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EL3773
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Beckhoff EL3773 Documentation

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EL3773
Power Monitoring Oversampling Terminal
Version: Date:
2.5 2018-03-13

Product overview Power monitoring oversampling

1 Product overview Power monitoring
oversampling
EL3773 [}14] Power monitoring oversampling terminal 6 channel analog input terminal, -410V ... +410V / -1.5A ... +1.5A with oversampling

Table of contents

Table of contents
1 Product overview Power monitoring oversampling...............................................................................3
2 Foreword ....................................................................................................................................................7
2.1 Notes on the documentation........................................................................................................... 7
2.2 Safety instructions .......................................................................................................................... 8
2.3 Documentation issue status............................................................................................................ 9
2.4 Version identification of EtherCAT devices..................................................................................... 9
3 Product overview.....................................................................................................................................14
3.1 Introduction ................................................................................................................................... 14
3.2 Technical data .............................................................................................................................. 15
3.3 Technology ................................................................................................................................... 16
3.4 Start .............................................................................................................................................. 17
4 Basics communication ...........................................................................................................................18
4.1 EtherCAT basics........................................................................................................................... 18
4.2 EtherCAT cabling – wire-bound.................................................................................................... 18
4.3 General notes for setting the watchdog ........................................................................................ 19
4.4 EtherCAT State Machine .............................................................................................................. 21
4.5 CoE Interface................................................................................................................................ 23
4.6 Distributed Clock........................................................................................................................... 28
5 Mounting and wiring ...............................................................................................................................29
5.1 Instructions for ESD protection ..................................................................................................... 29
5.2 Installation on mounting rails ........................................................................................................ 29
5.3 Installation instructions for enhanced mechanical load capacity .................................................. 32
5.4 Connection.................................................................................................................................... 33
5.4.1 Connection system...........................................................................................................33
5.4.2 Wiring...............................................................................................................................35
5.4.3 Shielding ..........................................................................................................................36
5.5 Positioning of passive Terminals .................................................................................................. 36
5.6 Installation positions ..................................................................................................................... 37
5.7 Connection assignment ................................................................................................................ 40
6 Commissioning........................................................................................................................................42
6.1 Quick start..................................................................................................................................... 42
6.2 TwinCAT Development Environment............................................................................................ 43
6.2.1 Installation of the TwinCAT real-time driver .....................................................................44
6.2.2 Notes regarding ESI device description...........................................................................49
6.2.3 TwinCAT ESI Updater......................................................................................................53
6.2.4 Distinction between Online and Offline ............................................................................53
6.2.5 OFFLINE configuration creation ......................................................................................54
6.2.6 ONLINE configuration creation ........................................................................................59
6.2.7 EtherCAT subscriber configuration ..................................................................................67
6.3 General Notes - EtherCAT Slave Application ............................................................................... 76
6.4 Basic function principles ............................................................................................................... 85
6.5 Process data................................................................................................................................. 86
6.6 Object description and parameterization ...................................................................................... 94
6.6.1 Restore object..................................................................................................................94
6.6.2 Configuration data............................................................................................................95
EL37734 Version: 2.5
Table of contents
6.6.3 Input data .........................................................................................................................96
6.6.4 Diagnostic data ................................................................................................................97
6.6.5 Standard objects ..............................................................................................................97
6.7 Application examples.................................................................................................................. 102
6.8 Oversampling terminals and TwinCAT Scope ............................................................................ 105
6.8.1 TwinCAT 3 procedure ....................................................................................................106
6.8.2 TwinCAT 2 procedure ....................................................................................................114
6.9 Current transformer .................................................................................................................... 123
6.10 Notices on analog specifications ................................................................................................ 124
6.10.1 Full scale value (FSV) ....................................................................................................124
6.10.2 Measuring error/ measurement deviation ......................................................................125
6.10.3 Temperature coefficient tK [ppm/K] ...............................................................................125
6.10.4 Single-ended/differential typification ..............................................................................126
6.10.5 Common-mode voltage and reference ground (based on differential inputs) ................131
6.10.6 Dielectric strength ..........................................................................................................131
6.10.7 Temporal aspects of analog/digital conversion ..............................................................132
6.11 Example programs...................................................................................................................... 135
6.11.1 Example 1: Diagnosis and evaluation of input data .......................................................136
6.11.2 Commissioning of the example program .......................................................................139
6.11.3 Description of the function of the example program ......................................................141
6.11.4 Starting the example program........................................................................................144
7 Diagnosis ...............................................................................................................................................148
7.1 Diagnostic methods .................................................................................................................... 148
7.2 Diagnostic LEDs ......................................................................................................................... 149
7.3 Diagnostics – basic principles of diag messages ....................................................................... 150
8 Appendix ................................................................................................................................................160
8.1 UL notice..................................................................................................................................... 160
8.2 Firmware Update EL/ES/EM/EPxxxx.......................................................................................... 161
8.2.1 Device description ESI file/XML.....................................................................................162
8.2.2 Firmware explanation.....................................................................................................165
8.2.3 Updating controller firmware *.efw .................................................................................166
8.2.4 FPGA firmware *.rbf.......................................................................................................167
8.2.5 Simultaneous updating of several EtherCAT devices....................................................171
8.3 Firmware compatibility ................................................................................................................ 172
8.4 Restoring the delivery state ........................................................................................................ 172
8.5 Support and Service ................................................................................................................... 174
Table of contents
EL37736 Version: 2.5
Foreword

2 Foreword

2.1 Notes on the documentation

Intended audience
This description is only intended for the use of trained specialists in control and automation engineering who are familiar with the applicable national standards. It is essential that the documentation and the following notes and explanations are followed when installing and commissioning these components. It is the duty of the technical personnel to use the documentation published at the respective time of each installation and commissioning.
The responsible staff must ensure that the application or use of the products described satisfy all the requirements for safety, including all the relevant laws, regulations, guidelines and standards.
Disclaimer
The documentation has been prepared with care. The products described are, however, constantly under development.
We reserve the right to revise and change the documentation at any time and without prior announcement.
No claims for the modification of products that have already been supplied may be made on the basis of the data, diagrams and descriptions in this documentation.
Trademarks
Beckhoff®, TwinCAT®, EtherCAT®, Safety over EtherCAT®, TwinSAFE®, XFC® and XTS® are registered trademarks of and licensed by Beckhoff Automation GmbH. Other designations used in this publication may be trademarks whose use by third parties for their own purposes could violate the rights of the owners.
Patent Pending
The EtherCAT Technology is covered, including but not limited to the following patent applications and patents: EP1590927, EP1789857, DE102004044764, DE102007017835 with corresponding applications or registrations in various other countries.
The TwinCAT Technology is covered, including but not limited to the following patent applications and patents: EP0851348, US6167425 with corresponding applications or registrations in various other countries.
EtherCAT® is registered trademark and patented technology, licensed by Beckhoff Automation GmbH, Germany
Copyright
© Beckhoff Automation GmbH & Co. KG, Germany. The reproduction, distribution and utilization of this document as well as the communication of its contents to others without express authorization are prohibited. Offenders will be held liable for the payment of damages. All rights reserved in the event of the grant of a patent, utility model or design.
Foreword

2.2 Safety instructions

Safety regulations
Please note the following safety instructions and explanations! Product-specific safety instructions can be found on following pages or in the areas mounting, wiring, commissioning etc.
Exclusion of liability
All the components are supplied in particular hardware and software configurations appropriate for the application. Modifications to hardware or software configurations other than those described in the documentation are not permitted, and nullify the liability of Beckhoff Automation GmbH & Co. KG.
Personnel qualification
This description is only intended for trained specialists in control, automation and drive engineering who are familiar with the applicable national standards.
Description of symbols
In this documentation the following symbols are used with an accompanying safety instruction or note. The safety instructions must be read carefully and followed without fail!
DANGER
WARNING
CAUTION
Attention
Note
Serious risk of injury!
Failure to follow the safety instructions associated with this symbol directly endangers the life and health of persons.
Risk of injury!
Failure to follow the safety instructions associated with this symbol endangers the life and health of persons.
Personal injuries!
Failure to follow the safety instructions associated with this symbol can lead to injuries to persons.
Damage to the environment or devices
Failure to follow the instructions associated with this symbol can lead to damage to the en­vironment or equipment.
Tip or pointer
This symbol indicates information that contributes to better understanding.
EL37738 Version: 2.5
Foreword

2.3 Documentation issue status

Version Comment
2.5 • Update chapter "Process data"
• Update structure
• Update revision status
2.4 • Update chapter "Notes on the documentation"
• Update chapter "Technical data"
• Addenda chapter "Instructions for ESD protection"
• Update chapter "TwinCAT 2.1x" -> "TwinCAT Development Environment"
• Update chapter "Notices on Analog specification"
• Update revision status
2.3 • Chapter “TwinCAT Scope2” replaced by chapter “Oversampling terminals and TwinCAT Scope”
2.2 • Update programming sample
• Update structure
• Update revision status
2.1 • Update programming sample
• Update structure
• Update revision status
2.0 • Migration
• Update structure
• Update revision status
1.5 • Update structure
• Update chapter "Connection"
1.4 • Update chapter "Technical data"
1.3 • Addenda chapter "Data visualization in TwinCAT Scope2"
1.2 • Addenda to example program
1.1 • Addenda
1.0 • Addenda and 1st public issue
0.1 - 0.3 • preliminary documentation for EL3773

