Beckhoff EL2124, EL2002, EL2004, EL2014, EL2024 Documentation

Documentation

EL20xx, EL2124

Digital Output Terminals

Version:
Date:

5.2
2019-06-06

Table of contents

Table of contents

1 Foreword ....................................................................................................................................................5

1.1 Product overview, digital output terminals .........................................................................................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 .......................................................................................9

1.6 Non-reactive Bus Terminals ............................................................................................................13

2 Product overview, digital output terminals...........................................................................................17

2.1 EL2002, EL2004, EL2008 - Introduction .........................................................................................17

2.1.1 EL2002, EL2004, EL2008 - Technical data ..................................................................... 19

2.1.2 EL2002 - LEDs and connection ....................................................................................... 20

2.1.3 EL2004 - LEDs and connection ....................................................................................... 21

2.1.4 EL2008 - LEDs and connection ....................................................................................... 22

2.2 EL2014 ............................................................................................................................................23

2.2.1 EL2014 - Introduction ...................................................................................................... 23

2.2.2 EL2014 - Technical data.................................................................................................. 24

2.2.3 EL2014 - LEDs and pin assignment ................................................................................ 25

2.2.4 Overload protection ......................................................................................................... 26

2.2.5 Operating modes and settings......................................................................................... 28

2.2.6 Object description and parameterization ......................................................................... 34

2.3 EL2022, EL2024, EL2024-0010 - Introduction ................................................................................43

2.3.1 EL2022, EL2024, EL2024-0010 - Technical data............................................................ 44

2.3.2 EL2022 - LEDs and connection ....................................................................................... 45

2.3.3 EL2024, EL2024-0010 - LEDs and connection ............................................................... 46

2.4 EL2032, EL2034 - Introduction........................................................................................................47

2.4.1 EL2032, EL2034 - Technical data ................................................................................... 48

2.4.2 EL2032 - LEDs and connection ....................................................................................... 49

2.4.3 EL2034 - LEDs and connection ....................................................................................... 50

2.5 EL2042 - Introduction ......................................................................................................................51

2.5.1 EL2042 - Technical data.................................................................................................. 52

2.5.2 EL2042 - LEDs and connection ....................................................................................... 53

2.6 EL2084, EL2088 - Introduction........................................................................................................54

2.6.1 EL2084, EL2088 - Technical data ................................................................................... 55

2.6.2 EL2084 - LEDs and connection ....................................................................................... 56

2.6.3 EL2088 - LEDs and connection ....................................................................................... 57

2.7 EL2124 - Introduction ......................................................................................................................58

2.7.1 EL2124 - Technical data.................................................................................................. 59

2.7.2 EL2124 - LEDs and connection ....................................................................................... 60

3 Basics communication ...........................................................................................................................61

3.1 EtherCAT basics..............................................................................................................................61

3.2 EtherCAT cabling – wire-bound.......................................................................................................61

3.3 General notes for setting the watchdog...........................................................................................62

3.4 EtherCAT State Machine.................................................................................................................64

3.5 CoE Interface...................................................................................................................................67

EL20xx, EL2124 3Version: 5.2

Table of contents

3.6 Distributed Clock .............................................................................................................................71

4 Mounting and wiring................................................................................................................................72

4.1 Installation on mounting rails ...........................................................................................................72

4.2 Installation instructions for enhanced mechanical load capacity .....................................................74

4.3 Connection ......................................................................................................................................75

4.3.1 Connection system .......................................................................................................... 75

4.3.2 Wiring............................................................................................................................... 77

4.3.3 Shielding .......................................................................................................................... 78

4.4 Installation positions ........................................................................................................................78

4.5 Positioning of passive Terminals .....................................................................................................80

4.6 ATEX - Special conditions (standard temperature range) ...............................................................81

4.7 ATEX - Special conditions (extended temperature range) ..............................................................82

4.8 ATEX Documentation ......................................................................................................................83

5 Commissioning........................................................................................................................................84

5.1 TwinCAT Quick Start .......................................................................................................................84

5.1.1 TwinCAT2 ....................................................................................................................... 87

5.1.2 TwinCAT 3 ....................................................................................................................... 97

5.2 TwinCAT Development Environment ............................................................................................109

5.2.1 Installation of the TwinCAT real-time driver................................................................... 109

5.2.2 Notes regarding ESI device description......................................................................... 115

5.2.3 TwinCAT ESI Updater ................................................................................................... 119

5.2.4 Distinction between Online and Offline.......................................................................... 119

5.2.5 OFFLINE configuration creation .................................................................................... 120

5.2.6 ONLINE configuration creation ...................................................................................... 125

5.2.7 EtherCAT subscriber configuration................................................................................ 133

5.3 General Notes - EtherCAT Slave Application................................................................................142

6 Appendix ................................................................................................................................................150

6.1 EtherCAT AL Status Codes...........................................................................................................150

6.2 UL notice .......................................................................................................................................150

6.3 Firmware compatibility...................................................................................................................151

6.4 Firmware Update EL/ES/EM/ELM/EPxxxx ....................................................................................151

6.4.1 Device description ESI file/XML..................................................................................... 152

6.4.2 Firmware explanation .................................................................................................... 155

6.4.3 Updating controller firmware *.efw................................................................................. 156

6.4.4 FPGA firmware *.rbf....................................................................................................... 157

6.4.5 Simultaneous updating of several EtherCAT devices.................................................... 161

6.5 Restoring the delivery state ...........................................................................................................162

6.6 Support and Service ......................................................................................................................163

EL20xx, EL21244 Version: 5.2

1 Foreword

1.1 Product overview, digital output terminals

Foreword

EL2002 [}17]

EL2004 [}17]

EL2008 [}17]

EL2014 [}23]

EL2022, EL2024 [}43]

EL2024-0010 [}43]

EL2032, EL2034 [}47]

EL2042 [}51]

EL2084, EL2088 [}54]

EL2124 [}58]

2 channels, 24VDC, 0.5A

4 channels, 24VDC, 0.5A

8 channels, 24VDC, 0.5A

4 channels, 24VDC, 0.5A, diagnostics

2 and 4 channels, 24VDC, 2A

4 channels, 12VDC, 2A

2 and 4 channels, 24VDC, 2A, diagnostics

2 channels, 24VDC; 2 x 4A/1 x 8A

4 and 8 channels, 24VDC, 0.5A

4 channels, 5VDC, CMOS-outputs

1.2 Notes on the documentation

Intended audience

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

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

Disclaimer

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

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

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

Trademarks

Beckhoff®, TwinCAT®, EtherCAT®, EtherCATP®, 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.

EL20xx, EL2124 5Version: 5.2

Foreword

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.

EL20xx, EL21246 Version: 5.2

Foreword

1.3 Safety instructions

Safety regulations

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

Exclusion of liability

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

Personnel qualification

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

Description of instructions

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

DANGER

Serious risk of injury!

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

WARNING

Risk of injury!

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

CAUTION

Personal injuries!

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

NOTE

Damage to environment/equipment or data loss

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

Tip or pointer

This symbol indicates information that contributes to better understanding.

EL20xx, EL2124 7Version: 5.2

Foreword

1.4 Documentation issue status

Version Comment

5.2 - Update structure

- Chapter “Non-reactive Bus Terminals” updated

5.1 - Update structure

- Chapter “Non-reactive Bus Terminals” updated

5.0 - Update structure

- Chapter “Technical data” updated

4.9 - Chapter “Non-reactive Bus Terminals” updated

4.8 - Chapter “Introduction” updated

- Chapter “LEDs and connection” updated

- Update structure

4.7 - Chapter “Non-reactive Bus Terminals” updated

- Update structure

4.6 - Chapter “Non-reactive Bus Terminals” updated

- Chapter “Technical data” updated

4.5 - Chapter “Introduction” Notes updated

- Chapter “Technical data” updated

4.4 - Chapter “Foreword” – “Notes on the documentation“ updated

- Technical data corrected

- Chapter “TwinCAT Quickstart” added

- Chapter “EtherCAT slave process data settings” removed

4.3 - Chapter “Technical data” updated

- Chapter “Connection” updated

4.2 - Chapter “Non-reactive Bus Terminals” added

4.1 - Terminal EL2014 added

4.0 - First publication in PDF format

- Structural update

- Correction: EL2032 pin assignment, EL2042 pin assignment, EL2088 pin assignment

3.5 - “Technical data” section updated

- “Assembly instructions with increased mechanical load capacity” section supplemented

- Structural update

3.4 - *“Technical data” section updated

3.3 - Sections "EtherCAT state machine" and "Watchdog" updated

3.2 - Connection diagrams updated

3.1 - Firmware compatibility note amended

3.0 - UL note added

2.9 - EL2084, EL2088 added

2.8 - "Device description update" amended

2.7 - Trademark notes added

2.6 - Technical description amended, EL2042 amended

2.5 - Technical description amended, EL2024-0010 amended

2.4 - Technical description amended, EL2124 amended

2.3 - Technical description amended

2.2 - Technical data amended, watchdog documentation amended

2.1 - Terminals EL2022, EL2024, EL2034 added

2.0 - Terminals EL2002, EL2008 added, technical data amended

1.0 - Technical data amended

0.1 - Provisional documentation for EL20xx

EL20xx, EL21248 Version: 5.2

Foreword

1.5 Version identification of EtherCAT devices

Designation

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

• family key

• type

• version

• revision

Example Family Type Version Revision

EL3314-0000-0016 EL terminal

(12 mm, non­pluggable connection
level)

ES3602-0010-0017 ES terminal

(12 mm, pluggable
connection level)

CU2008-0000-0000 CU device 2008 (8-port fast ethernet switch) 0000 (basic type) 0000

3314 (4-channel thermocouple
terminal)

3602 (2-channel voltage
measurement)

0000 (basic type) 0016

0010 (high­precision version)

0017

Notes

• The elements mentioned above result in the technical designation. EL3314-0000-0016 is used in the
example below.

• EL3314-0000 is the order identifier, in the case of “-0000” usually abbreviated to EL3314. “-0016” is the
EtherCAT revision.

• The order identifier is made up of

- family key (EL, EP, CU, ES, KL, CX, etc.)

- type (3314)

- version (-0000)

• The revision -0016 shows the technical progress, such as the extension of features with regard to the
EtherCAT communication, and is managed by Beckhoff.
In principle, a device with a higher revision can replace a device with a lower revision, unless specified
otherwise, e.g. in the documentation.
Associated and synonymous with each revision there is usually a description (ESI, EtherCAT Slave
Information) in the form of an XML file, which is available for download from the Beckhoff web site.
From 2014/01 the revision is shown on the outside of the IP20 terminals, see Fig. “EL5021 EL terminal,
standard IP20 IO device with batch number and revision ID (since 2014/01)”.

• The type, version and revision are read as decimal numbers, even if they are technically saved in
hexadecimal.

Identification number

Beckhoff EtherCAT devices from the different lines have different kinds of identification numbers:

Production lot/batch number/serial number/date code/D number

The serial number for Beckhoff IO devices is usually the 8-digit number printed on the device or on a sticker.
The serial number indicates the configuration in delivery state and therefore refers to a whole production
batch, without distinguishing the individual modules of a batch.

Structure of the serial number: KKYYFFHH

KK - week of production (CW, calendar week)
YY - year of production
FF - firmware version
HH - hardware version

EL20xx, EL2124 9Version: 5.2

Foreword

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

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

Syntax: D ww yy x y z u

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

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

Unique serial number/ID, ID number

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

See also the further documentation in the area

• IP67: EtherCAT Box

• Safety: TwinSafe

• Terminals with factory calibration certificate and other measuring terminals

Examples of markings

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

EL20xx, EL212410 Version: 5.2

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

Foreword

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

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

EL20xx, EL2124 11Version: 5.2

Foreword

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

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

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

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

EL20xx, EL212412 Version: 5.2

Foreword

1.6 Non-reactive Bus Terminals

Use of non-reactive Bus or EtherCAT Terminals in safety applications

If a Bus or EtherCAT Terminal is described as non-reactive, this means that the consecutive termi­nal behaves passively in a safety application (e.g. in the case of the all-pole switch-off of a potential
group).
In this case the terminals do not represent an active part of the safety controller and do not affect
the Safety Integrity Level (SIL) or Performance Level (PL) attained in the safety application.

For details, please refer to chapter 2.17f in the TwinSAFE application manual.

NOTE

Pay attention to the hardware version

Please pay attention to the information about the hardware version and non-reactivity of the respective Bus
Terminal in the chapters "Technical Data" or "Firmware Compatibility"!
Only terminals with the appropriate hardware version may be used without the attained SIL/PL being af­fected!

The Bus or EtherCAT Terminals regarded as non-reactive at the time of preparing this document are listed in
the following tables together with their respective hardware versions.

Terminal name
Bus Terminal

KL2408 05

KL2809 02

KL2134 09

KL2424 05

KL9110 07

Terminal name
EtherCAT terminal

EL2004 15

EL2008 07

EL2022 09

EL2024 06

EL2034 06

EL2809 01

EL2872 01

EL2878-0005 00

EL9110 13

EL9410 16

from hardware version

from hardware version

External wiring

The following requirements are to be ensured by the system manufacturer and must be incorporated into the
user documentation.

• Protection class IP54
The terminals must be installed in IP54 control cabinets to ensure the necessary protection class IP54.

• Power supply unit
The standard terminals must be supplied with 24V by an SELV/PELV power supply unit with an output
voltage limit U

• Prevention of feedback
Feedback can be prevented through different measures. These are described below. In addition to
mandatory requirements there are also optional requirements, of which only one needs to be selected.

EL20xx, EL2124 13Version: 5.2

of 60V in the event of a fault.

max

Foreword

◦ No switching of loads with a separate power supply

Loads that have their own power supply must not be switched by standard terminals, since in this
case feedback via the load cannot be ruled out.

