Beckhoff EL1258, EL1259, EL2258 Documentation
Documentation
EL125x, EL2258
8 channel digital input/output terminal with time stamp
2.5
2017-12-07
Version:
Date:
Product overview - 8 channel Digital Input/Output Terminals
EL125x, EL2258 3Version: 2.5
1 Product overview - 8 channel Digital Input/Output
Terminals
EL1258 [}14]
8 channel digital input terminal 24VDC, with Timestamp
EL1259 [}14]
2 x 8 channel digital input/output terminal 24VDC, with Timestamp
EL2258 [}14]
8 channel digital output terminal 24VDC, with Timestamp
Table of contents
EL125x, EL22584 Version: 2.5
Table of contents
1 Product overview - 8 channel Digital Input/Output Terminals ..............................................................3
2 Foreword ....................................................................................................................................................7
2.1 Notes on the documentation........................................................................................................... 7
2.2 Safety instructions .......................................................................................................................... 8
2.3 Documentation issue status............................................................................................................ 9
2.4 Version identification of EtherCAT devices..................................................................................... 9
3 Product overview.....................................................................................................................................14
3.1 EL1258, EL1259, EL2258............................................................................................................. 14
3.1.1 Introduction ......................................................................................................................14
3.1.2 Technical data..................................................................................................................16
3.1.3 Technology.......................................................................................................................16
3.2 Start .............................................................................................................................................. 21
4 Basics communication ...........................................................................................................................22
4.1 EtherCAT basics........................................................................................................................... 22
4.2 EtherCAT cabling – wire-bound.................................................................................................... 22
4.3 General notes for setting the watchdog ........................................................................................ 23
4.4 EtherCAT State Machine .............................................................................................................. 25
4.5 CoE Interface................................................................................................................................ 27
4.6 Distributed Clock........................................................................................................................... 32
5 Mounting and wiring ...............................................................................................................................33
5.1 Instructions for ESD protection ..................................................................................................... 33
5.2 Installation on mounting rails ........................................................................................................ 33
5.3 Installation instructions for enhanced mechanical load capacity .................................................. 37
5.4 Connection.................................................................................................................................... 37
5.4.1 Connection system...........................................................................................................37
5.4.2 Wiring...............................................................................................................................39
5.4.3 Shielding ..........................................................................................................................40
5.5 Installation positions ..................................................................................................................... 40
5.6 Mounting of Passive Terminals..................................................................................................... 43
5.7 UL notice....................................................................................................................................... 43
5.8 EL1258, EL1259, EL2258 - LEDs and connection ....................................................................... 45
6 Commissioning........................................................................................................................................48
6.1 TwinCAT Quick Start .................................................................................................................... 48
6.1.1 TwinCAT2 .......................................................................................................................50
6.1.2 TwinCAT 3 .......................................................................................................................60
6.2 TwinCAT Development Environment............................................................................................ 72
6.2.1 Installation of the TwinCAT real-time driver .....................................................................72
6.2.2 Notes regarding ESI device description...........................................................................78
6.2.3 TwinCAT ESI Updater......................................................................................................82
6.2.4 Distinction between Online and Offline ............................................................................82
6.2.5 OFFLINE configuration creation ......................................................................................83
6.2.6 ONLINE configuration creation ........................................................................................88
6.2.7 EtherCAT subscriber configuration ..................................................................................96
6.3 General Notes - EtherCAT Slave Application ............................................................................. 106
6.4 Basic function principles ............................................................................................................. 114
6.4.1 Definitions ......................................................................................................................114
Table of contents
EL125x, EL2258 5Version: 2.5
6.4.2 Compatibility mode in relation to EL1252/EL2252 .........................................................117
6.5 Commissioning inputs................................................................................................................. 119