2.4 Version identification of EtherCAT devices

Designation
A Beckhoff EtherCAT device has a 14-digit designation, made up of
• family key
• type
• version
• revision
Foreword
Example Family Type Version Revision
EL3314-0000-0016 EL terminal
(12 mm, non­pluggable connection level)
ES3602-0010-0017 ES terminal
(12 mm, pluggable connection level)
CU2008-0000-0000 CU device 2008 (8-port fast ethernet switch) 0000 (basic type) 0000
Notes
• The elements mentioned above result in the technical designation. EL3314-0000-0016 is used in the example below.
• EL3314-0000 is the order identifier, in the case of “-0000” usually abbreviated to EL3314. “-0016” is the EtherCAT revision.
• The order identifier is made up of
- family key (EL, EP, CU, ES, KL, CX, etc.)
- type (3314)
- version (-0000)
• The revision -0016 shows the technical progress, such as the extension of features with regard to the EtherCAT communication, and is managed by Beckhoff. In principle, a device with a higher revision can replace a device with a lower revision, unless specified otherwise, e.g. in the documentation. 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.
3314 (4-channel thermocouple terminal)
3602 (2-channel voltage measurement)
0000 (basic type) 0016
0010 (high­precision version)
0017
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
EL377310 Version: 2.5
Foreword
y - hardware version of the bus PCB z - firmware version of the I/O PCB u - hardware version of the I/O PCB
Example: D.22081501 calendar week 22 of the year 2008 firmware version of bus PCB: 1 hardware version of bus PCB: 5 firmware version of I/O PCB: 0 (no firmware necessary for this PCB) hardware version of I/O PCB: 1
Unique serial number/ID, ID number
In addition, in some series each individual module has its own unique serial number.
See also the further documentation in the area
• IP67: EtherCAT Box
• Safety: TwinSafe
• Terminals with factory calibration certificate and other measuring terminals
Examples of markings
Fig.1: EL5021 EL terminal, standard IP20 IO device with serial/ batch number and revision ID (since 2014/01)
Fig.2: EK1100 EtherCAT coupler, standard IP20 IO device with serial/ batch number
Foreword
Fig.3: CU2016 switch with serial/ batch number
Fig.4: EL3202-0020 with serial/ batch number 26131006 and unique ID-number 204418
Fig.5: EP1258-00001 IP67 EtherCAT Box with batch number/ date code 22090101 and unique serial number 158102
Fig.6: EP1908-0002 IP67 EtherCAT Safety Box with batch number/ date code 071201FF and unique serial number 00346070
EL377312 Version: 2.5
Foreword
Fig.7: EL2904 IP20 safety terminal with batch number/ date code 50110302 and unique serial number 00331701
Fig.8: ELM3604-0002 terminal with unique ID number (QR code) 100001051 and serial/ batch number 44160201
Product overview

3 Product overview

3.1 Introduction

Fig.9: EL3773
Power monitoring oversampling terminal
The EL3773 EtherCAT Terminal is designed as a power monitoring terminal for the state monitoring of a 3­phase AC voltage system (rated mains voltage 230/400V VDC and currents up to 1 A
The six channels are measured simultaneously based on the EtherCAT oversampling principle with a temporal resolution of up to 100µs and passed on to the controller. The controller has sufficient computing power for true RMS or performance calculation and complex custom algorithms based on the measured voltages and currents.
Through the oversampling principle the terminal is able to measure at significantly shorter intervals than the cycle time of the controller. AC and DC parameters must be connected and measured with a common reference potential. The EL3773 supports distributed clocks for measuring synchronously with other EtherCAT devices, but can also be operated without distributed clocks.
/1.5 ADC are sampled as instantaneous values with a resolution of 16bit.
rms
). For each phase voltages up to 288 V
rms
rms
/410
RMS value (rms) specifications
All AC value specifications in this documentation such as RMS specifications (rms) refer to
Note
Quick links
a 50/60 Hz 3-phase mains network with a sinusoidal waveform (crest factor 1.414).
• EtherCAT basics [}18]
• Quick start [}42]
• Creation of the configuration [}43]
• Process data [}86]
EL377314 Version: 2.5
• CoE object description [}94]

3.2 Technical data

RMS value (rms) specifications
All AC value specifications in this documentation such as RMS specifications (rms) refer to
Note
Technical data EL3773
Number of inputs 3 x current, 3 x voltage
Oversampling factor n = 1…100 selectable
Distributed Clocks yes
Accuracy of Distributed Clocks << 1µs
Input filter limit frequency adjustable, 200 ... 15,000Hz
Conversion time min. 100µs, all channels measured simultaneously
Rated mains voltage 230V
Voltage measuring range (nominal range) DC: ±410V
Max. permitted overvoltage max. ±500V (peak value, ULX-N, corresponds with 353V
Voltage resolution 1 digit ~ 12.5mV (16 bit incl. sign)
Input resistance voltage circuit typ. 1.8MΩ
Current measuring range (nominal range) DC: ±1.5A
Max. permitted overcurrent max. ±1.8A (peak value, corresponds with 1.2A
Current resolution 1 digit ~ 45.7µA (16bit incl. sign)
Input resistance current path typ. 30mΩ
Signal type variable
Measuring error (for DC measuring) < ±0.5 % (relative to full scale value)
Electrical isolation 2,500V
Current consumption of power contacts -
Current consumption via E-bus 200mA typ.
Configuration via TwinCAT System Manager
Weight approx. 75g
permissible ambient temperature range during opera­tion
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
Mounting [}29]
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,
a 50/60 Hz 3-phase mains network with a sinusoidal waveform (crest factor 1.414).
(ULX-N) or 400V
rms
AC accordingly: 500V common reference potential N/GND*
AC accordingly: 3 x 1A
AC recommended via measuring transformer x A AC/1A AC
the upstream use of current/limiting current transformers is recommended
0°C ... +55°C
on 35 mm mounting rail conforms to EN 60715
see also installation instructions for enhanced mechanical load capacity [}32]
cULus [}160]
(ULX-ULY)
rms
AC 3~ (ULX-N: 288V
rms
*
rms
rms
AC)
rms
) *
Product overview
) *
rms
* operation for longer periods above the rated range can impair the function and/or lead to a shortening of the service life
Product overview

3.3 Technology

Measurement of AC variables with the EL3773
Normal three-phase mains supply
The normal 3-phase low-voltage grids in Central Europe are characterized by the following interrelationship: rated voltage is usually the effective voltage U live conductors (L1, L2 or L3) and neutral N.
, e.g. 230 V
RMS
, as a star voltage between one of the three
RMS
Fig.10: Voltages in three-phase mains supply of Central Europe
With a pure sinusoidal oscillation (unloaded grid) a maximum peak voltage (max. amplitude) of approx.
±325V
to N is calculated from the then valid crest factor from in the star voltage.
peak
A phase-to-phase voltage of (RMS) can be measured between the live conductors.
RMS value specifications
RMS value (
All AC value specifications in this documentation such as RMS specifications (
) specifications
rms
) refer to a
rms
50/60Hz 3-phase mains network with a sinusoidal waveform.
Note
The EL3773 EtherCAT Terminal is a power monitoring terminal for state monitoring of a 3-phase AC voltage system. The following properties are characteristic of the EL3773:
• 3 channels measure -410 to +410V to N through analog-to-digital converters in 16-bit resolution as amplitude value
• 3 channels measure -1.5 to +1.5A to N through analog-to-digital converters in 16-bit resolution as amplitude value
• all 6 analog input channels are measured simultaneously
• the EL3773 is an oversampling terminal and can therefore record not just 1, but up to 100 samples (amplitude values) per channel in each PLC/EtherCAT cycle. These are sent as a data packet to the controller via the cyclic process data. The minimum sampling time is 100µs, corresponding to 10,000 samples/second.
EL377316 Version: 2.5
Product overview
• The voltage and current curve can have any form; the EL3773 is thus suitable for AC and DC measurements
• various filter functions (low-pass and notch filter) are available for each channel
• the EL3773 can be synchronized with other EtherCAT device over Distributed Clocks, but can also be operated without Distributed Clocks with oversampling
• no pre-evaluations or calculations of the amplitude values take place in the EL3773
Hence, the EL3773 is suitable for very different applications, for example
• 3-phase monitoring: the voltage and current to N are measured for a 3-phase load
• 3-load monitoring: the voltage and current to N can be measured for 3 loads even if connected to the same phase
• each channel can measure as desired, provided the measured is referred to N (or GND in DC networks)
• Measurement of non-sinusoidal amplitude curves, including rectangular or DC curves
Evaluations and calculations of the raw data sent to the controller, such as active power (P), cumulative power consumption (W) or power factor (cos φ) must take place in the controller. The controller has sufficient computing power for true RMS or performance calculation and complex custom algorithms based on the measured voltages and currents.
Design of voltage measuring range
Low-voltage power supply systems are defined, for example, in IEC 60038. Since 2003 the
Note
specification here is 230/400V spikes can also be measured, the EL3773 supports a measuring range of 288V corresponding to ±407V
peak
±10%, corresponding to ±357V
RMS
(nominal: ±410V).
. So that substantial
peak
RMS
AC,

3.4 Start

For commissioning:
• Install the EL3773 as described in section Mounting and wiring [}29].
• configure the EL3773 in TwinCAT as described in the chapter Commissioning [}42].
Basics communication

4 Basics communication

4.1 EtherCAT basics

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

4.2 EtherCAT cabling – wire-bound

The cable length between two EtherCAT devices must not exceed 100 m. This results from the FastEthernet technology, which, above all for reasons of signal attenuation over the length of the cable, allows a maximum
link length of 5 + 90 + 5 m if cables with appropriate properties are used. See also the Design recommendations for the infrastructure for EtherCAT/Ethernet.
Cables and connectors
For connecting EtherCAT devices only Ethernet connections (cables + plugs) that meet the requirements of at least category 5 (CAt5) according to EN 50173 or ISO/IEC 11801 should be used. EtherCAT uses 4 wires for signal transfer.
EtherCAT uses RJ45 plug connectors, for example. The pin assignment is compatible with the Ethernet standard (ISO/IEC 8802-3).
Pin Color of conductor Signal Description
1 yellow TD + Transmission Data + 2 orange TD - Transmission Data ­3 white RD + Receiver Data + 6 blue RD - Receiver Data -
Due to automatic cable detection (auto-crossing) symmetric (1:1) or cross-over cables can be used between EtherCAT devices from Beckhoff.
Recommended cables
Suitable cables for the connection of EtherCAT devices can be found on the Beckhoff web-
Note
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.
site!
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.
EL377318 Version: 2.5
Fig.11: System manager current calculation
Malfunction possible!
The same ground potential must be used for the E-Bus supply of all EtherCAT terminals in a terminal block!
Attention