Fig.9: Negative example – active load

◦ The control of an STO input of a frequency converter could serve here as a negative example.

Exceptions to the general requirement are allowed only if the manufacturer of the connected load
guarantees that feedback to the control input cannot occur. This can be achieved, for example,
through adherence to load-specific standards.

◦ Option 1: Ground feedback and all-pole disconnection

The ground connection of the connected load must be fed back to the safely switched ground of
the respective output terminal.

EL20xx, EL212414 Version: 5.2

Foreword

Fig.10: Ground connection of the load: correct (K1) and incorrect (K2)

◦ If either

a) the ground of the load is not fed back to the terminal or
b) the ground is not safely switched but connected permanently

then fault exclusions are necessary with regard to a short-circuit with external potential in order to
be able to achieve Cat. 4 PLe according to EN ISO 13849-1:2007 or SIL3 according to IEC
61508:2010 (refer here to the overview in the chapter "Effect of options on the safety level").

◦ Option 2: Cable short-circuit fault exclusion

If solution option 1 is not feasible, the ground feedback and all-pole disconnection can be
dispensed with if the danger of feedback due to a cable short-circuit can be excluded by other
measures. These measures, which can be implemented alternatively, are described in the
following sections.

EL20xx, EL2124 15Version: 5.2

Foreword

Fig.11: Short circuit fault exclusion through protected cable laying

◦ a) Possibility 1: Load connection via separate sheathed cables

The non-safely switched potential of the standard terminal may not be conducted together with
other potential-conducting cores inside the same sheathed cable. (Fault exclusion, see EN ISO

13849-2:2013, Table D.4)

◦ b) Possibility 2: Wiring only inside the control cabinet

All loads connected to the non-safe standard terminals must be located in the same control
cabinet as the terminals. The cables are routed entirely inside the control cabinet. (Fault exclusion,

see EN ISO 13849-2:2013, Table D.4)

◦ c) Possibility 3: Dedicated earth connection per conductor

All conductors connected to the non-safe standard terminals are protected by their own earth
connection. (Fault exclusion, see EN ISO 13849-2:2013, Table D.4)

◦ d) Possibility 4: Cable permanently (fixed) installed and protected against external damage

All conductors connected to the non-safe standard terminals are permanently fixed and, e.g.
protected against external damage by a cable duct or armored pipe.

• Effect of the options on the safety level
In principle, standard terminals in safely switched potential groups are not an active part of the safety
controller. Accordingly, the safety level attained is defined only by the higher-level safety
controller, i.e. the standard terminals are not included in the calculation! However, the wiring of the
standard terminals can lead to limitations in the maximum attainable safety level.
Depending on the solution selected for the avoidance of feedback and the safety standard considered
(see Option 1 and Option 2), different maximum attainable safety levels result, which are summarized
in the following table:

Summary of safety classifications

Feedback avoidance mea­sures

Fault exclusion

Cable short-circuit

Ground feedback and all­pole disconnection

DIN EN ISO 13849-1 IEC 61508 EN 62061

max.

Cat. 4

PLe

max. SIL3 max. SIL2 *

max. SIL3

EL20xx, EL212416 Version: 5.2

Product overview, digital output terminals

2 Product overview, digital output terminals

2.1 EL2002, EL2004, EL2008 - Introduction

Fig.12: EL2002, EL2004

Fig.13: EL2008

Two-, four-, and eight-channel digital output terminals 24VDC, 0.5A

The EL200x digital output terminals relay binary control signals of the automation device in an electrically
isolated manner to the actuators of the process level. They are protected against reverse polarity at the
power contacts. The digital output terminals of the EL200x series indicate their signal state through an LED
for each channel.

EL20xx, EL2124 17Version: 5.2

Product overview, digital output terminals

CAUTION

Watchdog settings

Please refer to section "Notes for setting the watchdog [}62]".

EL20xx, EL212418 Version: 5.2

Product overview, digital output terminals

2.1.1 EL2002, EL2004, EL2008 - Technical data

Technical data EL2002 EL2004 EL2008

Number of outputs 2 4 8

Non-reactive outputs - yes

(see notice [}13])

Load type ohmic, inductive, lamp load

Nominal output voltage 24VDC (-15%/ +20%)

Switching times TON: 60µs typ.; T

Output current per channel maximum 0.5A (short-circuit proof)

Switch-off energy (inductive) max. 150mJ/channel

Current consumption from load
voltage (power contacts)

Supply voltage for electronic via the E-Bus

Current consumption via E-bus typ. 100mA typ. 100mA typ. 110mA

Electrical isolation 500V (E-bus/field voltage)

Bit width in the process image 2 output bits 4 output bits 8 output bits

Configuration no address setting, configuration via TwinCAT System Manager

Weight approx. 55g

Permissible ambient temperature
range during operation

Permissible ambient temperature
range during storage

Permissible relative humidity 95%, no condensation

Dimensions (W x H x D) approx. 15 mm x 100 mm x 70 mm (width aligned: 12 mm)

Mounting [}72]

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

EMC resistance burst/ESD conforms to EN 61000-6-2 / EN 61000-6-4

Protection class IP20

Installation position variable variable

Approval CE

typ. 15mA

-25°C ... +60°C (extended temperature
range)

-40°C ... +85°C

on 35 mm mounting rail conforms to EN 60715

see also Installation instructions for terminals with increased mechanical load capacity [}74]

cULus [}150]
ATEX [}82]

: 300µs typ.

OFF

yes
(see notice [}13])

Aligned in horizontal installation position:

-25°C ... +60°C (extended temperature range)

All other installation positions, see note
[}78]:-25°C... +45°C

see note [}78]

EL20xx, EL2124 19Version: 5.2

Product overview, digital output terminals

2.1.2 EL2002 - LEDs and connection

Fig.14: EL2002

EL2002 - LEDs

LED Color Meaning

OUTPUT 1
OUTPUT 2

green off No output signal

on 24VDC output signal at the respective output

EL2002 - Connection

Terminal point Description

Name No.

Output 1 1 Output 1

+24V 2 +24V (internally connected to terminal point6 and positive power contact)

0V 3 Ground for output1 (internally connected to terminal point7 and negative power contact)

PE 4 PE (internally connected to terminal point8)

Output 2 5 Output 2

+24V 6 +24V (internally connected to terminal point2 and positive power contact)

0V 7 Ground for output2 (internally connected to terminal point3 and negative power contact)

PE 8 PE (internally connected to terminal point4)

EL20xx, EL212420 Version: 5.2

2.1.3 EL2004 - LEDs and connection

Product overview, digital output terminals

Fig.15: EL2004

EL2004 - LEDs

LED Color Meaning

OUTPUT 1- 4 green off No output signal

on 24VDC output signal at the respective output

EL2004 - Connection

Terminal point Description

Name No.

Output 1 1 Output 1

0V 2 Ground for output1 (internally connected to terminal point3, 6, 7 and negative power contact)

0V 3 Ground for output3 (internally connected to terminal point2, 6, 7 and negative power contact)

Output 3 4 Output 3

Output 2 5 Output 2

0V 6 Ground for output2 (internally connected to terminal point2, 3, 7 and negative power contact)

0V 7 Ground for output4 (internally connected to terminal point2, 3, 6 and negative power contact)

Output 4 8 Output 4

EL20xx, EL2124 21Version: 5.2

Product overview, digital output terminals

2.1.4 EL2008 - LEDs and connection

Fig.16: EL2008

EL2008 - LEDs

LED Color Meaning

OUTPUT 1- 8 green off No output signal

on 24VDC output signal at the respective output

EL2008 - Connection

Terminal point Description

Name No.

Output 1 1 Output 1

Output 3 2 Output 3

Output 5 3 Output 5

Output 7 4 Output 7

Output 2 5 Output 2

Output 4 6 Output 4

Output 6 7 Output 6

Output 8 8 Output 8

EL20xx, EL212422 Version: 5.2

2.2 EL2014

2.2.1 EL2014 - Introduction

Product overview, digital output terminals

Fig.17: EL2014

Four-channel digital output terminal, 24VDC, 0.5A, with diagnostics

The EL2014 digital output terminal connects the binary control signals from the automation device on to the
actuators at the process level with electrical isolation. The EL2014 is protected against polarity reversal and
processes load currents with outputs protected against overload and short-circuit. The integrated diagnosis
can be evaluated in the controller and is indicated by the LEDs. Overtemperature and the lack of a voltage
supply to the terminal are supplied as diagnostic information. Beyond that each channel can among other
things signal a short circuit individually. The output behavior of the channels in the case of a bus error can be
parameterized. The switching state and any error of the output are indicated by the LED. Maintenance of the
application is simplified by the diagnosis. The power contacts are continuous; reference potential of the
outputs is the 0V power contact.

The outputs are fed via the 24V power contact in the EL2014.

NOTE

Watchdog settings

Please refer to section "Notes for setting the watchdog [}62]".

EL20xx, EL2124 23Version: 5.2

Product overview, digital output terminals

2.2.2 EL2014 - Technical data

Technical data EL2014

Connection technology 1-wire

digital outputs 4

Rated load voltage 24VDC (-15%/ +20%)

Load type ohmic, inductive, lamp load

Distributed clocks No

Max. output current 0.5A (short-circuit-proof) per channel

Short circuit current < 1A typ.

Breaking energy < 150mJ/channel

Output stage push (high-side switch)

Reverse voltage protection Yes

Switching times TON: 50µs typ., T

Supply voltage for electronic Via the power contacts

Current consumption via E-bus typ. 60mA

Recommended cycle time ≥ 200µs; with cycle times < 200µs the process data is not

updated in each cycle.

Current consumption of power contacts typ. 15mA + load

Electrical isolation 500V (E-bus/field voltage)

Bit width in process image 4-bit output and 20-bit diagnostics

Supports NoCoeStorage [}68] function

Yes

Configuration via System Manager

Conductor types solid wire, stranded wire and ferrule

Special features diagnostics via process data and LED: overtemperature,

PowerFail, short circuit (per channel)

Weight approx. 70g

Permissible ambient temperature range

0 °C ... +55 °C

during operation

Permissible ambient temperature range

-25 °C ... +85 °C

during storage

Permissible relative humidity 95%, no condensation

Dimensions (W x H x D) approx. 15mm x 100mm x 70mm (width aligned: 12mm)

Mounting [}72]

on 35mm mounting rail conforms to EN 60715

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

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

Protection class IP20

Installation position variable

Approval CE,

IECEx

: 100µs typ.

OFF

EL20xx, EL212424 Version: 5.2

2.2.3 EL2014 - LEDs and pin assignment

Product overview, digital output terminals

Fig.18: EL2014

EL2014 - LEDs

LED Color Meaning

OUTPUT 1- 4 green off No output signal

on Output signal 24V

OUTPUT 1- 4 red on ERROR: Overcurrent / Overtemperature

Flashing red ERROR: Short circuit to 24V

OUTPUT 1- 4 red / green

alternating

EL2014 - Pin assignment

Terminal point Description

Designa­tion

Output 1 1 Output 1

0V 2 Ground for output1 (internally connected to terminal point3, 6, 7 and negative power

0V 3 Ground for output3 (internally connected to terminal point2, 6, 7 and negative power

Output 3 4 Output 3

Output 2 5 Output 2

0V 6 Ground for output2 (internally connected to terminal point2, 3, 7 and negative power

0V 7 Ground for output4 (internally connected to terminal point2, 3, 6 and negative power

Output 4 8 Output 4

No.

contact)

contact)

contact)

contact)

ERROR: Open Load

EL20xx, EL2124 25Version: 5.2

Product overview, digital output terminals

2.2.4 Overload protection

Technical data

Please note the information in the technical data regarding load type, max. output current and short
circuit current.

When switching on lamp loads, high starting currents occur that are limited by the output circuit of the
terminals (see fig. Overload current limitation).

Fig.19: Overload current limitation

Fig.20: Schematic illustration of the thermal switch-off in case of overload

In case of a long-term overload and/or short-circuit, the output is protected by the thermal switch-off of the
channel.
The output circuit of the terminal limits the current. The terminal maintains this current until important self­heating of the channel occurs.
On exceeding the upper temperature limit, the terminal switches the channel off.
The channel is switched on again after it has cooled down to below the lower temperature limit.
The output signal is clocked until the output is switched off by the controller or the short-circuit is eliminated
(see fig. Schematic illustration of the thermal switch-off in case of overload). The clock frequency depends
on the ambient temperature and the load of the other terminal channels.

EL20xx, EL212426 Version: 5.2

Product overview, digital output terminals

Short-circuit or prolonged overload on a channel leads to an increase in the device temperature. If several
channels are overloaded, this leads to a rapid increase in the device temperature. The overloaded channels
are switched off when the upper limit for the device temperature is exceeded. The channels are only
switched on again if the temperature falls below the lower limit values for both the device and the channel.
The non-overloaded channels continue operating properly.

When switching off inductive loads, high induction voltages result from interrupting the current too quickly.
These are limited by an integrated free-wheeling diode (breaking energy see Technical data). Since the
current reduces only slowly, a delayed switch-off can occur in many control applications. For example, a
valve remains open for many milliseconds. Switch-off times are realized that correspond, for instance, to the
switch-on time of the coil.

Protection against high induction voltages

To protect against voltage peaks such as can occur when switching inductive loads, we recommend
to provide suitable protective circuits (e.g. with the free-wheeling diode, RC combination or varistor)
directly at the actuator.

Fig.21: Switch-off of inductive loads

EL20xx, EL2124 27Version: 5.2

Product overview, digital output terminals

2.2.5 Operating modes and settings

2.2.5.1 Process data

Parameterization

An EL2014 is parameterized via 2 tabs in the TwinCAT System Manager: the Process Data tab (A) for the
communication-specific settings and the CoE directory (B) for the settings in the slave.

