Beckhoff EK1310 User Manual

Documentation | EN

EK1310

1-port EtherCAT P extension with feed-in

2021-03-05 | Version: 1.4

Table of contents

Table of contents

1 Foreword ....................................................................................................................................................5

1.1 Notes on the documentation..............................................................................................................5

1.2 Safety instructions .............................................................................................................................6

1.3 Documentation issue status ..............................................................................................................7

1.4 Version identification of EtherCAT devices .......................................................................................7

1.4.1 Beckhoff Identification Code (BIC)................................................................................... 12

2 Product overview.....................................................................................................................................14

2.1 Introduction......................................................................................................................................14

2.2 EtherCATP .....................................................................................................................................14

2.3 Technical data .................................................................................................................................16

2.4 Start .................................................................................................................................................16

3 Basics communication ...........................................................................................................................17

3.1 System properties............................................................................................................................17

3.2 EtherCAT basics..............................................................................................................................20

3.3 EtherCAT State Machine.................................................................................................................20

3.4 CoE - Interface: notes......................................................................................................................21

3.5 Distributed Clock .............................................................................................................................21

3.6 EtherCAT P introduction..................................................................................................................21

4 Mounting and wiring................................................................................................................................25

4.1 Installation on mounting rails ...........................................................................................................25

4.2 Installation instructions for enhanced mechanical load capacity .....................................................27

4.3 Installation positions ........................................................................................................................28

4.4 Connection system ..........................................................................................................................30

4.5 Positioning of passive Terminals .....................................................................................................33

4.6 ATEX - Special conditions (standard temperature range) ...............................................................34

4.7 Continuative documentation for ATEX and IECEx ..........................................................................35

4.8 Connection EK1310.........................................................................................................................35

4.9 EtherCAT P connection ...................................................................................................................36

4.10 Nut torque for connectors ................................................................................................................38

4.11 Cabling ............................................................................................................................................38

4.12 EtherCAT P cable conductor losses M8..........................................................................................42

5 Commissioning........................................................................................................................................43

5.1 EK1310 - Configuration by means of the TwinCAT System Manager.............................................43

6 Error handling and diagnostics..............................................................................................................50

6.1 Diagnostic LED................................................................................................................................50

7 Appendix ..................................................................................................................................................52

7.1 EtherCAT AL Status Codes.............................................................................................................52

7.2 Firmware compatibility.....................................................................................................................52

7.3 Firmware Update EL/ES/EM/ELM/EPxxxx ......................................................................................52

7.3.1 Device description ESI file/XML....................................................................................... 53

7.3.2 Firmware explanation ...................................................................................................... 56

7.3.3 Updating controller firmware *.efw................................................................................... 57

7.3.4 FPGA firmware *.rbf......................................................................................................... 59

EK1310 3Version: 1.4

Table of contents

7.3.5 Simultaneous updating of several EtherCAT devices...................................................... 63

7.4 Support and Service ........................................................................................................................64

EK13104 Version: 1.4

Foreword

1 Foreword

1.1 Notes on the documentation

Intended audience

This description is only intended for the use of trained specialists in control and automation engineering who
are familiar with the applicable national standards.
It is essential that the documentation and the following notes and explanations are followed when installing
and commissioning these components.
It is the duty of the technical personnel to use the documentation published at the respective time of each
installation and commissioning.

The responsible staff must ensure that the application or use of the products described satisfy all the
requirements for safety, including all the relevant laws, regulations, guidelines and standards.

Disclaimer

The documentation has been prepared with care. The products described are, however, constantly under
development.

We reserve the right to revise and change the documentation at any time and without prior announcement.

No claims for the modification of products that have already been supplied may be made on the basis of the
data, diagrams and descriptions in this documentation.

Trademarks

Beckhoff®, TwinCAT®, EtherCAT®, EtherCATG®, EtherCATG10®, EtherCATP®, SafetyoverEtherCAT®,
TwinSAFE®, XFC®, XTS® and XPlanar® are registered trademarks of and licensed by Beckhoff Automation
GmbH. Other designations used in this publication may be trademarks whose use by third parties for their
own purposes could violate the rights of the owners.

Patent Pending

The EtherCAT Technology is covered, including but not limited to the following patent applications and
patents: EP1590927, EP1789857, EP1456722, EP2137893, DE102015105702 with corresponding
applications or registrations in various other countries.

EtherCAT® is registered trademark and patented technology, licensed by Beckhoff Automation GmbH,
Germany.

Copyright

© Beckhoff Automation GmbH & Co. KG, Germany.
The reproduction, distribution and utilization of this document as well as the communication of its contents to
others without express authorization are prohibited.
Offenders will be held liable for the payment of damages. All rights reserved in the event of the grant of a
patent, utility model or design.

