Foreword EL515x Version: 3.89 1.3Safety 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,
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 ...
Documentation | EN
EL515x
Incremental Encoder Interface
2021-03-01 | Version: 3.8
Table of contents
Table of contents
1 Foreword .................................................................................................................................................... 7 1.1 Product overview: incremental encoder interface.............................................................................. 7 1.2 Notes on the documentation.............................................................................................................. 7 1.3 Safety instructions ............................................................................................................................. 9 1.4 Documentation issue status ............................................................................................................ 10 1.5 Version identification of EtherCAT devices ..................................................................................... 12 1.5.1 Beckhoff Identification Code (BIC)................................................................................... 14
2 EL5151-0000 - Product description........................................................................................................ 16 2.1 Introduction ...................................................................................................................................... 16 2.2 Technical data ................................................................................................................................. 17
3 EL5151-0021 - Product description........................................................................................................ 18 3.1 Introduction ...................................................................................................................................... 18 3.2 Technical data ................................................................................................................................. 19
4 EL5151-0090 - Product description........................................................................................................ 20 4.1 Introduction ...................................................................................................................................... 20 4.2 Technical data ................................................................................................................................. 21
5 EL5152 - Product description ................................................................................................................. 22 5.1 Introduction ...................................................................................................................................... 22 5.2 Technical data ................................................................................................................................. 23
6 Overview EL515x series.......................................................................................................................... 24
7 Technology............................................................................................................................................... 25 7.1 Basics incremental encoder ............................................................................................................ 25 7.2 Digital inputs .................................................................................................................................... 26
8 Basics communication ........................................................................................................................... 27 8.1 EtherCAT basics.............................................................................................................................. 27 8.2 EtherCAT cabling wire-bound....................................................................................................... 27 8.3 General notes for setting the watchdog ........................................................................................... 28 8.4 EtherCAT State Machine ................................................................................................................. 30 8.5 CoE Interface................................................................................................................................... 32 8.6 Distributed Clock ............................................................................................................................. 37
9 Mounting and wiring................................................................................................................................ 38 9.1 Instructions for ESD protection ........................................................................................................ 38 9.2 Installation on mounting rails ........................................................................................................... 38 9.3 Installation instructions for enhanced mechanical load capacity ..................................................... 42 9.4 Connection ...................................................................................................................................... 42 9.4.1 Connection system .......................................................................................................... 42 9.4.2 Wiring............................................................................................................................... 45 9.4.3 Shielding .......................................................................................................................... 46 9.5 Installation positions ........................................................................................................................ 47 9.6 Positioning of passive Terminals ..................................................................................................... 49 9.7 ATEX - Special conditions (extended temperature range) .............................................................. 50 9.8 IECEx - Special conditions .............................................................................................................. 51
EL515x
Version: 3.8
3
Table of contents
9.9 Continuative documentation for ATEX and IECEx .......................................................................... 52 9.10 cFMus - Special conditions.............................................................................................................. 53 9.11 Continuative documentation for cFMus ........................................................................................... 54 9.12 UL notice ......................................................................................................................................... 54 9.13 EL5151-00x0 - LEDs and pin assignment ....................................................................................... 55 9.14 EL5151-0021 - LEDs and pin assignment ....................................................................................... 56 9.15 EL5152 - LEDs and pin assignment ................................................................................................ 57
10 Commissioning........................................................................................................................................ 58 10.1 TwinCAT Quick Start ....................................................................................................................... 58 10.1.1 TwinCAT 2 ....................................................................................................................... 61 10.1.2 TwinCAT 3 ....................................................................................................................... 71 10.2 TwinCAT Development Environment .............................................................................................. 84 10.2.1 Installation of the TwinCAT real-time driver..................................................................... 85 10.2.2 Notes regarding ESI device description........................................................................... 90 10.2.3 TwinCAT ESI Updater ..................................................................................................... 94 10.2.4 Distinction between Online and Offline............................................................................ 94 10.2.5 OFFLINE configuration creation ...................................................................................... 95 10.2.6 ONLINE configuration creation ...................................................................................... 100 10.2.7 EtherCAT subscriber configuration................................................................................ 108 10.2.8 Import/Export of EtherCAT devices with SCI and XTI ................................................... 117 10.3 General Notes - EtherCAT Slave Application ................................................................................ 123 10.4 EL5151, EL5152 - Operating modes and settings ........................................................................ 131 10.4.1 Process data.................................................................................................................. 131 10.4.2 Operating modes ........................................................................................................... 135 10.4.3 Settings via the CoE directory ....................................................................................... 137 10.4.4 Explanatory notes for parameters and modes............................................................... 139 10.5 EL5151-0021 - Settings ................................................................................................................. 145 10.5.1 Parameterization............................................................................................................ 145 10.5.2 Process data.................................................................................................................. 146 10.5.3 Settings via the CoE directory ....................................................................................... 147 10.5.4 Notes on the parameters ............................................................................................... 149 10.6 EL5151-0090 ................................................................................................................................. 157 10.6.1 TwinSAFE SC................................................................................................................ 157 10.6.2 TwinSAFE SC process data EL5151-0090.................................................................... 161 10.7 EL5151 - CoE object description ................................................................................................... 162 10.7.1 Restore object ............................................................................................................... 162 10.7.2 Configuration data ......................................................................................................... 163 10.7.3 Input data....................................................................................................................... 164 10.7.4 Output data .................................................................................................................... 164 10.7.5 Standard objects (0x1000-0x1FFF) ............................................................................... 165 10.8 EL5151-0021 - CoE object decription............................................................................................ 172 10.8.1 Restore object ............................................................................................................... 172 10.8.2 Configuration data ......................................................................................................... 173 10.8.3 Input data....................................................................................................................... 174 10.8.4 Output data .................................................................................................................... 175 10.8.5 Standard objects (0x1000-0x1FFF) ............................................................................... 175
4
Version: 3.8
EL515x
Table of contents
10.9 EL5151-0090 - CoE object description .......................................................................................... 180 10.9.1 Restore object ............................................................................................................... 180 10.9.2 Configuration data ......................................................................................................... 181 10.9.3 Input data....................................................................................................................... 182 10.9.4 Output data .................................................................................................................... 182 10.9.5 Standard objects (0x1000-0x1FFF) ............................................................................... 183 10.9.6 Objects TwinSAFE Single Channel (EL5151-0090) ...................................................... 190
10.10 EL5152 - CoE object description ................................................................................................... 191 10.10.1 Restore object................................................................................................................ 192 10.10.2 Configuration data ......................................................................................................... 192 10.10.3 Input data....................................................................................................................... 193 10.10.4 Output data .................................................................................................................... 193 10.10.5 Standard objects............................................................................................................ 193
10.11 NC - Configuration ......................................................................................................................... 202 10.12 Distributed Clocks (DC) settings.................................................................................................... 205
11 Appendix ................................................................................................................................................ 209 11.1 EtherCAT AL Status Codes ........................................................................................................... 209 11.2 Firmware compatibility ................................................................................................................... 209 11.3 Firmware Update EL/ES/EM/ELM/EPxxxx .................................................................................... 210 11.3.1 Device description ESI file/XML..................................................................................... 211 11.3.2 Firmware explanation .................................................................................................... 214 11.3.3 Updating controller firmware *.efw................................................................................. 215 11.3.4 FPGA firmware *.rbf....................................................................................................... 217 11.3.5 Simultaneous updating of several EtherCAT devices.................................................... 221 11.4 Restoring the delivery state ........................................................................................................... 222 11.5 Support and Service ...................................................................................................................... 223
EL515x
Version: 3.8
5
Table of contents
6
Version: 3.8
EL515x
1
Foreword
Foreword
1.1
Product overview: incremental encoder interface
EL5151 [} 16] EL5151-0021 [} 18] EL5151-0090 [} 20] EL5152 [} 22]
1-channel incremental encoder interface 1-channel incremental encoder interface, 24 VDC output 1-channel incremental encoder interface, TwinSAFE Single Channel 2-channel incremental encoder interface
1.2
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.
EL515x
Version: 3.8
7
Foreword
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.
8
Version: 3.8
EL515x
Foreword
1.3
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.
EL515x
Version: 3.8
9
Foreword
1.4
Version 3.8
3.7 3.6 3.5 3.4 3.3 3.2 3.1 3.0
Documentation issue status
Comment · New Title page · Update Technical data · Chapter "Overview EL515x series" added · Update chapter "ATEX - Special conditions (extended temperature range) · Chapter "IECEx - Special conditions" and "cFMus - Special conditions" · Note "Fast digital inputs - interference from interfering devices" added · Update structures · Update revision status · Update Title page · Update chapter "Parameterization of the 24 V Output" · Update structure · Update revision status · Update chapter "UL notice" · Update chapter "Technical data" · Update chapter "Firmware compatibility" · Update structure · Update Technical data · Update chapter "TwinSAFE SC" · Update revision status · Update structure · EL5151-0090 added · Update chapter "Workpiece measurement" and "Parameterization of the 24 V Output" · Update structure · Update chapter "Technical data" · Update revision status · Update structure · Update chapter "Technical data" · Addenda chapter "Instructions for ESD protection" · Chapter "ATEX - Special conditions" replaced with chapter "ATEX - Special conditions (extended temperature range)" · Update chapter "Notes on the documentation" · EL5151-0021 added · Correction: section "Explanatory notes for parameters and modes", "Technical data" · Update chapter "TwinCAT 2.1x" -> "TwinCAT Development Environment" and "TwinCAT Quick Start" · Corrections and additions · Update structure · 1st publication in PDF format
10
Version: 3.8
EL515x
Version 2.9
2.8
2.7 2.6 2.5 2.4 2.3 2.2 2.1 2.0 1.0 0.2 0.1
Comment · Update chapter "Technical data" · Added chapter "Installation instructions for enhanced mechanical load capacity" · Update structure · Update revision status · "Technical data" section updated · Revision update · Structural update · Corrections and additions: Technical data and Process data section · Structural adaptation, corrections to Technical data section · Corrections to object directory · EL5152 amended · Technical data corrected (CoE objects), operating modes supplemented · Technical data corrected (CoE objects), operating modes supplemented · Technical data corrected (CoE objects), operating modes supplemented · Technical data corrected (CoE objects), operating modes supplemented · Technical data corrected, first publication · Technical data corrected · provisional documentation for EL5151
Foreword
EL515x
Version: 3.8
11
Foreword
1.5
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
12
Version: 3.8
EL515x
Foreword Example with Ser. no.: 12063A02: 12 - production week 12 06 - production year 2006 3A - firmware version 3A 02 hardware version 02 Examples of markings
Fig. 1: EL5021 EL terminal, standard IP20 IO device with serial/ batch number and revision ID (since 2014/01)
Fig. 2: EK1100 EtherCAT coupler, standard IP20 IO device with serial/ batch number
Fig. 3: EL3202-0020 with serial/ batch number 26131006 and unique ID-number 204418
EL515x
Version: 3.8
13
Foreword
1.5.1 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. 4: 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:
14
Version: 3.8
EL515x
Foreword
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.
EL515x
Version: 3.8
15
EL5151-0000 - Product description
2
EL5151-0000 - Product description
2.1
Introduction
Fig. 5: EL5151
Incremental encoder interface, 24 V HTL, 100 kHz
The EL5151 EtherCAT Terminal is an interface with 24 V inputs for the direct connection of incremental encoders. A 32 bit counter with a quadrature decoder and a 32 bit latch for the zero pulse can be read, set or enabled.
The measurement of period and frequency is possible. The gate input allows the locking of the counter, selectively with a high or low level. The latch input is similarly configurable and evaluates high or low levels.
From FW 02 the EL5151 supports distributed clocks, i.e. the input data can be synchronously acquired with other data that are similarly connected, distributed to distributed clock terminals. The universal system accuracy is around < 100 ns.
With a moving axis, the micro-increment functionality offers 256 times higher axis position resolution than physically provided by the encoder.
The EL5151 can also be used as a single-channel 32/16 bit counter on channel A, in which case the signal level on channel B defines the count direction.
Quick links · EtherCAT function principles · Mounting and wiring [} 38] · Commissioning [} 58] · Operating modes and settings [} 131]
16
Version: 3.8
EL515x
EL5151-0000 - Product description
2.2
Technical data
Encoder Technology Sensor inputs Encoder connection Encoder operating voltage Signal voltage "0" (inputs A, B, C, gate/latch) Signal voltage "1" (inputs A, B, C, gate/latch) Counter Limit frequency Quadrature decoder
EL5151-0000 Incremental encoder interface, HTL 24 VDC 1 A, B, C, gate/latch input, 24 V 24 V (-15 %/+20 %), (generated from the 24 VDC power contacts) 0 V .. 5 V (EN 61131-2, type 1)
15 V .. 30 V (EN 61131-2, type 1)
1 x 32/16-bit binary, switchable max. 400,000 increments/s with 4-fold evaluation), corresponds to 100 kHz 4-fold evaluation
Function and communication Timestamp [} 133] resolution Timestamp accuracy Distributed Clocks
Supports NoCoeStorage [} 33] function Configuration Special features
EL5151-0000 1 ns
100 ns yes (from Firmware 02 [} 209]) yes (from Firmware 02 [} 209]) via TwinCAT System Manager gate or latch function, microincrements, timestamping of edges, period duration and frequency measurement, up/down counters
Supply and potentials Power supply for electronic Supply voltage Current consumption from the E-bus Current consumption from the power contacts Electrical isolation
EL5151-0000 via the E-Bus 24 VDC (-15 %/+20 %) typ. 130 mA 0.1 A (excluding sensor load current)
500 V (E-bus/field voltage)
Environmental conditions
Permissible ambient temperature range during operation
Permissible ambient temperature range during storage
Permissible relative humidity
EL5151-0000 -25 °C ... +60 °C (extended temperature range)
-40 °C ... +85 °C
95%, no condensation
General data Weight Dimensions (W x H x D) Mounting [} 38] Installation position
EL5151-0000 approx. 50 g approx. 15 mm x 100 mm x 70 mm (width aligned: 12 mm) on 35 mm mounting rail conforms to EN 60715 variable
Standards and approvals Vibration/shock resistance
EMC immunity/emission Protection class Approval Ex marking
EL5151-0000 according to EN 60068-2-6/EN 60068-2-27, see also Installation instructions [} 42] for terminals with increased mechanical load capacity conforms to EN 61000-6-2 / EN 61000-6-4 IP20 CE, ATEX [} 50], cULus [} 54] II 3 G Ex nA IIC T4 Gc
EL515x
Version: 3.8
17
EL5151-0021 - Product description
3
EL5151-0021 - Product description
3.1
Introduction
Fig. 6: EL5151-0021
Incremental encoder interface, 24 V HTL, 100 kHz, with parameterizable 24 V DC output
The EL5151-0021 EtherCAT Terminal is an interface with 24 V inputs for the direct connection of incremental encoders. A 32 bit counter with a quadrature decoder and a 32 bit latch for the zero pulse can be read, set or enabled. The latch input allows the saving of the counter value, selectively on a high or low level. For workpiece measurement the counter values are acquired on positive and / or negative edges at the latch input and saved as 32-bit values. The 24 V output can be set manually or via the compare function. The EL5151-0021 can also be used as a single-channel 32 bit counter on channel A, in which case the signal level on channel B defines the count direction.
Quick links · EtherCAT function principles · Mounting and wiring [} 38] · Commissioning [} 58] · Operating modes and settings [} 145]
18
Version: 3.8
EL515x
EL5151-0021 - Product description
3.2
Technical data
Encoder Technology Sensor inputs Encoder connection Encoder operating voltage Signal voltage "0" (inputs A, B, C, gate/latch) Signal voltage "1" (inputs A, B, C, gate/latch) Counter Limit frequency Quadrature decoder
EL5151-0021 Incremental encoder interface, HTL 24 VDC 1 A, B, C, latch input, 24 V 24 V (-15 %/+20 %), (generated from the 24 VDC power contacts) 0 V .. 5 V (EN 61131-2, type 1)
15 V .. 30 V (EN 61131-2, type 1)
1 x 32 bit binary max. 400,000 increments/s with 4-fold evaluation), corresponds to 100 kHz 4-fold evaluation
Digital output Number of output Rated voltage of the output Output current Switching times
EL5151-0021 1 24 VDC (-15% / +20%) Max. 0.5 A (short-circuit-proof) TON: 15 µs typ.,TOFF: 20 µs typ.
Function and communication Distributed Clocks Supports NoCoeStorage [} 33] function Configuration Special features
EL5151-0021 no yes via TwinCAT System Manager Latch function, parameterizable output 24 VDC (compare function), workpiece measurement
Supply and potentials Power supply for electronic Supply voltage Current consumption from the E-bus Current consumption from the power contacts Electrical isolation
EL5151-0021 via the E-Bus 24 VDC (-15 %/+20 %) typ. 130 mA 0.1 A (excluding sensor load current)
500 V (E-bus/field voltage)
Environmental conditions
Permissible ambient temperature range during operation
Permissible ambient temperature range during storage
Permissible relative humidity
EL5151-0021 -25 °C ... +60 °C (extended temperature range)
-40 °C ... +85 °C
95%, no condensation
General data Weight Dimensions (W x H x D) Mounting [} 38] Installation position
EL5151-0021 approx. 50 g approx. 15 mm x 100 mm x 70 mm (width aligned: 12 mm) on 35 mm mounting rail conforms to EN 60715 variable
Standards and approvals Vibration/shock resistance
EMC immunity/emission Protection class Approval
EL5151-0021 according to EN 60068-2-6/EN 60068-2-27, see also Installation instructions [} 42] for terminals with increased mechanical load capacity conforms to EN 61000-6-2 / EN 61000-6-4 IP20 CE, cULus [} 54]
EL515x
Version: 3.8
19
EL5151-0090 - Product description
4
EL5151-0090 - Product description
4.1
Introduction
Fig. 7: EL5151-0090
Incremental encoder interface, 24 V HTL, 100 kHz, TwinSAFE SC
The EL5151-0090 EtherCAT terminal supports the full functionality of the EL5151-0000. The EtherCAT Terminal is an interface with 24 V inputs for the direct connection of incremental encoders. A 32 bit counter with a quadrature decoder and a 32 bit latch for the zero pulse can be read, set or enabled. The measurement of period and frequency is possible. The gate input allows the locking of the counter, selectively with a high or low level. The latch input is similarly configurable and evaluates high or low levels.
The EL5151-0090 supports distributed clocks, i.e. the input data can be synchronously acquired with other data that are similarly connected, distributed to distributed clock terminals. The universal system accuracy is around < 100 ns.
With a moving axis, the micro-increment functionality offers 256 times higher axis position resolution than physically provided by the encoder.
The EL5151-0090 can also be used as a single-channel 32/16 bit counter on channel A, in which case the signal level on channel B defines the count direction.
Additionally the EL5151-0090 supports TwinSAFE SC (TwinSAFE Single Channel) technology. This enables the use of standard signals for safety tasks in any networks of fieldbuses.
Quick links
EtherCAT function principles Mounting and wiring [} 38] Commissioning [} 58] Operating modes and settings [} 145]
EL5151-0090 - TwinSAFE SC process data [} 161] EL5151-0090 - Objects TwinSAFE Single Channel [} 190] EL5151-0090 - CoE object description [} 180]
20
Version: 3.8
EL515x
EL5151-0090 - Product description
4.2
Technical data
Encoder Technology Sensor inputs Encoder connection Encoder operating voltage Signal voltage "0" (inputs A, B, C, gate/latch) Signal voltage "1" (inputs A, B, C, gate/latch) Counter Limit frequency Quadrature decoder
EL5151-0090 Incremental encoder interface, HTL 24 VDC 1 A, B, C, gate/latch input, 24 V 24 V (-15 %/+20 %), (generated from the 24 VDC power contacts) 0 V .. 5 V (EN 61131-2, type 1)
15 V .. 30 V (EN 61131-2, type 1)
1 x 32/16-bit binary, switchable max. 400,000 increments/s with 4-fold evaluation), corresponds to 100 kHz 4-fold evaluation
Function and communication Timestamp [} 133] resolution Timestamp accuracy Distributed Clocks Supports NoCoeStorage [} 33] function Configuration Special features
EL5151-0090 1 ns
100 ns yes yes
via TwinCAT System Manager TwinSAFE SC, gate or latch function, microincrements, timestamping of edges, period duration and frequency measurement, up/down counters
Supply and potentials Power supply for electronic Supply voltage Current consumption from the E-bus Current consumption from the power contacts Electrical isolation
EL5151-0090 via the E-Bus 24 VDC (-15 %/+20 %) typ. 130 mA 0.1 A (excluding sensor load current)
500 V (E-bus/field voltage)
Environmental conditions
Permissible ambient temperature range during operation
Permissible ambient temperature range during storage
Permissible relative humidity
EL5151-0090 -25 °C ... +60 °C (extended temperature range)
-40 °C ... +85 °C
95%, no condensation
General data MTBF (+55°C) Weight Dimensions (W x H x D) Mounting [} 38] Installation position
EL5151-0090 > 1,490,000 h approx. 50 g approx. 15 mm x 100 mm x 70 mm (width aligned: 12 mm) on 35 mm mounting rail conforms to EN 60715 variable
Standards and approvals Vibration/shock resistance EMC immunity/emission Protection class Approval Ex marking
EL5151-0090 according to EN 60068-2-6/EN 60068-2-27 conforms to EN 61000-6-2 / EN 61000-6-4 IP20 CE, ATEX [} 50], cULus [} 54] II 3 G Ex nA IIC T4 Gc
EL515x
Version: 3.8
21
EL5152 - Product description
5
EL5152 - Product description
5.1
Introduction
Fig. 8: EL5152
Incremental encoder interface, 24 V HTL, 100 kHz
Two 32-bit counters with quadrature encoder can be read and set with the EL5152. The EL5152 supports the synchronous reading of the encoder value, together with other input data, into the EtherCAT system via high precision EtherCAT Distributed Clocks (DC).
The measurement of period and frequency is possible.
With a moving axis, the micro-increment functionality offers 256 times higher axis position resolution than physically provided by the encoder.
The EL5152 can also be used as a single-channel 32/16-bit counter on channels A1 and A2; the levels on channels B1 and B2 then set the counting direction.
Quick links · EtherCAT function principles · Mounting and wiring [} 38] · Commissioning [} 58] · Operating modes and settings [} 131]
22
Version: 3.8
EL515x
EL5152 - Product description
5.2
Technical data
Encoder Technology Sensor inputs Encoder connection Encoder operating voltage Signal voltage "0" (inputs A, B, C, gate/latch) Signal voltage "1" (inputs A, B, C, gate/latch) Counter Limit frequency Quadrature decoder
EL5152 Incremental encoder interface, HTL 24 VDC 2 A1, B1, A2, B2, 24 V 24 V (-15 %/+20 %), (generated from the 24 VDC power contacts) 0 V .. 5 V (EN 61131-2, type 1)
15 V .. 30 V (EN 61131-2, type 1)
2 x 32/16-bit binary, switchable max. 400,000 increments/s with 4-fold evaluation), corresponds to 100 kHz 4-fold evaluation
Function and communication Distributed Clocks Supports NoCoeStorage [} 33] function Configuration Special features
EL5152 yes yes via TwinCAT System Manager microincrements, period duration and frequency measurement, up/down counters
Supply and potentials Power supply for electronic Supply voltage Current consumption from the E-bus Current consumption from the power contacts Electrical isolation
EL5152 via the E-Bus 24 VDC (-15 %/+20 %) typ. 130 mA 0.1 A (excluding sensor load current)
500 V (E-bus/field voltage)
Environmental conditions
Permissible ambient temperature range during operation
Permissible ambient temperature range during storage
Permissible relative humidity
EL5152 -25 °C ... +60 °C (extended temperature range)
-40 °C ... +85 °C
95%, no condensation
General data Weight Dimensions (W x H x D) Mounting [} 38] Installation position
EL5152 approx. 50 g approx. 15 mm x 100 mm x 70 mm (width aligned: 12 mm) on 35 mm mounting rail conforms to EN 60715 variable
Standards and approvals Vibration/shock resistance
EMC immunity/emission Protection class Approval Ex marking
EL5152
according to EN 60068-2-6/EN 60068-2-27, see also Installation instructions [} 42] for terminals with increased mechanical load capacity
conforms to EN 61000-6-2 / EN 61000-6-4
IP20
CE, ATEX [} 50], cULus [} 54], IECEx [} 51], cFMus [} 53]
ATEX: II 3 G Ex nA IIC T4 Gc
IECEx: Ex nA IIC T4 Gc Ex tc IIIC T135 °C Dc
cFMus: Class I, Division 2, Groups A, B, C, D Class I, Zone 2, AEx ec IIC T4 Gc
EL515x
Version: 3.8
23
Overview EL515x series
6
Overview EL515x series
Technical data Technology Sensor inputs Encoder connection
Encoder operating voltage Signal voltage "0" (inputs A, B, C, gate/latch) Signal voltage "1" (inputs A, B, C, gate/latch) Counter
Limit frequency Quadrature decoder Parameterizable output 24 VDC (compare function) Rated voltage of the output Output current
Switching times
Timestamp [} 133] resolution Timestamp accuracy Distributed Clocks
TwinSAFE Single Channel
EL5151-0000
EL5151-0021
EL5151-0090
Incremental encoder interface, HTL 24 VDC 1
A, B, C, gate/ latch input
A, B, C, latch input
A, B, C, gate/ latch input
24 V (-15 %/+20 %), (generated from the 24 VDC power contacts) 0 V.. 5 V (EN 61131-2, type 1)
15 V.. 30 V (EN 61131-2, type 1)
1 x 32/16-bit binary, switchable
1 x 32-bit binary
1 x 32/16-bit binary, switchable
max. 400,000 increments/s with 4-fold evaluation), corresponds to 100 kHz
4-fold evaluation
-
1
-
-
-
1 ns 100 ns yes (from Firmware 02 [} 209]) no
24 VDC (-15% / +20%) -
max. 0.5 A
-
(short-circuit-proof)
TON: 15 µs typ., TOFF: 20 µs typ.
-
1 ns
-
100 ns
no
yes
no
yes
EL5152-0000 2 A1, B1, A2, B2
2 x 32/16-bit binary, switchable
yes no
Functions Gate- or latch function Microincrements Timestamping of edges Period duration and frequency measurement Up/Down counters Workpiece measurement Compare function
EL5151-0000 yes yes yes yes
yes no no
EL5151-0021 latch function no no no
no yes yes
EL5151-0090 yes yes yes yes
yes no no
EL5152-0000 no yes no yes
yes no no
24
Version: 3.8
EL515x
7
Technology
Technology
7.1
Basics incremental encoder
The terminal acquires the 90° phase-shifted digital output signal of an incremental encoder on channels A and B. The zero pulse is acquired on channel C. These signals are converted into a position value with quadruple evaluation with the aid of the quadrature encoder and the 32-bit counter. The latch and reset functions enable the exact referencing and saving of the counter value, irrespective of the speed.
Incremental encoders divide a 360° rotation of the encoder axis into individual steps (increments) and mark a full revolution by means of a special mark (zero pulse). The phase angle between the signals on channels A and B sets the counting direction. Up: signal on channel A leads signal on channel B by 90° Down: signal on channel A lags signal on channel B by 90°
In case of single evaluation, the positive edges on channel A are counted. In case of quadruple evaluation, the positive and negative edges on channel A and channel B are counted.
Fig. 9: Quadrature decoder
Whereas absolute value encoders deliver an absolute and unambiguous position value over the complete travel path directly after switching on, it is necessary with incremental encoders to perform a reference run (homing) after switching on in order to be able to determine an unambiguous position. Referencing can be carried out, for example, with the aid of reference cams or using the zero pulse of the encoder.
EL515x
Version: 3.8
25
Technology
7.2
Digital inputs
The terminal provides the 24 VDC inputs (A, B, C, gate/latch). The function of these inputs can be found in chapter "Explanatory notes for parameters" of the respective terminals.
EL1515-0000, EL5151-0090, EL5152 [} 139]
EL5151-0021 [} 149]
The inputs are type 1 inputs according to EN61131-2.
Digital input type 1, according to EN61131-2 Voltage [V]
Signal voltage "0 - LOW"
-3 V ... +5 V typ.
Signal voltage "1 - HIGH"
15 V ... 30 V typ.
Input current [mA] 0 mA ... 2.6 mA typ. 5 mA typ.
Fig. 10: Characteristic input 24 VDC type1
NOTE
Fast digital inputs interference from interfering devices
Please note that the input wiring has very little filtering. It has been optimized for fast signal transmission from the input to the evaluation unit. In other words, rapid level changes/pulses in the µs range and/or highfrequency interference signals from devices (e.g. proportional valves, stepper motor or DC motor output stages) arrive at the evaluation unit almost unfiltered/unattenuated. These interferences can be incorrectly detected as a signal.