Fig.22: EL2014 “Process Data” tab

• Changes to the process data-specific settings are generally only effective after a restart of the
EtherCAT master:
Restart TwinCAT in RUN or CONFIG mode; RELOAD in CONFIG mode

• Changes to the online CoE directory

◦ are in general immediately effective

◦ are generally stored in non-volatile memory in the terminal/slave. They should be entered in the

CoE StartUp list so that the settings are accepted after a replacement of the terminal. The CoE
StartUp list is processed at each EtherCAT start and the settings are loaded into the slave.

Illustration of the process data and structural contents

The EL2014 provides three different process data for transmission:

• the diagnostics per channel “DIG Diag Inputs” (16-bit),

• the device diagnostics “DIG Inputs Device” (4-bit),

• The switching state of the outputs “DIG output” (4-bit)

EL20xx, EL212428 Version: 5.2

Product overview, digital output terminals

Fig.23: EL2014 Online illustration of the process data and structural contents in the System Manager

The plain text display of the bit meanings is particularly helpful not only in commissioning but also for linking
to the PLC program.
By right-clicking on the Status variable in the configuration tree (A), the structure can be opened for linking
(B).
Activation of the “Show Sub Variables” button (C) displays all subvariables and links to the PLC (D) in the
online view.

“Predefined PDO Assignment” selection dialog (from TwinCAT 2.11 build 1544 onwards)

The process data to be transmitted (PDO, ProcessDataObjects) can be selected by the user

• for all TwinCAT versions via the “Predefined PDO Assignment” selection dialog (see fig. “EL2014
Process Data tab” A) or

• selectively for individual PDOs (see fig. “EL2014 Process Data tab” B)

. These changes become effective after activation and an EtherCAT restart or a reload.

EL20xx, EL2124 29Version: 5.2

Product overview, digital output terminals

Fig.24: EL2014 “Process Data” tab

A Selection of the diagnostic scope via the selection dialog “Predefined PDO Assignment”
B Display of (optional) PDOs (process data objects)
C Selection of the required Sync Manager
D Display of the PDOs available for selection

Three pre-defined PDO assignments can be selected:

• Full Diagnostics:
Inputs: Selection of the PDOs 0x1A00 (diagnostics per channel) and 0x1A02 (device diagnostics). Both
the diagnostic data for each channel and the data for the device diagnostics are displayed and
transmitted.
Outputs: PDO 0x1600 (switching state of the outputs) is displayed and transmitted.

• Compact Diagnostics:
Inputs: Selection of the PDO 0x1A02 (device diagnostics). Only the diagnostic data for the device are
displayed in the System Manager and transmitted to the control system.
Outputs: PDO 0x1600 (switching state of the outputs) is displayed and transmitted.

• No Diagnostics: Neither 0x1A00 nor 0x1A02 is selected. No diagnostic data are displayed in the
System Manager and none are transmitted to the control system.
Outputs: PDO 0x1600 (switching state of the outputs) is displayed and transmitted.

Compact Diagnostics, No Diagnostics

When converting from “Full Diagnostics” to “Compact Diagnostics” or “No Diagnostics”, or when de­activating the PDO 0x1600, links already established to the deactivated objects are deleted.

EL20xx, EL212430 Version: 5.2

Product overview, digital output terminals

2.2.5.2 Diagnostics per channel

Open Load (Index 0x60n1:02 [}36])

The open load detection shows that no load is connected when the output is switched on.

The “open load” bit (index 0x60n1:02) is set to TRUE if the output is TRUE and the output current is less
than typ. 0.2 mA.

Short Circuit to 24V (Index 0x60n1:04 [}36])

A short circuit to 24 V is detected if the output is FALSE, but nevertheless a voltage of more than typ. 10 V is
present. The “Short Circuit to 24V” bit (index 0x60n1:04) is set to TRUE. The corresponding LED flashes red.

Overtemperature (index: 0x60n1:01 [}36]) – overcurrent (index:0x60n1:03 [}36])

The “Overcurrent” bit (index: 0x60n1:03) is set in case of an overload. The LED lights up red. The channel
heats up, so that the “Overtemperature” bit (index: 0x60n1:01) is set on reaching an upper limit temperature

(see fig. Overload current limitation [}27]).

In the case of a short-circuit the channel overheats very quickly, leading to it being switched off. Once the
temperature has cooled down to below a lower limit value following the switch-off, the output is switched on
again. The temperature, however, is then still so high that the “Overtemperature” bit (index: 0x60n1:01)
remains set. Thus the LED remains red as long as the short-circuit is present.
Overcurrent diagnostics is no longer possible once the output is switched off. The “Overcurrent” bit (index:

0x60n1:03) is only set to TRUE when the output is switched on again (see fig. Schematic illustration of the
thermal switch-off in case of overload [}27]).

2.2.5.3 Device diagnostics

General error (index 0xF600:11 [}36])

If the “Common Fault” bit (index 0xF600:11) is set, there is an error on one or more channels.

It is thus possible in the “Compact Diagnostics” process mode to determine that errors have occurred on one
or more channels.

Device overtemperature (index 0xF600:12 [}36])

The device temperature rises due to an overload, a short-circuit or excessively high ambient temperature. If
the device temperature exceeds the upper limit value, the overloaded channels are switched off. The
“Overtemperature Device” bit (index 0xF600:12) is set. All other channels continue to operate properly.

If the device temperature falls below the lower limit value the “Overtemperature Device” bit (index
0xF600:12) is reset. If the channel temperature also falls below the lower limit value, the respective channels
are switched on again.

Undervoltage (index 0xF600:13 [}36])

If the “Undervoltage” bit (index 0xF600:13) is set, the supply voltage of the terminal has fallen below typically
17 V.

Voltage loss (index 0xF600:14 [}36])

If the error bit in “Missing Voltage” (index 0xF600:14) is set, the supply voltage of the terminal has fallen
below typically 14 V.

EL20xx, EL2124 31Version: 5.2

Product overview, digital output terminals

2.2.5.4 Settings via the CoE directory

CoE online directory

Fig.25: EL2014 CoE directory

The online data are accessible (A) if the terminal is online, i.e. connected to the EtherCAT Master TwinCAT
and in an error-free RUN state (WorkingCounter = 0). The entries “DIG Safe State Active Ch.n (index
0x80n0) (D) and “DIG Safe State Value Ch.n” (index 0x80n1) (E) can be changed online; please also

observe the Notes on the CoE interface [}67] and on the StartUp-List [}68].

The diagnostic data of the channels can be read under “DIG Diag Inputs Ch.n” (index 0x60n1) (B).
The diagnostic data of the terminal can be read under “DIG Inputs Device” (index 0xF600).
The state of the outputs can be read under “DIG Outputs Ch.n” (index 0x70n0) (C).
The display in TwinCAT is continuously updated if (F) has been activated.

EL20xx, EL212432 Version: 5.2

Product overview, digital output terminals

DIG Safe State Active (index 0x80n0:01 [}35]) / DIG Safe State Value (index 0x80n1:01 [}35])

The setting in “DIG Safe State Active” (index 0x80n0:01) defines whether the outputs should assume a safe
state in the case of a bus error. The safe state of the output in the case of a bus error is defined with “DIG
Safe State Value” (index 0x80n1:01).

1. “DIG Safe State Active“ = TRUE and

◦ “DIG Safe State Value“ = TRUE: the output is switched on.

2. “DIG Safe State Active“ = TRUE and

◦ “DIG Safe State Value“ = FALSE: the output is switched off

3. “DIG Safe State Active“ = FALSE

◦ The state of the output is retained. Entries in “DIG Safe State Value” (index 0x80n1:01) have no

effect.

Flow-chart illustration of the sequence in case of a bus error

Fig.26: Change of state of the outputs in the case of a bus error

EL20xx, EL2124 33Version: 5.2

Product overview, digital output terminals

Tabular example:

DIG Safe State Active
Index 0x80n0:01

TRUE TRUE FALSE TRUE FALSE

TRUE FALSE FALSE FALSE FALSE

FALSE FALSE / TRUE FALSE FALSE FALSE

Graphical example:

DIG Safe State Value
Index 0x80n1:01

Output before
bus error

TRUE TRUE TRUE

TRUE FALSE TRUE

TRUE TRUE TRUE

Output during
bus error

Output after bus
error

Fig.27: Graphical illustration of the channel state during a bus error

2.2.6 Object description and parameterization

EtherCAT XML Device Description

The display matches that of the CoE objects from the EtherCAT XML Device Description. We rec­ommend downloading the latest XML file from the download area of the Beckhoff website and in-

stalling it according to installation instructions.

Parameterization

The terminal is parameterized via the CoE Online tab (double-click on the respective object), or the
PDOs are allocated via the Process Data tab.

Introduction

The CoE overview contains objects for different intended applications:

EL20xx, EL212434 Version: 5.2

Product overview, digital output terminals

2.2.6.1 Restore object

Index 1011 Restore default parameters

Index (hex) Name Meaning Data type Flags Default value

1011:0

1011:01 SubIndex 001 If this object is set to "0x64616F6C" in the set value

Restore default param­eters [}162]

Restore default parameters UINT8 RO 0x01 (1

dialog, all backup objects are reset to their delivery
state.

UINT32 RW 0x00000000

(0

)

dec

)

dec

2.2.6.2 Configuration data

Index 80n0 DIG Safe State Active Ch.n

(n=0 for Ch.1 to n=3 for Ch.4)

Index (hex) Name Meaning Data type Flags Default value

80n0:0 DIG Safe State Active

80n0:01

Ch.n

Active [}33]

Maximum subindex UINT8 RO 0x01 (1

Enabling of the output state defined in index 0x80n1:01
in case of a bus error

0: output retains its current state.
1: output is switched to the state defined in index
0x80n1.

BOOLEAN RW 0x01 (1

)

dec

)

dec

Index 80n1 DIG Safe State Value Ch.n

(n=0 for Ch.1 to n=3 for Ch.4)

Index (hex) Name Meaning Data type Flags Default value

80n1:0 DIG Safe State Value

80n1:01

Ch.n

Value [}33]

Maximum subindex UINT8 RO 0x01 (1

Defines the state of the output in case of a bus error:

0: output off
1: output on

BOOLEAN RW 0x00 (0

)

dec

)

dec

2.2.6.3 Command object

Index FB00 DIG Command

Index (hex) Name Meaning Data type Flags Default value

FB00:0 DIG Command Maximum subindex UINT8 RO 0x03 (3

FB00:01 Request reserved OCTET -

STRING[2]

FB00:02 Status reserved UINT8 RO 0x00 (0

FB00:03 Response reserved OCTET -

STRING[4]

RW {0}

RO {0}

)

dec

)

dec

EL20xx, EL2124 35Version: 5.2

Product overview, digital output terminals

2.2.6.4 Input data

Index 60n1 DIG Diag Inputs

(n=0 for Ch.1 to n=3 for Ch.4)

Index (hex) Name Meaning Data type Flags Default value

60n1:0 DIG Diag Inputs Ch.n Maximum subindex UINT8 RO 0x04 (4

60n1:01

60n1:02

Overtemperature
[}31]

Open Load [}31]

The overtemperature bit is set if the max. permissible
temperature of the channel is exceeded.

Wire break detection
The Open Load bit is set if the channel is switched on

BOOLEAN RO 0x00 (0

BOOLEAN RO 0x00 (0

and the load current is ≤ typically 0.2 mA.

60n1:03

Overcurrent [}31]

Overcurrent and short-circuit detection
The overcurrent bit is set if an overload is detected

BOOLEAN RO 0x00 (0

when the channel is switched on.
No overload can be detected if the channel is switched
off (e.g. thermal switch-off).

Short-circuit current detection: typ. 1A

60n1:04

Short Circuit to 24V
[}31]

The Short Circuit to 24V bit is set if voltage is present
when the channel is switched off.

BOOLEAN RO 0x00 (0

Index F600 DIG Inputs Device

)

dec

)

dec

)

dec

)

dec

)

dec

Index (hex) Name Meaning Data type Flags Default value

F600:0 DIG Inputs Device Maximum subindex UINT8 RO 0x14 (20

F600:11

F600:12

Common Fault [}31]

Overtemperature De­vice [}31]

The Common Fault bit is set if an error occurs on one
or more channels of the terminal.

The Overtemperature Device bit is set if the max. per­missible device temperature is exceeded.
The overloaded channels are switched off until the de-

BOOLEAN RO 0x00 (0

BOOLEAN RO 0x00 (0

)

dec

)

dec

)

dec

vice temperature cools down below the lower limit
value again.

F600:13

F600:14

Undervoltage [}31]

Missing Voltage [}31]

The Undervoltage bit is set if the terminal supply volt­age falls below typically 17 V.

The Missing Voltage bit is set if the supply voltage is
lower than typically 14 V.

BOOLEAN RO 0x00 (0

BOOLEAN RO 0x00 (0

)

dec

)

dec

2.2.6.5 Output data

Index 70n0 DIG Outputs

(n=0 for Ch.1 to n=3 for Ch.4)

Index (hex) Name Meaning Data type Flags Default value

70n0:0 DIG Outputs Ch.n Maximum subindex UINT8 RO 0x01 (1

70n0:01 Output Status Output

BOOLEAN RO 0x00 (0

0: Output off
1: Output on

)

dec

)

dec

2.2.6.6 Standard objects

Standard objects (1000-1FFF)

Index 1000 Device type

Index (hex) Name Meaning Data type Flags Default value

1000:0 Device type Device type of the EtherCAT slave: the Lo-Word con-

tains the CoE profile used (5001). The Hi-Word con­tains the module profile according to the modular de­vice profile.