EK1310 5Version: 1.4

Foreword

1.2 Safety instructions

Safety regulations

Please note the following safety instructions and explanations!
Product-specific safety instructions can be found on following pages or in the areas mounting, wiring,
commissioning etc.

Exclusion of liability

All the components are supplied in particular hardware and software configurations appropriate for the
application. Modifications to hardware or software configurations other than those described in the
documentation are not permitted, and nullify the liability of Beckhoff Automation GmbH & Co. KG.

Personnel qualification

This description is only intended for trained specialists in control, automation and drive engineering who are
familiar with the applicable national standards.

Description of instructions

In this documentation the following instructions are used.
These instructions must be read carefully and followed without fail!

DANGER

Serious risk of injury!

Failure to follow this safety instruction directly endangers the life and health of persons.

WARNING

Risk of injury!

Failure to follow this safety instruction endangers the life and health of persons.

CAUTION

Personal injuries!

Failure to follow this safety instruction can lead to injuries to persons.

NOTE

Damage to environment/equipment or data loss

Failure to follow this instruction can lead to environmental damage, equipment damage or data loss.

Tip or pointer

This symbol indicates information that contributes to better understanding.

EK13106 Version: 1.4

1.3 Documentation issue status

Version Modifications

1.4 • Addenda within „Firmware Update EL/ES/ELM/EM/EPxxxx"

• Addenda within chapter „Support and Service“ (appendix)

• Chapter „ATEX - Special conditions“ updated

• Chapter “Basics communication” updated

• Update structure

1.3 • Chapter “Introduction EtherCAT P” updated

• Update structure

1.2 • Chapter “Introduction EtherCAT P” updated

• Revision of section “Technical data”

1.1 • Chapter “Error handling and diagnostics” updated

• Revision of section “Technical data”

1.0 • Corrections

• 1st public issue

0.1 • First version

Foreword

1.4 Version identification of EtherCAT devices

Designation

A Beckhoff EtherCAT device has a 14-digit designation, made up of

• family key

• type

• version

• revision

Example Family Type Version Revision

EL3314-0000-0016 EL terminal

(12 mm, non­pluggable connection
level)

ES3602-0010-0017 ES terminal

(12 mm, pluggable
connection level)

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.

3314 (4-channel thermocouple
terminal)

3602 (2-channel voltage
measurement)

0000 (basic type) 0016

0010 (high­precision version)

0017

EK1310 7Version: 1.4

Foreword

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

Example with
Ser. no.: 12063A02: 12 - production week 12 06 - production year 2006 3A - firmware version 3A 02 ­hardware version 02

Exceptions can occur in the IP67 area, where the following syntax can be used (see respective device
documentation):

Syntax: D ww yy x y z u

D - prefix designation
ww - calendar week
yy - year
x - firmware version of the bus PCB
y - hardware version of the bus PCB
z - firmware version of the I/O PCB
u - hardware version of the I/O PCB

Example: D.22081501 calendar week 22 of the year 2008 firmware version of bus PCB: 1 hardware version
of bus PCB: 5 firmware version of I/O PCB: 0 (no firmware necessary for this PCB) hardware version of I/O
PCB: 1

Unique serial number/ID, ID number

In addition, in some series each individual module has its own unique serial number.

See also the further documentation in the area

• IP67: EtherCAT Box

• Safety: TwinSafe

• Terminals with factory calibration certificate and other measuring terminals

EK13108 Version: 1.4

Examples of markings

Fig.1: EL5021 EL terminal, standard IP20 IO device with serial/ batch number and revision ID (since
2014/01)

Foreword

Fig.2: EK1100 EtherCAT coupler, standard IP20 IO device with serial/ batch number

Fig.3: CU2016 switch with serial/ batch number

EK1310 9Version: 1.4

Foreword

Fig.4: EL3202-0020 with serial/ batch number 26131006 and unique ID-number 204418

Fig.5: EP1258-00001 IP67 EtherCAT Box with batch number/ date code 22090101 and unique serial
number 158102

Fig.6: EP1908-0002 IP67 EtherCAT Safety Box with batch number/ date code 071201FF and unique serial
number 00346070

Fig.7: EL2904 IP20 safety terminal with batch number/ date code 50110302 and unique serial number
00331701

EK131010 Version: 1.4

Foreword

Fig.8: ELM3604-0002 terminal with unique ID number (QR code) 100001051 and serial/ batch number
44160201

EK1310 11Version: 1.4

Foreword

1.4.1 Beckhoff Identification Code (BIC)

The Beckhoff Identification Code (BIC) is increasingly being applied to Beckhoff products to uniquely identify
the product. The BIC is represented as a Data Matrix Code (DMC, code scheme ECC200), the content is
based on the ANSI standard MH10.8.2-2016.