6.5.1 Basic principles ..............................................................................................................119
6.5.2 Commissioning of a MTI channel...................................................................................122
6.5.3 Commissioning in compatibility mode............................................................................124
6.6 Commissioning outputs .............................................................................................................. 125
6.6.1 Basic principles ..............................................................................................................126
6.6.2 Commissioning an MTO channel...................................................................................130
6.6.3 Commissioning in compatibility mode EL2252 ..............................................................132
6.7 Distributed Clocks settings ......................................................................................................... 133
6.8 CoE object description and parameterization ............................................................................. 136
6.8.1 EL1258...........................................................................................................................136
6.8.2 EL1259...........................................................................................................................173
6.8.3 EL2258...........................................................................................................................246
6.9 Example programs...................................................................................................................... 286
6.9.1 Example program for EL2258: Multi-Timestamp ...........................................................287
6.9.2 Example program for EL1258 (EL1259): MT Visualization (TC 3).................................290
7 Appendix ................................................................................................................................................293
7.1 EtherCAT AL Status Codes ........................................................................................................ 293
7.2 Firmware compatibility ................................................................................................................ 293
7.3 Firmware Update EL/ES/EM/EPxxxx.......................................................................................... 293
7.3.1 Device description ESI file/XML.....................................................................................294
7.3.2 Firmware explanation.....................................................................................................297
7.3.3 Updating controller firmware *.efw .................................................................................298
7.3.4 FPGA firmware *.rbf.......................................................................................................300
7.3.5 Simultaneous updating of several EtherCAT devices....................................................304
7.4 Restoring the delivery state ........................................................................................................ 305
7.5 Support and Service ................................................................................................................... 306
Table of contents
EL125x, EL22586 Version: 2.5
Foreword
EL125x, EL2258 7Version: 2.5
2 Foreword
2.1 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®, Safety over EtherCAT®, TwinSAFE®, XFC® and XTS® 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, DE102004044764, DE102007017835 with corresponding applications or
registrations in various other countries.
The TwinCAT Technology is covered, including but not limited to the following patent applications and
patents: EP0851348, US6167425 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.
Foreword
EL125x, EL22588 Version: 2.5
2.2 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 symbols
In this documentation the following symbols are used with an accompanying safety instruction or note. The
safety instructions must be read carefully and followed without fail!
DANGER
Serious risk of injury!
Failure to follow the safety instructions associated with this symbol directly endangers the
life and health of persons.
WARNING
Risk of injury!
Failure to follow the safety instructions associated with this symbol endangers the life and
health of persons.
CAUTION
Personal injuries!
Failure to follow the safety instructions associated with this symbol can lead to injuries to
persons.
Attention
Damage to the environment or devices
Failure to follow the instructions associated with this symbol can lead to damage to the environment or equipment.
Note
Tip or pointer
This symbol indicates information that contributes to better understanding.
Foreword
EL125x, EL2258 9Version: 2.5
2.3 Documentation issue status
Version Comment
2.5 • Example program for EL1258 (MT Visualization) added to chapter “Commissioning”
2.4 • Update chapter "Commissioning", Example program for EL2258 (Multi‑Timestamp)
2.3 • Update chapter "Notes on the documentation"
• Update chapter "Technical data"
• Addenda chapter "Instructions for ESD protection"
• Addenda chapter "TwinCAT Quickstart"
• Addenda chapter "UL notice"
• Update revision status
2.2 • Update chapter "Technical data"
• Update structure
• Update revision status
2.1 • Example program for EL2258 (Multi-Timestamp) added to chapter “Commissioning”
2.0 • Migration
• Update structure
• Update revision status
1.4 • Update chapter "Distributed Clocks settings"
• Update structure
• Update revision status
1.3 • Update chapter "Distributed Clocks settings"
• Update structure
• Update revision status
1.2 • Update chapter "Technical data"
• Addenda chapter "Installation instructions for enhanced mechanical load capacity"
• Update structure
• Update revision status
1.1 • Addenda chapter "Commissioning outputs"
• Update revision status
1.0 • Addenda
• First public issue
0.5 • Addenda object directory
0.4 • Correction chapter "Technical data"
0.3 • Correction chapter "Technical data"
0.2 • Correction chapter "Commissioning"
0.1 • Provisional documentation for EL125x, EL2258
2.4 Version identification of EtherCAT devices
Designation
A Beckhoff EtherCAT device has a 14-digit designation, made up of
• family key
• type
• version
• revision
Foreword
EL125x, EL225810 Version: 2.5
Example Family Type Version Revision
EL3314-0000-0016 EL terminal
(12 mm, nonpluggable connection
level)
3314 (4-channel thermocouple
terminal)
0000 (basic type) 0016
ES3602-0010-0017 ES terminal
(12 mm, pluggable
connection level)
3602 (2-channel voltage
measurement)
0010 (highprecision version)
0017
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: KKYYFFHH
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
Foreword
EL125x, EL2258 11Version: 2.5
y - hardware version of the bus PCB
z - firmware version of the I/O PCB
u - hardware version of the I/O PCB
Example: D.22081501 calendar week 22 of the year 2008 firmware version of bus PCB: 1 hardware version
of bus PCB: 5 firmware version of I/O PCB: 0 (no firmware necessary for this PCB) hardware version of I/O
PCB: 1
Unique serial number/ID, ID number
In addition, in some series each individual module has its own unique serial number.
