Beckhoff EL1512, EL1502 Documentation
Documentation
EL1502, EL1512
Up/down Counter 24 VDC
3.5
2018-06-08
Version:
Date:
Table of contents
EL1502, EL1512 3Version: 3.5
Table of contents
1 Foreword ....................................................................................................................................................5
1.1 Product overview Up/down counter 24 V DC ....................................................................................5
1.2 Notes on the documentation..............................................................................................................5
1.3 Safety instructions .............................................................................................................................7
1.4 Documentation issue status ..............................................................................................................8
1.5 Version identification of EtherCAT devices .......................................................................................8
2 Product overview.....................................................................................................................................13
2.1 EL1502 ............................................................................................................................................13
2.1.1 Introduction ...................................................................................................................... 13
2.1.2 Technical data ................................................................................................................. 14
2.2 EL1512 ............................................................................................................................................15
2.2.1 Introduction ...................................................................................................................... 15
2.2.2 Technical data ................................................................................................................. 16
2.3 Start .................................................................................................................................................16
3 Basics communication ...........................................................................................................................17
3.1 EtherCAT basics..............................................................................................................................17
3.2 EtherCAT cabling – wire-bound.......................................................................................................17
3.3 General notes for setting the watchdog...........................................................................................18
3.4 EtherCAT State Machine.................................................................................................................20
3.5 CoE Interface...................................................................................................................................22
3.6 Distributed Clock .............................................................................................................................27
4 Mounting and wiring................................................................................................................................28
4.1 Instructions for ESD protection........................................................................................................28
4.2 Installation on mounting rails ...........................................................................................................28
4.3 Installation instructions for enhanced mechanical load capacity .....................................................31
4.4 Connection ......................................................................................................................................32
4.4.1 Connection system .......................................................................................................... 32
4.4.2 Wiring............................................................................................................................... 34
4.4.3 Shielding .......................................................................................................................... 35
4.5 Installation positions ........................................................................................................................35
4.6 Positioning of passive Terminals .....................................................................................................37
4.7 ATEX - Special conditions (extended temperature range) ..............................................................38
4.8 UL notice .........................................................................................................................................39
4.9 LEDs and connection ......................................................................................................................41
4.9.1 EL1502 - LEDs and connection ....................................................................................... 41
4.9.2 EL1512 - LEDs and connection ....................................................................................... 42
5 Commissioning........................................................................................................................................43
5.1 TwinCAT Quick Start .......................................................................................................................43
5.1.1 TwinCAT2 ....................................................................................................................... 45
5.1.2 TwinCAT 3 ....................................................................................................................... 55
5.2 TwinCAT Development Environment ..............................................................................................67
5.2.1 Installation of the TwinCAT real-time driver..................................................................... 67
5.2.2 Notes regarding ESI device description........................................................................... 73
Table of contents
EL1502, EL15124 Version: 3.5
5.2.3 TwinCAT ESI Updater ..................................................................................................... 77
5.2.4 Distinction between Online and Offline............................................................................ 77
5.2.5 OFFLINE configuration creation ...................................................................................... 78
5.2.6 ONLINE configuration creation ........................................................................................ 83
5.2.7 EtherCAT subscriber configuration.................................................................................. 91
5.3 General Notes - EtherCAT Slave Application................................................................................101
5.4 Basic function principles ................................................................................................................109
5.5 Operating modes ...........................................................................................................................111
5.5.1 EL1502 Operating modes.............................................................................................. 111
5.5.2 EL1512 Operating Modes.............................................................................................. 121
5.5.3 Process data.................................................................................................................. 127
5.6 Object description and parameterization .......................................................................................129
5.6.1 EL1502 - Object description and parameterization........................................................ 129
5.6.2 EL1512 - Object description and parameterization........................................................ 140
6 Appendix ................................................................................................................................................150
6.1 EtherCAT AL Status Codes...........................................................................................................150
6.2 Firmware compatibility...................................................................................................................150
6.3 Firmware Update EL/ES/EM/EPxxxx ............................................................................................150
6.3.1 Device description ESI file/XML..................................................................................... 151
6.3.2 Firmware explanation .................................................................................................... 154
6.3.3 Updating controller firmware *.efw................................................................................. 155
6.3.4 FPGA firmware *.rbf....................................................................................................... 157
6.3.5 Simultaneous updating of several EtherCAT devices.................................................... 161
6.4 Restoring the delivery state ...........................................................................................................162
6.5 Support and Service ......................................................................................................................163
Foreword
EL1502, EL1512 5Version: 3.5
1 Foreword
1.1 Product overview Up/down counter 24 V DC
EL1502 [}13]
Up/down counter 24 VDC, 100 kHz, 32-bit
EL1512 [}15]
Up/down counter 24 VDC, 1 kHz, 32-bit
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®, 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
Foreword
EL1502, EL15126 Version: 3.5
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
EL1502, EL1512 7Version: 3.5
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 the environment or devices
Failure to follow this instruction can lead to damage to the environment or equipment.