UINT32 RO 0x01181389

(18355081

EL20xx, EL212436 Version: 5.2

dec

)

Product overview, digital output terminals

Index 1008 Device name

Index (hex) Name Meaning Data type Flags Default value

1008:0 Device name Device name of the EtherCAT slave STRING RO EL2014

Index 1009 Hardware version

Index (hex) Name Meaning Data type Flags Default value

1009:0 Hardware version Hardware version of the EtherCAT slave STRING RO

Index 100A Software version

Index (hex) Name Meaning Data type Flags Default value

100A:0 Software version Firmware version of the EtherCAT slave STRING RO 01

Index 1018 Identity

Index (hex) Name Meaning Data type Flags Default value

1018:0 Identity Information for identifying the slave UINT8 RO 0x04 (4

1018:01 Vendor ID Vendor ID of the EtherCAT slave UINT32 RO 0x00000002

(2

1018:02 Product code Product code of the EtherCAT slave UINT32 RO 0x07DE3052

(132001874

1018:03 Revision Revision numberof the EtherCAT slave; the low word

(bit 0-15) indicates the special terminal number, the

UINT32 RO 0x00000000

(0

high word (bit 16-31) refers to the device description

1018:04 Serial number Serial number of the EtherCAT slave; the low byte (bit

0-7) of the low word contains the year of production,

UINT32 RO 0x00000000

(0
the high byte (bit 8-15) of the low word contains the
week of production, the high word (bit 16-31) is 0

)

dec

)

dec

)

dec

)

dec

)

dec

Index 10F0 Backup parameter handling

Index (hex) Name Meaning Data type Flags Default value

10F0:0 Backup parameter

handling

10F0:01 Checksum Checksum across all backup entries of the EtherCAT

Information for standardized loading and saving of
backup entries

slave

UINT8 RO 0x01 (1

)

dec

UINT32 RO 0x00000000

(0

)

dec

Index 1600 DIG RxPDO-Map Outputs

Index (hex) Name Meaning Data type Flags Default value

1600:0 DIG RxPDO-Map Out-

puts

1600:01 SubIndex 001 1. PDO Mapping entry (object 0x7000 (DIG Outputs

1600:02 SubIndex 002 2. PDO Mapping entry (object 0x7010 (DIG Outputs

1600:03 SubIndex 003 3. PDO Mapping entry (object 0x7020 (DIG Outputs

1600:04 SubIndex 004 4. PDO Mapping entry (object 0x7030 (DIG Outputs

1600:05 SubIndex 005 5. PDO Mapping entry (4 bits align) UINT32 RO 0x0000:00, 4

PDO Mapping RxPDO 1 UINT8 RO 0x05 (5

UINT32 RO 0x7000:01, 1

Ch.01), entry 0x01 (Output))

UINT32 RO 0x7010:01, 1

Ch.02), entry 0x01 (Output))

UINT32 RO 0x7020:01, 1

Ch.03), entry 0x01 (Output))

UINT32 RO 0x7030:01, 1

Ch.04), entry 0x01 (Output))

)

dec

EL20xx, EL2124 37Version: 5.2

Product overview, digital output terminals

Index 1A00 DIG TxPDO-Map Diag Inputs

Index (hex) Name Meaning Data type Flags Default value

1A00:0 DIG TxPDO-Map Diag

Inputs

1A00:01 SubIndex 001 1. PDO Mapping entry (object 0x6001 (DIG Inputs

1A00:02 SubIndex 002 2. PDO Mapping entry (object 0x6001 (DIG Inputs

1A00:03 SubIndex 003 3. PDO Mapping entry (object 0x6001 (DIG Inputs

1A00:04 SubIndex 004 4. PDO Mapping entry (object 0x6001 (DIG Inputs

1A00:05 SubIndex 005 5. PDO Mapping entry (object 0x6011 (DIG Inputs

1A00:06 SubIndex 006 6. PDO Mapping entry (object 0x6011 (DIG Inputs

1A00:07 SubIndex 007 7. PDO Mapping entry (object 0x6011 (DIG Inputs

1A00:08 SubIndex 008 8. PDO Mapping entry (object 0x6011 (DIG Inputs

1A00:09 SubIndex 009 9. PDO Mapping entry (object 0x6021 (DIG Diag Inputs

1A00:0A SubIndex 010 10. PDO Mapping entry (object 0x6021 (DIG Diag Inputs

1A00:0B SubIndex 011 11. PDO Mapping entry (object 0x6021 (DIG Diag Inputs

1A00:0C SubIndex 012 12. PDO Mapping entry (object 0x6021 (DIG Diag Inputs

1A00:0D SubIndex 013 13. PDO Mapping entry (object 0x6031 (DIG Diag Inputs

1A00:0E SubIndex 014 14. PDO Mapping entry (object 0x6031 (DIG Diag Inputs

1A00:0F SubIndex 015 15. PDO Mapping entry (object 0x6031 (DIG Diag Inputs

1A00:10 SubIndex 016 16. PDO Mapping entry (object 0x6031 (DIG Diag Inputs

PDO Mapping TxPDO 1 UINT8 RO 0x10 (16

UINT32 RO 0x6001:01, 1

Ch.01), entry 0x01 (Overtemperature))

UINT32 RO 0x6001:02, 1

Ch.01), entry 0x02 (Wire Break))

UINT32 RO 0x6001:03, 1

Ch.01), entry 0x03 (Overcurrent))

UINT32 RO 0x6001:04, 1

Ch.01), entry 0x04 (Short Circuit))

UINT32 RO 0x6011:01, 1

Ch.02), entry 0x01 (Overtemperature))

UINT32 RO 0x6011:02, 1

Ch.02), entry 0x02 (Wire Break))

UINT32 RO 0x6011:03, 1

Ch.02), entry 0x03 (Overcurrent))

UINT32 RO 0x6011:04, 1

Ch.02), entry 0x04 (Short Circuit))

UINT32 RO 0x6021:01, 1

Ch.3), entry 0x01 (Overtemperature))

UINT32 RO 0x6021:02, 1

Ch.3), entry 0x02 (Open Load))

UINT32 RO 0x6021:03, 1

Ch.3), entry 0x03 (Overcurrent))

UINT32 RO 0x6021:04, 1

Ch.3), entry 0x04 (Short Circuit to 24V))

UINT32 RO 0x6031:01, 1

Ch.4), entry 0x01 (Overtemperature))

UINT32 RO 0x6031:02, 1

Ch.4), entry 0x02 (Open Load))

UINT32 RO 0x6031:03, 1

Ch.4), entry 0x03 (Overcurrent))

UINT32 RO 0x6031:04, 1

Ch.4), entry 0x04 (Short Circuit to 24V))

)

dec

Index 1A02 DIG TxPDO-Map Inputs Device

Index (hex) Name Meaning Data type Flags Default value

1A02:0 DIG TxPDO-Map In-

puts Device

1A02:01 SubIndex 001 1. PDO Mapping entry (object 0xF600 (DIG Inputs De-

PDO Mapping TxPDO UINT8 RO 0x05 (5

UINT32 RO 0xF600:11, 1

)

dec

vice), entry 0x11 (Common Fault))

1A02:02 SubIndex 002 2. PDO Mapping entry (object 0xF600 (DIG Inputs De-

UINT32 RO 0xF600:12, 1

vice), entry 0x12 (Overtemperature Device))

1A02:03 SubIndex 003 3. PDO Mapping entry (object 0xF600 (DIG Inputs De-

UINT32 RO 0xF600:13, 1

vice), entry 0x13 (Undervoltage))

1A02:04 SubIndex 004 4. PDO Mapping entry (object 0xF600 (DIG Inputs De-

UINT32 RO 0xF600:14, 1

vice), entry 0x14 (Missing Voltage))

1A02:05 SubIndex 005 5. PDO Mapping entry (4 bits align) UINT32 RO 0x0000:00, 4

Index 1C00 Sync manager type

Index (hex) Name Meaning Data type Flags Default

1C00:0 Sync manager type Using the sync managers UINT8 RO 0x04 (4

1C00:01 SubIndex 001 Sync-Manager Type Channel 1: Mailbox Write UINT8 RO 0x01 (1

1C00:02 SubIndex 002 Sync-Manager Type Channel 2: Mailbox Read UINT8 RO 0x02 (2

1C00:03 SubIndex 003 Sync-Manager Type Channel 3: Process Data Write

UINT8 RO 0x03 (3

(Outputs)

1C00:04 SubIndex 004 Sync-Manager Type Channel 4: Process Data Read

UINT8 RO 0x04 (4

(Inputs)

)

dec

)

dec

)

dec

)

dec

)

dec

EL20xx, EL212438 Version: 5.2

Product overview, digital output terminals

Index 1C12 RxPDO assign

Index (hex) Name Meaning Data type Flags Default value

1C12:0 RxPDO assign PDO Assign Outputs UINT8 RW 0x01 (1

1C32:01 SubIndex 001 1. allocated RxPDO (contains the index of the associ-

ated RxPDO mapping object)

UINT16 RW 0x1600

(5632

)

dec

)

dec

1C12:02 Subindex 002 UINT16 RW

1C12:03 Subindex 003 UINT16 RW

1C12:04 Subindex 004 UINT16 RW

Index 1C13 TxPDO assign

Index (hex) Name Meaning Data type Flags Default value

1C13:0 TxPDO assign PDO Assign Inputs UINT8 RW 0x02 (2

1C13:01 SubIndex 001 1. allocated TxPDO (contains the index of the associ-

ated TxPDO mapping object)

1C13:02 Subindex 002 2. allocated TxPDO (contains the index of the associ-

ated TxPDO mapping object)

UINT16 RW 0x1A00

(6656

UINT16 RW 0x1A02

(6658

1C13:03 Subindex 003 UINT16 RW

1C13:04 Subindex 004 UINT16 RW

1C13:05 Subindex 005 UINT16 RW

1C32:06 Subindex 006 UINT16 RW

1C13:07 Subindex 007 UINT16 RW

1C13:08 Subindex 008 UINT16 RW

1C13:09 Subindex 009 UINT16 RW

1C13:0A Subindex 010 UINT16 RW

)

dec

)

dec

)

dec

EL20xx, EL2124 39Version: 5.2

Product overview, digital output terminals

Index 1C32 SM output parameter

Index (hex) Name Meaning Data type Flags Default value

1C32:0 SM output parameter Synchronization parameters for the outputs UINT8 RO 0x20 (32

1C32:01 Sync mode Current synchronization mode:

UINT16 RW 0x0001 (1

• 0: Free Run

• 1: Synchronous with SM 2 event

1C32:02 Cycle time Cycle time (in ns):

• Free Run: Cycle time of the local timer

UINT32 RW 0x000F4240

(1000000

• Synchronous with SM 2 event: Master cycle
time

• DC-Mode: SYNC0/SYNC1 Cycle Time

1C32:03 Shift time Time between SYNC0 event and output of the outputs

(in ns, DC mode only)

1C32:04 Sync modes supported Supported synchronization modes:

• Bit 0 = 1: free run is supported

UINT32 RO 0x00000384

(900

UINT16 RO 0x8002

(32770

• Bit 1 = 1: Synchronous with SM 2 event is
supported

• Bit 2-3 = 01: DC mode is supported

• Bit 4-5=10: Output shift with SYNC1 event (only
DC mode)

• Bit 14 = 1: dynamic times (measurement by
writing 0x1C32:08 [}40]) (for revision no.: 17 –

25)

1C32:05 Minimum cycle time Minimum cycle time (in ns)

Default: 10 ms

1C32:06 Calc and copy time Minimum time between SYNC0 and SYNC1 event (in

ns, DC mode only)

UINT32 RO 0x00002710

(10000

UINT32 RO 0x00000000

(0

dec

1C32:07 Minimum delay time UINT32 RO 0x00000384

(900

1C32:08 Command • 0: Measurement of the local cycle time is

UINT16 RW 0x0000 (0

stopped

• 1: Measurement of the local cycle time is
started

The entries 0x1C32:03 [}40], 0x1C32:05 [}40],

0x1C32:06 [}40], 0x1C32:09 [}40], 0x1C33:03
[}41], 0x1C33:06 [}40], 0x1C33:09 [}41] are up-

dated with the maximum measured values.
For a subsequent measurement the measured values
are reset.

