index 1A44 Analog Input TxPDO-MapSamples 4 Ch.2
Index (hex) Name
Meaning
1A44:0
Analog Input TxPDO- PDO Mapping TxPDO 69 MapSamples 4 Ch.2
1A44:01 SubIndex 001
1. PDO Mapping entry (object 0x6012 (Samples), entry 0x04 ())
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6011:04, 16
Index 1A45 Analog Input TxPDO-MapSamples 5 Ch.2
Index (hex) Name
Meaning
1A45:0
Analog Input TxPDO- PDO Mapping TxPDO 70 MapSamples 5 Ch.2
1A45:01 SubIndex 001
1. PDO Mapping entry (object 0x6012 (Samples), entry 0x05 ())
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6011:05, 16
EL3632
Version: 2.9
155
Commissioning
Index 1A46 Analog Input TxPDO-MapSamples 6 Ch.2
Index (hex) Name
Meaning
1A46:0
Analog Input TxPDO- PDO Mapping TxPDO 71 MapSamples 6 Ch.2
1A46:01 SubIndex 001
1. PDO Mapping entry (object 0x6012 (Samples), entry 0x06 ())
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6011:06, 16
Index 1A47 Analog Input TxPDO-MapSamples 7 Ch.2
Index (hex) Name
Meaning
1A47:0
Analog Input TxPDO- PDO Mapping TxPDO 72 MapSamples 7 Ch.2
1A47:01 SubIndex 001
1. PDO Mapping entry (object 0x6012 (Samples), entry 0x07 ())
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6011:07, 16
Index 1A48 Analog Input TxPDO-MapSamples 8 Ch.2
Index (hex) Name
Meaning
1A48:0
Analog Input TxPDO- PDO Mapping TxPDO 73 MapSamples 8 Ch.2
1A48:01 SubIndex 001
1. PDO Mapping entry (object 0x6012 (Samples), entry 0x08 ())
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6011:08, 16
Index 1A49 Analog Input TxPDO-MapSamples 9 Ch.2
Index (hex) Name
Meaning
1A49:0
Analog Input TxPDO- PDO Mapping TxPDO 74 MapSamples 9 Ch.2
1A49:01 SubIndex 001
1. PDO Mapping entry (object 0x6012 (Samples), entry 0x09 ())
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6011:09, 16
Index 1A4A Analog Input TxPDO-MapSamples 10 Ch.2
Index (hex) Name
Meaning
1A4A:0
Analog Input TxPDO- PDO Mapping TxPDO 75 MapSamples 10 Ch.2
1A4A:01 SubIndex 001
1. PDO Mapping entry (object 0x6012 (Samples), entry 0x0A ())
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6011:0A, 16
Index 1A4B Analog Input TxPDO-MapSamples 11 Ch.2
Index (hex) Name
Meaning
1A4B:0
Analog Input TxPDO- PDO Mapping TxPDO 76 MapSamples 11 Ch.2
1A4B:01 SubIndex 001
1. PDO Mapping entry (object 0x6012 (Samples), entry 0x0B ())
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6011:0B, 16
Index 1A4C Analog Input TxPDO-MapSamples 12 Ch.2
Index (hex) Name
Meaning
1A4C:0
Analog Input TxPDO- PDO Mapping TxPDO 77 MapSamples 12 Ch.2
1A4C:01 SubIndex 001
1. PDO Mapping entry (object 0x6012 (Samples), entry 0x0C ())
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6011:0C,
16
Index 1A4D Analog Input TxPDO-MapSamples 13 Ch.2
Index (hex) Name
Meaning
1A4D:0
Analog Input TxPDO- PDO Mapping TxPDO 78 MapSamples 13 Ch.2
1A4D:01 SubIndex 001
1. PDO Mapping entry (object 0x6012 (Samples), entry 0x0D ())
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6011:0D,
16
156
Version: 2.9
EL3632
Commissioning
Index 1A4E Analog Input TxPDO-MapSamples 14 Ch.2
Index (hex) Name
Meaning
1A4E:0
Analog Input TxPDO- PDO Mapping TxPDO 79 MapSamples 14 Ch.2
1A4E:01 SubIndex 001
1. PDO Mapping entry (object 0x6012 (Samples), entry 0x0E ())
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6011:0E, 16
Index 1A4F Analog Input TxPDO-MapSamples 15 Ch.2
Index (hex) Name
Meaning
1A4F:0
Analog Input TxPDO- PDO Mapping TxPDO 80 MapSamples 15 Ch.2
1A4F:01 SubIndex 001
1. PDO Mapping entry (object 0x6012 (Samples), entry 0x0F ())
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6011:0F, 16
Index 1A50 Analog Input TxPDO-MapSamples 16 Ch.2
Index (hex) Name
Meaning
1A50:0
Analog Input TxPDO- PDO Mapping TxPDO 81 MapSamples 16 Ch.2
1A50:01 SubIndex 001
1. PDO Mapping entry (object 0x6012 (Samples), entry 0x0F ())
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6011:10, 16
Index 1A51 Analog Input TxPDO-MapSamples 17 Ch.2
Index (hex) Name
Meaning
1A51:0
Analog Input TxPDO- PDO Mapping TxPDO 82 MapSamples 17 Ch.2
1A51:01 SubIndex 001
1. PDO Mapping entry (object 0x6012 (Samples), entry 0x10 ())
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6011:11, 16
Index 1A52 Analog Input TxPDO-MapSamples 18 Ch.2
Index (hex) Name
Meaning
1A52:0
Analog Input TxPDO- PDO Mapping TxPDO 83 MapSamples 18 Ch.2
1A52:01 SubIndex 001
1. PDO Mapping entry (object 0x6012 (Samples), entry 0x11 ())
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6011:12, 16
Index 1A53 Analog Input TxPDO-MapSamples 19 Ch.2
Index (hex) Name
Meaning
1A53:0
Analog Input TxPDO- PDO Mapping TxPDO 84 MapSamples 19 Ch.2
1A53:01 SubIndex 001
1. PDO Mapping entry (object 0x6012 (Samples), entry 0x12 ())
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6011:13, 16
Index 1A54 Analog Input TxPDO-MapSamples 20 Ch.2
Index (hex) Name
Meaning
1A54:0
Analog Input TxPDO- PDO Mapping TxPDO 85 MapSamples 20 Ch.2
1A54:01 SubIndex 001
1. PDO Mapping entry (object 0x6012 (Samples), entry 0x13 ())
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6011:14, 16
Index 1A55 Analog Input TxPDO-MapSamples 21 Ch.2
Index (hex) Name
Meaning
1A55:0
Analog Input TxPDO- PDO Mapping TxPDO 86 MapSamples 21 Ch.2
1A55:01 SubIndex 001
1. PDO Mapping entry (object 0x6012 (Samples), entry 0x14 ())
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6011:15, 16
EL3632
Version: 2.9
157
Commissioning
Index 1A56 Analog Input TxPDO-MapSamples 22 Ch.2
Index (hex) Name
Meaning
1A56:0
Analog Input TxPDO- PDO Mapping TxPDO 87 MapSamples 22 Ch.2
1A56:01 SubIndex 001
1. PDO Mapping entry (object 0x6012 (Samples), entry 0x05 ())
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6011:16, 16
Index 1A57 Analog Input TxPDO-MapSamples 23 Ch.2
Index (hex) Name
Meaning
1A57:0
Analog Input TxPDO- PDO Mapping TxPDO 88 MapSamples 23 Ch.2
1A57:01 SubIndex 001
1. PDO Mapping entry (object 0x6012 (Samples), entry 0x06 ())
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6011:17, 16
Index 1A58 Analog Input TxPDO-MapSamples 24 Ch.2
Index (hex) Name
Meaning
1A58:0
Analog Input TxPDO- PDO Mapping TxPDO 89 MapSamples 24 Ch.2
1A58:01 SubIndex 001
1. PDO Mapping entry (object 0x6012 (Samples), entry 0x07 ())
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6011:18, 16
Index 1A59 Analog Input TxPDO-MapSamples 25 Ch.2
Index (hex) Name
Meaning
1A59:0
Analog Input TxPDO- PDO Mapping TxPDO 90 MapSamples 25 Ch.2
1A59:01 SubIndex 001
1. PDO Mapping entry (object 0x6012 (Samples), entry 0x08 ())
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6011:19, 16
Index 1A5A Analog Input TxPDO-MapSamples 26 Ch.2
Index (hex) Name
Meaning
1A5A:0
Analog Input TxPDO- PDO Mapping TxPDO 91 MapSamples 26 Ch.2
1A5A:01 SubIndex 001
1. PDO Mapping entry (object 0x6012 (Samples), entry 0x09 ())
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6011:1A, 16
Index 1A5B Analog Input TxPDO-MapSamples 27 Ch.2
Index (hex) Name
Meaning
1A5B:0
Analog Input TxPDO- PDO Mapping TxPDO 92 MapSamples 27 Ch.2
1A5B:01 SubIndex 001
1. PDO Mapping entry (object 0x6012 (Samples), entry 0x0A ())
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6011:1B, 16
Index 1A5C Analog Input TxPDO-MapSamples 28 Ch.2
Index (hex) Name
Meaning
1A5C:0
Analog Input TxPDO- PDO Mapping TxPDO 93 MapSamples 28 Ch.2
1A5C:01 SubIndex 001
1. PDO Mapping entry (object 0x6012 (Samples), entry 0x0B ())
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6011:1C,
16
Index 1A5D Analog Input TxPDO-MapSamples 29 Ch.2
Index (hex) Name
Meaning
1A5D:0
Analog Input TxPDO- PDO Mapping TxPDO 94 MapSamples 29 Ch.2
1A5D:01 SubIndex 001
1. PDO Mapping entry (object 0x6012 (Samples), entry 0x0C ())
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6011:1D,
16
158
Version: 2.9
EL3632
Commissioning
Index 1A5E Analog Input TxPDO-MapSamples 30 Ch.2
Index (hex) Name
Meaning
1A5E:0
Analog Input TxPDO- PDO Mapping TxPDO 95 MapSamples 30 Ch.2
1A5E:01 SubIndex 001
1. PDO Mapping entry (object 0x6012 (Samples), entry 0x0D ())
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6011:1E, 16
Index 1A5F Analog Input TxPDO-MapSamples 31 Ch.2
Index (hex) Name
Meaning
1A5F:0
Analog Input TxPDO- PDO Mapping TxPDO 96 MapSamples 31 Ch.2
1A5F:01 SubIndex 001
1. PDO Mapping entry (object 0x6012 (Samples), entry 0x0E ())
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6011:1F, 16
Index 1A60 Analog Input TxPDO-MapSamples 32 Ch.2
Index (hex) Name
Meaning
1A60:0
Analog Input TxPDO- PDO Mapping TxPDO 97 MapSamples 32 Ch.2
1A60:01 SubIndex 001
1. PDO Mapping entry (object 0x6012 (Samples), entry 0x0F ())
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6011:20, 16
Index 1A61 Analog Input TxPDO-MapSamples 33 Ch.2
Index (hex) Name
Meaning
1A61:0
Analog Input TxPDO- PDO Mapping TxPDO 98 MapSamples 33 Ch.2
1A61:01 SubIndex 001
1. PDO Mapping entry (object 0x6012 (Samples), entry 0x10 ())
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6011:21, 16
Index 1A62 Analog Input TxPDO-MapSamples 34 Ch.2
Index (hex) Name
Meaning
1A62:0
Analog Input TxPDO- PDO Mapping TxPDO 99 MapSamples 34 Ch.2
1A62:01 SubIndex 001
1. PDO Mapping entry (object 0x6012 (Samples), entry 0x11 ())
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6011:22, 16
Index 1A63 Analog Input TxPDO-MapSamples 35 Ch.2
Index (hex) Name
Meaning
1A63:0
Analog Input TxPDO- PDO Mapping TxPDO 100 MapSamples 35 Ch.2
1A63:01 SubIndex 001
1. PDO Mapping entry (object 0x6012 (Samples), entry 0x12 ())
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6011:23, 16
Index 1A64 Analog Input TxPDO-MapSamples 36 Ch.2
Index (hex) Name
Meaning
1A64:0
Analog Input TxPDO- PDO Mapping TxPDO 101 MapSamples 36 Ch.2
1A64:01 SubIndex 001
1. PDO Mapping entry (object 0x6012 (Samples), entry 0x13 ())
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6011:24, 16
Index 1A65 Analog Input TxPDO-MapSamples 37 Ch.2
Index (hex) Name
Meaning
1A65:0
Analog Input TxPDO- PDO Mapping TxPDO 102 MapSamples 37 Ch.2
1A65:01 SubIndex 001
1. PDO Mapping entry (object 0x6012 (Samples), entry 0x14 ())
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6011:25, 16
EL3632
Version: 2.9
159
Commissioning
Index 1A66 Analog Input TxPDO-MapSamples 38 Ch.2
Index (hex) Name
Meaning
1A66:0
Analog Input TxPDO- PDO Mapping TxPDO 103 MapSamples 38 Ch.2
1A66:01 SubIndex 001
1. PDO Mapping entry (object 0x6012 (Samples), entry 0x15 ())
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6011:26, 16
Index 1A67 Analog Input TxPDO-MapSamples 39 Ch.2
Index (hex) Name
Meaning
1A67:0
Analog Input TxPDO- PDO Mapping TxPDO 104 MapSamples 39 Ch.2
1A67:01 SubIndex 001
1. PDO Mapping entry (object 0x6012 (Samples), entry 0x16 ())
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6011:27, 16
Index 1A68 Analog Input TxPDO-MapSamples 40 Ch.2
Index (hex) Name
Meaning
1A68:0
Analog Input TxPDO- PDO Mapping TxPDO 105 MapSamples 40 Ch.2
1A68:01 SubIndex 001
1. PDO Mapping entry (object 0x6012 (Samples), entry 0x17 ())
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6011:28, 16
Index 1A69 Analog Input TxPDO-MapSamples 41 Ch.2
Index (hex) Name
Meaning
1A69:0
Analog Input TxPDO- PDO Mapping TxPDO 106 MapSamples 41 Ch.2
1A69:01 SubIndex 001
1. PDO Mapping entry (object 0x6012 (Samples), entry 0x18 ())
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6011:29, 16
Index 1A6A Analog Input TxPDO-MapSamples 42 Ch.2
Index (hex) Name
Meaning
1A6A:0
Analog Input TxPDO- PDO Mapping TxPDO 107 MapSamples 42 Ch.2
1A6A:01 SubIndex 001
1. PDO Mapping entry (object 0x6012 (Samples), entry 0x19 ())
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6011:2A, 16
Index 1A6B Analog Input TxPDO-MapSamples 43 Ch.2
Index (hex) Name
Meaning
1A6B:0
Analog Input TxPDO- PDO Mapping TxPDO 108 MapSamples 43 Ch.2
1A6B:01 SubIndex 001
1. PDO Mapping entry (object 0x6012 (Samples), entry 0x1A ())
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6011:2B, 16
Index 1A6C Analog Input TxPDO-MapSamples 44 Ch.2
Index (hex) Name
Meaning
1A6C:0
Analog Input TxPDO- PDO Mapping TxPDO 109 MapSamples 44 Ch.2
1A6C:01 SubIndex 001
1. PDO Mapping entry (object 0x6012 (Samples), entry 0x1B ())
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6011:2C,
16
Index 1A6D Analog Input TxPDO-MapSamples 45 Ch.2
Index (hex) Name
Meaning
1A6D:0
Analog Input TxPDO- PDO Mapping TxPDO 110 MapSamples 45 Ch.2
1A6D:01 SubIndex 001
1. PDO Mapping entry (object 0x6012 (Samples), entry 0x1C ())
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6011:2D,
16
160
Version: 2.9
EL3632
Commissioning
Index 1A6E Analog Input TxPDO-MapSamples 46 Ch.2
Index (hex) Name
Meaning
1A6E:0
Analog Input TxPDO- PDO Mapping TxPDO 111 MapSamples 46 Ch.2
1A6E:01 SubIndex 001
1. PDO Mapping entry (object 0x6012 (Samples), entry 0x1D ())
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6011:2E, 16
Index 1A6F Analog Input TxPDO-MapSamples 47 Ch.2
Index (hex) Name
Meaning
1A6F:0
Analog Input TxPDO- PDO Mapping TxPDO 112 MapSamples 47 Ch.2
1A6F:01 SubIndex 001
1. PDO Mapping entry (object 0x6012 (Samples), entry 0x1E ())
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6011:2F, 16
Index 1A70 Analog Input TxPDO-MapSamples 48 Ch.2
Index (hex) Name
Meaning
1A70:0
Analog Input TxPDO- PDO Mapping TxPDO 113 MapSamples 48 Ch.2
1A70:01 SubIndex 001
1. PDO Mapping entry (object 0x6012 (Samples), entry 0x1F ())
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6011:30, 16
Index 1A71 Analog Input TxPDO-MapSamples 49 Ch.2
Index (hex) Name
Meaning
1A71:0
Analog Input TxPDO- PDO Mapping TxPDO 114 MapSamples 49 Ch.2
1A71:01 SubIndex 001
1. PDO Mapping entry (object 0x6012 (Samples), entry 0x20 ())
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6011:31, 16
Index 1A72 Analog Input TxPDO-MapSamples 50 Ch.2
Index (hex) Name
Meaning
1A72:0
Analog Input TxPDO- PDO Mapping TxPDO 115 MapSamples 50 Ch.2
1A72:01 SubIndex 001
1. PDO Mapping entry (object 0x6011 (Samples), entry 0x32 ())
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6011:32, 16
Index 1A80 Analog Input Timestamp TxPDO-Map NextSync1Time
Index (hex) Name
1A80:0
Analog Input Timestamp TxPDO-Map NextSync1Time
1A80:01 SubIndex 001
Meaning PDO Mapping TxPDO 129
Data type UINT8
1. PDO Mapping entry (object 0x6012 (Samples), entry UINT32 0x2F ())
Flags RO
Default 0x01 (1dec)
RO
0x6020:01, 64
Index 1A81 Analog Input Timestamp TxPDO-Map Cycle Count
Index (hex) Name
1A81:0
Analog Input Timestamp TxPDO-Map Cycle Count
1A81:01 SubIndex 001
Meaning PDO Mapping TxPDO 130
Data type UINT8
1. PDO Mapping entry (object 0x6021 (CycleCount), en- UINT32 try 0x01 (Cycle Count))
Flags RO
Default 0x01 (1dec)
RO
0x6021:01, 16
EL3632
Version: 2.9
161
Commissioning
Index 1C00 Sync manager type
Index (hex) Name
1C00:0
Sync manager type
1C00:01 SubIndex 001
1C00:02 SubIndex 002
1C00:03 SubIndex 003
1C00:04 SubIndex 004
Meaning
Data type
Using the sync managers
UINT8
Sync-Manager Type Channel 1: Mailbox Write
UINT8
Sync-Manager Type Channel 2: Mailbox Read
UINT8
Sync-Manager Type Channel 3: Process Data Write (Outputs)
UINT8
Sync-Manager Type Channel 4: Process Data Read (In- UINT8 puts)
Flags RO RO RO RO
Default 0x04 (4dec) 0x01 (1dec) 0x02 (2dec) 0x03 (3dec)
RO
0x04 (4dec)
Index 1C12 RxPDO assign
Index (hex) Name
1C12:0
RxPDO assign
Meaning PDO Assign Outputs
Data type UINT8
Flags RW
Default 0x00 (0dec)
Index 1C13 TxPDO assign
Index (hex) Name
1C13:0
TxPDO assign
1C13:01 Subindex 001
1C13:02 Subindex 002
1C13:03 Subindex 003
... 1C13:68
... Subindex 104
Meaning
Data type
PDO Assign Inputs
UINT8
1. allocated TxPDO (contains the index of the associated UINT16 TxPDO mapping object)
2. allocated TxPDO (contains the index of the associated UINT16 TxPDO mapping object)
3. allocated TxPDO (contains the index of the associated UINT16 TxPDO mapping object)
...
