Beckhoff EL3101, EL3104, EL3102, EL3112, EL3112-0011 Documentation

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EL31xx-00xx

Analog Input Terminals (16 Bit)

5.9 2018-08-28

Version: Date:

Table of contents

EL31xx-00xx 3Version: 5.9

Table of contents

1 Foreword ....................................................................................................................................................7

1.1 Product overview Analog Input Terminals .........................................................................................7

1.2 Notes on the documentation..............................................................................................................8

1.3 Safety instructions .............................................................................................................................9

1.4 Documentation issue status ............................................................................................................10

1.5 Version identification of EtherCAT devices .....................................................................................11

2 Product overview.....................................................................................................................................16

2.1 EL310x ............................................................................................................................................16

2.1.1 EL310x - Introduction....................................................................................................... 16

2.1.2 EL310x - Technical data .................................................................................................. 17

2.2 EL311x ............................................................................................................................................18

2.2.1 EL311x - Introduction....................................................................................................... 18

2.2.2 EL311x - Technical data .................................................................................................. 19

2.3 EL312x ............................................................................................................................................20

2.3.1 EL312x - Introduction....................................................................................................... 20

2.3.2 EL312x - Technical data .................................................................................................. 21

2.4 EL314x ............................................................................................................................................22

2.4.1 EL314x - Introduction....................................................................................................... 22

2.4.2 EL314x - Technical data .................................................................................................. 23

2.5 EL315x ............................................................................................................................................24

2.5.1 EL315x - Introduction....................................................................................................... 24

2.5.2 EL315x - Technical data .................................................................................................. 25

2.6 EL316x ............................................................................................................................................26

2.6.1 EL316x - Introduction....................................................................................................... 26

2.6.2 EL316x - Technical data .................................................................................................. 27

2.7 EL3174, EL3174-00xx .....................................................................................................................28

2.7.1 EL3174, EL3174-00xx - Introduction ............................................................................... 28

2.7.2 EL3174, EL3174-0090 - Technical data .......................................................................... 30

2.7.3 EL3174-0002, EL3174-0032 - Technical data ................................................................. 31

2.8 Start .................................................................................................................................................32

3 Basics communication ...........................................................................................................................33

3.1 EtherCAT basics..............................................................................................................................33

3.2 EtherCAT cabling – wire-bound.......................................................................................................33

3.3 General notes for setting the watchdog...........................................................................................34

3.4 EtherCAT State Machine.................................................................................................................36

3.5 CoE Interface...................................................................................................................................38

3.6 Distributed Clock .............................................................................................................................42

4 Mounting and wiring................................................................................................................................43

4.1 Instructions for ESD protection........................................................................................................43

4.2 Installation on mounting rails ...........................................................................................................43

4.3 Installation instructions for enhanced mechanical load capacity .....................................................47

4.4 Connection system ..........................................................................................................................47

4.5 Installation positions ........................................................................................................................50

Table of contents

EL31xx-00xx4 Version: 5.9

4.6 Positioning of passive Terminals .....................................................................................................53

4.7 ATEX - Special conditions (standard temperature range) ...............................................................54

4.8 ATEX - Special conditions (extended temperature range) ..............................................................55

4.9 ATEX Documentation ......................................................................................................................56

4.10 UL notice .........................................................................................................................................56

4.11 LEDs and connection ......................................................................................................................58

4.11.1 EL310x - LEDs and connection ....................................................................................... 58

4.11.2 EL311x - LEDs and connection ....................................................................................... 61

4.11.3 EL312x - LEDs and connection ....................................................................................... 64

4.11.4 EL314x - LEDs and connection ....................................................................................... 68

4.11.5 EL315x - LEDs and connection ....................................................................................... 71

4.11.6 EL316x - LEDs and connection ....................................................................................... 74

4.11.7 EL3174, EL3174-00xx - LEDs and connection................................................................ 77

4.12 Connection notes for 20 mA measurement .....................................................................................78

4.12.1 Configuration of 0/4..20 mA differential inputs................................................................. 78

5 Commissioning........................................................................................................................................83

5.1 NAMUR basic information ...............................................................................................................83

5.2 Notices on analog specifications .....................................................................................................84

5.2.1 Full scale value (FSV)...................................................................................................... 84

5.2.2 Measuring error/ measurement deviation ........................................................................ 84

5.2.3 Temperature coefficient tK [ppm/K] ................................................................................. 85

5.2.4 Single-ended/differential typification ................................................................................ 86

5.2.5 Common-mode voltage and reference ground (based on differential inputs).................. 91

5.2.6 Dielectric strength ............................................................................................................ 91

5.2.7 Temporal aspects of analog/digital conversion................................................................ 92

5.3 TwinCAT Quick Start .......................................................................................................................95

5.3.1 TwinCAT2 ....................................................................................................................... 97

5.3.2 TwinCAT 3 ..................................................................................................................... 107

5.4 TwinCAT Development Environment ............................................................................................119

5.4.1 Installation of the TwinCAT real-time driver................................................................... 119

5.4.2 Notes regarding ESI device description......................................................................... 125

5.4.3 TwinCAT ESI Updater ................................................................................................... 129

5.4.4 Distinction between Online and Offline.......................................................................... 129

5.4.5 OFFLINE configuration creation .................................................................................... 130

5.4.6 ONLINE configuration creation ...................................................................................... 135

5.4.7 EtherCAT subscriber configuration................................................................................ 143

5.5 General Notes - EtherCAT Slave Application................................................................................153

5.6 Process data and operation modes...............................................................................................161

5.6.1 Parameterization............................................................................................................ 161

5.6.2 Settings and operating modes ....................................................................................... 161

5.6.3 Process data.................................................................................................................. 169

5.6.4 Data stream and measurement ranges ......................................................................... 177

5.6.5 Fast mode...................................................................................................................... 184

5.7 TwinSAFE SC................................................................................................................................186

5.7.1 TwinSAFE SC operating principle ................................................................................ 186

5.7.2 TwinSAFE SC configuration .......................................................................................... 187

Table of contents

EL31xx-00xx 5Version: 5.9

5.7.3 TwinSAFE SC process data EL31x4-0090.................................................................... 191

5.8 CoE object description and parameterization................................................................................191

5.8.1 Restore object................................................................................................................ 192

5.8.2 Configuration data ......................................................................................................... 192

5.8.3 Input data....................................................................................................................... 196

5.8.4 Output data .................................................................................................................... 197

5.8.5 Standard objects............................................................................................................ 197

5.8.6 Objects TwinSAFE Single Channel (EL31x4-0090) ...................................................... 203

5.9 Error messages and diagnosis ......................................................................................................204

6 Appendix ................................................................................................................................................206

6.1 EtherCAT AL Status Codes...........................................................................................................206

6.2 Firmware compatibility...................................................................................................................206

6.3 Firmware Update EL/ES/EM/EPxxxx ............................................................................................211

6.3.1 Device description ESI file/XML..................................................................................... 212

6.3.2 Firmware explanation .................................................................................................... 215

6.3.3 Updating controller firmware *.efw................................................................................. 216

6.3.4 FPGA firmware *.rbf....................................................................................................... 217

6.3.5 Simultaneous updating of several EtherCAT devices.................................................... 221

6.4 Restoring the delivery state ...........................................................................................................222

6.5 Support and Service ......................................................................................................................223

Table of contents

EL31xx-00xx6 Version: 5.9

Foreword

EL31xx-00xx 7Version: 5.9

1 Foreword

1.1 Product overview Analog Input Terminals

EL3101, EL3102, EL3104 [}16]

1, 2 and 4 channel, -10V to +10V, differential input

EL3111, EL3112, EL3114 [}18]

1, 2 and 4 channel, 0mA to 20mA, differential input

EL3112-0011 [}18]

2 channel, -20mA to 20mA, differential input

EL3121, EL3122, EL3124 [}20]

1, 2 and 4 channel, 4mA to 20mA, differential input

EL3124-0090 [}20]

4 channel, 4mA to 20mA, differential input, TwinSAFE Single Channel

EL3141, EL3142, EL3144 [}22]

1, 2 and 4 channel, 0mA to 20mA, single ended

EL3142-0010 [}22]

2 channel, -10mA to +10mA, single ended

EL3151, EL3152, EL3154 [}24]

1, 2 and 4 channel, 4mA to 20mA, single ended

EL3161, EL3162, EL3164 [}26]

1, 2 and 4 channel, 0V to 10V, single ended

EL3174 [}28]

4 channel, -10/0…+10V, -20/0/+4…+20mA, switchable, single-ended/ differential input

EL3174-0002 [}28]

4 channel, -10/0…+10V, -20/0/+4…+20mA, switchable, differential input, electrically isolated

EL3174-0032 [}28]

4 channel, -3/0…+3V, -20/0/+4…+20mA, switchable, differential input, electrically isolated

EL3174-0090 [}28]

4 channel, -10/0…+10V, -20/0/+4…+20mA, switchable, single-ended/ differential input, TwinSAFE Single Channel

Foreword

EL31xx-00xx8 Version: 5.9

1.2 Notes on the documentation

Intended audience

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

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

Disclaimer

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

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

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

Trademarks

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

Patent Pending

The EtherCAT Technology is covered, including but not limited to the following patent applications and patents: EP1590927, EP1789857, DE102004044764, DE102007017835 with corresponding applications or registrations in various other countries.

The TwinCAT Technology is covered, including but not limited to the following patent applications and patents: EP0851348, US6167425 with corresponding applications or registrations in various other countries.

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

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

Foreword

EL31xx-00xx 9Version: 5.9

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.

Foreword

EL31xx-00xx10 Version: 5.9

1.4 Documentation issue status

Version Comment

5.9 • Update chapter "Process data and operation modes”

• Update revision status

5.8 • Addenda EL3174-0090

5.7 • Update chapter "Commissioning”

5.6 • Addenda EL3124-0090

• Addenda EL3174-0032

• Update chapter "Technical data"

• Update chapter "Commissioning”

• Update revision status

5.5 • Addenda EL3112-0011

• Update chapter "Technical data"

• Update revision status

5.4 • Update chapter "Process data and operation modes”

5.3 • Update chapter "Technical data"

• Addenda chapter "Instructions for ESD protection"

• Update chapter "Notices on Analog specification"

• Update revision status

5.2 • Update chapter "Technical data"

• Several corrections

5.1 • Addenda of EL3174 and EL3174-0002

• Update chapter "Technical data"

5.0 • Migration

• Update structure

• Update revision status

4.5 • Update chapter "Technical data"

• Addenda chapter "Installation instructions for enhanced mechanical load capacity"

• Update structure

• Update revision status

4.4 • Update chapter "Technical data"

• Update chapter "Analog specification"

• Update structure

• Update firmware status

4.3 • Update chapter "Technical data"

• Update chapter "Object description"

• Update chapter "Process data"

• Update structure

• Update firmware status

4.2 • Update chapter "Technical data"

• Update firmware status

4.1 • Update chapter "LEDs and connection"

• Update firmware status

Foreword

EL31xx-00xx 11Version: 5.9

Version Comment

4.0 • Update chapter "Configuration of 0/4..20 mA differential inputs"

• Update firmware status

3.9 • Update Technical data

• Update Fast mode description

3.8 • Update Technical data

3.7 • Update Technical data

3.6 • Update Technical data

3.5 • Update connection diagrams

3.4 • Addenda chapter "Configuration of 0/4..20 mA differential inputs"

3.3 • Update chapter "Introduction" and "LEDs and connection"

3.2 • Addenda chapter "LEDs and connection"

3.1 • Update chapter "LEDs and connection"

3.0 • Restructuring

• 1 and 4 channel terminals added

2.3 • Addenda LED information

2.2 • Technical data and safety instructions added

2.1 • Basic function principles added

2.0 • Addenda Object description, firmware/hardware versions

1.1 • EL3142-0010 description amended, technical data corrected

1.0 • Description of filter settings amended (object description)

0.1 • Provisional documentation for EL31x2

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)

3314 (4-channel thermocouple terminal)

0000 (basic type) 0016

ES3602-0010-0017 ES terminal

(12 mm, pluggable connection level)

3602 (2-channel voltage measurement)

0010 (highprecision version)

0017

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

Notes

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

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

• The order identifier is made up of

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

- type (3314)

- version (-0000)

• The revision -0016 shows the technical progress, such as the extension of features with regard to the EtherCAT communication, and is managed by Beckhoff. In principle, a device with a higher revision can replace a device with a lower revision, unless specified

Foreword

EL31xx-00xx12 Version: 5.9

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

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

Foreword

EL31xx-00xx 13Version: 5.9

Examples of markings

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

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

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

Foreword

EL31xx-00xx14 Version: 5.9

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

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

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

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

Foreword

EL31xx-00xx 15Version: 5.9

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

Product overview

EL31xx-00xx16 Version: 5.9

2 Product overview

2.1 EL310x

2.1.1 EL310x - Introduction

Fig.9: EL310x

1, 2 and 4 channel analog input terminals -10…+10V, differential inputs, 16bit

The EL310x analog input terminals measure input voltages from -10 to +10 V.