See also the further documentation in the area
• IP67: EtherCAT Box
• Safety: TwinSafe
• Terminals with factory calibration certificate and other measuring terminals
Examples of markings
Fig.1: EL5021 EL terminal, standard IP20 IO device with batch number and revision ID (since 2014/01)
Fig.2: EK1100 EtherCAT coupler, standard IP20 IO device with batch number
Foreword
EL125x, EL225812 Version: 2.5
Fig.3: CU2016 switch with batch number
Fig.4: EL3202-0020 with batch numbers 26131006 and unique ID-number 204418
Fig.5: EP1258-00001 IP67 EtherCAT Box with batch number 22090101 and unique serial number 158102
Fig.6: EP1908-0002 IP67 EtherCAT Safety Box with batch number 071201FF and unique serial number
00346070
Foreword
EL125x, EL2258 13Version: 2.5
Fig.7: EL2904 IP20 safety terminal with batch number/date code 50110302 and unique serial number
00331701
Fig.8: ELM3604-0002 terminal with ID number (QR code) 100001051 and unique serial number 44160201
Product overview
EL125x, EL225814 Version: 2.5
3 Product overview
3.1 EL1258, EL1259, EL2258
3.1.1 Introduction
Fig.9: EL1258
Fig.10: EL1259
Product overview
EL125x, EL2258 15Version: 2.5
Fig.11: EL2258
Digital input/output terminals with timestamp
The 8-channel digital input terminal EL1258 records fast binary control signals from the process level and
transfers them electrically isolated to the controller. In contrast to the EL1252 with two channels the EL1258
has eight channels and a lower sampling rate. In addition, the EL1258 offers the option of logging several
changes of the input signal per PLC cycle and to transfer these to the controller (MultiTimeStamping). The
EL1258 is synchronized with other EtherCAT devices through the distributed clocks system, so that events in
the whole system can be measured with a uniform timebase.
The 8-channel digital output terminal EL2258 switches the binary output signals of the controller electrically
isolated from the process level. Up to 10 switching orders per PLC cycle can be transferred to the terminal.
These are output with an accuracy of up to 10 µs (depending on the selected process image). The
distributed clocks are used as time reference. In conjunction with timestamp input terminals the EL2258
enables responses at equidistant intervals that are largely independent of the bus cycle time.
The 16-channel digital EtherCAT Terminal EL1259 combines the function of the EL1258 – eight timestamp
inputs – with those of the EL2258 – eight timestamp outputs. The high channel density in conjunction with
time stamping of the signals enables fast, efficient processes through optimized sensor and actuator control.
The EL1259 is also synchronized with other devices through the distributed clocks system, so that events in
the whole system can be measured with a uniform timebase.