To suppress interference, an additional input filter can be parameterized. Furthermore, EMC-compliant cabling and the use of separate power supply units for the terminal and the devices causing interference are recommended.
26
Version: 3.8
EL515x
8
Basics communication
Basics communication
8.1
EtherCAT basics
Please refer to the EtherCAT System Documentation for the EtherCAT fieldbus basics.
8.2
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.
EL515x
Version: 3.8
27
Basics communication
Fig. 11: 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!
8.3
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.
28
Version: 3.8
EL515x
Basics communication
Fig. 12: 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.
EL515x
Version: 3.8
29
Basics communication
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.
8.4
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.
30
Version: 3.8
EL515x
Basics communication
Fig. 13: 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 [} 28] 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.
EL515x
Version: 3.8
31
Basics communication
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.
8.5
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:
32
Version: 3.8
EL515x
Basics communication
Fig. 14: "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.
EL515x
Version: 3.8
33
Basics communication
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. 15: 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.
34
Version: 3.8
EL515x
Basics communication
Fig. 16: 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. 17: Online list
EL515x
Version: 3.8
35
Basics communication
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.
36
Version: 3.8
EL515x
Basics communication
8.6
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.
EL515x
Version: 3.8
37
Mounting and wiring
9
Mounting and wiring
9.1
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. 18: Spring contacts of the Beckhoff I/O components
9.2
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!
38
Version: 3.8
EL515x
Assembly
Mounting and wiring
Fig. 19: 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).
EL515x
Version: 3.8
39
Mounting and wiring Disassembly
Fig. 20: 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.
40
Version: 3.8
EL515x
Mounting and wiring
Fig. 21: 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!
EL515x
Version: 3.8
41
Mounting and wiring
9.3
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
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.
9.4
Connection
9.4.1 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.
42
Version: 3.8
EL515x
Mounting and wiring
· 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. 22: 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. Pluggable wiring (ESxxxx / KSxxxx)
Fig. 23: 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.
EL515x
Version: 3.8
43
Mounting and wiring
High Density Terminals (HD Terminals)
Fig. 24: 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!
44
Version: 3.8
EL515x
Mounting and wiring
9.4.2 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. 25: 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 [} 44]) 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.
EL515x
Version: 3.8
45
Mounting and wiring
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
9.4.3 Shielding
Shielding
Encoder, analog sensors and actors should always be connected with shielded, twisted paired wires.
46
Version: 3.8
EL515x
Mounting and wiring
9.5
Installation positions
NOTE
Constraints regarding installation position and operating temperature range
Please refer to the technical data for a terminal to ascertain whether any restrictions regarding the installation position and/or the operating temperature range have been specified. When installing high power dissipation terminals ensure that an adequate spacing is maintained between other components above and below the terminal in order to guarantee adequate ventilation!
Optimum installation position (standard)
The optimum installation position requires the mounting rail to be installed horizontally and the connection surfaces of the EL/KL terminals to face forward (see Fig. Recommended distances for standard installation position). The terminals are ventilated from below, which enables optimum cooling of the electronics through convection. "From below" is relative to the acceleration of gravity.
Fig. 26: Recommended distances for standard installation position
Compliance with the distances shown in Fig. Recommended distances for standard installation position is recommended.
Other installation positions All other installation positions are characterized by different spatial arrangement of the mounting rail - see Fig Other installation positions. The minimum distances to ambient specified above also apply to these installation positions.
EL515x
Version: 3.8
47
Mounting and wiring
Fig. 27: Other installation positions
48
Version: 3.8
EL515x
Mounting and wiring
9.6
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. 28: Correct positioning
Fig. 29: Incorrect positioning
EL515x
Version: 3.8
49
Mounting and wiring
9.7
ATEX - Special conditions (extended temperature
range)
WARNING
Observe the special conditions for the intended use of Beckhoff fieldbus components with extended temperature range (ET) 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 -25 to 60°C for the use of Beckhoff fieldbus components with extended temperature range (ET) 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)
Marking The Beckhoff fieldbus components with extended temperature range (ET) certified according to the ATEX directive for potentially explosive areas bear the following marking:
II 3G KEMA 10ATEX0075 X Ex nA IIC T4 Gc Ta: -25 ... +60°C II 3D KEMA 10ATEX0075 X Ex tc IIIC T135°C Dc Ta: -25 ... +60°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: -25 ... +60°C II 3D KEMA 10ATEX0075 X Ex tc IIIC T135°C Dc Ta: -25 ... +60°C (only for fieldbus components of certificate no. KEMA 10ATEX0075 X Issue 9)
50
Version: 3.8
EL515x
Mounting and wiring
9.8
IECEx - Special conditions
WARNING
Observe the special conditions for the intended use of Beckhoff fieldbus components in potentially explosive areas!
· For gas: The equipment shall be installed in a suitable enclosure providing a degree of protection of IP54 according to IEC 60079-15, taking into account the environmental conditions under which the equipment is used!
· For dust (only the fieldbus components of certificate no. IECEx DEK 16.0078X Issue 3): 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!
· The equipment shall only be used in an area of at least pollution degree 2, as defined in IEC 60664-1!
· Provisions shall be made to prevent the rated voltage from being exceeded by transient disturbances of more than 119 V!
· 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 for the use of Beckhoff fieldbus components in potentially explosive areas!
· 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!
· 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!
· The front hatch of certified units may only be opened if the supply voltage has been switched off or a non-explosive atmosphere is ensured!
Standards
The fundamental health and safety requirements are fulfilled by compliance with the following standards: · EN 60079-0:2011 · EN 60079-15:2010 · EN 60079-31:2013 (only for certificate no. IECEx DEK 16.0078X Issue 3)
Marking
Beckhoff fieldbus components that are certified in accordance with IECEx for use in areas subject to an explosion hazard bear the following markings:
Marking for fieldbus components of certificate no. IECEx DEK 16.0078X Issue 3:
IECEx DEK 16.0078 X Ex nA IIC T4 Gc Ex tc IIIC T135°C Dc
Marking for fieldbus components of certficates with later issues:
IECEx DEK 16.0078 X Ex nA IIC T4 Gc
EL515x
Version: 3.8
51
Mounting and wiring
9.9
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!
52
Version: 3.8
EL515x
Mounting and wiring
9.10 cFMus - Special conditions
WARNING
Observe the special conditions for the intended use of Beckhoff fieldbus components in potentially explosive areas!
· The equipment shall be installed within an enclosure that provides a minimum ingress protection of IP54 in accordance with ANSI/UL 60079-0 (US) or CSA C22.2 No. 60079-0 (Canada).
· The equipment shall only be used in an area of at least pollution degree 2, as defined in IEC 60664-1. · Transient protection shall be provided that is set at a level not exceeding 140% of the peak rated voltage
value at the supply terminals to the equipment. · The circuits shall be limited to overvoltage Category II as defined in IEC 60664-1. · The Fieldbus Components may only be removed or inserted when the system supply and the field sup-
ply are switched off, or when the location is known to be non-hazardous. · The Fieldbus Components may only be disconnected or connected when the system supply is switched
off, or when the location is known to be non-hazardous.
Standards
The fundamental health and safety requirements are fulfilled by compliance with the following standards:
M20US0111X (US): · FM Class 3600:2018 · FM Class 3611:2018 · FM Class 3810:2018 · ANSI/UL 121201:2019 · ANSI/ISA 61010-1:2012 · ANSI/UL 60079-0:2020 · ANSI/UL 60079-7:2017
FM20CA0053X (Canada): · CAN/CSA C22.2 No. 213-17:2017 · CSA C22.2 No. 60079-0:2019 · CAN/CSA C22.2 No. 60079-7:2016 · CAN/CSA C22.2 No.61010-1:2012
Marking
Beckhoff fieldbus components that are certified in accordance with cFNus for use in areas subject to an explosion hazard bear the following markings:
FM20US0111X (US):
Class I, Division 2, Groups A, B, C, D Class I, Zone 2, AEx ec IIC T4 Gc
FM20CA0053X (Canada): Class I, Division 2, Groups A, B, C, D Ex ec T4 Gc
EL515x
Version: 3.8
53
Mounting and wiring
9.11 Continuative documentation for cFMus
Continuative documentation about explosion protection according to cFMus
Pay also attention to the continuative documentation Control Drawing I/O, CX, CPX - Connection diagrams and Ex markings that is available for download on the Beckhoff homepage https:\\www.beckhoff.com!
9.12
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:
54
Version: 3.8
EL515x
9.13
Mounting and wiring
EL5151-00x0 - LEDs and pin assignment
Fig. 30: EL5151, EL5151-0090 - LEDs and pin assignment
EL5151-0000, EL5151-0090 - LEDs
LED A, B, C Gate, Latch
Color green green
Meaning flashes when pulses are present at the inputs lights up when a signal is present at the gate/latch input
EL5151-0000, EL5151-0090 - Pin assignment
Terminal point No.
A
1
+24 V
2
0 V
3
C
4
B
5
+24 V
6
0 V
7
Gate/Latch 24 V 8
Comment Encoder input A +24 V (internally connected to terminal point 6 and positive power contact) 0 V (internally connected to terminal point 7 and negative power contact) Encoder input C Encoder input B +24 V (internally connected to terminal point 2 and positive power contact) 0 V (internally connected to terminal point 3 and negative power contact) Gate/Latch input
EL515x
Version: 3.8
55
Mounting and wiring
9.14 EL5151-0021 - LEDs and pin assignment
Fig. 31: EL5151-0021 - LEDs and pin assignment
EL5151-0021 - LEDs
LED A, B, C Latch Output 1
Color Meaning green flashes when pulses are present at the inputs green lights up when a signal is present at the latch input green Lights up when the input is set (24 VDC)
EL5151-0021 - Pin assignment
Terminal point No.
A
1
Output 1
2
0 V
3
C
4
B
5
+24 V
6
0 V
7
Latch 24 V
8
Comment Encoder input A 0 V, 24 V 0 V (internally connected to terminal point 7 and negative power contact) Encoder input C Encoder input B +24 V (internally connected to the positive power contact) 0 V (internally connected to terminal point 3 and negative power contact) Latch input
56
Version: 3.8
EL515x
9.15 EL5152 - LEDs and pin assignment
Mounting and wiring
Fig. 32: EL5152 - LEDs and pin assignment
EL5152 - LEDs
LED A1, B1, A2, B2
Color green
Meaning flashes when pulses are present at the inputs
EL5152 - pin assignment
Terminal point No.
A1
1
+24 V
2
0 V
3
A2
4
B1
5
+24 V
6
0 V
7
B2
8
Comment Encoder input A (channel 1) +24 V (internally connected to terminal point 6 and positive power contact) 0 V (internally connected to terminal point 7 and negative power contact) Encoder input A (channel 2) Encoder input B (channel 1) +24 V (internally connected to terminal point 2 and positive power contact) 0 V (internally connected to terminal point 3 and negative power contact) Encoder input B (channel 2)
EL515x
Version: 3.8
57
Commissioning
10 Commissioning
10.1 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:
58
Version: 3.8
EL515x
Commissioning
Fig. 33: 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)
EL515x
Version: 3.8
59
Commissioning
Fig. 34: 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.
60
Version: 3.8
EL515x
Commissioning
10.1.1 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. 35: 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 [} 63]".
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:
EL515x
Version: 3.8
61
Commissioning
Fig. 36: 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. 37: 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.
62
Version: 3.8
EL515x
Commissioning
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. 38: Select "Scan Devices..." Confirm the warning message, which follows, and select "EtherCAT" in the dialog:
Fig. 39: 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 [} 59] described at the beginning of this section, the result is as follows:
EL515x
Version: 3.8
63
Commissioning
Fig. 40: 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. 41: 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)
64
Version: 3.8
EL515x
Commissioning 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). After starting TwinCAT PLC Control, the following user interface is shown for an initial project:
Fig. 42: TwinCAT PLC Control after startup Sample variables and a sample program have been created and stored under the name "PLC_example.pro":
EL515x
Version: 3.8
65
Commissioning
Fig. 43: 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. 44: Appending the TwinCAT PLC Control project
66
Version: 3.8
EL515x
Commissioning Select the PLC configuration "PLC_example.tpy" in the browser window that opens. The project including the two variables identified with "AT" are then integrated in the configuration tree of the System Manager:
Fig. 45: 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. 46: 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:
EL515x
Version: 3.8
67
Commissioning
Fig. 47: 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. 48: 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:
68
Version: 3.8
EL515x
Commissioning
Fig. 49: 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...":
EL515x
Version: 3.8
69
Commissioning
Fig. 50: 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:
70
Version: 3.8
EL515x
Commissioning
Fig. 51: PLC Control logged in, ready for program startup
The PLC can now be started via "Online" "Run", F5 key or
.
10.1.2 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:
EL515x
Version: 3.8
71
Commissioning
Fig. 52: 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. 53: Create new TwinCAT project The new project is then available in the project folder explorer:
72
Version: 3.8
EL515x
Commissioning
Fig. 54: 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 [} 74]". 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. 55: Selection dialog: Choose the target system
EL515x
Version: 3.8
73
Commissioning
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. 56: 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. 57: Select "Scan" Confirm the warning message, which follows, and select "EtherCAT" in the dialog:
74
Version: 3.8
EL515x
Commissioning
Fig. 58: 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 [} 59] described at the beginning of this section, the result is as follows:
Fig. 59: 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:
EL515x
Version: 3.8
75
Commissioning
Fig. 60: 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....":
76
Version: 3.8
EL515x
Commissioning
Fig. 61: 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. 62: 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:
EL515x
Version: 3.8
77
Commissioning
Fig. 63: Initial "Main" program of the standard PLC project To continue, sample variables and a sample program have now been created:
78
Version: 3.8
EL515x
Commissioning
Fig. 64: 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. 65: 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:
EL515x
Version: 3.8
79
Commissioning
Fig. 66: 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. 67: 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:
80
Version: 3.8
EL515x
Commissioning
Fig. 68: 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. 69: 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
EL515x
Version: 3.8
81
Commissioning 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.
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. 70: 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. 71: 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.
82
Version: 3.8
EL515x
Commissioning
Fig. 72: Linking the structure 7. In the PLC the process data can then be read or written via the structure in the program code.
Fig. 73: 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.
EL515x
Version: 3.8
83
Commissioning Starting the controller
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. 74: 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).
10.2 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.)
84
Version: 3.8
EL515x
Commissioning
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.
10.2.1 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. 75: System Manager "Options" (TwinCAT 2)
This have to be called up by the Menü "TwinCAT" within the TwinCAT 3 environment:
Fig. 76: Call up under VS Shell (TwinCAT 3)
EL515x
Version: 3.8
85
Commissioning The following dialog appears:
Fig. 77: 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" [} 95] in order to view the compatible ethernet ports via its EtherCAT properties (tab "Adapter", button "Compatible Devices..."):
Fig. 78: 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)
86
Version: 3.8
EL515x
Commissioning
Fig. 79: Windows properties of the network interface A correct setting of the driver could be:
Fig. 80: Exemplary correct driver setting for the Ethernet port Other possible settings have to be avoided:
EL515x
Version: 3.8
87
Commissioning
Fig. 81: Incorrect driver settings for the Ethernet port
88
Version: 3.8
EL515x
Commissioning
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. 82: TCP/IP setting for the Ethernet port
EL515x
Version: 3.8
89
Commissioning
10.2.2 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 [} 94] 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. 83: 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.
90
Version: 3.8
EL515x
Commissioning
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. 84: OnlineDescription information window (TwinCAT 2) In TwinCAT 3 a similar window appears, which also offers the Web update:
Fig. 85: 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 [} 95]".
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.
EL515x
Version: 3.8
91
Commissioning
Fig. 86: 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. 87: 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. 88: Information window for faulty ESI file (left: TwinCAT 2; right: TwinCAT 3)
92
Version: 3.8
EL515x
Commissioning
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
EL515x
Version: 3.8
93
Commissioning
10.2.3 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. 89: Using the ESI Updater (>= TwinCAT 2.11) The call up takes place under: "Options" "Update EtherCAT Device Descriptions" Selection under TwinCAT 3:
Fig. 90: 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)...".
10.2.4 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" [} 90].
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
94
Version: 3.8
EL515x
Commissioning · the devices/modules be connected to the power supply and ready for communication · TwinCAT must be in CONFIG mode on the target system. The online scan process consists of: · detecting the EtherCAT device [} 100] (Ethernet port at the IPC) · detecting the connected EtherCAT devices [} 101]. This step can be carried out independent of the
preceding step · troubleshooting [} 104] The scan with existing configuration [} 105] can also be carried out for comparison.
10.2.5 OFFLINE configuration creation
Creating the EtherCAT device Create an EtherCAT device in an empty System Manager window.
Fig. 91: 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. 92: Selecting the EtherCAT connection (TwinCAT 2.11, TwinCAT 3) Then assign a real Ethernet port to this virtual device in the runtime system.
Fig. 93: Selecting the Ethernet port
EL515x
Version: 3.8
95
Commissioning
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. 94: 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 [} 85].
Defining EtherCAT slaves Further devices can be appended by right-clicking on a device in the configuration tree.
Fig. 95: 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
96
Version: 3.8
EL515x
Commissioning
· "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. 96: 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. 97: 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".
EL515x
Version: 3.8
97
Commissioning
Fig. 98: 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. 99: 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, ...
98
Version: 3.8
EL515x
Commissioning Fig. 100: EtherCAT terminal in the TwinCAT tree (left: TwinCAT 2; right: TwinCAT 3)
EL515x
Version: 3.8
99
Commissioning
10.2.6 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. 101: 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. 102: 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. 103: Note for automatic device scan (left: TwinCAT 2; right: TwinCAT 3)
100
Version: 3.8
EL515x
Commissioning
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. 104: 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 [} 85].
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. 105: 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 [} 105] 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:
EL515x
Version: 3.8
101
Commissioning
Fig. 106: 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 [} 105] 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. 107: 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. 108: Scan query after automatic creation of an EtherCAT device (left: TwinCAT 2; right: TwinCAT 3)
102
Version: 3.8
EL515x
Commissioning
Fig. 109: 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. 110: Scan progressexemplary by TwinCAT 2 The configuration is established and can then be switched to online state (OPERATIONAL).
Fig. 111: 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. 112: Displaying of "Free Run" and "Config Mode" toggling right below in the status bar
Fig. 113: 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.
EL515x
Version: 3.8
103
Commissioning
Fig. 114: 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 [} 95].
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. 115: Faulty identification
In the System Manager such devices may be set up as EK0000 or unknown devices. Operation is not possible or meaningful.
104
Version: 3.8
EL515x
Commissioning
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. 116: 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. 117: Correction dialog It is advisable to tick the "Extended Information" check box to reveal differences in the revision.
EL515x
Version: 3.8
105
Commissioning
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. 118: 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, ...
106
Version: 3.8
EL515x
Commissioning
Fig. 119: 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. 120: 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. 121: TwinCAT 2 Dialog Change to Alternative Type
EL515x
Version: 3.8
107
Commissioning
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).
10.2.7 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. 122: 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. 123: "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.
108
Version: 3.8
EL515x
"EtherCAT" tab
Commissioning
Fig. 124: "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.
EL515x
Version: 3.8
109
Commissioning
Fig. 125: "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").
110
Version: 3.8
EL515x
Commissioning
Fig. 126: 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 [} 116] 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.
EL515x
Version: 3.8
111
Commissioning
Fig. 127: "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.
112
Version: 3.8
EL515x
Commissioning
Fig. 128: "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.
EL515x
Version: 3.8
113
Commissioning
Fig. 129: 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. 130: "Online" tab
114
Version: 3.8
EL515x
Commissioning
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. 131: "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
EL515x
Version: 3.8
115
Commissioning
10.2.7.1 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 [} 114]), 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.
116
Version: 3.8
EL515x
Commissioning
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 [} 111] 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.
10.2.8 Import/Export of EtherCAT devices with SCI and XTI
SCI and XTI Export/Import Handling of user-defined modified EtherCAT slaves
10.2.8.1 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.
EL515x
Version: 3.8
117
Commissioning
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.
10.2.8.2 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":
118
Version: 3.8
EL515x
Commissioning
10.2.8.3 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:
EL515x
Version: 3.8
119
Commissioning · A description may also be provided:
· 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.
120
Version: 3.8
EL515x
None: All slaves are deselected.
· The sci file can be saved locally:
· The export takes place:
Commissioning
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:
EL515x
Version: 3.8
121
Commissioning · Display SCI devices and select and insert the desired device:
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.
122
Version: 3.8
EL515x
SCI error messages are displayed in the TwinCAT logger output window if required:
Commissioning
10.3 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. 132: 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.
EL515x
Version: 3.8
123
Commissioning
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. 133: Basic EtherCAT Slave Diagnosis in the PLC The following aspects are covered here:
124
Version: 3.8
EL515x
Commissioning
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:
EL515x
Version: 3.8
125
Commissioning
Fig. 134: 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.
126
Version: 3.8
EL515x
Commissioning
Fig. 135: 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 [} 30]" 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.
EL515x
Version: 3.8
127
Commissioning Standard setting The advanced settings of the EtherCAT Master are set as standard:
· EtherCAT Master: OP · Slaves: OP
This setting applies equally to all Slaves.
Fig. 136: 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. 137: 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:
128
Version: 3.8
EL515x
Commissioning
· 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. 138: 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.
EL515x
Version: 3.8
129
Commissioning
Fig. 139: 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. 140: 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!
130
Version: 3.8
EL515x
Commissioning
10.4 EL5151, EL5152 - Operating modes and settings
General
The EL515x incremental encoder interface terminal enables connection of incremental encoders with the Bus Coupler or the PLC. A 32-bit counter (EL5152: two 32-bit counters) with quadrature decoder as well as a 32-bit latch (EL5151 only) can be read, set or activated (switchable to 16-bit). In addition to the encoder inputs A, B and C, a gate/latch input (24 V) is also available on the EL5151 for latching/saving the counter value. The gate/latch input is parameterizable via the CoE directory. no function, or disabling the counter at HIGH or LOW signal level. The EL5151 can also be used as a single-channel 32/16 bit counter on channel A, in which case the signal level on channel B defines the count direction. The changeover to this mode takes place via the CoE directory. The Counter Value input value represents a 32-bit "position counter". At the period input the period between two positive edges of channel A is measured with a resolution of 100 ns (default setting, decimal value x 100 ns). Depending on the setting (index 0x8000:14 [} 163], index 0x8000:16 [} 163]), the period length may be up to 1.6 s or 3.2 s.
10.4.1 Process data
EL515x - Illustration of the process data and structural contents
Fig. 141: Online illustration of the process data and structural contents in the System Manager, taking the EL5151 as an example
EL515x
Version: 3.8
131
Commissioning
The plain text display of the bit meanings is particularly helpful not only in commissioning, but also for linking to the PLC program. By right-clicking on the Status variable in the configuration tree (A), the structure can be opened for linking (B). Activation of the Show Sub Variables button (C) displays all subvariables and links to the PLC (D) in the online view.
Selection of the operating mode - DC (Distributed Clocks) The operating mode is selected via the DC tab in the Operating Mode dialog box. The supported operating modes are displayed in the selection dialog.
Fig. 142: "DC" tab · FreeRun: the terminal operates frame-triggered. Cyclic operation is started via the SyncManagers of the EtherCAT frame processing. · DC-Synchron: cyclic operation in the terminal is started by the local distributed clock at exact intervals. The start time is chosen such that it coincides with other output slaves in the EtherCAT system. · DC-Synchron (input based): as DC-Synchron mode, with the cyclic start time chosen such that it coincides with other input slaves in the EtherCAT system.
EL515x - parameterization An EL515x is parameterized via two dialog windows in the TwinCAT System Manager. Dialog box (A) shows the process data that can be parameterized based on the CoE directory (B).
Fig. 143: Parameterization taking the EL5151 as an example
· Changes to the process data-specific settings are generally only effective after a restart of the EtherCAT master: Restart TwinCAT in RUN or CONFIG mode; RELOAD in CONFIG mode
· Changes to the online CoE directory are in general immediately effective. are in general stored non-volatile only in the terminal/in the slave and should therefore be entered in the CoE StartUp list. This list is processed at each EtherCAT start and the settings are loaded into the slave.
132
Version: 3.8
EL515x
Commissioning
Main PDO
The EL515x terminals offer two main PDOs per channel for the transmission of the basic process data.
The main PDO for the inputs contains the status data and a counter value (EL5152) / counter and latch value (EL5151). Counter and latch value are represented and transmitted as a 32-bit value or a 16-bit value, depending on the selection of the corresponding PDO.
The main PDOs for the outputs contain the control data and a value for setting the counter value. The value for setting the counter value is represented and transmitted as a 32-bit value or a 16-bit value, depending on the selection of the corresponding PDO.
Optional PDOs
A PDO with a 32-bit frequency value or a 32-bit period value can optionally be added to the main PDO per channel.
A 32-bit or 64-bit time stamp is available to the EL5151 as an additional PDO. The time stamp indicates the time of the last registered increment edge, based on the Distributed Clock system.
An overview of the available PDOs and their contents can be found in the System Manager (see fig. Selection dialog "Predefined PDO Assignment", example of EL5151 [} 133] D and E) or in the Section Operation modes [} 135].
Please observe the permissible combination possibilities (operation modes) when selecting the PDOs.
"Predefined PDO Assignment" selection dialog (from TwinCAT 2.11 build 1544 onwards)
The process data to be transmitted (PDO, ProcessDataObjects) can be selected by the user · for all TwinCAT versions via the selection dialog "Predefined PDO Assignment" (see fig. Selection dialog "Predefined PDO Assignment", example of EL5151 A) or · selectively for individual PDOs (see fig. Selection dialog "Predefined PDO Assignment", example of EL5151 B).
These changes become effective after activation and an EtherCAT restart or a reload. Please observe the permissible combinations shown in the section Operation modes.
EL515x
Version: 3.8
133
Commissioning
Fig. 144: Selection dialog "Predefined PDO Assignment", example of EL5151
A
Selection dialog "Predefined PDO Assignment"
B
Display of (optional) PDOs (process data objects)
C
Selection of the required Sync Manager
D
Display of the PDOs available for selection
E
Display of the contents of the PDO selected in D
The following predefined PDOs are available with the EL515x
· Standard 16-bit (MDP 511) - EL5151 / EL5152 · Standard 32-bit (MDP 511) - EL5151 / EL5152 · Standard 16-bit (MDP) with 32-bit timestamp - EL5151, operation mode DC · Standard 32-bit (MDP) with 64-bit timestamp - EL5151, operation mode DC
The contents of the Predefined PDO Assignment can be found in the section Operation modes [} 135] or in the System Manager (see fig. Selection dialog "Predefined PDO Assignment", example of EL5151 B, C).
Loss of links when changing the PDO
In case of PDO changes, links already created in the changed objects are lost. When changing from Predefined PDO Assignment Standard 16-bit (MDP 511) to Standard 32-bit (MDP 511), for example, the already created links of the objects Counter value (index 0x6000: 11), Latch value (index 0x6000: 12) and Set Counter value (index 0x7000: 11) are deleted.
134
Version: 3.8
EL515x
Commissioning
10.4.2 Operating modes
Permissible operating modes for the EL5151
The following modes are available for the EL5151. They apply both for the encoder analysis and counter terminal mode.
The combinations of DC, PDO and CoE settings listed below are permissible per mode. Other settings can lead to irregular process data and error messages in the TwinCAT System Manager Logger window.