...
104. allocated TxPDO (contains the index of the associ- UINT16 ated TxPDO mapping object)
Flags RW RW
RW
RW
Default
0x02 (2dec) 0x1A80 (6784dec) 0x1A81 (6785dec) 0x0000 (0dec)
...
..
RW
0x0000 (0dec)
162
Version: 2.9
EL3632
Commissioning
Index 1C33 SM input parameter
Index (hex) Name
1C33:0
SM input parameter
1C33:01 Sync mode
1C33:02 Cycle time
Meaning Synchronization parameters for the inputs
Data type UINT8
Current synchronization mode:
UINT16
· 0: Free Run
· 1: Synchron with SM 3 Event (no outputs available)
· 2: DC - Synchron with SYNC0 Event
· 3: DC - Synchron with SYNC1 Event
· 34: Synchron with SM 2 Event (outputs available)
as 0x1C32:02
UINT32
1C33:03 1C33:04
1C33:05
Shift time Sync modes supported
Minimum cycle time
Time between SYNC0 event and reading of the inputs (in UINT32 ns, only DC mode)
Supported synchronization modes:
UINT16
· Bit 0: free run is supported
· Bit 1: Synchronous with SM 2 Event is supported (outputs available)
· Bit 1: Synchronous with SM 3 Event is supported (no outputs available)
· Bit 2-3 = 01: DC mode is supported
· Bit 4-5 = 01: input shift through local event (outputs available)
· Bit 4-5 = 10: input shift with SYNC1 event (no outputs available)
· Bit 14 = 1: dynamic times (measurement through writing of 0x1C32:08 or 0x1C33:08)
as 0x1C32:05
UINT32
1C33:06 1C33:07
Calc and copy time Minimum delay time
Time between reading of the inputs and availability of the UINT32 inputs for the master (in ns, only DC mode)
UINT32
1C33:08 1C33:09
1C33:0B
1C33:0C
1C33:0D 1C33:20
Command
as 0x1C32:08
UINT16
Maximum delay time Time between SYNC1 event and reading of the inputs (in UINT32 ns, only DC mode)
SM event missed counter
as 0x1C32:11
UINT16
Cycle exceeded counter
as 0x1C32:12
UINT16
Shift too short counter as 0x1C32:13
UINT16
Sync error
as 0x1C32:32
BOOLEAN
Flags RO RW
Default 0x20 (32dec) 0x0022 (34dec)
RW
0x000F4240
(1000000dec)
RO
0x00000000
(0dec)
RO
0xC007
(49159dec)
RO
0x00002710
(10000dec)
RO
0x00000000
(0dec)
RO
0x00000000
(0dec)
RW
0x0000 (0dec)
RO
0x00000000
(0dec)
RO
0x0000 (0dec)
RO
0x0000 (0dec)
RO
0x0000 (0dec)
RO
0x00 (0dec)
Index F000 Modular device profile
Index (hex) Name
Meaning
F000:0
Modular device profile General information for the modular device profile
F000:01
Module index distance
Index distance of the objects of the individual channels
F000:02
Maximum number of Number of channels modules
Data type UINT8 UINT16
UINT16
Flags RO RO
Default 0x02 (2dec) 0x0010 (16dec)
RO
0x0003 (3dec)
Index F008 Code word
Index (hex) Name
F008:0
Code word
Meaning reserved
Data type UINT32
Flags RW
Default
0x00000000 (0dec)
EL3632
Version: 2.9
163
Commissioning
Index F010 Module list
Index (hex) Name
F010:0
Module list
F010:01 SubIndex 001
F010:02 SubIndex 002
F010:03 SubIndex 003
Meaning Maximum subindex Profile AI
Profile AI
Profile AI
Data type UINT8 UINT32
UINT32
UINT32
Flags RW RW
RW
RW
Default
0x03 (3dec)
0x0000012C (300dec)
0x0000012C (300dec)
0x0000012C (300dec)
5.5.2 Update of the terminal
Information on updating the terminal description can be found in the chapter Firmware-Update [} 210].
164
Version: 2.9
EL3632
5.6
CoE object description
Commissioning
5.6.1 Profile-specific and parameterization objects
EtherCAT XML Device Description
The display matches that of the CoE objects from the EtherCAT XML Device Description. We recommend downloading the latest XML file from the download area of the Beckhoff website and installing it according to installation instructions.
Parameterization via the CoE list (CAN over EtherCAT)
The EtherCAT device is parameterized via the CoE-Online tab [} 102] (double-click on the respective object) or via the Process Data tab [} 99](allocation of PDOs). Please note the following general CoE notes [} 29] when using/manipulating the CoE parameters: · Keep a startup list if components have to be replaced · Differentiation between online/offline dictionary, existence of current XML description · use "CoE reload" for resetting changes
5.6.1.1 Restore object
Index 1011 Restore default parameters
Index (hex) 1011:0
1011:01
Name
Meaning
Data type
Restore default parame- Restore default parameters ters [} 222]
UINT8
SubIndex 001
If this object is set to "0x64616F6C" in the set value dia- UINT32 log, all backup objects are reset to their delivery state.
Flags Default RO 0x01 (1dec) RW 0x00000000 (0dec)
EL3632
Version: 2.9
165
Commissioning
5.6.1.2 Configuration data
Index 80n0 AI settings (for n = 0: channel 1; n = 1: channel 2)
Index (hex) Name
80n0:0
AI Settings
Meaning Maximum subindex
80n0:07 Enable limit
Activate limit evaluation (deviates from other EL terminals!)
80n0:0A 80n0:0B 80n0:13
Enable user calibration
Enable vendor calibration
Limit 1
Enabling of the user calibration Enabling of the vendor calibration Upper limit value
80n0:14 Limit 2
Lower limit value
80n0:15 Filter settings
Filter [} 141] settings
0: 10 Hz, Gain 20 1: 100 Hz 2: 500 Hz 3: 1000 Hz 4: 5000 Hz 5: 10000 Hz 6: 25000 Hz
7: 2000 Hz (from firmware [} 209] 11)
80n0:17 User calibration offset User calibration offset
80n0:18 User calibration gain User calibration gain factor
80n0:20 80n0:21
Supply current
Active offset adjustment
Sensor current setting 0: 2 mA 1: 4 mA 2: 8 mA
Automatic offset calculation [} 142] 0: Disabled 1: Level 1 2: Level 2 3: Level 3 4: Level 4 5: Level 5 6: Level 6 7: Level 7 8: Level 8
Data type UINT8 BOOLEAN BOOLEAN BOOLEAN INT16 INT16 ENUM
INT16 INT16 ENUM
ENUM
Flags RO RW
Default 0x20 (32dec) 0x0 (FALSE)
RW
0x0 (FALSE
RW
0x1 (TRUE)
RW
0x0000 (0dec)
RW
0x0000 (0dec)
RW
10000 Hz (5)
RW
0
RW
16384
RW
2 mA (0)
RW
Disabled (0)
Index 80n8 AI advanced settings (for n = 0: channel 1; n = 1: channel 2)
Index (hex) Name
Meaning
Data type
80n8:0
AI Advanced Settings Maximum subindex
UINT8
80n8:06 Input Amplifier
permitted values:
BIT2
0: Preset (setting via object 0x80n0:15 [} 166])
1: ON (switch-on of the analog amplifier x20 irrespective of filter settings; gain factor of 20 is not changeable)
2: OFF (switch-off of the analog amplifier irrespective of the filter settings)
Flags RO RW
Default 0x06 (6dec) 0x00 (0dec)
Index 80nF AI Vendor data (for n = 0: channel 1; n = 1: channel 2)
Index (hex) Name
Meaning
80nF:0
AI vendor data
Maximum subindex
80nF:01
Calibration offset (gain 1)
Offset (vendor calibration), gain 1
80nF:02
Calibration gain (gain Gain (vendor calibration), gain 1 1)
80nF:03
Calibration offset (gain 20)
Offset (vendor calibration), gain 20
80nF:04
Calibration gain (gain Gain (vendor calibration), gain 20 20)
Data type UINT8 INT16
INT16
INT16
INT16
Flags RO RW
Default 0x04 (4dec) 0x0000 (0dec)
RW
0x0000 (0dec)
RW
0x0000 (0dec)
RW
0x0000 (0dec)
166
Version: 2.9
EL3632
Commissioning
5.6.1.3 Command object
Index FB00 command
Index (hex) Name
FB00:0
DCM Command
FB00:01 Request
FB00:02 FB00:03
Status Response
Meaning
Data type
Command interface
UINT8
0x8000: Software reset, hardware is re-initialized with the OCTETcurrent CoE configuration (this otherwise happens only STRING[2] during the transition to INIT)
0x8000: 0x01 if a reset has taken place
UINT8
0x8000: not used
OCTETSTRING[4]
Flags RO RW
Default 0x03 (3dec) {0}
RO
0x00 (0dec)
RO
{0}
5.6.1.4 Input data
Index 60n0 Status (for n = 0: channel 1; n = 1: channel 2)
Index (hex) Name
60n0:0
SAI Inputs
60n0:01 Underrange
60n0:02 Overrange
60n0:03 Limit 1
60n0:07 60n0:0E 60n0:0F
60n0:10
Error Sync error TxPDO State
TxPDO Toggle
Meaning
Data type
Maximum subindex
UINT8
Indicates that the electrical measuring range is undershot BOOLEAN
Indicates that the electrical measuring range is exceeded BOOLEAN
1: one or more values smaller than or equal to Limit 2 2: one or more values greater than or equal to Limit 1 3: 1 and 2 both true
BIT2
Measuring error
BOOLEAN
Synchronization error
BOOLEAN
Validity of the data of the associated TxPDO (0 = valid, 1 BOOLEAN = invalid).
A new measured value is available (if the toggle bit was BOOLEAN changed). Status bits may be changed independent from the toggle bit.
Flags RO RO RO RO
Default 0x10 (16dec) 0x00 (0dec) 0x00 (0dec) 0x00 (0dec)
RO
0x00 (0dec)
RO
0x00 (0dec)
RO
0x00 (0dec)
RO
0x00 (0dec)
Index 60n1 Samples (for n = 0: channel 1; n = 1: channel 2)
Index (hex) Name
60n1:0
Samples
60n1:01 Subindex 001
...
...
60n1:32 Subindex 050
Meaning Maximum subindex 1. Sample ... 50. Sample
Index 6020 Next Sync 1 Time
Index (hex) Name
6020:0
Next Sync 1 Time
6020:01 Start time next latch
Meaning Maximum subindex DC timestamp of the next data set
Index 6021 Sample Count
Index (hex) Name
6021:0
Sample Count
6021:01 Sample Count
Meaning Maximum subindex Sample counter (incremented with each ADC value)
Data type UINT8 UINT16 ... UINT16
Flags RO RO P ... RO P
Default 0x32 (50dec) 0x0000 (0dec) ... 0x0000 (0dec)
Data type UINT8 UINT64
Flags RO RO P
Default
0x01 (1dec)
0x00 00 00 00 00 00 00 00 (0dec)
Data type UINT8 UINT16
Flags RO RO P
Default 0x01 (1dec) 0x0000 (0dec)
EL3632
Version: 2.9
167
Commissioning
5.6.1.5 Information / diagnosis data (device-specific)
Index 10F3 Diagnosis History
Index (hex) Name
Meaning
10F3:0
Diagnosis History Maximum subindex
10F3:01
Maximum Messages Maximum number of stored messages A maximum of 16 messages can be stored
10F3:02 Newest Message
Subindex of the latest message
10F3:03
Newest Acknowledged Message
Subindex of the last confirmed message
10F3:04
New Messages Avail- Indicates that a new message is available able
10F3:05 Flags
not used
10F3:06
Diagnosis Message Message 1 001
...
...
..
10F3:15
Diagnosis Message Message 16 016
Data type UINT8 UINT8
Flags RO RO
Default 0x15 (21dec) 0x00 (0dec)
UINT8 UINT8
RO
0x00 (0dec)
RW
0x00 (0dec)
BOOLEAN RO
0x00 (0dec)
UINT16
RW
OCTET-
RO
STRING[20]
...
...
OCTET-
RO
STRING[20]
0x0000 (0dec) {0}
... {0}
Index 10F8 Actual Time Stamp
Index (hex) Name
10F8:0
Actual Time Stamp
Meaning Time stamp
Data type UINT64
Flags Default RO
5.6.2 Standard objects and PDO mapping
EtherCAT XML Device Description
The display matches that of the CoE objects from the EtherCAT XML Device Description. We recommend downloading the latest XML file from the download area of the Beckhoff website and installing it according to installation instructions.
Parameterization via the CoE list (CAN over EtherCAT)
The EtherCAT device is parameterized via the CoE-Online tab [} 102] (double-click on the respective object) or via the Process Data tab [} 99](allocation of PDOs). Please note the following general CoE notes [} 29] when using/manipulating the CoE parameters: · Keep a startup list if components have to be replaced · Differentiation between online/offline dictionary, existence of current XML description · use "CoE reload" for resetting changes
Index 1000 Device type
Index (hex) Name
1000:0
Device type
Meaning
Device type of the EtherCAT slave: The Lo-Word contains the CoE profile used (5001). The Hi-Word contains the module profile according to the modular device profile.