Quick-Links
• EtherCAT basics [}22]
• LEDs and connection [}45]
• Commissioning [}48]
Product overview
EL125x, EL225816 Version: 2.5
3.1.2 Technical data
Technical data EL1258 EL1259 EL2258
Digital inputs 8 8 -
Digital outputs - 8 8
Connection technology 2-wire 1-wire 2-wire
Rated voltage 24VDC (-15%/+20%)
Signal voltage “0” -3V ... +5V
(based on EN61131-2, type 3)
-
Signal voltage “1” +11V ... +30V
(based on EN61131-2, type 3)
-
Input current typ. 3mA
(based on EN61131-2, type 3)
-
Input filter < 1µs typ. -
Distributed Clocks Yes
Distributed clock (DC) precision << 1µs
Internal sampling rate/execution <10 ... <40µs, depends on PDO configuration (“Microcycle”, see notes)
Minimum EtherCAT cycle time 90..540µs, depends on PDO configuration (“Macrocycle”, see notes)
Load type outputs - ohmic, inductive, lamp load
Output current - max. 0.5A (short-circuit-proof) per channel
Reverse polarity protection - yes
Breaking energy - < 150 mJ/channel
Switching times outputs - TON: < 1µs typ., T
OFF
: < 1µs typ.
Current consumption of power
contacts
typ. 6mA typ. 30mA + load
Supply voltage for electronic via the E-bus
Current consumption via E-bus typ. 130mA
Electrical isolation 500V (E-bus/field voltage)
Configuration no address or configuration settings required
Weight approx. 55g
Permissible ambient temperature
range during operation
0°C ... +55°C
Permissible ambient temperature
range during storage
-25°C ... +85°C
Permissible relative humidity 95%, no condensation
Dimensions (W x H x D) approx. 15mm x 100mm x 70mm (width aligned: 12mm)
Mounting [}33]
on 35 mm mounting rail conforms to EN 60715
Vibration/shock resistance conforms to EN 60068-2-6 / EN 60068-2-27,
see also installation instructions for enhanced mechanical load capacity [}37]
EMC immunity/emission conforms to EN 61000-6-2 / EN 61000-6-4
Protection class IP20
Installation position variable
Approval CE
cULus [}43]
3.1.3 Technology
Table of contents
• Procedure for sampling digital inputs [}17]
• Procedure for sampling digital outputs [}18]
• Multi-timestamp [}19]
The EL1258, EL1259 and EL2258 EtherCAT terminals make up a family of terminals whose members
feature a similar range of functions. These are digital input and output terminals that read in or output 24 V
signals. The EL1258 can read in eight channels, while the EL2258 can output eight channels. The EL1259 is
the mixed version with 8 input and 8 output channels on an overall width of 12 mm. A characteristic feature
of these terminals is the multi-timestamp capability, as an extension to the conventional timestamp function.
It is often of great interest when inputs are read in or outputs are switched in a running application. Three
general procedures for considering inputs and outputs are described below:
Product overview
EL125x, EL2258 17Version: 2.5
Procedure for sampling digital inputs
• Standard sampling
Standard sampling is used for “normal” digital input/output terminals. For the input this means that a 24
V signal (TRUE) or 0 V signal (FALSE) is applied by a sensor (e.g. light barrier). This channel
information is queried in the next EtherCAT cycle and transferred to the controller.
In addition it means that this signal was applied to the input within the last cycle time and is still present
at the time of sampling. However, no statement can be made as to the precise point in time when this
edge arrived at the input, or whether short pulses were already present before that.
Fig.12: Query of input channel information, standard
• In Fig. Query of input channel information, standard pulses A and B are not picked up, only pulse C
lasts long enough to be present during sampling (blue), so that the "1" is picked up by the bus cycle.
This mode of operation is also called frame-triggered.
The time frame for the sampling is thus the task/EtherCAT cycle time employed of e.g. 10 ms or 1 ms.
To sample processes in the machine at finer intervals, the cycle time usually has to be reduced to the
required or smallest possible value, e.g. 100 µs. However, this entails limitations with regard to the
then maximum available computing time and possibly also the EtherCAT data volume within this cycle
time.
Two technologies are available to remedy this situation: Oversampling and timestamp.
In principle, the EtherCAT Terminals EL1258, EL1259 and EL2258 can be used for standard sampling.
• Oversampling
Within the specified (configurable) cycle time the input terminals read the input status n times and store
the states in an array, which is transferred to the controller based on the bus cycle. The
correspondingly finer time frame, the microcycle, thus enables a slow bus cycle time with nevertheless
extremely fine sampling.
For example, the input terminal EL1262 is capable of 1000-fold oversampling at a 1 µs microcycle.