Mode 1
2
3
4
DC FreeRun
FreeRun
DC/DCi
DC/DCi
Main PDO
Optional PDO 1
Predefined PDO Assignment: Standard 32-bit (MDP 511): 0x1A00 + 0x1600 + 0x1A02
0x1A00 [} 168] Inputs: 16 Bit Status, 32 Bit Counter Value, 32 Bit Latch Value
+
0x1A02 [} 169] 32 Bit Period or
0x1A03 [} 169] 32 Bit Frequency
0x1600 [} 166] Outputs: 16 Bit Control, 32 Bit Set Counter Value
Predefined PDO Assignment: Standard 16-bit (MDP 511): 0x1A01 + 0x1601 + 0x1A02
0x1A01 [} 168] Inputs: 16 Bit Status, 16 Bit Counter Value, 16 Bit Latch Value
+
0x1A02 [} 169] 32 Bit Period or
0x1A03 [} 169] 32 Bit Frequency
0x1601 [} 166] Outputs: 16 Bit Control 16 Bit Set Counter Value
Predefined PDO Assignment: Standard 32 Bit with 64 Bit Timestamp (MDP 511): 0x1A00 + 0x1600 + 0x1A02 + 0x1A04
0x1A00 [} 168] Inputs: 16 Bit Status, 32 Bit Counter Value, 32 Bit Latch Value
+
0x1A02 [} 169] 32 Bit Period or
0x1A03 [} 169] 32 Bit Frequency
0x1600 [} 166] Outputs: 16 Bit Control, 32 Bit Set Counter Value
Predefined PDO Assignment: Standard 16 Bit with 32 Bit Timestamp (MDP 511): 0x1A01 + 0x1601 + 0x1A02 + 0x1A05
0x1A01 [} 168] Inputs: 16 Bit Status, 16 Bit Counter Value, 16 Bit Latch Value
+
0x1A02 [} 169] 32 Bit Period or
0x1A03 [} 169] 32 Bit Frequency
0x1601 [} 166] Outputs: 16 Bit Control, 16 Bit Set Counter Value
Optional PDO 2 --
-
0x1A04 [} 169] 64 Bit Timestamp or 0x1A05 [} 169] 32 Bit Timestamp (compact)
0x1A04 [} 169] 64 Bit Timestamp or 0x1A05 [} 169] 32 Bit Timestamp (compact)
Features CoE CoE combinations 0x8000 [} 163]:nn
CoE combinations 0x8000 [} 163]:nn
CoE combinations 0x8000 [} 163]:nn
CoE combinations 0x8000 [} 163]:nn
EL515x
Version: 3.8
135
Commissioning
Permissible operating modes for the EL5152
The following modes are available for the EL5152. They apply both for the encoder analysis and counter terminal mode.
The combinations of DC, PDO and CoE settings listed below are permissible per mode. Other settings can lead to irregular process data and error messages in the TwinCAT System Manager Logger window.
Mode 1 2
3 4
DC FreeRun FreeRun
DC/DCi DC/DCi
Main PDO
Optional PDO 1
Predefined PDO Assignment: Standard 32-bit (MDP 511): Channel 1 (0x1A00 + 0x1600 + 0x1A02) + Channel 2 (0x1A04 + 0x1602 + 0x1A06)
Channel1 / Channel 2
0x1A00 [} 197] / 0x1A04 [} 198] Status: 16 Bit Status, 32 Bit Counter Value
+
0x1600 [} 195] / 0x1602 [} 195]Control: 16 Bit Control 32 Bit Set Counter Value
Channel 1: 0x1A02 [} 198] 32 Bit Period or 0x1A03 [} 198] 32 Bit Frequency
Channel 2: 0x1A06 [} 199] 32 Bit Period or 0x1A07 [} 199] 32 Bit Frequency
Predefined PDO Assignment: Standard 16 Bit (MDP 511): Channel 1(0x1A01 + 0x1601 + 0x1A02) + Channel 2 (0x1A05 + 0x1603 + 0x1A06)
Channel 1/ Channel2
0x1A01 [} 197] / 0x1A05 [} 198] Status compact: 16 Bit Status, 16 Bit Counter Value
+
0x1601 [} 195] / 0x1603 [} 195] Control compact: 16 Bit Control 16 Bit Set Counter Value
Channel 1: 0x1A02 [} 198] 32 Bit Period or 0x1A03 [} 198] 32 Bit Frequency
Channel 2: 0x1A06 [} 199] 32 Bit Period or 0x1A07 [} 199] 32 Bit Frequency
Predefined PDO Assignment: Standard 32 Bit (MDP 511): Channel 1 (0x1A00 + 0x1600 + 0x1A02) + Channel 2 (0x1A04 + 0x1602 + 0x1A06)
Channel1 / Channel 2
0x1A00 [} 197] / 0x1A04 [} 198] Status: 16 Bit Status, 32 Bit Counter Value
+
0x1600 [} 195] / 0x1602 [} 195]Control: 16 Bit Control 32 Bit Set Counter Value
Channel 1: 0x1A02 [} 198] 32 Bit Period or 0x1A03 [} 198] 32 Bit Frequency
Channel 2: 0x1A06 [} 199] 32 Bit Period or 0x1A07 [} 199] 32 Bit Frequency
Predefined PDO Assignment: Standard 16 Bit (MDP 511): Channel 1(0x1A01 + 0x1601 + 0x1A02) + Channel 2 (0x1A05 + 0x1603 + 0x1A06)
Channel 1/ Channel2
0x1A01 [} 197] / 0x1A05 [} 198] Status compact: 16 Bit Status, 16 Bit Counter Value
+
0x1601 [} 195] / 0x1603 [} 195] Control compact: 16 Bit Control 16 Bit Set Counter Value
Channel 1: 0x1A02 [} 198] 32 Bit Period or 0x1A03 [} 198] 32 Bit Frequency
Channel 2: 0x1A06 [} 199] 32 Bit Period or 0x1A07 [} 199] 32 Bit Frequency
Features CoE CoE combinations 0x80n0 [} 192]:nn
CoE combinations 0x80n0 [} 192]:nn
CoE combinations 0x80n0 [} 192]:nn
CoE combinations 0x80n0 [} 192]:nn
Parameterization of the EL515x
· Use a CoE reset [} 222] in order to deactivate any previous settings
· In order to activate the new operating mode, reload the EtherCAT slaves ( button)
136
Version: 3.8
EL515x
Commissioning
10.4.3 Settings via the CoE directory
Depending on the main PDO/optional PDOs further settings can be selected in the CoE list (CAN over EtherCAT).
Parameterization via the CoE list (CAN over EtherCAT)
Please note the following general CoE information 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 · "CoE-Reload [} 222]" for resetting the changes
The following CoE settings are possible from object 0x8000:0 and are shown below in their default settings:
Fig. 145: "CoE Online" tab, EL5151
EL515x
Version: 3.8
137
Commissioning
Fig. 146: "CoE - Online" tab, EL5152
The parameters are described on the page Object description and parameterization (EL5151 [} 162] / EL5152 [} 191]).
EL5151 / EL5152
Objects containing an "n" describe both the EL5151 and the EL5152 (where n = 0 for Ch. 1; n = 1 for Ch. 2)
138
Version: 3.8
EL515x
Commissioning
10.4.4 Explanatory notes for parameters and modes
Frequency
· The timeframe for the frequency calculation as well as the resolution can be parameterized in the CoE objects Frequency window (index: 0x80n0:11 [} 192]), Frequency scaling (index: 0x80n0:13 [} 192]), Frequency resolution (index: 0x80n0:15 [} 192]) and Frequency wait time (index: 0x80n0:17 [} 192]).
· The positive edges of track A are counted in the specified timeframe (see Frequency modes [} 140]) and the next subsequent edge including the time until it arrives is counted. The waiting time for the edge can be set in the CoE object Frequency Wait Time (index: 0x80n0:17 [} 192]) (unit: ms) and is set as standard to 1.6 seconds. This is also the maximum value.
· The frequency is always specified as a positive number, irrespective of the sense of rotation.
· The size of the timeframe is 10 ms (default), but at the least the basic unit Frequency window base (index: 0x80n0:0F [} 192]).
· This calculation is carried out in the terminal in free-running mode without reference to the distributed clocks system. It is therefore independent of the DC mode.
· EL5151: No frequency measurement is possible if the counter is blocked by the gate. In this case the period can be measured regardless.
· EL5151: A C or external reset restarts the frequency measurement. The last frequency value remains unchanged until a new frequency value is determined.
· The object Frequency window base (index: 0x80n0:0F [} 192]) is used for switching the basic unit for the Frequency window between 1 µs and 1 ms, in order to adjust the time window for the measurement. The following maximum measuring windows are therefore possible:
Basic unit 1 µs 1 ms
Max. timeframe 65.5 ms 65 s
· on expiry of the measuring window Frequency window (index: 0x80n0:11 [} 192]), the subsequent positive edge on track A is awaited, but at the longest for 1.6 s or the time from Frequency wait time (index: 0x80n0:17 [} 192]).
· The frequency is measured with different accuracies depending on the selected basic unit Frequency window base (index 0x80n0:0F [} 163]) and the window size.
EL515x
Version: 3.8
139
Commissioning Frequency mode A The measurement is automatically performed in frequency mode A if the window size is smaller than or equal to 600 ms.
· Basic unit 1 µs: all window sizes · Basic unit 1 ms: up to 600 ms window size Measurement sequence · The measurement starts with a positive edge at track A. The current counter value and time
(resolution: 100 ns) are stored. · On expiry of the measuring window Frequency window (index: 0x80n0:11 [} 192]), the subsequent
rising edge on track A is awaited, but at the longest for 1.6 s or the time from Frequency wait time (index: 0x80n0:17 [} 192]). · The frequency is calculated from the edge difference and the actual elapsed time.
Fig. 147: Frequency measurement principle - frequency mode A
140
Version: 3.8
EL515x
Commissioning
Frequency mode B The measurement is automatically performed in frequency mode B if the window size is greater than 600 ms.
· Basic unit 1 ms: from 601 ms window size
Measurement sequence · At the start of the measurement the time and the current position are stored with a resolution of 100 ns, irrespective of the current signal position. · After the measurement the current position is stored irrespective of the current signal position. · The frequency is calculated from the number of increments and the actual elapsed time. · The frequency measurement therefore takes place with reduced accuracy. · The larger the measuring window in relation to the basic unit, the more precise the frequency calculation.
Fig. 148: Frequency measurement principle - frequency mode B
Period calculation · This calculation is carried out free-running in the slave without reference to the distributed clocks system. It is therefore independent of the DC mode. · During each cycle the interval between two positive edges of input A is counted. · Depending on the setting, periods of up to 1.6 s or 3.2 s (only for EL5151) in length are measurable. · If no edge change occurs for approx. 1.6 s, any period specification is cancelled.
Gate function (EL5151 only)
The counter can be latched with the aid of the gate function. The Gate polarity object (index: 0x8000:04 [} 163]) provides three different options:
0: The gate function is inactive.
1: The counter value is latched by a HIGH level at the gate input. The counter value does not change as long as the HIGH level is applied. Signals on channels A and B have no effect on the counter value.
2: The counter value is locked by a LOW level at the gate input. The counter value does not change as long as the LOW level is applied. Signals on channels A and B have no effect on the counter value.
In the case of a simultaneous activation of the gate function (latch on HIGH level / latch on LOW level) and Enable extern reset (reset on positive edge / reset on negative edge), the counter value is first reset to zero. Latching subsequently takes place.
EL515x
Version: 3.8
141
Commissioning
Latch (EL5151 only)
Activating the latch C input ("C") and latching the counter value · The counter value is saved in Latch value (index: 0x6000:12 [} 164]) upon the first latch pulse (positive edge on input "C") after setting the bit (TRUE) in Enable latch C (index: 0x7000:01 [} 164]) (takes priority over Enable latch extern on positive / negative edge index: 0x7000:02 [} 164] / 0x7000:04 [} 164]). If the bit is set, the subsequent pulses on the other inputs have no effect on the latch value in Latch value (index: 0x6000:12 [} 164]). · After re-activation of Enable latch C (index: 0x7000:01 [} 164]), the next counter value at the latch input can be written only if the value of the Latch C valid bit (index 0x6000:01 [} 164] FALSE) has been reset.
Activation of the external latch input and saving ("latching") of the counter value (index 0x7000:02, 0x7000:04 [} 164])
· The counter value at the latch input Latch value (index 0x6000:12 [} 164]) will be saved upon the first external latch pulse with a positive edge if the bit (TRUE) is set in Enable extern latch on positive edge (index: 0x7000: 02 [} 164]). The subsequent pulses have no influence on the latch value in Latch value (index: 0x6000:12 [} 164]).
· The counter value at the latch input Latch value (index: 0x6000:12 [} 164]) will be saved upon the first external latch pulse with a negative edge if the bit (TRUE) is set in Enable extern latch on negative edge (index: 0x7000: 04 [} 164]). The subsequent pulses have no influence on the latch value in Latch value (index: 0x6000:12 [} 164]).
· After re-activation, a new counter value on the latch input can be written only if the value of the Latch extern valid bit (index: 0x6000:02 [} 164]) has been reset.
Reset (EL5151 only)
The counter can be reset via Enable C reset (index: 0x8000:01 [} 163]) or via Enable extern reset (index: 0x8000:02 [} 163]). Extern reset polarity (index: 0x8000:10 [} 163]) defines whether the reset takes place on a positive or negative edge at the external latch input.
"Enable C reset" (index: 0x8000:01 [} 163]) · For activation the bit in Enable C reset (index: 0x8000:01 [} 163]) is set to TRUE. The counter value is reset to zero if the zero pulse is present on channel C.
"Enable extern reset" (index: 0x8000:02 [} 163]), · For activation the bit in Enable extern reset (index: 0x8000:02 [} 163]) is set to TRUE. · "Extern reset polarity" (index: 0x8000:10 [} 163]) Bit not set: the counter is set to zero with a negative edge at the external latch input. Bit set: the counter is set to zero with a positive edge at the external latch input.
The simultaneous activation of the functions Enable C reset (index: 0x8000:01 [} 163]) und Enable extern reset (index: 0x8000:02 [} 163]) is not possible.
142
Version: 3.8
EL515x
Commissioning Up/down counter
· The operating mode (encoder or up/down counter) is selected via the CoE object Enable up/down counter (index: 0x80n0:03 [} 192]). On the CoE - Online tab, click on the row of the index to be parameterized, enter the corresponding value in the SetValue dialog and confirm with OK. 0: the up/down counter is not active. 1: the up/down counter is active.
· In the case of the EL5151 the counter value can be locked via the object Gate polarity (index: 0x8000:04 [} 163]) (s. Gate function [} 141]).
· The counting direction (up/down) is specified via the signal level at channel B. · An additional option for reversing the direction of rotation is to set the Reversion of rotation bit (index:
0x80n0:0E [} 192]). · Connection:
Fig. 149: Counter connection principle
EL515x
Version: 3.8
143
Commissioning
Micro-increments · Works with and without distributed clocks, but in the EL515x this is only meaningful in conjunction with one of the DC modes · By setting the counter value only the integer component can be modified. · The principle:
Fig. 150: Principle of frequency measurement
The highly constant query cycles (accuracy: 100 ns) of the distributed clocks system permit the EL515x to interpolate interpolated axis positions between the counted encoder increments above a certain speed. The interpolation resolution is 8 bit, corresponding to 256 values. A standard encoder with 1,024 bars with 4-way evaluation and micro-increments thus becomes a high-resolution axis encoder with 4096 * 256 = 1,048,567 bars. If the speed falls below the minimum speed, this is displayed by the object Extrapolation stall (index: 0x60n0:08 [} 193]) in the process data.
Digital filter (from Firmware 02)
The EL515x has a digital filter on encoder channels A and B that can be switched off (object Disable Filter, index: 0x80n0:08 [} 163]). This acts as a diffuse low-pass filter at about 100 KHz (equals 400,000 increments/second with 4-fold evaluation), i.e. the permissible limit frequency.
In each application it is advisable to check whether it would be advantageous to deactivate the filter - the detection of fast axis movements may be improved as a result.
144
Version: 3.8
EL515x
10.5 EL5151-0021 - Settings
Commissioning
10.5.1 Parameterization
An EL5151-0021 is parameterized via two dialog windows in the TwinCAT System Manager. Dialog box (A) shows the process data that can be parameterized based on the CoE directory (B).
Fig. 151: EL5151-0021 parameterization
· Changes to the process data-specific settings are generally only effective after a restart of the EtherCAT master: Restart TwinCAT in RUN or CONFIG mode; RELOAD in CONFIG mode
· Changes to the online CoE directory are in general immediately effective. are in general stored non-volatile only in the terminal/in the slave and should therefore be entered in the CoE StartUp list. This list is processed at each EtherCAT start and the settings are loaded into the slave.
EL515x
Version: 3.8
145
Commissioning
10.5.2 Process data
Illustration of the process data and structural contents
The EL5151-0021 provides three different process data objects (PDO) for transmission: · ENC Status (index 0x1A00) contains: 16-bit status information, 32-bit counter value, 32-bit latch value. · ENC Filtered Latch (index 0x1A01) contains: a 32-bit latch value for the rising edge and another for the falling edge (measured values from the workpiece measurement). · ENC Control (index 0x1600) contains: 8-bit control data, a 32-bit value for setting the counter value, a 32-bit value for Switch on threshold value and another for Switch off threshold value, for setting the output via the compare function.
Fig. 152: EL5151-0021 Online representation of the process data and structural contents in the System Manager
146
Version: 3.8
EL515x
Commissioning
The plain text display of the bit meanings is particularly helpful not only in commissioning, but also for linking to the PLC program. By right-clicking on the Status variable in the configuration tree (A), the structure can be opened for linking (B). Activation of the Show Sub Variables button (C) displays all subvariables and links to the PLC (D) in the online view.
10.5.3 Settings via the CoE directory
Further settings can be selected in the CoE list (CAN over EtherCAT) depending on the PDO selection.
Parameterization via the CoE list (CAN over EtherCAT)
Please note the following general CoE information 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 · "CoE-Reload [} 222]" for resetting the changes
Fig. 153: EL5151-0021 CoE directory
EL515x
Version: 3.8
147
Commissioning
The online data are accessible (A) if the terminal is online, i.e. connected to the EtherCAT Master TwinCAT and in an error-free RUN state (WorkingCounter = 0). The entries can be changed online in ENC Settings (index 0x8000) (B).
The input data can be read under ENC Inputs (index 0x6000 und index 0x6001) (C). The output data can be read under ENC Outputs (index 0x7000) (D). The display in TwinCAT is continuously updated if (E) has been activated.
148
Version: 3.8
EL515x
10.5.4 Notes on the parameters
Commissioning
10.5.4.1 Activation of the external latch input ("Latch") and latching of the counter value (index 0x7000:02, 0x7000:04)
The counter value can be saved in "Latch value" either on a positive edge or a negative edge at the external latch
· "Enable latch extern on positive edge" (index 0x7000:02 [} 175]) / "Enable latch extern on negative edge" (index 0x7000:04 [} 175])
The function is activated by setting the bit in Enable latch extern on positive edge (index 0x7000:02 [} 175]) / Enable latch extern on negative edge (index 0x7000:04 [} 175]) to TRUE.
The counter value in Latch value (index 0x6000:12 [} 174]) will be saved on the next positive/ negative edge. The subsequent pulses have no influence on the latch value.
The Latch extern valid bit (index 0x6000:02 [} 174]) is set to TRUE. After re-activation of Enable latch extern on positive edge (index 0x7000:02 [} 175]) / Enable latch
extern on negative edge (index 0x7000:04 [} 175]), a new counter value at the latch input can only be written if the values of the Latch extern valid bit (index 0x6000:02 [} 174]) and the Latch C valid bit (index 0x6000:01 [} 174]) are FALSE
10.5.4.2 Activation of latch C input ("C") and saving ("latching") of the counter value (index 0x7000:01)
The counter value is written into Latch value (index 0x6000:12 [} 174]) when the zero pulse is present at input C.
· "Enable latch C" (index 0x7000:01 [} 175]) The function is activated by setting the bit in Enable latch C (index 0x7000:01 [} 175]) to TRUE. The counter value in Latch value (index 0x6000:12 [} 174]) will be saved upon the first latch pulse (rising edge at input C). The subsequent pulses have no influence on the latch value. The value of the bit in Latch C valid (index 0x6000:01 [} 174]) is set to TRUE. After re-activation of Enable latch C (index 0x7000:01 [} 175]), the next counter value can be written into Latch value (index 0x6000:12 [} 174]) only if the values of the Latch C valid bit (index 0x6000:01 [} 174]) and the Latch extern valid bit (index 0x6000:02 [} 174]) are FALSE.
· If "Enable latch C" (index 0x7000:01 [} 175]) und "Enable latch extern on positive / negative edge" (index 0x7000:02 / 0x7000:04 [} 175]) are activated simultaneously the value of the counter is saved in Latch value (index 0x6000:12 [} 174]) when the first pulse with the corresponding edge is present at input C or at the external latch.
· If "Enable latch C" (index 0x7000:01 [} 175]) und "Set counter on latch C" (index 0x7000:08 [} 175]) are activated simultaneously the counter value will be saved in Latch value (index 0x6000:12 [} 174]) upon the first pulse with a rising edge at input C. Subsequently the counter value in Counter value (index 0x6000:11 [} 174]) will be overwritten by the value specified in Set counter value (index 0x7000:11 [} 175]).
EL515x
Version: 3.8
149
Commissioning
10.5.4.3 Reset of counter
The counter can be reset via Enable C reset (index: 0x8000:01 [} 173]) or via Enable extern reset (index: 0x8000:02 [} 173]). Extern reset polarity (index: 0x8000:10 [} 173]) defines whether the reset takes place on a positive or negative edge at the external latch input.
"Enable C reset" (index: 0x8000:01 [} 173]) · For activation the bit in Enable C reset (index: 0x8000:01 [} 173]) is set to TRUE. The counter value is reset to zero if the zero pulse is present on channel C.
"Enable extern reset" (index: 0x8000:02 [} 173]), · For activation the bit in Enable extern reset (index: 0x8000:02 [} 173]) is set to TRUE. · "Extern reset polarity" (index: 0x8000:10 [} 173]) Bit not set: the counter is set to zero with a negative edge at the external latch input. Bit set: the counter is set to zero with a positive edge at the external latch input.
The simultaneous activation of the functions Enable C reset (index: 0x8000:01 [} 173]) and Enable extern reset (index: 0x8000:02 [} 173]) is not possible.
150
Version: 3.8
EL515x
Commissioning
10.5.4.4 Set the counter value - referencing (Index 0x7000:03, 0x7000:08)
Since incremental encoders do not deliver an unambiguous position value after switching on, a homing must be carried out.
The EL5151-0021 offers the option to set the reference point both manually via Set counter (index 0x7000:03 [} 175]) and via the function Set counter on latch C (index 0x7000:08 [} 175]) on reaching the zero pulse.
· "Set counter" (index 0x7000:03 [} 175])
The value to be set as reference value (default: 0) is written in Set counter value (index 0x7000:11 [} 175]).
The function is activated by setting the bit in Set counter (index 0x7000:03 [} 175]) to TRUE. The value from Set counter value (index 0x7000:11 [} 175]) is written in Counter value (index
0x6000:11 [} 174]). The value of the bit in Set counter done (index 0x6000:03 [} 174]) is set to TRUE. After re-activation of Set counter (index 0x7000:03 [} 175]) or Set counter on latch C (index
0x7000:08 [} 175]), the next reference value is written into Counter value (index 0x6000:11 [} 174]) only if the value of the Set counter done bit (index 0x6000:03 [} 174]) is FALSE. The Set counter done bit (index 0x6000:03 [} 174]) is reset if both Set counter (index 0x7000:03 [} 175]) and Set counter on latch C (index 0x7000:08 [} 175]) have been reset. · "Set counter on latch C" index 0x7000:08 [} 175]
The value to be set as reference value (default: 0) is written in Set counter value (index 0x7000:11 [} 175]).
The function is activated by setting the bit in Set counter on latch C (index 0x7000:08 [} 175]) to TRUE.
The value from Set counter value (index 0x7000:11 [} 175]) is written into Counter value (index 0x6000:11 [} 174]) if the zero pulse is present on channel C.
The value of the bit in Set counter done (index 0x6000:03 [} 174]) is set to TRUE. After re-activation of Set counter (index 0x7000:03 [} 175]) or Set counter on latch C (index
0x7000:08 [} 175]), the next reference value is written into Counter value (index 0x6000:11 [} 174]) only if the value of the Set counter done bit (index 0x6000:03 [} 174]) is FALSE. The Set counter done bit (index 0x6000:03 [} 174]) is reset if both Set counter (index 0x7000:03 [} 175]) and Set counter on latch C (index 0x7000:08 [} 175]) have been reset. · If "Enable latch C" (index 0x7000:01 [} 175]) und "Set counter on latch C" (index 0x7000:08 [} 175]) are activated simultaneously the counter value will be saved in Latch value (index 0x6000:12 [} 174]) upon the first pulse with a rising edge at input C. Subsequently the counter value in Counter value (index 0x6000:11 [} 174]) will be overwritten by the value specified in Set counter value (index 0x7000:11 [} 175]).
EL515x
Version: 3.8
151
Commissioning
10.5.4.5 Workpiece measurement (Index 0x7000:07)
Workpieces or the distances between workpieces can be measured, calculated and evaluated with the aid of the function Workpiece measurement.
A 32-bit filter value [Number of increments] can be defined in Latch filter value (index 0x8000:1B [} 173]) for reliable distinction between a signal relevant for the measurement and production-related signal interference.
Six different modes are available for the measurement. The measurement mode is defined in Measurement mode (index 0x8000:1C [} 173]).
Measurement sequence
The workpiece measurement function is activated by setting the Enable measurement bit (index 0x7000:07 [} 175]) to TRUE.
No simultaneous activation of the functions Workpiece measurement and Compare function
The simultaneous activation of the functions Workpiece measurement (Enable measurement index: 0x7000:07 [} 175]) and Compare function [} 155] (Enable output functions index: 0x7000:06 [} 175]) is not possible.
The sequence of measurement for the different measurement modes is described below. · Measurement modes 0 + 1 - HIGH-level and LOW-level are detected The measurement begins with a HIGH-level at the external latch. The initial value is written into Latch value, rising edge (index 0x6000:17 [} 174]) on expiry of the filter value. If a high level is already present, the initial value of the counter is written into Latch value, rising edge (index 0x6000:17 [} 174]). The measurement ends with a LOW-level at the external latch. The counter value is written into Latch value, falling edge (index 0x6000:18 [} 174]) on expiry of the filter value. The end of the measurement is acknowledged with the setting of the bit in Measurement done (index 0x6001:02 [} 174]). · Measurement modes 2 + 3 - Only HIGH-level is detected The measurement begins with a HIGH-level at the external latch. The initial value is written into Latch value, rising edge (index 0x6000:17 [} 174]) on expiry of the filter value. The end of the measurement is acknowledged with the setting of the bit in Measurement done (index 0x6001:02 [} 174]). · Measurement modes 4 + 5 - Only LOW-level is detected The measurement begins with a LOW-level at the external latch. The initial value is written into Latch value, falling edge (index 0x6000:18 [} 174]) on expiry of the filter value. The end of the measurement is acknowledged with the setting of the bit in Measurement done (index 0x6001:02 [} 174]).
152
Version: 3.8
EL515x
Commissioning
For the time, see Fig. Graphical illustration of the measurement
t1 t2
t3 t4
HIGH- and LOW-level are detected HIGH-level is detected
Measurement mode: 0: with up counter
1: with down counter
Measurement mode: 2: with up counter
3: with down counter
Start of the measurement, start of the filter
Start of the measurement, start of the filter
The counter value from t1 is written into Latch value, rising edge (index 0x6000:17 [} 174]).
The counter value from t1 is written
into Latch value, rising edge (index 0x6000:17 [} 174]). End of the measurement The Measurement done bit is set.
Start of the filter
-
The counter value from t3 is written -
into Latch value, falling edge (index 0x6000:18 [} 174]). End of measurement The Measurement done bit is set.
LOW-level is detected
Measurement mode: 4: with up counter 5: with down counter -
-
Start of the measurement, Start of the filter The counter value from t3 is written into Latch value, falling edge (index 0x6000:18 [} 174]). End of the measurement The Measurement done bit is set.
Fig. 154: Graphical illustration of the measurement
Left A: Measurement active in measurement mode 0 and 1 D: Measurement inactive
Right B: Measurement active in measurement mode 2 and 3 C: Measurement active in measurement mode 4 and 5 D: Measurement inactive
EL515x
Version: 3.8
153
Commissioning Sequence in case of signal interference (fig. Graphical illustration of measurement in Mode 0 - signal interference) t1: The measurement begins with a positive edge. The counter value is buffered. t2: A new edge change takes place within the filter interval; the buffered value is discarded. t3: When the next corresponding edge arrives, the new value is buffered. t4: On expiry of the filter interval the counter value buffered at the time t3 is written into Latch value, rising edge (index 0x6000:17 [} 174]). t5: The counter value is buffered on a falling edge. t6: On expiry of the filter value the counter value buffered at the time t5 is written into Latch value, falling edge (index 0x6000:18 [} 174]). The bit in Measurement done (index 0x6001:02 [} 174]) is set to TRUE.
Fig. 155: Graphical illustration of measurement in Mode 0 - signal interference A: Measurement valid, B: Measurement inactive, C: Measurement invalid
154
Version: 3.8
EL515x
Commissioning
10.5.4.6 Parameterization of the 24 V output channel (Indeces 0x7000:05 and 0x7000:06)
The 24 V output can be set both manually via Set output (index 0x7000:05 [} 175]) and via the compare function Enable output functions (index 0x7000:06 [} 175]).