Data type UINT32
Flags RO
Default
0x012C1389 (19665801dec)
Index 1008 Device name
Index (hex) Name
1008:0
Device name
Meaning Device name of the EtherCAT slave
Data type STRING
Flags Default
RO
EL3632
Index 1009 Hardware version
Index (hex) Name
1009:0
Hardware version
Meaning Hardware version of the EtherCAT slave
Data type STRING
Flags Default RO
168
Version: 2.9
EL3632
Commissioning
Index 100A Software version
Index (hex) Name
100A:0
Software version
Meaning Firmware version of the EtherCAT slave
Data type STRING
Flags Default
RO
05
Index 1018 Identity
Index (hex) Name
1018:0
Identity
1018:01 Vendor ID
1018:02 Product code
1018:03 Revision
1018:04 Serial number
Meaning Information for identifying the slave Vendor ID of the EtherCAT slave
Product code of the EtherCAT slave
Data type UINT8 UINT32
UINT32
Revision number of the EtherCAT slave; the low word (bit UINT32 0-15) indicates the special terminal number, the high word (bit 16-31) refers to the device description
Serial number of the EtherCAT slave; the low byte (bit 0-7) of the low word contains the year of production, the high byte (bit 8-15) of the low word contains the week of production, the high word (bit 16-31) is 0
UINT32
Flags RO RO RO
RO
Default
0x04 (4dec)
0x00000002 (2dec)
0x0E303052 (238039122dec )
0x00110000 (1114112dec)
RO
0x00000000
(0dec)
Index 10F0 Backup parameter handling
Index (hex) Name
10F0:0
Backup parameter handling
10F0:01 Checksum
Meaning
Information for standardized loading and saving of backup entries
Checksum across all backup entries of the EtherCAT slave
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x00000000
(0dec)
Index 1A00 Analog Input TxPDO-MapStatus Ch.1
Index (hex) Name
Meaning
1A00:0
Analog Input TxPDO- PDO Mapping TxPDO 1 MapStatus Ch.1
1A00:01 SubIndex 001
1. PDO Mapping entry (object 0x6000 (AI Inputs), entry 0x01 (Underrange))
1A00:02 SubIndex 002
2. PDO Mapping entry (object 0x6000 (AI Inputs), entry 0x02 (Overrange))
1A00:03 SubIndex 003
3. PDO Mapping entry (object 0x6000 (AI Inputs), entry 0x03 (Limit 1))
1A00:04 SubIndex 004
4. PDO Mapping entry (object 0x6000 (AI Inputs), entry 0x05 (Limit 2))
1A00:05 SubIndex 005
5. PDO Mapping entry (2 bits align)
1A00:06 SubIndex 006
6. PDO Mapping entry (6 bits align)
1A00:07 SubIndex 007
7. PDO Mapping entry (object 0x1800 (AI TxPDO-Par Standard Ch.1), entry 0x07 (TxPDO State))
1A00:08 SubIndex 008
8. PDO Mapping entry (object 0x1800, entry 0x09)
1A00:09 SubIndex 009
9. PDO Mapping entry (object 0x6000 (AI Inputs), entry 0x11 (Value))
Data type UINT8
UINT32
UINT32
UINT32
UINT32
UINT32 UINT32 UINT32
UINT32 UINT32
Flags RO
Default 0x09 (9dec)
RO
0x6000:01, 1
RO
0x6000:02, 1
RO
0x6000:03, 2
RO
0x0000:00, 2
RO
0x6000:07, 1
RO
0x0000:00, 6
RO
0x1C33:20, 1
RO
0x1800:07, 1
RO
0x1800:09, 1
Index 1A01 Analog Input TxPDO-MapSamples 1 Ch.1
Index (hex) Name
Meaning
1A01:0
Analog Input TxPDO- PDO Mapping TxPDO 2 MapSamples 1 Ch.1
1A01:01 SubIndex 001
1. PDO Mapping entry (object 0x6000 (AI Inputs), entry 0x11 (Value))
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6001:01, 16
Index 1A02 Analog Input TxPDO-MapSamples 2 Ch.1
Index (hex) Name
Meaning
1A02:0
Analog Input TxPDO- PDO Mapping TxPDO 3 MapSamples 2 Ch.1
1A02:01 SubIndex 001
1. PDO Mapping entry (object 0x6002 (Sample 2), entry 0x01 (Value))
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6001:02, 16
EL3632
Version: 2.9
169
Commissioning
Index 1A03 Analog Input TxPDO-MapSamples 3 Ch.1
Index (hex) Name
Meaning
1A03:0
Analog Input TxPDO- PDO Mapping TxPDO 4 MapSamples 3 Ch.1
1A03:01 SubIndex 001
1. PDO Mapping entry (object 0x6003 (Sample 3), entry 0x01 (Value))
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6001:03, 16
Index 1A04 Analog Input TxPDO-MapSamples 4 Ch.1
Index (hex) Name
Meaning
1A04:0
Analog Input TxPDO- PDO Mapping TxPDO 5 MapSamples 4 Ch.1
1A04:01 SubIndex 001
1. PDO Mapping entry (object 0x6004 (Sample 4), entry 0x01 (Value))
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6001:04, 16
Index 1A05 Analog Input TxPDO-MapSamples 5 Ch.1
Index (hex) Name
Meaning
1A05:0
Analog Input TxPDO- PDO Mapping TxPDO 6 MapSamples 5 Ch.1
1A05:01 SubIndex 001
1. PDO Mapping entry (object 0x6005 (Sample 5), entry 0x01 (Value))
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6001:05, 16
Index 1A06 Analog Input TxPDO-MapSamples 6 Ch.1
Index (hex) Name
Meaning
1A06:0
Analog Input TxPDO- PDO Mapping TxPDO 7 MapSamples 6 Ch.1
1A06:01 SubIndex 001
1. PDO Mapping entry (object 0x6006 (Sample 6), entry 0x01 (Value))
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6001:06, 16
Index 1A07 Analog Input TxPDO-MapSamples 7 Ch.1
Index (hex) Name
Meaning
1A07:0
Analog Input TxPDO- PDO Mapping TxPDO 8 MapSamples 7 Ch.1
1A07:01 SubIndex 001
1. PDO Mapping entry (object 0x6007 (Sample 7), entry 0x01 (Value))
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6001:07, 16
Index 1A08 Analog Input TxPDO-MapSamples 8 Ch.1
Index (hex) Name
Meaning
1A08:0
Analog Input TxPDO- PDO Mapping TxPDO 9 MapSamples 8 Ch.1
1A08:01 SubIndex 001
1. PDO Mapping entry (object 0x6008 (Sample 8), entry 0x01 (Value))
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6001:08, 16
Index 1A09 Analog Input TxPDO-MapSamples 9 Ch.1
Index (hex) Name
Meaning
1A09:0
Analog Input TxPDO- PDO Mapping TxPDO 10 MapSamples 9 Ch.1
1A09:01 SubIndex 001
1. PDO Mapping entry (object 0x6009 (Sample 9), entry 0x01 (Value))
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6001:09, 16
Index 1A0A Analog Input TxPDO-MapSamples 10 Ch.1
Index (hex) Name
Meaning
Data type
1A0A:0
Analog Input TxPDO- PDO Mapping TxPDO 11 MapSamples 10 Ch.1
UINT8
1A0A:01 SubIndex 001
1. PDO Mapping entry (object 0x600A (Sample 10), entry UINT32 0x01 (Value))
Flags RO
Default 0x01 (1dec)
RO
0x6001:0A, 16
170
Version: 2.9
EL3632
Commissioning
Index 1A0B Analog Input TxPDO-MapSamples 11 Ch.1
Index (hex) Name
Meaning
Data type
1A0B:0
Analog Input TxPDO- PDO Mapping TxPDO 12 MapSamples 11 Ch.1
UINT8
1A0B:01 SubIndex 001
1. PDO Mapping entry (object 0x600B (Sample 11), entry UINT32 0x01 (Value))
Flags RO
Default 0x01 (1dec)
RO
0x6001:0B, 16
Index 1A0C Analog Input TxPDO-MapSamples 12 Ch.1
Index (hex) Name
Meaning
Data type
1A0C:0
Analog Input TxPDO- PDO Mapping TxPDO 13 MapSamples 12 Ch.1
UINT8
1A0C:01 SubIndex 001
1. PDO Mapping entry (object 0x600C (Sample 12), entry UINT32 0x01 (Value))
Flags RO
Default 0x01 (1dec)
RO
0x6001:0C,
16
Index 1A0D Analog Input TxPDO-MapSamples 13 Ch.1
Index (hex) Name
Meaning
Data type
1A0D:0
Analog Input TxPDO- PDO Mapping TxPDO 14 MapSamples 13 Ch.1
UINT8
1A0D:01 SubIndex 001
1. PDO Mapping entry (object 0x600D (Sample 13), entry UINT32 0x01 (Value))
Flags RO
Default 0x01 (1dec)
RO
0x6001:0D,
16
Index 1A0E Analog Input TxPDO-MapSamples 14 Ch.1
Index (hex) Name
Meaning
Data type
1A0E:0
Analog Input TxPDO- PDO Mapping TxPDO 15 MapSamples 14 Ch.1
UINT8
1A0E:01 SubIndex 001
1. PDO Mapping entry (object 0x600E (Sample 14), entry UINT32 0x01 (Value))
Flags RO
Default 0x01 (1dec)
RO
0x6001:0E, 16
Index 1A0F Analog Input TxPDO-MapSamples 15 Ch.1
Index (hex) Name
Meaning
Data type
1A0F:0
Analog Input TxPDO- PDO Mapping TxPDO 16 MapSamples 15 Ch.1
UINT8
1A0F:01 SubIndex 001
1. PDO Mapping entry (object 0x600F (Sample 15), entry UINT32 0x01 (Value))
Flags RO
Default 0x01 (1dec)
RO
0x6001:0F, 16
Index 1A10 Analog Input TxPDO-MapSamples 16 Ch.1
Index (hex) Name
Meaning
1A10:0
Analog Input TxPDO- PDO Mapping TxPDO 17 MapSamples 16 Ch.1
1A10:01 SubIndex 001
1. PDO Mapping entry (object 0x6000 (Sample 0), entry 0x01 (Underrange))
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6001:10, 16
Index 1A11 Analog Input TxPDO-MapSamples 17 Ch.1
Index (hex) Name
Meaning
1A11:0
Analog Input TxPDO- PDO Mapping TxPDO 18 MapSamples 17 Ch.1
1A11:01 SubIndex 001
1. PDO Mapping entry (object 0x6001 (Sample 1), entry 0x01 (Value))
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6001:11, 16
Index 1A12 Analog Input TxPDO-MapSamples 18 Ch.1
Index (hex) Name
Meaning
1A12:0
Analog Input TxPDO- PDO Mapping TxPDO 19 MapSamples 18 Ch.1
1A12:01 SubIndex 001
1. PDO Mapping entry (object 0x6002 (Sample 2), entry 0x01 (Value))
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6001:12, 16
EL3632
Version: 2.9
171
Commissioning
Index 1A13 Analog Input TxPDO-MapSamples 19 Ch.1
Index (hex) Name
Meaning
1A13:0
Analog Input TxPDO- PDO Mapping TxPDO 20 MapSamples 19 Ch.1
1A13:01 SubIndex 001
1. PDO Mapping entry (object 0x6003 (Sample 3), entry 0x01 (Value))
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6001:13, 16
Index 1A14 Analog Input TxPDO-MapSamples 20 Ch.1
Index (hex) Name
Meaning
Data type
1A14:0
Analog Input TxPDO- PDO Mapping TxPDO 21 MapSamples 20 Ch.1
UINT8
1A14:01 SubIndex 001
1. PDO Mapping entry (object 0x6010 (Sample 16), entry UINT32 0x01 (Value))
Flags RO
Default 0x01 (1dec)
RO
0x6001:14, 16
Index 1A15 Analog Input TxPDO-MapSamples 21 Ch.1
Index (hex) Name
Meaning
Data type
1A15:0
Analog Input TxPDO- PDO Mapping TxPDO 22 MapSamples 21 Ch.1
UINT8
1A15:01 SubIndex 001
1. PDO Mapping entry (object 0x6011 (Sample 17), entry UINT32 0x01 (Value))
Flags RO
Default 0x01 (1dec)
RO
0x6001:15, 16
Index 1A16 Analog Input TxPDO-MapSamples 22 Ch.1
Index (hex) Name
Meaning
1A16:0
Analog Input TxPDO- PDO Mapping TxPDO 23 MapSamples 22 Ch.1
1A16:01 SubIndex 001
1. PDO Mapping entry (object 0x6002 (Samples), entry 0x15 ())
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6001:16, 16
Index 1A17 Analog Input TxPDO-MapSamples 23 Ch.1
Index (hex) Name
Meaning
1A17:0
Analog Input TxPDO- PDO Mapping TxPDO 24 MapSamples 23 Ch.1
1A17:01 SubIndex 001
1. PDO Mapping entry (object 0x6002 (Samples), entry 0x16 ())
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6001:17, 16
Index 1A18 Analog Input TxPDO-MapSamples 24 Ch.1
Index (hex) Name
Meaning
1A18:0
Analog Input TxPDO- PDO Mapping TxPDO 25 MapSamples 24 Ch.1
1A18:01 SubIndex 001
1. PDO Mapping entry (object 0x6002 (Samples), entry 0x17 ())
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6001:18, 16
Index 1A19 Analog Input TxPDO-MapSamples 25 Ch.1
Index (hex) Name
Meaning
1A19:0
Analog Input TxPDO- PDO Mapping TxPDO 26 MapSamples 25 Ch.1
1A19:01 SubIndex 001
1. PDO Mapping entry (object 0x6002 (Samples), entry 0x18 ())
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6001:19, 16
Index 1A1A Analog Input TxPDO-MapSamples 26 Ch.1
Index (hex) Name
Meaning
1A1A:0
Analog Input TxPDO- PDO Mapping TxPDO 27 MapSamples 26 Ch.1
1A1A:01 SubIndex 001
1. PDO Mapping entry (object 0x6002 (Samples), entry 0x19 ())
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6001:1A, 16
172
Version: 2.9
EL3632
Commissioning
Index 1A1B Analog Input TxPDO-MapSamples 27 Ch.1
Index (hex) Name
Meaning
1A1B:0
Analog Input TxPDO- PDO Mapping TxPDO 28 MapSamples 27 Ch.1
1A1B:01 SubIndex 001
1. PDO Mapping entry (object 0x6002 (Samples), entry 0x1A ())
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6001:1B, 16
Index 1A1C Analog Input TxPDO-MapSamples 28 Ch.1
Index (hex) Name
Meaning
1A1C:0
Analog Input TxPDO- PDO Mapping TxPDO 29 MapSamples 28 Ch.1
1A1C:01 SubIndex 001
1. PDO Mapping entry (object 0x6002 (Samples), entry 0x1B ())
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6001:1C,
16
Index 1A1D Analog Input TxPDO-MapSamples 29 Ch.1
Index (hex) Name
Meaning
1A1D:0
Analog Input TxPDO- PDO Mapping TxPDO 30 MapSamples 29 Ch.1
1A1D:01 SubIndex 001
1. PDO Mapping entry (object 0x6002 (Samples), entry 0x1C ())
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6001:1D,
16
Index 1A1E Analog Input TxPDO-MapSamples 30 Ch.1
Index (hex) Name
Meaning
1A1E:0
Analog Input TxPDO- PDO Mapping TxPDO 31 MapSamples 30 Ch.1
1A1E:01 SubIndex 001
1. PDO Mapping entry (object 0x6002 (Samples), entry 0x1D ())
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6001:1E, 16
Index 1A1F Analog Input TxPDO-MapSamples 31 Ch.1
Index (hex) Name
Meaning
1A1F:0
Analog Input TxPDO- PDO Mapping TxPDO 32 MapSamples 31 Ch.1
1A1F:01 SubIndex 001
1. PDO Mapping entry (object 0x6002 (Samples), entry 0x1E ())
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6001:1F, 16
Index 1A20 Analog Input TxPDO-MapSamples 32 Ch.1
Index (hex) Name
Meaning
1A20:0
Analog Input TxPDO- PDO Mapping TxPDO 33 MapSamples 32 Ch.1
1A20:01 SubIndex 001
1. PDO Mapping entry (object 0x6002 (Samples), entry 0x1F ())
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6001:20, 16
Index 1A21 Analog Input TxPDO-MapSamples 33 Ch.1
Index (hex) Name
Meaning
1A21:0
Analog Input TxPDO- PDO Mapping TxPDO 34 MapSamples 33 Ch.1
1A21:01 SubIndex 001
1. PDO Mapping entry (object 0x6002 (Samples), entry 0x20 ())
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6001:21, 16
Index 1A22 Analog Input TxPDO-MapSamples 34 Ch.1
Index (hex) Name
Meaning
1A22:0
Analog Input TxPDO- PDO Mapping TxPDO 35 MapSamples 34 Ch.1
1A22:01 SubIndex 001
1. PDO Mapping entry (object 0x6002 (Samples), entry 0x21 ())
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6001:22, 16
EL3632
Version: 2.9
173
Commissioning
Index 1A23 Analog Input TxPDO-MapSamples 35 Ch.1
Index (hex) Name
Meaning
1A23:0
Analog Input TxPDO- PDO Mapping TxPDO 36 MapSamples 35 Ch.1
1A23:01 SubIndex 001
1. PDO Mapping entry (object 0x6002 (Samples), entry 0x22 ())
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6001:23, 16
Index 1A24 Analog Input TxPDO-MapSamples 36 Ch.1
Index (hex) Name
Meaning
1A24:0
Analog Input TxPDO- PDO Mapping TxPDO 37 MapSamples 36 Ch.1
1A24:01 SubIndex 001
1. PDO Mapping entry (object 0x6002 (Samples), entry 0x23 ())
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6001:24, 16
Index 1A25 Analog Input TxPDO-MapSamples 37 Ch.1
Index (hex) Name
Meaning
1A25:0
Analog Input TxPDO- PDO Mapping TxPDO 38 MapSamples 37 Ch.1
1A25:01 SubIndex 001
1. PDO Mapping entry (object 0x6002 (Samples), entry 0x24 ())
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6001:25, 16
Index 1A26 Analog Input TxPDO-MapSamples 38 Ch.1
Index (hex) Name
Meaning
1A26:0
Analog Input TxPDO- PDO Mapping TxPDO 39 MapSamples 38 Ch.1