Tip or pointer
This symbol indicates information that contributes to better understanding.
Foreword
EL1502, EL15128 Version: 3.5
1.4 Documentation issue status
Version Comment
3.5 • Correction "Technical data"
• Update structure
3.4 • EL1512: Chapter "Counter reload" removed
• Chapter "Instructions for ESD protection" added
3.3 • Update chapter "Technical data"
• Update revision status
• Update structure
3.2 • Update chapter "Technical data"
• Update revision status
• Update structure
3.1 • Update chapter "Operating mode selection"
• Update revision status
• Update chapter "TwinCAT 2.1x" -> "TwinCAT Development
Environment"
• "TwinCAT Quick Start" added
3.0 • Migration
• Update structure
• Update revision status
2.5 • Update chapter "Technical data"
• Addenda chapter "Installation instructions for enhanced
mechanical load capacity"
• Update structure
2.4 • Update chapter "Technical data"
2.3 • Update chapter "CoE interface"
2.2 • Update "Basic function principles" and "Process data"
• Update chapter "Firmware status"
2.1 • Notes regarding operating modes added
2.0 • EL1512 added, revision CoE objects
1.1 • Technical data added, DC, description of synchronisation,
safety instructions added
1.0 • Technical data amended
0.1 • provisional documentation for EL1502
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
Foreword
EL1502, EL1512 9Version: 3.5
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
EL1502, EL151210 Version: 3.5
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 serial/ batch number and revision ID (since
2014/01)
Fig.2: EK1100 EtherCAT coupler, standard IP20 IO device with serial/ batch number
Foreword
EL1502, EL1512 11Version: 3.5
Fig.3: CU2016 switch with serial/ batch number
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
Foreword
EL1502, EL151212 Version: 3.5
Fig.7: EL2904 IP20 safety terminal with batch number/ date code 50110302 and unique serial number
00331701
Fig.8: ELM3604-0002 terminal with unique ID number (QR code) 100001051 and serial/ batch number
44160201
Product overview
EL1502, EL1512 13Version: 3.5
2 Product overview
2.1 EL1502
2.1.1 Introduction
Fig.9: EL1502
Up/down counter 24 VDC, 100 kHz
The up/down counter counts binary pulses, and transmits the counter state, in an electrically isolated form, to
the higher-level automation device.
The EL1502 EtherCAT Terminal can alternatively be operated as:
• a single-channel counter (32 bit) that can be toggled between counting up and down via the U/D input
(delivery state)
• a single-channel counter (32 bit) that is controlled via the gate connection
• two separate logic counters (32 bit) that can count in one direction only with the Clock 1 and Clock 2
inputs
The signal state of the inputs and outputs is indicated by light emitting diodes.
The two outputs (Output 1 and Output 2) are switched in relation to the counter value and can thus be used
as fast control signals for field devices.
The EL1502 supports distributed clocks, i.e. the input data can be monitored synchronously with other data
that are also linked to distributed clock terminals. The accuracy across the system is < 100 ns.