The significantly faster conversion time and support for distributed clocks enable use in time-critical applications and set them apart from the EL30xx series.

The differential inputs of the EL3101/EL3102 have the same reference ground, which is not connected to the power contacts. In the EL3104, the common reference ground is connected to the 0V power contact.

Quick-Links

• EtherCAT basics

• Mounting and wiring [}43]

• Connection diagrams [}58]

• Process data and operating modes [}161]

• Object description and parameterization [}191]

Product overview

EL31xx-00xx 17Version: 5.9

2.1.2 EL310x - Technical data

Technical data EL3101 EL3102 EL3104

analog inputs 1 (differential) 2 (differential) 4 (differential)

Signal voltage -10V...+10V

Distributed Clocks yes

yes (from rev. EL310x-0000-0017 [}206])

yes

Distributed Clocks precision << 1µs

Internal resistance >200kΩ

Input filter limit frequency 5kHz

Common mode voltage U

max. 35V (referring to internal GND) max. 35V (referring to power con-

tact)

Conversion time (without filter) approx. 40µs approx. 60µs (Fast mode: ap-

prox. 40µs)

approx. 100µs

Resolution 16bit (including sign)

Measuring error (full measuring range)

< ± 0.3% (at 0 °C ... +55 °C, relative to the full scale value) < ± 0.5% (when the extended temperature range is used)

Supply voltage for electronic via the E-bus

Current consumption via E-bus typ. 130mA typ. 170mA typ. 130mA

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

Bit width of the process image (default setting)

Inputs: 1 x 16bit; Status: 1 x 8bit

Inputs: 2 x 16bit; Status: 2 x 8bit

Inputs: 4 x 16bit; Status: 4 x 8bit

Configuration no address or configuration settings required

Weight approx. 60g approx. 65g

Permissible ambient temperature range during operation

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

Permissible ambient temperature range during storage

-40°C ... +85°C

Permissible relative humidity 95%, no condensation

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

Mounting [}43]

on 35 mm mounting rail conforms to EN 60715

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

see also Installation instructions [}47] for terminals with increased mechanical load capacity

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

Protection class IP20

Installation position variable

Approval CE

ATEX [}55] cULus [}56]

Product overview

EL31xx-00xx18 Version: 5.9

2.2 EL311x

2.2.1 EL311x - Introduction

Fig.10: EL311x

1, 2 and 4 channel analog input terminals 0…20 mA, differential inputs, 16bit

The EL311x analog input terminals measure input currents from 0 to 20 mA.

The significantly faster conversion time and support for distributed clocks enable use in time-critical applications and set them apart from the EL30xx series. Overcurrent is displayed not only in the process image, but also by an error LED for each channel.

The differential inputs of the EL3111/EL3112 have the same reference ground, which is not connected to the power contacts. The 2 channel EL3112-0011 terminal has an input current range from -20 mA to +20 mA. In the EL3114, the common reference ground is connected to the 0V power contact.

Quick-Links

• EtherCAT basics

• Mounting and wiring [}43]

• Connection diagrams [}61]

• Process data and operating modes [}161]

• Object description and parameterization [}191]

Product overview

EL31xx-00xx 19Version: 5.9

2.2.2 EL311x - Technical data

Technical data EL3111 EL3112 EL3112-0011 EL3114

analog inputs 1 (differential) 2 (differential) 4 (differential)

Signal current 0mA…20mA -20 mA…20 mA 0 mA…20 mA

Distributed Clocks yes

yes (from rev.

EL311x-0000-0017 [}206])

yes yes

Distributed Clocks precision

<< 1µs

Internal resistance 85Ω type. + diode voltage

Input filter limit frequency 5kHz

Common mode voltage U

max. 10V

Conversion time (default setting: 50 Hz filter)

approx. 40µs approx. 50µs (Fast mode: approx. 35µs) approx. 100µs

Resolution 16bit (including sign)

Measuring error (full measuring range)

< ± 0.3% (at 0 °C ... +55 °C, relative to the full scale value) < ± 0.5% (when the extended temperature range is used)

Supply voltage for electronic

via the E-bus

Current consumption via E-bus

typ. 130mA typ. 170mA typ. 130mA

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

Bit width of the process image (default setting)

Inputs: 1 x 16bit; Status: 1 x 8bit

Inputs: 2 x 16bit; Status: 2 x 8bit

Inputs: 4 x 16bit; Status: 4 x 8bit

Configuration no address or configuration settings required

Weight approx. 55g

Permissible ambient temperature range during operation

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

Permissible ambient temperature range during storage

-40°C ... +85°C

Permissible relative humidity

95%, no condensation

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

Mounting [}43]

on 35 mm mounting rail conforms to EN 60715

Vibration/shock resistance

conforms to EN 60068-2-6 / EN 60068-2-27, see also Installation instructions for terminals with increased mechanical load capacity [}47]

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

Protection class IP20

Installation position variable

Approval CE

ATEX [}55] cULus [}56]

Product overview

EL31xx-00xx20 Version: 5.9

2.3 EL312x

2.3.1 EL312x - Introduction

Fig.11: EL312x

1, 2 and 4 channel analog input terminals 4…20 mA, differential input, 16bit

The EL312x analog input terminals measure input currents from 4 to 20mA.

The significantly faster conversion time and support for distributed clocks enable use in time-critical applications and set them apart from the EL30xx series. Overcurrent and undercurrent are displayed not only in the process image, but also by an error LED for each channel.

The differential inputs of the EL3121/EL3122 have the same reference ground, which is not connected to the power contacts. In the EL3124, the common reference ground is connected to the 0V power contact.

In addition to the full functionality of the EL3124, the EL3124-0090 supports TwinSAFE SC (Single Channel) technology. This enables the use of standard signals for safety tasks in any networks of fieldbuses.

Quick-Links

• EtherCAT basics

• Mounting and wiring [}43]

• Connection diagrams [}64]

• Process data and operating modes [}161]

• Object description and parameterization [}191]

Product overview

EL31xx-00xx 21Version: 5.9

2.3.2 EL312x - Technical data

Technical data EL3121 EL3122 EL3124 EL3124-0090

analog inputs 1 (differential) 2 (differential) 4 (differential)

Signal current 4mA…20mA

Distributed Clocks yes

yes (from rev.

EL312x-0000-0017 [}206])

yes

Distributed Clocks precision << 1µs

Internal resistance 85Ω type. + diode voltage

Input filter limit frequency 5kHz

Common mode voltage U

max. 10V

Conversion time (default setting: 50Hz filter)

approx. 40µs approx. 50µs (Fast

mode: approx. 35µs)

approx. 100µs

Resolution 16bit (including sign)

Measuring error (full measuring range)

< ± 0.3% (at 0 °C ... +55 °C, relative to the full scale value) < ± 0.5% (when the extended temperature range is used)

< ± 0.3% (relative to the full scale value)

Supply voltage for electronic via the E-bus

Current consumption via E-bus typ. 130mA typ. 170mA typ. 130mA

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

Bit width of the process image (default setting)

Inputs: 1 x 16bit; Status: 1 x 8bit

Inputs: 2 x 16bit; Status: 2 x 8bit

Inputs: 4 x 16bit; Status: 4 x 8bit

Configuration no address or configuration settings required

MTBF (+55°C) - > 950.000h

Weight approx. 55g approx. 60g

Permissible ambient temperature range during operation

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

Permissible ambient temperature range during storage

-40°C ... +85°C -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 [}43]

on 35 mm mounting rail conforms to EN 60715

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

see also Installation instructions for enhanced mechanical load capacitiy [}47]

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

Protection class IP20

Installation position variable

Approval CE

ATEX [}55] cULus [}56]

ATEX [}54] cULus [}56]

Product overview

EL31xx-00xx22 Version: 5.9

2.4 EL314x

2.4.1 EL314x - Introduction

Fig.12: EL314x

1, 2 and 4 channel analog input terminals 0…20mA, single-ended, 16bit

The EL314x analog input terminals measure input currents from 0 to 20 mA. The EL3142-0010 has an input current range from -10 mA to +10mA.

In the EL3141/EL3142, the 0V power contact is the reference potential for the inputs. In the EL3144, the inputs are implemented in 2-wire technology and have a common, internal ground potential, which is not connected to the power contacts.

Quick-Links

• EtherCAT basics

• Mounting and wiring [}43]

• Connection diagrams [}68]

• Process data and operating modes [}161]

• Object description and parameterization [}191]

Product overview

EL31xx-00xx 23Version: 5.9

2.4.2 EL314x - Technical data

Technical data EL3141-0000 EL3142-0000 EL3142-0010 EL3144-0000

analog inputs 1 (single ended) 2 (single ended) 4 (single ended)

Signal current 0mA…20mA 0mA…20mA -10mA…+10mA 0mA…20mA

Distributed Clocks yes

yes (from rev.

EL314x-0000-0017 [}206])

yes (from rev. EL314x-0010-0017 [}206])

yes

Distributed Clocks precision

<< 1µs

Internal resistance 85Ω type. + diode voltage

Input filter limit frequency 5kHz

Dielectric strength max. 30V

Conversion time (default setting: 50 Hz filter)

approx. 40µs approx. 60µs

(Fast mode: approx. 40µs)

approx. 100µs

Resolution 16bit (including sign)

Measuring error (full measuring range)

< ± 0.3% (at 0 °C ... +55 °C, relative to the full scale value) < ± 0.5% (when the extended temperature range is used)

< ± 0.3% (at 0 °C ... +55 °C, relative to the full scale value)

< ± 0.3% (at 0 °C ... +55 °C, relative to the full scale value) < ± 0.5% (when the extended temperature range is used)

Supply voltage for electronic

via the E-bus

Current consumption via E-bus

typ. 130mA typ. 170mA typ. 170mA typ. 130mA

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

Bit width of the process image (default setting)

Inputs: 1 x 16bit; Status: 1 x 8bit

Inputs: 2 x 16bit; Status: 2 x 8bit

Inputs: 4 x 16bit; Status: 4 x 8bit

Configuration no address or configuration settings required

Weight approx. 55g

Permissible ambient temperature range during operation

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

Permissible ambient temperature range during storage

-40°C ... +85°C

Permissible relative humidity

95%, no condensation

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

Mounting [}43]

on 35 mm mounting rail conforms to EN 60715

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

see also Installation instructions for enhanced mechanical load capacitiy [}47]

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

Protection class IP20

Installation position variable

Approval CE

ATEX [}55] cULus [}56]

cULus [}56]

ATEX [}55] cULus [}56]

Product overview

EL31xx-00xx24 Version: 5.9

2.5 EL315x

2.5.1 EL315x - Introduction

Fig.13: EL315x

1, 2 and 4 channel analog input terminals 4…20mA, single-ended, 16bit

The EL315x analog input terminals measure input currents from 4 to 20 mA.