Fig.13: Query of input channel information, oversampling
• In Fig. Query of input channel information, oversampling pulses A and B are also picked up, compared
with standard sampling. Over the known microcycle time each individual pulse can be determined from
the resulting data stream. However, a constantly high volume of data is transferred with each
EtherCAT cycle, even if there are no edge changes at all at the input.
Product overview
EL125x, EL225818 Version: 2.5
• Timestamp
In this mode the input terminal operates only event-based. The edge changes are registered at the
input channel. Internally two pieces of information are stored for each event, i.e. the input state 0/1
after the edge change and the exact time of edge change, the timestamp. The time is derived from the
synchronized EtherCAT distributed clocks system, which synchronizes all capable EtherCAT devices in
the network to a time accuracy of << 1 µs without special configuration (for further information see
Basic EtherCAT documentation).
Fig.14: Query of input channel information, with timestamp
• In Fig. Query of input channel information, with timestamp the rising and the falling edge of pulse A is
picked up as event with timestamp and transferred to the controller during the EtherCAT cycle. The
time resolution is 1 ns here – an ‘infinitely’ fine time resolution in mechanical terms. The EL1252 can
“only” store one falling and one rising edge per cycle – if several edge changes occur, e.g. a rising
edge of pulse C, the first or last event is stored, depending on the configuration (see EL1252
documentation).
In summary, the oversampling and timestamp procedures provide a significantly finer image of the
machine sequence than standard sampling of the digital input.
Procedure for sampling digital outputs
The principles described above can be transferred to digital outputs accordingly.
• Standard sampling
A frame-triggered standard output can only switch with the time of each EtherCAT cycle if it receives a
new target output state:
Fig.15: Output of output channel information, standard
• In Fig. Output of output channel information, standard the number of switching events is limited to the
cycle time and cannot be changed at the actual switching time. For high-speed or high-precision
machines this has a significant effect on the maximum possible production speed and manufacturing
tolerances. The oversampling and timestamp technologies help here as well.
• Oversampling
The controller calculates the array of digital 0/1 output data in advance and sends it to the output
channel. This successively clocks out the target output states in the fixed microcycle.
Product overview
EL125x, EL2258 19Version: 2.5
Fig.16: Output of output channel information, oversampling
• This procedure enables a significantly finer time resolution to be achieved for the actuator control, even
below the actual cycle time.
The digital output terminal EL2262 can achieve a time resolution of 1 µs with 1000-fold oversampling.
• Timestamp
With the timestamp principle the controller calculates an exact time at which the output is to switch to a
new state 0/1. After this switching order has been transferred, the terminal waits until this time is
reached and then switches automatically, independent of the bus cycle. Here too the distributed clocks
function is decisive. It synchronizes the local clock that runs in the output terminal.
Fig.17: Output of output channel information, with timestamp
• At (A) the controller transfers a switching order consisting of output state and switching time to the
output channel; the order is executed at (B) independently of the cycle. The controller can then send a
new switching order (C). The ‘infinitely’ fine time resolution of 1 ns applies here as well.
In general the digital output terminal EL2252 with oversampling requires two cycles for activating a
switching order.
Multi-timestamp
The multi-timestamp capability opens up new application options for digital inputs and outputs:
Inputs EL1258, EL1259
• 8 multi-timestamp channels on an overall width of 12 mm
• All channels operate completely independently of one another
• Each channel is capable of sampling not only one, but up to 32 signal edges (“events”) per cycle
• Each channel has its own buffer. Events are held in the buffer, if more signal edge changes arrive at
the input during a cycle than are retrieved via the process data. The buffer can be sent continuously to
the controller via the cyclic process data. A handshake mode is also possible – thus no signals to the
controller are lost in the event of communication errors.
• The process data size can be configured individually for each channel, i.e. how many timestamped
events per cycle are to be retrieved from the channel by the PLC
Product overview
EL125x, EL225820 Version: 2.5
• These functions require a process image that differs from the previous EL1252. For reasons of
compatibility with the existing user software the terminal can be switched to a compatible process
image (without the new functions).
• Sampling of the input state 0/1 takes place based on a microcycle of several µs, depending on the
selected setting, i.e. significantly faster than the EtherCAT bus cycle time
• The timestamp allocated to a signal edge detected in this way is the start time of the microcycle in
which it was picked up.