No simultaneous activation of the functions Compare function and Workpiece measurement
If Compare function (Enable output functions index: 0x7000:06 [} 175]) is activated, the simultaneous use of further output data of the CoE-object 0x7000 ENC Output is not possible, such as · Save counter value via
- 0x7000:01 [} 175] Enable latch C - 0x7000:02 [} 175] Enable latch extern on positive edge - 0x7000:04 [} 175] Enable latch extern on negative edge · Set counter value via - 0x7000:03 [} 175] Set counter - 0x7000:08 [} 175] Set counter on latch C
· Workpiece measurement [} 152] via - 0x7000:07 [} 175] Enable measurement
Setting the output via the compare function
· The value for setting the output is entered in Switch on threshold value (index 0x7000:12 [} 175]). The function is inverted if the value in Switch on threshold value is larger than the value in Switch off threshold value.
· The value for resetting the output is entered in Switch off threshold value (index 0x7000:13 [} 175]).
· The compare function is activated by setting Enable output functions (index 0x7000:06 [} 175]).
· The output is set on reaching the value from Switch on threshold value (index 0x7000:12 [} 175]). The bit in Status of output (index 0x6001:01 [} 174]) is set to TRUE. The Status LED on the terminal lights up green.
· The output is reset on reaching the value from Switch off threshold value (index 0x7000:13 [} 175]). The bit in Status of output (index 0x6001:01 [} 174]) is set to FALSE. The Status LED on the terminal is off.
Fig. 156: Parameterization of the output via the compare function
EL515x
Version: 3.8
155
Commissioning
Setting the output via "Set output" · The output is set when the Set output bit (index 0x7000:05 [} 175]) is set to TRUE. · The bit in Status of output (index 0x6001:01 [} 174]) is set to TRUE. The Status LED on the terminal lights up green. · The output is reset when the Set output bit (index 0x7000:05 [} 175]) is set to FALSE. The bit in Status of output (index 0x6001:01 [} 174]) is set to FALSE. The Status LED on the terminal is off. · The output cannot be set via Set output (index 0x7000:05 [} 175]) if the bit in Enable output functions (index 0x7000:06 [} 175]) is TRUE. Set output is only executed when Enable output functions is reset.
156
Version: 3.8
EL515x
Commissioning
10.6 EL5151-0090
The EL5151-0090 supports the full functionality of the EL5151 (please refer to chapter "EL5151, EL5152 Operating modes and settings"). [} 131] In addition, the EL5151-0090 supports the TwinSAFE SC.
10.6.1 TwinSAFE SC
10.6.1.1 TwinSAFE SC - operating principle
The TwinSAFE SC (Single Channel) technology enables the use of standard signals for safety tasks in any networks of fieldbuses. To do this, EtherCAT Terminals from the areas of analog input, angle/displacement measurement or communication (4...20 mA, incremental encoder, IO-Link, etc.) are extended by the TwinSAFE SC function. The typical signal characteristics and standard functionalities of the I/O components are retained. TwinSAFE SC I/Os have a yellow strip at the front of the housing to distinguish them from standard I/Os. The TwinSAFE SC technology enables communication via a TwinSAFE protocol. These connections can be distinguished from the usual safe communication via Safety over EtherCAT. The data of the TwinSAFE SC components are transferred via a TwinSAFE protocol to the TwinSAFE logic, where they can be used in the context of safety-relevant applications. Detailed examples for the correct application of the TwinSAFE SC components and the respective normative classification, which were confirmed/calculated by TÜV SÜD, can be found in the TwinSAFE application manual.
10.6.1.2 TwinSAFE SC - configuration
The TwinSAFE SC technology enables communication with standard EtherCAT terminals via the Safety over EtherCAT protocol. These connections use another checksum, in order to be able to distinguish between TwinSAFE SC and TwinSAFE. Eight fixed CRCs can be selected, or a free CRC can be entered by the user. By default the TwinSAFE SC communication channel of the respective TwinSAFE SC component is not enabled. In order to be able to use the data transfer, the corresponding TwinSAFE SC module must first be added under the Slots tab. Only then is it possible to link to a corresponding alias device.
Fig. 157: Adding the TwinSAFE SC process data under the component, e.g. EL5021-0090
Additional process data with the ID TSC Inputs, TSC Outputs are generated (TSC TwinSAFE Single Channel).
EL515x
Version: 3.8
157
Commissioning
Fig. 158: TwinSAFE SC component process data, example EL5021-0090 A TwinSAFE SC connection is added by adding an alias devices in the safety project and selecting TSC (TwinSAFE Single Channel)
Fig. 159: Adding a TwinSAFE SC connection
After opening the alias device by double-clicking, select the Link button
next to Physical Device, in
order to create the link to a TwinSAFE SC terminal. Only suitable TwinSAFE SC terminals are offered in the
selection dialog.
Fig. 160: Creating a link to TwinSAFE SC terminal
The CRC to be used can be selected or a free CRC can be entered under the Connection tab of the alias device.
158
Version: 3.8
EL515x
Entry Mode TwinSAFE SC CRC 1 master TwinSAFE SC CRC 2 master TwinSAFE SC CRC 3 master TwinSAFE SC CRC 4 master TwinSAFE SC CRC 5 master TwinSAFE SC CRC 6 master TwinSAFE SC CRC 7 master TwinSAFE SC CRC 8 master
Used CRCs 0x17B0F 0x1571F 0x11F95 0x153F1 0x1F1D5 0x1663B 0x1B8CD 0x1E1BD
Commissioning
Fig. 161: Selecting a free CRC
These settings must match the settings in the CoE objects of the TwinSAFE SC component. The TwinSAFE SC component initially makes all available process data available. The Safety Parameters tab typically contains no parameters. The process data size and the process data themselves can be selected under the Process Image tab.
Fig. 162: Selecting the process data size and the process data
The process data (defined in the ESI file) can be adjusted to user requirements by selecting the Edit button in the dialog Configure I/O element(s).
EL515x
Version: 3.8
159
Commissioning
Fig. 163: Selection of the process data
The safety address together with the CRC must be entered on the TwinSAFE SC slave side. This is done via the CoE objects under TSC settings of the corresponding TwinSAFE SC component (here, for example, EL5021-0090, 0x8010: 01 and 0x8010: 02). The address set here must also be set in the alias device as FSoE address under the Linking tab. Under the object 0x80n0:02 Connection Mode the CRC to be used is selected or a free CRC is entered. A total of 8 CRCs are available. A free CRC must start with 0x00ff in the high word.
Fig. 164: CoE objects 0x8010:01 and 0x8010:02
Object TSC Settings
Depending on the terminal, the index designation of the configuration object TSC Settings can vary. Example: - EL3214-0090 and EL3314-0090, TSC Settings, Index 8040 - EL5021-0090, TSC Settings, Index 8010 - EL6224-0090, TSC Settings, Index 800F
Fig. 165: Entering the safety address and the CRC
160
Version: 3.8
EL515x
Commissioning
TwinSAFE SC connections
If several TwinSAFE SC connections are used within a configuration, a different CRC must be selected for each TwinSAFE SC connection.
10.6.2 TwinSAFE SC process data EL5151-0090
The EL5151-0090 transmits the following process data to the TwinSAFE logic:
Index (hex) 6000:1D 6000:11 6000:13 6000:14 6000:1C 6000:1E
Name Counter value (uint16) Counter value Frequency value Period value Frequency value (uint16) Period value (uint16)
Type UINT UDINT UDINT UDINT UINT UINT
Size 2.0 4.0 4.0 4.0 2.0 2.0
The Counter Value (uint16) (0x6000:1D) is transferred as default value. Via the "Process Image" tab, other data types can be selected or completely deselected in the Safety Editor.
Depending on the TwinCAT 3.1 version, process data can be renamed automatically when linking to the Safety Editor.
TwinSAFE SC Objects
The TwinSAFE SC objects of the EL5151-0090 are listed in chapter Objects TwinSAFE Single Channel (EL5151-0090) [} 190].
EL515x
Version: 3.8
161
Commissioning
10.7 EL5151 - CoE object description
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 (with a double click on the respective object) or via the Process Data tab (assignment of PDOs). A detailed description can be found in the EtherCAT System-Documentation in chapter "EtherCAT subscriber configuration" Please note the general CoE notes in the EtherCAT System Documentation in chapter "CoE-interface" 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
Introduction
The CoE overview contains objects for different intended applications:
10.7.1 Restore object
Index 1011 Restore default parameters
Index (hex) Name
Meaning
1011:0
Restore default param- Restore default parameters eters [} 222]
1011:01
SubIndex 001
If this object is set to "0x64616F6C" in the set value dialog, all backup objects are reset to their delivery state.
Data type UINT8
UINT32
Flags RO
Default value 0x01 (1dec)
RW
0x00000000
(0dec)
162
Version: 3.8
EL515x
Commissioning
10.7.2 Configuration data
Index 8000 ENC Settings
Index (hex) Name
Meaning
Data type
8000:0
ENC Settings Maximum subindex
UINT8
8000:01** Enable C reset The counter is reset via the C input. [} 142]
BOOLEAN
8000:02** Enable extern The counter is reset via the external latch input. reset [} 142]
BOOLEAN
8000:03
Enable up/down Enablement of the up/down counter in place of the encoder with BOOLEAN counter [} 143] the bit set.
8000:04
Gate [} 141] po- 0: Gate inactive
larity
1: Enable pos. gate (gate locks with HIGH level)
2: Enable neg. gate (gate locks with LOW level)
BIT2
8000:08** Disable filter [} 144]
Deactivates the input filters.
BOOLEAN
8000:0A**
Enable micro in- The counter value is extrapolated by 8 bit. crements [} 144]
BOOLEAN
8000:0E** Reversion of ro- Activates reversion of rotation tation [} 143]
BOOLEAN
8000:0F**
Frequency win- Basic unit of Frequency window (index 0x8000:11)
dow base [} 139]
0: µs 1: ms
BIT1
8000:10** Extern reset po- 0: Fall (the counter is set to zero with a falling edge) larity [} 142] 1: Rise (the counter is set to zero with a rising edge)
BIT1
8000:11***
Frequency window [} 139]
This is the minimum time over which the frequency is determined UINT16 [1 µs], default: 10 ms.
Measuring window < 600 ms: Measurement takes place in frequency mode A. [} 140] Measuring window > 600 ms: Measurement takes place in frequency mode B. [} 141]
The frequency determined in this way is output in index 0x6000:13 [} 164] .
8000:13**
Frequency scal- Scaling of the frequency measurement (must be divided by this
ing [} 139]
value to obtain the unit in Hz):
100: "0.01 Hz
UINT16
8000:14**
Period scaling [} 141]
Scaling of the period in the process data: (must be divided by this UINT16 value to obtain the unit in ns):
100: "100 ns" period value is a multiple of 100 ns
Only the setting "100" is currently possible here.
8000:15** Frequency reso- Resolution of the frequency measurement: lution [} 139] 100: "0.01 Hz"
UINT16
8000:16**
Period resolution [} 141]
Internal resolution of the period measurement:
100: "100 ns" 200: "200 ns" The period is calculated internally with a resolution of 100 ns. The max. measurable period is 1.6 s.
UINT16
Only 100 ns and 200 ns can be set.
8000:17*** Frequency Wait Waiting time [ms] for frequency measurement Time [} 139] Default: 1.6 s (maximum possible value)
UINT16
If the time from Frequency window has elapsed, the next positive edge from track A is awaited for this time (frequency mode A only). This enables the update speed for the Frequency process data to be optimized, depending on the expected frequencies. At least double the period of the minimum frequency to be measured should be entered here. t >= 2* (1 / fmin).
Flags Default value RO 0x16 (22dec) RW 0x00 (0dec) RW 0x00 (0dec) RW 0x00 (0dec) RW 0x00 (0dec) RW 0x00 (0dec) RW 0x00 (0dec) RW 0x00 (0dec) RW 0x00 (0dec) RW 0x01 (1dec) RW 0x2710
(10000dec)
RW 0x0064 (100dec) RW 0x0064 (100dec)
RW 0x0064 (100dec) RW 0x00C8 (200dec)
RW 0x0640 (1600dec)
** applies from Firmware [} 209]"02" *** applies from Firmware [} 209]"05"
EL515x
Version: 3.8
163
Commissioning
10.7.3 Input data
Index 6000 ENC Inputs
Index (hex) Name
6000:0
ENC Inputs
6000:01
Latch C valid [} 142]
Meaning Maximum subindex The counter value was locked with the "C" input.
Data type UINT8 BOOLEAN
6000:02
Latch extern valid [} 142]
The data in Latch value (index 0x6000:12 [} 164]) correspond to the latched value with the bit set. In order to re-activate the latch input, Enable latch C (index 0x7000:01 [} 164]) must first be cancelled and then set again.
The counter value was locked by the external latch in- BOOLEAN put.
6000:03 6000:08**
6000:09 6000:0A 6000:0B 6000:0D 6000:0E**
6000:10
6000:11
Set counter done Extrapolation stall [} 144]
Status of input A Status of input B Status of input C Status of extern latch Sync Error
TxPDO Toggle
Counter value
The data in Latch value (index 0x6000:12 [} 164]) correspond to the latched value with the bit set. In order to re-activate the latch input, Enable latch extern on positive edge (index 0x7000:02 [} 164]) or Enable latch ex-
tern on negative edge (index 0x7000:04 [} 164]) must first be cancelled and then set again.
The counter was set.
BOOLEAN
The extrapolated part of the counter is invalid. The speed has fallen below the minimum speed required to use the micro-increments [} 144].
BOOLEAN
Status of input A
BOOLEAN
Status of input B
BOOLEAN
Status of input C
BOOLEAN
The status of the gate/latch input
BOOLEAN
The Sync error bit is only required for DC mode. It indi- BOOLEAN cates whether a synchronization error has occurred during the previous cycle.
The TxPDO toggle is toggled by the slave when the data of the associated TxPDO is updated.
BOOLEAN
Counter value
UINT32
6000:12
Latch value
Latch value
UINT32
6000:13** Frequency value
6000:14
Period value
6000:16** Timestamp [} 133]
The frequency (setting of the scaling in index 0x8000:13 and the resolution in index 0x8000:15)
The period (setting of the scaling in index 0x8000:14 and the resolution in index 0x8000:16)
Time stamp of the last counter change.
UINT32 UINT32 UINT64
Flags RO RO
Default value 0x16 (22dec) 0x00 (0dec)
RO
0x00 (0dec)
RO
0x00 (0dec)
RO
0x00 (0dec)
RO
0x00 (0dec)
RO
0x00 (0dec)
RO
0x00 (0dec)
RO
0x00 (0dec)
RO
0x00 (0dec)
RO
0x00 (0dec)
RO
0x00000000
(0dec)
RO
0x00000000
(0dec)
RO
0x00000000
(0dec)
RO
0x00000000
(0dec)
RO
** applies from Firmware [} 209]"02"
10.7.4 Output data
Index 7000 ENC Outputs
Index (hex) Name
Meaning
7000:0
ENC Outputs
Maximum subindex
7000:01
Enable Latch C [} 142] Activate saving via input "C".
7000:02
Enable latch extern on Activate external latch with positive edge. positive edge [} 142]
7000:03
Set counter
Set counter
7000:04
Enable latch extern on Activate external latch with negative edge. negative edge [} 142]
7000:11
Set counter value
This is the counter value to be set via Set counter (index 0x7000:03 [} 164]).
Data type UINT8 BOOLEAN BOOLEAN
BOOLEAN BOOLEAN
UINT32
Flags RO RO RO
Default value 0x11 (17dec) 0x00 (0dec) 0x00 (0dec)
RO
0x00 (0dec)
RO
0x00 (0dec)
RO
0x00000000
(0dec)
164
Version: 3.8
EL515x
Commissioning
"Enable C reset" and "Enable extern reset"
The simultaneous activation of the functions Enable C reset (index: 0x8000:01) und Enable extern reset (index: 0x8000:02) is not possible.
10.7.5 Standard objects (0x1000-0x1FFF)
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 value
0x01FF1389 (33493897dec)
Index 1008 Device name
Index (hex) Name
1008:0
Device name
Meaning Device name of the EtherCAT slave
Data type STRING
Flags Default value
RO
EL5151
Index 1009 Hardware version
Index (hex) Name
1009:0
Hardware version
Meaning Hardware version of the EtherCAT slave
Data type STRING
Flags Default value
RO
01
Index 100A Software version
Index (hex) Name
100A:0
Software version
Meaning Firmware version of the EtherCAT slave
Data type STRING
Flags Default value
RO
02
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
Data type UINT8 UINT32
Product code of the EtherCAT slave
UINT32
Revision number of the EtherCAT slave; the low word (bit 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 UINT32
Flags RO RO
RO
RO
Default value
0x04 (4dec)
0x00000002 (2dec)
0x141F3052 (337588306dec)
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 value 0x01 (1dec)
RO
0x00000000
(0dec)
Index 1400 ENC RxPDO-Par Control
Index (hex) Name
Meaning
1400:0
ENC RxPDO-Par Con- PDO Parameter RxPDO 1 trol
1400:06
Exclude RxPDOs
Specifies the RxPDOs (index of RxPDO mapping objects) that must not be transferred together with RxPDO 1
Data type UINT8
OCTETSTRING[2]
Flags RO
Default value 0x06 (6dec)
RO
01 16
EL515x
Version: 3.8
165
Commissioning
Index 1401 ENC RxPDO-Par Control compact
Index (hex) Name
Meaning
1401:0
ENC RxPDO-Par Con- PDO Parameter RxPDO 2 trol compact
1401:06
Exclude RxPDOs
Specifies the RxPDOs (index of RxPDO mapping objects) that must not be transferred together with RxPDO 2
Data type UINT8
OCTETSTRING[2]
Flags RO
Default value 0x06 (6dec)
RO
00 16
Index 1600 ENC RxPDO-Map Control
Index (hex) Name
1600:0
ENC RxPDO-Map Control
1600:01
SubIndex 001
1600:02
SubIndex 002
1600:03
SubIndex 003
1600:04
SubIndex 004
1600:05 1600:06 1600:07
SubIndex 005 SubIndex 006 SubIndex 007
Meaning PDO Mapping RxPDO 1
Data type UINT8
1. PDO Mapping entry (object 0x7000 (ENC Outputs), UINT32 entry 0x01 (Enable latch C))
2. PDO Mapping entry (object 0x7000 (ENC Outputs), UINT32 entry 0x02 (Enable latch extern on positive edge))
3. PDO Mapping entry (object 0x7000 (ENC Outputs), UINT32 entry 0x03 (Set counter))
4. PDO Mapping entry (object 0x7000 (ENC Outputs), UINT32 entry 0x04 (Enable latch extern on negative edge))
5. PDO Mapping entry (4 bits align)
UINT32
6. PDO Mapping entry (8 bits align)
UINT32
7. PDO Mapping entry (object 0x7000 (ENC Outputs), UINT32 entry 0x11 (Set counter value))
Flags RO
Default value 0x07 (7dec)
RO
0x7000:01, 1
RO
0x7000:02, 1
RO
0x7000:03, 1
RO
0x7000:04, 1
RO
0x0000:00, 4
RO
0x0000:00, 8
RO
0x7000:11, 32
Index 1601 ENC RxPDO-Map Control compact
Index (hex) Name
1601:0
ENC RxPDO-Map Control compact
1601:01
SubIndex 001
1601:02
SubIndex 002
1601:03
SubIndex 003
1601:04
SubIndex 004
1601:05 1601:06 1601:07
SubIndex 005 SubIndex 006 SubIndex 007
Meaning PDO Mapping RxPDO 2
Data type UINT8
1. PDO Mapping entry (object 0x7000 (ENC Outputs), UINT32 entry 0x01 (Enable latch C))
2. PDO Mapping entry (object 0x7000 (ENC Outputs), UINT32 entry 0x02 (Enable latch extern on positive edge))
3. PDO Mapping entry (object 0x7000 (ENC Outputs), UINT32 entry 0x03 (Set counter))
4. PDO Mapping entry (object 0x7000 (ENC Outputs), UINT32 entry 0x04 (Enable latch extern on negative edge))
5. PDO Mapping entry (4 bits align)
UINT32
6. PDO Mapping entry (8 bits align)
UINT32
7. PDO Mapping entry (object 0x7000 (ENC Outputs), UINT32 entry 0x11 (Set counter value))
Flags RO
Default value 0x07 (7dec)
RO
0x7000:01, 1
RO
0x7000:02, 1
RO
0x7000:03, 1
RO
0x7000:04, 1
RO
0x0000:00, 4
RO
0x0000:00, 8
RO
0x7000:11, 16
Index 1800 ENC TxPDO-Par Status
Index (hex) 1800:0 1800:06
1800:09
Name ENC TxPDO-Par Status Exclude TxPDOs
TxPDO Toggle
Meaning PDO parameter TxPDO 1
Data type UINT8
Specifies the TxPDOs (index of TxPDO mapping objects) that must not be transferred together with TxPDO 1.
OCTETSTRING[2]
The TxPDO toggle is toggled with each update the cor- BOOLEAN responding input data
Flags RO
Default value 0x09 (9dec)
RO
01 1A
RO
0x00 (0dec)
Index 1801 ENC TxPDO-Par Status compact
Index (hex) 1801:0 1801:06
1801:09
Name ENC TxPDO-Par Status compact Exclude TxPDOs
TxPDO Toggle
Meaning PDO parameter TxPDO 2
Data type UINT8
Specifies the TxPDOs (index of TxPDO mapping objects) that must not be transferred together with TxPDO 2.
OCTETSTRING[2]
The TxPDO toggle is toggled with each update the cor- BOOLEAN responding input data
Flags RO
Default value 0x09 (9dec)
RO
00 1A
RO
0x00 (0dec)
166
Version: 3.8
EL515x
Commissioning
Index 1802 ENC TxPDO-Par Period
Index (hex) Name
1802:0
ENC TxPDO-Par Period
1802:06
Exclude TxPDOs
Meaning PDO parameter TxPDO 3
Specifies the TxPDOs (index of TxPDO mapping objects) that must not be transferred together with TxPDO 3.
Data type UINT8
OCTETSTRING[2]
Flags RO
Default value 0x06 (6dec)
RO
03 1A
Index 1803 ENC TxPDO-Par Frequency
Index (hex) 1803:0
1803:06
Name
ENC TxPDO-Par Frequency
Exclude TxPDOs
Meaning PDO parameter TxPDO 4
Specifies the TxPDOs (index of TxPDO mapping objects) that must not be transferred together with TxPDO 4.
Data type UINT8
OCTETSTRING[2]
Flags RO
Default value 0x06 (6dec)
RO
02 1A
Index 1804 ENC TxPDO-Par Timest.
Index (hex) Name
1804:0
ENC TxPDO-Par Timest.
1804:06
Exclude TxPDOs
Meaning PDO parameter TxPDO 5
Data type UINT8
Specifies the TxPDOs (index of TxPDO mapping objects) that must not be transferred together with TxPDO 5.
OCTETSTRING[2]
Flags RO
Default value 0x06 (6dec)
RO
05 1A
Index 1805 ENC TxPDO-Par Timest. compact
Index (hex) Name
1805:0
ENC TxPDO-Par Timest. compact
1805:06
Exclude TxPDOs
Meaning PDO parameter TxPDO 6
Data type UINT8
Specifies the TxPDOs (index of TxPDO mapping objects) that must not be transferred together with TxPDO 6.
OCTETSTRING[2]
Flags RO
Default value 0x06 (6dec)
RO
04 1A
EL515x
Version: 3.8
167
Commissioning
Index 1A00 ENC TxPDO-Map Status
Index (hex) Name
Meaning
1A00:0
ENC TxPDO-Map Sta- PDO Mapping TxPDO 1 tus
1A00:01 SubIndex 001
1. PDO Mapping entry (object 0x6000 (ENC Inputs), entry 0x01 (Latch C valid))
1A00:02 SubIndex 002
2. PDO Mapping entry (object 0x6000 (ENC Inputs), entry 0x02 (Latch extern valid))
1A00:03 SubIndex 003
3. PDO Mapping entry (object 0x6000 (ENC Inputs), entry 0x03 (Set counter done))
1A00:04 SubIndex 004
4. PDO Mapping entry (4 bits align)
1A00:05 SubIndex 005
5. PDO Mapping entry (object 0x6000 (ENC Inputs), entry 0x08 (Extrapolation stall))
1A00:06 SubIndex 006
6. PDO Mapping entry (object 0x6000 (ENC Inputs), entry 0x09 (Status of input A))
1A00:07 SubIndex 007
7. PDO Mapping entry (object 0x6000 (ENC Inputs), entry 0x0A (Status of input B))
1A00:08 SubIndex 008
8. PDO Mapping entry (object 0x6000 (ENC Inputs), entry 0x0B (Status of input C))
1A00:09 SubIndex 009
9. PDO Mapping entry (1 bits align)
1A00:0A SubIndex 010
10. PDO Mapping entry (object 0x6000 (ENC Inputs), entry 0x0D (Status of extern latch))
1A00:0B SubIndex 011
11. PDO Mapping entry (object 0x6000 (ENC Inputs), entry 0x0E (Sync error))
1A00:0C SubIndex 012
12. PDO Mapping entry (1 bits align)
1A00:0D SubIndex 013
13. PDO Mapping entry (object 0x6000 (ENC Inputs), entry 0x10 (TxPDO-Toggle))
1A00:0E SubIndex 014
14. PDO Mapping entry (object 0x6000 (ENC Inputs), entry 0x11 (Counter value))
1A00:0F SubIndex 015
15. PDO Mapping entry (object 0x6000 (ENC Inputs), entry 0x12 (Latch value))
Data type UINT8 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32
Flags RO
Default value 0x0F (15dec)
RO
0x6000:01, 1
RO
0x6000:02, 1
RO
0x6000:03, 1
RO
0x0000:00, 4
RO
0x6000:08, 1
RO
0x6000:09, 1
RO
0x6000:0A, 1
RO
0x6000:0B, 1
RO
0x0000:00, 1
RO
0x6000:0D, 1
RO
0x6000:0E, 1
RO
0x0000:00, 1
RO
0x6000:10, 1
RO
0x6000:11, 32
RO
0x6000:12, 32
Index 1A01 ENC TxPDO-Map Status compact
Index (hex) Name
Meaning
1A01:0
ENC TxPDO-Map Sta- PDO Mapping TxPDO 2 tus compact
1A01:01 SubIndex 001
1. PDO Mapping entry (object 0x6000 (ENC Inputs), entry 0x01 (Latch C valid))
1A01:02 SubIndex 002
2. PDO Mapping entry (object 0x6000 (ENC Inputs), entry 0x02 (Latch extern valid))
1A01:03 SubIndex 003
3. PDO Mapping entry (object 0x6000 (ENC Inputs), entry 0x03 (Set counter done))
1A01:04 SubIndex 004
4. PDO Mapping entry (4 bits align)
1A01:05 SubIndex 005
5. PDO Mapping entry (object 0x6000 (ENC Inputs), entry 0x08 (Extrapolation stall))
1A01:06 SubIndex 006
6. PDO Mapping entry (object 0x6000 (ENC Inputs), entry 0x09 (Status of input A))
1A01:07 SubIndex 007
7. PDO Mapping entry (object 0x6000 (ENC Inputs), entry 0x0A (Status of input B))
1A01:08 SubIndex 008
8. PDO Mapping entry (object 0x6000 (ENC Inputs), entry 0x0B (Status of input C))
1A01:09 SubIndex 009
9. PDO Mapping entry (1 bits align)
1A01:0A SubIndex 010
10. PDO Mapping entry (object 0x6000 (ENC Inputs), entry 0x0D (Status of extern latch))
1A01:0B SubIndex 011
11. PDO Mapping entry (object 0x6000 (ENC Inputs entry 0x0E (Sync error))
1A01:0C SubIndex 012
12. PDO Mapping entry (1 bits align)
1A01:0D SubIndex 013
13. PDO Mapping entry (object 0x6000 (ENC Inputs), entry 0x10 (TxPDO-Toggle))
1A01:0E SubIndex 014
14. PDO Mapping entry (object 0x6000 (ENC Inputs), entry 0x11 (Counter value))
1A01:0F SubIndex 015
15. PDO Mapping entry (object 0x6000 (ENC Inputs), entry 0x12 (Latch value))
Data type UINT8 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32
Flags RO
Default value 0x0F (15dec)
RO
0x6000:01, 1
RO
0x6000:02, 1
RO
0x6000:03, 1
RO
0x0000:00, 4
RO
0x6000:08, 1
RO
0x6000:09, 1
RO
0x6000:0A, 1
RO
0x6000:0B, 1
RO
0x0000:00, 1
RO
0x6000:0D, 1
RO
0x6000:0E, 1
RO
0x0000:00, 1
RO
0x6000:10, 1
RO
0x6000:11, 16
RO
0x6000:12, 16
168
Version: 3.8
EL515x
Commissioning
Index 1A02 ENC TxPDO-Map Period
Index (hex) Name
Meaning
1A02:0
ENC TxPDO-Map Pe- PDO Mapping TxPDO 3 riod
1A02:01 SubIndex 001
1. PDO Mapping entry (object 0x6000 (ENC Inputs), entry 0x14 (Period value))
Data type UINT8
UINT32
Flags RO
Default value 0x01 (1dec)
RO
0x6000:14, 32
Index 1A03 ENC TxPDO-Map Frequency
Index (hex) Name
Meaning
1A03:0
ENC TxPDO-Map Fre- PDO Mapping TxPDO 4 quency
1A03:01 SubIndex 001
1. PDO Mapping entry (object 0x6000 (ENC Inputs), entry 0x13 (Frequency value))
Data type UINT8
UINT32
Flags RO
Default value 0x01 (1dec)
RO
0x6000:13, 32
Index 1A04 ENC TxPDO-Map Timest.