Fig.9: BIC as data matrix code (DMC, code scheme ECC200)

The BIC will be introduced step by step across all product groups.

Depending on the product, it can be found in the following places:

• on the packaging unit

• directly on the product (if space suffices)

• on the packaging unit and the product

The BIC is machine-readable and contains information that can also be used by the customer for handling
and product management.

Each piece of information can be uniquely identified using the so-called data identifier
(ANSIMH10.8.2-2016). The data identifier is followed by a character string. Both together have a maximum
length according to the table below. If the information is shorter, spaces are added to it. The data under
positions 1 to 4 are always available.

The following information is contained:

EK131012 Version: 1.4

Item

Type of

no.

information

1 Beckhoff order

number

2 Beckhoff Traceability

Number (BTN)

3 Article description Beckhoff article

4 Quantity Quantity in packaging

5 Batch number Optional: Year and week

6 ID/serial number Optional: Present-day

7 Variant number Optional: Product variant

...

Explanation Data

Beckhoff order number 1P 8 1P072222

Unique serial number,
see note below

description, e.g.
EL1008

unit, e.g. 1, 10, etc.

of production

serial number system,
e.g. with safety products
or calibrated terminals

number on the basis of
standard products

Foreword

Number of digits

identifier

S 12 SBTNk4p562d7

1K 32 1KEL1809

Q 6 Q1

2P 14 2P401503180016

51S 12 51S678294104

30P 32 30PF971, 2*K183

incl. data identifier

Example

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.

EK1310 13Version: 1.4

Product overview

2 Product overview

2.1 Introduction

EK1310 | 1-port EtherCAT P extension with feed-in

Fig.10: EK1310

The EK1310 EtherCAT P feed-in unit enables conversion from EtherCAT to EtherCATP or extension of an
EtherCATP network. Terminal points are used to supply the US (system and sensor supply) and the U
(peripheral voltage for actuators) for the EtherCATP circuit. In addition to the RunLED and the link and
activity status, status LEDs indicate the state of the US and UP voltages, as well as overload and short-circuit
events.

Connection

Terminal point Description Connector
Designation

X1 OUT Connection for EtherCATP network

(100BASE‑TX)

M8 socket, shielded, screw type,
EtherCAT P coded

P

2.2 EtherCATP

EtherCATP combines communication and power in a single 4-wire standard Ethernet cable. The 24VDC
supply of the EtherCATP slaves and the connected sensors and actors is integrated within this bus system:
US (system- and Sensor supply) and UP (peripheral voltage for actors) are electrical isolated with 3A current
available for the connected components. All the benefits of EtherCAT, such as freedom in topology design,
high speed, optimum bandwidth utilization, telegram processing on-the-fly, highly precise synchronization,
extensive diagnostics functionality, etc. are all retained while integrating the voltages.

EK131014 Version: 1.4

Product overview

With EtherCATP technology, the currents are coupled directly into the wires of the 100 Mbit line, enabling
the realization of a highly cost-effective and compact connection. In order to rule out the possibility of
incorrect connections to standard EtherCAT slaves and, thus possible defects, a new plug family has been
specially developed for EtherCATP. The plug family covers all applications from the 24 V I/O level up to
drives with 400 V AC or 600 V DC and a current of up to 64 A.

EtherCATP offers extensive savings potential:

• elimination of separate supply cables

• low wiring effort and significant time savings

• sources of error are reduced

• minimization of installation space for drag-chains and control cabinets

• smaller and tidier cable trays

• smaller sensors and actuators through the elimination of separate supply cables

As is typical with EtherCAT, the user benefits from the wide choice in topology and can combine line, star
and tree architectures with one another in order to achieve the least expensive and best possible system
layouts. Unlike the traditional Power over Ethernet (PoE), devices can also be cascaded using EtherCATP
and supplied with power from one power supply unit.

When designing a machine, the individual consumers, cable lengths and cable types are configured with tool
assistance and this information is used to create the optimum layout of the EtherCATP network. Since it is
known what sensors and actuators will be connected and which ones will be operated simultaneously, the
power consumption can be accounted for accordingly. For example, if two actuators never switch
simultaneously from a logical point of view, they also never need the full load simultaneously. The result is
further savings potential in terms of the required supplies and power supply units.