1A26:01 SubIndex 001
1. PDO Mapping entry (object 0x6002 (Samples), entry 0x25 ())
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6001:26, 16
Index 1A27 Analog Input TxPDO-MapSamples 39 Ch.1
Index (hex) Name
Meaning
1A27:0
Analog Input TxPDO- PDO Mapping TxPDO 40 MapSamples 39 Ch.1
1A27:01 SubIndex 001
1. PDO Mapping entry (object 0x6002 (Samples), entry 0x26 ())
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6001:27, 16
Index 1A28 Analog Input TxPDO-MapSamples 40 Ch.1
Index (hex) Name
Meaning
1A28:0
Analog Input TxPDO- PDO Mapping TxPDO 41 MapSamples 40 Ch.1
1A28:01 SubIndex 001
1. PDO Mapping entry (object 0x6002 (Samples), entry 0x27 ())
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6001:28, 16
Index 1A29 Analog Input TxPDO-MapSamples 41 Ch.1
Index (hex) Name
Meaning
1A29:0
Analog Input TxPDO- PDO Mapping TxPDO 42 MapSamples 41 Ch.1
1A29:01 SubIndex 001
1. PDO Mapping entry (object 0x6002 (Samples), entry 0x28 ())
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6001:29, 16
Index 1A2A Analog Input TxPDO-MapSamples 42 Ch.1
Index (hex) Name
Meaning
1A2A:0
Analog Input TxPDO- PDO Mapping TxPDO 43 MapSamples 42 Ch.1
1A2A:01 SubIndex 001
1. PDO Mapping entry (object 0x6002 (Samples), entry 0x29 ())
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6001:2A, 16
174
Version: 2.9
EL3632
Commissioning
Index 1A2B Analog Input TxPDO-MapSamples 43 Ch.1
Index (hex) Name
Meaning
1A2B:0
Analog Input TxPDO- PDO Mapping TxPDO 44 MapSamples 43 Ch.1
1A2B:01 SubIndex 001
1. PDO Mapping entry (object 0x6002 (Samples), entry 0x2A ())
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6001:2B, 16
Index 1A2C Analog Input TxPDO-MapSamples 44 Ch.1
Index (hex) Name
Meaning
1A2C:0
Analog Input TxPDO- PDO Mapping TxPDO 45 MapSamples 44 Ch.1
1A2C:01 SubIndex 001
1. PDO Mapping entry (object 0x6002 (Samples), entry 0x2B ())
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6001:2C,
16
Index 1A2D Analog Input TxPDO-MapSamples 45 Ch.1
Index (hex) Name
Meaning
1A2D:0
Analog Input TxPDO- PDO Mapping TxPDO 46 MapSamples 45 Ch.1
1A2D:01 SubIndex 001
1. PDO Mapping entry (object 0x6002 (Samples), entry 0x2C ())
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6001:2D,
16
Index 1A2E Analog Input TxPDO-MapSamples 46 Ch.1
Index (hex) Name
Meaning
1A2E:0
Analog Input TxPDO- PDO Mapping TxPDO 47 MapSamples 46 Ch.1
1A2E:01 SubIndex 001
1. PDO Mapping entry (object 0x6002 (Samples), entry 0x2D ())
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6001:2E, 16
Index 1A2F Analog Input TxPDO-MapSamples 47 Ch.1
Index (hex) Name
Meaning
1A2F:0
Analog Input TxPDO- PDO Mapping TxPDO 48 MapSamples 47 Ch.1
1A2F:01 SubIndex 001
1. PDO Mapping entry (object 0x6002 (Samples), entry 0x2E ())
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6001:2F, 16
Index 1A30 Analog Input TxPDO-MapSamples 48 Ch.1
Index (hex) Name
Meaning
1A30:0
Analog Input TxPDO- PDO Mapping TxPDO 49 MapSamples 48 Ch.1
1A30:01 SubIndex 001
1. PDO Mapping entry (object 0x6002 (Samples), entry 0x2F ())
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6001:30, 16
Index 1A31 Analog Input TxPDO-MapSamples 49 Ch.1
Index (hex) Name
Meaning
1A31:0
Analog Input TxPDO- PDO Mapping TxPDO 50 MapSamples 49 Ch.1
1A31:01 SubIndex 001
1. PDO Mapping entry (object 0x6002 (Samples), entry 0x30 ())
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6001:31, 16
Index 1A32 Analog Input TxPDO-MapSamples 50 Ch.1
Index (hex) Name
Meaning
1A32:0
Analog Input TxPDO- PDO Mapping TxPDO 51 MapSamples 50 Ch.1
1A32:01 SubIndex 001
1. PDO Mapping entry (object 0x6002 (Samples), entry 0x31 ())
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6001:32, 16
EL3632
Version: 2.9
175
Commissioning
Index 1A40 Analog Input TxPDO-MapStatus Ch.2
Index (hex) Name
Meaning
Data type
1A40:0
Analog Input TxPDO- PDO Mapping TxPDO 65 MapStatus Ch.2
UINT8
1A40:01 SubIndex 001
1. PDO Mapping entry (object 0x6012 (Samples), entry UINT32 0x0B ())
1A40:02 SubIndex 002
2. PDO Mapping entry (object 0x6010 (Status), entry 0x02 (Overrange))
UINT32
1A40:03 SubIndex 003
3. PDO Mapping entry (object 0x6010 (Status), entry 0x03 (Limit 1))
UINT32
1A40:04 SubIndex 004
4. PDO Mapping entry (object 0x6010 (Status), entry 0x05 (Limit 2))
UINT32
1A40:05 SubIndex 005
5. PDO Mapping entry (object 0x6010 (Status), entry 0x07 (Error))
UINT32
1A40:06 SubIndex 006
6. PDO Mapping entry (6 bits align)
UINT32
1A40:07 SubIndex 007
7. PDO Mapping entry (object 0x1C33 (SM input param- UINT32 eter), entry 0x20 (Sync error))
1A40:08 SubIndex 008
8. PDO Mapping entry (object 0x1840, entry 0x07)
UINT32
1A40:09 SubIndex 009
9. PDO Mapping entry (object 0x1840, entry 0x09)
UINT32
Flags RO
Default 0x09 (9dec)
RO
0x6010:01, 1
RO
0x6010:02, 1
RO
0x6010:03, 2
RO
0x0000:00, 2
RO
0x6010:07, 1
RO
0x0000:00, 6
RO
0x1C33:20, 1
RO
0x1840:07, 1
RO
0x1840:09, 1
Index 1A41 Analog Input TxPDO-MapSamples 1 Ch.2
Index (hex) Name
Meaning
1A41:0
Analog Input TxPDO- PDO Mapping TxPDO 66 MapSamples 1 Ch.2
1A41:01 SubIndex 001
1. PDO Mapping entry (object 0x6002 (Samples), entry 0x40 ())
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6011:01, 16
Index 1A42 Analog Input TxPDO-MapSamples 2 Ch.2
Index (hex) Name
Meaning
1A42:0
Analog Input TxPDO- PDO Mapping TxPDO 67 MapSamples 2 Ch.2
1A42:01 SubIndex 001
1. PDO Mapping entry (object 0x6012 (Samples), entry 0x02 ())
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6011:02, 16
Index 1A43 Analog Input TxPDO-MapSamples 3 Ch.2
Index (hex) Name
Meaning
1A43:0
Analog Input TxPDO- PDO Mapping TxPDO 68 MapSamples 3 Ch.2
1A43:01 SubIndex 001
1. PDO Mapping entry (object 0x6012 (Samples), entry 0x03 ())
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6011:03, 16
Index 1A44 Analog Input TxPDO-MapSamples 4 Ch.2
Index (hex) Name
Meaning
1A44:0
Analog Input TxPDO- PDO Mapping TxPDO 69 MapSamples 4 Ch.2
1A44:01 SubIndex 001
1. PDO Mapping entry (object 0x6012 (Samples), entry 0x04 ())
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6011:04, 16
Index 1A45 Analog Input TxPDO-MapSamples 5 Ch.2
Index (hex) Name
Meaning
1A45:0
Analog Input TxPDO- PDO Mapping TxPDO 70 MapSamples 5 Ch.2
1A45:01 SubIndex 001
1. PDO Mapping entry (object 0x6012 (Samples), entry 0x05 ())
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6011:05, 16
176
Version: 2.9
EL3632
Commissioning
Index 1A46 Analog Input TxPDO-MapSamples 6 Ch.2
Index (hex) Name
Meaning
1A46:0
Analog Input TxPDO- PDO Mapping TxPDO 71 MapSamples 6 Ch.2
1A46:01 SubIndex 001
1. PDO Mapping entry (object 0x6012 (Samples), entry 0x06 ())
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6011:06, 16
Index 1A47 Analog Input TxPDO-MapSamples 7 Ch.2
Index (hex) Name
Meaning
1A47:0
Analog Input TxPDO- PDO Mapping TxPDO 72 MapSamples 7 Ch.2
1A47:01 SubIndex 001
1. PDO Mapping entry (object 0x6012 (Samples), entry 0x07 ())
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6011:07, 16
Index 1A48 Analog Input TxPDO-MapSamples 8 Ch.2
Index (hex) Name
Meaning
1A48:0
Analog Input TxPDO- PDO Mapping TxPDO 73 MapSamples 8 Ch.2
1A48:01 SubIndex 001
1. PDO Mapping entry (object 0x6012 (Samples), entry 0x08 ())
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6011:08, 16
Index 1A49 Analog Input TxPDO-MapSamples 9 Ch.2
Index (hex) Name
Meaning
1A49:0
Analog Input TxPDO- PDO Mapping TxPDO 74 MapSamples 9 Ch.2
1A49:01 SubIndex 001
1. PDO Mapping entry (object 0x6012 (Samples), entry 0x09 ())
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6011:09, 16
Index 1A4A Analog Input TxPDO-MapSamples 10 Ch.2
Index (hex) Name
Meaning
1A4A:0
Analog Input TxPDO- PDO Mapping TxPDO 75 MapSamples 10 Ch.2
1A4A:01 SubIndex 001
1. PDO Mapping entry (object 0x6012 (Samples), entry 0x0A ())
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6011:0A, 16
Index 1A4B Analog Input TxPDO-MapSamples 11 Ch.2
Index (hex) Name
Meaning
1A4B:0
Analog Input TxPDO- PDO Mapping TxPDO 76 MapSamples 11 Ch.2
1A4B:01 SubIndex 001
1. PDO Mapping entry (object 0x6012 (Samples), entry 0x0B ())
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6011:0B, 16
Index 1A4C Analog Input TxPDO-MapSamples 12 Ch.2
Index (hex) Name
Meaning
1A4C:0
Analog Input TxPDO- PDO Mapping TxPDO 77 MapSamples 12 Ch.2
1A4C:01 SubIndex 001
1. PDO Mapping entry (object 0x6012 (Samples), entry 0x0C ())
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6011:0C,
16
Index 1A4D Analog Input TxPDO-MapSamples 13 Ch.2
Index (hex) Name
Meaning
1A4D:0
Analog Input TxPDO- PDO Mapping TxPDO 78 MapSamples 13 Ch.2
1A4D:01 SubIndex 001
1. PDO Mapping entry (object 0x6012 (Samples), entry 0x0D ())
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6011:0D,
16
EL3632
Version: 2.9
177
Commissioning
Index 1A4E Analog Input TxPDO-MapSamples 14 Ch.2
Index (hex) Name
Meaning
1A4E:0
Analog Input TxPDO- PDO Mapping TxPDO 79 MapSamples 14 Ch.2
1A4E:01 SubIndex 001
1. PDO Mapping entry (object 0x6012 (Samples), entry 0x0E ())
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6011:0E, 16
Index 1A4F Analog Input TxPDO-MapSamples 15 Ch.2
Index (hex) Name
Meaning
1A4F:0
Analog Input TxPDO- PDO Mapping TxPDO 80 MapSamples 15 Ch.2
1A4F:01 SubIndex 001
1. PDO Mapping entry (object 0x6012 (Samples), entry 0x0F ())
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6011:0F, 16
Index 1A50 Analog Input TxPDO-MapSamples 16 Ch.2
Index (hex) Name
Meaning
1A50:0
Analog Input TxPDO- PDO Mapping TxPDO 81 MapSamples 16 Ch.2
1A50:01 SubIndex 001
1. PDO Mapping entry (object 0x6012 (Samples), entry 0x0F ())
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6011:10, 16
Index 1A51 Analog Input TxPDO-MapSamples 17 Ch.2
Index (hex) Name
Meaning
1A51:0
Analog Input TxPDO- PDO Mapping TxPDO 82 MapSamples 17 Ch.2
1A51:01 SubIndex 001
1. PDO Mapping entry (object 0x6012 (Samples), entry 0x10 ())
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6011:11, 16
Index 1A52 Analog Input TxPDO-MapSamples 18 Ch.2
Index (hex) Name
Meaning
1A52:0
Analog Input TxPDO- PDO Mapping TxPDO 83 MapSamples 18 Ch.2
1A52:01 SubIndex 001
1. PDO Mapping entry (object 0x6012 (Samples), entry 0x11 ())
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6011:12, 16
Index 1A53 Analog Input TxPDO-MapSamples 19 Ch.2
Index (hex) Name
Meaning
1A53:0
Analog Input TxPDO- PDO Mapping TxPDO 84 MapSamples 19 Ch.2
1A53:01 SubIndex 001
1. PDO Mapping entry (object 0x6012 (Samples), entry 0x12 ())
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6011:13, 16
Index 1A54 Analog Input TxPDO-MapSamples 20 Ch.2
Index (hex) Name
Meaning
1A54:0
Analog Input TxPDO- PDO Mapping TxPDO 85 MapSamples 20 Ch.2
1A54:01 SubIndex 001
1. PDO Mapping entry (object 0x6012 (Samples), entry 0x13 ())
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6011:14, 16
Index 1A55 Analog Input TxPDO-MapSamples 21 Ch.2
Index (hex) Name
Meaning
1A55:0
Analog Input TxPDO- PDO Mapping TxPDO 86 MapSamples 21 Ch.2
1A55:01 SubIndex 001
1. PDO Mapping entry (object 0x6012 (Samples), entry 0x14 ())
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6011:15, 16
178
Version: 2.9
EL3632
Commissioning
Index 1A56 Analog Input TxPDO-MapSamples 22 Ch.2
Index (hex) Name
Meaning
1A56:0
Analog Input TxPDO- PDO Mapping TxPDO 87 MapSamples 22 Ch.2
1A56:01 SubIndex 001
1. PDO Mapping entry (object 0x6012 (Samples), entry 0x05 ())
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6011:16, 16
Index 1A57 Analog Input TxPDO-MapSamples 23 Ch.2
Index (hex) Name
Meaning
1A57:0
Analog Input TxPDO- PDO Mapping TxPDO 88 MapSamples 23 Ch.2
1A57:01 SubIndex 001
1. PDO Mapping entry (object 0x6012 (Samples), entry 0x06 ())
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6011:17, 16
Index 1A58 Analog Input TxPDO-MapSamples 24 Ch.2
Index (hex) Name
Meaning
1A58:0
Analog Input TxPDO- PDO Mapping TxPDO 89 MapSamples 24 Ch.2
1A58:01 SubIndex 001
1. PDO Mapping entry (object 0x6012 (Samples), entry 0x07 ())
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6011:18, 16
Index 1A59 Analog Input TxPDO-MapSamples 25 Ch.2
Index (hex) Name
Meaning
1A59:0
Analog Input TxPDO- PDO Mapping TxPDO 90 MapSamples 25 Ch.2
1A59:01 SubIndex 001
1. PDO Mapping entry (object 0x6012 (Samples), entry 0x08 ())
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6011:19, 16
Index 1A5A Analog Input TxPDO-MapSamples 26 Ch.2
Index (hex) Name
Meaning
1A5A:0
Analog Input TxPDO- PDO Mapping TxPDO 91 MapSamples 26 Ch.2
1A5A:01 SubIndex 001
1. PDO Mapping entry (object 0x6012 (Samples), entry 0x09 ())
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6011:1A, 16
Index 1A5B Analog Input TxPDO-MapSamples 27 Ch.2
Index (hex) Name
Meaning
1A5B:0
Analog Input TxPDO- PDO Mapping TxPDO 92 MapSamples 27 Ch.2
1A5B:01 SubIndex 001
1. PDO Mapping entry (object 0x6012 (Samples), entry 0x0A ())
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6011:1B, 16
Index 1A5C Analog Input TxPDO-MapSamples 28 Ch.2
Index (hex) Name
Meaning
1A5C:0
Analog Input TxPDO- PDO Mapping TxPDO 93 MapSamples 28 Ch.2
1A5C:01 SubIndex 001
1. PDO Mapping entry (object 0x6012 (Samples), entry 0x0B ())
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6011:1C,
16
Index 1A5D Analog Input TxPDO-MapSamples 29 Ch.2
Index (hex) Name
Meaning
1A5D:0
Analog Input TxPDO- PDO Mapping TxPDO 94 MapSamples 29 Ch.2
1A5D:01 SubIndex 001
1. PDO Mapping entry (object 0x6012 (Samples), entry 0x0C ())
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6011:1D,
16
EL3632
Version: 2.9
179
Commissioning
Index 1A5E Analog Input TxPDO-MapSamples 30 Ch.2
Index (hex) Name
Meaning
1A5E:0
Analog Input TxPDO- PDO Mapping TxPDO 95 MapSamples 30 Ch.2
1A5E:01 SubIndex 001
1. PDO Mapping entry (object 0x6012 (Samples), entry 0x0D ())
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6011:1E, 16
Index 1A5F Analog Input TxPDO-MapSamples 31 Ch.2
Index (hex) Name
Meaning
1A5F:0
Analog Input TxPDO- PDO Mapping TxPDO 96 MapSamples 31 Ch.2
1A5F:01 SubIndex 001
1. PDO Mapping entry (object 0x6012 (Samples), entry 0x0E ())
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6011:1F, 16
Index 1A60 Analog Input TxPDO-MapSamples 32 Ch.2