Index (hex) Name
1A04:0
ENC TxPDO-Map Timest.
1A04:01 SubIndex 001
Meaning PDO Mapping TxPDO 5
1. PDO Mapping entry (object 0x6000 (ENC Inputs), entry 0x16 (Timestamp))
Data type UINT8
UINT32
Flags RO
Default value 0x01 (1dec)
RO
0x6000:16, 64
Index 1A05 ENC TxPDO-Map Timest. compact
Index (hex) Name
1A05:0
ENC TxPDO-Map Timest. compact
1A05:01 SubIndex 001
Meaning PDO Mapping TxPDO 6
1. PDO Mapping entry (object 0x6000 (ENC Inputs), entry 0x16 (Timestamp))
Data type UINT8
UINT32
Flags RO
Default value 0x01 (1dec)
RO
0x6000:16, 32
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 Using the sync managers Sync-Manager Type Channel 1: Mailbox Write Sync-Manager Type Channel 2: Mailbox Read Sync-Manager Type Channel 3: Process Data Write (Outputs) Sync-Manager Type Channel 4: Process Data Read (Inputs)
Data type UINT8 UINT8 UINT8 UINT8
UINT8
Flags RO RO RO RO
Default value 0x04 (4dec) 0x01 (1dec) 0x02 (2dec) 0x03 (3dec)
RO
0x04 (4dec)
Index 1C12 RxPDO assign
Index (hex) Name
1C12:0
RxPDO assign
1C32:01 SubIndex 001
Meaning
PDO Assign Outputs
1. allocated RxPDO (contains the index of the associated RxPDO mapping object)
Data type UINT8 UINT16
Index 1C13 TxPDO assign
Index (hex) Name
1C13:0
TxPDO assign
1C13:01 SubIndex 001
1C13:02 SubIndex 002
1C13:03 SubIndex 003
Meaning
PDO Assign Inputs
1. allocated TxPDO (contains the index of the associated TxPDO mapping object)
2. allocated TxPDO (contains the index of the associated TxPDO mapping object)
3. allocated TxPDO (contains the index of the associated TxPDO mapping object)
Data type UINT8 UINT16
UINT16
UINT16
Flags RW RW
Default value
0x01 (1dec) 0x1600 (5632dec)
Flags RW RW
RW
RW
Default value
0x02 (2dec) 0x1A00 (6656dec) 0x1A02 (6658dec) 0x0000 (0dec)
EL515x
Version: 3.8
169
Commissioning
Index 1C32 SM output parameter
Index (hex) Name
Meaning
Data type
1C32:0
SM output parameter Synchronization parameters for the outputs
UINT8
1C32:01 Sync mode
Current synchronization mode:
UINT16
· 0: Free Run
· 1: Synchronous with SM 2 event
· 2: DC-Mode - Synchronous with SYNC0 Event
· 3: DC-Mode - Synchronous with SYNC1 event
1C32:02 Cycle time
Cycle time (in ns):
UINT32
· Free Run: Cycle time of the local timer
· Synchronous with SM 2 event: Master cycle time
· DC-Mode: SYNC0/SYNC1 Cycle Time
1C32:03 Shift time
Time between SYNC0 event and output of the outputs UINT32 (in ns, DC mode only)
1C32:04 Sync modes supported Supported synchronization modes:
UINT16
· Bit 0 = 1: free run is supported
· Bit 1 = 1: Synchronous with SM 2 event is supported
· Bit 2-3 = 01: DC mode is supported
· Bit 14 = 1: dynamic times (measurement by writing 0x1C32:08) (for revision no.: 17 25)
1C32:05
Minimum cycle time Minimum cycle time (in ns) Default: 59.1ms
UINT32
1C32:06
Calc and copy time
Minimum time between SYNC0 and SYNC1 event (in UINT32 ns, DC mode only)
1C32:07
Minimum delay time Minimum time between SYNC1 event and output of the UINT32 outputs (in ns, only DC mode)
1C32:08 Command
· 0: Measurement of the local cycle time is stopped
UINT16
· 1: Measurement of the local cycle time is started
The entries 0x1C32:03, 0x1C32:05, 0x1C32:06, 0x1C32:09, 0x1C33:03 [} 171], 0x1C33:06 and
0x1C33:09 [} 171] are updated with the maximum measured values. For a subsequent measurement the measured values are reset.
1C32:09
Maximum Delay time Time between SYNC1 event and output of the outputs UINT32 (in ns, DC mode only)
1C32:0B
SM event missed counter
Number of missed SM events in OPERATIONAL (DC UINT16 mode only)
1C32:0C
Cycle exceeded counter
Number of occasions the cycle time was exceeded in UINT16 OPERATIONAL (cycle was not completed in time or the next cycle began too early)
1C32:0D
Shift too short counter Number of occasions that the interval between SYNC0 UINT16 and SYNC1 event was too short (DC mode only)
1C32:20 Sync error
The synchronization was not correct in the last cycle BOOLEAN (outputs were output too late; DC mode only)
Flags RO RW
Default value 0x20 (32dec) 0x0001 (1dec)
RW
0x000F4240
(1000000dec)
RO
0x00000000
(0dec)
RO
0xC807
(51207dec)
RO
0x0000E6DC
(59100dec)
RO
0x00000000
(0dec)
RO
0x00000000
(0dec)
RW
0x0000 (0dec)
RO
0x00000000
(0dec)
RO
0x0000 (0dec)
RO
0x0000 (0dec)
RO
0x0000 (0dec)
RO
0x00 (0dec)
170
Version: 3.8
EL515x
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 Current synchronization mode:
· 0: Free Run · 1: Synchronous with SM 3 event (no outputs
available) · 2: DC - Synchronous with SYNC0 Event · 3: DC - Synchronous with SYNC1 Event · 34: Synchronous with SM 2 event (outputs
available) as 0x1C32:02 [} 170]
Data type UINT8 UINT16
UINT32
1C33:03 1C33:04
1C33:05
Shift time
Time between SYNC0 event and reading of the inputs UINT32 (in ns, only DC mode)
Sync modes supported Supported synchronization modes:
UINT16
· Bit 0 = 1: free run is supported
· Bit 1 = 1: Synchronous with SM 2 event is supported
· Bit 2-3 = 01: DC mode is supported
· Bit 14 = 1: dynamic times (measurement by writing 0x1C32:08 [} 170]) (for revision no.: 17 25)
Minimum cycle time as 1C32:05 [} 170]
UINT32
1C33:06 1C33:07 1C33:08 1C33:09 1C33:0B 1C33:0C 1C33:0D 1C33:20
Calc and copy time
Time between reading of the inputs and availability of UINT32 the inputs for the master (in ns, only DC mode)
Minimum delay time Minimum time between Sync-1 Event and reading of UINT32 the inputs (in ns, only DC mode)
Command
as 0x1C32:08 [} 170]
UINT16
Maximum Delay time Time between SYNC1 event and reading of the inputs UINT32 (in ns, only DC mode)
SM event missed counter
as 0x1C32:11 [} 170]
UINT16
Cycle exceeded counter
as 0x1C32:12 [} 170]
UINT16
Shift too short counter as 0x1C32:13 [} 170]
UINT16
Sync error
as 0x1C32:32 [} 170]
BOOLEAN
Flags RO RW
Default value 0x20 (32dec) 0x0022 (34dec)
RW
0x000F4240
(1000000dec)
RO
0x00000000
(0dec)
RO
0xC807
(51207dec)
RO
0x0000E6DC
(59100dec)
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
Data type
F000:0
Modular device profile General information for the modular device profile
UINT8
F000:01 Module index distance Index spacing of the objects of the individual channels UINT16
F000:02
Maximum number of Number of channels modules
UINT16
Flags RO RO RO
Default value 0x02 (2dec) 0x0010 (16dec) 0x0001 (1dec)
Index F008 Code word
Index (hex) Name F008:0** Code word
Meaning
Data type
NoCoeStorage [} 33] function:
UINT32
The input code of the code word 0x12345678 activates the NoCoeStorage [} 33] function:
Changes to the CoE directory are not saved if the function is active. The function is deactivated by: 1.) changing the code word or 2.) restarting the terminal.
Flags RW
Default value
0x00000000 (0dec)
** applies from Firmware [} 209] "02"
EL515x
Version: 3.8
171
Commissioning
Index F010 Module list
Index (hex) Name
F010:0
Module list
F010:01** SubIndex 001
Meaning Maximum subindex reserved
** applies from Firmware [} 209] "02"
Data type UINT8 UINT32
Flags RW RW
Default value
0x01 (1dec) 0x000001FF (511dec)
10.8 EL5151-0021 - CoE object decription
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
The terminal is parameterized via the CoE - Online tab (double-click on the respective object) or via the Process data tab for the assignment of PDOs.
Introduction The CoE overview contains objects for different intended applications:
10.8.1 Restore object
Index 1011 Restore default parameters
Index (hex) Name
Meaning
1011:0
Restore default param- Restore default parameters eters [} 222]
1011:01
SubIndex 001
If this object is set to "0x64616F6C" in the set value dialog, all backup objects are reset to their delivery state.
Data type UINT8
UINT32
Flags RO
Default value 0x01 (1dec)
RW
0x00000000
(0dec)
172
Version: 3.8
EL515x
Commissioning
10.8.2 Configuration data
Index 8000 ENC Settings
Index (hex) Name
8000:0
ENC Settings
8000:01
Enable C reset [} 150]
8000:02
Enable extern reset [} 150]
8000:03
Enable up/down counter [} 143]
8000:10
Extern reset polarity [} 150]
8000:1B Latch Filter Value
8000:1C
Measurement mode [} 152]
Meaning Maximum subindex The counter is reset via the C input. The counter is reset via the external latch input.
Data type UINT8 BOOLEAN BOOLEAN
Enablement of the up/down counter in place of the en- BOOLEAN coder with the bit set.
0: Fall (the counter is set to zero with a falling edge) BIT1 1: Rise (the counter is set to zero with a rising edge)
Latch filter value [number of increments]
UINT32
The workpiece is reliably detected after this value is ex-
ceeded.
The workpiece measurement [} 152] takes place.
Valid input values:
UINT16
0 Default: with increasing counter rising and falling edges are detected
1 with decreasing counter rising and falling edges are detected
2 with increasing counter only rising edges are detected
3 with decreasing counter only rising edges are detected
4 with increasing counter only falling edges are detected
5 with decreasing counter only falling edges are detected
Flags RO RW RW
Default value 0x1C (28dec) 0x00 (0dec) 0x00 (0dec)
RW
0x00 (0dec)
RW
0x01 (1dec)
RW
0x00 (0dec)
RW
0x00 (0dec)
EL515x
Version: 3.8
173
Commissioning
10.8.3 Input data
Index 6000 ENC Inputs
Index (hex) Name
Meaning
Data type
6000:0
ENC Inputs
Maximum subindex
UINT8
6000:01
Latch C valid
The counter value was saved with the "C" input.
BOOLEAN
The data in Latch value (index 0x6000:12) correspond to the latched value with the bit set. In order to re-activate the C input, Enable latch C (index 0x7000:01) must first be cancelled and then set again.
6000:02
Latch extern valid
The counter value was saved via the external latch in- BOOLEAN put.
The data in Latch value (index 0x6000:12) correspond to the saved value with the bit set. In order to re-activate the latch input, Enable latch extern on positive edge (index 0x7000:02 [} 175]) or En-
able latch extern on negative edge (index 0x7000:04 [} 175]) must first be cancelled and then set again.
6000:03
Set counter done
The counter was set.
BOOLEAN
The bit must be reset before a new value can be written in Latch value (index 0x6000:12).
6000:09 6000:0A
Status of input A Status of input B
Status of input A Status of input B
BOOLEAN BOOLEAN
6000:0B Status of input C
Status of input C
BOOLEAN
6000:0D 6000:0E
Status of extern latch Status of the latch input
Compatible input cycle Status message for monitoring the process data counter high
BOOLEAN BOOLEAN
6000:10
TxPDO Toggle
The TxPDO toggle is toggled by the slave when the data of the associated TxPDO is updated.
BOOLEAN
6000:11
Counter value
Counter value
UINT32
6000:12
Latch value
Latch value
UINT32
6000:17 6000:18
Latch value,rising edge
Latch value,falling edge
Counter value on a rising edge at the latch input
UINT32
Counter value on the first rising edge after activation of the measurement (if Enable measurement (index 0x7000:07 [} 175]) is TRUE).
Counter value on a falling edge at the latch input
UINT32
Counter value on the first falling edge after activation of the measurement (if Enable measurement (index 0x7000:07 [} 175]) is TRUE).
Flags RO RO
Default value 0x18 (24dec) 0x00 (0dec)
RO
0x00 (0dec)
RO
0x00 (0dec)
RO
0x00 (0dec)
RO
0x00 (0dec)
RO
0x00 (0dec)
RO
0x00 (0dec)
RO
0x00 (0dec)
RO
0x00 (0dec)
RO
0x00000000
(0dec)
RO
0x00000000
(0dec)
RO
0x00000000
(0dec)
RO
0x00000000
(0dec)
Index 6001 ENC Inputs
Index (hex) Name
6001:0
ENC Inputs
6001:01 Status of Output
6001:02 Measurement done
Meaning Maximum subindex 0bin Status of the output is 0 V 1bin Status of the output is 24 V 1bin Measurement done
Data type UINT8 BOOLEAN
Flags RO RO
Default value 0x02 (2dec) 0x00 (0dec)
BOOLEAN RO
0x00 (0dec)
174
Version: 3.8
EL515x
Commissioning
10.8.4 Output data
Index 7000 ENC Outputs
Index (hex) Name
Meaning
Data type
7000:0
ENC Outputs
Maximum subindex
UINT8
7000:01
Enable latch C
Activate saving via input C.
BOOLEAN
7000:02
Enable latch extern on Activate external latch with positive edge. positive edge [} 149]
BOOLEAN
7000:03
Set counter [} 151]
Set counter is executed only if
BOOLEAN
the bit in Set counter done (index 0x6000:03) is FALSE and
the bit in Enable Latch C (index 0x7000:01) is FALSE and
the bit inEnable latch extern on positive / negative edge (index 0x7000:02/0x7000:04) is FALSE.
7000:04
Enable latch extern on Activate external latch with negative edge. negative edge
BOOLEAN
7000:05
Set output [} 155]
Set output
BOOLEAN
0bin: 0 V 1bin : 24 V
Not executed if
the bit in Enable output functions (index 0x7000:06) is FALSE.
7000:06
Enable output functions
1bin: enable compare function [} 155] for setting the output
BOOLEAN
7000:07 7000:11
Enable measurement Set counter value
1bin: enable workpiece measurement [} 152]
This value is written in Counter value (index 0x6000:11) if
BOOLEAN UINT32
the bit in Set counter (index 0x7000:03) is TRUE.
or
the bit in Set counter on latch C (index 0x7000:08) is TRUE and a pulse with a positive edge is present at input C.
7000:12
Switch on Threshold Compare value for setting the output value
UINT32
7000:13
Switch on Threshold Compare value for setting the output value
UINT32
Flags RO RO RO
Default value 0x13 (19dec) 0x00 (0dec) 0x00 (0dec)
RO
0x00 (0dec)
RO
0x00 (0dec)
RO
0x00 (0dec)
RO
0x00 (0dec)
RO
0x00 (0dec)
RO
0x00000000
(0dec)
RO
0x00000000
(0dec)
RO
0x00000000
(0dec)
10.8.5 Standard objects (0x1000-0x1FFF)
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 value
0x01FF1389 (33493897dec)
Index 1008 Device name
Index (hex) Name
1008:0
Device name
Meaning Device name of the EtherCAT slave
Data type STRING
Flags Default value
RO
EL5151-0021
Index 1009 Hardware version
Index (hex) Name
1009:0
Hardware version
Meaning Hardware version of the EtherCAT slave
Data type STRING
Flags Default value
RO
00
EL515x
Version: 3.8
175
Commissioning
Index 100A Software version
Index (hex) Name
100A:0
Software version
Meaning Firmware version of the EtherCAT slave
Data type STRING
Flags Default value
RO
01
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
Data type UINT8 UINT32
Product code of the EtherCAT slave
UINT32
Revision number of the EtherCAT slave; the low word (bit 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 UINT32
Flags RO RO
RO
RO
Default value
0x04 (4dec)
0x00000002 (2dec)
0x141F3052 (337588306dec)
0x00110015 (1114133dec)
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
Index 1600 ENC RxPDO-Map Control
Index (hex) Name
1600:0
ENC RxPDO-Map Control
1600:01
SubIndex 001
1600:02
SubIndex 002
1600:03
SubIndex 003
1600:04
SubIndex 004
1600:05
SubIndex 005
1600:06
SubIndex 006
1600:07
SubIndex 007
1600:08
SubIndex 008
1600:09 1600:0A
SubIndex 009 SubIndex 010
1600:0B SubIndex 011
1600:0C SubIndex 012
Meaning PDO Mapping RxPDO 1
Data type UINT8
1. PDO Mapping entry (object 0x7000 (ENC Outputs), UINT32 entry 0x01 (Enable latch C))
2. PDO Mapping entry (object 0x7000 (ENC Outputs), UINT32 entry 0x02 (Enable latch extern on positive edge))
3. PDO Mapping entry (object 0x7000 (ENC Outputs), UINT32 entry 0x03 (Set counter))
4. PDO Mapping entry (object 0x7000 (ENC Outputs), UINT32 entry 0x04 (Enable latch extern on negative edge))
5. PDO Mapping entry (object 0x7000 (ENC Outputs), UINT32 entry 0x05 (Set output))
6. PDO Mapping entry (object 0x7000 (ENC Outputs), UINT32 entry 0x06 (Enable Output functions))
7. PDO Mapping entry (object 0x7000 (ENC Outputs), UINT32 entry 0x07 (Enable measurement))
8. PDO Mapping entry (object 0x7000 (ENC Outputs), UINT32 entry 0x08 (Set counter on Latch C))
9. PDO Mapping entry (8 bits align))
UINT32
10. PDO Mapping entry (object 0x7000 (ENC Outputs), UINT32 entry 0x11 (Set counter value))
11. PDO Mapping entry (object 0x7000 (ENC Outputs), UINT32 entry 0x12 (Switch on threshold value))
12. PDO Mapping entry (object 0x7000 (ENC Outputs), UINT32 entry 0x13 (Switch off threshold value))
Flags RO
Default value 0x01 (1dec)
RO
0x00000000
(0dec)
Flags RO
Default value 0x07 (7dec)
RO
0x7000:01, 1
RO
0x7000:02, 1
RO
0x7000:03, 1
RO
0x7000:04, 1
RO
0x7000:05, 1
RO
0x7000:06, 1
RO
0x7000:07, 1
RO
0x7000:08, 1
RO
0x0000:00, 8
RO
0x7000:11, 32
RO
0x7000:12, 32
RO
0x7000:13, 32
176
Version: 3.8
EL515x
Commissioning
Index 1A00 ENC TxPDO-Map Status
Index (hex) Name
Meaning
1A00:0
ENC TxPDO-Map Sta- PDO Mapping TxPDO 1 tus
1A00:01 SubIndex 001
1. PDO Mapping entry (object 0x6000 (ENC Inputs), entry 0x01 (Latch C valid))
1A00:02 SubIndex 002
2. PDO Mapping entry (object 0x6000 (ENC Inputs), entry 0x02 (Latch extern valid))
1A00:03 SubIndex 003
3. PDO Mapping entry (object 0x6000 (ENC Inputs), entry 0x03 (Set counter done))
1A00:04 SubIndex 004
4. PDO Mapping entry (2 bits align)
1A00:05 SubIndex 005
5. PDO Mapping entry (object 0x6001 (ENC Inputs), entry 0x02 (Measurement done))
1A00:06 SubIndex 006
6. PDO Mapping entry (2 bits align)
1A00:07 SubIndex 007
7. PDO Mapping entry (object 0x6000 (ENC Inputs), entry 0x09 (Status of input A))
1A00:08 SubIndex 008
8. PDO Mapping entry (object 0x6000 (ENC Inputs), entry 0x0A (Status of Input B))
1A00:09 SubIndex 009
9. PDO Mapping entry (object 0x6000 (ENC Inputs), entry 0x0B (Status of input C))
1A00:0A SubIndex 010
10. PDO Mapping entry (object 0x6001 (ENC Inputs), entry 0x01 (Status of output))
1A00:0B SubIndex 011
11. PDO Mapping entry (object 0x6000 (ENC Inputs), entry 0x0D (Status of extern latch))
1A00:0C SubIndex 012
12. PDO Mapping entry (object 0x6000 (ENC Inputs), entry 0x0E (Compatible input cycle counter high))
1A00:0D SubIndex 013
13. PDO Mapping entry (1 bits align)
1A00:0E SubIndex 014
14. PDO Mapping entry (object 0x6000 (ENC Inputs), entry 0x10 (TxPDO Toggle))
1A00:0F SubIndex 015
15. PDO Mapping entry (object 0x6000 (ENC Inputs), entry 0x11 (Counter value))
1A00:10 Subindex 016
16. PDO Mapping entry (object 0x6000 (ENC Inputs), entry 0x12 (Latch value))
Data type UINT8 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32
Flags RO
Default value 0x10 (16dec)
RO
0x6000:01, 1
RO
0x6000:02, 1
RO
0x6000:03, 1
RO
0x0000:00, 2
RO
0x6001:02, 1
RO
0x0000:00, 2
RO
0x6000:09, 1
RO
0x6000:0A, 1
RO
0x6000:0B, 1
RO
0x6001:01, 1
RO
0x6000:0D, 1
RO
0x6000:0E, 1
RO
0x0000:00, 1
RO
0x6000:10, 32
RO
0x6000:11, 32
0x6000:12, 32
Index 1A01 ENC TxPDO-Map Status compact
Index (hex) 1A01:0
1A01:01
1A01:02
Name ENC TxPDO-Map Filtered latch SubIndex 001
SubIndex 002
Meaning PDO Mapping TxPDO 2
1. PDO Mapping entry (object 0x6000 (ENC Inputs), entry 0x17 (Latch value, rising edge)) 2. PDO Mapping entry (object 0x6000 (ENC Inputs), entry 0x18 (Latch value, falling edge))
Data type UINT8
UINT32
UINT32
Flags RO
Default value 0x02 (2dec)
RO
0x6000:17, 1
RO
0x6000:18, 1
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 Using the sync managers Sync-Manager Type Channel 1: Mailbox Write Sync-Manager Type Channel 2: Mailbox Read Sync-Manager Type Channel 3: Process Data Write (Outputs) Sync-Manager Type Channel 4: Process Data Read (Inputs)
Data type UINT8 UINT8 UINT8 UINT8
UINT8
Flags RO RO RO RO
Default value 0x04 (4dec) 0x01 (1dec) 0x02 (2dec) 0x03 (3dec)
RO
0x04 (4dec)
Index 1C12 RxPDO assign
Index (hex) Name
1C12:0
RxPDO assign
1C12:01 SubIndex 001
Meaning
PDO Assign Outputs
1. allocated RxPDO (contains the index of the associated RxPDO mapping object)
Data type UINT8 UINT16
Flags RW RW
Default value
0x01 (1dec) 0x1600 (5632dec)
EL515x
Version: 3.8
177
Commissioning
Index 1C13 TxPDO assign
Index (hex) Name
1C13:0
TxPDO assign
1C13:01 SubIndex 001
1C13:02 SubIndex 002
Meaning
PDO Assign Inputs
1. allocated TxPDO (contains the index of the associated TxPDO mapping object)
2. allocated TxPDO (contains the index of the associated TxPDO mapping object)
Data type UINT8 UINT16
UINT16
Flags RW RW
RW
Default value
0x02 (2dec) 0x1A00 (6656dec) 0x1A01 (6657dec)
Index 1C32 SM output parameter
Index (hex) Name
Meaning
Data type
1C32:0
SM output parameter Synchronization parameters for the outputs
UINT8
1C32:01 Sync mode
Current synchronization mode:
UINT16
· 0: Free Run
· 1: Synchron with SM 2 Event
1C32:02 Cycle time
Cycle time (in ns):
UINT32
· Free Run: Cycle time of the local timer
· Synchronous with SM 2 event: Master cycle time
1C32:03 Shift time
Time between SYNC0 event and output of the outputs UINT32 (in ns, DC mode only)
1C32:04 Sync modes supported Supported synchronization modes:
UINT16
· Bit 0 = 1: free run is supported
· Bit 1 = 1: Synchronous with SM 2 event is supported
· Bit 14 = 1: dynamic times (measurement by writing 0x1C32:08) (for revision no.: 17 25)
1C32:05
Minimum cycle time Minimum cycle time (in ns) Default: 59.1ms
UINT32
1C32:06
Calc and copy time
Minimum time between SYNC0 and SYNC1 event (in UINT32 ns, DC mode only)
1C32:07
Minimum delay time Minimum time between SYNC1 event and output of the UINT32 outputs (in ns, only DC mode)
1C32:08 Command
· 0: Measurement of the local cycle time is stopped
UINT16
· 1: Measurement of the local cycle time is started
The entries 0x1C32:03, 0x1C32:05, 0x1C32:06, 0x1C32:09, 0x1C33:03 [} 179], 0x1C33:06 and
0x1C33:09 [} 179] are updated with the maximum measured values. For a subsequent measurement the measured values are reset
1C32:09
Maximum Delay time Time between SYNC1 event and output of the outputs UINT32 (in ns, DC mode only)
1C32:0B
SM event missed counter
Number of missed SM events in OPERATIONAL (DC UINT16 mode only)
1C32:0C
Cycle exceeded counter
Number of occasions the cycle time was exceeded in UINT16 OPERATIONAL (cycle was not completed in time or the next cycle began too early)
1C32:0D
Shift too short counter Number of occasions that the interval between SYNC0 UINT16 and SYNC1 event was too short (DC mode only)
1C32:20 Sync error
The synchronization was not correct in the last cycle BOOLEAN (outputs were output too late; DC mode only)
Flags RO RW
Default value 0x20 (32dec) 0x0001 (1dec)
RW
0x000F4240
(1000000dec)
RO
0x00000000
(0dec)
RO
0xC007
(49159dec)
RO
0x0000E6DC
(59100dec)
RO
0x00000000
(0dec)
RO
0x00000000
(0dec)
RW
0x0000 (0dec)
RO
0x00000000
(0dec)
RO
0x0000 (0dec)
RO
0x0000 (0dec)
RO
0x0000 (0dec)
RO
0x00 (0dec)
178
Version: 3.8
EL515x
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 Current synchronization mode:
· 0: Free Run · 1: Synchronous with SM 3 event (no outputs
available) · 2: DC - Synchronous with SYNC0 Event · 3: DC - Synchronous with SYNC1 Event · 34: Synchronous with SM 2 event (outputs
available) as 0x1C32:02 [} 178]
Data type UINT8 UINT16
UINT32
1C33:03 1C33:04
1C33:05
Shift time
Time between SYNC0 event and reading of the inputs UINT32 (in ns, only DC mode)
Sync modes supported Supported synchronization modes:
UINT16
· Bit 0 = 1: free run is supported
· Bit 1 = 1: Synchronous with SM 2 event is supported
· Bit 14 = 1: dynamic times (measurement by writing 0x1C32:08 [} 178]) (for revision no.: 17 25)
Minimum cycle time as 0x1C32:05 [} 178]
UINT32
1C33:06 1C33:07 1C33:08 1C33:09 1C33:0B 1C33:0C 1C33:0D 1C33:20
Calc and copy time
Time between reading of the inputs and availability of UINT32 the inputs for the master (in ns, only DC mode)
Minimum delay time Minimum time between Sync-1 Event and reading of UINT32 the inputs (in ns, only DC mode)
Command
as 0x1C32:08 [} 178]
UINT16
Maximum Delay time Time between SYNC1 event and reading of the inputs UINT32 (in ns, only DC mode)
SM event missed counter
as 0x1C32:11 [} 178]
UINT16
Cycle exceeded counter
as 0x1C32:12 [} 178]
UINT16
Shift too short counter as 0x1C32:13 [} 178]
UINT16
Sync error
as 0x1C32:32 [} 178]
BOOLEAN
Flags RO RW
Default value 0x20 (32dec) 0x0022 (34dec)
RW
0x000F4240
(1000000dec)
RO
0x00000000
(0dec)
RO
0xC007
(49159dec)
RO
0x0000E6DC
(59100dec)
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
Data type
F000:0
Modular device profile General information for the modular device profile
UINT8
F000:01 Module index distance Index spacing of the objects of the individual channels UINT16
F000:02
Maximum number of Number of channels modules
UINT16
Flags RO RO RO
Default value 0x02 (2dec) 0x0010 (16dec) 0x0001 (1dec)
Index F008 Code word
Index (hex) Name
F008:0
Code word
Meaning
Data type
NoCoeStorage [} 33] function:
UINT32
The input code of the code word 0x12345678 activates the NoCoeStorage [} 33] function:
Changes to the CoE directory are not saved if the function is active. The function is deactivated by: 1.) changing the code word or 2.) restarting the terminal.