1C32:09 Maximum Delay time Time between SYNC1 event and output of the outputs

(in ns, DC mode only)

1C32:0B SM event missed

counter

1C32:0C Cycle exceeded

counter

Number of missed SM events in OPERATIONAL (DC
mode only)

Number of occasions the cycle time was exceeded in
OPERATIONAL (cycle was not completed in time or

UINT32 RO 0x00000384

(900

UINT16 RO 0x0000 (0

UINT16 RO 0x0000 (0

the next cycle began too early)

1C32:0D Shift too short counter Number of occasions that the interval between SYNC0

UINT16 RO 0x0000 (0

and SYNC1 event was too short (DC mode only)

1C32:20 Sync error The synchronization was not correct in the last cycle

BOOLEAN RO 0x00 (0

(outputs were output too late; DC mode only)

)

dec

dec

dec

)

dec

)

dec

)

dec

)

)

dec

dec

)

dec

dec

dec

dec

)

dec

)

)

)

)

)

)

EL20xx, EL212440 Version: 5.2

Product overview, digital output terminals

Index 1C33 SM input parameter

Index (hex) Name Meaning Data type Flags Default value

1C33:0 SM input parameter Synchronization parameters for the inputs UINT8 RO 0x20 (32

1C33:01 Sync mode Current synchronization mode:

UINT16 RW 0x0022 (34

• 0: Free Run

• 1: Synchronous with SM 3 event (no outputs
available)

• 2: DC - Synchronous with SYNC0 Event

• 3: DC - Synchronous with SYNC1 Event

• 34: Synchronous with SM 2 event (outputs
available)

1C33:02 Cycle time

as 0x1C32:02 [}40]

1C33:03 Shift time Time between SYNC0 event and reading of the inputs

(in ns, only DC mode)

1C33:04 Sync modes supported Supported synchronization modes:

• Bit 0 = 1: free run is supported

UINT32 RW 0x000F4240

(1000000

UINT32 RO 0x00000384

(900

UINT16 RO 0x8002

(32770

• Bit 1 = 1: synchronous with SM 2 event is
supported (outputs available)

• Bit 1 = 1: synchronous with SM 3 event is
supported (no outputs available)

• Bit 2-3 = 01: DC mode is supported

• Bit 4-5 = 01: input shift through local event
(outputs available)

• Bit 4-5 = 10: input shift with SYNC1 event (no
outputs available)

• Bit 14 = 1: dynamic times (measurement by
writing 0x1C32:08 [}40]) (for revision no.: 17 –

25)

1C33:05 Minimum cycle time

as 0x1C32:05 [}40]

1C33:06 Calc and copy time Time between reading of the inputs and availability of

the inputs for the master (in ns, only DC mode)

UINT32 RO 0x00002710

(10000

UINT32 RO 0x00000000

(0

dec

1C33:07 Minimum delay time UINT32 RO 0x00000384

(900

1C33:08 Command

as 0x1C32:08 [}40]

1C33:09 Maximum Delay time Time between SYNC1 event and reading of the inputs

(in ns, only DC mode)

1C33:0B SM event missed

counter

1C33:0C Cycle exceeded

counter

1C33:0D Shift too short counter

1C33:20 Sync error

as 0x1C32:11 [}40]

as 0x1C32:12 [}40]

as 0x1C32:13 [}40]

as 0x1C32:32 [}40]

UINT16 RW 0x0000 (0

UINT32 RO 0x00000384

(900

UINT16 RO 0x0000 (0

UINT16 RO 0x0000 (0

UINT16 RO 0x0000 (0

BOOLEAN RO 0x00 (0

)

dec

dec

)

dec

)

dec

)

dec

)

)

dec

dec

)

dec

dec

dec

dec

)

dec

)

dec

)

)

)

)

)

Index F000 Modular device profile

Index (hex) Name Meaning Data type Flags Default value

F000:0 Modular device profile General information for the modular device profile UINT8 RO 0x02 (2

)

dec

F000:01 Module index distance Index spacing of the objects of the individual channels UINT16 RO 0x0010 (16

F000:02 Maximum number of

modules

Number of channels UINT16 RO 0x0004 (4

dec

EL20xx, EL2124 41Version: 5.2

)

dec

)

Product overview, digital output terminals

Index F008 Code word

Index (hex) Name Meaning Data type Flags Default value

F008:0 Code word

NoCoeStorage function:

The input code of the code word 0x12345678 activates

UINT32 RW 0x00000000

(0

)

dec

the NoCoeStorage function:
Changes to the CoE directory are not saved if the func­tion is active. The function is deactivated by:

1.) changing the code word or

2.) restarting the terminal.

Index F010 Module list

Index (hex) Name Meaning Data type Flags Default value

F010:0 Module list Maximum subindex UINT8 RW 0x04 (4

F010:01 SubIndex 001 Profil 280 (Extended Digital Input and Output with Di-

agnostics)

F010:02 SubIndex 002 Profil 280 (Extended Digital Input and Output with Di-

agnostics)

F010:03 SubIndex 003 Profil 280 (Extended Digital Input and Output with Di-

agnostics)

F010:04 SubIndex 004 Profil 280 (Extended Digital Input and Output with Di-

agnostics)

UINT32 RW 0x00000118

(280

UINT32 RW 0x00000118

(280

UINT32 RW 0x00000118

(280dec)

UINT32 RW 0x00000118

(280

)

dec

)

dec

)

dec

)

dec

EL20xx, EL212442 Version: 5.2

Product overview, digital output terminals

2.3 EL2022, EL2024, EL2024-0010 - Introduction

Fig.28: EL2022

Fig.29: EL2024, EL2024-0010

Two- and four-channel digital output terminals, 24VDC, 2A (EL2022, EL2024)

The EL2022 and EL2024 digital output terminals connect the binary control signals from the automation
device on to the actuators at the process level with electrical isolation. These devices feature short-circuit
protection of the outputs. Two channels (EL2022) or four channels (EL2024) are available, which indicate
their signal state via LEDs. The EL2024 enables direct connection of four 2-wire actuators. It features four
earth connecting points.

The EL2024-0010 is a version with 12VDC output.

CAUTION

Watchdog settings

Please refer to section "Notes for setting the watchdog [}62]".

EL20xx, EL2124 43Version: 5.2

Product overview, digital output terminals

2.3.1 EL2022, EL2024, EL2024-0010 - Technical data

Technical data EL2022 EL2024 EL2024-0010

Number of outputs 2 4

Non-reactive outputs - yes

(see notice [}13])

Reverse voltage protection yes

Load type ohmic, inductive, lamp load

Nominal output voltage 24VDC (-15%/ +20%) 12VDC (-15%/ +20%)

Switching times TON: 40µs typ.; T

Output current max. per channel max. 2A (short-circuit-proof)

Switch-off energy (inductive) < 1,7J/channel

Current consumption from load voltage typ. 9mA + load typ. 13mA + load

Supply voltage for electronic via the E-Bus

Current consumption via E-bus typ. 100mA typ. 120mA

Electrical isolation 500V (E-bus/field voltage)

Bit width in the process image 2 output bits 4 output bits

Configuration no address setting, configuration via TwinCAT System Manager

Weight approx. 55g

Permissible ambient temperature range
during operation

Permissible ambient temperature range
during storage

Permissible relative humidity 95%, no condensation

Dimensions (W x H x D) approx. 15mm x 100mm x 70mm (width aligned: 12mm)

Mounting [}72]

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

EMC resistance burst/ESD conforms to EN 61000-6-2 / EN 61000-6-4

Protection class IP20

Installation position variable

Approval CE

-25°C ... +60°C (extended temperature range)** 0°C ... + 55°C*

-40°C ... +85°C -25°C ... + 85°C

on 35mm mounting rail conforms to EN 60715

see also Installation instructions for terminals with increased mechanical load capacity

[}74]

cULus [}150]
ATEX [}82]

IECEx

: 200µs typ.

OFF

CE

cULus [}150]
ATEX [}82]

-

CE

cULus [}150]
ATEX [}81]

EL20xx, EL212444 Version: 5.2

2.3.2 EL2022 - LEDs and connection

Product overview, digital output terminals

Fig.30: EL2022

EL2022 - LEDs

LED Color Meaning

OUTPUT 1
OUTPUT 2

green off No output signal is present.

on A 24VDC output signal is present.

EL2022 - Connection

Terminal point Description

Name No.

Output 1 1 Output 1

+24V 2 +24V (internally connected to terminal point6 and positive power contact)

0V 3 Ground for output1 (internally connected to terminal point7 and negative power contact)

PE 4 PE contact (internally connected to terminal point8 and PE power contact)

Output 2 5 Output 2

+24V 6 +24V (internally connected to terminal point2 and positive power contact)

0 V 7 Ground for output2 (internally connected to terminal point3 and negative power contact)

PE 8 PE contact (internally connected to terminal point4 and PE power contact)

EL20xx, EL2124 45Version: 5.2

Product overview, digital output terminals

2.3.3 EL2024, EL2024-0010 - LEDs and connection

Fig.31: EL2024, EL2024-0010

EL2024, EL2024-0010 - LEDs

LED Color Meaning

OUTPUT 1- 4 green off No output signal is present.

on A 24VDC output signal (EL2024) or 12VDC output signal (EL2024-0010) is present

EL2024, EL2024-0010 - Connection

NOTE

12 V DC at the power contacts of the EL2024-0010

During configuration of the Bus Terminal block, please note that the power contacts of the EL2024-0010
carry a voltage of 12VDC (provided e.g. by an EL9512 power supply terminal).
If 24V terminals are to operate in the terminal block simultaneously, measures must be implemented for
electrical isolation (e.g. through the EL9190 power feed terminal or the EL9080 separation terminal).

Terminal point Description

Name No.

Output 1 1 Output 1

0V 2 Ground for output1 (internally connected to terminal point3, 6, 7 and negative power contact)

0V 3 Ground for output3 (internally connected to terminal point2, 6, 7 and negative power contact)

Output 3 4 Output 3

Output 2 5 Output 2

0V 6 Ground for output2 (internally connected to terminal point2, 3, 7 and negative power contact)

0V 7 Ground for output4 (internally connected to terminal point2, 3, 6 and negative power contact)

Output 4 8 Output 4

EL20xx, EL212446 Version: 5.2

2.4 EL2032, EL2034 - Introduction

Product overview, digital output terminals

Fig.32: EL2032, EL2034

Two- and four-channel digital output terminals with diagnostics, 24 VDC, 2A

The EL2032 and EL2034 digital output terminals connect the binary 24 V control signals electrically isolated
with the actuators. Two channels or four channels are available, which indicate their signal state via LEDs.
The direct connection of wire-wire actuators is possible. The EL2032 enables direct connection of two 3-wire
actuators.

The EL2032 and EL2034 include additional diagnostic LEDs and input bits, which indicate short circuit and
broken wire. Broken wire is reported, if the output current is less than the limit value when the output is
connected. The limit value is typically between 2 and 900mA. The application of the "broken wire detection"
function therefore makes sense for regular output currents of approx. 1A or higher.

CAUTION

Watchdog settings

Please refer to section "Notes for setting the watchdog [}62]".

EL20xx, EL2124 47Version: 5.2

Product overview, digital output terminals

2.4.1 EL2032, EL2034 - Technical data

Technical data EL2032 EL2034

Number of outputs 2 4

Reverse voltage protection yes

Load type ohmic, inductive, lamp load

Rated voltage of the outputs 24VDC (-15%/ +20%)

Switching times TON: 40µs typ.; T

Output current max. per channel max. 2A (short-circuit-proof)

Short circuit and open circuit detection

Switch-off energy (inductive) < 1,7J/channel

Current consumption from load voltage typ. 12mA + load typ. 14mA + load

Supply voltage for electronic via E-Bus

Current consumption via E-bus typ. 100mA typ. 120mA

Electrical isolation 500V (E-bus/field voltage)

Bit width in the process image 2 output bits, 2 input bits (diagnostic) 4 output bits, 4 input bits (diagnostic)

Configuration no address setting, configuration via TwinCAT System Manager

Weight approx. 55g

Permissible ambient temperature range dur­ing operation

Permissible ambient temperature range dur­ing storage

Permissible relative humidity 95%, no condensation

Dimensions (W x H x D) approx. 15 mm x 100 mm x 70 mm (width aligned: 12 mm)

Mounting [}72]

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

EMC resistance burst/ESD conforms to EN 61000-6-2 / EN 61000-6-4

Protection class IP20

Installation position variable

Approval CE

yes;open circuit detection [}47] from approx. 1A regular output current

-25°C ... +60°C (extended temperature range)

-40°C ... +85°C

on 35 mm mounting rail conforms to EN 60715

see also Installation instructions for terminals with increased mechanical load capacity

[}74]

cULus [}150]
ATEX [}82]

: 200µs typ.

OFF

EL20xx, EL212448 Version: 5.2

2.4.2 EL2032 - LEDs and connection

Product overview, digital output terminals

Fig.33: EL2032

EL2032 - LEDs

LED Color Meaning

OUTPUT 1
OUTPUT 2

ERROR 1
ERROR 2

green off No output signal is present.

on A 24VDC output signal is present.

red Fault indication in the event of interruption or overload of the output voltage

EL2032 - Connection

Terminal point Description

Name No.

Output 1 1 Output 1

+24 V 2 +24V (internally connected to terminal point6 and positive power contact)

0V 3 Ground for output1 (internally connected to terminal point7 and negative power contact)

PE 4 PE contact (internally connected to terminal point8 and PE power contact)

Output 2 5 Output 2

+24V 6 +24V (internally connected to terminal point2 and positive power contact)

0V 7 Ground for output2 (internally connected to terminal point3 and negative power contact)

PE 8 PE contact (internally connected to terminal point4 and PE power contact)

EL20xx, EL2124 49Version: 5.2

Product overview, digital output terminals

2.4.3 EL2034 - LEDs and connection

Fig.34: EL2034

LEDs

LED Color Meaning

OUTPUT 1- 4 green off No output signal is present.

on A 24VDC output signal is present.

ERROR 1 - 4 red Fault indication in the event of interruption or overload of the output voltage

EL2034 pin assignment

Terminal point Description

Name No.

Output 1 1 Output 1

0V 2 Ground for output1 (internally connected to terminal point3, 6, 7 and negative power contact)

0V 3 Ground for output3 (internally connected to terminal point2, 6, 7 and negative power contact)

Output 3 4 Output 3

Output 2 5 Output 2

0V 6 Ground for output2 (internally connected to terminal point2, 3, 7 and negative power contact)

0V 7 Ground for output4 (internally connected to terminal point2, 3, 6 and negative power contact)

Output 4 8 Output 4

EL20xx, EL212450 Version: 5.2

2.5 EL2042 - Introduction

Product overview, digital output terminals

Fig.35: EL2042

Two-channel digital output terminals, 24V

The EL2042 digital output terminals connect the binary 24V control signals electrically isolated with the
actuators. Two channels are available in each case, which indicate their signal state via LEDs. The EL2042
enables connection of loads with current consumption up to 8A if the outputs are connected in parallel.

2x4A/1x8A

DC;

CAUTION

Watchdog settings

Please refer to section "Notes for setting the watchdog [}62]".