4.3 General notes for setting the watchdog

Basics communication
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
Fig.12: EtherCAT tab -> Advanced Settings -> Behavior -> Watchdog
Notes:
• the multiplier is valid for both watchdogs.
• each watchdog has its own timer setting, the outcome of this in summary with the multiplier is a resulting time.
• Important: the multiplier/timer setting is only loaded into the slave at the start up, if the checkbox is activated. If the checkbox is not activated, nothing is downloaded and the ESC settings remain unchanged.
Multiplier
Multiplier
Both watchdogs receive their pulses from the local terminal cycle, divided by the watchdog multiplier:
1/25 MHz * (watchdog multiplier + 2) = 100 µs (for default setting of 2498 for the multiplier)
The standard setting of 1000 for the SM watchdog corresponds to a release time of 100 ms.
The value in multiplier + 2 corresponds to the number of basic 40 ns ticks representing a watchdog tick. The multiplier can be modified in order to adjust the watchdog time over a larger range.
EL377320 Version: 2.5
Basics communication
Example "Set SM watchdog"
This checkbox enables manual setting of the watchdog times. If the outputs are set and the EtherCAT communication is interrupted, the SM watchdog is triggered after the set time and the outputs are erased. This setting can be used for adapting a terminal to a slower EtherCAT master or long cycle times. The default SM watchdog setting is 100 ms. The setting range is 0..65535. Together with a multiplier with a range of 1..65535 this covers a watchdog period between 0..~170 seconds.
Calculation
Multiplier = 2498 → watchdog base time = 1 / 25MHz * (2498 + 2) = 0.0001seconds = 100µs SM watchdog = 10000 → 10000 * 100µs = 1second watchdog monitoring time
Undefined state possible!
The function for switching off of the SM watchdog via SM watchdog = 0 is only imple-
CAUTION
mented in terminals from version -0016. In previous versions this operating mode should not be used.
Damage of devices and undefined state possible!
If the SM watchdog is activated and a value of 0 is entered the watchdog switches off com-
CAUTION
pletely. This is the deactivation of the watchdog! Set outputs are NOT set in a safe state, if the communication is interrupted.

4.4 EtherCAT State Machine

The state of the EtherCAT slave is controlled via the EtherCAT State Machine (ESM). Depending upon the state, different functions are accessible or executable in the EtherCAT slave. Specific commands must be sent by the EtherCAT master to the device in each state, particularly during the bootup of the slave.
A distinction is made between the following states:
• Init
• Pre-Operational
• Safe-Operational and
• Operational
• Boot
The regular state of each EtherCAT slave after bootup is the OP state.
Basics communication
Fig.13: States of the EtherCAT State Machine
Init
After switch-on the EtherCAT slave in the Init state. No mailbox or process data communication is possible. The EtherCAT master initializes sync manager channels 0 and 1 for mailbox communication.
Pre-Operational (Pre-Op)
During the transition between Init and Pre-Op the EtherCAT slave checks whether the mailbox was initialized correctly.
In Pre-Op state mailbox communication is possible, but not process data communication. The EtherCAT master initializes the sync manager channels for process data (from sync manager channel 2), the FMMU channels and, if the slave supports configurable mapping, PDO mapping or the sync manager PDO assignment. In this state the settings for the process data transfer and perhaps terminal-specific parameters that may differ from the default settings are also transferred.
Safe-Operational (Safe-Op)
During transition between Pre-Op and Safe-Op the EtherCAT slave checks whether the sync manager channels for process data communication and, if required, the distributed clocks settings are correct. Before it acknowledges the change of state, the EtherCAT slave copies current input data into the associated DP­RAM areas of the EtherCAT slave controller (ECSC).
In Safe-Op state mailbox and process data communication is possible, although the slave keeps its outputs in a safe state, while the input data are updated cyclically.
Outputs in SAFEOP state
The default set watchdog [}19] monitoring sets the outputs of the module in a safe state -
Note
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.
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.
EL377322 Version: 2.5
Basics communication
Boot
In the Boot state the slave firmware can be updated. The Boot state can only be reached via the Init state.
In the Boot state mailbox communication via the file access over EtherCAT (FoE) protocol is possible, but no other mailbox communication and no process data communication.

4.5 CoE Interface

General description
The CoE interface (CANopen over EtherCAT) is used for parameter management of EtherCAT devices. EtherCAT slaves or the EtherCAT master manage fixed (read only) or variable parameters which they require for operation, diagnostics or commissioning.
CoE parameters are arranged in a table hierarchy. In principle, the user has read access via the fieldbus. The EtherCAT master (TwinCAT System Manager) can access the local CoE lists of the slaves via EtherCAT in read or write mode, depending on the attributes.
Different CoE parameter types are possible, including string (text), integer numbers, Boolean values or larger byte fields. They can be used to describe a wide range of features. Examples of such parameters include manufacturer ID, serial number, process data settings, device name, calibration values for analog measurement or passwords.
The order is specified in 2 levels via hexadecimal numbering: (main)index, followed by subindex. The value ranges are
• Index: 0x0000 …0xFFFF (0...65535
• SubIndex: 0x00…0xFF (0...255
dez
)
dez
)
A parameter localized in this way is normally written as 0x8010:07, with preceding "x" to identify the hexadecimal numerical range and a colon between index and subindex.
The relevant ranges for EtherCAT fieldbus users are:
• 0x1000: This is where fixed identity information for the device is stored, including name, manufacturer, serial number etc., plus information about the current and available process data configurations.
• 0x8000: This is where the operational and functional parameters for all channels are stored, such as filter settings or output frequency.
Other important ranges are:
• 0x4000: In some EtherCAT devices the channel parameters are stored here (as an alternative to the 0x8000 range).
• 0x6000: Input PDOs ("input" from the perspective of the EtherCAT master)
• 0x7000: Output PDOs ("output" from the perspective of the EtherCAT master)
Availability
Not every EtherCAT device must have a CoE list. Simple I/O modules without dedicated
Note
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
Fig.14: "CoE Online " tab
The figure above shows the CoE objects available in device "EL2502", ranging from 0x1000 to 0x1600. The subindices for 0x1018 are expanded.
Data management and function "NoCoeStorage"
Some parameters, particularly the setting parameters of the slave, are configurable and writeable. This can be done in write or read mode
• via the System Manager (Fig. "CoE Online " tab) by clicking This is useful for commissioning of the system/slaves. Click on the row of the index to be parameterised and enter a value in the "SetValue" dialog.
• from the control system/PLC via ADS, e.g. through blocks from the TcEtherCAT.lib library This is recommended for modifications while the system is running or if no System Manager or operating staff are available.
EL377324 Version: 2.5
Note
Basics communication
Data management
If slave CoE parameters are modified online, Beckhoff devices store any changes in a fail­safe manner in the EEPROM, i.e. the modified CoE parameters are still available after a restart. The situation may be different with other manufacturers.
An EEPROM is subject to a limited lifetime with respect to write operations. From typically 100,000 write operations onwards it can no longer be guaranteed that new (changed) data are reliably saved or are still readable. This is irrelevant for normal commissioning. How­ever, if CoE parameters are continuously changed via ADS at machine runtime, it is quite possible for the lifetime limit to be reached. Support for the NoCoeStorage function, which suppresses the saving of changed CoE values, depends on the firmware version. Please refer to the technical data in this documentation as to whether this applies to the re­spective device.
• If the function is supported: the function is activated by entering the code word 0x12345678 once in CoE 0xF008 and remains active as long as the code word is not changed. After switching the device on it is then inactive. Changed CoE values are not saved in the EEPROM and can thus be changed any number of times.
• Function is not supported: continuous changing of CoE values is not permissible in view of the lifetime limit.
Startup list
Changes in the local CoE list of the terminal are lost if the terminal is replaced. If a terminal
Note
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.
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.
Fig.15: Startup list in the TwinCAT System Manager
The Startup list may already contain values that were configured by the System Manager based on the ESI specifications. Additional application-specific entries can be created.
Basics communication
Online/offline list
While working with the TwinCAT System Manager, a distinction has to be made whether the EtherCAT device is "available", i.e. switched on and linked via EtherCAT and therefore online, or whether a configuration is created offline without connected slaves.
In both cases a CoE list as shown in Fig. “’CoE online’ tab” is displayed. The connectivity is shown as offline/ online.
• If the slave is offline
◦ The offline list from the ESI file is displayed. In this case modifications are not meaningful or
possible.
◦ The configured status is shown under Identity.
◦ No firmware or hardware version is displayed, since these are features of the physical device.
◦ Offline is shown in red.
Fig.16: Offline list
• If the slave is online
◦ The actual current slave list is read. This may take several seconds, depending on the size
and cycle time.
◦ The actual identity is displayed
◦ The firmware and hardware version of the equipment according to the electronic information is
displayed
◦ Online is shown in green.
EL377326 Version: 2.5
Fig.17: Online list
Basics communication
Channel-based order
The CoE list is available in EtherCAT devices that usually feature several functionally equivalent channels. For example, a 4-channel analog 0..10 V input terminal also has 4 logical channels and therefore 4 identical sets of parameter data for the channels. In order to avoid having to list each channel in the documentation, the placeholder "n" tends to be used for the individual channel numbers.
In the CoE system 16 indices, each with 255 subindices, are generally sufficient for representing all channel parameters. The channel-based order is therefore arranged in 16
dec
/10
steps. The parameter range
hex
0x8000 exemplifies this:
• Channel 0: parameter range 0x8000:00 ... 0x800F:255
• Channel 1: parameter range 0x8010:00 ... 0x801F:255
• Channel 2: parameter range 0x8020:00 ... 0x802F:255
• ...
This is generally written as 0x80n0.
Detailed information on the CoE interface can be found in the EtherCAT system documentation on the Beckhoff website.
Basics communication