Index (hex) Name
Meaning
1A60:0
Analog Input TxPDO- PDO Mapping TxPDO 97 MapSamples 32 Ch.2
1A60:01 SubIndex 001
1. PDO Mapping entry (object 0x6012 (Samples), entry 0x0F ())
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6011:20, 16
Index 1A61 Analog Input TxPDO-MapSamples 33 Ch.2
Index (hex) Name
Meaning
1A61:0
Analog Input TxPDO- PDO Mapping TxPDO 98 MapSamples 33 Ch.2
1A61:01 SubIndex 001
1. PDO Mapping entry (object 0x6012 (Samples), entry 0x10 ())
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6011:21, 16
Index 1A62 Analog Input TxPDO-MapSamples 34 Ch.2
Index (hex) Name
Meaning
1A62:0
Analog Input TxPDO- PDO Mapping TxPDO 99 MapSamples 34 Ch.2
1A62:01 SubIndex 001
1. PDO Mapping entry (object 0x6012 (Samples), entry 0x11 ())
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6011:22, 16
Index 1A63 Analog Input TxPDO-MapSamples 35 Ch.2
Index (hex) Name
Meaning
1A63:0
Analog Input TxPDO- PDO Mapping TxPDO 100 MapSamples 35 Ch.2
1A63:01 SubIndex 001
1. PDO Mapping entry (object 0x6012 (Samples), entry 0x12 ())
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6011:23, 16
Index 1A64 Analog Input TxPDO-MapSamples 36 Ch.2
Index (hex) Name
Meaning
1A64:0
Analog Input TxPDO- PDO Mapping TxPDO 101 MapSamples 36 Ch.2
1A64:01 SubIndex 001
1. PDO Mapping entry (object 0x6012 (Samples), entry 0x13 ())
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6011:24, 16
Index 1A65 Analog Input TxPDO-MapSamples 37 Ch.2
Index (hex) Name
Meaning
1A65:0
Analog Input TxPDO- PDO Mapping TxPDO 102 MapSamples 37 Ch.2
1A65:01 SubIndex 001
1. PDO Mapping entry (object 0x6012 (Samples), entry 0x14 ())
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6011:25, 16
180
Version: 2.9
EL3632
Commissioning
Index 1A66 Analog Input TxPDO-MapSamples 38 Ch.2
Index (hex) Name
Meaning
1A66:0
Analog Input TxPDO- PDO Mapping TxPDO 103 MapSamples 38 Ch.2
1A66:01 SubIndex 001
1. PDO Mapping entry (object 0x6012 (Samples), entry 0x15 ())
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6011:26, 16
Index 1A67 Analog Input TxPDO-MapSamples 39 Ch.2
Index (hex) Name
Meaning
1A67:0
Analog Input TxPDO- PDO Mapping TxPDO 104 MapSamples 39 Ch.2
1A67:01 SubIndex 001
1. PDO Mapping entry (object 0x6012 (Samples), entry 0x16 ())
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6011:27, 16
Index 1A68 Analog Input TxPDO-MapSamples 40 Ch.2
Index (hex) Name
Meaning
1A68:0
Analog Input TxPDO- PDO Mapping TxPDO 105 MapSamples 40 Ch.2
1A68:01 SubIndex 001
1. PDO Mapping entry (object 0x6012 (Samples), entry 0x17 ())
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6011:28, 16
Index 1A69 Analog Input TxPDO-MapSamples 41 Ch.2
Index (hex) Name
Meaning
1A69:0
Analog Input TxPDO- PDO Mapping TxPDO 106 MapSamples 41 Ch.2
1A69:01 SubIndex 001
1. PDO Mapping entry (object 0x6012 (Samples), entry 0x18 ())
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6011:29, 16
Index 1A6A Analog Input TxPDO-MapSamples 42 Ch.2
Index (hex) Name
Meaning
1A6A:0
Analog Input TxPDO- PDO Mapping TxPDO 107 MapSamples 42 Ch.2
1A6A:01 SubIndex 001
1. PDO Mapping entry (object 0x6012 (Samples), entry 0x19 ())
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6011:2A, 16
Index 1A6B Analog Input TxPDO-MapSamples 43 Ch.2
Index (hex) Name
Meaning
1A6B:0
Analog Input TxPDO- PDO Mapping TxPDO 108 MapSamples 43 Ch.2
1A6B:01 SubIndex 001
1. PDO Mapping entry (object 0x6012 (Samples), entry 0x1A ())
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6011:2B, 16
Index 1A6C Analog Input TxPDO-MapSamples 44 Ch.2
Index (hex) Name
Meaning
1A6C:0
Analog Input TxPDO- PDO Mapping TxPDO 109 MapSamples 44 Ch.2
1A6C:01 SubIndex 001
1. PDO Mapping entry (object 0x6012 (Samples), entry 0x1B ())
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6011:2C,
16
Index 1A6D Analog Input TxPDO-MapSamples 45 Ch.2
Index (hex) Name
Meaning
1A6D:0
Analog Input TxPDO- PDO Mapping TxPDO 110 MapSamples 45 Ch.2
1A6D:01 SubIndex 001
1. PDO Mapping entry (object 0x6012 (Samples), entry 0x1C ())
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6011:2D,
16
EL3632
Version: 2.9
181
Commissioning
Index 1A6E Analog Input TxPDO-MapSamples 46 Ch.2
Index (hex) Name
Meaning
1A6E:0
Analog Input TxPDO- PDO Mapping TxPDO 111 MapSamples 46 Ch.2
1A6E:01 SubIndex 001
1. PDO Mapping entry (object 0x6012 (Samples), entry 0x1D ())
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6011:2E, 16
Index 1A6F Analog Input TxPDO-MapSamples 47 Ch.2
Index (hex) Name
Meaning
1A6F:0
Analog Input TxPDO- PDO Mapping TxPDO 112 MapSamples 47 Ch.2
1A6F:01 SubIndex 001
1. PDO Mapping entry (object 0x6012 (Samples), entry 0x1E ())
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6011:2F, 16
Index 1A70 Analog Input TxPDO-MapSamples 48 Ch.2
Index (hex) Name
Meaning
1A70:0
Analog Input TxPDO- PDO Mapping TxPDO 113 MapSamples 48 Ch.2
1A70:01 SubIndex 001
1. PDO Mapping entry (object 0x6012 (Samples), entry 0x1F ())
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6011:30, 16
Index 1A71 Analog Input TxPDO-MapSamples 49 Ch.2
Index (hex) Name
Meaning
1A71:0
Analog Input TxPDO- PDO Mapping TxPDO 114 MapSamples 49 Ch.2
1A71:01 SubIndex 001
1. PDO Mapping entry (object 0x6012 (Samples), entry 0x20 ())
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6011:31, 16
Index 1A72 Analog Input TxPDO-MapSamples 50 Ch.2
Index (hex) Name
Meaning
1A72:0
Analog Input TxPDO- PDO Mapping TxPDO 115 MapSamples 50 Ch.2
1A72:01 SubIndex 001
1. PDO Mapping entry (object 0x6011 (Samples), entry 0x32 ())
Data type UINT8
UINT32
Flags RO
Default 0x01 (1dec)
RO
0x6011:32, 16
Index 1A80 Analog Input Timestamp TxPDO-Map NextSync1Time
Index (hex) Name
1A80:0
Analog Input Timestamp TxPDO-Map NextSync1Time
1A80:01 SubIndex 001
Meaning PDO Mapping TxPDO 129
Data type UINT8
1. PDO Mapping entry (object 0x6012 (Samples), entry UINT32 0x2F ())
Flags RO
Default 0x01 (1dec)
RO
0x6020:01, 64
Index 1A81 Analog Input Timestamp TxPDO-Map Cycle Count
Index (hex) Name
1A81:0
Analog Input Timestamp TxPDO-Map Cycle Count
1A81:01 SubIndex 001
Meaning PDO Mapping TxPDO 130
Data type UINT8
1. PDO Mapping entry (object 0x6021 (CycleCount), en- UINT32 try 0x01 (Cycle Count))
Flags RO
Default 0x01 (1dec)
RO
0x6021:01, 16
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Index 1C00 Sync manager type
Index (hex) Name
1C00:0
Sync manager type
1C00:01 SubIndex 001
1C00:02 SubIndex 002
1C00:03 SubIndex 003
1C00:04 SubIndex 004
Meaning
Data type
Using the sync managers
UINT8
Sync-Manager Type Channel 1: Mailbox Write
UINT8
Sync-Manager Type Channel 2: Mailbox Read
UINT8
Sync-Manager Type Channel 3: Process Data Write (Outputs)
UINT8
Sync-Manager Type Channel 4: Process Data Read (In- UINT8 puts)
Flags RO RO RO RO
Default 0x04 (4dec) 0x01 (1dec) 0x02 (2dec) 0x03 (3dec)
RO
0x04 (4dec)
Index 1C12 RxPDO assign
Index (hex) Name
1C12:0
RxPDO assign
Meaning PDO Assign Outputs
Data type UINT8
Flags RW
Default 0x00 (0dec)
Index 1C13 TxPDO assign
Index (hex) Name
1C13:0
TxPDO assign
1C13:01 Subindex 001
1C13:02 Subindex 002
1C13:03 Subindex 003
... 1C13:68
... Subindex 104
Meaning
Data type
PDO Assign Inputs
UINT8
1. allocated TxPDO (contains the index of the associated UINT16 TxPDO mapping object)
2. allocated TxPDO (contains the index of the associated UINT16 TxPDO mapping object)
3. allocated TxPDO (contains the index of the associated UINT16 TxPDO mapping object)
...
...
104. allocated TxPDO (contains the index of the associ- UINT16 ated TxPDO mapping object)
Flags RW RW
RW
RW
Default
0x02 (2dec) 0x1A80 (6784dec) 0x1A81 (6785dec) 0x0000 (0dec)
...
..
RW
0x0000 (0dec)
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Index 1C33 SM input parameter
Index (hex) Name
1C33:0
SM input parameter
1C33:01 Sync mode
1C33:02 Cycle time
Meaning Synchronization parameters for the inputs
Data type UINT8
Current synchronization mode:
UINT16
· 0: Free Run
· 1: Synchron with SM 3 Event (no outputs available)
· 2: DC - Synchron with SYNC0 Event
· 3: DC - Synchron with SYNC1 Event
· 34: Synchron with SM 2 Event (outputs available)
as 0x1C32:02
UINT32
1C33:03 1C33:04
1C33:05
Shift time Sync modes supported
Minimum cycle time
Time between SYNC0 event and reading of the inputs (in UINT32 ns, only DC mode)
Supported synchronization modes:
UINT16
· Bit 0: free run is supported
· Bit 1: Synchronous with SM 2 Event is supported (outputs available)
· Bit 1: Synchronous with SM 3 Event is supported (no outputs available)
· Bit 2-3 = 01: DC mode is supported
· Bit 4-5 = 01: input shift through local event (outputs available)
· Bit 4-5 = 10: input shift with SYNC1 event (no outputs available)
· Bit 14 = 1: dynamic times (measurement through writing of 0x1C32:08 or 0x1C33:08)
as 0x1C32:05
UINT32
1C33:06 1C33:07
Calc and copy time Minimum delay time
Time between reading of the inputs and availability of the UINT32 inputs for the master (in ns, only DC mode)
UINT32
1C33:08 1C33:09
1C33:0B
1C33:0C
1C33:0D 1C33:20
Command
as 0x1C32:08
UINT16
Maximum delay time Time between SYNC1 event and reading of the inputs (in UINT32 ns, only DC mode)
SM event missed counter
as 0x1C32:11
UINT16
Cycle exceeded counter
as 0x1C32:12
UINT16
Shift too short counter as 0x1C32:13
UINT16
Sync error
as 0x1C32:32
BOOLEAN
Flags RO RW
Default 0x20 (32dec) 0x0022 (34dec)
RW
0x000F4240
(1000000dec)
RO
0x00000000
(0dec)
RO
0xC007
(49159dec)
RO
0x00002710
(10000dec)
RO
0x00000000
(0dec)
RO
0x00000000
(0dec)
RW
0x0000 (0dec)
RO
0x00000000
(0dec)
RO
0x0000 (0dec)
RO
0x0000 (0dec)
RO
0x0000 (0dec)
RO
0x00 (0dec)
Index F000 Modular device profile
Index (hex) Name
Meaning
F000:0
Modular device profile General information for the modular device profile
F000:01
Module index distance
Index distance of the objects of the individual channels
F000:02
Maximum number of Number of channels modules
Data type UINT8 UINT16
UINT16
Flags RO RO
Default 0x02 (2dec) 0x0010 (16dec)
RO
0x0003 (3dec)
Index F008 Code word
Index (hex) Name
F008:0
Code word
Meaning reserved
Data type UINT32
Flags RW
Default
0x00000000 (0dec)
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Index F010 Module list
Index (hex) Name
F010:0
Module list
F010:01 SubIndex 001
F010:02 SubIndex 002
F010:03 SubIndex 003
Meaning Maximum subindex Profile AI
Profile AI
Profile AI
Commissioning
Data type UINT8 UINT32
UINT32
UINT32
Flags RW RW
RW
RW
Default
0x03 (3dec)
0x0000012C (300dec)
0x0000012C (300dec)
0x0000012C (300dec)
5.7
Notices on analog specifications
Beckhoff I/O devices (terminals, boxes, modules) with analog inputs are characterized by a number of technical characteristic data; refer to the technical data in the respective documents.
Some explanations are given below for the correct interpretation of these characteristic data.
5.7.1 Full scale value (FSV)
An I/O device with an analog input measures over a nominal measuring range that is limited by an upper and a lower limit (initial value and end value); these can usually be taken from the device designation. The range between the two limits is called the measuring span and corresponds to the equation (end value initial value). Analogous to pointing devices this is the measuring scale (see IEC 61131) or also the dynamic range.
For analog I/O devices from Beckhoff the rule is that the limit with the largest value is chosen as the full scale value of the respective product (also called the reference value) and is given a positive sign. This applies to both symmetrical and asymmetrical measuring spans.
Fig. 177: Full scale value, measuring span
For the above examples this means: · Measuring range 0...10 V: asymmetric unipolar, full scale value = 10 V, measuring span = 10 V · Measuring range 4...20 mA: asymmetric unipolar, full scale value = 20 mA, measuring span = 16 mA · Measuring range -200...1370°C: asymmetric bipolar, full scale value = 1370°C, measuring span = 1570°C · Measuring range -10...+10 V: symmetric bipolar, full scale value = 10 V, measuring span = 20 V
This applies to analog output terminals/ boxes (and related Beckhoff product groups).
5.7.2 Measuring error/ measurement deviation
The relative measuring error (% of the full scale value) is referenced to the full scale value and is calculated as the quotient of the largest numerical deviation from the true value (`measuring error') referenced to the full scale value.
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The measuring error is generally valid for the entire permitted operating temperature range, also called the `usage error limit' and contains random and systematic portions of the referred device (i.e. `all' influences such as temperature, inherent noise, aging, etc.).
It is always to be regarded as a positive/negative span with ±, even if it is specified without ± in some cases.
The maximum deviation can also be specified directly.
Example: Measuring range 0...10 V and measuring error < ± 0.3 % full scale value maximum deviation ± 30 mV in the permissible operating temperature range.
Lower measuring error
Since this specification also includes the temperature drift, a significantly lower measuring error can usually be assumed in case of a constant ambient temperature of the device and thermal stabilization after a user calibration. This applies to analog output devices.
5.7.3 Temperature coefficient tK [ppm/K]
An electronic circuit is usually temperature dependent to a greater or lesser degree. In analog measurement technology this means that when a measured value is determined by means of an electronic circuit, its deviation from the "true" value is reproducibly dependent on the ambient/operating temperature.
A manufacturer can alleviate this by using components of a higher quality or by software means.
The temperature coefficient, when indicated, specified by Beckhoff allows the user to calculate the expected measuring error outside the basic accuracy at 23 °C.
Due to the extensive uncertainty considerations that are incorporated in the determination of the basic accuracy (at 23 °C), Beckhoff recommends a quadratic summation.