• An adjustable digital filter can be activated for each channel which blanks signals that are too short
(spikes).
• In this way significantly more signal changes can be sampled with timestamp during each cycle, and no
event information is lost in the buffer.
Fig.18: Query of input channel information, with multi-timestamp
Outputs EL1259, EL2258
• 8 multi-timestamp channels on an overall width of 12 mm
• All channels operate completely independently of one another
• Each channel has a buffer and can therefore store not just one switching order, but up to 32 events.
Thus several precisely timed switching events can also be specified within a cycle.
• In order to transfer switching orders to the channel as quickly as possible, the multi-timestamp function
operates with AutoActivation: new switching orders are taken over in each cycle without special
activation; however, an optional handshake procedure is also possible here.
• The process data size – i.e. the number of time-stamped switching orders that can be sent by the
controller to the channel per cycle – is configurable for each channel.
• These functions require a process image that differs from the previous EL2252. For reasons of
compatibility with existing user software the terminal can be switched to a compatible process image
(without the new functions).
• The query whether an executable switching order is present in the buffer takes place based on a
microcycle of several µs, depending on the selected setting, and is therefore significantly faster than
the EtherCAT bus cycle time. Thus several timestamp switching orders are also possible per bus cycle.
• In order to test the actuator connected to the output channel, the output can also be switched manually
via the CoE, i.e. without timestamps.
• Thus virtually any desired number of switching orders can now be output per channel within the
framework of the microcycle, both ‘immediately’ for the following cycle (A) and also through the buffer
for later cycles (B).
Product overview
EL125x, EL2258 21Version: 2.5
Fig.19: Output of output channel information, with multi-timestamp
3.2 Start
For commissioning:
• mount the EL125x, EL2258 as described in the chapter Mounting and wiring [}33]
• configure the EL125x, EL2258 in TwinCAT as described in the chapter Commissioning [}48].
Basics communication
EL125x, EL225822 Version: 2.5
4 Basics communication
4.1 EtherCAT basics
Please refer to the chapter EtherCAT System Documentation for the EtherCAT fieldbus basics.
4.2 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.
Note
Recommended cables
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 5V; a coupler is
thereby loadable up to 2A 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.
Basics communication
EL125x, EL2258 23Version: 2.5
Fig.20: System manager current calculation
Attention
Malfunction possible!
The same ground potential must be used for the E-Bus supply of all EtherCAT terminals in
a terminal block!
4.3 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 2 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.
Basics communication
EL125x, EL225824 Version: 2.5
Fig.21: 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.
Basics communication
EL125x, EL2258 25Version: 2.5
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 / 25MHz * (2498 + 2) = 0.0001seconds = 100µs
SM watchdog = 10000 → 10000 * 100µs = 1second 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.
4.4 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.
Basics communication
EL125x, EL225826 Version: 2.5
Fig.22: 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.
Note
Outputs in SAFEOP state
The default set watchdog [}23] 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.
Basics communication
EL125x, EL2258 27Version: 2.5
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.
4.5 CoE Interface
General description
The CoE interface (CANopen 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 2 levels via hexadecimal numbering: (main)index, followed by subindex. The value
ranges are
• Index: 0x0000 …0xFFFF (0...65535
dez
)
• SubIndex: 0x00…0xFF (0...255
dez
)
A parameter localized in this way is normally written as 0x8010:07, with preceding "x" 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: In some EtherCAT devices the channel parameters are stored here (as an alternative to the
0x8000 range).
• 0x6000: Input PDOs ("input" from the perspective of the EtherCAT master)
• 0x7000: Output PDOs ("output" from the perspective of the EtherCAT master)
Note
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:
Basics communication
EL125x, EL225828 Version: 2.5
Fig.23: "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
parameterised 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.
Basics communication
EL125x, EL2258 29Version: 2.5
Note
Data management
If slave CoE parameters are modified online, Beckhoff devices store any changes in a failsafe 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.
Note
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.24: 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.
Basics communication
EL125x, EL225830 Version: 2.5
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.
Fig.25: 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.
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