EL20xx, EL2124 51Version: 5.2

Product overview, digital output terminals

2.5.1 EL2042 - Technical data

Technical data EL2042

Number of outputs 2

Reverse voltage protection yes

Load type ohmic, inductive, lamp load

Nominal output voltage 24VDC (-15%/ +20%)

Switching times TON: 40µs typ.; T

Output current max. per channel max. 4A (short-circuit-proof) per channel, 8A with parallel connec-

Supply voltage for electronic via the E-Bus

Current consumption of power contacts typ. 13mA + load

Current consumption via E-bus typ. 120 mA

Electrical isolation 500V (E-bus/field voltage)

Bit width in the process image 2 output bits

Configuration no address setting, configuration via TwinCAT System Manager

Weight approx. 55g

Permissible ambient temperature range during operation 0°C ... + 55°C

Permissible ambient temperature range during storage -25°C ... + 85°C

Permissible relative humidity 95%, no condensation

Dimensions (W x H x D) approx. 15mm x 100mm x 70mm (width aligned: 12mm)

Mounting [}72]

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

EMC resistance burst/ESD conforms to EN 61000-6-2 / EN 61000-6-4

Protection class IP20

Installation position variable

Approval CE

tion

on 35mm mounting rail conforms to EN 60715

see also Installation instructions for terminals with increased me-

chanical load capacity [}74]

200µs typ.

OFF

EL20xx, EL212452 Version: 5.2

2.5.2 EL2042 - LEDs and connection

Product overview, digital output terminals

Fig.36: EL2042

EL2042 - LEDs

LED Color Meaning

OUTPUT 1
OUTPUT 2

green off No output signal is present.

on A 24VDC output signal is present.

EL2042 - Connection

Terminal point Description

Name No.

Output 1 1 Output 1

+24 V 2 +24V (internally connected to terminal point6 and positive power contact)

0 V 3 Ground for output1 (internally connected to terminal point7 and negative power contact)

- 4 -

Output 2 5 Output 2

+24 V 6 +24V (internally connected to terminal point2 and positive power contact)

0V 7 Ground for output2 (internally connected to terminal point3 and negative power contact)

- 8 -

EL20xx, EL2124 53Version: 5.2

Product overview, digital output terminals

2.6 EL2084, EL2088 - Introduction

Fig.37: EL2084, EL2088

Four- and eight-channel digital output terminals, 24 VDC, 0.5A (EL2084, EL2088)

The EL2084 and EL2088 digital output terminals connect the binary control signals from the automation unit
on to the actuators at the process level with electrical isolation.
The EtherCAT Terminals have 0V (ground) switching outputs and generate load currents with outputs that
are resistant to overload and short-circuit. They include four or eight channels, whose signal state is
indicated by LEDs.

CAUTION

Watchdog settings

Please refer to section "Notes for setting the watchdog [}62]".

EL20xx, EL212454 Version: 5.2

Product overview, digital output terminals

2.6.1 EL2084, EL2088 - Technical data

Technical data EL2084 EL2088

Number of outputs 4 8

Load type ohmic, inductive, lamp load

Nominal voltage of the outputs 24VDC (-15%/ +20%)

Output current max. per channel max. 0.5A (short-circuit-proof) max. 0.5A (total current 3A)

Current consumption from load voltage typ. 30mA + load

Supply voltage for electronic via the E-Bus

Current consumption via E-bus typ. 100mA typ. 110mA

Electrical isolation 500V (E-bus/field voltage)

Bit width in the process image 4 output bits 8 output bits

Configuration no address setting, configuration via TwinCAT System Manager

Weight approx. 70g

Permissible ambient temperature range dur­ing operation

Permissible ambient temperature range dur­ing storage

Permissible relative humidity 95%, no condensation

Dimensions (W x H x D) approx. 15mm x 100mm x 70mm (width aligned: 12mm)

Mounting [}72]

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

EMC resistance burst/ESD conforms to EN 61000-6-2 / EN 61000-6-4

Protection class IP20

Installation position variable

Approval CE

0°C ... + 55°C 0°C ... + 55°C

(aligned in horizontal installation position)
0°C ... + 45°C
(all other installation positions,

see Note [}78])

-25°C ... + 85°C

on 35mm mounting rail conforms to EN 60715

see also Installation instructions for terminals with increased mechanical load capacity

[}74]

see note [}78]

cULus [}150]
ATEX [}81]

EL20xx, EL2124 55Version: 5.2

Product overview, digital output terminals

2.6.2 EL2084 - LEDs and connection

Fig.38: EL2084

EL2084 - LEDs

LED Color Meaning

OUTPUT 1- 4 green off No output signal is present at the respective output

on A 0V output signal is present at the respective output

EL2084 - Connection

Terminal point Description

Name No.

Output 1 1 Output 1 (0V)

24V 2 +24V for output 1 (internally connected to terminal points 3, 6, 7 and positive power contact)

24V 3 +24V for output 3 (internally connected to terminal points 2, 6, 7 and positive power contact)

Output 3 4 Output 3 (0V)

Output 2 5 Output 2 (0V)

24V 6 +24V for output 2 (internally connected to terminal points 2, 3, 7 and positive power contact)

24V 7 +24V for output 4 (internally connected to terminal points 2, 3, 6 and positive power contact)

Output 4 8 Output 4 (0V)

EL20xx, EL212456 Version: 5.2

2.6.3 EL2088 - LEDs and connection

Product overview, digital output terminals

Fig.39: EL2088

EL2088 - LEDs

LED Color Meaning

OUTPUT 1- 8 green off No output signal is present at the respective output

on A 0V output signal is present at the respective output

EL2088 - Connection

Terminal point Description

Name No.

Output 1 1 Output 1 (0V)

Output 3 2 Output 3 (0V)

Output 5 3 Output 5 (0V)

Output7 4 Output 7 (0V)

Output 2 5 Output 2 (0V)

Output 4 6 Output 4 (0V)

Output 6 7 Output 6 (0V)

Output 8 8 Output 8 (0V)

EL20xx, EL2124 57Version: 5.2

Product overview, digital output terminals

2.7 EL2124 - Introduction

Fig.40: EL2124

Four-channel digital output terminal 5 VDC, CMOS output

The digital output terminal EL2124 connects the binary control signals of the automation device in an
electrically isolated manner to the actuators at the process level and generates load currents with outputs
that are protected against overload and short-circuit. The EtherCAT Terminal contains four channels whose
signal state is indicated by LEDs.

CAUTION

Watchdog settings

Please refer to section "Notes for setting the watchdog [}62]".

EL20xx, EL212458 Version: 5.2

Product overview, digital output terminals

2.7.1 EL2124 - Technical data

Technical data EL2124

Number of outputs 4

Load type ohmic, inductive, lamp load

Nominal output voltage 5VDC (CMOS output)

Switching times TON: < 1µs typ.; T

Output current max. per channel ±20mA (short-circuit-proof) per channel, 8mA signal current, type

Supply voltage for electronic via the E-Bus

Current consumption via E-bus typ. 130mA

Current consumption from load voltage (power contacts) typ. 12mA + load

Electrical isolation 500V (E-bus/field voltage)

Bit width in the process image 4 output bits

Configuration no address setting, configuration via TwinCAT System Manager

Weight approx. 70g

Permissible ambient temperature range during operation 0°C ... + 55°C

Permissible ambient temperature range during storage -25°C ... + 85°C

Permissible relative humidity 95%, no condensation

Dimensions (W x H x D) approx. 15mm x 100mm x 70mm (width aligned: 12mm)

Mounting [}72]

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

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

Protection class IP 20

Installation position variable

Approval CE

CMOS output

on 35mm mounting rail conforms to EN 60715

see also Installation instructions for terminals with increased me-

chanical load capacity [}74]

cULus [}150]
ATEX [}81]

: < 1µs typ.

OFF

EL20xx, EL2124 59Version: 5.2

Product overview, digital output terminals

2.7.2 EL2124 - LEDs and connection

Fig.41: EL2124

LEDs

LED Color Meaning

OUTPUT 1- 4 green off No output signal

on 5 VDC output signal at the respective output

EL2124 - Connection

NOTE

5 V DC at the power contacts

During configuration of the Bus Terminal block, please note that the power contacts of the EL2124 carry a
voltage of 5 VDC (provided e.g. by an EL9505 power supply terminal).
If 24V terminals are to operate in the terminal block simultaneously, measures must be implemented for
electrical isolation (e.g. through the EL9190 power feed terminal or the EL9080 separation terminal).

Terminal point Description

Name No.

Output 1 1 Output 1

+5V 2 +5V (internally connected to terminal point6 and positive power contact)

0V 3 0V (internally connected to terminal point 7 and negative power contact)

Output 3 4 Output 3

Output 2 5 Output 2

+5V 6 +5V (internally connected to terminal point2 and positive power contact)

0V 7 0V (internally connected to terminal point 3 and negative power contact)

Output 4 8 Output 4

EL20xx, EL212460 Version: 5.2

Basics communication

3 Basics communication

3.1 EtherCAT basics

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

3.2 EtherCAT cabling – wire-bound

The cable length between two EtherCAT devices must not exceed 100 m. This results from the FastEthernet
technology, which, above all for reasons of signal attenuation over the length of the cable, allows a maximum

link length of 5 + 90 + 5 m if cables with appropriate properties are used. See also the Design
recommendations for the infrastructure for EtherCAT/Ethernet.

Cables and connectors

For connecting EtherCAT devices only Ethernet connections (cables + plugs) that meet the requirements of
at least category 5 (CAt5) according to EN 50173 or ISO/IEC 11801 should be used. EtherCAT uses 4 wires
for signal transfer.

EtherCAT uses RJ45 plug connectors, for example. The pin assignment is compatible with the Ethernet
standard (ISO/IEC 8802-3).

Pin Color of conductor Signal Description

1 yellow TD + Transmission Data +

2 orange TD - Transmission Data -

3 white RD + Receiver Data +

6 blue RD - Receiver Data -

Due to automatic cable detection (auto-crossing) symmetric (1:1) or cross-over cables can be used between
EtherCAT devices from Beckhoff.

Recommended cables

Suitable cables for the connection of EtherCAT devices can be found on the Beckhoff website!

E-Bus supply

A bus coupler can supply the EL terminals added to it with the E-bus system voltage of 5V; a coupler is
thereby loadable up to 2A as a rule (see details in respective device documentation).
Information on how much current each EL terminal requires from the E-bus supply is available online and in
the catalogue. If the added terminals require more current than the coupler can supply, then power feed

terminals (e.g. EL9410) must be inserted at appropriate places in the terminal strand.

The pre-calculated theoretical maximum E-Bus current is displayed in the TwinCAT System Manager. A
shortfall is marked by a negative total amount and an exclamation mark; a power feed terminal is to be
placed before such a position.

EL20xx, EL2124 61Version: 5.2

Basics communication

Fig.42: 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.

EL20xx, EL212462 Version: 5.2

Basics communication

Fig.43: 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.

EL20xx, EL2124 63Version: 5.2

Basics communication

Example "Set SM watchdog"

This checkbox enables manual setting of the watchdog times. If the outputs are set and the EtherCAT
communication is interrupted, the SM watchdog is triggered after the set time and the outputs are erased.
This setting can be used for adapting a terminal to a slower EtherCAT master or long cycle times. The
default SM watchdog setting is 100 ms. The setting range is 0..65535. Together with a multiplier with a range
of 1..65535 this covers a watchdog period between 0..~170 seconds.

Calculation

Multiplier = 2498 → watchdog base time = 1 / 25MHz * (2498 + 2) = 0.0001seconds = 100µs
SM watchdog = 10000 → 10000 * 100µs = 1second watchdog monitoring time

CAUTION

Undefined state possible!

The function for switching off of the SM watchdog via SM watchdog = 0 is only implemented in terminals
from version -0016. In previous versions this operating mode should not be used.

CAUTION

Damage of devices and undefined state possible!

If the SM watchdog is activated and a value of 0 is entered the watchdog switches off completely. This is
the deactivation of the watchdog! Set outputs are NOT set in a safe state, if the communication is inter­rupted.

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.

EL20xx, EL212464 Version: 5.2

Fig.44: States of the EtherCAT State Machine

Basics communication

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 [}62] 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.

EL20xx, EL2124 65Version: 5.2

Basics communication

Boot

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

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

EL20xx, EL212466 Version: 5.2

Basics 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

• SubIndex: 0x00…0xFF (0...255

dez

)

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:

EL20xx, EL2124 67Version: 5.2

Basics communication

Fig.45: "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.

EL20xx, EL212468 Version: 5.2

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.

Basics communication

Fig.46: 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.

EL20xx, EL2124 69Version: 5.2

Basics communication

Fig.47: 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.48: Online list

EL20xx, EL212470 Version: 5.2

Basics communication

Channel-based order

The CoE list is available in EtherCAT devices that usually feature several functionally equivalent channels.
For example, a 4-channel analog 0..10 V input terminal also has 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

steps. The parameter range

hex

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.

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.

EL20xx, EL2124 71Version: 5.2

Mounting and wiring

4 Mounting and wiring

4.1 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!

Assembly

Fig.49: Attaching on mounting rail

The bus coupler and bus terminals are attached to commercially available 35mm mounting rails (DIN rails
according to EN60715) by applying slight pressure:

1. First attach the fieldbus coupler to the mounting rail.

2. The bus terminals are now attached on the right-hand side of the fieldbus coupler. Join the 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 7.5mm under the terminals
and couplers, you should use flat mounting connections (e.g. countersunk screws or blind rivets).

EL20xx, EL212472 Version: 5.2

Mounting and wiring

Disassembly

Fig.50: Disassembling of terminal

Each terminal is secured by a lock on the mounting rail, which must be released for disassembly:

1. Pull the terminal by its orange-colored lugs approximately 1cm away from the mounting rail. In doing
so for this terminal the mounting rail lock is released automatically and you can pull the terminal out of
the bus terminal block easily without excessive force.