Also see about this

2 EtherCAT P introduction [}21]

EK1310 15Version: 1.4

Product overview

2.3 Technical data

Technical data EK1310

Task in the EtherCAT system Conversion of the E-bus signals to 100BASE-TX Ethernet for extension

of the EtherCAT P network

Transmission medium EtherCAT P cable, shielded, to 100BASE-TX

Businterface 1 x M8 socket, shielded, screw type, EtherCAT-P-coded

Cable length between two Bus
Couplers

Protocol / Baud rate all EtherCAT protocols / 100 MBaud

Delay approx. 1µs

Configuration not necessary

Power supply external feed-in: 24 V DC for US and U

Total current max. 3 A each US and U

Current consumption from U

Current consumption from U

S

P

Current rating per port max. 3 A each US and U

Current consumption E-bus typ. 110 mA

Electrical isolation 500 V (supply voltage US / supply voltage UP / EtherCAT)

Dimensions (W x H x D) approx. 44 mm x 100 mm x 68 mm

Weight approx. 120 g

Permissible ambient temperature
range during operation

Permissible ambient temperature
range during storage

Permissible relative humidity 95%, no condensation

Mounting [}25]

Vibration/shock resistance conforms to EN 60068-2-6 / EN 60068-2-27,

EMC immunity/emission conforms to EN 61000-6-2 / EN 61000-6-4

Protection class IP20

Installation position variable

Approval CE

max. 75 m

P

P

typ. 3 mA

typ. 3 mA

P

0°C ... +55°C

-25°C ... + 85°C

on 35 mm mounting rail conforms to EN 60715

see also installation instructions [}27] for enhanced mechanical load
capacity

2.4 Start

For commissioning:

• mount the EK1310 as described in the chapter Mounting and wiring [}25]

• configure the EK1310 in TwinCAT as described in chapter Parameterization and commissioning.

EK131016 Version: 1.4

Basics communication

3 Basics communication

3.1 System properties

Protocol

The EtherCAT protocol is optimized for process data and is transported directly within the Ethernet frame
thanks to a special Ether-type. It may consist of several sub-telegrams, each serving a particular memory
area of the logical process images that can be up to 4 gigabytes in size. The data sequence is independent
of the physical order of the Ethernet terminals in the network; addressing can be in any order. Broadcast,
Multicast and communication between slaves are possible. Transfer directly in the Ethernet frame is used in
cases where EtherCAT components are operated in the same subnet as the control computer.

However, EtherCAT applications are not limited to a subnet: EtherCAT UDP packs the EtherCAT protocol
into UDP/IP datagrams. This enables any control with Ethernet protocol stack to address EtherCAT systems.
Even communication across routers into other subnets is possible. In this variant, system performance
obviously depends on the real-time characteristics of the control and its Ethernet protocol implementation.
The response times of the EtherCAT network itself are hardly restricted at all: the UDP datagram only has to
be unpacked in the first station.

Fig.11: EtherCAT Telegram Structure

Protocol structure: The process image allocation is freely configurable. Data are copied directly in the I/O
terminal to the desired location within the process image: no additional mapping is required. The available
logical address space is with very large (4 GB).

EK1310 17Version: 1.4

Basics communication

Topology

Line, tree or star: EtherCAT supports almost any topology. The bus or line structure known from the
fieldbuses thus also becomes available for Ethernet. Particularly useful for system wiring is the combination
of line and junctions or stubs. The required interfaces exist on the couplers; no additional switches are
required. Naturally, the classic switch-based Ethernet star topology can also be used.

Fig.12: EtherCAT Topology

Maximum wiring flexibility:
with or without switch, line or tree topologies, can be freely selected and combined.

Wiring flexibility is further maximized through the choice of different cables. Flexible and cost-effective
standard Ethernet patch cables transfer the signals in Ethernet mode (100Base-TX). The complete
bandwidth of the Ethernet network - such as different optical fibers and copper cables - can be used in
combination with switches or media converters.

Distributed Clocks

Accurate synchronization is particularly important in cases where spatially distributed processes require
simultaneous actions. This may be the case, for example, in applications where several servo axes carry out
coordinated movements simultaneously.

The most powerful approach for synchronization is the accurate alignment of distributed clocks, as described
in the new IEEE 1588 standard. In contrast to fully synchronous communication, where synchronization
quality suffers immediately in the event of a communication fault, distributed aligned clocks have a high
degree of tolerance vis-à-vis possible fault-related delays within the communication system.

EK131018 Version: 1.4

Basics communication

With EtherCAT, the data exchange is fully based on a pure hardware machine. Since the communication
utilizes a logical (and thanks to full-duplex Fast Ethernet also physical) ring structure, the mother clock can
determine the run-time offset to the individual daughter clocks simply and accurately - and vice versa. The
distributed clocks are adjusted based on this value, which means that a very precise network-wide timebase
with a jitter of significantly less than 1 microsecond is available.