4.6 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.
EL377328 Version: 2.5

5 Mounting and wiring

5.1 Instructions for ESD protection

Destruction of the devices by electrostatic discharge possible!
The devices contain components at risk from electrostatic discharge caused by improper
Attention
handling.
ü Please ensure you are electrostatically discharged and avoid touching the contacts of
the device directly.
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 bus end cap,
to ensure the protection class and ESD protection.
Mounting and wiring
Fig.18: Spring contacts of the Beckhoff I/O components

5.2 Installation on mounting rails

Risk of electric shock and damage of device!
Bring the bus terminal system into a safe, powered down state before starting installation,
WARNING
disassembly or wiring of the Bus Terminals!
Mounting and wiring
Assembly
Fig.19: 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
Note
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).
EL377330 Version: 2.5
Mounting and wiring
Disassembly
Fig.20: Disassembling of terminal
Each terminal is secured by a lock on the mounting rail, which must be released for disassembly:
1. Pull the terminal by its orange-colored lugs approximately 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 Termi-
Note
PE power contact
nals must be taken account of, since some types (e.g. analog Bus Terminals or digital 4­channel 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.
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
Fig.21: Power contact on left side
Possible damage of the device
Note that, for reasons of electromagnetic compatibility, the PE contacts are capacitatively
Attention
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.
Risk of electric shock!
The PE power contact must not be used for other potentials!
WARNING

5.3 Installation instructions for enhanced mechanical load capacity

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,
WARNING
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
EL377332 Version: 2.5
Mounting and wiring
Additional installation instructions
For terminals with enhanced mechanical load capacity, the following additional installation instructions apply:
• The enhanced mechanical load capacity is valid for all permissible installation positions
• Use a mounting rail according to EN 60715 TH35-15
• Fix the terminal segment on both sides of the mounting rail with a mechanical fixture, e.g. an earth terminal or reinforced end clamp
• The maximum total extension of the terminal segment (without coupler) is: 64 terminals (12 mm mounting with) or 32 terminals (24 mm mounting with)
• Avoid deformation, twisting, crushing and bending of the mounting rail during edging and installation of the rail
• The mounting points of the mounting rail must be set at 5 cm intervals
• Use countersunk head screws to fasten the mounting rail
• The free length between the strain relief and the wire connection should be kept as short as possible. A distance of approx. 10 cm should be maintained to the cable duct.

5.4 Connection

5.4.1 Connection system

Risk of electric shock and damage of device!
Bring the bus terminal system into a safe, powered down state before starting installation,
WARNING
Overview
The Bus Terminal system offers different connection options for optimum adaptation to the respective application:
• The terminals of ELxxxx and KLxxxx series with standard wiring include electronics and connection level in a single enclosure.
• The terminals of ESxxxx and KSxxxx series feature a pluggable connection level and enable steady wiring while replacing.
• The High Density Terminals (HD Terminals) include electronics and connection level in a single enclosure and have advanced packaging density.
Standard wiring (ELxxxx / KLxxxx)
disassembly or wiring of the Bus Terminals!
Fig.22: Standard wiring
The terminals of ELxxxx and KLxxxx series have been tried and tested for years. They feature integrated screwless spring force technology for fast and simple assembly.
Mounting and wiring
Pluggable wiring (ESxxxx / KSxxxx)
Fig.23: Pluggable wiring
The terminals of ESxxxx and KSxxxx series feature a pluggable connection level. The assembly and wiring procedure is the same as for the ELxxxx and KLxxxx series. The pluggable connection level enables the complete wiring to be removed as a plug connector from the top of the housing for servicing. The lower section can be removed from the terminal block by pulling the unlocking tab. Insert the new component and plug in the connector with the wiring. This reduces the installation time and eliminates the risk of wires being mixed up.
The familiar dimensions of the terminal only had to be changed slightly. The new connector adds about 3 mm. The maximum height of the terminal remains unchanged.
A tab for strain relief of the cable simplifies assembly in many applications and prevents tangling of individual connection wires when the connector is removed.
Conductor cross sections between 0.08mm2 and 2.5mm2 can continue to be used with the proven spring force technology.
The overview and nomenclature of the product names for ESxxxx and KSxxxx series has been retained as known from ELxxxx and KLxxxx series.
High Density Terminals (HD Terminals)
Fig.24: High Density Terminals
The Bus Terminals from these series with 16 terminal points are distinguished by a particularly compact design, as the packaging density is twice as large as that of the standard 12mm Bus Terminals. Massive conductors and conductors with a wire end sleeve can be inserted directly into the spring loaded terminal point without tools.
Wiring HD Terminals
The High Density (HD) Terminals of the ELx8xx and KLx8xx series doesn't support plug-
Note
Ultrasonically "bonded" (ultrasonically welded) conductors
gable wiring.
Ultrasonically “bonded" conductors
It is also possible to connect the Standard and High Density Terminals with ultrasonically
Note
"bonded" (ultrasonically welded) conductors. In this case, please note the tables concern­ing the wire-size width below!
EL377334 Version: 2.5
Mounting and wiring

5.4.2 Wiring

Risk of electric shock and damage of device!
Bring the bus terminal system into a safe, powered down state before starting installation,
WARNING
Terminals for standard wiring ELxxxx/KLxxxx and for pluggable wiring ESxxxx/KSxxxx
disassembly or wiring of the Bus Terminals!
Fig.25: Connecting a cable on a terminal point
Up to eight terminal points enable the connection of solid or finely stranded cables to the Bus Terminal. The terminal points are implemented in spring force technology. Connect the cables as follows:
1. Open a terminal point by pushing a screwdriver straight against the stop into the square opening above the terminal point. Do not turn the screwdriver or move it alternately (don't toggle).
2. The wire can now be inserted into the round terminal opening without any force.
3. The terminal point closes automatically when the pressure is released, holding the wire securely and permanently.
See the following table for the suitable wire size width.
Terminal housing ELxxxx, KLxxxx ESxxxx, KSxxxx Wire size width (single core wires) 0.08 ... 2.5mm Wire size width (fine-wire conductors) 0.08 ... 2.5mm Wire size width (conductors with a wire end sleeve) 0.14 ... 1.5mm
2
2
2
0.08 ... 2.5mm 0,08 ... 2.5mm
0.14 ... 1.5mm
2
2
2
Wire stripping length 8 ... 9mm 9 ... 10mm
High Density Terminals (HD Terminals [}34]) with 16 terminal points
The conductors of the HD Terminals are connected without tools for single-wire conductors using the direct plug-in technique, i.e. after stripping the wire is simply plugged into the terminal point. The cables are released, as usual, using the contact release with the aid of a screwdriver. See the following table for the suitable wire size width.
Mounting and wiring
Terminal housing High Density Housing Wire size width (single core wires) 0.08 ... 1.5mm Wire size width (fine-wire conductors) 0.25 ... 1.5mm Wire size width (conductors with a wire end sleeve) 0.14 ... 0.75mm Wire size width (ultrasonically “bonded" conductors) only 1.5mm
2
2
2
2
Wire stripping length 8 ... 9mm

5.4.3 Shielding

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

5.5 Positioning of passive Terminals

Hint for positioning of passive terminals in the bus terminal block
EtherCAT Terminals (ELxxxx / ESxxxx), which do not take an active part in data transfer
Note
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.26: Correct positioning
EL377336 Version: 2.5
Fig.27: Incorrect positioning

5.6 Installation positions

Mounting and wiring
Constraints regarding installation position and operating temperature range
Please refer to the technical data for a terminal to ascertain whether any restrictions re-
Attention
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.
garding 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!
Mounting and wiring
Fig.28: 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.
EL377338 Version: 2.5
Fig.29: Other installation positions
Mounting and wiring
Mounting and wiring

5.7 Connection assignment

Caution: Risk of electric shock!
If you do not connect the terminal point N with the neutral conductor of your mains supply
WARNING
WARNING
(e.g. if the EL3773 is used purely for current measurements), terminal point N should be earthed, in order to avoid dangerous overvoltages in the event of a current transformer fault!
Caution: Risk of electric shock!
Please note that many manufacturers do not permit their current transformers to be oper­ated in no-load mode! Connect the EL3773 to the secondary windings of the current trans­formers before using the current transformer!
Fig.30: EL3773
Connection
Terminal point Description Comment
Name No.
L1 1 Phase L1 Connections for the voltage L2 2 Phase L2 L3 3 Phase L3 N 4 Neutral conductor N
(internally connected to terminal point IN, capacitively connected to the earthing contact to the
mounting rail) IL1 5 Consumer at phase L1 Connections for the current IL2 6 Consumer at phase L2 IL3 7 Consumer at phase L3 IN 8 Star point of thecurrent transformers
(internally connected to terminal point N,
capacitively connected to the earthing contact to the
mounting rail)
measurement. Please observe the notes [}40].
transformers. Please observe the notes [}40].
EL377340 Version: 2.5
Mounting and wiring
Fig.31: Block diagram
Commissioning