Product overview
EL1502, EL151214 Version: 3.5
Quick links
• EtherCAT basics [}17]
• Basic function principles [}109]
• Creation of the configuration [}67]
• Process data [}127]
• Operating modes [}111]
• CoE object description and parameterization [}129]
2.1.2 Technical data
Technical data EL1502
Number of counters 1 or 2
Rated voltage 24VDC (-15%/+20%)
Signal voltage “0” -3 V ... 5 V (EN61131-2, type 1)
Signal voltage “1” 15 V ... 30 V (EN61131-2, type 1)
Counting frequency 100kHz
Counter depth 32 bit
Input current typ. 5mA (EN61131-2, type 1)
Output current (per channel) max. 0.5 A (short-circuit-proof)
Distributed Clocks (DC) yes (from FW 02)
Current consumption power
contacts
typ. 14 mA + load
Current consumption via E-bus typ. 130 mA
Electrical isolation 500 V (E-bus/field voltage)
Supports NoCoeStorage [}22]
function
yes
Configuration via TwinCAT System Manager
Weight approx. 50 g
Permissible ambient temperature
range during operation
-25°C ... +60°C (extended temperature range)
Permissible ambient temperature
range during storage
-40°C ... +85°C
Permissible relative humidity 95%, no condensation
Dimensions (W x H x D) approx. 15 mm x 100 mm x 70 mm
Mounting [}28]
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 [}31] for
enhanced mechanical load capacity
EMC immunity/emission conforms to EN 61000-6-2 / EN 61000-6-4
Protection class IP20
Installation position variable
Approval CE
ATEX [}38]
cULus [}39]
Product overview
EL1502, EL1512 15Version: 3.5
2.2 EL1512
2.2.1 Introduction
Fig.10: EL1512
Up/down counter 24 VDC, 1 kHz
The up/down counter counts binary pulses, and transmits the counter state, in an electrically isolated form, to
the higher-level automation device.
The EL1512 EtherCAT Terminal can alternatively be operated as:
• a single-channel counter (32 bit) that can be toggled between counting up and down via the U/D input
• a single-channel counter (32 bit) that is controlled via the gate connection
• two separate logic counters (32 bit) that can count in one direction only with the Clock 1 and Clock 2
inputs (delivery state)
The signal state of the inputs and outputs is indicated by light emitting diodes.
The EL1512 is particularly suitable for simple counting tasks such as the connection of a flow meter.
Quick links
• EtherCAT basics [}17]
• Basic function principles [}109]
• Creation of the configuration [}67]
• Process data [}127]
• Operating modes [}121]
• CoE object description and parameterization [}140]
Product overview
EL1502, EL151216 Version: 3.5
2.2.2 Technical data
Technical data EL1512
Connection technology 1 x up/down counter, 2 x up or down counter
Specification EN 61131-2, type 1, "0":<5VDC, "1":>15VDC,
5mA typ.
Number of inputs 1 or 2
Rated voltage 24VDC (-15%/+20%)
Signal voltage “0” -3 V ... 5 V (EN61131-2, type 1)
Signal voltage “1” 15 V ... 30 V (EN61131-2, type 1)
Input current typically 5 mA (EN 61131-2, type 1)
Counting frequency max. 1kHz
Counter depth 32 bit
Current consumption power contacts typ. 14 mA + load
Current consumption via E-bus typ. 130mA
Electrical isolation 500 V (E-bus/field voltage)
Supports NoCoeStorage [}22] function
yes
Configuration via TwinCAT System Manager
Special features Set counters
Weight approx. 50 g
Permissible ambient temperature range
during operation
-25°C ... +60°C (extended temperature range)
Permissible ambient temperature range
during storage
-40°C ... +85°C
Permissible relative humidity 95%, no condensation
Dimensions (W x H x D) approx. 15 mm x 100 mm x 70 mm
Mounting [}28]
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 [}31] for
enhanced mechanical load capacity
EMC immunity/emission conforms to EN 61000-6-2 / EN 61000-6-4
Protection class IP20
Installation position variable
Approval CE
ATEX [}38]
cULus [}39]
2.3 Start
For commissioning:
• mount the EL15xx as described in the chapter Mounting and wiring [}28]
• configure the EL15xx in TwinCAT as described in the chapter Commissioning [}109].
Basics communication
EL1502, EL1512 17Version: 3.5
3 Basics communication
3.1 EtherCAT basics
Please refer to the chapter EtherCAT System Documentation for the EtherCAT fieldbus basics.
3.2 EtherCAT cabling – wire-bound
The cable length between two EtherCAT devices must not exceed 100 m. This results from the FastEthernet
technology, which, above all for reasons of signal attenuation over the length of the cable, allows a maximum
link length of 5 + 90 + 5 m if cables with appropriate properties are used. See also the Design
recommendations for the infrastructure for EtherCAT/Ethernet.