2. Grasp the released terminal with thumb and index finger simultaneous at the upper and lower grooved
housing surfaces and pull the terminal out of the bus terminal block.

Connections within a bus terminal block

The electric connections between the Bus Coupler and the Bus Terminals are automatically realized by
joining the components:

• The six spring contacts of the K-Bus/E-Bus deal with the transfer of the data and the supply of the Bus
Terminal electronics.

• The power contacts deal with the supply for the field electronics and thus represent a supply rail within
the bus terminal block. The power contacts are supplied via terminals on the Bus Coupler (up to 24V)
or for higher voltages via power feed terminals.

Power Contacts

During the design of a bus terminal block, the pin assignment of the individual Bus Terminals must
be taken account of, since some types (e.g. analog Bus Terminals or digital 4-channel Bus Termi­nals) do not or not fully loop through the power contacts. Power Feed Terminals (KL91xx, KL92xx
or EL91xx, EL92xx) interrupt the power contacts and thus represent the start of a new supply rail.

PE power contact

The power contact labeled PE can be used as a protective earth. For safety reasons this contact mates first
when plugging together, and can ground short-circuit currents of up to 125A.

EL20xx, EL2124 73Version: 5.2

Mounting and wiring

Fig.51: Power contact on left side

NOTE

Possible damage of the device

Note that, for reasons of electromagnetic compatibility, the PE contacts are capacitatively coupled to the
mounting rail. This may lead to incorrect results during insulation testing or to damage on the terminal (e.g.
disruptive discharge to the PE line during insulation testing of a consumer with a nominal voltage of 230V).
For insulation testing, disconnect the PE supply line at the Bus Coupler or the Power Feed Terminal! In or­der to decouple further feed points for testing, these Power Feed Terminals can be released and pulled at
least 10mm from the group of terminals.

WARNING

Risk of electric shock!

The PE power contact must not be used for other potentials!

4.2 Installation instructions for enhanced mechanical load capacity

WARNING

Risk of injury through electric shock and damage to the device!

Bring the Bus Terminal system into a safe, de-energized state before starting mounting, disassembly or
wiring of the Bus Terminals!

Additional checks

The terminals have undergone the following additional tests:

Verification Explanation

Vibration 10 frequency runs in 3 axes

6 Hz < f < 60 Hz displacement 0.35 mm, constant amplitude

60.1Hz<f<500Hz acceleration 5g, constant amplitude

Shocks 1000 shocks in each direction, in 3 axes

25 g, 6 ms

EL20xx, EL212474 Version: 5.2

Mounting and wiring

Additional installation instructions

For terminals with enhanced mechanical load capacity, the following additional installation instructions apply:

• The enhanced mechanical load capacity is valid for all permissible installation positions

• Use a mounting rail according to EN 60715 TH35-15

• Fix the terminal segment on both sides of the mounting rail with a mechanical fixture, e.g. an earth
terminal or reinforced end clamp

• The maximum total extension of the terminal segment (without coupler) is:
64 terminals (12 mm mounting with) or 32 terminals (24 mm mounting with)

• Avoid deformation, twisting, crushing and bending of the mounting rail during edging and installation of
the rail

• The mounting points of the mounting rail must be set at 5 cm intervals

• Use countersunk head screws to fasten the mounting rail

• The free length between the strain relief and the wire connection should be kept as short as possible. A
distance of approx. 10 cm should be maintained to the cable duct.

4.3 Connection

4.3.1 Connection system

WARNING

Risk of electric shock and damage of device!

Bring the bus terminal system into a safe, powered down state before starting installation, disassembly or
wiring of the bus terminals!

Overview

The Bus Terminal system offers different connection options for optimum adaptation to the respective
application:

• The terminals of ELxxxx and KLxxxx series with standard wiring include electronics and connection
level in a single enclosure.

• The terminals of ESxxxx and KSxxxx series feature a pluggable connection level and enable steady
wiring while replacing.

• The High Density Terminals (HD Terminals) include electronics and connection level in a single
enclosure and have advanced packaging density.

Standard wiring (ELxxxx / KLxxxx)

Fig.52: Standard wiring

The terminals of ELxxxx and KLxxxx series have been tried and tested for years.
They feature integrated screwless spring force technology for fast and simple assembly.

EL20xx, EL2124 75Version: 5.2

Mounting and wiring

Pluggable wiring (ESxxxx / KSxxxx)

Fig.53: Pluggable wiring

The terminals of ESxxxx and KSxxxx series feature a pluggable connection level.
The assembly and wiring procedure is the same as for the ELxxxx and KLxxxx series.
The pluggable connection level enables the complete wiring to be removed as a plug connector from the top
of the housing for servicing.
The lower section can be removed from the terminal block by pulling the unlocking tab.
Insert the new component and plug in the connector with the wiring. This reduces the installation time and
eliminates the risk of wires being mixed up.

The familiar dimensions of the terminal only had to be changed slightly. The new connector adds about 3
mm. The maximum height of the terminal remains unchanged.

A tab for strain relief of the cable simplifies assembly in many applications and prevents tangling of individual
connection wires when the connector is removed.

Conductor cross sections between 0.08mm2 and 2.5mm2 can continue to be used with the proven spring
force technology.

The overview and nomenclature of the product names for ESxxxx and KSxxxx series has been retained as
known from ELxxxx and KLxxxx series.

High Density Terminals (HD Terminals)

Fig.54: High Density Terminals

The Bus Terminals from these series with 16 terminal points are distinguished by a particularly compact
design, as the packaging density is twice as large as that of the standard 12mm Bus Terminals. Massive
conductors and conductors with a wire end sleeve can be inserted directly into the spring loaded terminal
point without tools.

Wiring HD Terminals

The High Density (HD) Terminals of the ELx8xx and KLx8xx series doesn't support pluggable
wiring.

Ultrasonically "bonded" (ultrasonically welded) conductors

Ultrasonically “bonded" conductors

It is also possible to connect the Standard and High Density Terminals with ultrasonically
"bonded" (ultrasonically welded) conductors. In this case, please note the tables concerning the
wire-size width below!

EL20xx, EL212476 Version: 5.2

Mounting and wiring

4.3.2 Wiring

WARNING

Risk of electric shock and damage of device!

Bring the bus terminal system into a safe, powered down state before starting installation, disassembly or
wiring of the Bus Terminals!

Terminals for standard wiring ELxxxx/KLxxxx and for pluggable wiring ESxxxx/KSxxxx

Fig.55: Connecting a cable on a terminal point

Up to eight terminal points enable the connection of solid or finely stranded cables to the Bus Terminal. The
terminal points are implemented in spring force technology. Connect the cables as follows:

1. Open a terminal point by pushing a screwdriver straight against the stop into the square opening
above the terminal point. Do not turn the screwdriver or move it alternately (don't toggle).

2. The wire can now be inserted into the round terminal opening without any force.

3. The terminal point closes automatically when the pressure is released, holding the wire securely and
permanently.

See the following table for the suitable wire size width.

Terminal housing ELxxxx, KLxxxx ESxxxx, KSxxxx

Wire size width (single core wires) 0.08 ... 2.5mm

Wire size width (fine-wire conductors) 0.08 ... 2.5mm

Wire size width (conductors with a wire end sleeve) 0.14 ... 1.5mm

2

2

2

0.08 ... 2.5mm

0,08 ... 2.5mm

0.14 ... 1.5mm

2

2

2

Wire stripping length 8 ... 9mm 9 ... 10mm

High Density Terminals (HD Terminals [}76]) with 16 terminal points

The conductors of the HD Terminals are connected without tools for single-wire conductors using the direct
plug-in technique, i.e. after stripping the wire is simply plugged into the terminal point. The cables are
released, as usual, using the contact release with the aid of a screwdriver. See the following table for the
suitable wire size width.

EL20xx, EL2124 77Version: 5.2

Mounting and wiring

Terminal housing High Density Housing

Wire size width (single core wires) 0.08 ... 1.5mm

Wire size width (fine-wire conductors) 0.25 ... 1.5mm

Wire size width (conductors with a wire end sleeve) 0.14 ... 0.75mm

Wire size width (ultrasonically “bonded" conductors) only 1.5mm

2

2

2

2

Wire stripping length 8 ... 9mm

4.3.3 Shielding

Shielding

Encoder, analog sensors and actors should always be connected with shielded, twisted paired
wires.

4.4 Installation positions

NOTE

Constraints regarding installation position and operating temperature range

Please refer to the technical data for a terminal to ascertain whether any restrictions regarding the installa­tion position and/or the operating temperature range have been specified. When installing high power dissi­pation terminals ensure that an adequate spacing is maintained between other components above and be­low the terminal in order to guarantee adequate ventilation!

Optimum installation position (standard)

The optimum installation position requires the mounting rail to be installed horizontally and the connection
surfaces of the EL/KL terminals to face forward (see Fig. “Recommended distances for standard installation
position”). The terminals are ventilated from below, which enables optimum cooling of the electronics through
convection. "From below" is relative to the acceleration of gravity.

EL20xx, EL212478 Version: 5.2

Mounting and wiring

Fig.56: Recommended distances for standard installation position

Compliance with the distances shown in Fig. “Recommended distances for standard installation position” is
recommended.

Other installation positions

All other installation positions are characterized by different spatial arrangement of the mounting rail - see
Fig “Other installation positions”.

The minimum distances to ambient specified above also apply to these installation positions.

EL20xx, EL2124 79Version: 5.2

Mounting and wiring

Fig.57: Other installation positions

4.5 Positioning of passive Terminals

Hint for positioning of passive terminals in the bus terminal block

EtherCAT Terminals (ELxxxx / ESxxxx), which do not take an active part in data transfer within the
bus terminal block are so called passive terminals. The passive terminals have no current consump­tion out of the E-Bus.
To ensure an optimal data transfer, you must not directly string together more than 2 passive termi­nals!

Examples for positioning of passive terminals (highlighted)

Fig.58: Correct positioning

EL20xx, EL212480 Version: 5.2

Mounting and wiring

Fig.59: Incorrect positioning

4.6 ATEX - Special conditions (standard temperature range)

WARNING

Observe the special conditions for the intended use of Beckhoff fieldbus components with
standard temperature range in potentially explosive areas (directive 94/9/EU)!

• The certified components are to be installed in a suitable housing that guarantees a protection class of at
least IP54 in accordance with EN 60529! The environmental conditions during use are thereby to be
taken into account!

• If the temperatures during rated operation are higher than 70°C at the feed-in points of cables, lines or
pipes, or higher than 80°C at the wire branching points, then cables must be selected whose tempera­ture data correspond to the actual measured temperature values!

• Observe the permissible ambient temperature range of 0 to 55°C for the use of Beckhoff fieldbus compo­nents standard temperature range in potentially explosive areas!

• Measures must be taken to protect against the rated operating voltage being exceeded by more than
40% due to short-term interference voltages!

• The individual terminals may only be unplugged or removed from the Bus Terminal system if the supply
voltage has been switched off or if a non-explosive atmosphere is ensured!

• The connections of the certified components may only be connected or disconnected if the supply volt­age has been switched off or if a non-explosive atmosphere is ensured!

• The fuses of the KL92xx/EL92xx power feed terminals may only be exchanged if the supply voltage has
been switched off or if a non-explosive atmosphere is ensured!

• Address selectors and ID switches may only be adjusted if the supply voltage has been switched off or if
a non-explosive atmosphere is ensured!

Standards

The fundamental health and safety requirements are fulfilled by compliance with the following standards:

• EN 60079-0:2012+A11:2013

• EN 60079-15:2010

Marking

The Beckhoff fieldbus components with standard temperature range certified for potentially explosive areas
bear one of the following markings:

EL20xx, EL2124 81Version: 5.2

Mounting and wiring

II 3GKEMA 10ATEX0075 X Ex nA IIC T4 GcTa: 0…55°C

or

II 3GKEMA 10ATEX0075 X Ex nC IIC T4 GcTa: 0…55°C

4.7 ATEX - Special conditions (extended temperature range)

WARNING

Observe the special conditions for the intended use of Beckhoff fieldbus components with
extended temperature range (ET) in potentially explosive areas (directive 94/9/EU)!

• The certified components are to be installed in a suitable housing that guarantees a protection class of at
least IP54 in accordance with EN 60529! The environmental conditions during use are thereby to be
taken into account!

• If the temperatures during rated operation are higher than 70°C at the feed-in points of cables, lines or
pipes, or higher than 80°C at the wire branching points, then cables must be selected whose tempera­ture data correspond to the actual measured temperature values!

• Observe the permissible ambient temperature range of -25 to 60°C for the use of Beckhoff fieldbus com­ponents with extended temperature range (ET) in potentially explosive areas!

• Measures must be taken to protect against the rated operating voltage being exceeded by more than
40% due to short-term interference voltages!

• The individual terminals may only be unplugged or removed from the Bus Terminal system if the supply
voltage has been switched off or if a non-explosive atmosphere is ensured!

• The connections of the certified components may only be connected or disconnected if the supply volt­age has been switched off or if a non-explosive atmosphere is ensured!

• The fuses of the KL92xx/EL92xx power feed terminals may only be exchanged if the supply voltage has
been switched off or if a non-explosive atmosphere is ensured!

• Address selectors and ID switches may only be adjusted if the supply voltage has been switched off or if
a non-explosive atmosphere is ensured!

Standards

The fundamental health and safety requirements are fulfilled by compliance with the following standards:

• EN 60079-0:2012+A11:2013

• EN 60079-15:2010

Marking

The Beckhoff fieldbus components with extended temperature range (ET) certified for potentially explosive
areas bear the following marking:

II 3GKEMA 10ATEX0075 X Ex nA IIC T4 GcTa: -25…60°C

or

EL20xx, EL212482 Version: 5.2

II 3GKEMA 10ATEX0075 X Ex nC IIC T4 GcTa: -25…60°C

4.8 ATEX Documentation

Notes about operation of the Beckhoff terminal systems in potentially explosive ar­eas (ATEX)

Pay also attention to the continuative documentation

Notes about operation of the Beckhoff terminal systems in potentially explosive areas (ATEX)

that is available in the download area of the Beckhoff homepage http:\\www.beckhoff.com!