6 Commissioning

6.1 Quick start

Quick start
No special measures are required for the initial commissioning of the EL3773.
The EL3773 can be operated with different types of function. The course of decision making and action of the commissioning is shown below.
The introductory chapters on
- Technology [}16]
- Method of operation [}85]
- Application notes [}102]
- Example programs [}135]
are to be observed for understanding.
1. Mounting
Install the EL3773 as described in chapter Mounting and wiring [}29].
2. Configuration
Create a configuration in the TwinCAT System Manager by manually inserting the terminal or scanning it online. Refer to installation chapter TwinCAT 2.x regarding this.
EtherCAT XML Device Description
If the XML description of the EL3773 is not available in your system you can download the
Note
3. Delivery state
The EL3773 is inserted by default in the TwinCAT System Manager with the following settings
• Trigger activated by Distributed Clocks
• 10-fold oversampling
.
4. Setting the parameters and process data
Distributed Clocks
latest XML file from the download area of the Beckhoff website and install it according to the installation instructions.
Deactivate Distributed Clocks if necessary. This is recommended only if the EtherCAT system is to be operated without Distributed Clocks functionality.
Oversampling factor
Specify the oversampling factor within the range of permissible values.
CoE parameters
If the default CoE parameters are to be changed, they must be saved for each channel in the CoE.
EL377342 Version: 2.5
Commissioning
Parameterization via the CoE list (CAN over EtherCAT)
The terminal is parameterized via the CoE - Online tab (double-click on the respective ob-
Note
The CoE settings can also be loaded via the SPS/PLC/Task at runtime.
5. Operation
With voltage/current present, the measured values are now transmitted via the process data, for example in the TwinCAT free-run mode, after restarting TwinCAT.
ject) or via the Process Data tab (allocation of PDOs). Please note the following general CoE notes [}23] when using/manipulating the CoE pa-
rameters:
- Keep a startup list if components have to be replaced
- Differentiation between online/offline dictionary, existence of current XML description
- use “CoE reload” for resetting changes
Data visualization with TwinCAT Scope2
The TwinCAT Scope2 supports the import of oversampling variables in the case of the
Note
EL3773 as well. Please observe the corresponding notes for this.

6.2 TwinCAT Development Environment

The Software for automation TwinCAT (The Windows Control and Automation Technology) will be distinguished into:
• TwinCAT2: System Manager (Configuration) & PLC Control (Programming)
• TwinCAT3: Enhancement of TwinCAT2 (Programming and Configuration takes place via a common Development Environment)
Details:
• TwinCAT2:
◦ Connects I/O devices to tasks in a variable-oriented manner
◦ Connects tasks to tasks in a variable-oriented manner
◦ Supports units at the bit level
◦ Supports synchronous or asynchronous relationships
◦ Exchange of consistent data areas and process images
◦ Datalink on NT - Programs by open Microsoft Standards (OLE, OCX, ActiveX, DCOM+, etc.)
◦ Integration of IEC 61131-3-Software-SPS, Software- NC and Software-CNC within Windows
NT/2000/XP/Vista, Windows 7, NT/XP Embedded, CE
◦ Interconnection to all common fieldbusses
◦ More…
Additional features:
• TwinCAT3 (eXtended Automation):
◦ Visual-Studio®-Integration
◦ Choice of the programming language
◦ Supports object orientated extension of IEC 61131-3
◦ Usage of C/C++ as programming language for real time applications
◦ Connection to MATLAB®/Simulink®
◦ Open interface for expandability
◦ Flexible run-time environment
◦ Active support of Multi-Core- und 64-Bit-Operatingsystem
Commissioning
◦ Automatic code generation and project creation with the TwinCAT Automation Interface
◦ More…
Within the following sections commissioning of the TwinCAT Development Environment on a PC System for the control and also the basically functions of unique control elements will be explained.
Please see further information to TwinCAT2 and TwinCAT3 at http://infosys.beckhoff.com.

6.2.1 Installation of the TwinCAT real-time driver

In order to assign real-time capability to a standard Ethernet port of an IPC controller, the Beckhoff real-time driver has to be installed on this port under Windows.
This can be done in several ways. One option is described here.
In the System Manager call up the TwinCAT overview of the local network interfaces via Options → Show Real Time Ethernet Compatible Devices.
Fig.32: System Manager “Options” (TwinCAT2)
This have to be called up by the Menü “TwinCAT” within the TwinCAT3 environment:
Fig.33: Call up under VS Shell (TwinCAT3)
The following dialog appears:
Fig.34: Overview of network interfaces
EL377344 Version: 2.5
Commissioning
Interfaces listed under “Compatible devices” can be assigned a driver via the “Install” button. A driver should only be installed on compatible devices.
A Windows warning regarding the unsigned driver can be ignored.
Alternatively an EtherCAT-device can be inserted first of all as described in chapter Offline configuration creation, section “Creating the EtherCAT device” [}54] in order to view the compatible ethernet ports via its
EtherCAT properties (tab „Adapter“, button „Compatible Devices…“):
Fig.35: EtherCAT device properties(TwinCAT2): click on „Compatible Devices…“ of tab “Adapter”
TwinCAT 3: the properties of the EtherCAT device can be opened by double click on “Device .. (EtherCAT)” within the Solution Explorer under “I/O”:
After the installation the driver appears activated in the Windows overview for the network interface (Windows Start → System Properties → Network)
Commissioning
Fig.36: Windows properties of the network interface
A correct setting of the driver could be:
Fig.37: Exemplary correct driver setting for the Ethernet port
Other possible settings have to be avoided:
EL377346 Version: 2.5
Commissioning
Fig.38: Incorrect driver settings for the Ethernet port
Commissioning
IP address of the port used
IP address/DHCP
In most cases an Ethernet port that is configured as an EtherCAT device will not transport
Note
general IP packets. For this reason and in cases where an EL6601 or similar devices are used it is useful to specify a fixed IP address for this port via the “Internet Protocol TCP/IP” driver setting and to disable DHCP. In this way the delay associated with the DHCP client for the Ethernet port assigning itself a default IP address in the absence of a DHCP server is avoided. A suitable address space is 192.168.x.x, for example.
Fig.39: TCP/IP setting for the Ethernet port
EL377348 Version: 2.5
Commissioning

6.2.2 Notes regarding ESI device description

Installation of the latest ESI device description
The TwinCAT EtherCAT master/System Manager needs the device description files for the devices to be used in order to generate the configuration in online or offline mode. The device descriptions are contained in the so-called ESI files (EtherCAT Slave Information) in XML format. These files can be requested from the respective manufacturer and are made available for download. An *.xml file may contain several device descriptions.
The ESI files for Beckhoff EtherCAT devices are available on the Beckhoff website.
The ESI files should be stored in the TwinCAT installation directory.
Default settings:
• TwinCAT2: C:\TwinCAT\IO\EtherCAT
• TwinCAT3: C:\TwinCAT\3.1\Config\Io\EtherCAT
The files are read (once) when a new System Manager window is opened, if they have changed since the last time the System Manager window was opened.
A TwinCAT installation includes the set of Beckhoff ESI files that was current at the time when the TwinCAT build was created.
For TwinCAT2.11/TwinCAT3 and higher, the ESI directory can be updated from the System Manager, if the programming PC is connected to the Internet; by
• TwinCAT2: Option → “Update EtherCAT Device Descriptions”
• TwinCAT3: TwinCAT → EtherCAT Devices → “Update Device Descriptions (via ETG Website)…”
The TwinCAT ESI Updater [}53] is available for this purpose.
ESI
The *.xml files are associated with *.xsd files, which describe the structure of the ESI XML
Note
Device differentiation
EtherCAT devices/slaves are distinguished by four properties, which determine the full device identifier. For example, the device identifier EL2521-0025-1018 consists of:
• family key “EL”
• name “2521”
• type “0025”
• and revision “1018”
files. To update the ESI device descriptions, both file types should therefore be updated.
Fig.40: Identifier structure
The order identifier consisting of name + type (here: EL2521-0010) describes the device function. The revision indicates the technical progress and is managed by Beckhoff. In principle, a device with a higher revision can replace a device with a lower revision, unless specified otherwise, e.g. in the documentation.
Each revision has its own ESI description. See further notes [}9].
Commissioning
Online description
If the EtherCAT configuration is created online through scanning of real devices (see section Online setup) and no ESI descriptions are available for a slave (specified by name and revision) that was found, the System Manager asks whether the description stored in the device should be used. In any case, the System Manager needs this information for setting up the cyclic and acyclic communication with the slave correctly.
Fig.41: OnlineDescription information window (TwinCAT2)
In TwinCAT3 a similar window appears, which also offers the Web update:
Fig.42: Information window OnlineDescription (TwinCAT3)
If possible, the Yes is to be rejected and the required ESI is to be requested from the device manufacturer. After installation of the XML/XSD file the configuration process should be repeated.
Changing the ‘usual’ configuration through a scan
ü If a scan discovers a device that is not yet known to TwinCAT, distinction has to be
Attention
Refer in particular to the chapter ‘General notes on the use of Beckhoff EtherCAT IO components’ and for manual configuration to the chapter ‘Offline configuration creation’ [}54].
If the OnlineDescription is used regardless, the System Manager reads a copy of the device description from the EEPROM in the EtherCAT slave. In complex slaves the size of the EEPROM may not be sufficient for the complete ESI, in which case the ESI would be incomplete in the configurator. Therefore it’s recommended using an offline ESI file with priority in such a case.
made between two cases. Taking the example here of the EL2521-0000 in the revision 1019
a) no ESI is present for the EL2521-0000 device at all, either for the revision 1019 or for
an older revision. The ESI must then be requested from the manufacturer (in this case Beckhoff).
b) an ESI is present for the EL2521-0000 device, but only in an older revision, e.g. 1018 or
1017. In this case an in-house check should first be performed to determine whether the spare parts stock allows the integration of the increased revision into the configuration at all. A new/higher revision usually also brings along new features. If these are not to be used, work can continue without reservations with the previous revision 1018 in the configuration. This is also stated by the Beckhoff compatibility rule.
The System Manager creates for online recorded device descriptions a new file “OnlineDescription0000...xml” in its ESI directory, which contains all ESI descriptions that were read online.
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Commissioning
Fig.43: File OnlineDescription.xml created by the System Manager
Is a slave desired to be added manually to the configuration at a later stage, online created slaves are indicated by a prepended symbol “>” in the selection list (see Figure “Indication of an online recorded ESI of EL2521 as an example”).
Fig.44: Indication of an online recorded ESI of EL2521 as an example
If such ESI files are used and the manufacturer's files become available later, the file OnlineDescription.xml should be deleted as follows:
• close all System Manager windows
• restart TwinCAT in Config mode
• delete "OnlineDescription0000...xml"
• restart TwinCAT System Manager
This file should not be visible after this procedure, if necessary press <F5> to update
OnlineDescription for TwinCAT3.x
In addition to the file described above "OnlineDescription0000...xml" , a so called EtherCAT
Note
Faulty ESI file
If an ESI file is faulty and the System Manager is unable to read it, the System Manager brings up an information window.
cache with new discovered devices is created by TwinCAT3.x, e.g. under Windows 7:
(Please note the language settings of the OS!) You have to delete this file, too.
Fig.45: Information window for faulty ESI file (left: TwinCAT2; right: TwinCAT3)
Commissioning
Reasons may include:
• Structure of the *.xml does not correspond to the associated *.xsd file → check your schematics
• Contents cannot be translated into a device description → contact the file manufacturer
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6.2.3 TwinCAT ESI Updater