Cables and connectors
For connecting EtherCAT devices only Ethernet connections (cables + plugs) that meet the requirements of
at least category 5 (CAt5) according to EN 50173 or ISO/IEC 11801 should be used. EtherCAT uses 4 wires
for signal transfer.
EtherCAT uses RJ45 plug connectors, for example. The pin assignment is compatible with the Ethernet
standard (ISO/IEC 8802-3).
Pin Color of conductor Signal Description
1 yellow TD + Transmission Data +
2 orange TD - Transmission Data -
3 white RD + Receiver Data +
6 blue RD - Receiver Data -
Due to automatic cable detection (auto-crossing) symmetric (1:1) or cross-over cables can be used between
EtherCAT devices from Beckhoff.
Recommended cables
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
EL1502, EL151218 Version: 3.5
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!
3.3 General notes for setting the watchdog
ELxxxx terminals are equipped with a safety feature (watchdog) that switches off the outputs after a
specifiable time e.g. in the event of an interruption of the process data traffic, depending on the device and
settings, e.g. in OFF state.
The EtherCAT slave controller (ESC) in the EL2xxx terminals features 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
EL1502, EL1512 19Version: 3.5
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.
Basics communication
EL1502, EL151220 Version: 3.5
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.
3.4 EtherCAT State Machine
The state of the EtherCAT slave is controlled via the EtherCAT State Machine (ESM). Depending upon the
state, different functions are accessible or executable in the EtherCAT slave. Specific commands must be
sent by the EtherCAT master to the device in each state, particularly during the bootup of the slave.
A distinction is made between the following states:
• Init
• Pre-Operational
• Safe-Operational and
• Operational
• Boot
The regular state of each EtherCAT slave after bootup is the OP state.
Basics communication
EL1502, EL1512 21Version: 3.5
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 [}18] 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
EL1502, EL151222 Version: 3.5
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.
3.5 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)
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
EL1502, EL1512 23Version: 3.5
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
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.
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.
Basics communication
EL1502, EL151224 Version: 3.5
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.
Basics communication
EL1502, EL1512 25Version: 3.5
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
Basics communication
EL1502, EL151226 Version: 3.5
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 4 logical channels and therefore 4 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 16
dec
/10
hex
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.
Basics communication
EL1502, EL1512 27Version: 3.5
3.6 Distributed Clock
The distributed clock represents a local clock in the EtherCAT slave controller (ESC) with the following
characteristics:
• Unit 1 ns
• Zero point 1.1.2000 00:00
• Size 64 bit (sufficient for the next 584 years; however, some EtherCAT slaves only offer 32-bit support,
i.e. the variable overflows after approx. 4.2 seconds)
• The EtherCAT master automatically synchronizes the local clock with the master clock in the EtherCAT
bus with a precision of < 100 ns.
For detailed information please refer to the EtherCAT system description.
Mounting and wiring
EL1502, EL151228 Version: 3.5
4 Mounting and wiring
4.1 Instructions for ESD protection
NOTE
Destruction of the devices by electrostatic discharge possible!
The devices contain components at risk from electrostatic discharge caused by improper handling.
ü Please ensure you are electrostatically discharged and avoid touching the contacts of the device di-
rectly.
a) Avoid contact with highly insulating materials (synthetic fibers, plastic film etc.).
b) Surroundings (working place, packaging and personnel) should by grounded probably, when handling
with the devices.
c) Each assembly must be terminated at the right hand end with an EL9011 or EL9012 bus end cap, to en-
sure the protection class and ESD protection.
Fig.18: Spring contacts of the Beckhoff I/O components
4.2 Installation on mounting rails
WARNING
Risk of electric shock and damage of device!
Bring the bus terminal system into a safe, powered down state before starting installation, disassembly or
wiring of the Bus Terminals!
Mounting and wiring
EL1502, EL1512 29Version: 3.5
Assembly
Fig.19: Attaching on mounting rail
The Bus Coupler and Bus Terminals are attached to commercially available 35mm mounting rails (DIN rails
according to EN60715) 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 components 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 7.5mm under the terminals
and couplers, you should use flat mounting connections (e.g. countersunk screws or blind rivets).
Mounting and wiring
EL1502, EL151230 Version: 3.5
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 1cm 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 24V)
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 125A.
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