Example: Let the basic accuracy at 23 °C be ±0.01% typ. (full scale value), tK = 20 ppm/K typ.; the accuracy A35 at 35 °C is wanted, hence T = 12 K
Remarks: ppm 10-6
% 10-2
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5.7.4 Long-term use
Analog devices (inputs, outputs) are subject to constant environmental influences during operation (temperature, temperature change, shock/vibration, irradiation, etc.) This can affect the function, in particular the analog accuracy (also: measurement or output uncertainty). As industrial products, Beckhoff analog devices are designed for 24h/7d continuous operation. The devices show that they generally comply with the accuracy specification, even in long-term use. However, as is usual for technical devices, an unlimited functional assurance (also applies to accuracy) cannot be given. Beckhoff recommends checking the usability in relation to the application target within the scope of normal system maintenance, e.g. every 12-24 months.
5.7.5 Single-ended/differential typification
For analog inputs Beckhoff makes a basic distinction between two types: single-ended (SE) and differential (DIFF), referring to the difference in electrical connection with regard to the potential difference. The diagram shows two-channel versions of an SE module and a DIFF module as examples for all multichannel versions.
Fig. 178: SE and DIFF module as 2-channel version
Note: Dashed lines indicate that the respective connection may not necessarily be present in each SE or DIFF module. Electrical isolated channels are operating as differential type in general, hence there is no direct relation (voltaic) to ground within the module established at all. Indeed, specified information to recommended and maximum voltage levels have to be taken into account.
The basic rule:
· Analog measurements always take the form of voltage measurements between two potential points. For voltage measurements a large R is used, in order to ensure a high impedance. For current measurements a small R is used as shunt. If the purpose is resistance measurement, corresponding considerations are applied.
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Beckhoff generally refers to these two points as input+/signal potential and input-/reference potential.
For measurements between two potential points two potentials have to be supplied.
Regarding the terms "single-wire connection" or "three-wire connection", please note the following for pure analog measurements: three- or four-wire connections can be used for sensor supply, but are not involved in the actual analog measurement, which always takes place between two potentials/wires. In particular this also applies to SE, even though the term suggest that only one wire is required.
· The term "electrical isolation" should be clarified in advance. Beckhoff IO modules feature 1..8 or more analog channels; with regard to the channel connection a distinction is made in terms of:
how the channels WITHIN a module relate to each other, or
how the channels of SEVERAL modules relate to each other.
The property of electrical isolation indicates whether the channels are directly connected to each other.
Beckhoff terminals/ boxes (and related product groups) always feature electrical isolation between the field/analog side and the bus/EtherCAT side. In other words, if two analog terminals/ boxes are not connected via the power contacts (cable), the modules are effectively electrically isolated.
If channels within a module are electrically isolated, or if a single-channel module has no power contacts, the channels are effectively always differential. See also explanatory notes below. Differential channels are not necessarily electrically isolated.
· Analog measuring channels are subject to technical limits, both in terms of the recommended operating range (continuous operation) and the destruction limit. Please refer to the respective terminal/ box documentation for further details.
Explanation
· differential (DIFF)
Differential measurement is the most flexible concept. The user can freely choose both connection points, input+/signal potential and input-/reference potential, within the framework of the technical specification.
A differential channel can also be operated as SE, if the reference potential of several sensors is linked. This interconnection may take place via the system GND.
Since a differential channel is configured symmetrically internally (cf. Fig. SE and DIFF module as 2-channel variant), there will be a mid-potential (X) between the two supplied potentials that is the same as the internal ground/reference ground for this channel. If several DIFF channels are used in a module without electrical isolation, the technical property VCM (common-mode voltage) indicates the degree to which the mean voltage of the channels may differ.
The internal reference ground may be accessible as connection point at the terminal/ box, in order to stabilize a defined GND potential in the terminal/ box. In this case it is particularly important to pay attention to the quality of this potential (noiselessness, voltage stability). At this GND point a wire may be connected to make sure that VCM,max is not exceeded in the differential sensor cable. If differential channels are not electrically isolated, usually only one VCM, max is permitted. If the channels are electrically isolated this limit should not apply, and the channels voltages may differ up to the specified separation limit.
Differential measurement in combination with correct sensor wiring has the special advantage that any interference affecting the sensor cable (ideally the feed and return line are arranged side by side, so that interference signals have the same effect on both wires) has very little effect on the measurement, since the potential of both lines varies jointly (hence the term common mode). In simple terms: Common-mode interference has the same effect on both wires in terms of amplitude and phasing.
Nevertheless, the suppression of common-mode interference within a channel or between channels is subject to technical limits, which are specified in the technical data.
Further helpfully information on this topic can be found on the documentation page Configuration of 0/4..20 mA differential inputs (see documentation for the EL30xx terminals, for example).
· Single Ended (SE)
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If the analog circuit is designed as SE, the input/reference wire is internally fixed to a certain potential that cannot be changed. This potential must be accessible from outside on at least one point for connecting the reference potential, e.g. via the power contacts (cable).
In other words, in situations with several channels SE offers users the option to avoid returning at least one of the two sensor cables to the terminal/ box (in contrast to DIFF). Instead, the reference wire can be consolidated at the sensors, e.g. in the system GND.
A disadvantage of this approach is that the separate feed and return line can result in voltage/ current variations, which a SE channel may no longer be able to handle. See common-mode interference. A VCM effect cannot occur, since the module channels are internally always 'hardwired' through the input/reference potential.
Typification of the 2/3/4-wire connection of current sensors
Current transducers/sensors/field devices (referred to in the following simply as `sensor') with the industrial 0/4-20 mA interface typically have internal transformation electronics for the physical measured variable (temperature, current, etc.) at the current control output. These internal electronics must be supplied with energy (voltage, current). The type of cable for this supply thus separates the sensors into self-supplied or externally supplied sensors:
Self-supplied sensors · The sensor draws the energy for its own operation via the sensor/signal cable + and -. So that enough energy is always available for the sensor's own operation and open-circuit detection is possible, a lower limit of 4 mA has been specified for the 4-20 mA interface; i.e. the sensor allows a minimum current of 4 mA and a maximum current of 20 mA to pass. · 2-wire connection see Fig. 2-wire connection, cf. IEC60381-1 · Such current transducers generally represent a current sink and thus like to sit between + and as a `variable load'. Refer also to the sensor manufacturer's information.
Fig. 179: 2-wire connection
Therefore, they are to be connected according to the Beckhoff terminology as follows:
preferably to `single-ended' inputs if the +Supply connections of the terminal/ box are also to be used connect to +Supply and Signal
they can, however, also be connected to `differential' inputs, if the termination to GND is then manufactured on the application side to be connected with the right polarity to +Signal and Signal It is important to refer to the information page Configuration of 0/4..20 mA differential inputs (see documentation for the EL30xx terminals, for example)!
Externally supplied sensors · 3- and 4-wire connection see Fig. Connection of externally supplied sensors, cf. IEC60381-1 · the sensor draws the energy/operating voltage for its own operation from two supply cables of its own. One or two further sensor cables are used for the signal transmission of the current loop: 1 sensor cable: according to the Beckhoff terminology such sensors are to be connected to `single-ended' inputs in 3 cables with +/-/Signal lines and if necessary FE/shield 2 sensor cables: for sensors with 4-wire connection based on +supply/-supply/+signal/-signal, check whether +signal can be connected to +supply or signal to supply.
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- Yes: then you can connect accordingly to a Beckhoff `single-ended' input.
- No: the Beckhoff `differential' input for +Signal and Signal is to be selected; +Supply and Supply are to be connected via additional cables. It is important to refer to the information page Configuration of 0/4..20 mA differential inputs (see documentation for the EL30xx terminals, for example)!
Note: expert organizations such as NAMUR demand a usable measuring range <4 mA/>20 mA for error detection and adjustment, see also NAMUR NE043. The Beckhoff device documentation must be consulted in order to see whether the respective device supports such an extended signal range. Usually there is an internal diode existing within unipolar terminals/ boxes (and related product groups), in this case the polarity/direction of current have to be observed.
Fig. 180: Connection of externally supplied sensors
Classification of the Beckhoff terminals/ boxes - Beckhoff 0/4-20 mA terminals/ boxes (and related product groups) are available as differential and single-ended terminals/ boxes (and related product groups):
Single-ended
EL3x4x: 0-20 mA, EL3x5x: 4-20 mA; KL and related product groups exactly the same
Preferred current direction because of internal diode
Designed for the connection of externally-supplied sensors with a 3/4-wire connection
Designed for the connection of self-supplied sensors with a 2-wire connection
Differential
EL3x1x: 0-20 mA, EL3x2x: 4-20 mA; KL and related product groups exactly the same Preferred current direction because of internal diode The terminal/ box is a passive differential current measuring device; passive means that the sensor is not supplied with power.
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Fig. 181: 2-, 3- and 4-wire connection at single-ended and differential inputs
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5.7.6
Common-mode voltage and reference ground (based on differential inputs)
Common-mode voltage (Vcm) is defined as the average value of the voltages of the individual connections/ inputs and is measured/specified against reference ground.
Fig. 182: Common-mode voltage (Vcm)
The definition of the reference ground is important for the definition of the permitted common-mode voltage range and for measurement of the common-mode rejection ratio (CMRR) for differential inputs.
The reference ground is also the potential against which the input resistance and the input impedance for single-ended inputs or the common-mode resistance and the common-mode impedance for differential inputs is measured.
The reference ground is usually accessible at or near the terminal/ box, e.g. at the terminal contacts, power contacts (cable) or a mounting rail. Please refer to the documentation regarding positioning. The reference ground should be specified for the device under consideration.
For multi-channel terminals/ boxes with resistive (=direct, ohmic, galvanic) or capacitive connection between the channels, the reference ground should preferably be the symmetry point of all channels, taking into account the connection resistances.
Reference ground samples for Beckhoff IO devices:
1. Internal AGND fed out: EL3102/EL3112, resistive connection between the channels 2. 0V power contact: EL3104/EL3114, resistive connection between the channels and AGND; AGND
connected to 0V power contact with low-resistance 3. Earth or SGND (shield GND):
EL3174-0002: Channels have no resistive connection between each other, although they are capacitively coupled to SGND via leakage capacitors
EL3314: No internal ground fed out to the terminal points, although capacitive coupling to SGND
5.7.7 Dielectric strength
A distinction should be made between: · Dielectric strength (destruction limit): Exceedance can result in irreversible changes to the electronics Against a specified reference ground Differential · Recommended operating voltage range: If the range is exceeded, it can no longer be assumed that the system operates as specified Against a specified reference ground Differential
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Fig. 183: Recommended operating voltage range
The device documentation may contain particular specifications and timings, taking into account: · Self-heating · Rated voltage · Insulating strength · Edge steepness of the applied voltage or holding periods · Normative environment (e.g. PELV)
5.7.8 Temporal aspects of analog/digital conversion
The conversion of the constant electrical input signal to a value-discrete digital and machine-readable form takes place in the analog Beckhoff EL/KL/EP input modules with ADC (analog digital converter). Although different ADC technologies are in use, from a user perspective they all have a common characteristic: after the conversion a certain digital value is available in the controller for further processing. This digital value, the so-called analog process data, has a fixed temporal relationship with the "original parameter", i.e. the electrical input value. Therefore, corresponding temporal characteristic data can be determined and specified for Beckhoff analogue input devices.
This process involves several functional components, which act more or less strongly in every AI (analog input) module:
· the electrical input circuit · the analog/digital conversion · the digital further processing · the final provision of the process and diagnostic data for collection at the fieldbus (EtherCAT, Kbus,
etc.)
Fig. 184: Signal processing analog input Two aspects are crucial from a user perspective:
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· "How often do I receive new values?", i.e. a sampling rate in terms of speed with regard to the device/ channel
· What delay does the (whole) AD conversion of the device/channel cause? I.e. the hardware and firmware components in its entirety. For technological reasons, the signal characteristics must be taken into account when determining this information: the run times through the system differ, depending on the signal frequency.
This is the "external" view of the "Beckhoff AI channel" system internally the signal delay in particular is composed of different components: hardware, amplifier, conversion itself, data transport and processing. Internally a higher sampling rate may be used (e.g. in the deltaSigma converters) than is offered "externally" from the user perspective. From a user perspective of the "Beckhoff AI channel" component this is usually irrelevant or is specified accordingly, if it is relevant for the function.
For Beckhoff AI devices the following specification parameters for the AI channel are available for the user from a temporal perspective:
1. Minimum conversion time [ms, µs]
This is the reciprocal value of the maximum sampling rate [sps, samples per second]: Indicates how often the analog channel makes a newly detected process data value available for collection by the fieldbus. Whether the fieldbus (EtherCAT, K-bus) fetches the value with the same speed (i.e. synchronous), or more quickly (if the AI channel operates in slow FreeRun mode) or more slowly (e.g. with oversampling), is then a question of the fieldbus setting and which modes the AI device supports. For EtherCAT devices the so-called toggle bit indicates (by toggling) for the diagnostic PDOs when a newly determined analog value is available. Accordingly, a maximum conversion time, i.e. a smallest sampling rate supported by the AI device, can be specified. Corresponds to IEC 61131-2, section 7.10.2 2, "Sampling repeat time"
2. Typical signal delay
Corresponds to IEC 61131-2, section 7.10.2 1, "Sampling duration". From this perspective it includes all internal hardware and firmware components, but not "external" delay components from the fieldbus or the controller (TwinCAT). This delay is particularly relevant for absolute time considerations, if AI channels also provide a time stamp that corresponds to the amplitude value which can be assumed to match the physically prevailing amplitude value at the time. Due to the frequency-dependent signal delay time, a dedicated value can only be specified for a given signal. The value also depends on potentially variable filter settings of the channel. A typical characterization in the device documentation may be:
2.1 Signal delay (step response)
Keywords: Settling time The square wave signal can be generated externally with a frequency generator (note impedance!) The 90 % limit is used as detection threshold. The signal delay [ms, µs] is then the time interval between the (ideal) electrical square wave signal and the time at which the analog process value has reached the 90 % amplitude.
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Fig. 185: Diagram signal delay (step response)
2.2 Signal delay (linear)
Keyword: Group delay Describes the delay of a signal with constant frequency A test signal can be generated externally with a frequency generator, e.g. as sawtooth or sine. A simultaneous square wave signal would be used as reference. The signal delay [ms, µs] is then the interval between the applied electrical signal with a particular amplitude and the moment at which the analog process value reaches the same value. A meaningful range must be selected for the test frequency, e.g. 1/20 of the maximum sampling rate.
Fig. 186: Diagram signal delay (linear)
3. Additional Information May be provided in the specification, e.g.
· Actual sampling rate of the ADC (if different from the channel sampling rate) · Time correction values for run times with different filter settings · etc.
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5.8
Application example
Use of ScopeView2 with oversampling
Preparation · Use TwinCAT 2.11, build 1549 or higher · Use current ScopeView2
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Activation of oversampling The following steps must be performed (fig. Activation of ScopeView2):
1. Select the process image of the EtherCAT master (in this case: "Device 1 - process image") 2. Select "Enable ADS Server" in the "ADS" tab 3. Select "Create symbols" 4. Note the "Port" (usually 27905) 5. Adopt configuration (note: PLC restart is necessary!)
Fig. 187: Activation of ScopeView2
Use of the oversampling variable
The following steps must be performed (fig. Target Browser): · Select ScopeView2 "View" - > "Target Browser" · Select "Enable Server Ports" (button at top left) · Enter the noted port (see fig. Activation of ScopeView2) in the field at the bottom left · Confirm "Add" and "OK" · A new entry, "AdsPort of Image 1", appears in the Target Browser; select it and display the tree with [+] · Select the variable "CH1 SAMPLE 0" or "CH2 SAMPLE 0" for the terminal used and display the tree with [+]
The last entry in the tree contains the oversampling variable (can be recognized by the index T +Oversampling factor) A double-click on this variable displays its characteristics. A double-click on the variable with the blue box inserts it into the object browser.
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Fig. 188: Target Browser
Creating a task
An additional task must be used if no PLC is active: TwinCAT System Manager: "SYSTEM - Configuration" - > additional task - > rights mouse button "Add task" - > rights mouse button "Insert variable". Create variable(s) and link with a terminal. The meaning and size of the variables are not relevant.
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Error handling and diagnostics
6
Error handling and diagnostics
6.1
Error descriptions and troubleshooting
Error Codes
Error Index 0x6000:07 [} 146]
1
Underange Index 0x6000:01 [} 146]
1
Overrange Index 0x6000:02 [} 146]
1
1
1
TxPDO State Index 0x6000:0F [} 146]
Sync Error Index 0x6000:0E [} 146]
1
Error description Remedy
Measurement is be- Reduce the input level,
low range
change the gain (filter
settings)
Measuring range exceeded
Reduce the input level, change the gain (filter settings)
General measuring e.g. open circuit error
Synchronization er- Jitter of master too high,
ror
distributed clocks
switched off
The error LED lights up only in case of open circuit.
Troubleshooting
The dialog for setting the sampling rate is missing
The dialog for setting the sampling rate is missing. The TwinCAT System Manager uses the "online description" of the terminal. The note to use the dialog for the parameterization is only available in the XML description. Solution: Make sure that the latest XML description is used.
The amplitude is too small
Filter settings incorrect. Solution: Correct the settings in the CoE in the entries 0x80n0:15 [} 145].
The terminal switches to SAFEOP
The terminal switches to SAFEOP. The real-time-settings are not accurate enough. Solution: Use a PC without mobile chipset/CPU.