For TwinCAT2.11 and higher, the System Manager can search for current Beckhoff ESI files automatically, if an online connection is available:
Fig.46: Using the ESI Updater (>= TwinCAT2.11)
The call up takes place under: “Options” → "Update EtherCAT Device Descriptions"
Selection under TwinCAT3:
Fig.47: Using the ESI Updater (TwinCAT3)
The ESI Updater (TwinCAT3) is a convenient option for automatic downloading of ESI data provided by EtherCAT manufacturers via the Internet into the TwinCAT directory (ESI = EtherCAT slave information). TwinCAT accesses the central ESI ULR directory list stored at ETG; the entries can then be viewed in the Updater dialog, although they cannot be changed there.
The call up takes place under: “TwinCAT“ → „EtherCAT Devices“ → “Update Device Description (via ETG Website)…“.

6.2.4 Distinction between Online and Offline

The distinction between online and offline refers to the presence of the actual I/O environment (drives, terminals, EJ-modules). If the configuration is to be prepared in advance of the system configuration as a programming system, e.g. on a laptop, this is only possible in “Offline configuration” mode. In this case all components have to be entered manually in the configuration, e.g. based on the electrical design.
If the designed control system is already connected to the EtherCAT system and all components are energised and the infrastructure is ready for operation, the TwinCAT configuration can simply be generated through “scanning” from the runtime system. This is referred to as online configuration.
In any case, during each startup the EtherCAT master checks whether the slaves it finds match the configuration. This test can be parameterised in the extended slave settings. Refer to note “Installation of the latest ESI-XML device description” [}49].
For preparation of a configuration:
• the real EtherCAT hardware (devices, couplers, drives) must be present and installed
• the devices/modules must be connected via EtherCAT cables or in the terminal/ module strand in the same way as they are intended to be used later
Commissioning
• the devices/modules be connected to the power supply and ready for communication
• TwinCAT must be in CONFIG mode on the target system.
The online scan process consists of:
• detecting the EtherCAT device [}59] (Ethernet port at the IPC)
• detecting the connected EtherCAT devices [}60]. This step can be carried out independent of the preceding step
• troubleshooting [}63]
The scan with existing configuration [}64] can also be carried out for comparison.

6.2.5 OFFLINE configuration creation

Creating the EtherCAT device
Create an EtherCAT device in an empty System Manager window.
Fig.48: Append EtherCAT device (left: TwinCAT2; right: TwinCAT3)
Select type ‘EtherCAT’ for an EtherCAT I/O application with EtherCAT slaves. For the present publisher/ subscriber service in combination with an EL6601/EL6614 terminal select “EtherCAT Automation Protocol via EL6601”.
Fig.49: Selecting the EtherCAT connection (TwinCAT2.11, TwinCAT3)
Then assign a real Ethernet port to this virtual device in the runtime system.
Fig.50: Selecting the Ethernet port
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Commissioning
This query may appear automatically when the EtherCAT device is created, or the assignment can be set/ modified later in the properties dialog; see Fig. “EtherCAT device properties (TwinCAT2)”.
Fig.51: EtherCAT device properties (TwinCAT2)
TwinCAT 3: the properties of the EtherCAT device can be opened by double click on “Device .. (EtherCAT)” within the Solution Explorer under “I/O”:
Selecting the Ethernet port
Ethernet ports can only be selected for EtherCAT devices for which the TwinCAT real-time
Note
Defining EtherCAT slaves
Further devices can be appended by right-clicking on a device in the configuration tree.
Fig.52: Appending EtherCAT devices (left: TwinCAT2; right: TwinCAT3)
driver is installed. This has to be done separately for each port. Please refer to the respec­tive installation page [}44].
The dialog for selecting a new device opens. Only devices for which ESI files are available are displayed.
Only devices are offered for selection that can be appended to the previously selected device. Therefore the physical layer available for this port is also displayed (Fig. “Selection dialog for new EtherCAT device”, A). In the case of cable-based Fast-Ethernet physical layer with PHY transfer, then also only cable-based devices are available, as shown in Fig. “Selection dialog for new EtherCAT device”. If the preceding device has several free ports (e.g. EK1122 or EK1100), the required port can be selected on the right-hand side (A).
Overview of physical layer
• “Ethernet”: cable-based 100BASE-TX: EK couplers, EP boxes, devices with RJ45/M8/M12 connector
Commissioning
• “E-Bus”: LVDS “terminal bus”, “EJ-module”: EL/ES terminals, various modular modules
The search field facilitates finding specific devices (since TwinCAT2.11 or TwinCAT3).
Fig.53: Selection dialog for new EtherCAT device
By default only the name/device type is used as selection criterion. For selecting a specific revision of the device the revision can be displayed as “Extended Information”.
Fig.54: Display of device revision
In many cases several device revisions were created for historic or functional reasons, e.g. through technological advancement. For simplification purposes (see Fig. “Selection dialog for new EtherCAT device”) only the last (i.e. highest) revision and therefore the latest state of production is displayed in the selection dialog for Beckhoff devices. To show all device revisions available in the system as ESI descriptions tick the “Show Hidden Devices” check box, see Fig. “Display of previous revisions”.
EL377356 Version: 2.5
Fig.55: Display of previous revisions
Device selection based on revision, compatibility
The ESI description also defines the process image, the communication type between mas-
Note
ter and slave/device and the device functions, if applicable. The physical device (firmware, if available) has to support the communication queries/settings of the master. This is back­ward compatible, i.e. newer devices (higher revision) should be supported if the EtherCAT master addresses them as an older revision. The following compatibility rule of thumb is to be assumed for Beckhoff EtherCAT Terminals/ Boxes/ EJ-modules:
device revision in the system >= device revision in the configuration
This also enables subsequent replacement of devices without changing the configuration (different specifications are possible for drives).
Commissioning
Example:
If an EL2521-0025-1018 is specified in the configuration, an EL2521-0025-1018 or higher (-1019, -1020) can be used in practice.
Fig.56: Name/revision of the terminal
If current ESI descriptions are available in the TwinCAT system, the last revision offered in the selection dialog matches the Beckhoff state of production. It is recommended to use the last device revision when creating a new configuration, if current Beckhoff devices are used in the real application. Older revisions should only be used if older devices from stock are to be used in the application.
In this case the process image of the device is shown in the configuration tree and can be parameterised as follows: linking with the task, CoE/DC settings, plug-in definition, startup settings, ...
Commissioning
Fig.57: EtherCAT terminal in the TwinCAT tree (left: TwinCAT2; right: TwinCAT3)
EL377358 Version: 2.5
Commissioning