Flags RW
Default value
0x00000000 (0dec)
EL515x
Version: 3.8
179
Commissioning
Index F010 Module list
Index (hex) Name
F010:0
Module list
F010:01 SubIndex 001
Meaning Maximum subindex reserved
Index F082:0 MDP Profile Compatibility
Index (hex) Name
Meaning
F082:0
MDP Profile Compati- Maximum subindex bility
F082:01
Compatible input cycle Status message for monitoring the process data counter
Data type UINT8 UINT32
Flags RW RW
Default value
0x01 (1dec) 0x000001FF (511dec)
Data type UINT8
BOOLEAN
Flags RO
Default value 0x01 (1dec)
RW
0x00 (0dec)
10.9 EL5151-0090 - CoE object description
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
The terminal is parameterized via the CoE - Online tab (double-click on the respective object) or via the Process data tab for the assignment of PDOs.
Introduction The CoE overview contains objects for different intended applications:
10.9.1 Restore object
Index 1011 Restore default parameters
Index (hex) Name
Meaning
1011:0
Restore default param- Restore default parameters eters [} 222]
1011:01
SubIndex 001
If this object is set to "0x64616F6C" in the set value dialog, all backup objects are reset to their delivery state.
Data type UINT8
UINT32
Flags RO
Default value 0x01 (1dec)
RW
0x00000000
(0dec)
180
Version: 3.8
EL515x
Commissioning
10.9.2 Configuration data
Index 8000 ENC Settings
Index (hex) Name
Meaning
Data type
8000:0
ENC Settings Maximum subindex
UINT8
8000:01
Enable C reset The counter is reset via the C input. [} 142]
BOOLEAN
8000:02
Enable extern The counter is reset via the external latch input. reset [} 142]
BOOLEAN
8000:03
Enable up/down Enablement of the up/down counter in place of the encoder with BOOLEAN counter [} 143] the bit set.
8000:04
Gate [} 141] po- 0: Gate inactive
larity
1: Enable pos. gate (gate locks with HIGH level)
2: Enable neg. gate (gate locks with LOW level)
BIT2
8000:08
Disable filter [} 144]
Deactivates the input filters.
BOOLEAN
8000:0A
Enable micro in- The counter value is extrapolated by 8 bit. crements [} 144]
BOOLEAN
8000:0E
Reversion of ro- Activates reversion of rotation tation [} 143]
BOOLEAN
8000:0F
Frequency win- Basic unit of Frequency window (index 0x8000:11)
dow base [} 139]
0: µs 1: ms
BIT1
8000:10
Extern reset po- 0: Fall (the counter is set to zero with a falling edge) larity [} 142] 1: Rise (the counter is set to zero with a rising edge)
BIT1
8000:11
Frequency window [} 139]
This is the minimum time over which the frequency is determined UINT16 [1 µs], default: 10 ms.
Measuring window < 600 ms: Measurement takes place in frequency mode A. [} 140] Measuring window > 600 ms: Measurement takes place in frequency mode B. [} 141]
The frequency determined in this way is output in index 0x6000:13 [} 182] .
8000:13
Frequency scal- Scaling of the frequency measurement (must be divided by this
ing [} 139]
value to obtain the unit in Hz):
100: "0.01" Hz
UINT16
8000:14
Period scaling [} 141]
Scaling of the period in the process data: (must be divided by this UINT16 value to obtain the unit in ns):
100: "100 ns" period value is a multiple of 100 ns
Only the setting "100" is currently possible here.
8000:15
Frequency reso- Resolution of the frequency measurement: lution [} 139] 100: "0.01 Hz"
UINT16
8000:16
Period resolution [} 141]
Internal resolution of the period measurement:
100: "100 ns" 200: "200 ns" The period is calculated internally with a resolution of 100 ns. The max. measurable period is 1.6 s.
UINT16
Only 100 ns and 200 ns can be set.
8000:17
Frequency Wait Waiting time [ms] for frequency measurement Time [} 139] Default: 1.6 s (maximum possible value)
UINT16
If the time from Frequency window has elapsed, the next positive edge from track A is awaited for this time (frequency mode A only). This enables the update speed for the Frequency process data to be optimized, depending on the expected frequencies. At least double the period of the minimum frequency to be measured should be entered here. t >= 2* (1 / fmin).
Flags Default value RO 0x17 (23dec) RW 0x00 (0dec) RW 0x00 (0dec) RW 0x00 (0dec) RW 0x00 (0dec) RW 0x00 (0dec) RW 0x00 (0dec) RW 0x00 (0dec) RW 0x00 (0dec) RW 0x01 (1dec) RW 0x2710
(10000dec)
RW 0x0064 (100dec) RW 0x0064 (100dec)
RW 0x0064 (100dec) RW 0x00C8 (200dec)
RW 0x0640 (1600dec)
Also see about this 2 Configuration data [} 181]
EL515x
Version: 3.8
181
Commissioning
10.9.3 Input data
Index 6000 ENC Inputs
Index (hex) Name
6000:0
ENC Inputs
6000:01
Latch C valid [} 142]
Meaning Maximum subindex The counter value was locked with the "C" input.
Data type UINT8 BOOLEAN
6000:02
Latch extern valid [} 142]
The data in Latch value (index 0x6000:12 [} 182]) correspond to the latched value with the bit set. In order to re-activate the latch input, Enable latch C (index 0x7000:01 [} 182]) must first be cancelled and then set again.
The counter value was locked by the external latch in- BOOLEAN put.
6000:03 6000:08
6000:09 6000:0A 6000:0B 6000:0D 6000:0E
6000:10
6000:11
Set counter done Extrapolation stall [} 144]
Status of input A Status of input B Status of input C Status of extern latch Sync Error
TxPDO Toggle
Counter value
The data in Latch value (index 0x6000:12 [} 182]) correspond to the latched value with the bit set. In order to re-activate the latch input, Enable latch extern on positive edge (index 0x7000:02 [} 182]) or Enable latch ex-
tern on negative edge (index 0x7000:04 [} 182]) must first be cancelled and then set again.
The counter was set.
BOOLEAN
The extrapolated part of the counter is invalid. The speed has fallen below the minimum speed required to use the micro-increments [} 144].
BOOLEAN
Status of input A
BOOLEAN
Status of input B
BOOLEAN
Status of input C
BOOLEAN
The status of the gate/latch input
BOOLEAN
The Sync error bit is only required for DC mode. It indi- BOOLEAN cates whether a synchronization error has occurred during the previous cycle.
The TxPDO toggle is toggled by the slave when the data of the associated TxPDO is updated.
BOOLEAN
Counter value
UINT32
6000:12
Latch value
Latch value
UINT32
6000:13
6000:14
6000:16 6000:1C
6000:1D 6000:1E
Frequency value
The frequency (setting of the scaling in index 0x8000:13 and the resolution in index 0x8000:15)
Period value
The period (setting of the scaling in index 0x8000:14 and the resolution in index 0x8000:16)
Timestamp [} 133] Time stamp of the last counter change.
Frequency value (uint The frequency (16 bit Value) 16)
Counter value (uint 16) Counter value (16 bit Value)
Period value (uint 16) The period (16 bit Value)
UINT32
UINT32
UINT64 UINT16
UINT16 UINT16
Flags RO RO
Default value 0x1E (30dec) 0x00 (0dec)
RO
0x00 (0dec)
RO
0x00 (0dec)
RO
0x00 (0dec)
RO
0x00 (0dec)
RO
0x00 (0dec)
RO
0x00 (0dec)
RO
0x00 (0dec)
RO
0x00 (0dec)
RO
0x00 (0dec)
RO
0x00000000
(0dec)
RO
0x00000000
(0dec)
RO
0x00000000
(0dec)
RO
0x00000000
(0dec)
RO
RO
0x0000 (0dec)
RO
0x0000 (0dec)
RO
0x0000 (0dec)
10.9.4 Output data
Index 7000 ENC Outputs
Index (hex) Name
Meaning
7000:0
ENC Outputs
Maximum subindex
7000:01
Enable Latch C [} 142] Activate saving via input "C".
7000:02
Enable latch extern on Activate external latch with positive edge. positive edge [} 142]
7000:03
Set counter
Set counter
7000:04
Enable latch extern on Activate external latch with negative edge. negative edge [} 142]
7000:11
Set counter value
This is the counter value to be set via Set counter (index 0x7000:03 [} 182]).
Data type UINT8 BOOLEAN BOOLEAN
BOOLEAN BOOLEAN
UINT32
Flags RO RO RO
Default value 0x11 (17dec) 0x00 (0dec) 0x00 (0dec)
RO
0x00 (0dec)
RO
0x00 (0dec)
RO
0x00000000
(0dec)
182
Version: 3.8
EL515x
Commissioning
"Enable C reset" and "Enable extern reset"
The simultaneous activation of the functions Enable C reset (index: 0x8000:01) und Enable extern reset (index: 0x8000:02) is not possible.
10.9.5 Standard objects (0x1000-0x1FFF)
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 value
0x00001389 (5001dec)
Index 1008 Device name
Index (hex) Name
1008:0
Device name
Meaning Device name of the EtherCAT slave
Data type STRING
Flags Default value
RO
EL5151-0090
Index 1009 Hardware version
Index (hex) Name
1009:0
Hardware version
Meaning Hardware version of the EtherCAT slave
Data type STRING
Flags Default value
RO
01
Index 100A Software version
Index (hex) Name
100A:0
Software version
Meaning Firmware version of the EtherCAT slave
Data type STRING
Flags Default value
RO
02
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
Data type UINT8 UINT32
Product code of the EtherCAT slave
UINT32
Revision number of the EtherCAT slave; the low word (bit 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 UINT32
Flags RO RO
RO
RO
Default value
0x04 (4dec)
0x00000002 (2dec)
0x141F3052 (337588306dec)
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 value 0x01 (1dec)
RO
0x00000000
(0dec)
Index 1400 ENC RxPDO-Par Control
Index (hex) Name
Meaning
1400:0
ENC RxPDO-Par Con- PDO Parameter RxPDO 1 trol
1400:06
Exclude RxPDOs
Specifies the RxPDOs (index of RxPDO mapping objects) that must not be transferred together with RxPDO 1
Data type UINT8
OCTETSTRING[2]
Flags RO
Default value 0x06 (6dec)
RO
01 16
EL515x
Version: 3.8
183
Commissioning
Index 1401 ENC RxPDO-Par Control compact
Index (hex) Name
Meaning
1401:0
ENC RxPDO-Par Con- PDO Parameter RxPDO 2 trol compact
1401:06
Exclude RxPDOs
Specifies the RxPDOs (index of RxPDO mapping objects) that must not be transferred together with RxPDO 2
Data type UINT8
OCTETSTRING[2]
Flags RO
Default value 0x06 (6dec)
RO
00 16
Index 1600 ENC RxPDO-Map Control
Index (hex) Name
1600:0
ENC RxPDO-Map Control
1600:01
SubIndex 001
1600:02
SubIndex 002
1600:03
SubIndex 003
1600:04
SubIndex 004
1600:05 1600:06 1600:07
SubIndex 005 SubIndex 006 SubIndex 007
Meaning PDO Mapping RxPDO 1
Data type UINT8
1. PDO Mapping entry (object 0x7000 (ENC Outputs), UINT32 entry 0x01 (Enable latch C))
2. PDO Mapping entry (object 0x7000 (ENC Outputs), UINT32 entry 0x02 (Enable latch extern on positive edge))
3. PDO Mapping entry (object 0x7000 (ENC Outputs), UINT32 entry 0x03 (Set counter))
4. PDO Mapping entry (object 0x7000 (ENC Outputs), UINT32 entry 0x04 (Enable latch extern on negative edge))
5. PDO Mapping entry (4 bits align)
UINT32
6. PDO Mapping entry (8 bits align)
UINT32
7. PDO Mapping entry (object 0x7000 (ENC Outputs), UINT32 entry 0x11 (Set counter value))
Flags RO
Default value 0x07 (7dec)
RO
0x7000:01, 1
RO
0x7000:02, 1
RO
0x7000:03, 1
RO
0x7000:04, 1
RO
0x0000:00, 4
RO
0x0000:00, 8
RO
0x7000:11, 32
Index 1601 ENC RxPDO-Map Control compact
Index (hex) Name
1601:0
ENC RxPDO-Map Control compact
1601:01
SubIndex 001
1601:02
SubIndex 002
1601:03
SubIndex 003
1601:04
SubIndex 004
1601:05 1601:06 1601:07
SubIndex 005 SubIndex 006 SubIndex 007
Meaning PDO Mapping RxPDO 2
Data type UINT8
1. PDO Mapping entry (object 0x7000 (ENC Outputs), UINT32 entry 0x01 (Enable latch C))
2. PDO Mapping entry (object 0x7000 (ENC Outputs), UINT32 entry 0x02 (Enable latch extern on positive edge))
3. PDO Mapping entry (object 0x7000 (ENC Outputs), UINT32 entry 0x03 (Set counter))
4. PDO Mapping entry (object 0x7000 (ENC Outputs), UINT32 entry 0x04 (Enable latch extern on negative edge))
5. PDO Mapping entry (4 bits align)
UINT32
6. PDO Mapping entry (8 bits align)
UINT32
7. PDO Mapping entry (object 0x7000 (ENC Outputs), UINT32 entry 0x11 (Set counter value))
Flags RO
Default value 0x07 (7dec)
RO
0x7000:01, 1
RO
0x7000:02, 1
RO
0x7000:03, 1
RO
0x7000:04, 1
RO
0x0000:00, 4
RO
0x0000:00, 8
RO
0x7000:11, 16
Index 1800 ENC TxPDO-Par Status
Index (hex) 1800:0
1800:06
Name
ENC TxPDO-Par Status
Exclude TxPDOs
Meaning PDO parameter TxPDO 1
Specifies the TxPDOs (index of TxPDO mapping objects) that must not be transferred together with TxPDO 1.
Data type UINT8
OCTETSTRING[2]
Flags RO
Default value 0x06 (6dec)
RO
01 1A
Index 1801 ENC TxPDO-Par Status compact
Index (hex) 1801:0
1801:06
Name
ENC TxPDO-Par Status compact
Exclude TxPDOs
Meaning PDO parameter TxPDO 2
Specifies the TxPDOs (index of TxPDO mapping objects) that must not be transferred together with TxPDO 2.
Data type UINT8
OCTETSTRING[2]
Flags RO
Default value 0x06 (6dec)
RO
00 1A
184
Version: 3.8
EL515x
Commissioning
Index 1802 ENC TxPDO-Par Period
Index (hex) Name
1802:0
ENC TxPDO-Par Period
1802:06
Exclude TxPDOs
Meaning PDO parameter TxPDO 3
Specifies the TxPDOs (index of TxPDO mapping objects) that must not be transferred together with TxPDO 3.
Data type UINT8
OCTETSTRING[2]
Flags RO
Default value 0x06 (6dec)
RO
03 1A
Index 1803 ENC TxPDO-Par Frequency
Index (hex) 1803:0
1803:06
Name
ENC TxPDO-Par Frequency
Exclude TxPDOs
Meaning PDO parameter TxPDO 4
Specifies the TxPDOs (index of TxPDO mapping objects) that must not be transferred together with TxPDO 4.
Data type UINT8
OCTETSTRING[2]
Flags RO
Default value 0x06 (6dec)
RO
02 1A
Index 1804 ENC TxPDO-Par Timest.
Index (hex) Name
1804:0
ENC TxPDO-Par Timest.
1804:06
Exclude TxPDOs
Meaning PDO parameter TxPDO 5
Data type UINT8
Specifies the TxPDOs (index of TxPDO mapping objects) that must not be transferred together with TxPDO 5.
OCTETSTRING[2]
Flags RO
Default value 0x06 (6dec)
RO
05 1A
Index 1805 ENC TxPDO-Par Timest. compact
Index (hex) Name
1805:0
ENC TxPDO-Par Timest. compact
1805:06
Exclude TxPDOs
Meaning PDO parameter TxPDO 6
Data type UINT8
Specifies the TxPDOs (index of TxPDO mapping objects) that must not be transferred together with TxPDO 6.
OCTETSTRING[2]
Flags RO
Default value 0x06 (6dec)
RO
04 1A
EL515x
Version: 3.8
185
Commissioning
Index 1A00 ENC TxPDO-Map Status
Index (hex) Name
Meaning
1A00:0
ENC TxPDO-Map Sta- PDO Mapping TxPDO 1 tus
1A00:01 SubIndex 001
1. PDO Mapping entry (object 0x6000 (ENC Inputs), entry 0x01 (Latch C valid))
1A00:02 SubIndex 002
2. PDO Mapping entry (object 0x6000 (ENC Inputs), entry 0x02 (Latch extern valid))
1A00:03 SubIndex 003
3. PDO Mapping entry (object 0x6000 (ENC Inputs), entry 0x03 (Set counter done))
1A00:04 SubIndex 004
4. PDO Mapping entry (4 bits align)
1A00:05 SubIndex 005
5. PDO Mapping entry (object 0x6000 (ENC Inputs), entry 0x08 (Extrapolation stall))
1A00:06 SubIndex 006
6. PDO Mapping entry (object 0x6000 (ENC Inputs), entry 0x09 (Status of input A))
1A00:07 SubIndex 007
7. PDO Mapping entry (object 0x6000 (ENC Inputs), entry 0x0A (Status of input B))
1A00:08 SubIndex 008
8. PDO Mapping entry (object 0x6000 (ENC Inputs), entry 0x0B (Status of input C))
1A00:09 SubIndex 009
9. PDO Mapping entry (1 bits align)
1A00:0A SubIndex 010
10. PDO Mapping entry (object 0x6000 (ENC Inputs), entry 0x0D (Status of extern latch))
1A00:0B SubIndex 011
11. PDO Mapping entry (object 0x6000 (ENC Inputs), entry 0x0E (Sync error))
1A00:0C SubIndex 012
12. PDO Mapping entry (1 bits align)
1A00:0D SubIndex 013
13. PDO Mapping entry (object 0x6000 (ENC Inputs), entry 0x10 (TxPDO-Toggle))
1A00:0E SubIndex 014
14. PDO Mapping entry (object 0x6000 (ENC Inputs), entry 0x11 (Counter value))
1A00:0F SubIndex 015
15. PDO Mapping entry (object 0x6000 (ENC Inputs), entry 0x12 (Latch value))
Data type UINT8 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32
Flags RO
Default value 0x0F (15dec)
RO
0x6000:01, 1
RO
0x6000:02, 1
RO
0x6000:03, 1
RO
0x0000:00, 4
RO
0x6000:08, 1
RO
0x6000:09, 1
RO
0x6000:0A, 1
RO
0x6000:0B, 1
RO
0x0000:00, 1
RO
0x6000:0D, 1
RO
0x6000:0E, 1
RO
0x0000:00, 1
RO
0x6000:10, 1
RO
0x6000:11, 32
RO
0x6000:12, 32
Index 1A01 ENC TxPDO-Map Status compact
Index (hex) Name
Meaning
1A01:0
ENC TxPDO-Map Sta- PDO Mapping TxPDO 2 tus compact
1A01:01 SubIndex 001
1. PDO Mapping entry (object 0x6000 (ENC Inputs), entry 0x01 (Latch C valid))
1A01:02 SubIndex 002
2. PDO Mapping entry (object 0x6000 (ENC Inputs), entry 0x02 (Latch extern valid))
1A01:03 SubIndex 003
3. PDO Mapping entry (object 0x6000 (ENC Inputs), entry 0x03 (Set counter done))
1A01:04 SubIndex 004
4. PDO Mapping entry (4 bits align)
1A01:05 SubIndex 005
5. PDO Mapping entry (object 0x6000 (ENC Inputs), entry 0x08 (Extrapolation stall))
1A01:06 SubIndex 006
6. PDO Mapping entry (object 0x6000 (ENC Inputs), entry 0x09 (Status of input A))
1A01:07 SubIndex 007
7. PDO Mapping entry (object 0x6000 (ENC Inputs), entry 0x0A (Status of input B))
1A01:08 SubIndex 008
8. PDO Mapping entry (object 0x6000 (ENC Inputs), entry 0x0B (Status of input C))
1A01:09 SubIndex 009
9. PDO Mapping entry (1 bits align)
1A01:0A SubIndex 010
10. PDO Mapping entry (object 0x6000 (ENC Inputs), entry 0x0D (Status of extern latch))
1A01:0B SubIndex 011
11. PDO Mapping entry (object 0x6000 (ENC Inputs entry 0x0E (Sync error))
1A01:0C SubIndex 012
12. PDO Mapping entry (1 bits align)
1A01:0D SubIndex 013
13. PDO Mapping entry (object 0x6000 (ENC Inputs), entry 0x10 (TxPDO-Toggle))
1A01:0E SubIndex 014
14. PDO Mapping entry (object 0x6000 (ENC Inputs), entry 0x11 (Counter value))
1A01:0F SubIndex 015
15. PDO Mapping entry (object 0x6000 (ENC Inputs), entry 0x12 (Latch value))
Data type UINT8 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32
Flags RO
Default value 0x0F (15dec)
RO
0x6000:01, 1
RO
0x6000:02, 1
RO
0x6000:03, 1
RO
0x0000:00, 4
RO
0x6000:08, 1
RO
0x6000:09, 1
RO
0x6000:0A, 1
RO
0x6000:0B, 1
RO
0x0000:00, 1
RO
0x6000:0D, 1
RO
0x6000:0E, 1
RO
0x0000:00, 1
RO
0x6000:10, 1
RO
0x6000:11, 16
RO
0x6000:12, 16
186
Version: 3.8
EL515x
Commissioning
Index 1A02 ENC TxPDO-Map Period
Index (hex) Name
Meaning
1A02:0
ENC TxPDO-Map Pe- PDO Mapping TxPDO 3 riod
1A02:01 SubIndex 001
1. PDO Mapping entry (object 0x6000 (ENC Inputs), entry 0x14 (Period value))
Data type UINT8
UINT32
Flags RO
Default value 0x01 (1dec)
RO
0x6000:14, 32
Index 1A03 ENC TxPDO-Map Frequency
Index (hex) Name
Meaning
1A03:0
ENC TxPDO-Map Fre- PDO Mapping TxPDO 4 quency
1A03:01 SubIndex 001
1. PDO Mapping entry (object 0x6000 (ENC Inputs), entry 0x13 (Frequency value))
Data type UINT8
UINT32
Flags RO
Default value 0x01 (1dec)
RO
0x6000:13, 32
Index 1A04 ENC TxPDO-Map Timest.
Index (hex) Name
1A04:0
ENC TxPDO-Map Timest.
1A04:01 SubIndex 001
Meaning PDO Mapping TxPDO 5
1. PDO Mapping entry (object 0x6000 (ENC Inputs), entry 0x16 (Timestamp))
Data type UINT8
UINT32
Flags RO
Default value 0x01 (1dec)
RO
0x6000:16, 64
Index 1A05 ENC TxPDO-Map Timest. compact
Index (hex) Name
1A05:0
ENC TxPDO-Map Timest. compact
1A05:01 SubIndex 001
Meaning PDO Mapping TxPDO 6
1. PDO Mapping entry (object 0x6000 (ENC Inputs), entry 0x16 (Timestamp))
Data type UINT8
UINT32
Flags RO
Default value 0x01 (1dec)
RO
0x6000:16, 32
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 Using the sync managers Sync-Manager Type Channel 1: Mailbox Write Sync-Manager Type Channel 2: Mailbox Read Sync-Manager Type Channel 3: Process Data Write (Outputs) Sync-Manager Type Channel 4: Process Data Read (Inputs)
Data type UINT8 UINT8 UINT8 UINT8
UINT8
Flags RO RO RO RO
Default value 0x04 (4dec) 0x01 (1dec) 0x02 (2dec) 0x03 (3dec)
RO
0x04 (4dec)
Index 1C12 RxPDO assign
Index (hex) Name
1C12:0
RxPDO assign
1C32:01 SubIndex 001
1C32:02 SubIndex 002
Meaning
PDO Assign Outputs
1. allocated RxPDO (contains the index of the associated RxPDO mapping object)
2. allocated RxPDO (contains the index of the associated RxPDO mapping object)
Data type UINT8 UINT16
UINT16
Index 1C13 TxPDO assign
Index (hex) Name
1C13:0
TxPDO assign
1C13:01 SubIndex 001
1C13:02 SubIndex 002
1C13:03 SubIndex 003
1C13:04 SubIndex 004
Meaning
PDO Assign Inputs
1. allocated TxPDO (contains the index of the associated TxPDO mapping object)
2. allocated TxPDO (contains the index of the associated TxPDO mapping object)
3. allocated TxPDO (contains the index of the associated TxPDO mapping object)
4. allocated TxPDO (contains the index of the associated TxPDO mapping object)
Data type UINT8 UINT16
UINT16
UINT16
UINT16
Flags RW RW
RW
Default value
0x02 (2dec) 0x1600 (5632dec) 0x1610 (5648dec)
Flags RW RW
RW
RW
RW
Default value
0x03 (3dec) 0x1A00 (6656dec) 0x1A02 (6658dec) 0x1A10 (6672dec) 0x0000 (0dec)
EL515x
Version: 3.8
187
Commissioning
Index 1C32 SM output parameter
Index (hex) Name
Meaning
Data type
1C32:0
SM output parameter Synchronization parameters for the outputs
UINT8
1C32:01 Sync mode
Current synchronization mode:
UINT16
· 0: Free Run
· 1: Synchronous with SM 2 event
· 2: DC-Mode - Synchronous with SYNC0 Event
· 3: DC-Mode - Synchronous with SYNC1 event
1C32:02 Cycle time
Cycle time (in ns):
UINT32
· Free Run: Cycle time of the local timer
· Synchronous with SM 2 event: Master cycle time
· DC-Mode: SYNC0/SYNC1 Cycle Time
1C32:03 Shift time
Time between SYNC0 event and output of the outputs UINT32 (in ns, DC mode only)
1C32:04 Sync modes supported Supported synchronization modes:
UINT16
· Bit 0 = 1: free run is supported
· Bit 1 = 1: Synchronous with SM 2 event is supported
· Bit 2-3 = 01: DC mode is supported
· Bit 14 = 1: dynamic times (measurement by writing 0x1C32:08) (for revision no.: 17 25)
1C32:05
Minimum cycle time Minimum cycle time (in ns) Default: 100 ms
UINT32
1C32:06
Calc and copy time
Minimum time between SYNC0 and SYNC1 event (in UINT32 ns, DC mode only)
1C32:07
Minimum delay time Minimum time between Sync-1 Event and reading of UINT32 the inputs (in ns, only DC mode)
1C32:08 Command
· 0: Measurement of the local cycle time is stopped
UINT16
· 1: Measurement of the local cycle time is started
The entries 0x1C32:03, 0x1C32:05, 0x1C32:06, 0x1C32:09, 0x1C33:03 [} 189], 0x1C33:06 and
0x1C33:09 [} 189] are updated with the maximum measured values. For a subsequent measurement the measured values are reset.