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7
Appendix
7.1
EtherCAT AL Status Codes
For detailed information please refer to the EtherCAT system description.
7.2
Diagnostics basic principles of diag messages
DiagMessages designates a system for the transmission of messages from the EtherCAT Slave to the EtherCAT Master/TwinCAT. The messages are stored by the device in its own CoE under 0x10F3 and can be read by the application or the System Manager. An error message referenced via a code is output for each event stored in the device (warning, error, status change).
Definition
The DiagMessages system is defined in the ETG (EtherCAT Technology Group) in the guideline ETG.1020, chapter 13 "Diagnosis handling". It is used so that pre-defined or flexible diagnostic messages can be conveyed from the EtherCAT Slave to the Master. In accordance with the ETG, the process can therefore be implemented supplier-independently. Support is optional. The firmware can store up to 250 DiagMessages in its own CoE.
Each DiagMessage consists of
· Diag Code (4-byte) · Flags (2-byte; info, warning or error) · Text ID (2-byte; reference to explanatory text from the ESI/XML) · Timestamp (8-byte, local slave time or 64-bit Distributed Clock time, if available) · Dynamic parameters added by the firmware
The DiagMessages are explained in text form in the ESI/XML file belonging to the EtherCAT device: on the basis of the Text ID contained in the DiagMessage, the corresponding plain text message can be found in the languages contained in the ESI/XML. In the case of Beckhoff products these are usually German and English.
Via the entry NewMessagesAvailable the user receives information that new messages are available.
DiagMessages can be confirmed in the device: the last/latest unconfirmed message can be confirmed by the user.
In the CoE both the control entries and the history itself can be found in the CoE object 0x10F3:
Fig. 189: DiagMessages in the CoE 200
Version: 2.9
EL3632
Appendix
The subindex of the latest DiagMessage can be read under 0x10F3:02.
Support for commissioning
The DiagMessages system is to be used above all during the commissioning of the plant. The diagnostic values e.g. in the StatusWord of the device (if available) are helpful for online diagnosis during the subsequent continuous operation.
TwinCAT System Manager implementation From TwinCAT 2.11 DiagMessages, if available, are displayed in the device's own interface. Operation (collection, confirmation) also takes place via this interface.
Fig. 190: Implementation of the DiagMessage system in the TwinCAT System Manager
The operating buttons (B) and the history read out (C) can be seen on the Diag History tab (A). The components of the message:
· Info/Warning/Error · Acknowledge flag (N = unconfirmed, Q = confirmed) · Time stamp · Text ID · Plain text message according to ESI/XML data
The meanings of the buttons are self-explanatory.
DiagMessages within the ADS Logger/Eventlogger
Since TwinCAT 3.1 build 4022 DiagMessages send by the terminal are shown by the TwinCAT ADS Logger. Given that DiagMessages are represented IO- comprehensive at one place, commissioning will be simplified. In addition, the logger output could be stored into a data file hence DiagMessages are available long-term for analysis.
DiagMessages are actually only available locally in CoE 0x10F3 in the terminal and can be read out manually if required, e.g. via the DiagHistory mentioned above.
In the latest developments, the EtherCAT Terminals are set by default to report the presence of a DiagMessage as emergency via EtherCAT; the event logger can then retrieve the DiagMessage. The function is activated in the terminal via 0x10F3:05, so such terminals have the following entry in the StartUp list by default:
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Appendix
Fig. 191: Startup List
If the function is to be deactivated because, for example, many messages come in or the EventLogger is not used, the StartUp entry can be deleted or set to 0.
Reading messages into the PLC - In preparation -
Interpretation
Time stamp
The time stamp is obtained from the local clock of the terminal at the time of the event. The time is usually the distributed clock time (DC) from register x910.
Please note: When EtherCAT is started, the DC time in the reference clock is set to the same time as the local IPC/TwinCAT time. From this moment the DC time may differ from the IPC time, since the IPC time is not adjusted. Significant time differences may develop after several weeks of operation without a EtherCAT restart. As a remedy, external synchronization of the DC time can be used, or a manual correction calculation can be applied, as required: The current DC time can be determined via the EtherCAT master or from register x901 of the DC slave.
Structure of the Text ID
The structure of the MessageID is not subject to any standardization and can be supplier-specifically defined. In the case of Beckhoff EtherCAT devices (EL, EP) it usually reads according to xyzz:
x
0: Systeminfo 2: reserved 1: Info 4: Warning 8: Error
y
0: System 1: General 2: Communication 3: Encoder 4: Drive 5: Inputs 6: I/O general 7: reserved
zz Error number
Example: Message 0x4413 --> Drive Warning Number 0x13
Overview of text IDs Specific text IDs are listed in the device documentation.
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Appendix
Text ID 0x0001 0x0002 0x0003
0x1000
0x1012
0x1021
0x1024
0x1042
0x1048
0x1084
0x1100
0x1135 0x1157
0x1158
0x1159
0x117F 0x1201
0x1300 0x1303 0x1304
0x1305
0x1400 0x1401 0x1705
0x1706
0x1707
0x170A 0x170C 0x170D
Type Information Information Information
Information
Information
Information
Information
Information
Information
Information
Information
Information Information
Information
Information
Information Information
Information Information Information
Information
Information Information Information
Information
Information
Information Information Information
Place
Text Message
Additional comment
System
No error
No error
System
Communication established
Connection established
System
Initialization: 0x%X, 0x%X, 0x%X General information; parameters depend on event. See device documentation for interpretation.
System
Information: 0x%X, 0x%X, 0x%X General information; parameters depend on event. See device documentation for interpretation.
System
EtherCAT state change Init PreOp
System
EtherCAT state change PreOp Init
System
EtherCAT state change PreOp Safe-Op
System
EtherCAT state change SafeOp PreOp
System
EtherCAT state change SafeOp Op
System
EtherCAT state change Op SafeOp
General
Detection of operation mode com- Detection of the mode of operation ended pleted: 0x%X, %d
General
Cycle time o.k.: %d
Cycle time OK
General
Data manually saved (Idx: 0x%X, Data saved manually SubIdx: 0x%X)
General
Data automatically saved (Idx: 0x Data saved automatically %X, SubIdx: 0x%X)
General
Data deleted (Idx: 0x%X, SubIdx: Data deleted 0x%X)
General
Information: 0x%X, 0x%X, 0x%X Information
Communication Communication re-established
Communication to the field side restored This message appears, for example, if the voltage was removed from the power contacts and re-applied during operation.
Encoder
Position set: %d, %d
Position set - StartInputhandler
Encoder
Encoder Supply ok
Encoder power supply unit OK
Encoder
Encoder initialization successfully, channel: %X
Encoder initialization successfully completed
Encoder
Sent command encoder reset, channel: %X
Send encoder reset command
Drive
Drive is calibrated: %d, %d
Drive is calibrated
Drive
Actual drive state: 0x%X, %d
Current drive status
CPU usage returns in normal range (< 85%%)
Processor load is back in the normal range
Channel is not in saturation any- Channel is no longer in saturation more
Channel is not in overload any- Channel is no longer overloaded more
No channel range error anymore A measuring range error is no longer active
Calibration data saved
Calibration data were saved
Calibration data will be applied Calibration data are not applied and saved until the and saved after sending the com- command "0x5AFE" is sent. mand "0x5AFE"
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Appendix
Text ID 0x2000 0x2001 0x2002 0x2003
Type Information Information Information Information
Place System System System System
0x2004 Information System
0x2005 0x2006
Information Information
System System
0x2007 0x2008 0x2009
Information Information Information
System System System
Text Message
%s: %s
%s: Network link lost
%s: Network link detected
%s: no valid IP Configuration Dhcp client started
%s: valid IP Configuration (IP: %d.%d.%d.%d) assigned by Dhcp server %d.%d.%d.%d
%s: Dhcp client timed out
%s: Duplicate IP Address detected (%d.%d.%d.%d)
%s: UDP handler initialized
%s: TCP handler initialized
%s: No more free TCP sockets available
Additional comment
Network connection lost Network connection found Invalid IP configuration
Valid IP configuration, assigned by the DHCP server
DHCP client timeout Duplicate IP address found
UDP handler initialized TCP handler initialized No free TCP sockets available.
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Text ID Type 0x4000 Warning
0x4001 0x4002
Warning Warning
Place
System System
0x4003 Warning
System
0x4004 Warning
System
0x4005 Warning
System
0x4006 Warning
System
0x4007 Warning
System
0x4008 Warning
System
0x4101 Warning 0x4102 Warning
General General
0x417F 0x428D 0x4300
Warning Warning Warning
0x4301 0x4302
Warning Warning
General General Encoder
Encoder Encoder
0x4303 Warning
Encoder
0x4304 Warning
Encoder
0x4400 0x4401
Warning Warning
0x4402 0x4405 0x4410 0x4411
Warning Warning Warning Warning
Drive Drive
Drive Drive Drive Drive
0x4412 Warning
Drive
0x4413 Warning
Drive
0x4414 Warning
Drive
EL3632
Appendix
Text Message
Additional comment
Warning: 0x%X, 0x%X, 0x%X
General warning; parameters depend on event. See device documentation for interpretation.
Warning: 0x%X, 0x%X, 0x%X
%s: %s Connection Open (IN:%d OUT:%d API:%dms) from %d. %d.%d.%d successful
%s: %s Connection Close (IN:%d OUT:%d) from %d.%d.%d.%d successful
%s: %s Connection (IN:%d OUT: %d) with %d.%d.%d.%d timed out
%s: %s Connection Open (IN:%d OUT:%d) from %d.%d.%d.%d denied (Error: %u)
%s: %s Connection Open (IN:%d OUT:%d) from %d.%d.%d.%d denied (Input Data Size expected: %d Byte(s) received: %d Byte(s))
%s: %s Connection Open (IN:%d OUT:%d) from %d.%d.%d.%d denied (Output Data Size expected: %d Byte(s) received: %d Byte(s))
%s: %s Connection Open (IN:%d OUT:%d) from %d.%d.%d.%d denied (RPI:%dms not supported -> API:%dms)
Terminal-Overtemperature
Overtemperature. The internal temperature of the terminal exceeds the parameterized warning threshold.
Discrepancy in the PDO-Configu- The selected PDOs do not match the set operating
ration
mode.
Sample: Drive operates in velocity mode, but the velocity PDO is but not mapped in the PDOs.
Warning: 0x%X, 0x%X, 0x%X
Challenge is not Random
Subincrements deactivated: %d, Sub-increments deactivated (despite activated configu-
%d
ration)
Encoder-Warning
General encoder error
Maximum frequency of the input signal is nearly reached (channel %d)
Limit counter value was reduced because of the PDO configuration (channel %d)
Reset counter value was reduced because of the PDO configuration (channel %d)
Drive is not calibrated: %d, %d Drive is not calibrated
Starttype not supported: 0x%X, Start type is not supported %d
Command rejected: %d, %d
Command rejected
Invalid modulo subtype: %d, %d Modulo sub-type invalid
Target overrun: %d, %d
Target position exceeded
DC-Link undervoltage (Warning) The DC link voltage of the terminal is lower than the parameterized minimum voltage. Activation of the output stage is prevented.
DC-Link overvoltage (Warning)
The DC link voltage of the terminal is higher than the parameterized maximum voltage. Activation of the output stage is prevented.
I2T-Model Amplifier overload (Warning)
· The amplifier is being operated outside the specification.
· The I2T-model of the amplifier is incorrectly parameterized.
I2T-Model Motor overload (Warning)
· The motor is being operated outside the parameterized rated values.
· The I2T-model of the motor is incorrectly parameterized.
Version: 2.9
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Appendix
Text ID Type 0x4415 Warning
0x4416 Warning
0x4417 Warning
0x4418 0x4419
Warning Warning
0x441A Warning
0x441B Warning
0x441C Warning
0x4600 0x4610 0x4705 0x470A
Warning Warning Warning Warning
Place Drive
Drive Drive Drive Drive Drive Drive Drive General IO General IO
Text Message
Additional comment
Speed limitation active
The maximum speed is limited by the parameterized objects (e.g. velocity limitation, motor speed limitation). This warning is output if the set velocity is higher than one of the parameterized limits.
Step lost detected at position: 0x Step loss detected %X%X
Motor overtemperature
The internal temperature of the motor exceeds the parameterized warning threshold
Limit: Current
Limit: current is limited
Limit: Amplifier I2T-model exceeds 100%%
The threshold values for the maximum current were exceeded.
Limit: Motor I2T-model exceeds Limit: Motor I2T-model exceeds 100% 100%%
Limit: Velocity limitation
The threshold values for the maximum speed were exceeded.
STO while the axis was enabled An attempt was made to activate the axis, despite the fact that no voltage is present at the STO input.
Wrong supply voltage range
Supply voltage not in the correct range
Wrong output voltage range
Output voltage not in the correct range
Processor usage at %d %%
Processor load at %d %%
EtherCAT Frame missed (change EtherCAT frame missed (change DC Operation Mode Settings or DC Operation Mode or Sync0 Shift Time under Settings) or Sync0 Shift Time)
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Text ID 0x8000 0x8001
Type Error Error
0x8002 0x8003
Error Error
0x8004 Error
0x8005 Error 0x8006 Error
0x8007 Error
0x8100 0x8101
Error Error
0x8102 Error
0x8103 0x8104
Error Error
0x8105 Error
0x8135 Error
0x8136 Error
0x8137 0x8140 0x8141 0x8142 0x8143 0x817F 0x8200 0x8201
Error Error Error Error Error Error Error Error
0x8281 0x8282 0x8283 0x8284 0x8285 0x8286 0x8287 0x8288 0x8289
Error Error Error Error Error Error Error Error Error
0x828A 0x828B 0x828C 0x82FF 0x8300
Error Error Error Error Error
EL3632
Appendix
Place
Text Message
Additional comment
System
%s: %s
System
Error: 0x%X, 0x%X, 0x%X
General error; parameters depend on event. See device documentation for interpretation.
System
Communication aborted
Communication aborted
System
Configuration error: 0x%X, 0x%X, General; parameters depend on event.
0x%X
See device documentation for interpretation.
System
%s: Unsuccessful FwdOpen-Response received from %d.%d.%d. %d (%s) (Error: %u)
System
%s: FwdClose-Request sent to %d.%d.%d.%d (%s)
System
%s: Unsuccessful FwdClose-Response received from %d.%d.%d. %d (%s) (Error: %u)
System
%s: Connection with %d.%d.%d. %d (%s) closed
General
Status word set: 0x%X, %d
Error bit set in the status word
General
Operation mode incompatible to Mode of operation incompatible with the PDO interface PDO interface: 0x%X, %d
General
Invalid combination of Inputs and Invalid combination of input and output PDOs Outputs PDOs
General
No variable linkage
No variables linked
General
Terminal-Overtemperature
The internal temperature of the terminal exceeds the parameterized error threshold. Activation of the terminal is prevented
General
PD-Watchdog
Communication between the fieldbus and the output stage is secured by a Watchdog. The axis is stopped automatically if the fieldbus communication is interrupted.
· The EtherCAT connection was interrupted during operation.
· The Master was switched to Config mode during operation.
General
Cycle time has to be a multiple of The IO or NC cycle time divided by 125 µs does not
125 µs
produce a whole number.
General
Configuration error: invalid sam- Configuration error: Invalid sampling rate pling rate
General
Electronic type plate: CRC error Content of the external name plate memory invalid.
General
Sync Error
Real-time violation
General
Sync%X Interrupt lost
Sync%X Interrupt lost
General
Sync Interrupt asynchronous
Sync Interrupt asynchronous
General
Jitter too big
Jitter limit violation
General
Error: 0x%X, 0x%X, 0x%X
Communication Write access error: %d, %d
Error while writing
Communication No communication to field-side (Auxiliary voltage missing)
· There is no voltage applied to the power contacts.
· A firmware update has failed.