6.2.6 ONLINE configuration creation

Detecting/scanning of the EtherCAT device
The online device search can be used if the TwinCAT system is in CONFIG mode. This can be indicated by a symbol right below in the information bar:
• on TwinCAT2 by a blue display “Config Mode” within the System Manager window: .
• on TwinCAT3 within the user interface of the development environment by a symbol .
TwinCAT can be set into this mode:
• TwinCAT2: by selection of in the Menubar or by “Actions” → “Set/Reset TwinCATtoConfig Mode…”
• TwinCAT3: by selection of in the Menubar or by „TwinCAT“ → “RestartTwinCAT(ConfigMode)“
Online scanning in Config mode
The online search is not available in RUN mode (production operation). Note the differenti-
Note
ation between TwinCAT programming system and TwinCAT target system.
The TwinCAT2 icon ( ) or TwinCAT3 icon ( ) within the Windows-Taskbar always shows the TwinCAT mode of the local IPC. Compared to that, the System Manager window of TwinCAT2 or the user interface of TwinCAT3 indicates the state of the target system.
Fig.58: Differentiation local/target system (left: TwinCAT2; right: TwinCAT3)
Right-clicking on “I/O Devices” in the configuration tree opens the search dialog.
Fig.59: Scan Devices (left: TwinCAT2; right: TwinCAT3)
This scan mode attempts to find not only EtherCAT devices (or Ethernet ports that are usable as such), but also NOVRAM, fieldbus cards, SMB etc. However, not all devices can be found automatically.
Commissioning
Fig.60: Note for automatic device scan (left: TwinCAT2; right: TwinCAT3)
Ethernet ports with installed TwinCAT real-time driver are shown as “RT Ethernet” devices. An EtherCAT frame is sent to these ports for testing purposes. If the scan agent detects from the response that an EtherCAT slave is connected, the port is immediately shown as an “EtherCAT Device” .
Fig.61: Detected Ethernet devices
Via respective checkboxes devices can be selected (as illustrated in Fig. “Detected Ethernet devices” e.g. Device 3 and Device 4 were chosen). After confirmation with “OK” a device scan is suggested for all selected devices, see Fig.: “Scan query after automatic creation of an EtherCAT device”.
Selecting the Ethernet port
Ethernet ports can only be selected for EtherCAT devices for which the TwinCAT real-time
Note
Detecting/Scanning the EtherCAT devices
driver is installed. This has to be done separately for each port. Please refer to the respec­tive installation page [}44].
Online scan functionality
During a scan the master queries the identity information of the EtherCAT slaves from the
Note
Fig.62: Example default state
slave EEPROM. The name and revision are used for determining the type. The respective devices are located in the stored ESI data and integrated in the configuration tree in the de­fault state defined there.
Attention
Slave scanning in practice in series machine production
The scanning function should be used with care. It is a practical and fast tool for creating an initial configuration as a basis for commissioning. In series machine production or reproduc­tion of the plant, however, the function should no longer be used for the creation of the con-
figuration, but if necessary for comparison [}64] with the defined initial configura­tion.Background: since Beckhoff occasionally increases the revision version of the deliv­ered products for product maintenance reasons, a configuration can be created by such a scan which (with an identical machine construction) is identical according to the device list; however, the respective device revision may differ from the initial configuration.
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Commissioning
Example:
Company A builds the prototype of a machine B, which is to be produced in series later on. To do this the prototype is built, a scan of the IO devices is performed in TwinCAT and the initial configuration ‘B.tsm’ is created. The EL2521-0025 EtherCAT terminal with the revision 1018 is located somewhere. It is thus built into the TwinCAT configuration in this way:
Fig.63: Installing EthetCAT terminal with revision -1018
Likewise, during the prototype test phase, the functions and properties of this terminal are tested by the programmers/commissioning engineers and used if necessary, i.e. addressed from the PLC ‘B.pro’ or the NC. (the same applies correspondingly to the TwinCAT3 solution files).
The prototype development is now completed and series production of machine B starts, for which Beckhoff continues to supply the EL2521-0025-0018. If the commissioning engineers of the series machine production department always carry out a scan, a B configuration with the identical contents results again for each machine. Likewise, A might create spare parts stores worldwide for the coming series-produced machines with EL2521-0025-1018 terminals.
After some time Beckhoff extends the EL2521-0025 by a new feature C. Therefore the FW is changed, outwardly recognizable by a higher FW version and a new revision -1019. Nevertheless the new device naturally supports functions and interfaces of the predecessor version(s); an adaptation of ‘B.tsm’ or even ‘B.pro’ is therefore unnecessary. The series-produced machines can continue to be built with ‘B.tsm’ and
‘B.pro’; it makes sense to perform a comparative scan [}64] against the initial configuration ‘B.tsm’ in order to check the built machine.
However, if the series machine production department now doesn’t use ‘B.tsm’, but instead carries out a scan to create the productive configuration, the revision -1019 is automatically detected and built into the configuration:
Fig.64: Detection of EtherCAT terminal with revision -1019
This is usually not noticed by the commissioning engineers. TwinCAT cannot signal anything either, since virtually a new configuration is created. According to the compatibility rule, however, this means that no EL2521-0025-1018 should be built into this machine as a spare part (even if this nevertheless works in the vast majority of cases).
In addition, it could be the case that, due to the development accompanying production in company A, the new feature C of the EL2521-0025-1019 (for example, an improved analog filter or an additional process data for the diagnosis) is discovered and used without in-house consultation. The previous stock of spare part devices are then no longer to be used for the new configuration ‘B2.tsm’ created in this way.Þ if series machine production is established, the scan should only be performed for informative purposes for comparison with a defined initial configuration. Changes are to be made with care!
If an EtherCAT device was created in the configuration (manually or through a scan), the I/O field can be scanned for devices/slaves.
Commissioning
Fig.65: Scan query after automatic creation of an EtherCAT device (left: TwinCAT2; right: TwinCAT3)
Fig.66: Manual triggering of a device scan on a specified EtherCAT device (left: TwinCAT2; right:
TwinCAT3)
In the System Manager (TwinCAT2) or the User Interface (TwinCAT3) the scan process can be monitored via the progress bar at the bottom in the status bar.
Fig.67: Scan progressexemplary by TwinCAT2
The configuration is established and can then be switched to online state (OPERATIONAL).
Fig.68: Config/FreeRun query (left: TwinCAT2; right: TwinCAT3)
In Config/FreeRun mode the System Manager display alternates between blue and red, and the EtherCAT device continues to operate with the idling cycle time of 4 ms (default setting), even without active task (NC, PLC).
Fig.69: Displaying of “Free Run” and “Config Mode” toggling right below in the status bar
Fig.70: TwinCAT can also be switched to this state by using a button (left: TwinCAT2; right: TwinCAT3)
The EtherCAT system should then be in a functional cyclic state, as shown in Fig. “Online display example”.
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Commissioning
Fig.71: Online display example
Please note:
• all slaves should be in OP state
• the EtherCAT master should be in “Actual State” OP
• “frames/sec” should match the cycle time taking into account the sent number of frames
• no excessive “LostFrames” or CRC errors should occur
The configuration is now complete. It can be modified as described under manual procedure [}54].
Troubleshooting
Various effects may occur during scanning.
• An unknown device is detected, i.e. an EtherCAT slave for which no ESI XML description is available. In this case the System Manager offers to read any ESI that may be stored in the device. This case is described in the chapter "Notes regarding ESI device description".
• Device are not detected properly Possible reasons include:
- faulty data links, resulting in data loss during the scan
- slave has invalid device description The connections and devices should be checked in a targeted manner, e.g. via the emergency scan. Then re-run the scan.
Fig.72: Faulty identification
In the System Manager such devices may be set up as EK0000 or unknown devices. Operation is not possible or meaningful.
Commissioning
Scan over existing Configuration
Change of the configuration after comparison
With this scan (TwinCAT2.11 or 3.1) only the device properties vendor (manufacturer), de-
Attention
If a scan is initiated for an existing configuration, the actual I/O environment may match the configuration exactly or it may differ. This enables the configuration to be compared.
Fig.73: Identical configuration (left: TwinCAT2; right: TwinCAT3)
If differences are detected, they are shown in the correction dialog, so that the user can modify the configuration as required.
vice name and revision are compared at present! A ‘ChangeTo’ or ‘Copy’ should only be carried out with care, taking into consideration the Beckhoff IO compatibility rule (see above). The device configuration is then replaced by the revision found; this can affect the supported process data and functions.
Fig.74: Correction dialog
It is advisable to tick the “Extended Information” check box to reveal differences in the revision.
Colour Explanation
green This EtherCAT slave matches the entry on the other side. Both type and revision match. blue This EtherCAT slave is present on the other side, but in a different revision. This other
revision can have other default values for the process data as well as other/additional functions. If the found revision is higher than the configured revision, the slave may be used provided compatibility issues are taken into account.
If the found revision is lower than the configured revision, it is likely that the slave cannot be used. The found device may not support all functions that the master expects based on the higher revision number.
light blue This EtherCAT slave is ignored (“Ignore” button)
EL377364 Version: 2.5
Colour Explanation
red • This EtherCAT slave is not present on the other side.
• It is present, but in a different revision, which also differs in its properties from the one specified. The compatibility principle then also applies here: if the found revision is higher than the configured revision, use is possible provided compatibility issues are taken into account, since the successor devices should support the functions of the predecessor devices. If the found revision is lower than the configured revision, it is likely that the slave cannot be used. The found device may not support all functions that the master expects based on the higher revision number.
Device selection based on revision, compatibility
The ESI description also defines the process image, the communication type between mas-
Note
ter and slave/device and the device functions, if applicable. The physical device (firmware, if available) has to support the communication queries/settings of the master. This is back­ward compatible, i.e. newer devices (higher revision) should be supported if the EtherCAT master addresses them as an older revision. The following compatibility rule of thumb is to be assumed for Beckhoff EtherCAT Terminals/ Boxes/ EJ-modules:
device revision in the system >= device revision in the configuration
This also enables subsequent replacement of devices without changing the configuration (different specifications are possible for drives).
Commissioning
Example:
If an EL2521-0025-1018 is specified in the configuration, an EL2521-0025-1018 or higher (-1019, -1020) can be used in practice.
Fig.75: Name/revision of the terminal
If current ESI descriptions are available in the TwinCAT system, the last revision offered in the selection dialog matches the Beckhoff state of production. It is recommended to use the last device revision when creating a new configuration, if current Beckhoff devices are used in the real application. Older revisions should only be used if older devices from stock are to be used in the application.
In this case the process image of the device is shown in the configuration tree and can be parameterised as follows: linking with the task, CoE/DC settings, plug-in definition, startup settings, ...
Commissioning
Fig.76: Correction dialog with modifications
Once all modifications have been saved or accepted, click “OK” to transfer them to the real *.tsm configuration.
Change to Compatible Type
TwinCAT offers a function “Change to Compatible Type…” for the exchange of a device whilst retaining the links in the task.
Fig.77: Dialog “Change to Compatible Type…” (left: TwinCAT2; right: TwinCAT3)
This function is preferably to be used on AX5000 devices.
Change to Alternative Type
The TwinCAT System Manager offers a function for the exchange of a device: Change to Alternative Type
Fig.78: TwinCAT2 Dialog Change to Alternative Type
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Commissioning
If called, the System Manager searches in the procured device ESI (in this example: EL1202-0000) for details of compatible devices contained there. The configuration is changed and the ESI-EEPROM is overwritten at the same time – therefore this process is possible only in the online state (ConfigMode).