1C32:09
Maximum Delay time Time between SYNC1 event and output of the outputs UINT32 (in ns, DC mode only)
1C32:0B
SM event missed counter
Number of missed SM events in OPERATIONAL (DC UINT16 mode only)
1C32:0C
Cycle exceeded counter
Number of occasions the cycle time was exceeded in UINT16 OPERATIONAL (cycle was not completed in time or the next cycle began too early)
1C32:0D
Shift too short counter Number of occasions that the interval between SYNC0 UINT16 and SYNC1 event was too short (DC mode only)
1C32:20 Sync error
The synchronization was not correct in the last cycle BOOLEAN (outputs were output too late; DC mode only)
Flags RO RW
Default value 0x20 (32dec) 0x0001 (1dec)
RW
0x000F4240
(1000000dec)
RO
0x00000000
(0dec)
RO
0xC807
(51207dec)
RO
0x000186A0
(100000dec)
RO
0x00000000
(0dec)
RO
0x00000000
(0dec)
RW
0x0000 (0dec)
RO
0x00000000
(0dec)
RO
0x0000 (0dec)
RO
0x0000 (0dec)
RO
0x0000 (0dec)
RO
0x00 (0dec)
188
Version: 3.8
EL515x
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 Current synchronization mode:
· 0: Free Run · 1: Synchronous with SM 3 event (no outputs
available) · 2: DC - Synchronous with SYNC0 Event · 3: DC - Synchronous with SYNC1 Event · 34: Synchronous with SM 2 event (outputs
available) as 0x1C32:02 [} 170]
Data type UINT8 UINT16
UINT32
1C33:03 1C33:04
1C33:05
Shift time
Time between SYNC0 event and reading of the inputs UINT32 (in ns, only DC mode)
Sync modes supported Supported synchronization modes:
UINT16
· Bit 0 = 1: free run is supported
· Bit 1 = 1: Synchronous with SM 2 event is supported
· Bit 2-3 = 01: DC mode is supported
· Bit 14 = 1: dynamic times (measurement by writing 0x1C32:08 [} 170]) (for revision no.: 17 25)
Minimum cycle time as 1C32:05 [} 170]
UINT32
1C33:06 1C33:07 1C33:08 1C33:09 1C33:0B 1C33:0C 1C33:0D 1C33:20
Calc and copy time
Time between reading of the inputs and availability of UINT32 the inputs for the master (in ns, only DC mode)
Minimum delay time Minimum time between Sync-1 Event and reading of UINT32 the inputs (in ns, only DC mode)
Command
as 0x1C32:08 [} 170]
UINT16
Maximum Delay time Time between SYNC1 event and reading of the inputs UINT32 (in ns, only DC mode)
SM event missed counter
as 0x1C32:11 [} 170]
UINT16
Cycle exceeded counter
as 0x1C32:12 [} 170]
UINT16
Shift too short counter as 0x1C32:13 [} 170]
UINT16
Sync error
as 0x1C32:32 [} 170]
BOOLEAN
Flags RO RW
Default value 0x20 (32dec) 0x0022 (34dec)
RW
0x000F4240
(1000000dec)
RO
0x00000000
(0dec)
RO
0xC807
(51207dec)
RO
0x000186A0
(100000dec)
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
Data type
F000:0
Modular device profile General information for the modular device profile
UINT8
F000:01 Module index distance Index spacing of the objects of the individual channels UINT16
F000:02
Maximum number of Number of channels modules
UINT16
Flags RO RO RO
Default value 0x02 (2dec) 0x0010 (16dec) 0x0001 (1dec)
Index F008 Code word
Index (hex) Name
F008:0
Code word
Meaning
Data type
NoCoeStorage [} 33] function:
UINT32
The input code of the code word 0x12345678 activates the NoCoeStorage [} 33] function:
Changes to the CoE directory are not saved if the function is active. The function is deactivated by: 1.) changing the code word or 2.) restarting the terminal.
Flags RW
Default value
0x00000000 (0dec)
EL515x
Version: 3.8
189
Commissioning
Index F010 Module list
Index (hex) Name
F010:0
Module list
F010:01 SubIndex 001
F010:02 SubIndex 002
Meaning Maximum subindex reserved
reserved
Index F082 MDP Profile Compatibility
Index (hex) Name
F082:0
MDP profile compatibility
F082:01
Compatible input cycle counter
Meaning Maximum subindex
reserved
Data type UINT8 UINT32
UINT32
Flags RW RW
RW
Default value
0x02 (2dec) 0x000001FF (511dec) 0x000003B6 (950dec)
Data type UINT8
BOOLEAN
Flags RO
Default 0x01 (1dec)
RW
0x00 (0dec)
10.9.6 Objects TwinSAFE Single Channel (EL5151-0090)
Index 1610 TSC RxPDO-Map Master Message
Index (hex) Name
1610:0
TSC RxPDO-Map Master Message
1610:01
SubIndex 001
1610:02 1610:03
SubIndex 002 SubIndex 003
1610:04
SubIndex 004
Meaning PDO Mapping RxPDO 17
Data type UINT8
1. PDO Mapping entry (object 0x7010 (TSC Master UINT32 Frame Elements), entry 0x01 (TSC___Master Cmd))
2. PDO Mapping entry (8 bits align)
UINT32
3. PDO Mapping entry (object 0x7010 (TSC Master UINT32 Frame Elements), entry 0x03 (TSC__Master CRC_0))
4. PDO Mapping entry (object 0x7010 (TSC Master UINT32 Frame Elements), entry 0x02 (TSC__Master ConnID))
Flags RO
Default 0x04 (4dec)
RO
0x7010:01, 8
RO
0x0000:00, 8
RO
0x7010:03, 16
RO
0x7010:02, 16
Index 1A10 TSC TxPDO-Map Slave Message
Index (hex) Name
1A10:0
TSC TxPDO-Map Slave Message
1A10:01 SubIndex 001
1A10:02 SubIndex 002
1A10:03 SubIndex 003
1A10:04 SubIndex 004
1A10:05 1A10:06 1A10:07 1A10:08 1A10:09 1A10:0A 1A10:0B 1A10:0C 1A10:0D 1A10:0E 1A10:0F 1A10:10 1A10:11 1A10:12 1A10:13 1A10:14
SubIndex 005 SubIndex 006 SubIndex 007 SubIndex 008 SubIndex 009 SubIndex 010 SubIndex 011 SubIndex 012 SubIndex 013 SubIndex 014 SubIndex 015 SubIndex 016 SubIndex 017 SubIndex 018 SubIndex 019 SubIndex 020
Meaning PDO Mapping TxPDO
Data type UINT8
1. PDO Mapping entry (object 0x6010 (TSC Slave Frame Elements), entry 0x01 (TSC___Slave Cmd))
UINT32
2. PDO Mapping entry (object 0x6000 (ENC Inputs), UINT32 entry 0x1D (Counter value (uint 16)))
3. PDO Mapping entry (object 0x6010 (TSC Slave
UINT32
Frame Elements), entry 0x03 (TSC__Slave CRC_0))
4. PDO Mapping entry (object 0x6010 (TSC Slave
UINT32
Frame Elements), entry 0x02 (TSC___Slave ConnID))
reserviert
UINT32
reserviert
UINT32
reserviert
UINT32
reserviert
UINT32
reserviert
UINT32
reserviert
UINT32
reserviert
UINT32
reserviert
UINT32
reserviert
UINT32
reserviert
UINT32
reserviert
UINT32
reserviert
UINT32
reserviert
UINT32
reserviert
UINT32
reserviert
UINT32
reserviert
UINT32
Flags RW
Default 0x4 (4dec)
RW
0x6010:01, 8
RW
0x6000:1D, 16
RW
0x6010:03, 16
RW
0x6010:02, 16
RW
0x0000:00
RW
0x0000:00
RW
0x0000:00
RW
0x0000:00
RW
0x0000:00
RW
0x0000:00
RW
0x0000:00
RW
0x0000:00
RW
0x0000:00
RW
0x0000:00
RW
0x0000:00
RW
0x0000:00
RW
0x0000:00
RW
0x0000:00
RW
0x0000:00
RW
0x0000:00
190
Version: 3.8
EL515x
Index 6010 TSC Slave Frame Elements
Index (hex) Name
Meaning
6010:0
TSC Slave Frame Ele- Max. Subindex ments
6010:01
TSC__Slave Cmd
reserved
6010:02
TSC__Slave ConnID reserved
6010:03
TSC__Slave CRC_0 reserved
6010:04
TSC__Slave CRC_1 reserved
6010:05
TSC__Slave CRC_2 reserved
6010:06
TSC__Slave CRC_3 reserved
6010:07
TSC__Slave CRC_4 reserved
6010:08
TSC__Slave CRC_5 reserved
6010:09
TSC__Slave CRC_6 reserved
6010:0A TSC__Slave CRC_7 reserved
6010:0B TSC__Slave CRC_8 reserved
Index 7010 TSC Master Frame Elements
Index (hex) Name
Meaning
7010:0
TSC Master Frame El- Maximaler Subindex ements
7010:01
TSC__Master Cmd reserved
7010:02
TSC__Master ConnID reserved
7010:03
TSC__Master CRC_0 reserved
Index 8010 TSC Settings
Index (hex) Name
8010:0
TSC Settings
8010:01
Address
8010:02
Connection Mode
Meaning
Max. Subindex
TwinSAFE SC Address
Selection of the TwinSAFE SC CRC
97039dec 153375dec 20469 dec 283633dec 389589dec 419387dec 506061dec 582077dec
TwinSAFE SC CRC1 master TwinSAFE SC CRC2 master TwinSAFE SC CRC3 master TwinSAFE SC CRC4 master TwinSAFE SC CRC5 master TwinSAFE SC CRC6 master TwinSAFE SC CRC7 master TwinSAFE SC CRC8 master
Commissioning
Data type UINT8
UINT8 UINT16 UINT16 UINT16 UINT16 UINT16 UINT16 UINT16 UINT16 UINT16 UINT16
Flags RO
Default 0x0B (11dec)
RO
0x00 (0dec)
RO
0x0000 (0dec)
RO
0x0000 (0dec)
RO
0x0000 (0dec)
RO
0x0000 (0dec)
RO
0x0000 (0dec)
RO
0x0000 (0dec)
RO
0x0000 (0dec)
RO
0x0000 (0dec)
RO
0x0000 (0dec)
RO
0x0000 (0dec)
Data type UINT8
UINT8 UINT16 UINT16
Flags RO
Default 0x03 (3dec)
RO
0x00 (0dec)
RO
0x0000 (0dec)
RO
0x0000 (0dec)
Data type UINT8 UINT16 UINT32
Flags RO RO RO
Default
0x02 (2dec) 0x0000 (0dec) 0x00000000 (0dec)
10.10 EL5152 - CoE object description
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
The terminal is parameterized via the CoE - Online tab (double-click on the respective object) or via the Process data tab for the assignment of PDOs.
Introduction The CoE overview contains objects for different intended applications:
EL515x
Version: 3.8
191
Commissioning
10.10.1 Restore object
Index 1011 Restore default parameters
Index (hex) Name
Meaning
1011:0
Restore default param- Restore default parameters eters [} 222]
1011:01
SubIndex 001
If this object is set to "0x64616F6C" in the set value dialog, all backup objects are reset to their delivery state.
Data type UINT8
UINT32
Flags RO
Default value 0x01 (1dec)
RW
0x00000000
(0dec)
10.10.2 Configuration data
Index 80n0 ENC settings (n = 0 for Ch.1; n = 1 for Ch.2)
Index (hex) Name
80n0:0
ENC Settings
80n0:03
Enable up/down counter [} 143]
80n0:08
Disable filter [} 144]
80n0:0A
Enable micro increments [} 144]
80n0:0E
Reversion of rotation [} 143]
80n0:0F
Frequency window base [} 139]
80n0:11
Frequency window [} 139]
80n0:13 80n0:14
Frequency scaling [} 139]
Period scaling [} 141]
80n0:15 80n0:16
Frequency resolution [} 139]
Period [} 141] resolution
80n0:17
Frequency Wait Time [} 139]
Meaning
Data type
Maximum subindex
UINT8
Enablement of the up/down counter in place of the en- BOOLEAN coder with the bit set.
Deactivates the input filters. The counter value is extrapolated by 8 bit.
BOOLEAN BOOLEAN
Activates reversion of rotation
BOOLEAN
Basic unit of Frequency window (index 0x80n0:11 [} 192]) 0: µs 1: ms
Measuring window: the minimum time over which the frequency is determined [1 µs], default: 10 ms.
Measuring window < 600 ms: Measurement takes place in frequency mode A [} 140]. Measuring window > 600 ms: Measurement takes place in frequency mode B [} 141].
The frequency determined is output in Frequency value (index 0x60n0:13 [} 193]).
Scaling of the frequency measurement (must be divided by this value to obtain the unit in Hz): 100: "0.01 Hz"
Scaling of the period in the process data: 100: "100 ns" period value is a multiple of 100 ns Only the setting "100" is currently possible here.
Resolution of the frequency measurement: 100: "0.01 Hz"
BIT1 UINT16
UINT16 UINT16 UINT16
Internal resolution of the period measurement: 100: "100 ns" 200: "200 ns" The period is calculated internally with a resolution of 100 ns. The max. measurable period can then be approx. 1.6 seconds.
Waiting time [ms] for frequency measurement
UINT16 UINT16
Once the time specified in the frequency window
[} 192] has elapsed, the system waits for the next positive edge from track A. This enables the fastest possible update of the Frequency process data, depending on the expected frequencies. At least double the period of the minimum frequency to be measured should be entered here. t >= 2* (1 / fmin)
Flags RO RW
Default value 0x17 (23dec) 0x00 (0dec)
RW
0x00 (0dec)
RW
0x00 (0dec)
RW
0x00 (0dec)
RW
0x00 (0dec)
RW
0x2710
(10000dec)
RW
0x0064
(100dec)
RW
0x0064
(100dec)
RW
0x0064
(100dec)
RW
0x0064
(100dec)
RW
0x0640
(1600dec)
192
Version: 3.8
EL515x
Commissioning
10.10.3 Input data
Index 60n0 ENC inputs (n = 0 for Ch.1; n = 1 for Ch.2)
Index (hex) Name
60n0:0
ENC Inputs
60n0:03
Set counter done
60n0:08
Extrapolation stall [} 144]
60n0:09 60n0:0A 60n0:0E
Status of input A Status of input B Sync Error
60n0:10 60n0:11
TxPDO Toggle Counter value
Meaning
Data type
Maximum subindex
UINT8
The counter was set.
BOOLEAN
The extrapolated part of the counter is invalid. The speed has fallen below the minimum speed required to use the micro-increments [} 144].
BOOLEAN
Status of input A
BOOLEAN
Status of input B
BOOLEAN
The Sync error bit is only required for DC mode. It indi- BOOLEAN cates whether a synchronization error has occurred during the previous cycle.
The TxPDO toggle is toggled by the slave when the data of the associated TxPDO is updated.
BOOLEAN
Counter value
UINT32
60n0:13 60n0:14
Frequency value Period value
The frequency (setting of the scaling in index 0x80n0:13 and the resolution in index 0x80n0:15)
The period (setting of the scaling in index 0x80n0:14 and the resolution in index 0x80n0:16)
UINT32 UINT32
Flags RO RO RO
Default value 0x14 (20dec) 0x00 (0dec) 0x00 (0dec)
RO
0x00 (0dec)
RO
0x00 (0dec)
RO
0x00 (0dec)
RO
0x00 (0dec)
RO
0x00000000
(0dec)
RO
0x00000000
(0dec)
RO
0x00000000
(0dec)
10.10.4 Output data
Index 70n0 ENC outputs (n = 0 for Ch.1; n = 1 for Ch.2)
Index (hex) Name
70n0:0
ENC Outputs
70n0:03
Set counter
70n0:11
Set counter value
Meaning Maximum subindex Set counter This is the counter value to be set via Set counter (index 0x70n0:03 [} 193]).
Data type UINT8 BOOLEAN UINT32
Flags RO RO RO
Default value
0x11 (17dec) 0x00 (0dec) 0x00000000 (0dec)
10.10.5 Standard objects
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 value
0x01FF1389 (33493897dec)
Index 1008 Device name
Index (hex) Name
1008:0
Device name
Meaning Device name of the EtherCAT slave
Data type STRING
Flags Default value
RO
EL5152
Index 1009 Hardware version
Index (hex) Name
1009:0
Hardware version
Meaning Hardware version of the EtherCAT slave
Index 100A Software version
Index (hex) Name
100A:0
Software version
Meaning Firmware version of the EtherCAT slave
Data type STRING
Flags Default value
RO
00
Data type STRING
Flags Default value
RO
01
EL515x
Version: 3.8
193
Commissioning
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
Data type UINT8 UINT32
Product code of the EtherCAT slave
UINT32
Revision number of the EtherCAT slave; the low word UINT32 (bit 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 value
0x04 (4dec)
0x00000002 (2dec)
0x14203052 (337653842dec)
0x00100000 (1048576dec)
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 value 0x01 (1dec)
RO
0x00000000
(0dec)
Index 1400 ENC RxPDO-Par Control Ch.1
Index (hex) Name
Meaning
1400:0
ENC RxPDO-Par Con- PDO Parameter RxPDO 1 trol Ch.1
1400:06
Exclude RxPDOs
Specifies the RxPDOs (index of RxPDO mapping objects) that must not be transferred together with RxPDO 1
Data type UINT8
OCTETSTRING[2]
Flags RO
Default value 0x06 (6dec)
RO
01 16
Index 1401 ENC RxPDO-Par Control compact Ch.1
Index (hex) Name
Meaning
1401:0
ENC RxPDO-Par Con- PDO Parameter RxPDO 2 trol compact Ch.1
1401:06
Exclude RxPDOs
Specifies the RxPDOs (index of RxPDO mapping objects) that must not be transferred together with RxPDO 2
Data type UINT8
OCTETSTRING[2]
Flags RO
Default value 0x06 (6dec)
RO
00 16
Index 1402 ENC RxPDO-Par Control Ch.2
Index (hex) Name
Meaning
1402:0
ENC RxPDO-Par Con- PDO Parameter RxPDO 3 trol Ch.2
1402:06
Exclude RxPDOs
Specifies the RxPDOs (index of RxPDO mapping objects) that must not be transferred together with RxPDO 3
Data type UINT8
OCTETSTRING[2]
Flags RO
Default value 0x06 (6dec)
RO
03 16
Index 1403 ENC RxPDO-Par Control compact Ch.2
Index (hex) Name
Meaning
1403:0
ENC RxPDO-Par Con- PDO Parameter RxPDO 4 trol compact Ch.2
1403:06
Exclude RxPDOs
Specifies the RxPDOs (index of RxPDO mapping objects) that must not be transferred together with RxPDO 4
Data type UINT8
OCTETSTRING[2]
Flags RO
Default value 0x06 (6dec)
RO
02 16
194
Version: 3.8
EL515x
Commissioning
Index 1600 ENC RxPDO-Map Control Ch.1
Index (hex) Name
1600:0
ENC RxPDO-Map Control Ch.1
1600:01
SubIndex 001
1600:02
SubIndex 002
1600:03
SubIndex 003
1600:04 1600:05 1600:06 1600:07
SubIndex 004 SubIndex 005 SubIndex 006 SubIndex 007
Meaning PDO Mapping RxPDO 1
Data type UINT8
1. PDO Mapping entry (1 bits align)
UINT32
2. PDO Mapping entry (1 bits align)
UINT32
3. PDO Mapping entry (object 0x7000 (ENC Outputs), UINT32 entry 0x03 (Set counter))
4. PDO Mapping entry (1 bits align)
UINT32
5. PDO Mapping entry (4 bits align)
UINT32
6. PDO Mapping entry (8 bits align)
UINT32
7. PDO Mapping entry (object 0x7000 (ENC Outputs), UINT32 entry 0x11 (Set counter value))
Flags RO
Default value 0x07 (7dec)
RO
0x0000:00, 1
RO
0x0000:00, 1
RO
0x7000:03, 1
RO
0x0000:00, 1
RO
0x0000:00, 4
RO
0x0000:00, 8
RO
0x7000:11, 32
Index 1601 ENC RxPDO-Map Control compact Ch.1
Index (hex) Name
Meaning
Data type
1601:0
ENC RxPDO-Map
PDO Mapping RxPDO 2
Control compact Ch.1
UINT8
1601:01
SubIndex 001
1. PDO Mapping entry (1 bits align)
UINT32
1601:02
SubIndex 002
2. PDO Mapping entry (1 bits align)
UINT32
1601:03
SubIndex 003
3. PDO Mapping entry (object 0x7000 (ENC Outputs), UINT32 entry 0x03 (Set counter))
1601:04
SubIndex 004
4. PDO Mapping entry (1 bits align)
UINT32
1601:05
SubIndex 005
5. PDO Mapping entry (4 bits align)
UINT32
1601:06
SubIndex 006
6. PDO Mapping entry (8 bits align)
UINT32
1601:07
SubIndex 007
7. PDO Mapping entry (object 0x7000 (ENC Outputs), UINT32 entry 0x11 (Set counter value))
Flags RO
Default value 0x07 (7dec)
RO
0x0000:00, 1
RO
0x0000:00, 1
RO
0x7000:03, 1
RO
0x0000:00, 1
RO
0x0000:00, 4
RO
0x0000:00, 8
RO
0x7000:11, 16
Index 1602 ENC RxPDO-Map Control Ch.2
Index (hex) Name
1602:0
ENC RxPDO-Map Control Ch.2
1602:01
SubIndex 001
1602:02
SubIndex 002
1602:03
SubIndex 003
1602:04 1602:05 1602:06 1602:07
SubIndex 004 SubIndex 005 SubIndex 006 SubIndex 007
Meaning PDO Mapping RxPDO 3
Data type UINT8
1. PDO Mapping entry (1 bits align)
UINT32
2. PDO Mapping entry (1 bits align)
UINT32
3. PDO Mapping entry (object 0x7010 (ENC Outputs), UINT32 entry 0x03 (Set counter))
4. PDO Mapping entry (1 bits align)
UINT32
5. PDO Mapping entry (4 bits align)
UINT32
6. PDO Mapping entry (8 bits align)
UINT32
7. PDO Mapping entry (object 0x7010 (ENC Outputs), UINT32 entry 0x11 (Set counter value))
Flags RO
Default value 0x07 (7dec)
RO
0x0000:00, 1
RO
0x0000:00, 1
RO
0x7010:03, 1
RO
0x0000:00, 1
RO
0x0000:00, 4
RO
0x0000:00, 8
RO
0x7010:11, 32
Index 1603 ENC RxPDO-Map Control compact Ch.2
Index (hex) Name
Meaning
Data type
1603:0
ENC RxPDO-Map
PDO Mapping RxPDO 4
Control compact Ch.2
UINT8
1603:01
SubIndex 001
1. PDO Mapping entry (1 bits align)
UINT32
1603:02
SubIndex 002
2. PDO Mapping entry (1 bits align)
UINT32
1603:03
SubIndex 003
3. PDO Mapping entry (object 0x7010 (ENC Outputs), UINT32 entry 0x03 (Set counter))
1603:04
SubIndex 004
4. PDO Mapping entry (1 bits align)
UINT32
1603:05
SubIndex 005
5. PDO Mapping entry (4 bits align)
UINT32
1603:06
SubIndex 006
6. PDO Mapping entry (8 bits align)
UINT32
1603:07
SubIndex 007
7. PDO Mapping entry (object 0x7010 (ENC Outputs), UINT32 entry 0x11 (Set counter value))
Flags RO
Default value 0x07 (7dec)
RO
0x0000:00, 1
RO
0x0000:00, 1
RO
0x7010:03, 1
RO
0x0000:00, 1
RO
0x0000:00, 4
RO
0x0000:00, 8
RO
0x7010:11, 16
EL515x
Version: 3.8
195
Commissioning
Index 1800 ENC TxPDO-Par Status Ch.1
Index (hex) 1800:0 1800:06
1800:09
Name ENC TxPDO-Par Status Ch.1 Exclude TxPDOs
TxPDO Toggle
Meaning PDO Parameter TxPDO 1
Data type UINT8
Specifies the TxPDOs (index of TxPDO mapping objects) that must not be transferred together with TxPDO 1
OCTETSTRING[2]
The TxPDO toggle is toggled with each update the cor- BOOLEAN responding input data
Flags RO
Default value 0x09 (9dec)
RO
01 1A
RO
0x00 (0dec)
Index 1801 ENC TxPDO-Par Status compact Ch.1
Index (hex) 1801:0 1801:06
1801:09
Name ENC TxPDO-Par Status compact Ch.1 Exclude TxPDOs
TxPDO Toggle
Meaning PDO parameter TxPDO 2
Data type UINT8
Specifies the TxPDOs (index of TxPDO mapping objects) that must not be transferred together with TxPDO 2
OCTETSTRING[2]
The TxPDO toggle is toggled with each update the cor- BOOLEAN responding input data
Flags RO
Default value 0x09 (9dec)
RO
00 1A
RO
0x00 (0dec)
Index 1802 ENC TxPDO-Par Period Ch.1
Index (hex) Name
1802:0
ENC TxPDO-Par Period Ch.1
1802:06
Exclude TxPDOs
Meaning PDO parameter TxPDO 3
Specifies the TxPDOs (index of TxPDO mapping objects) that must not be transferred together with TxPDO 3
Data type UINT8
OCTETSTRING[2]
Flags RO
Default value 0x06 (6dec)
RO
03 1A
Index 1803 ENC TxPDO-Par Frequency Ch.1
Index (hex) 1803:0
1803:06
Name
ENC TxPDO-Par Frequency Ch.1
Exclude TxPDOs
Meaning PDO parameter TxPDO 4
Specifies the TxPDOs (index of TxPDO mapping objects) that must not be transferred together with TxPDO 4
Data type UINT8
OCTETSTRING[2]
Flags RO
Default value 0x06 (6dec)
RO
02 1A
Index 1804 ENC TxPDO-Par Status Ch.2
Index (hex) 1804:0 1804:06
1804:09
Name ENC TxPDO-Par Status Ch.2 Exclude TxPDOs
TxPDO Toggle
Meaning PDO parameter TxPDO 5
Data type UINT8
Specifies the TxPDOs (index of TxPDO mapping objects) that must not be transferred together with TxPDO 5
OCTETSTRING[2]
The TxPDO toggle is toggled with each update the cor- BOOLEAN responding input data
Flags RO
Default value 0x09 (9dec)
RO
01 1A
RO
0x00 (0dec)
Index 1805 ENC TxPDO-Par Status compact Ch.2
Index (hex) 1805:0 1805:06
1805:09
Name ENC TxPDO-Par Status compact Ch.2 Exclude TxPDOs
TxPDO Toggle
Meaning PDO parameter TxPDO 6
Data type UINT8
Specifies the TxPDOs (index of TxPDO mapping objects) that must not be transferred together with TxPDO 6
OCTETSTRING[2]
The TxPDO toggle is toggled with each update the cor- BOOLEAN responding input data
Flags RO
Default value 0x09 (9dec)
RO
00 1A
RO
0x00 (0dec)
196
Version: 3.8
EL515x
Commissioning
Index 1806 ENC TxPDO-Par Period Ch.2
Index (hex) Name
1806:0
ENC TxPDO-Par Period Ch.2
1806:06
Exclude TxPDOs
Meaning PDO parameter TxPDO 7
Specifies the TxPDOs (index of TxPDO mapping objects) that must not be transferred together with TxPDO 7
Data type UINT8
OCTETSTRING[2]
Flags RO
Default value 0x06 (6dec)
RO
03 1A
Index 1807 ENC TxPDO-Par Frequency Ch.2
Index (hex) 1807:0
1807:06
Name
ENC TxPDO-Par Frequency Ch.2
Exclude TxPDOs
Meaning PDO parameter TxPDO 8
Specifies the TxPDOs (index of TxPDO mapping objects) that must not be transferred together with TxPDO 8
Data type UINT8
OCTETSTRING[2]
Flags RO
Default value 0x06 (6dec)
RO
02 1A
Index 1A00 ENC TxPDO-Map Status Ch.1
Index (hex) Name
Meaning
Data type
1A00:0
ENC TxPDO-Map Sta- PDO Mapping TxPDO 1 tus Ch.1
UINT8
1A00:01 SubIndex 001
1. PDO Mapping entry (2 bits align)
UINT32
1A00:02 SubIndex 002
2. PDO Mapping entry (object 0x6000 (ENC Inputs), UINT32 entry 0x03 (Set counter done))
1A00:03 SubIndex 003
3. PDO Mapping entry (4 bits align)
UINT32
1A00:04 SubIndex 004
4. PDO Mapping entry (object 0x6000 (ENC Inputs), UINT32 entry 0x08 (Extrapolation stall))
1A00:05 SubIndex 005
5. PDO Mapping entry (object 0x6000 (ENC Inputs), UINT32 entry 0x09 (Status of input A))
1A00:06 SubIndex 006
6. PDO Mapping entry (object 0x6000 (ENC Inputs), UINT32 entry 0x0A (Status of input B))
1A00:07 SubIndex 007
7. PDO Mapping entry (3 bits align)
UINT32
1A00:08 SubIndex 008
8. PDO Mapping entry (object 0x1C32 (SM output pa- UINT32 rameter), entry 0x20 (Sync error))
1A00:09 SubIndex 009
9. PDO Mapping entry (1 bits align)
UINT32
1A00:0A SubIndex 010
10. PDO Mapping entry (object 0x1800 (ENC TxPDO- UINT32 Par Status Ch.1), entry 0x09 (TxPDO Toggle))
1A00:0B SubIndex 011
11. PDO Mapping entry (object 0x6000 (ENC Inputs), UINT32 entry 0x11 (Counter value))
Flags RO
Default value 0x0B (11dec)
RO
0x0000:00, 2
RO
0x6000:03, 1
RO
0x0000:00, 4
RO
0x6000:08, 1
RO
0x6000:09, 1
RO
0x6000:0A, 1
RO
0x0000:00, 3
RO
0x1C32:20, 1
RO
0x0000:00, 1
RO
0x1800:09, 1
RO
0x6000:11, 32
Index 1A01 ENC TxPDO-Map Status compact Ch.1
Index (hex) Name
Meaning
Data type
1A01:0
ENC TxPDO-Map Sta- PDO Mapping TxPDO 2 tus compact Ch.1
UINT8
1A01:01 SubIndex 001
1. PDO Mapping entry (2 bits align)
UINT32
1A01:02 SubIndex 002
2. PDO Mapping entry (object 0x6000 (ENC Inputs), UINT32 entry 0x03 (Set counter done))
1A01:03 SubIndex 003
3. PDO Mapping entry (4 bits align)
UINT32
1A01:04 SubIndex 004
4. PDO Mapping entry (object 0x6000 (ENC Inputs), UINT32 entry 0x08 (Extrapolation stall))
1A01:05 SubIndex 005
5. PDO Mapping entry (object 0x6000 (ENC Inputs), UINT32 entry 0x09 (Status of input A))
1A01:06 SubIndex 006
6. PDO Mapping entry (object 0x6000 (ENC Inputs), UINT32 entry 0x0A (Status of input B))
1A01:07 SubIndex 007
7. PDO Mapping entry (3 bits align)
UINT32
1A01:08 SubIndex 008
8. PDO Mapping entry (object 0x1C32 (SM output pa- UINT32 rameter), entry 0x20 (Sync error))
1A01:09 SubIndex 009
9. PDO Mapping entry (1 bits align)
UINT32
1A01:0A SubIndex 010
10. PDO Mapping entry (object 0x1801 (ENC TxPDO- UINT32 Par Status compact Ch.1), entry 0x09 (TxPDO Toggle))
1A01:0B SubIndex 011
11. PDO Mapping entry (object 0x6000 (ENC Inputs), UINT32 entry 0x11 (Counter value))
Flags RO