Mounting and wiring

EL20xx, EL2124 83Version: 5.2

Commissioning

5 Commissioning

5.1 TwinCAT Quick Start

TwinCAT is a development environment for real-time control including multi-PLC system, NC axis control,
programming and operation. The whole system is mapped through this environment and enables access to a
programming environment (including compilation) for the controller. Individual digital or analog inputs or
outputs can also be read or written directly, in order to verify their functionality, for example.

For further information please refer to http://infosys.beckhoff.com:

• EtherCAT Systemmanual:

Fieldbus Components → EtherCAT Terminals → EtherCAT System Documentation → Setup in the
TwinCAT System Manager

• TwinCAT2 → TwinCAT System Manager → I/O - Configuration

• In particular, TwinCAT driver installation:

Fieldbus components → Fieldbus Cards and Switches → FC900x – PCI Cards for Ethernet →
Installation

Devices contain the terminals for the actual configuration. All configuration data can be entered directly via
editor functions (offline) or via the "Scan" function (online):

• "offline": The configuration can be customized by adding and positioning individual components.

These can be selected from a directory and configured.

◦ The procedure for offline mode can be found under http://infosys.beckhoff.com:

TwinCAT2 → TwinCAT System Manager → IO - Configuration → Adding an I/O Device

• "online": The existing hardware configuration is read

◦ See also http://infosys.beckhoff.com:

Fieldbus components → Fieldbus cards and switches → FC900x – PCI Cards for Ethernet →
Installation → Searching for devices

The following relationship is envisaged from user PC to the individual control elements:

EL20xx, EL212484 Version: 5.2

Commissioning

Fig.60: Relationship between user side (commissioning) and installation

The user inserting of certain components (I/O device, terminal, box...) is the same in TwinCAT2 and
TwinCAT3. The descriptions below relate to the online procedure.

Sample configuration (actual configuration)

Based on the following sample configuration, the subsequent subsections describe the procedure for
TwinCAT2 and TwinCAT3:

• Control system (PLC) CX2040 including CX2100-0004 power supply unit

• Connected to the CX2040 on the right (E-bus):

EL1004 (4-channel digital input terminal 24 V DC)

• Linked via the X001 port (RJ-45): EK1100 EtherCAT Coupler

• Connected to the EK1100 EtherCAT coupler on the right (E-bus):

EL2008 (8-channel digital output terminal 24VDC;0.5A)

• (Optional via X000: a link to an external PC for the user interface)

EL20xx, EL2124 85Version: 5.2

Commissioning

Fig.61: Control configuration with Embedded PC, input (EL1004) and output (EL2008)

Note that all combinations of a configuration are possible; for example, the EL1004 terminal could also be
connected after the coupler, or the EL2008 terminal could additionally be connected to the CX2040 on the
right, in which case the EK1100 coupler wouldn’t be necessary.

EL20xx, EL212486 Version: 5.2

Commissioning

5.1.1 TwinCAT2

Startup

TwinCAT basically uses two user interfaces: the TwinCAT System Manager for communication with the
electromechanical components and TwinCAT PLC Control for the development and compilation of a
controller. The starting point is the TwinCAT System Manager.

After successful installation of the TwinCAT system on the PC to be used for development, the TwinCAT2
System Manager displays the following user interface after startup:

Fig.62: Initial TwinCAT2 user interface

Generally, TwinCAT can be used in local or remote mode. Once the TwinCAT system including the user
interface (standard) is installed on the respective PLC, TwinCAT can be used in local mode and thereby the

next step is "Insert Device [}89]".

If the intention is to address the TwinCAT runtime environment installed on a PLC as development
environment remotely from another system, the target system must be made known first. In the menu under

"Actions" → "Choose Target System...", via the symbol " " or the "F8" key, open the following window:

EL20xx, EL2124 87Version: 5.2

Commissioning

Fig.63: Selection of the target system

Use "Search (Ethernet)..." to enter the target system. Thus a next dialog opens to either:

• enter the known computer name after "Enter Host Name / IP:" (as shown in red)

• perform a "Broadcast Search" (if the exact computer name is not known)

• enter the known computer IP or AmsNetID.

Fig.64: Specify the PLC for access by the TwinCAT System Manager: selection of the target system

Once the target system has been entered, it is available for selection as follows (a password may have to be
entered):

After confirmation with "OK" the target system can be accessed via the System Manager.

EL20xx, EL212488 Version: 5.2

Commissioning

Adding devices

In the configuration tree of the TwinCAT2 System Manager user interface on the left, select "I/ODevices”
and then right-click to open a context menu and select "ScanDevices…", or start the action in the menu bar

via . The TwinCAT System Manager may first have to be set to "Configmode" via or via menu
“Actions" → "Set/Reset TwinCAT to Config Mode…" (Shift + F4).

Fig.65: Select "Scan Devices..."

Confirm the warning message, which follows, and select "EtherCAT" in the dialog:

Fig.66: Automatic detection of I/O devices: selection the devices to be integrated

Confirm the message "Find new boxes", in order to determine the terminals connected to the devices. "Free
Run" enables manipulation of input and output values in "Config mode" and should also be acknowledged.

Based on the sample configuration [}85] described at the beginning of this section, the result is as follows:

EL20xx, EL2124 89Version: 5.2

Commissioning

Fig.67: Mapping of the configuration in the TwinCAT2 System Manager

The whole process consists of two stages, which may be performed separately (first determine the devices,
then determine the connected elements such as boxes, terminals, etc.). A scan can also be initiated by
selecting "Device ..." from the context menu, which then reads the elements present in the configuration
below:

Fig.68: Reading of individual terminals connected to a device

This functionality is useful if the actual configuration is modified at short notice.

Programming and integrating the PLC

TwinCAT PLC Control is the development environment for the creation of the controller in different program
environments: TwinCAT PLC Control supports all languages described in IEC 61131-3. There are two text­based languages and three graphical languages.

• Text-based languages

◦ Instruction List (IL)

EL20xx, EL212490 Version: 5.2

◦ Structured Text (ST)

• Graphical languages

◦ Function Block Diagram (FBD)

◦ Ladder Diagram (LD)

◦ The Continuous Function Chart Editor (CFC)

◦ Sequential Function Chart (SFC)

The following section refers to Structured Text (ST).

After starting TwinCAT PLC Control, the following user interface is shown for an initial project:

Commissioning

Fig.69: TwinCAT PLC Control after startup

Sample variables and a sample program have been created and stored under the name "PLC_example.pro":

EL20xx, EL2124 91Version: 5.2

Commissioning

Fig.70: Sample program with variables after a compile process (without variable integration)

Warning 1990 (missing "VAR_CONFIG") after a compile process indicates that the variables defined as
external (with the ID "AT%I*" or "AT%Q*") have not been assigned. After successful compilation, TwinCAT
PLC Control creates a "*.tpy" file in the directory in which the project was stored. This file (*.tpy) contains
variable assignments and is not known to the System Manager, hence the warning. Once the System
Manager has been notified, the warning no longer appears.

First, integrate the TwinCAT PLC Control project in the System Manager via the context menu of the PLC
configuration; right-click and select "Append PLC Project…":

Fig.71: Appending the TwinCAT PLC Control project

EL20xx, EL212492 Version: 5.2

Commissioning

Select the PLC configuration "PLC_example.tpy" in the browser window that opens. The project including the
two variables identified with "AT" are then integrated in the configuration tree of the System Manager:

Fig.72: PLC project integrated in the PLC configuration of the System Manager

The two variables "bEL1004_Ch4" and "nEL2008_value" can now be assigned to certain process objects of
the I/O configuration.

Assigning variables

Open a window for selecting a suitable process object (PDO) via the context menu of a variable of the
integrated project "PLC_example" and via "Modify Link..." "Standard":

Fig.73: Creating the links between PLC variables and process objects

In the window that opens, the process object for the variable “bEL1004_Ch4” of type BOOL can be selected
from the PLC configuration tree:

EL20xx, EL2124 93Version: 5.2

Commissioning

Fig.74: Selecting PDO of type BOOL

According to the default setting, certain PDO objects are now available for selection. In this sample the input
of channel 4 of the EL1004 terminal is selected for linking. In contrast, the checkbox "All types" must be
ticked for creating the link for the output variables, in order to allocate a set of eight separate output bits to a
byte variable. The following diagram shows the whole process:

Fig.75: Selecting several PDOs simultaneously: activate "Continuous" and "All types"

Note that the "Continuous" checkbox was also activated. This is designed to allocate the bits contained in the
byte of the variable "nEL2008_value" sequentially to all eight selected output bits of the EL2008 terminal. In
this way it is possible to subsequently address all eight outputs of the terminal in the program with a byte

corresponding to bit 0 for channel 1 to bit 7 for channel 8 of the PLC. A special symbol ( ) at the yellow or
red object of the variable indicates that a link exists. The links can also be checked by selecting a "Goto Link
Variable” from the context menu of a variable. The object opposite, in this case the PDO, is automatically
selected:

EL20xx, EL212494 Version: 5.2

Commissioning

Fig.76: Application of a "Goto Link" variable, using "MAIN.bEL1004_Ch4" as a sample

The process of assigning variables to the PDO is completed via the menu selection "Actions" → "Generate

Mappings”, key Ctrl+M or by clicking on the symbol in the menu.

This can be visualized in the configuration:

The process of creating links can also take place in the opposite direction, i.e. starting with individual PDOs
to variable. However, in this example it would then not be possible to select all output bits for the EL2008,
since the terminal only makes individual digital outputs available. If a terminal has a byte, word, integer or
similar PDO, it is possible to allocate this a set of bit-standardised variables (type "BOOL"). Here, too, a
"Goto Link Variable” from the context menu of a PDO can be executed in the other direction, so that the
respective PLC instance can then be selected.

Activation of the configuration

The allocation of PDO to PLC variables has now established the connection from the controller to the inputs
and outputs of the terminals. The configuration can now be activated. First, the configuration can be verified

via (or via "Actions" → "Check Configuration”). If no error is present, the configuration can be

activated via (or via "Actions" → "Activate Configuration…") to transfer the System Manager settings
to the runtime system. Confirm the messages "Old configurations are overwritten!" and "Restart TwinCAT
system in Run mode" with "OK".

A few seconds later the real-time status is displayed at the bottom right in the System Manager.
The PLC system can then be started as described below.

Starting the controller

Starting from a remote system, the PLC control has to be linked with the Embedded PC over Ethernet via
"Online" → “Choose Run-Time System…":

EL20xx, EL2124 95Version: 5.2

Commissioning

Fig.77: Choose target system (remote)

In this sample "Runtime system 1 (port 801)" is selected and confirmed. Link the PLC with the real-time

system via menu option "Online" → "Login", the F11 key or by clicking on the symbol .The control
program can then be loaded for execution. This results in the message "No program on the controller!
Should the new program be loaded?", which should be acknowledged with "Yes". The runtime environment
is ready for the program start:

EL20xx, EL212496 Version: 5.2

Commissioning

Fig.78: PLC Control logged in, ready for program startup

The PLC can now be started via "Online" → "Run", F5 key or .

5.1.2 TwinCAT 3

Startup

TwinCAT makes the development environment areas available together with Microsoft Visual Studio: after
startup, the project folder explorer appears on the left in the general window area (cf. "TwinCAT System
Manager" of TwinCAT2) for communication with the electromechanical components.

After successful installation of the TwinCAT system on the PC to be used for development, TwinCAT3
(shell) displays the following user interface after startup:

EL20xx, EL2124 97Version: 5.2

Commissioning

Fig.79: Initial TwinCAT3 user interface

First create a new project via (or under "File"→“New"→ "Project…"). In the
following dialog make the corresponding entries as required (as shown in the diagram):

Fig.80: Create new TwinCAT project

The new project is then available in the project folder explorer:

EL20xx, EL212498 Version: 5.2

Commissioning

Fig.81: New TwinCAT3 project in the project folder explorer

Generally, TwinCAT can be used in local or remote mode. Once the TwinCAT system including the user
interface (standard) is installed on the respective PLC, TwinCAT can be used in local mode and thereby the

next step is "Insert Device [}100]".

If the intention is to address the TwinCAT runtime environment installed on a PLC as development
environment remotely from another system, the target system must be made known first. Via the symbol in
the menu bar:

expand the pull-down menu:

and open the following window:

Fig.82: Selection dialog: Choose the target system

EL20xx, EL2124 99Version: 5.2

Commissioning

Use "Search (Ethernet)..." to enter the target system. Thus a next dialog opens to either:

• enter the known computer name after "Enter Host Name / IP:" (as shown in red)

• perform a "Broadcast Search" (if the exact computer name is not known)

• enter the known computer IP or AmsNetID.

Fig.83: Specify the PLC for access by the TwinCAT System Manager: selection of the target system

Once the target system has been entered, it is available for selection as follows (a password may have to be
entered):

After confirmation with "OK" the target system can be accessed via the Visual Studio shell.

Adding devices

In the project folder explorer of the Visual Studio shell user interface on the left, select "Devices" within

element “I/O”, then right-click to open a context menu and select "Scan" or start the action via in the

menu bar. The TwinCAT System Manager may first have to be set to "Config mode" via or via the
menu "TwinCAT" → "Restart TwinCAT (Config mode)".

Fig.84: Select "Scan"

Confirm the warning message, which follows, and select "EtherCAT" in the dialog:

EL20xx, EL2124100 Version: 5.2