In the EL3151/EL3152, the 0V power contact is the reference potential for the inputs. In the EL3154 with four inputs, the 24V power contact is connected to the terminal in order to enable connection of 2-wire sensors without external supply. In the EL3154, the reference ground is connected to the 0V power contact.

Quick-Links

• EtherCAT basics

• Mounting and wiring [}43]

• Connection diagrams [}71]

• Process data and operating modes [}161]

• Object description and parameterization [}191]

Product overview

EL31xx-00xx 25Version: 5.9

2.5.2 EL315x - Technical data

Technical data EL3151 EL3152 EL3154

analog inputs 1 (single ended) 2 (single ended) 4 (single ended)

Signal current 4mA…20mA

Distributed Clocks yes

yes (from rev. EL315x-0000-0017 [}206])

yes

Distributed Clocks precision << 1µs

Internal resistance 85Ω type. + diode voltage

Input filter limit frequency 5kHz

Dielectric strength max. 30V

Conversion time (default setting: 50 Hz filter)

approx. 40µs approx. 60µs

(Fast mode: approx. 40µs)

approx. 100µs

Resolution 16bit (including sign)

Measuring error (full measuring range)

< ± 0.3% (at 0 °C ... +55 °C, relative to the full scale value) < ± 0.5% (when the extended temperature range is used)

Supply voltage for internal electronic

via the E-bus

Current consumption via E-bus typ. 130mA typ. 170mA typ. 130mA

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

Bit width of the process image (default setting)

Inputs: 1 x 16bit; Status: 1 x 8bit

Inputs: 2 x 16bit; Status: 2 x 8bit

Inputs: 4 x 16bit; Status: 4 x 8bit

Configuration no address or configuration settings required

Weight approx. 60g

Permissible ambient temperature range during operation

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

Permissible ambient temperature range during storage

-40°C ... +85°C

Permissible relative humidity 95%, no condensation

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

Mounting [}43]

on 35mm mounting rail conforms to EN 60715

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

see also Installation instructions [}47] for terminals with increased mechanical load capacity

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

Protection class IP20

Installation position variable

Approval CE

ATEX [}55] cULus [}56]

Product overview

EL31xx-00xx26 Version: 5.9

2.6 EL316x

2.6.1 EL316x - Introduction

Fig.14: EL316x

1, 2 and 4 channel analog input terminals 0…10 V, single-ended, 16bit

The EL316x analog input terminals measure input voltages from 0 to 10 V.

The significantly faster conversion time and support for distributed clocks enable use in time-critical applications and set them apart from the EL30xx series. Overrange and limit evaluation are displayed via the process data.

The inputs of the EL3161/EL3162 have a common reference potential, which is connected to the 0V power contact. In the EL3164, the inputs are implemented in 2-wire technology and have a common, internal ground potential, which is not connected to the power contacts.

Quick-Links

• EtherCAT basics

• Mounting and wiring [}43]

• Connection diagrams [}74]

• Process data and operating modes [}161]

• Object description and parameterization [}191]

Product overview

EL31xx-00xx 27Version: 5.9

2.6.2 EL316x - Technical data

Technical data EL3161 EL3162 EL3164

analog inputs 1 (single ended) 2 (single ended) 4 (single ended)

Signal voltage 0...10V

Distributed Clocks yes

yes (from rev. EL316x-0000-0017 [}206])

yes

Distributed Clocks precision << 1µs

Internal resistance >200kΩ

Input filter limit frequency 5kHz

Dielectric strength max. 30V

Conversion time (default setting: 50 Hz filter)

approx. 35µs approx. 50µs approx. 100µs

Resolution 16bit (including sign)

Measuring error (full measuring range) < ±0.3 % (relative to full scale value)

Supply voltage for electronic via the E-bus

Current consumption via E-bus typ. 130mA typ. 170mA typ. 130mA

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

Bit width of the process image (default setting)

Inputs: 1 x 16bit; Status: 1 x 8bit

Inputs: 2 x 16bit; Status: 2 x 8bit

Inputs: 4 x 16bit; Status: 4 x 8bit

Configuration no address or configuration settings required

Weight approx. 60g approx. 65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 [}43]

on 35mm mounting rail conforms to EN 60715

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

see also Installation instructions for enhanced mechanical load capacitiy [}47]

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

Protection class IP20

Installation position variable

Approval CE

ATEX [}54] cULus [}56]

Product overview

EL31xx-00xx28 Version: 5.9

2.7 EL3174, EL3174-00xx

2.7.1 EL3174, EL3174-00xx - Introduction

Fig.15: EL3174, EL3174-0090

Fig.16: EL3174-0002, EL3174-0032

Product overview

EL31xx-00xx 29Version: 5.9

4-channel analog input, -10/0…+10 V (-3/0...+3V), -20/0/+4…+20 mA, 16 bit

The EL3174, EL3174-0090 and EL3174‑0002 analog input terminal has four individually parameterisable inputs. Signals in the range from -10/0 to +10V or -20/0/+4 to +20mA can be processed per channel. The EL3174‑0032 measurement ranges are identical but for voltage from -3V to + 3V.

Each channel should be set by the controller/TwinCAT to U or I mode via CoE. The input voltage or the input current will be digitalized with a resolution of 16 bit incl. sign and transported electrically isolated from the fieldbus to the higher-level automation device. With a technical measuring range of ±107% of the nominal range, the terminal also supports commissioning with sensor values in the limit range and diagnostics according to NAMUR NE43.

In addition to the full functionality of the EL3174, the EL3174-0090 supports TwinSAFE SC (Single Channel) technology. This enables the use of standard signals for safety tasks in any networks of fieldbuses.

• EL3174/ EL3174-0090:

◦ Feeding of Voltage and current signal on different terminal points

◦ The voltage inputs operate differential

◦ The current inputs operate single ended to reference ground

◦ EL3174-0090 additionally supports TwinSAFE SC technology

• EL3174‑0002/ EL3174‑0032:

◦ Common used inputs for voltage and current. After the terminal have been switched on, the

channel is in high impedance voltage mode and a connected, already operating current sensor with mA output have to strain against the high liability as long as the channel is switched into the mA operation mode via EtherCAT.

◦ The voltage inputs operate differential

◦ The current inputs operate differential

◦ The four differential inputs of the EL3174‑0002/ EL3174‑0032 are electrically isolated against each

other and against the fieldbus (2,500VDC testing voltage, 7 seconds production test).

107% Extended Range

The EL3174/ EL3174‑00xx are preconfigured to a measurement range of 107% (e.g. 0x7FFFcorrespond to+10.737V or 3.22V accordingly). You also can reset to the legacy range by CoE access. Then 0x7FFFcorrespond tothe full scale value or e.g. 10V (3V) as before.

Quick-Links

• EtherCAT basics

• Mounting and wiring [}43]

• Connection diagrams [}74]

• Process data and operating modes [}161]

• Object description and parameterization [}191]

Product overview

EL31xx-00xx30 Version: 5.9

2.7.2 EL3174, EL3174-0090 - Technical data

Technical data EL3174 EL3174-0090

Analog inputs 4 (U differential, I single-ended)

Conversion type simultaneous

ADC type SAR

Signal voltage -10/0…+10V

Signal current -20/0/+4…+20mA

Measuring range, nominal (Full Scale Value)

Voltage measurement range -10/0…+10V

Current measurement range -20/0/+4…+20mA

Measuring range, technical Voltage measurement range -10.73…+10.73V

Current measurement range -21.47…+21.47mA

Measuring error (full measuring range)

<±0.3% (relative to full scale value)

Distributed Clocks yes

Distributed Clocks precision << 1µs

Resolution 16bit (incl. sign)

Internal resistance Voltage measurement: >200kΩ | Current measurement: 85Ω typ.

Input filter limit frequency 5kHz

Common-mode voltage U

35V max. (voltage measurement)

Minimal EtherCAT cycle time 200µs 500 µs

Overcurrent protection 50mA typ.

Bit width of the process image Inputs: 16Byte Inputs: 35 Byte

Outputs: 6 Byte

Configuration no address or configuration settings required

MTBF (+55°C) - >800.000 h

Special features U/I parameterisable, Extended Range, standard and compact

process image, activatable FIR/IIR filters EL3174-0090 with TwinSAFE SC technology

Supply voltage for electronic via the E-bus

Current consumption via E-bus typ. 170mA

Electrical isolation 500V (E bus/ fieldbus voltage)

Recommended operating voltage range (ground related to GND/ 0V power contact)

Voltage measurement range UCM 35 V max.

Current measurement range single ended,

dielectric strength max. 30V

Recommended signal range Voltage measurement range Extended Range (107%), differential

Current measurement range Extended Range (107%), single ended

Destruction limit (ground related to GND/ 0V power contact)

Voltage measurement range 50 V

Current measurement range 30 V

Destruction limit (differential)

Voltage measurement range 50V

Current measurement range n.a.

Weight approx. 65 g

Permissible ambient temperature range during operation 0…+55°C

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

Permissible relative humidity 95%, no condensation

Design HD (High Density) housing with signal LED

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

Mounting [}43]

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

cULus [}56]

Product overview

EL31xx-00xx 31Version: 5.9

2.7.3 EL3174-0002, EL3174-0032 - Technical data

Technical data EL3174-0002 EL3174-0032

Analog inputs 4 (U, I differential)

Conversion type simultaneous

ADC type SAR

Signal voltage -10/0…+10V -3/0…+3V

Signal current -20/0/+4…+20mA

Measuring range, nominal (Full Scale Value)

Voltage measurement range -10/0…+10V -3/0…+3V

Current measurement range -20/0/+4…+20mA

Measuring range, technical Voltage measurement range -10.73…+10.73V -3.22…+3.22V

Current measurement range -21.47…+21.47mA

Measuring error (full measuring range)

<±0.2% (at 25°C (±5°C), or else < ±0.3 %, relative to full scale value)

Distributed Clocks yes

Distributed Clocks precision << 1µs

Resolution 16bit (incl. sign)

Internal resistance Voltage measurement: >200kΩ | Current measurement:

85Ω typ.

Input filter limit frequency 5kHz

Common-mode voltage U

Minimal EtherCAT cycle time 175µs

Overcurrent protection 50mA typ.

Bit width of the process image Inputs: 16Byte

Configuration no address or configuration settings required

Special features U/I parameterisable, Extended Range, standard and compact

process image, activatable FIR/IIR filters

Supply voltage for electronic via the E-bus

Current consumption via E-bus typ. 140mA

Electrical isolation functional isolation (testing voltage 2,500V, 7s channel/ chan-

nel and channel/ fieldbus, production test)

Recommended operating voltage range (ground related to GND/ 0V power contact)

Voltage measurement range Depending on the normative application environment with

consideration of the above stated electrical isolation

Current measurement range

Recommended signal range Voltage measurement range Extended Range (107%), differential

Current measurement range Extended Range (107%), differential

Destruction limit (ground related to GND/ 0V power contact)

Voltage measurement range 2.5kV (Testing voltage production test)

Current measurement range 2.5kV (Testing voltage production test)

Destruction limit (differential)

Voltage measurement range 30V (overcurrent protection available, see above)

Current measurement range 30V (overcurrent protection available, see above)

Weight approx. 65 g

Permissible ambient temperature range during operation 0…+55°C

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

Permissible relative humidity 95%, no condensation

Design compact terminal housing with signal LED

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

Mounting [}43]

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

cULus [}56]

Product overview

EL31xx-00xx32 Version: 5.9

2.8 Start

For commissioning:

• mount the EL31xx as described in the chapter Mounting and wiring [}43]

• configure the EL31xx in TwinCAT as described in the chapter Commissioning [}83].

Basics communication

EL31xx-00xx 33Version: 5.9

3 Basics communication

3.1 EtherCAT basics

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

3.2 EtherCAT cabling – wire-bound

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

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

Cables and connectors

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

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

Pin Color of conductor Signal Description

1 yellow TD + Transmission Data +

2 orange TD - Transmission Data -

3 white RD + Receiver Data +

6 blue RD - Receiver Data -

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

Recommended cables

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

E-Bus supply

A bus coupler can supply the EL terminals added to it with the E-bus system voltage of 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.