Default value 0x0B (11dec)
RO
0x0000:00, 2
RO
0x6000:03, 1
RO
0x0000:00, 4
RO
0x6000:08, 1
RO
0x6000:09, 1
RO
0x6000:0A, 1
RO
0x0000:00, 3
RO
0x1C32:20, 1
RO
0x0000:00, 1
RO
0x1801:09, 1
RO
0x6000:11, 16
EL515x
Version: 3.8
197
Commissioning
Index 1A02 ENC TxPDO-Map Period Ch.1
Index (hex) Name
Meaning
1A02:0
ENC TxPDO-Map Pe- PDO Mapping TxPDO 3 riod Ch.1
1A02:01 SubIndex 001
1. PDO Mapping entry (object 0x6000 (ENC Inputs), entry 0x14 (Period value))
Data type UINT8
UINT32
Flags RO
Default value 0x01 (1dec)
RO
0x6000:14, 32
Index 1A03 ENC TxPDO-Map Frequency Ch.1
Index (hex) Name
Meaning
1A03:0
ENC TxPDO-Map Fre- PDO Mapping TxPDO 4 quency Ch.1
1A03:01 SubIndex 001
1. PDO Mapping entry (object 0x6000 (ENC Inputs), entry 0x13 (Frequency value))
Data type UINT8
UINT32
Flags RO
Default value 0x01 (1dec)
RO
0x6000:13, 32
Index 1A04 ENC TxPDO-Map Status Ch.2
Index (hex) Name
Meaning
Data type
1A04:0
ENC TxPDO-Map Sta- PDO Mapping TxPDO 5 tus Ch.2
UINT8
1A04:01 SubIndex 001
1. PDO Mapping entry (2 bits align)
UINT32
1A04:02 SubIndex 002
2. PDO Mapping entry (object 0x6010 (ENC Inputs), UINT32 entry 0x03 (Set counter done))
1A04:03 SubIndex 003
3. PDO Mapping entry (4 bits align)
UINT32
1A04:04 SubIndex 004
4. PDO Mapping entry (object 0x6010 (ENC Inputs), UINT32 entry 0x08 (Extrapolation stall))
1A04:05 SubIndex 005
5. PDO Mapping entry (object 0x6010 (ENC Inputs), UINT32 entry 0x09 (Status of input A))
1A04:06 SubIndex 006
6. PDO Mapping entry (object 0x6010 (ENC Inputs), UINT32 entry 0x0A (Status of input B))
1A04:07 SubIndex 007
7. PDO Mapping entry (3 bits align)
UINT32
1A04:08 SubIndex 008
8. PDO Mapping entry (object 0x1C32 (SM output pa- UINT32 rameter), entry 0x20 (Sync error))
1A04:09 SubIndex 009
9. PDO Mapping entry (1 bits align)
UINT32
1A04:0A SubIndex 010
10. PDO Mapping entry (object 0x1804 (ENC TxPDO- UINT32 Par Status Ch.2), entry 0x09 (TxPDO Toggle))
1A04:0B SubIndex 011
11. PDO Mapping entry (object 0x6010 (ENC Inputs), UINT32 entry 0x11 (Counter value))
Flags RO
Default value 0x0B (11dec)
RO
0x0000:00, 2
RO
0x6010:03, 1
RO
0x0000:00, 4
RO
0x6010:08, 1
RO
0x6010:09, 1
RO
0x6010:0A, 1
RO
0x0000:00, 3
RO
0x1C32:20, 1
RO
0x0000:00, 1
RO
0x1804:09, 1
RO
0x6010:11, 32
Index 1A05 ENC TxPDO-Map Status compact Ch.2
Index (hex) Name
Meaning
Data type
1A05:0
ENC TxPDO-Map Sta- PDO Mapping TxPDO 6 tus compact Ch.2
UINT8
1A05:01 SubIndex 001
1. PDO Mapping entry (2 bits align)
UINT32
1A05:02 SubIndex 002
2. PDO Mapping entry (object 0x6010 (ENC Inputs), UINT32 entry 0x03 (Set counter done))
1A05:03 SubIndex 003
3. PDO Mapping entry (4 bits align)
UINT32
1A05:04 SubIndex 004
4. PDO Mapping entry (object 0x6010 (ENC Inputs), UINT32 entry 0x08 (Extrapolation stall))
1A05:05 SubIndex 005
5. PDO Mapping entry (object 0x6010 (ENC Inputs), UINT32 entry 0x09 (Status of input A))
1A05:06 SubIndex 006
6. PDO Mapping entry (object 0x6010 (ENC Inputs), UINT32 entry 0x0A (Status of input B))
1A05:07 SubIndex 007
7. PDO Mapping entry (3 bits align)
UINT32
1A05:08 SubIndex 008
8. PDO Mapping entry (object 0x1C32 (SM output pa- UINT32 rameter), entry 0x20 (Sync error))
1A05:09 SubIndex 009
9. PDO Mapping entry (1 bits align)
UINT32
1A05:0A SubIndex 010
10. PDO Mapping entry (object 0x1805 (ENC TxPDO- UINT32 Par Status compact Ch.2), entry 0x09 (TxPDO Toggle))
1A05:0B SubIndex 011
11. PDO Mapping entry (object 0x6010 (ENC Inputs), UINT32 entry 0x11 (Counter value))
Flags RO
Default value 0x0B (11dec)
RO
0x0000:00, 2
RO
0x6010:03, 1
RO
0x0000:00, 4
RO
0x6010:08, 1
RO
0x6010:09, 1
RO
0x6010:0A, 1
RO
0x0000:00, 3
RO
0x1C32:20, 1
RO
0x0000:00, 1
RO
0x1805:09, 1
RO
0x6010:11, 16
198
Version: 3.8
EL515x
Commissioning
Index 1A06 ENC TxPDO-Map Period Ch.2
Index (hex) Name
Meaning
1A06:0
ENC TxPDO-Map Pe- PDO Mapping TxPDO 7 riod Ch.2
1A06:01 SubIndex 001
1. PDO Mapping entry (object 0x6010 (ENC Inputs), entry 0x14 (Period value))
Data type UINT8
UINT32
Flags RO
Default value 0x01 (1dec)
RO
0x6010:14, 32
Index 1A07 ENC TxPDO-Map Frequency Ch.2
Index (hex) Name
Meaning
1A07:0
ENC TxPDO-Map Fre- PDO Mapping TxPDO 8 quency Ch.2
1A07:01 SubIndex 001
1. PDO Mapping entry (object 0x6010 (ENC Inputs), entry 0x13 (Frequency value))
Data type UINT8
UINT32
Flags RO
Default value 0x01 (1dec)
RO
0x6010:13, 32
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 Using the sync managers Sync-Manager Type Channel 1: Mailbox Write Sync-Manager Type Channel 2: Mailbox Read Sync-Manager Type Channel 3: Process Data Write (Outputs) Sync-Manager Type Channel 4: Process Data Read (Inputs)
Data type UINT8 UINT8 UINT8 UINT8
UINT8
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
1C12:01 SubIndex 001
1C12:02 SubIndex 002
Meaning
PDO Assign Outputs
1. allocated RxPDO (contains the index of the associated RxPDO mapping object)
2. allocated RxPDO (contains the index of the associated RxPDO mapping object)
Data type UINT8 UINT16
UINT16
Index 1C13 TxPDO assign
Index (hex) Name
1C13:0
TxPDO assign
1C13:01 SubIndex 001
1C13:02 SubIndex 002
1C13:03 SubIndex 003
1C13:04 SubIndex 004
Meaning
PDO Assign Inputs
1. allocated TxPDO (contains the index of the associated TxPDO mapping object)
2. allocated TxPDO (contains the index of the associated TxPDO mapping object)
3. allocated TxPDO (contains the index of the associated TxPDO mapping object)
4. allocated TxPDO (contains the index of the associated TxPDO mapping object)
Data type UINT8 UINT16
UINT16
UINT16
UINT16
Flags RW RW
RW
Default value
0x02 (2dec) 0x1600 (5632dec) 0x1602 (5634dec)
Flags RW RW
RW
RW
RW
Default value
0x04 (4dec)
0x1A00 (6656dec)
0x1A02 (6658dec)
0x1A04 (6660dec)
0x1A06 (6662dec)
EL515x
Version: 3.8
199
Commissioning
Index 1C32 SM output parameter
Index 1C32:0 1C32:01
1C32:02
1C32:03 1C32:04
1C32:05
Name
Meaning
SM output parameter Synchronization parameters for the outputs
Data type UINT8
Sync mode
Current synchronization mode:
UINT16
· 0: Free Run
· 1: Synchronous with SM 2 event
· 2: DC-Mode - Synchronous with SYNC0 Event
Cycle time
· 3: DC-Mode - Synchron with SYNC1 Event Cycle time (in ns):
UINT32
· Free Run: Cycle time of the local timer
· Synchronous with SM 2 event: Master cycle time
· DC-Mode: SYNC0/SYNC1 Cycle Time
Shift time
Time between SYNC0 event and output of the outputs UINT32 (in ns, DC mode only)
Sync modes supported Supported synchronization modes:
UINT16
· Bit 0 = 1: free run is supported
· Bit 1 = 1: Synchronous with SM 2 event is supported
· Bit 2-3 = 01: DC mode is supported
· Bit 4-5 = 10: Output shift with SYNC1 event (only DC mode)
· Bit 14 = 1: dynamic times (measurement through writing of 0x1C32:08 [} 200])
Minimum cycle time Minimum cycle time (in ns)
UINT32
1C32:06 1C32:07 1C32:08
1C32:09 1C32:0B 1C32:0C 1C32:0D 1C32:20
Calc and copy time Minimum delay time Command
Minimum time between SYNC0 and SYNC1 event (in UINT32 ns, DC mode only)
Minimum time between SYNC1 event and output of the UINT32 outputs (in ns, only DC mode)
· 0: Measurement of the local cycle time is stopped
UINT16
· 1: Measurement of the local cycle time is started
The entries 0x1C32:03 [} 200], 0x1C32:05 [} 200],
0x1C32:06 [} 200], 0x1C32:09 [} 200], 0x1C33:03
[} 201], 0x1C33:06 [} 200] and 0x1C33:09 [} 201] are updated with the maximum measured values. For a subsequent measurement the measured values are reset
Maximum Delay time Time between SYNC1 event and output of the outputs UINT32 (in ns, DC mode only)
SM event missed counter
Number of missed SM events in OPERATIONAL (DC UINT16 mode only)
Cycle exceeded counter
Number of occasions the cycle time was exceeded in UINT16 OPERATIONAL (cycle was not completed in time or the next cycle began too early)
Shift too short counter Number of occasions that the interval between SYNC0 UINT16 and SYNC1 event was too short (DC mode only)
Sync error
The synchronization was not correct in the last cycle BOOLEAN (outputs were output too late; DC mode only)
Flags RO RW
Default value 0x20 (32dec) 0x0001 (1dec)
RW
0x000F4240
(1000000dec)
RO
0x00000000
(0dec)
RO
0xC007
(49159dec)
RO
0x00014C08
(85000dec)
RO
0x00000000
(0dec)
RO
0x00000000
(0dec)
RW
0x0000 (0dec)
RO
0x00000000
(0dec)
RO
0x0000 (0dec)
RO
0x0000 (0dec)
RO
0x0000 (0dec)
RO
0x00 (0dec)
200
Version: 3.8
EL515x
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 Current synchronization mode:
· 0: Free Run · 1: Synchronous with SM 3 event (no outputs
available) · 2: DC - Synchronous with SYNC0 Event · 3: DC - Synchron with SYNC1 Event · 34: Synchronous with SM 2 event (outputs
available) as 0x1C32:02 [} 200]
Data type UINT8 UINT16
UINT32
1C33:03 1C33:04
1C33:05
Shift time
Time between SYNC0 event and reading of the inputs UINT32 (in ns, only DC mode)
Sync modes supported 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 [} 200] or 0x1C33:08 [} 201])
Minimum cycle time as 0x1C32:05 [} 200]
UINT32
1C33:06 1C33:07 1C33:08 1C33:09 1C33:0B 1C33:0C 1C33:0D 1C33:20
Calc and copy time
Time between reading of the inputs and availability of UINT32 the inputs for the master (in ns, only DC mode)
Minimum delay time Time between SYNC1 event and reading of the inputs UINT32 (in ns, only DC mode)
Command
as 0x1C32:08 [} 200]
UINT16
Maximum Delay time Time between SYNC1 event and reading of the inputs UINT32 (in ns, only DC mode)
SM event missed counter
as 0x1C32:11 [} 200]
UINT16
Cycle exceeded counter
as 0x1C32:12 [} 200]
UINT16
Shift too short counter as 0x1C32:13 [} 200]
UINT16
Sync error
as 0x1C32:32 [} 200]
BOOLEAN
Flags RO RW
Default value 0x20 (32dec) 0x0022 (34dec)
RW
0x000F4240
(1000000dec)
RO
0x00000000
(0dec)
RO
0xC007
(49159dec)
RO
0x00014C08
(85000dec)
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
Data type
F000:0
Modular device profile General information for the modular device profile
UINT8
F000:01 Module index distance Index spacing of the objects of the individual channels UINT16
F000:02
Maximum number of Number of channels modules
UINT16
Flags RO RO RO
Default value 0x02 (2dec) 0x0010 (16dec) 0x0002 (2dec)
EL515x
Version: 3.8
201
Commissioning
Index F008 Code word
Index (hex) Name
F008:0
Code word
Index F010 Module list
Index (hex) Name
F010:0
Module list
F010:01 SubIndex 001
F010:02 SubIndex 002
Meaning NoCoeStorage [} 33] function:
Data type UINT32
The input code of the code word 0x12345678 activates the NoCoeStorage [} 33] function:
Changes to the CoE directory are not saved if the function is active. The function is deactivated by: 1.) changing the code word or 2.) restarting the terminal.
Flags RW
Default value
0x00000000 (0dec)
Meaning Maximum subindex reserved
reserved
Data type UINT8 UINT32
UINT32
Flags RW RW
RW
Default value
0x02 (2dec) 0x000001FF (511dec) 0x000001FF (511dec)
10.11 NC - Configuration
Installation of the latest XML device description
Please ensure that you have installed the corresponding latest XML device description in TwinCAT. This can be downloaded from the Beckhoff Website and installed according to the installation instructions.
The configuration of the axes and linking in the TwinCAT System Manager (Config mode) are described below, taking the EL5151 as an example. Proceed as follows:
1. The terminal must already have been added manually under I/O devices or have been scanned in by the system (see section "Configuration set-up in TwinCAT [} 85]").
2. Click with the right mouse button on NC Configuration -> Append task.
Fig. 166: NC - Configuration, Append Task 3. Select a name for the task and confirm with OK.
Fig. 167: Entering a name for the task and confirming
202
Version: 3.8
EL515x
4. Click with the right mouse button on Axes - >Append axis.
Commissioning
Fig. 168: Insert axis 5. Select a name and type for the axis and confirm with OK.
Fig. 169: Entering a name for the axis and selecting a type 6. After selecting the NC-Encoder tab, select the encoder KL5101/Kl5111/IP5109/EL5101 in the pulldown menu Type.
Fig. 170: Selecting the encoder 7. Click the Linked with... button, select the EL5151 terminal and confirm with OK.
EL515x
Version: 3.8
203
Commissioning
Fig. 171: Selecting and confirming an encoder terminal 8. The respective inputs of the EL5151 are now linked with the NC task.
Fig. 172: EL5151 inputs linked with the NC task
204
Version: 3.8
EL515x
Commissioning
10.12 Distributed Clocks (DC) settings
EtherCAT and Distributed Clocks
A basic introduction into EtherCAT and distributed clocks can is available for download from the Beckhoff website: "EtherCAT-System documentation".
The incremental encoder terminals support the distributed clocks function (EL5101: from Hardware 09 / Firmware 14; EL5151 from Hardware 01 / Firmware 05). In order for the EL51xx to be able to make the current counter value available in the designated process data in time before the arrival of the querying EtherCAT datagram, a suitable signal must be generated cyclically within the terminal. This signal can be triggered in the EL51xx through two events:
1. the SyncManager (SM) 2. the Distributed Clock (DC).
Under operating mode selection the following options are available (see Fig. "DC" tab):
Fig. 173: "DC" tab (Distributed Clocks)
· FreeRun/SM-Synchron The SyncManager event occurs when an EtherCAT frame successfully exchanges process data with the EL51xx. Frame-triggered, the current counter value is thus cyclically determined, but with the low temporal jitter of the Ethernet frame. In this mode an Ethernet frame triggers the process data provision for the next retrieving frame. This generally only occurs after 1x cycle time.
· DC Synchronous In DC mode, a counter reading is triggered by the integrated DC unit with a constant cycle, usually in synchrony with the bus cycle, although with a constant shift (phase, shift time, offset). Sampling is significantly more uniform (synchronization accuracy: 100 ns), which means a higher-level control algorithm can be supplied with higher-quality position data, for example. In the EL51xx the trigger is the SYNC0 signal, which is set like an output component in "DC-synchron" mode. See "EtherCAT-System documentation -> Distributed clocks". The DC modes enable the start time of the process data provision to be offset by an offset value (shift value). This offset value can only by set on EtherCAT startup and can then no longer be changed during the uptime. Based on the general distributed clocks SYNC function model, the terminal-specific SYNC signal can either occur before or after the expect frame pass-through time:
· In the case of input terminals the SYNC signal is generated before the frame in order to make current input data available for onward transport.
· In the case of output terminals the SYNC signal is set to a time after the frame pass-through so that the output data just delivered can be output immediately.
Since only one of the two modes is possible, the user can set the optimum mode for his application. "DC Synchronous" corresponds to the output module configuration. The local SYNC event is triggered shortly after the EtherCAT frame has passed.
· DC-Synchron (input based) In the "DC-Synchronous (input based)" mode this EL51xx is assigned to the group of input modules and the shift time (see Fig. Advanced Distributed Clock (DC) settings, EL51xx terminal) is calculated accordingly.
EL515x
Version: 3.8
205
Commissioning
When "DC-Synchronous" operating mode is activated, TwinCAT selects settings that ensure reliable operation of the EL51xx and the acquisition of current position data. This means that determination of the current counter value is started by the SYNC0 signal at highly constant intervals and in the operating mode "DC-Synchronous (input based)" in good time i.e. with an adequate safety buffer before the retrieving EtherCAT datagram.
Duration of the process data provision in the EL51x1
The EL5101 (from Hardware 09 / Firmware 14) or the EL5151 (from Hardware 01/ Firmware 05) requires approx. 80 µs after the SYNC event to determine the position data and provide them for retrieval. This value depends on the configuration and parameterization. Using the internal DC functions, the current actually required time can be read (see the CoE setting in 0x1C32:08) and the result written into 0x1C32:05.
If necessary, the SYNC0 signal can be shifted along the time axis to the right/later or left/earlier in associated dialogs by specifying a "User defined Shift Time", see Fig. Advanced Distributed Clock (DC) settings, EL51xx terminal.
· A right-shift (positive shift value) will delay the counter value query, which means the position value becomes more current from the PLC perspective. However, this increases the risk that the position determination may not be finished in time before the arrival of EtherCAT frame, so that no current position value is available in this cycle.
· A left-shift (negative shift value) means the counter value will be queried earlier, resulting in older position values, with an associated increase in the safety buffer before the arrival of the EtherCAT datagram. This setting may be useful in systems with high real-time jitter, if no Industrial PCs from Beckhoff are used for control purposes, for example.
NOTE
Caution! Risk of device damage!
The mentioned notes and information should be used advisedly. The EtherCAT master automatically allocates SYNC0 and SYNC1 settings that support reliable and timely process data acquisition. User intervention at this point may lead to undesired behavior. If these settings are changed in the System Manager, no plausibility checks are carried out on the software side. Correct function of the terminal with all conceivable setting options cannot be guaranteed.
Default setting
The cyclic read of the inputs is triggered by the SYNC0 pulse (interrupt) from the DC in the EL51xx. The EtherCAT master sets the Sync Unit Cycle time value to the PLC cycle time and therefore the EtherCAT cycle time as standard. See Fig. Advanced Distributed Clock (DC) settings, EL51xx terminal 4000 µs = 4 ms, as TwinCAT is in configuration mode.
206
Version: 3.8
EL515x
EL51xx DC settings
Commissioning
Fig. 174: Advanced Distributed Clock (DC) settings, EL51xx terminal
· SYNC0 Sync unit cycle: a multiple of the bus cycle time. The counter value is periodically determined at this interval (in µs).
· User-defined Arbitrary number up to 232 ns 4.3 secs. Decimal point values are possible.
· Shift Time The Shift Time can be used to shift the SYNC0 pulse for this EL51xx relative to other terminals and the global SYNC pulse in nanosecond steps. If the data of several EL51xx terminals are to be read simultaneously, the same value must be entered here.
· Based on input reference If this option is activated an additional Input Shift is added to the configurable terminal-specific SYNC0 shift (user-defined). This value is calculated and made available by the EtherCAT master (SysMan/ EtherCAT device/EtherCAT tab/Advanced Settings/Distributed Clocks/Input Shift Time/, see Fig. EtherCAT Master, EtherCAT tab, Advanced + EtherCAT Master, Advanced Settings, Distributed Clock). In this way all input terminals in the system (EL1xxx, EL3xxx and appropriately set ELxxxx such as the EL51xx) read their inputs as close as possible to the time of the EtherCAT frame that will fetch them, thereby supplying the most recent possible input data to the controller. In input-based mode this value is taken into account automatically.
· Enable SYNC0 Automatically activated in DC Synchronous operating mode.
· SYNC1 Additional SYNC pulse, derived from SYNC0 or from the DC itself. Not required by the EL51xx.
EL515x
Version: 3.8
207
Commissioning
DC settings for EtherCAT Master Higher-level distributed clock parameters can be modified under advanced settings for the EtherCAT Master. Refer also to the basic introduction to the topic of EtherCAT and Distributed Clocks; download: the "EtherCAT-System documentation -> Distributed clocks".
Fig. 175: EtherCAT Master, Advanced Settings, Distributed Clock
208
Version: 3.8
EL515x
11 Appendix
Appendix
11.1 EtherCAT AL Status Codes
For detailed information please refer to the EtherCAT system description.
11.2 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.
Risk of damage to the device!
NOTE
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!
EL5151 Hardware (HW) 00 - 01 01 - 13*
Firmware (FW) 01 02 03 04 05 06 07 08 09 10
11 12*
Revision no. EL5151-0000-0016 EL5151-0000-0017
EL5151-0000-0018 EL5151-0000-0019
EL5151-0000-0020 EL5151-0000-0021 EL5151-0000-0022 EL5151-0000-0023 EL5151-0000-0024
EL5151-0000-0025 EL5151-0000-0026
Release date 2007/12 2008/12 2008/12 2009/01 2009/01 2009/02 2009/03 2009/04 2009/09 2011/05 2011/10 2012/06 2012/07 2011/09 2013/10 2014/11 2016/07 2018/12
EL5151 - 0021 Hardware (HW) 00 - 02*
Firmware (FW) 01*
Revision no. EL5151-0021-0018
Release date 2017/01
EL515x
Version: 3.8
209
Appendix
EL5151 - 0090 Hardware (HW) 00 - 02*
Firmware (FW) 01*
Revision no. EL5151-0090-0016
Release date 2018/03
EL5152 Hardware (HW) 01 - 14*
Firmware (FW) 01*
Revision no. EL5152-0000-0016 EL5152-0000-0017 EL5152-0000-0018 EL5152-0000-0019
Release date 2009/09 2012/07 2014/11 2016/07
*) 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.
11.3 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.
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.
210
Version: 3.8
EL515x
Appendix
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.
11.3.1 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:
Fig. 176: Device identifier consisting of name EL3204-0000 and revision -0016
EL515x
Version: 3.8
211
Appendix
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. 177: Scan the subordinate field by right-clicking on the EtherCAT device If the found field matches the configured field, the display shows
Fig. 178: Configuration is identical otherwise a change dialog appears for entering the actual data in the configuration.
212
Version: 3.8
EL515x
Appendix
Fig. 179: 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
Fig. 180: 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.
EL515x
Version: 3.8
213
Appendix
Fig. 181: 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.
11.3.2 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
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.
214
Version: 3.8
EL515x
Appendix
Fig. 182: 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.
11.3.3 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.
EL515x
Version: 3.8
215
Appendix
Fig. 183: 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
216
Version: 3.8
EL515x
Appendix · Check the current status (B, C) · Download the new *efw file (wait until it ends). A pass word will not be neccessary usually.
· 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.
11.3.4 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.
EL515x
Version: 3.8
217
Appendix
Fig. 184: 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. 185: 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.
218
Version: 3.8
EL515x
Appendix
Fig. 186: 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.
EL515x
Version: 3.8
219
Appendix
· 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:
220
Version: 3.8
EL515x
Appendix · Select the file (*.rbf) with the new FPGA firmware, and transfer it to the EtherCAT device:
· 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!
11.3.5 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. 187: Multiple selection and firmware update Select the required slaves and carry out the firmware update in BOOTSTRAP mode as described above.
EL515x
Version: 3.8
221
Appendix
11.4 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. 188: 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. 189: 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.
222
Version: 3.8
EL515x
Appendix
11.5 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
EL515x
Version: 3.8
223
More Information: www.beckhoff.com/en-us/products/i-o/ethercat-terminals/el5xxxposition-measurement/
Beckhoff Automation GmbH & Co. KG Hülshorstweg 20 33415 Verl Germany Phone: +49 5246 9630 info@beckhoff.com www.beckhoff.com
ST4 PDF Engine (Build 10.0.3.0)