Communication Ownership failed: %X
Communication To many Keys founded
Communication Key Creation failed: %X
Communication Key loading failed
Communication Reading Public Key failed: %X
Communication Reading Public EK failed: %X
Communication Reading PCR Value failed: %X
Communication Reading Certificate EK failed: %X
Communication Challenge could not be hashed: %X
Communication Tickstamp Process failed
Communication PCR Process failed: %X
Communication Quote Process failed: %X
Communication Bootmode not activated
Boot mode not activated
Encoder
Set position error: 0x%X, %d
Error while setting the position
Version: 2.9
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Appendix
Text ID Type 0x8301 Error
0x8302 0x8303
Error Error
0x8304 Error
0x8305 Error
0x8306 Error
0x8307 Error
0x8308 Error
0x8309 Error 0x830A Error
0x830C Error
0x830D Error
0x8310 0x8311
Error Error
0x8312 Error
0x8313 0x8314 0x8315 0x8400
Error Error Error Error
0x8401 Error
0x8402 Error
0x8403 0x8404 0x8405 0x8406
Error Error Error Error
0x8407 Error
0x8408 Error
0x8409 Error
0x840A Error
0x8415 0x8416
Error Error
0x8417 Error 0x841C Error 0x8550 Error
208
Place Encoder Encoder Encoder Encoder Encoder Encoder Encoder Encoder
Encoder Encoder Encoder Encoder Encoder Encoder Encoder Encoder Encoder Encoder Drive Drive Drive Drive Drive Drive Drive
Drive
Drive
Drive
Drive Drive Drive
Drive Drive Inputs
Text Message
Additional comment
Encoder increments not config- Encoder increments not configured ured: 0x%X, %d
Encoder error
The amplitude of the resolver is too small
Encoder power missing (channel %d)
Encoder communication error, channel: %X
Encoder communication error
EnDat2.2 is not supported, chan- EnDat2.2 is not supported nel: %X
Delay time, tolerance limit exceeded, 0x%X, channel: %X
Runtime measurement, tolerance exceeded
Delay time, maximum value ex- Runtime measurement, maximum value exceeded ceeded, 0x%X, channel: %X
Unsupported ordering designa- Wrong EnDat order ID tion, 0x%X, channel: %X (only 02 and 22 is supported)
Encoder CRC error, channel: %X Encoder CRC error
Temperature %X could not be read, channel: %X
Temperature cannot be read
Encoder Single-Cycle-Data Error, CRC error detected. Check the transmission path and
channel. %X
the CRC polynomial
Encoder Watchdog Error, chan- The sensor has not responded within a predefined time
nel. %X
period
Initialisation error
Maximum frequency of the input signal is exceeded (channel %d)
Encoder plausibility error (channel %d)
Configuration error (channel %d)
Synchronisation error
Error status input (channel %d)
Incorrect drive configuration: 0x Drive incorrectly configured %X, %d
Limiting of calibration velocity: %d, %d
Limitation of the calibration velocity
Emergency stop activated: 0x%X, Emergency stop activated %d
ADC Error
Error during current measurement in the ADC
Overcurrent
Overcurrent in phase U, V or W
Invalid modulo position: %d
Modulo position invalid
DC-Link undervoltage (Error)
The DC link voltage of the terminal is lower than the parameterized minimum voltage. Activation of the output stage is prevented.
DC-Link overvoltage (Error)
The DC link voltage of the terminal is higher than the parameterized maximum voltage. Activation of the output stage is prevented.
I2T-Model Amplifier overload (Error)
· The amplifier is being operated outside the specification.
· The I2T-model of the amplifier is incorrectly parameterized.
I2T-Model motor overload (Error)
· The motor is being operated outside the parameterized rated values.
· The I2T-model of the motor is incorrectly parameterized.
Overall current threshold exceeded
Total current exceeded
Invalid modulo factor: %d
Modulo factor invalid
Motor overtemperature
The internal temperature of the motor exceeds the parameterized error threshold. The motor stops immediately. Activation of the output stage is prevented.
Maximum rotating field velocity Rotary field speed exceeds the value specified for dual
exceeded
use (EU 1382/2014).
STO while the axis was enabled An attempt was made to activate the axis, despite the fact that no voltage is present at the STO input.
Zero crossing phase %X missing Zero crossing phase %X missing
Version: 2.9
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Appendix
Text ID 0x8551 0x8552 0x8553 0x8581 0x8600 0x8601 0x8602 0x8603 0x8610 0x8611 0x8612 0x8613 0x8700 0x8701 0x8702
Type Error Error Error Error Error Error Error Error Error Error Error Error Error Error Error
Place Inputs Inputs Inputs Inputs General IO General IO General IO General IO General IO General IO General IO General IO
0x8703 0x8704
Error Error
0x8705 Error
0x8706 0x8707 0x8708 0x8709 0x870A 0x870B 0xFFFF
Error Error Error Error Error Error Information
Text Message
Additional comment
Phase sequence Error
Wrong direction of rotation
Overcurrent phase %X
Overcurrent phase %X
Overcurrent neutral wire
Overcurrent neutral wire
Wire broken Ch %D
Wire broken Ch %d
Wrong supply voltage range
Supply voltage not in the correct range
Supply voltage to low
Supply voltage too low
Supply voltage to high
Supply voltage too high
Over current of supply voltage Overcurrent of supply voltage
Wrong output voltage range
Output voltage not in the correct range
Output voltage to low
Output voltage too low
Output voltage to high
Output voltage too high
Over current of output voltage Overcurrent of output voltage
Channel/Interface not calibrated Channel/interface not synchronized
Operating time was manipulated Operating time was manipulated
Oversampling setting is not possi- Oversampling setting not possible ble
No slave controller found
No slave controller found
Slave controller is not in Bootstrap
Slave controller is not in bootstrap
Processor usage to high (>= 100%%)
Processor load too high (>= 100%%)
Channel in saturation
Channel in saturation
Channel overload
Channel overload
Overloadtime was manipulated Overload time was manipulated
Saturationtime was manipulated Saturation time was manipulated
Channel range error
Measuring range error for the channel
no ADC clock
No ADC clock available
Debug: 0x%X, 0x%X, 0x%X
Debug: 0x%X, 0x%X, 0x%X
7.3
Firmware compatibility
Beckhoff EtherCAT devices are delivered with the latest available firmware version. Compatibility of firmware and hardware is mandatory; not every combination ensures compatibility. The overview below shows the hardware versions on which a firmware can be operated.
Note
· It is recommended to use the newest possible firmware for the respective hardware.
· Beckhoff is not under any obligation to provide customers with free firmware updates for delivered products.
NOTE
Risk of damage to the device!
Pay attention to the instructions for firmware updates on the separate page [} 210]. If a 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 the firmware is suitable for the hardware version!
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209
Appendix
EL3632 Hardware (HW) 03 12*
Firmware 04 05
06 07 08 09 10 11 12
13*
Revision no. EL3632-0000-0016
EL3632-0000-0017
EL3632-0000-0018 EL3632-0000-0019
EL3632-0000-0020 EL3632-0000-0021 EL3632-0000-0022
EL3632-0000-0023
Release date 2011/10 2011/11 2012/11 2014/09 2014/09 2014/09 2015/05 2015/08 2016/03 2016/05 2016/05 2017/07 2018/09
*) This is the current compatible firmware/hardware version at the time of the preparing this documentation. Check on the Beckhoff web page whether more up-to-date documentation is available.
7.4
Firmware Update EL/ES/EM/ELM/EPxxxx
This section describes the device update for Beckhoff EtherCAT slaves from the EL/ES, ELM, EM, EK and EP series. A firmware update should only be carried out after consultation with Beckhoff support.
NOTE
Only use TwinCAT 3 software!
A firmware update of Beckhoff IO devices must only be performed with a TwinCAT 3 installation. It is recommended to build as up-to-date as possible, available for free download on the Beckhoff website https:// www.beckhoff.com/en-us/.
To update the firmware, TwinCAT can be operated in the so-called FreeRun mode, a paid license is not required.
The device to be updated can usually remain in the installation location, but TwinCAT has to be operated in the FreeRun. Please make sure that EtherCAT communication is trouble-free (no LostFrames etc.).
Other EtherCAT master software, such as the EtherCAT Configurator, should not be used, as they may not support the complexities of updating firmware, EEPROM and other device components.
Storage locations
An EtherCAT slave stores operating data in up to three locations:
· Depending on functionality and performance EtherCAT slaves have one or several local controllers for processing I/O data. The corresponding program is the so-called firmware in *.efw format.
· In some EtherCAT slaves the EtherCAT communication may also be integrated in these controllers. In this case the controller is usually a so-called FPGA chip with *.rbf firmware.
· In addition, each EtherCAT slave has a memory chip, a so-called ESI-EEPROM, for storing its own device description (ESI: EtherCAT 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 (https://www.beckhoff.com). All ESI files are accessible there as zip files.
Customers can access the data via the EtherCAT fieldbus and its communication mechanisms. Acyclic mailbox communication or register access to the ESC is used for updating or reading of these data.
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Version: 2.9
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Appendix
The TwinCAT System Manager offers mechanisms for programming all three 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 the data are unsuitable.
Simplified update by bundle firmware
The update using so-called bundle firmware is more convenient: in this case the controller firmware and the ESI description are combined in a *.efw file; during the update both the firmware and the ESI are changed in the terminal. For this to happen it is necessary
· for the firmware to be in a packed format: recognizable by the file name, which also contains the revision number, e.g. ELxxxx-xxxx_REV0016_SW01.efw
· for password=1 to be entered in the download dialog. If password=0 (default setting) only the firmware update is carried out, without an ESI update.
· for the device to support this function. The function usually cannot be retrofitted; it is a component of many new developments from year of manufacture 2016.
Following the update, its success should be verified · ESI/Revision: e.g. by means of an online scan in TwinCAT ConfigMode/FreeRun this is a convenient way to determine the revision · Firmware: e.g. by looking in the online CoE of the device
NOTE Risk of damage to the device!
ü Note the following when downloading new device files a) Firmware downloads to an EtherCAT device must not be interrupted b) Flawless EtherCAT communication must be ensured. CRC errors or LostFrames must be avoided. c) The power supply must adequately dimensioned. The signal level must meet the specification. ð In the event of malfunctions during the update process the EtherCAT device may become unusable and
require re-commissioning by the manufacturer.
7.4.1 Device description ESI file/XML
NOTE Attention regarding update of the ESI description/EEPROM
Some slaves have stored calibration and configuration data from the production in 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 consisting of slave name (9 characters/digits) and a revision number (4 digits). Each slave configured in the System Manager shows its identifier in the EtherCAT tab:
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Fig. 192: Device identifier consisting of name EL3204-0000 and 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 the configured revision must be the same or lower than that actually present in the terminal network. For further information on this, please refer to the EtherCAT system documentation.
Update of XML/ESI description
The device revision is closely linked to the firmware and hardware used. Incompatible combinations lead to malfunctions or even final shutdown of the device. Corresponding updates should only be carried out in consultation with Beckhoff support. Display of ESI slave identifier The simplest way to ascertain compliance of configured and actual device description is to scan the EtherCAT boxes in TwinCAT mode Config/FreeRun:
Fig. 193: Scan the subordinate field by right-clicking on the EtherCAT device If the found field matches the configured field, the display shows
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Fig. 194: Configuration is identical otherwise a change dialog appears for entering the actual data in the configuration.
Fig. 195: Change dialog
In this example in Fig. Change dialog, an EL3201-0000-0017 was found, while an EL3201-0000-0016 was configured. In this case the configuration can be adapted with the Copy Before button. The Extended Information checkbox must be set in order to display the revision.
Changing the ESI slave identifier
The ESI/EEPROM identifier can be updated as follows under TwinCAT: · Trouble-free EtherCAT communication must be established with the slave. · The state of the slave is irrelevant. · Right-clicking on the slave in the online display opens the EEPROM Update dialog, Fig. EEPROM Update
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Fig. 196: EEPROM Update
The new ESI description is selected 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. 197: Selecting the new ESI
A progress bar in the System Manager shows the progress. Data are first written, then verified.
The change only takes effect after a restart.
Most EtherCAT devices read a modified ESI description immediately or after startup from the INIT. Some communication settings such as distributed clocks are only read during power-on. The EtherCAT slave therefore has to be switched off briefly in order for the change to take effect.
7.4.2 Firmware explanation
Determining the firmware version
Determining the version on laser inscription
Beckhoff EtherCAT slaves feature serial numbers applied by laser. The serial number has the following structure: KK YY FF HH
KK - week of production (CW, calendar week) YY - year of production FF - firmware version HH - hardware version
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Example with ser. no.: 12 10 03 02:
12 - week of production 12 10 - year of production 2010 03 - firmware version 03 02 - hardware version 02
Determining the version via the System Manager
The TwinCAT System Manager shows the version of the controller firmware if the master can access 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
Two CoE directories are available: · online: This is offered in the EtherCAT slave by the controller, if the EtherCAT slave supports this. This CoE directory can only be displayed if a slave is connected and operational. · offline: The EtherCAT Slave Information ESI/XML may contain the default content of the CoE. This CoE directory can only be displayed if it is included in the ESI (e.g. "Beckhoff EL5xxx.xml"). The Advanced button must be used for switching between the two views.
In Fig. Display of EL3204 firmware version the firmware version of the selected EL3204 is shown as 03 in CoE entry 0x100A.
Fig. 198: Display of EL3204 firmware version
In (A) TwinCAT 2.11 shows that the Online CoE directory is currently displayed. If this is not the case, the Online directory can be loaded via the Online option in Advanced Settings (B) and double-clicking on AllObjects.
7.4.3 Updating controller firmware *.efw
CoE directory
The Online 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 slave, see Fig. Firmware Update.
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Fig. 199: Firmware Update Proceed as follows, unless instructed otherwise by Beckhoff support. Valid for TwinCAT 2 and 3 as EtherCAT master.
· Switch TwinCAT system to ConfigMode/FreeRun with cycle time >= 1 ms (default in ConfigMode is 4 ms). A FW-Update during real time operation is not recommended.
· Switch EtherCAT Master to PreOP
· Switch slave to INIT (A) · Switch slave to BOOTSTRAP
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· After the download switch to INIT, then PreOP · Switch off the slave briefly (don't pull under voltage!) · Check within CoE 0x100A, if the FW status was correctly overtaken.
7.4.4 FPGA firmware *.rbf
If an FPGA chip deals with the EtherCAT communication an 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 in the terminal serial number contains both firmware components. If one of these firmware components is modified this version number is updated. Determining the version via the System Manager The TwinCAT System Manager indicates the FPGA firmware version. Click on the Ethernet card of your EtherCAT strand (Device 2 in the example) and select the Online tab. The Reg:0002 column indicates the firmware version of the individual EtherCAT devices in hexadecimal and decimal representation.
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Fig. 200: FPGA firmware version definition
If the column Reg:0002 is not displayed, right-click the table header and select Properties in the context menu.
Fig. 201: Context menu Properties
The Advanced Settings dialog appears where the columns to be displayed can be selected. Under Diagnosis/Online View select the '0002 ETxxxx Build' check box in order to activate the FPGA firmware version display.
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Fig. 202: Dialog Advanced Settings Update For updating the FPGA firmware
· of an EtherCAT coupler the coupler must have FPGA firmware version 11 or higher; · of an E-Bus Terminal the 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 other specifications are given (e.g. by the Beckhoff support): · Switch TwinCAT system to ConfigMode/FreeRun with cycle time >= 1 ms (default in ConfigMode is
4 ms). A FW-Update during real time operation is not recommended.
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· In the TwinCAT System 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 appears. Under ESC Access/E²PROM/FPGA click on Write FPGA button:
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· Wait until download ends · Switch slave current less for a short time (don't pull under voltage!). In order to activate the new FPGA
firmware a restart (switching the power supply off and on again) of the EtherCAT device is required. · Check the new FPGA status
NOTE Risk of damage 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 EtherCAT device can only be recommissioned by the manufacturer!
7.4.5 Simultaneous updating of several EtherCAT devices
The firmware and ESI descriptions of several devices can be updated simultaneously, provided the devices have the same firmware file/ESI.
Fig. 203: Multiple selection and firmware update Select the required slaves and carry out the firmware update in BOOTSTRAP mode as described above.
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7.5
Restoring the delivery state
To restore the delivery state for backup objects in ELxxxx terminals, the CoE object Restore default parameters, SubIndex 001 can be selected in the TwinCAT System Manager (Config mode) (see Fig. Selecting the Restore default parameters PDO)
Fig. 204: Selecting the Restore default parameters PDO
Double-click on SubIndex 001 to enter the Set Value dialog. Enter the value 1684107116 in field Dec or the value 0x64616F6C in field Hex and confirm with OK (Fig. Entering a restore value in the Set Value dialog). All backup objects are reset to the delivery state.
Fig. 205: Entering a restore value in the Set Value dialog
Alternative restore value
In some older terminals the backup objects can be switched with an alternative restore value: Decimal value: 1819238756, Hexadecimal value: 0x6C6F6164An incorrect entry for the restore value has no effect.
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7.6
Support and Service
Beckhoff and their partners around the world offer comprehensive support and service, making available fast and competent assistance with all questions related to Beckhoff products and system solutions.
Beckhoff's branch offices and representatives
Please contact your Beckhoff branch office or representative for local support and service on Beckhoff products!
The addresses of Beckhoff's branch offices and representatives round the world can be found on her internet pages: https://www.beckhoff.com
You will also find further documentation for Beckhoff components there.
Beckhoff Support
Support offers you comprehensive technical assistance, helping you not only with the application of individual Beckhoff products, but also with other, wide-ranging services:
· support · design, programming and commissioning of complex automation systems · and extensive training program for Beckhoff system components
Hotline: Fax: e-mail:
+49 5246 963 157 +49 5246 963 9157 support@beckhoff.com
Beckhoff Service
The Beckhoff Service Center supports you in all matters of after-sales service: · on-site service · repair service · spare parts service · hotline service
Hotline: Fax: e-mail:
+49 5246 963 460 +49 5246 963 479 service@beckhoff.com
Beckhoff Headquarters
Beckhoff Automation GmbH & Co. KG
Huelshorstweg 20 33415 Verl Germany
Phone: Fax: e-mail: web:
+49 5246 963 0 +49 5246 963 198 info@beckhoff.com https://www.beckhoff.com
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More Information: www.beckhoff.com/EL3632
Beckhoff Automation GmbH & Co. KG Hülshorstweg 20 33415 Verl Germany Phone: +49 5246 9630 info@beckhoff.com www.beckhoff.com
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