Basics communication

EL31xx-00xx34 Version: 5.9

Fig.17: System manager current calculation

NOTE

Malfunction possible!

The same ground potential must be used for the E-Bus supply of all EtherCAT terminals in a terminal block!

3.3 General notes for setting the watchdog

ELxxxx terminals are equipped with a safety feature (watchdog) that switches off the outputs after a specifiable time e.g. in the event of an interruption of the process data traffic, depending on the device and settings, e.g. in OFF state.

The EtherCAT slave controller (ESC) in the EL2xxx terminals features 2 watchdogs:

• SM watchdog (default: 100 ms)

• PDI watchdog (default: 100 ms)

SM watchdog (SyncManager Watchdog)

The SyncManager watchdog is reset after each successful EtherCAT process data communication with the terminal. If no EtherCAT process data communication takes place with the terminal for longer than the set and activated SM watchdog time, e.g. in the event of a line interruption, the watchdog is triggered and the outputs are set to FALSE. The OP state of the terminal is unaffected. The watchdog is only reset after a successful EtherCAT process data access. Set the monitoring time as described below.

The SyncManager watchdog monitors correct and timely process data communication with the ESC from the EtherCAT side.

PDI watchdog (Process Data Watchdog)

If no PDI communication with the EtherCAT slave controller (ESC) takes place for longer than the set and activated PDI watchdog time, this watchdog is triggered. PDI (Process Data Interface) is the internal interface between the ESC and local processors in the EtherCAT slave, for example. The PDI watchdog can be used to monitor this communication for failure.

The PDI watchdog monitors correct and timely process data communication with the ESC from the application side.

The settings of the SM- and PDI-watchdog must be done for each slave separately in the TwinCAT System Manager.

Basics communication

EL31xx-00xx 35Version: 5.9

Fig.18: 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

Both watchdogs receive their pulses from the local terminal cycle, divided by the watchdog multiplier:

1/25 MHz * (watchdog multiplier + 2) = 100 µs (for default setting of 2498 for the multiplier)

The standard setting of 1000 for the SM watchdog corresponds to a release time of 100 ms.

The value in multiplier + 2 corresponds to the number of basic 40 ns ticks representing a watchdog tick. The multiplier can be modified in order to adjust the watchdog time over a larger range.

Basics communication

EL31xx-00xx36 Version: 5.9

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.

Basics communication

EL31xx-00xx 37Version: 5.9

Fig.19: States of the EtherCAT State Machine

Init

After switch-on the EtherCAT slave in the Init state. No mailbox or process data communication is possible. The EtherCAT master initializes sync manager channels 0 and 1 for mailbox communication.

Pre-Operational (Pre-Op)

During the transition between Init and Pre-Op the EtherCAT slave checks whether the mailbox was initialized correctly.

In Pre-Op state mailbox communication is possible, but not process data communication. The EtherCAT master initializes the sync manager channels for process data (from sync manager channel 2), the FMMU channels and, if the slave supports configurable mapping, PDO mapping or the sync manager PDO assignment. In this state the settings for the process data transfer and perhaps terminal-specific parameters that may differ from the default settings are also transferred.

Safe-Operational (Safe-Op)

During transition between Pre-Op and Safe-Op the EtherCAT slave checks whether the sync manager channels for process data communication and, if required, the distributed clocks settings are correct. Before it acknowledges the change of state, the EtherCAT slave copies current input data into the associated DPRAM areas of the EtherCAT slave controller (ECSC).

In Safe-Op state mailbox and process data communication is possible, although the slave keeps its outputs in a safe state, while the input data are updated cyclically.

Outputs in SAFEOP state

The default set watchdog [}34] monitoring sets the outputs of the module in a safe state - depending on the settings in SAFEOP and OP - e.g. in OFF state. If this is prevented by deactivation of the watchdog monitoring in the module, the outputs can be switched or set also in the SAFEOP state.

Operational (Op)

Before the EtherCAT master switches the EtherCAT slave from Safe-Op to Op it must transfer valid output data.

In the Op state the slave copies the output data of the masters to its outputs. Process data and mailbox communication is possible.

Basics communication

EL31xx-00xx38 Version: 5.9

Boot

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

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

3.5 CoE Interface

General description

The CoE interface (CANopen over EtherCAT) is used for parameter management of EtherCAT devices. EtherCAT slaves or the EtherCAT master manage fixed (read only) or variable parameters which they require for operation, diagnostics or commissioning.

CoE parameters are arranged in a table hierarchy. In principle, the user has read access via the fieldbus. The EtherCAT master (TwinCAT System Manager) can access the local CoE lists of the slaves via EtherCAT in read or write mode, depending on the attributes.

Different CoE parameter types are possible, including string (text), integer numbers, Boolean values or larger byte fields. They can be used to describe a wide range of features. Examples of such parameters include manufacturer ID, serial number, process data settings, device name, calibration values for analog measurement or passwords.

The order is specified in 2 levels via hexadecimal numbering: (main)index, followed by subindex. The value ranges are

• Index: 0x0000 …0xFFFF (0...65535

dez

)

• SubIndex: 0x00…0xFF (0...255

dez

)

A parameter localized in this way is normally written as 0x8010:07, with preceding "x" to identify the hexadecimal numerical range and a colon between index and subindex.

The relevant ranges for EtherCAT fieldbus users are:

• 0x1000: This is where fixed identity information for the device is stored, including name, manufacturer, serial number etc., plus information about the current and available process data configurations.

• 0x8000: This is where the operational and functional parameters for all channels are stored, such as filter settings or output frequency.

Other important ranges are:

• 0x4000: In some EtherCAT devices the channel parameters are stored here (as an alternative to the 0x8000 range).

• 0x6000: Input PDOs ("input" from the perspective of the EtherCAT master)

• 0x7000: Output PDOs ("output" from the perspective of the EtherCAT master)

Availability

Not every EtherCAT device must have a CoE list. Simple I/O modules without dedicated processor usually have no variable parameters and therefore no CoE list.

If a device has a CoE list, it is shown in the TwinCAT System Manager as a separate tab with a listing of the elements:

Basics communication

EL31xx-00xx 39Version: 5.9

Fig.20: "CoE Online " tab

The figure above shows the CoE objects available in device "EL2502", ranging from 0x1000 to 0x1600. The subindices for 0x1018 are expanded.

Data management and function "NoCoeStorage"

Some parameters, particularly the setting parameters of the slave, are configurable and writeable. This can be done in write or read mode

• via the System Manager (Fig. "CoE Online " tab) by clicking This is useful for commissioning of the system/slaves. Click on the row of the index to be parameterised and enter a value in the "SetValue" dialog.

• from the control system/PLC via ADS, e.g. through blocks from the TcEtherCAT.lib library This is recommended for modifications while the system is running or if no System Manager or operating staff are available.

Data management

If slave CoE parameters are modified online, Beckhoff devices store any changes in a fail-safe manner in the EEPROM, i.e. the modified CoE parameters are still available after a restart. The situation may be different with other manufacturers.

An EEPROM is subject to a limited lifetime with respect to write operations. From typically 100,000 write operations onwards it can no longer be guaranteed that new (changed) data are reliably saved or are still readable. This is irrelevant for normal commissioning. However, if CoE parameters are continuously changed via ADS at machine runtime, it is quite possible for the lifetime limit to be reached. Support for the NoCoeStorage function, which suppresses the saving of changed CoE values, depends on the firmware version. Please refer to the technical data in this documentation as to whether this applies to the respective device.

• If the function is supported: the function is activated by entering the code word 0x12345678 once in CoE 0xF008 and remains active as long as the code word is not changed. After switching the device on it is then inactive. Changed CoE values are not saved in the EEPROM and can thus be changed any number of times.

• Function is not supported: continuous changing of CoE values is not permissible in view of the lifetime limit.

Basics communication

EL31xx-00xx40 Version: 5.9

Startup list

Changes in the local CoE list of the terminal are lost if the terminal is replaced. If a terminal is replaced with a new Beckhoff terminal, it will have the default settings. It is therefore advisable to link all changes in the CoE list of an EtherCAT slave with the Startup list of the slave, which is processed whenever the EtherCAT fieldbus is started. In this way a replacement EtherCAT slave can automatically be parameterized with the specifications of the user.

If EtherCAT slaves are used which are unable to store local CoE values permanently, the Startup list must be used.

Recommended approach for manual modification of CoE parameters

• Make the required change in the System Manager The values are stored locally in the EtherCAT slave

• If the value is to be stored permanently, enter it in the Startup list. The order of the Startup entries is usually irrelevant.

Fig.21: Startup list in the TwinCAT System Manager

The Startup list may already contain values that were configured by the System Manager based on the ESI specifications. Additional application-specific entries can be created.

Online/offline list

While working with the TwinCAT System Manager, a distinction has to be made whether the EtherCAT device is "available", i.e. switched on and linked via EtherCAT and therefore online, or whether a configuration is created offline without connected slaves.

In both cases a CoE list as shown in Fig. “’CoE online’ tab” is displayed. The connectivity is shown as offline/ online.

• If the slave is offline

◦ The offline list from the ESI file is displayed. In this case modifications are not meaningful or

possible.

◦ The configured status is shown under Identity.

◦ No firmware or hardware version is displayed, since these are features of the physical device.

◦ Offline is shown in red.

Basics communication

EL31xx-00xx 41Version: 5.9

Fig.22: 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.23: Online list

Basics communication

EL31xx-00xx42 Version: 5.9

Channel-based order

The CoE list is available in EtherCAT devices that usually feature several functionally equivalent channels. For example, a 4-channel analog 0..10 V input terminal also has 4 logical channels and therefore 4 identical sets of parameter data for the channels. In order to avoid having to list each channel in the documentation, the placeholder "n" tends to be used for the individual channel numbers.

In the CoE system 16 indices, each with 255 subindices, are generally sufficient for representing all channel parameters. The channel-based order is therefore arranged in 16

dec

/10

hex

steps. The parameter range

0x8000 exemplifies this:

• Channel 0: parameter range 0x8000:00 ... 0x800F:255

• Channel 1: parameter range 0x8010:00 ... 0x801F:255

• Channel 2: parameter range 0x8020:00 ... 0x802F:255

• ...

This is generally written as 0x80n0.

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

3.6 Distributed Clock

The distributed clock represents a local clock in the EtherCAT slave controller (ESC) with the following characteristics:

• Unit 1 ns

• Zero point 1.1.2000 00:00

• Size 64 bit (sufficient for the next 584 years; however, some EtherCAT slaves only offer 32-bit support, i.e. the variable overflows after approx. 4.2 seconds)

• The EtherCAT master automatically synchronizes the local clock with the master clock in the EtherCAT bus with a precision of < 100 ns.

For detailed information please refer to the EtherCAT system description.

Mounting and wiring

EL31xx-00xx 43Version: 5.9

4 Mounting and wiring

4.1 Instructions for ESD protection

NOTE

Destruction of the devices by electrostatic discharge possible!

The devices contain components at risk from electrostatic discharge caused by improper handling.

ü Please ensure you are electrostatically discharged and avoid touching the contacts of the device di-

rectly.

a) Avoid contact with highly insulating materials (synthetic fibers, plastic film etc.).

b) Surroundings (working place, packaging and personnel) should by grounded probably, when handling

with the devices.

c) Each assembly must be terminated at the right hand end with an EL9011 or EL9012 bus end cap, to en-

sure the protection class and ESD protection.

Fig.24: Spring contacts of the Beckhoff I/O components

4.2 Installation on mounting rails

WARNING

Risk of electric shock and damage of device!

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

Mounting and wiring

EL31xx-00xx44 Version: 5.9

Assembly

Fig.25: 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).