However, high-resolution distributed clocks are not only used for synchronization, but can also provide
accurate information about the local timing of the data acquisition. For example, controls frequently calculate
velocities from sequentially measured positions. Particularly with very short sampling times, even a small
temporal jitter in the displacement measurement leads to large step changes in velocity. With EtherCAT new,
extended data types are introduced as a logical extension (time stamp and oversampling data type). The
local time is linked to the measured value with a resolution of up to 10 ns, which is made possible by the
large bandwidth offered by Ethernet. The accuracy of a velocity calculation then no longer depends on the
jitter of the communication system. It is orders of magnitude better than that of measuring techniques based
on jitter-free communication.

Performance

EtherCAT reaches new dimensions in network performance. Protocol processing is purely hardware-based
through an FMMU chip in the terminal and DMA access to the network card of the master. It is thus
independent of protocol stack run-times, CPU performance and software implementation. The update time
for 1000 I/Os is only 30 µs - including terminal cycle time. Up to 1486 bytes of process data can be
exchanged with a single Ethernet frame - this is equivalent to almost 12000 digital inputs and outputs. The
transfer of this data quantity only takes 300 µs.

The communication with 100 servo axes only takes 100 µs. During this time, all axes are provided with set
values and control data and report their actual position and status. Distributed clocks enable the axes to be
synchronized with a deviation of significantly less than 1 microsecond.

The extremely high performance of the EtherCAT technology enables control concepts that could not be
realized with classic fieldbus systems. For example, the Ethernet system can now not only deal with velocity
control, but also with the current control of distributed drives. The tremendous bandwidth enables status
information to be transferred with each data item. With EtherCAT, a communication technology is available
that matches the superior computing power of modern Industrial PCs. The bus system is no longer the
bottleneck of the control concept. Distributed I/Os are recorded faster than is possible with most local I/O
interfaces. The EtherCAT technology principle is scalable and not bound to the baud rate of 100 Mbaud –
extension to Gbit Ethernet is possible.

Diagnostics

Experience with fieldbus systems shows that availability and commissioning times crucially depend on the
diagnostic capability. Only faults that are detected quickly and accurately and which can be precisely located
can be corrected quickly. Therefore, special attention was paid to exemplary diagnostic features during the
development of EtherCAT.

During commissioning, the actual configuration of the I/O terminals should be checked for consistency with
the specified configuration. The topology should also match the saved configuration. Due to the built-in
topology recognition down to the individual terminals, this verification can not only take place during system
start-up, automatic reading in of the network is also possible (configuration upload).

Bit faults during the transfer are reliably detected through evaluation of the CRC checksum: The 32 bit CRC
polynomial has a minimum hamming distance of 4. Apart from breaking point detection and localization, the
protocol, physical transfer behavior and topology of the EtherCAT system enable individual quality
monitoring of each individual transmission segment. The automatic evaluation of the associated error
counters enables precise localization of critical network sections. Gradual or changing sources of error such
as EMC influences, defective push-in connectors or cable damage are detected and located, even if they do
not yet overstrain the self-healing capacity of the network.

Integration of standard Bus Terminals from Beckhoff

In addition to the new Bus Terminals with E-Bus connection (ELxxxx), all Bus Terminals from the familiar
standard range with K-bus connection (KLxxxx) can be connected via the BK1120 or BK1250 Bus Coupler.
This ensures compatibility and continuity with the existing Beckhoff Bus Terminal systems. Existing
investments are protected.

EK1310 19Version: 1.4

Basics communication

3.2 EtherCAT basics

Please refer to the EtherCAT System Documentation for the EtherCAT fieldbus basics.

3.3 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.

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.

EK131020 Version: 1.4

Basics communication

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 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.

Boot

In the Boot state the slave firmware can be updated. The Boot state can only be reached via the Init state.

In the Boot state mailbox communication via the file access over EtherCAT (FoE) protocol is possible, but no
other mailbox communication and no process data communication.

3.4 CoE - Interface: notes

This device has no CoE.

Detailed information on the CoE interface can be found in the EtherCAT system documentation on the
Beckhoff website.

3.5 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.

3.6 EtherCAT P introduction

One cable solution for the field level

With EtherCAT P, Beckhoff combines communication and power in a single 4-wire standard Ethernet cable.
The 24 V DC supply of the EtherCAT P slaves and of the connected sensors and actuators is integrated: US
(system and sensor supply) and UP (peripheral voltage for actuators) are electrically isolated from each

EK1310 21Version: 1.4