Mounting and wiring

EL31xx-00xx 45Version: 5.9

Disassembly

Fig.26: 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.

Mounting and wiring

EL31xx-00xx46 Version: 5.9

Fig.27: 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!

Mounting and wiring

EL31xx-00xx 47Version: 5.9

4.3 Installation instructions for enhanced mechanical load capacity

WARNING

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

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

Additional checks

The terminals have undergone the following additional tests:

Verification Explanation

Vibration 10 frequency runs in 3 axes

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

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

Shocks 1000 shocks in each direction, in 3 axes

25 g, 6 ms

Additional installation instructions

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

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

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

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

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

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

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

• Use countersunk head screws to fasten the mounting rail

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

4.4 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 KLxxxx and ELxxxx series with standard wiring include electronics and connection level in a single enclosure.

• The terminals of KSxxxx and ESxxxx 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.

Mounting and wiring

EL31xx-00xx48 Version: 5.9

Standard wiring

Fig.28: Standard wiring

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

Pluggable wiring

Fig.29: Pluggable wiring

The terminals of KSxxxx and ESxxxx series feature a pluggable connection level. The assembly and wiring procedure for the KS series is the same as for the KLxxxx and ELxxxx series. The KS/ES series terminals enable 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 KSxxxx and ESxxxx series has been retained as known from KLxxxx and ELxxxx series.

High Density Terminals (HD Terminals)

Fig.30: High Density Terminals

The Bus Terminals from these series with 16 connection 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.

Mounting and wiring

EL31xx-00xx 49Version: 5.9

Wiring HD Terminals

The High Density (HD) Terminals of the KLx8xx and ELx8xx series doesn't support steady 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 [}49] below!

Wiring

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

Fig.31: Mounting a cable on a terminal connection

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

1. Open a spring-loaded terminal by slightly pushing with a screwdriver or a rod into the square opening above the terminal.

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

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

Terminal housing ELxxxx, KLxxxx ESxxxx, KSxxxx

Wire size width 0.08 ... 2,5mm

0.08 ... 2.5mm

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

High Density Terminals ELx8xx, KLx8xx (HD)

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 contact 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.

Mounting and wiring

EL31xx-00xx50 Version: 5.9

Terminal housing High Density Housing

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

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 (ultrasonically “bonded" conductors)

only 1.5mm2 (see notice [}49]!)

Wire stripping length 8 ... 9mm

Shielding

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

4.5 Installation positions

NOTE

Constraints regarding installation position and operating temperature range

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

Optimum installation position (standard)

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

Mounting and wiring

EL31xx-00xx 51Version: 5.9

Fig.32: 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.

Mounting and wiring

EL31xx-00xx52 Version: 5.9

Fig.33: Other installation positions

Mounting and wiring

EL31xx-00xx 53Version: 5.9

4.6 Positioning of passive Terminals

Hint for positioning of passive terminals in the bus terminal block

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

Examples for positioning of passive terminals (highlighted)

Fig.34: Correct positioning

Fig.35: Incorrect positioning

Mounting and wiring

EL31xx-00xx54 Version: 5.9

4.7 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:

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

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

Mounting and wiring

EL31xx-00xx 55Version: 5.9

4.8 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)!

• 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

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

Mounting and wiring

EL31xx-00xx56 Version: 5.9

4.9 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!

4.10 UL notice

Application

Beckhoff EtherCAT modules are intended for use with Beckhoff’s UL Listed EtherCAT System only.

Examination

For cULus examination, the Beckhoff I/O System has only been investigated for risk of fire and electrical shock (in accordance with UL508 and CSAC22.2 No.142).

For devices with Ethernet connectors

Not for connection to telecommunication circuits.

Basic principles

Two UL certificates are met in the Beckhoff EtherCAT product range, depending upon the components:

1. UL certification according to UL508. Devices with this kind of certification are marked by this sign:

2. UL certification according to UL508 with limited power consumption. The current consumed by the device is limited to a max. possible current consumption of 4A. Devices with this kind of certification are marked by this sign:

Almost all current EtherCAT products (as at 2010/05) are UL certified without restrictions.

Application

If terminals certified with restrictions are used, then the current consumption at 24VDC must be limited accordingly by means of supply

• from an isolated source protected by a fuse of max. 4A (according to UL248) or

• from a voltage supply complying with NECclass2. A voltage source complying with NECclass2 may not be connected in series or parallel with another NECclass2compliant voltage supply!

Mounting and wiring

EL31xx-00xx 57Version: 5.9

These requirements apply to the supply of all EtherCAT bus couplers, power adaptor terminals, Bus Terminals and their power contacts.

Mounting and wiring

EL31xx-00xx58 Version: 5.9

4.11 LEDs and connection

4.11.1 EL310x - LEDs and connection

Table of contents

• LEDs [}60]

• Connection EL3101 [}60]

• Connection EL3102 [}60]

• Connection EL3104 [}60]

Fig.36: EL3101 LEDs and Connection

Mounting and wiring

EL31xx-00xx 59Version: 5.9

Fig.37: EL3102 LEDs and Connection

Fig.38: EL3104 LEDs and Connection

Current carrying capacity of the input contacts

The maximum permitted current on the signal-relevant terminal points (inputs, GND) is 40mA (if applicable).

Mounting and wiring

EL31xx-00xx60 Version: 5.9

LEDs

LED Color Meaning

RUN* green This LED indicates the terminal's operating state (if more than one RUN LED is present, all of them have the

same function):

off

State of the EtherCAT State Machine [}36]: INIT = initialization of the terminal or BOOTSTRAP = function for firmware updates [}211] of the terminal

flashing State of the EtherCAT State Machine: PREOP = function for mailbox communication and different

standard-settings set

single flash

State of the EtherCAT State Machine: SAFEOP = verification of the Sync Manager [}143] channels and the distributed clocks. Outputs remain in safe state

on State of the EtherCAT State Machine: OP = normal operating state; mailbox and process data

communication is possible

*) If several RUN LEDs are present, all of them have the same function

Connection EL3101

Terminal point Description

Designation No.

+ Input1 1 + Input 1

- Input1 2 - Input 1

GND 3 Signal ground (internally connected to terminal point7)

Shield 4 Shield (internally connected to terminal point 8)

n.c. 5 not connected

n.c. 6 not connected

GND 7 Signal ground (internally connected to terminal point3)

Shield 8 Shield (internally connected to terminal point 4)

Connection EL3102

Terminal point Description

Designation No.

+ Input1 1 + Input 1

- Input1 2 - Input 1

GND 3 Signal ground (internally connected to terminal point7)

Shield 4 Shield (internally connected to terminal point 8)

+ Input2 5 + Input 2

- Input2 6 - Input 2

GND 7 Signal ground (internally connected to terminal point3)

Shield 8 Shield (internally connected to terminal point 4)

Connection EL3104

Terminal point Description

Designation No.

+ Input1 1 + Input 1

- Input1 2 - Input 1

+ Input3 3 + Input 3

- Input3 4 - Input 3

+ Input2 5 + Input 2

- Input2 6 - Input 2

+ Input4 7 + Input 4

- Input4 8 - Input 4

Mounting and wiring

EL31xx-00xx 61Version: 5.9

4.11.2 EL311x - LEDs and connection

Table of contents

• LEDs [}63]

• Connection EL3111 [}63]

• Connection EL3112 [}63]

• Connection EL3114 [}63]

Fig.39: EL3111 LEDs and Connection

Mounting and wiring

EL31xx-00xx62 Version: 5.9

Fig.40: EL3112-00xx LEDs and Connection

Fig.41: EL3114 LEDs and Connection

Current carrying capacity of the input contacts

The maximum permitted current on the signal-relevant terminal points (inputs, GND) is 40mA (if applicable).

Mounting and wiring

EL31xx-00xx 63Version: 5.9

LEDs

LED Color Meaning

RUN* green This LED indicates the terminal's operating state (if more than one RUN LED is present, all of them have the

same function):

off

State of the EtherCAT State Machine [}36]: INIT = initialization of the terminal or BOOT- STRAP = function for firmware updates [}211] of the terminal

flashing State of the EtherCAT State Machine: PREOP = function for mailbox communication and dif-

ferent standard-settings set

single flash

State of the EtherCAT State Machine: SAFEOP = verification of the Sync Manager [}143] channels and the distributed clocks. Outputs remain in safe state

on State of the EtherCAT State Machine: OP = normal operating state; mailbox and process data

communication is possible

ERROR** red Fault indication in the event of undershooting or overshooting of the measuring range

*) If several RUN LEDs are present, all of them have the same function **) The error display shows the signal processing state for each channel

Connection EL3111

Terminal point Description

Designation No.

+ Input1 1 + Input 1

- Input1 2 - Input 1

GND 3 Signal ground (internally connected to terminal point7)

Shield 4 Shield (internally connected to terminal point 8)

n.c. 5 not connected

n.c. 6 not connected

GND 7 Signal ground (internally connected to terminal point3)

Shield 8 Shield (internally connected to terminal point 4)

Connection EL3112-00xx

Terminal point Description

Designation No.

+ Input1 1 + Input 1

- Input1 2 - Input 1

GND 3 Signal ground (internally connected to terminal point7)

Shield 4 Shield (internally connected to terminal point 8)

+ Input2 5 + Input 2

- Input2 6 - Input 2

GND 7 Signal ground (internally connected to terminal point3)

Shield 8 Shield (internally connected to terminal point 4)

Connection EL3114

Terminal point Description

Designation No.

+ Input1 1 + Input 1

- Input1 2 - Input 1

+ Input3 3 + Input 3

- Input3 4 - Input 3

+ Input2 5 + Input 2

- Input2 6 - Input 2

+ Input4 7 + Input 4

- Input4 8 - Input 4

Mounting and wiring

EL31xx-00xx64 Version: 5.9

4.11.3 EL312x - LEDs and connection

Table of contents

• LEDs [}66]

• Connection EL3121 [}67]

• Connection EL3122 [}67]

• Connection EL3124, EL3124-0090 [}67]

Fig.42: EL3121 LEDs and Connection

Mounting and wiring

EL31xx-00xx 65Version: 5.9

Fig.43: EL3122 LEDs and Connection

Fig.44: EL3124 LEDs and Connection

Mounting and wiring

EL31xx-00xx66 Version: 5.9

Fig.45: EL3124-0090 LEDs and Connection

Current carrying capacity of the input contacts

The maximum permitted current on the signal-relevant terminal points (inputs, GND) is 40mA (if applicable).

LEDs

LED Color Meaning

RUN* green This LED indicates the terminal's operating state (if more than one RUN LED is present, all of them have the

same function):

off

State of the EtherCAT State Machine [}36]: INIT = initialization of the terminal or BOOTSTRAP = function for firmware updates [}211] of the terminal

flashing State of the EtherCAT State Machine: PREOP = function for mailbox communication and differ-

ent standard-settings set

single flash

State of the EtherCAT State Machine: SAFEOP = verification of the Sync Manager [}143] channels and the distributed clocks. Outputs remain in safe state

on State of the EtherCAT State Machine: OP = normal operating state; mailbox and process data

communication is possible

ERROR** red Fault indication in the event of broken wire or undershooting or overshooting of the measuring range

*) If several RUN LEDs are present, all of them have the same function **) The error display shows the signal processing state for each channel

Mounting and wiring

EL31xx-00xx 67Version: 5.9

Connection EL3121

Terminal point Description

Designation No.

+ Input1 1 + Input 1

- Input1 2 - Input 1

GND 3 Signal ground (internally connected to terminal point7)

Shield 4 Shield (internally connected to terminal point 8)

n.c. 5 not connected

n.c. 6 not connected

GND 7 Signal ground (internally connected to terminal point3)

Shield 8 Shield (internally connected to terminal point 4)

Connection EL3122

Terminal point Description

Designation No.

+ Input1 1 + Input 1

- Input1 2 - Input 1

GND 3 Signal ground (internally connected to terminal point7)

Shield 4 Shield (internally connected to terminal point 8)

+ Input2 5 + Input 2

- Input2 6 - Input 2

GND 7 Signal ground (internally connected to terminal point3)

Shield 8 Shield (internally connected to terminal point 4)

Connection EL3124, EL3124-0090

Terminal point Description

Designation No.

+ Input1 1 + Input 1

- Input1 2 - Input 1

+ Input3 3 + Input 3

- Input3 4 - Input 3

+ Input2 5 + Input 2

- Input2 6 - Input 2

+ Input4 7 + Input 4

- Input4 8 - Input 4

Mounting and wiring

EL31xx-00xx68 Version: 5.9

4.11.4 EL314x - LEDs and connection

Table of contents

• LEDs [}69]

• Connection EL3141 [}69]

• Connection EL3142 [}70]

• Connection EL3144 [}70]

Fig.46: EL3141 LEDs and Connection

Fig.47: EL3142-00x0 LEDs and Connection

Mounting and wiring

EL31xx-00xx 69Version: 5.9

Fig.48: EL3144 LEDs and Connection

LEDs

LED Color Meaning

RUN* green This LED indicates the terminal's operating state (if more than one RUN LED is present, all of them have the

same function):

off

State of the EtherCAT State Machine [}36]: INIT = initialization of the terminal or BOOT- STRAP = function for firmware updates [}211] of the terminal

flashing State of the EtherCAT State Machine: PREOP = function for mailbox communication and

different standard-settings set

single flash

State of the EtherCAT State Machine: SAFEOP = verification of the Sync Manager [}143] channels and the distributed clocks. Outputs remain in safe state

on State of the EtherCAT State Machine: OP = normal operating state; mailbox and process

data communication is possible

ERROR** red Fault indication in the event of undershooting or overshooting of the measuring range

*) If several RUN LEDs are present, all of them have the same function **) The error display shows the signal processing state for each channel

Connection EL3141

Terminal point Description

Designation No.

Input 1 1 Input 1

+24V 2 +24 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)

Shield 4 Shield (internally connected to terminal point 8)

n.c. 5 not connected

+24V 6 +24 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)

Shield 8 Shield (internally connected to terminal point 4)

Mounting and wiring

EL31xx-00xx70 Version: 5.9

Connection EL3142-00x0

Terminal point Description

Designation No.

Input 1 1 Input 1

+24V 2 +24 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)

Shield 4 Shield (internally connected to terminal point 8)

Input 2 5 Input 2

+24 V 6 +24 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)

Shield 8 Shield (internally connected to terminal point 4)

Connection EL3144

Terminal point Description

Designation No.

Input 1 1 Input 1

GND 2 Signal ground (internally connected to terminal points4, 6, 8)

Input 3 3 + Input 3

GND 4 Signal ground (internally connected to terminal points2, 6, 8)

Input 2 5 + Input 2

GND 6 Signal ground (internally connected to terminal points2, 4, 8)

Input 4 7 + Input 4

GND 8 Signal ground (internally connected to terminal points2, 4, 6)

Mounting and wiring

EL31xx-00xx 71Version: 5.9

4.11.5 EL315x - LEDs and connection

Table of contents

• LEDs [}72]

• Connection EL3151 [}72]

• Connection EL3152 [}73]

• Connection EL3154 [}73]

Fig.49: EL3151 LEDs and Connection

Fig.50: EL3152 LEDs and Connection

Mounting and wiring

EL31xx-00xx72 Version: 5.9

Fig.51: EL3154 LEDs and Connection

LEDs

LED Color Meaning

RUN* green This LED indicates the terminal's operating state (if more than one RUN LED is present, all of them have the

same function):

off

State of the EtherCAT State Machine [}36]: INIT = initialization of the terminal or BOOT- STRAP = function for firmware updates [}211] of the terminal

flashing State of the EtherCAT State Machine: PREOP = function for mailbox communication and dif-

ferent standard-settings set

single flash

State of the EtherCAT State Machine: SAFEOP = verification of the Sync Manager [}143] channels and the distributed clocks. Outputs remain in safe state

on State of the EtherCAT State Machine: OP = normal operating state; mailbox and process data

communication is possible

ERROR** red Fault indication in the event of broken wire or undershooting or overshooting of the measuring range

*) If several RUN LEDs are present, all of them have the same function **) The error display shows the signal processing state for each channel

Connection EL3151

Terminal point Description

Designation No.

Input 1 1 Input 1

+24 V 2 +24 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)

Shield 4 Shield (internally connected to terminal point 8)

n.c. 5 not connected

+24 V 6 +24 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)

Shield 8 Shield (internally connected to terminal point 4)

Mounting and wiring

EL31xx-00xx 73Version: 5.9

Connection EL3152

Terminal point Description

Designation No.

Input 1 1 Input 1

+24 V 2 +24 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)

Shield 4 Shield (internally connected to terminal point 8)

Input 2 5 Input 2

+24 V 6 +24 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)

Shield 8 Shield (internally connected to terminal point 4)

Connection EL3154

Terminal point Description

Designation No.

Input 1 1 Input 1

+24 V 2 +24V (internally connected to terminal points 4, 6, 8)

Input 3 3 Input 3

+24 V 4 +24V (internally connected to terminal points 2, 6, 8)

Input 2 5 Input 2

+24 V 6 +24V (internally connected to terminal points 2, 4, 8)

Input 4 7 Input 4

+24 V 8 +24V (internally connected to terminal points 2, 4, 6)

Mounting and wiring

EL31xx-00xx74 Version: 5.9

4.11.6 EL316x - LEDs and connection

Table of contents

• LEDs [}75]

• Connection EL3161 [}75]

• Connection EL3162 [}76]

• Connection EL3164 [}76]

Fig.52: EL3161 LEDs and Connection

Fig.53: EL3162 LEDs and Connection

Mounting and wiring

EL31xx-00xx 75Version: 5.9

Fig.54: EL3164 LEDs and Connection

LEDs

LED Color Meaning

RUN* green This LED indicates the terminal's operating state (if more than one RUN LED is present, all of them have the

same function):

off

State of the EtherCAT State Machine [}36]: INIT = initialization of the terminal or BOOTSTRAP = function for firmware updates [}211] of the terminal

flashing State of the EtherCAT State Machine: PREOP = function for mailbox communication and different

standard-settings set

single flash

State of the EtherCAT State Machine: SAFEOP = verification of the Sync Manager [}143] channels and the distributed clocks. Outputs remain in safe state

on State of the EtherCAT State Machine: OP = normal operating state; mailbox and process data

communication is possible

*) If several RUN LEDs are present, all of them have the same function

Connection EL3161

Terminal point Description

Designation No.

Input 1 1 Input 1

+24 V 2 +24 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)

Shield 4 Shield (internally connected to terminal point 8)

n.c. 5 not connected

+24 V 6 +24 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)

Shield 8 Shield (internally connected to terminal point 4)

Mounting and wiring

EL31xx-00xx76 Version: 5.9

Connection EL3162

Terminal point Description

Designation No.

Input 1 1 Input 1

+24 V 2 +24 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)

Shield 4 Shield (internally connected to terminal point 8)

Input 2 5 Input 2

+24 V 6 +24 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)

Shield 8 Shield (internally connected to terminal point 4)

Connection EL3164

Terminal point Description

Designation No.

Input 1 1 Input 1

GND 2 Signal ground (internally connected to terminal points4, 6, 8)

Input 3 3 + Input 3

GND 4 Signal ground (internally connected to terminal points2, 6, 8)

Input 2 5 + Input 2

GND 6 Signal ground (internally connected to terminal points2, 4, 8)

Input 4 7 + Input 4

GND 8 Signal ground (internally connected to terminal points2, 4, 6)

Mounting and wiring

EL31xx-00xx 77Version: 5.9

4.11.7 EL3174, EL3174-00xx - LEDs and connection

Table of contents

• LEDs [}78]

• Connection EL3174, EL3174-0090 [}78]

• Connection EL3174-0002, EL3174-0032 [}78]

Fig.55: EL3174, EL3174-0090 LEDs and Connection

Fig.56: EL3174-0002, EL3174-0032 LEDs and Connection

Mounting and wiring

EL31xx-00xx78 Version: 5.9

LEDs

LED Color Meaning

RUN* green This LED indicates the terminal's operating state (if more than one RUN LED is present, all of them have the

same function):

off

State of the EtherCAT State Machine [}36]: INIT = initialization of the terminal or BOOT- STRAP = function for firmware updates [}211] of the terminal

flashing State of the EtherCAT State Machine: PREOP = function for mailbox communication and dif-

ferent standard-settings set

single flash

State of the EtherCAT State Machine: SAFEOP = verification of the Sync Manager [}143] channels and the distributed clocks. Outputs remain in safe state

on State of the EtherCAT State Machine: OP = normal operating state; mailbox and process data

communication is possible

ERROR** red Fault indication in the event of broken wire or undershooting or overshooting of the measuring range

*) If several RUN LEDs are present, all of them have the same function **) The error display shows the signal processing state for each channel

Connection EL3174, EL3174-0090

Terminal point Description

Designation No.

Ch1 U+ 1 + Input 1 voltage measurement (U+)

Ch2 U+ 2 + Input 2 voltage measurement (U+)

Ch3 U+ 3 + Input 3 voltage measurement (U+)

Ch4 U+ 4 + Input 4 voltage measurement (U+)

+24V 5

+24 V (internally connected to positive power contact)

+24V 6

+24V 7

+24V 8

Ch1 U- 9 - Input 1 voltage measurement (U-)

Ch2 U- 10 - Input 2 voltage measurement (U-)

Ch3 U- 11 - Input 3 voltage measurement (U-)

Ch4 U- 12 - Input 4 voltage measurement (U-)

InputCh1 13 Input 1 current measurement (I)

InputCh2 14 Input 2 current measurement (I)

InputCh3 15 Input 3 current measurement (I)

InputCh4 16 Input 4 current measurement (I)

Connection EL3174-0002, EL3174-0032

Terminal point Description

Designation No.

+ Input1 1 + Input 1 voltage-/ current measurement (U/ I)

+ Input2 2 + Input 2 voltage-/ current measurement (U/ I)

+ Input3 3 + Input 3 voltage-/ current measurement (U/ I)

+ Input4 4 + Input 4 voltage-/ current measurement (U/ I)

- Input1 5 - Input 1 voltage-/ current measurement (U/ I)

- Input2 6 - Input 2 voltage-/ current measurement (U/ I)

- Input3 7 - Input 3 voltage-/ current measurement (U/ I)

- Input4 8 - Input 4 voltage-/ current measurement (U/ I)

4.12 Connection notes for 20 mA measurement

4.12.1 Configuration of 0/4..20 mA differential inputs

This section describes the 0/4..20mA differential inputs for terminal series EL301x, EL302x, EL311x, EL312x and terminals EL3174, EL3612, EL3742 and EL3751.

Mounting and wiring

EL31xx-00xx 79Version: 5.9

For the single-ended 20mA inputs the terminal series EL304x, EL305x, EL314x, EL315x, EL317x, EL318x and EL375x they only apply with regard to technical transferability and also for devices whose analogue input channels have a common related ground potential (and therefore the channels are not to each other and/or not to power supply electrically isolated). Herewith an example for an electrically isolated device is the terminal EL3174-0002.

Technical background

The internal input electronics of the terminals referred to above have the following characteristic (see Fig. [}79] Internal connection diagram for 0/4..20 mA inputs):

• Differential current measurement, i.e. concrete potential reference is primarily not required. The system limit applies is the individual terminal EL30xx/EL31xx.

• Current measurement via a 33Ω shunt per channel, resulting in a maximum voltage drop of 660mV via the shunt

• Internal resistor configuration with GND point (A) central to the shunt The configuration of the resistors is symmetric, such that the potential of (A) is central relative to the voltage drop via the shunt.

• All channels within the terminal have this GND

int

potential in common.

• the common GND

int

potential (A)

◦ is connected for 1 and 2 channel terminals to a terminal point and not with GNDPC (power contact).

◦ is connected for 4 channel terminals with GND

• The center point of the voltage drop over the 33Ω shunt is referred to common mode point (CMP). According to the technical product data, the maximum permitted UCM voltage (common mode) refers to the potential between the CMP of a channel and the internal GND or the potential between the CMP of 2 channels within a terminal.

It must not exceed the specified limit (typically ±10 or ±35V).

Accordingly, for multi-channel measurements UCMspecifications must be followed.

Fig.57: Internal connection diagram 0/4...20mA inputs

The block diagram for a 2 channel terminal shows the linked GND points within the terminal (Fig. [}80] Internal connection for 0/4..20 mA inputs of a EL3xx2):

Mounting and wiring

EL31xx-00xx80 Version: 5.9

Fig.58: Internal connection diagram for 0/4..20 mA inputs of a EL3xx2

For all channels within the terminal U

CM-max

must not be exceeded.

UCM for 0/4..20mA inputs

If UCM of an analog input channel is exceeded, internal equalizing currents result in erroneous measurements. For 1 and 2 channel terminals the internal GND is therefore fed out to a terminal point, so that the UCM specification can be met through application-specific configuration of this GND point, even in cases of atypical sensor configuration.

Example 1

The 2-channel EL3012 is connected to 2 sensors, which are supplied with 5 and 24V. Both current measurements are executed as low-side measurements. This connection type is permitted, because at I

max

CMP

ch1

and CMP

ch2

are approx. 330 mV above 0V, which means that UCM is always < 0.5V. The

requirement of UCM < 10V (applicable to EL30xx) is therefore adhered to.

Fig.59: Example 1: low-side measurement

Mounting and wiring

EL31xx-00xx 81Version: 5.9

If the EL30x1/EL30x2 or EL31x1/EL31x2 terminals have no external GND

int

connection, the GND

int

potential can adjust itself as required (referred to as "floating"). Please note that for this mode reduced measuring accuracy is to be expected.

Example 1a

Accordingly, this also applies if the floating point GND

INT

is connected to another potential.

Fig.60: Example 1a, high-side measurement

Example 2

The same EL3012 is now again connected with the two 20mA sensors, although this time with one low-side measurement at 5V and one high-side measurement at 12V. This results in significant potential differences UCM > 10V (applicable to EL30xx) between the two channels, which is not permitted.

Fig.61: Example 2, high-side/low-side measurement

Mounting and wiring

EL31xx-00xx82 Version: 5.9

To rectify this, GND

int

can in this case be connected externally with an auxiliary potential of 6V relative to

"0V". The resulting A/GND

int

will be in the middle, i.e. approx. 0.3V or 11.6V.

Example 3

In the EL3xx4 terminals GND

int

is internally connected with the negative power contact. The choice of

potential is therefore limited.

Fig.62: Invalid EL3xx4 configuration

The resulting CMP is 23.6V, i.e. >> 10V (applicable to EL30xx). The EL30x4/EL31x4 terminals should therefore be configured such that CMP is always less than U

CM,max

Summary

This results in certain concrete specifications for external connection with 0/4..20mA sensors:

• We recommended connecting GND

int

with a low-impedance potential, because this significantly improves the measuring accuracy of the EL30xx/31xx. Please note the instructions relating to the UCM potential reference.

• The UCM potential reference must be adhered to between CMP ↔ GND

int

and CMP

ch(x)

↔ CMP

ch(y)

If this cannot be guaranteed, the single-channel version should be used.

• Terminal configuration:

◦ EL3xx1/EL3xx2: GND

int

is connected to terminal point for external connection.

GND

int

should be connected externally such that condition 2 is met.

◦ EL3xx4: GND is connected with the negative power contact.

The external connection should be such that condition 2 is met.

If the sensor cable is shielded, the shield should not be connected with the GND

int

terminal point but with a

dedicated low-impedanceshield point.

• If terminal points of several EL30xx/EL31xx terminals are connected with each other, ensure that condition 2 is met.

Connection of GND

int

In the EL30x1/EL30x2 and EL31x1/EL31x2 terminals the internal GND, GND

int

connection is fed out

to terminal contacts.

To achieve a precise measurement result GND

int

should be connected to a suitable external low-impedance potential, taking account the specifications for UCM. In the EL30x4/EL31x4 terminals GND

int

is already connected with the negative power contact. Here

too the specifications for UCM must be followed.

Commissioning

EL31xx-00xx 83Version: 5.9

5 Commissioning

5.1 NAMUR basic information

The abbreviation of NAMUR, “User Association of Automation Technology in Process Industries” identifies an international association for users of automation technology that considers the interests related to standardization, devices and measurement control (or similar) of the Process Industries as its major task. In this role, the NAMUR releases the so called NE (proposed standards), each numbered continuously.

Information with regard to the implementation of this recommendation in Beckhoff products are specified in sections “Technicaldata” and “Processdata” of this documentation.

Analog measured values

The analog output value of a sensor that can be measured among other things as a certain current value represents the measurement information (M).

By means of NAMUR NE43 a recommendation – irrespective of the sensor manufacturer – for standardized failure information (A) is defined in addition to the measurement information (e.g. malfunction of a measurement converter, error in connective wires, failure of an auxiliary energy etc.). The failure information states that there is an error in the measuring system. This concerns the analog output signal of sensors in a current loop and therefore in the form of a current value. A current value lying outside of the limits defined by NAMUR is defined as invalid and is thus interpreted as failure information. The following diagram illustrates this:

Fig.63: Representation of the definitions from NAMUR recommendation NE43, version 03/02/2003

Commissioning

EL31xx-00xx84 Version: 5.9

5.2 Notices on analog specifications

Beckhoff I/O devices (terminals, boxes, modules) with analog inputs are characterized by a number of technical characteristic data; refer to the technical data in the respective documents.

Some explanations are given below for the correct interpretation of these characteristic data.

5.2.1 Full scale value (FSV)

An I/O device with an analog input measures over a nominal measuring range that is limited by an upper and a lower limit (initial value and end value); these can usually be taken from the device designation. The range between the two limits is called the measuring span and corresponds to the equation (end value initial value). Analogous to pointing devices this is the measuring scale (see IEC 61131) or also the dynamic range.

For analog I/O devices from Beckhoff the rule is that the limit with the largest value is chosen as the full scale value of the respective product (also called the reference value) and is given a positive sign. This applies to both symmetrical and asymmetrical measuring spans.

Fig.64: Full scale value, measuring span

For the above examples this means:

• Measuring range 0..10 V: asymmetric unipolar, full scale value = 10 V, measuring span = 10 V

• Measuring range 4..20 mA: asymmetric unipolar, full scale value = 20 mA, measuring span = 16 mA

• Measuring range -200..1370 °C: asymmetric bipolar, full scale value = 1370 °C, measuring span = 1570 °C

• Measuring range -10..+10 V: symmetric bipolar, full scale value = 10 V, measuring span = 20 V

This applies to analog output terminals/ boxes (and related Beckhoff product groups).

5.2.2 Measuring error/ measurement deviation

The relative measuring error (% of the full scale value) is referenced to the full scale value and is calculated as the quotient of the largest numerical deviation from the true value (‘measuring error’) referenced to the full scale value.

Commissioning

EL31xx-00xx 85Version: 5.9

The measuring error is generally valid for the entire permitted operating temperature range, also called the ‘usage error limit’ and contains random and systematic portions of the referred device (i.e. ‘all’ influences such as temperature, inherent noise, aging, etc.).

It always to be regarded as a positive/negative span with ±, even if it is specified without ± in some cases.

The maximum deviation can also be specified directly.

Example: Measuring range 0..10 V and measuring error < ± 0.3% full scale value → maximum deviation ± 30 mV in the permissible operating temperature range.

Lower measuring error

Since this specification also includes the temperature drift, a significantly lower measuring error can usually be assumed in case of a constant ambient temperature of the device and thermal stabilization after a user calibration.

This applies to analog output devices.

5.2.3 Temperature coefficient tK [ppm/K]

An electronic circuit is usually temperature dependent to a greater or lesser degree. In analog measurement technology this means that when a measured value is determined by means of an electronic circuit, its deviation from the "true" value is reproducibly dependent on the ambient/operating temperature.

A manufacturer can alleviate this by using components of a higher quality or by software means.

The temperature coefficient, when indicated, specified by Beckhoff allows the user to calculate the expected measuring error outside the basic accuracy at 23 °C.

Due to the extensive uncertainty considerations that are incorporated in the determination of the basic accuracy (at 23 °C), Beckhoff recommends a quadratic summation.

Example: Let the basic accuracy at 23 °C be ±0.01% typ. (full scale value), tK = 20 ppm/K typ.; the accuracy A35 at 35 °C is wanted, hence ΔT = 12 K

Remarks: ppm ≙ 10

-6

% ≙ 10

-2

Commissioning

EL31xx-00xx86 Version: 5.9

5.2.4 Single-ended/differential typification

For analog inputs Beckhoff makes a basic distinction between two types: single-ended (SE) and differential (DIFF), referring to the difference in electrical connection with regard to the potential difference.

The diagram shows two-channel versions of an SE module and a DIFF module as examples for all multichannel versions.

Fig.65: SE and DIFF module as 2-channel version

Note: Dashed lines indicate that the respective connection may not necessarily be present in each SE or DIFF module. Electrical isolated channels are operating as differential type in general, hence there is no direct relation (voltaic) to ground within the module established at all. Indeed, specified information to recommended and maximum voltage levels have to be taken into account.

The basic rule:

• Analog measurements always take the form of voltage measurements between two potential points. For voltage measurements a large R is used, in order to ensure a high impedance. For current measurements a small R is used as shunt. If the purpose is resistance measurement, corresponding considerations are applied.

◦ Beckhoff generally refers to these two points as input+/signal potential and input-/reference

potential.

◦ For measurements between two potential points two potentials have to be supplied.

◦ Regarding the terms "single-wire connection" or "three-wire connection", please note the following

for pure analog measurements: three- or four-wire connections can be used for sensor supply, but are not involved in the actual analog measurement, which always takes place between two potentials/wires. In particular this also applies to SE, even though the term suggest that only one wire is required.

• The term "electrical isolation" should be clarified in advance. Beckhoff IO modules feature 1..8 or more analog channels; with regard to the channel connection a distinction is made in terms of:

◦ how the channels WITHIN a module relate to each other, or

◦ how the channels of SEVERAL modules relate to each other.

The property of electrical isolation indicates whether the channels are directly connected to each other.

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◦ Beckhoff terminals/ boxes (and related product groups) always feature electrical isolation between

the field/analog side and the bus/EtherCAT side. In other words, if two analog terminals/ boxes are not connected via the power contacts (cable), the modules are effectively electrically isolated.

◦ If channels within a module are electrically isolated, or if a single-channel module has no power

contacts, the channels are effectively always differential. See also explanatory notes below. Differential channels are not necessarily electrically isolated.

• Analog measuring channels are subject to technical limits, both in terms of the recommended operating range (continuous operation) and the destruction limit. Please refer to the respective terminal/ box documentation for further details.

Explanation

• differential (DIFF)

◦ Differential measurement is the most flexible concept. The user can freely choose both connection

points, input+/signal potential and input-/reference potential, within the framework of the technical specification.

◦ A differential channel can also be operated as SE, if the reference potential of several sensors is

linked. This interconnection may take place via the system GND.

◦ Since a differential channel is configured symmetrically internally (cf. Fig. SE and DIFF module as

2-channel variant), there will be a mid-potential (X) between the two supplied potentials that is the same as the internal ground/reference ground for this channel. If several DIFF channels are used in a module without electrical isolation, the technical property VCM (common-mode voltage) indicates the degree to which the mean voltage of the channels may differ.

◦ The internal reference ground may be accessible as connection point at the terminal/ box, in order

to stabilize a defined GND potential in the terminal/ box. In this case it is particularly important to pay attention to the quality of this potential (noiselessness, voltage stability). At this GND point a wire may be connected to make sure that V

CM,max

is not exceeded in the differential sensor cable.

If differential channels are not electrically isolated, usually only one V

CM, max

is permitted. If the channels are electrically isolated this limit should not apply, and the channels voltages may differ up to the specified separation limit.

◦ Differential measurement in combination with correct sensor wiring has the special advantage that

any interference affecting the sensor cable (ideally the feed and return line are arranged side by side, so that interference signals have the same effect on both wires) has very little effect on the measurement, since the potential of both lines varies jointly (hence the term common mode). In simple terms: Common-mode interference has the same effect on both wires in terms of amplitude and phasing.

◦ Nevertheless, the suppression of common-mode interference within a channel or between

channels is subject to technical limits, which are specified in the technical data.

◦ Further helpfully information on this topic can be found on the documentation page Configuration

of 0/4..20mA differential inputs (see documentation for the EL30xx terminals, for example).

• Single Ended (SE)

◦ If the analog circuit is designed as SE, the input/reference wire is internally fixed to a certain

potential that cannot be changed. This potential must be accessible from outside on at least one point for connecting the reference potential, e.g. via the power contacts (cable).

◦ In other words, in situations with several channels SE offers users the option to avoid returning at

least one of the two sensor cables to the terminal/ box (in contrast to DIFF). Instead, the reference wire can be consolidated at the sensors, e.g. in the system GND.

◦ A disadvantage of this approach is that the separate feed and return line can result in voltage/

current variations, which a SE channel may no longer be able to handle. See common-mode interference. A VCM effect cannot occur, since the module channels are internally always 'hardwired' through the input/reference potential.

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Typification of the 2/3/4-wire connection of current sensors

Current transducers/sensors/field devices (referred to in the following simply as ‘sensor’) with the industrial 0/4-20 mA interface typically have internal transformation electronics for the physical measured variable (temperature, current, etc.) at the current control output. These internal electronics must be supplied with energy (voltage, current). The type of cable for this supply thus separates the sensors into self-supplied or externally supplied sensors:

Self-supplied sensors

• The sensor draws the energy for its own operation via the sensor/signal cable + and -. So that enough energy is always available for the sensor’s own operation and open-circuit detection is possible, a lower limit of 4 mA has been specified for the 4-20 mA interface; i.e. the sensor allows a minimum current of 4 mA and a maximum current of 20 mA to pass.

• 2-wire connection see Fig. 2-wire connection, cf. IEC60381-1

• Such current transducers generally represent a current sink and thus like to sit between + and – as a ‘variable load’. Refer also to the sensor manufacturer’s information.

Fig.66: 2-wire connection

Therefore, they are to be connected according to the Beckhoff terminology as follows:

preferably to ‘single-ended’ inputs if the +Supply connections of the terminal/ box are also to be used connect to +Supply and Signal

they can, however, also be connected to ‘differential’ inputs, if the termination to GND is then manufactured on the application side – to be connected with the right polarity to +Signal and –Signal It is important to refer to the information page Configuration of 0/4..20mA differential inputs (see documentation for the EL30xx terminals, for example)!

Externally supplied sensors

• 3- and 4-wire connection see Fig. Connection of externally supplied sensors, cf. IEC60381-1

• the sensor draws the energy/operating voltage for its own operation from 2 supply cables of its own. One or two further sensor cables are used for the signal transmission of the current loop:

◦ 1 sensor cable: according to the Beckhoff terminology such sensors are to be connected to

‘single-ended’ inputs in 3 cables with +/-/Signal lines and if necessary FE/shield

◦ 2 sensor cables: for sensors with 4-wire connection based on +supply/-supply/+signal/-signal,

check whether +signal can be connected to +supply or –signal to –supply.

- Yes: then you can connect accordingly to a Beckhoff ‘single-ended’ input.

- No: the Beckhoff ‘differential’ input for +Signal and –Signal is to be selected; +Supply and – Supply are to be connected via additional cables. It is important to refer to the information page Configuration of 0/4..20mA differential inputs (see documentation for the EL30xx terminals, for example)!

Note: expert organizations such as NAMUR demand a usable measuring range <4 mA/>20 mA for error detection and adjustment, see also NAMUR NE043. The Beckhoff device documentation must be consulted in order to see whether the respective device supports such an extended signal range. Usually there is an internal diode existing within unipolar terminals/ boxes (and related product groups), in this case the polarity/direction of current have to be observed.

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Fig.67: Connection of externally supplied sensors

Classification of the Beckhoff terminals/ boxes - Beckhoff 0/4-20 mA terminals/ boxes (and related product groups) are available as differential and single-ended terminals/ boxes (and related product groups):

Single-ended

EL3x4x: 0-20 mA, EL3x5x: 4-20 mA; KL and related product groups exactly the same

Differential

EL3x1x: 0-20 mA, EL3x2x: 4-20 mA; KL and related product groups exactly the same

Preferred current direction because of internal diode Preferred current direction because of internal diode

Designed for the connection of externally-supplied sensors with a 3/4-wire connection

The terminal/ box is a passive differential current measuring device; passive means that the sensor is not supplied with power.

Designed for the connection of self-supplied sensors with a 2-wire connection

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Single-ended Differential

Fig.68: 2-, 3- and 4-wire connection at single-ended and differential inputs

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5.2.5 Common-mode voltage and reference ground (based on differential inputs)

Common-mode voltage (Vcm) is defined as the average value of the voltages of the individual connections/ inputs and is measured/specified against reference ground.

Fig.69: Common-mode voltage (Vcm)

The definition of the reference ground is important for the definition of the permitted common-mode voltage range and for measurement of the common-mode rejection ratio (CMRR) for differential inputs.

The reference ground is also the potential against which the input resistance and the input impedance for single-ended inputs or the common-mode resistance and the common-mode impedance for differential inputs is measured.

The reference ground is usually accessible at or near the terminal/ box, e.g. at the terminal contacts, power contacts (cable) or a mounting rail. Please refer to the documentation regarding positioning. The reference ground should be specified for the device under consideration.

For multi-channel terminals/ boxes with resistive (=direct, ohmic, galvanic) or capacitive connection between the channels, the reference ground should preferably be the symmetry point of all channels, taking into account the connection resistances.

Reference ground samples for Beckhoff IO devices:

1. Internal AGND fed out: EL3102/EL3112, resistive connection between the channels

2. 0V power contact: EL3104/EL3114, resistive connection between the channels and AGND; AGND connected to 0V power contact with low-resistance

3. Earth or SGND (shield GND):

◦ EL3174-0002: Channels have no resistive connection between each other, although they are

capacitively coupled to SGND via leakage capacitors

◦ EL3314: No internal ground fed out to the terminal points, although capacitive coupling to SGND

5.2.6 Dielectric strength

A distinction should be made between:

• Dielectric strength (destruction limit): Exceedance can result in irreversible changes to the electronics

◦ Against a specified reference ground

◦ Differential

• Recommended operating voltage range: If the range is exceeded, it can no longer be assumed that the system operates as specified

◦ Against a specified reference ground

◦ Differential

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Fig.70: recommended operating voltage range

The device documentation may contain particular specifications and timings, taking into account:

• Self-heating

• Rated voltage

• Insulating strength

• Edge steepness of the applied voltage or holding periods

• Normative environment (e.g. PELV)

5.2.7 Temporal aspects of analog/digital conversion

The conversion of the constant electrical input signal to a value-discrete digital and machine-readable form takes place in the analog Beckhoff EL/KL/EP input modules with ADC (analog digital converter). Although different ADC technologies are in use, from a user perspective they all have a common characteristic: after the conversion a certain digital value is available in the controller for further processing. This digital value, the so-called analog process data, has a fixed temporal relationship with the “original parameter”, i.e. the electrical input value. Therefore, corresponding temporal characteristic data can be determined and specified for Beckhoff analogue input devices.

This process involves several functional components, which act more or less strongly in every AI (analog input) module:

• the electrical input circuit

• the analog/digital conversion

• the digital further processing

• the final provision of the process and diagnostic data for collection at the fieldbus (EtherCAT, K‑bus, etc.)

Fig.71: Signal processing analog input

Two aspects are crucial from a user perspective:

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• “How often do I receive new values?”, i.e. a sampling rate in terms of speed with regard to the device/ channel

• What delay does the (whole) AD conversion of the device/channel cause?

- i.e. the hardware and firmware components in its entirety. For technological reasons, the signal characteristics must be taken into account when determining this information: the run times through the system differ, depending on the signal frequency.

This is the “external” view of the “Beckhoff AI channel” system – internally the signal delay in particular is composed of different components: hardware, amplifier, conversion itself, data transport and processing. Internally a higher sampling rate may be used (e.g. in the deltaSigma converters) than is offered “externally” from the user perspective. From a user perspective of the “BeckhoffAIchannel” component this is usually irrelevant or is specified accordingly, if it is relevant for the function.

For Beckhoff AI devices the following specification parameters for the AI channel are available for the user from a temporal perspective:

1. Minimum conversion time [ms, µs]

= the reciprocal value of the maximum sampling rate [sps, samples per second]: Indicates how often the analog channel makes a newly detected process data value available for collection by the fieldbus. Whether the fieldbus (EtherCAT, K-bus) fetches the value with the same speed (i.e. synchronous), or more quickly (if the AI channel operates in slow FreeRun mode) or more slowly (e.g. with oversampling), is then a question of the fieldbus setting and which modes the AI device supports. For EtherCAT devices the so-called toggle bit indicates (by toggling) for the diagnostic PDOs when a newly determined analog value is available. Accordingly, a maximum conversion time, i.e. a smallest sampling rate supported by the AI device, can be specified. Corresponds to IEC 61131-2, section 7.10.2 2, “Sampling repeat time”

2. Typical signal delay Corresponds to IEC 61131-2, section 7.10.2 1, “Sampling duration”. From this perspective it includes all internal hardware and firmware components, but not “external” delay components from the fieldbus or the controller (TwinCAT). This delay is particularly relevant for absolute time considerations, if AI channels also provide a time stamp that corresponds to the amplitude value – which can be assumed to match the physically prevailing amplitude value at the time. Due to the frequency-dependent signal delay time, a dedicated value can only be specified for a given signal. The value also depends on potentially variable filter settings of the channel. A typical characterization in the device documentation may be:

2.1Signal delay (step response)

Keywords: Settling time The square wave signal can be generated externally with a frequency generator (note impedance!) The 90% limit is used as detection threshold. The signal delay [ms, µs] is then the time interval between the (ideal) electrical square wave signal and the time at which the analog process value has reached the 90% amplitude.

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Fig.72: Diagram signal delay (step response)

2.2Signal delay (linear)

Keyword: Group delay Describes the delay of a signal with constant frequency A test signal can be generated externally with a frequency generator, e.g. as sawtooth or sine. A simultaneous square wave signal would be used as reference. The signal delay [ms, µs] is then the interval between the applied electrical signal with a particular amplitude and the moment at which the analog process value reaches the same value. A meaningful range must be selected for the test frequency, e.g. 1/20 of the maximum sampling rate.

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Fig.73: Diagram signal delay (linear)

3. Additional information: may be provided in the specification, e.g.

3.1Actual sampling rate of the ADC (if different from the channel sampling rate)

3.2Time correction values for run times with different filter settings …

5.3 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

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◦ 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:

Fig.74: 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 analog input terminal -10…+10V)

• 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)

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Fig.75: 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.

5.3.1 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.76: Initial TwinCAT2 user interface

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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 [}99]".

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:

Fig.77: 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.78: 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):

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

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.79: Select "Scan Devices..."

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

Fig.80: 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 [}96] described at the beginning of this section, the result is as follows:

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Fig.81: 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.82: 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)

◦ Structured Text (ST)

Beckhoff EL3101, EL3104, EL3102, EL3112, EL3112-0011 Documentation

Specifications and Main Features

Frequently Asked Questions

User Manual