6.2.7 EtherCAT subscriber configuration

In the left-hand window of the TwinCAT2 System Manager or the Solution Explorer of the TwinCAT3 Development Environment respectively, click on the element of the terminal within the tree you wish to configure (in the example: EL3751 Terminal 3).
Fig.79: Branch element as terminal EL3751
In the right-hand window of the TwinCAT System manager (TwinCAT2) or the Development Environment (TwinCAT3), various tabs are now available for configuring the terminal. And yet the dimension of complexity of a subscriber determines which tabs are provided. Thus as illustrated in the example above the terminal EL3751 provides many setup options and also a respective number of tabs are available. On the contrary by the terminal EL1004 for example the tabs "General", "EtherCAT", "Process Data" and “Online“ are available only. Several terminals, as for instance the EL6695 provide special functions by a tab with its own terminal name, so “EL6695” in this case. A specific tab “Settings” by terminals with a wide range of setup options will be provided also (e.g. EL3751).
„General“ tab
Fig.80: “General” tab
Name Name of the EtherCAT device Id Number of the EtherCAT device Type EtherCAT device type Comment Here you can add a comment (e.g. regarding the
system).
Disabled Here you can deactivate the EtherCAT device. Create symbols Access to this EtherCAT slave via ADS is only
available if this control box is activated.
Commissioning
„EtherCAT“ tab
Fig.81: „EtherCAT“ tab
Type EtherCAT device type Product/Revision Product and revision number of the EtherCAT device Auto Inc Addr. Auto increment address of the EtherCAT device. The
auto increment address can be used for addressing each EtherCAT device in the communication ring through its physical position. Auto increment addressing is used during the start-up phase when the EtherCAT master allocates addresses to the EtherCAT devices. With auto increment addressing the first EtherCAT slave in the ring has the address 0000 decremented by 1 (FFFF
. For each further slave the address is
hex
, FFFE
hex
hex
etc.).
EtherCAT Addr. Fixed address of an EtherCAT slave. This address is
allocated by the EtherCAT master during the start-up phase. Tick the control box to the left of the input field in order to modify the default value.
Previous Port Name and port of the EtherCAT device to which this
device is connected. If it is possible to connect this device with another one without changing the order of the EtherCAT devices in the communication ring, then this combination field is activated and the EtherCAT device to which this device is to be connected can be selected.
Advanced Settings This button opens the dialogs for advanced settings.
The link at the bottom of the tab points to the product page for this EtherCAT device on the web.
“Process Data” tab
Indicates the configuration of the process data. The input and output data of the EtherCAT slave are represented as CANopen process data objects (Process Data Objects, PDOs). The user can select a PDO via PDO assignment and modify the content of the individual PDO via this dialog, if the EtherCAT slave supports this function.
EL377368 Version: 2.5
Fig.82: “Process Data” tab
Commissioning
The process data (PDOs) transferred by an EtherCAT slave during each cycle are user data which the application expects to be updated cyclically or which are sent to the slave. To this end the EtherCAT master (Beckhoff TwinCAT) parameterizes each EtherCAT slave during the start-up phase to define which process data (size in bits/bytes, source location, transmission type) it wants to transfer to or from this slave. Incorrect configuration can prevent successful start-up of the slave.
For Beckhoff EtherCAT EL, ES, EM, EJ and EP slaves the following applies in general:
• The input/output process data supported by the device are defined by the manufacturer in the ESI/XML description. The TwinCAT EtherCAT Master uses the ESI description to configure the slave correctly.
• The process data can be modified in the system manager. See the device documentation. Examples of modifications include: mask out a channel, displaying additional cyclic information, 16-bit display instead of 8-bit data size, etc.
• In so-called “intelligent” EtherCAT devices the process data information is also stored in the CoE directory. Any changes in the CoE directory that lead to different PDO settings prevent successful startup of the slave. It is not advisable to deviate from the designated process data, because the device firmware (if available) is adapted to these PDO combinations.
If the device documentation allows modification of process data, proceed as follows (see Figure “Configuring the process data”).
• A: select the device to configure
• B: in the “Process Data” tab select Input or Output under SyncManager (C)
• D: the PDOs can be selected or deselected
• H: the new process data are visible as linkable variables in the system manager The new process data are active once the configuration has been activated and TwinCAT has been restarted (or the EtherCAT master has been restarted)
• E: if a slave supports this, Input and Output PDO can be modified simultaneously by selecting a so­called PDO record (“predefined PDO settings”).
Commissioning
Fig.83: Configuring the process data
Manual modification of the process data
According to the ESI description, a PDO can be identified as “fixed” with the flag “F” in the
Note
A detailed description [}75] can be found at the end of this section.
„Startup“ tab
The Startup tab is displayed if the EtherCAT slave has a mailbox and supports the CANopen over EtherCAT (CoE) or Servo drive over EtherCAT protocol. This tab indicates which download requests are sent to the mailbox during startup. It is also possible to add new mailbox requests to the list display. The download requests are sent to the slave in the same order as they are shown in the list.
PDO overview (Fig. “Configuring the process data”, J). The configuration of such PDOs cannot be changed, even if TwinCAT offers the associated dialog (“Edit”). In particular, CoE content cannot be displayed as cyclic process data. This generally also applies in cases where a device supports download of the PDO configuration, “G”. In case of incorrect con­figuration the EtherCAT slave usually refuses to start and change to OP state. The System Manager displays an “invalid SM cfg” logger message: This error message (“invalid SM IN cfg” or “invalid SM OUT cfg”) also indicates the reason for the failed start.
EL377370 Version: 2.5
Fig.84: „Startup“ tab
Column Description
Transition Transition to which the request is sent. This can either be
• the transition from pre-operational to safe-operational (PS), or
• the transition from safe-operational to operational (SO).
If the transition is enclosed in "<>" (e.g. <PS>), the mailbox request is fixed and cannot be
modified or deleted by the user. Protocol Type of mailbox protocol Index Index of the object Data Date on which this object is to be downloaded. Comment Description of the request to be sent to the mailbox
Commissioning
Move Up This button moves the selected request up by one
position in the list.
Move Down This button moves the selected request down by one
position in the list.
New This button adds a new mailbox download request to
be sent during startup.
Delete This button deletes the selected entry. Edit This button edits an existing request.
“CoE – Online” tab
The additional CoE - Online tab is displayed if the EtherCAT slave supports the CANopen over EtherCAT (CoE) protocol. This dialog lists the content of the object list of the slave (SDO upload) and enables the user to modify the content of an object from this list. Details for the objects of the individual EtherCAT devices can be found in the device-specific object descriptions.
Commissioning
Fig.85: “CoE – Online” tab
Object list display
Column Description
Index Index and sub-index of the object Name Name of the object Flags RW The object can be read, and data can be written to the object (read/write)
RO The object can be read, but no data can be written to the object (read only) P An additional P identifies the object as a process data object.
Value Value of the object
Update List The Update list button updates all objects in the
displayed list
Auto Update If this check box is selected, the content of the
objects is updated automatically.
EL377372 Version: 2.5
Commissioning
Advanced The Advanced button opens the Advanced Settings
dialog. Here you can specify which objects are displayed in the list.
Fig.86: Dialog “Advanced settings”
Online - via SDO Information If this option button is selected, the list of the objects
included in the object list of the slave is uploaded from the slave via SDO information. The list below can be used to specify which object types are to be uploaded.
Offline - via EDS File If this option button is selected, the list of the objects
included in the object list is read from an EDS file provided by the user.
„Online“ tab
Fig.87: „Online“ tab
Commissioning
State Machine
Init This button attempts to set the EtherCAT device to
the Init state.
Pre-Op This button attempts to set the EtherCAT device to
the pre-operational state.
Op This button attempts to set the EtherCAT device to
the operational state.
Bootstrap This button attempts to set the EtherCAT device to
the Bootstrap state.
Safe-Op This button attempts to set the EtherCAT device to
the safe-operational state.
Clear Error This button attempts to delete the fault display. If an
EtherCAT slave fails during change of state it sets an error flag.
Example: An EtherCAT slave is in PREOP state (pre­operational). The master now requests the SAFEOP state (safe-operational). If the slave fails during change of state it sets the error flag. The current state is now displayed as ERR PREOP. When the Clear Error button is pressed the error flag is cleared, and the current state is displayed as PREOP again.
Current State Indicates the current state of the EtherCAT device. Requested State Indicates the state requested for the EtherCAT
device.
DLL Status
Indicates the DLL status (data link layer status) of the individual ports of the EtherCAT slave. The DLL status can have four different states:
Status Description
No Carrier / Open No carrier signal is available at the port, but the port
is open.
No Carrier / Closed No carrier signal is available at the port, and the port
is closed.
Carrier / Open A carrier signal is available at the port, and the port is
open.
Carrier / Closed A carrier signal is available at the port, but the port is
closed.
File Access over EtherCAT
Download With this button a file can be written to the EtherCAT
device.
Upload With this button a file can be read from the EtherCAT
device.
EL377374 Version: 2.5
Commissioning
"DC" tab (Distributed Clocks)
Fig.88: "DC" tab (Distributed Clocks)
Operation Mode Options (optional):
• FreeRun
• SM-Synchron
• DC-Synchron (Input based)
• DC-Synchron
Advanced Settings… Advanced settings for readjustment of the real time determinant TwinCAT-
clock
Detailed information to Distributed Clocks are specified on http://infosys.beckhoff.com:
Fieldbus Components → EtherCAT Terminals → EtherCAT System documentation → EtherCAT basics → Distributed Clocks
6.2.7.1 Detailed description of Process Data tab
Sync Manager
Lists the configuration of the Sync Manager (SM). If the EtherCAT device has a mailbox, SM0 is used for the mailbox output (MbxOut) and SM1 for the mailbox input (MbxIn). SM2 is used for the output process data (outputs) and SM3 (inputs) for the input process data.
If an input is selected, the corresponding PDO assignment is displayed in the PDO Assignment list below.
PDO Assignment
PDO assignment of the selected Sync Manager. All PDOs defined for this Sync Manager type are listed here:
• If the output Sync Manager (outputs) is selected in the Sync Manager list, all RxPDOs are displayed.
• If the input Sync Manager (inputs) is selected in the Sync Manager list, all TxPDOs are displayed.
The selected entries are the PDOs involved in the process data transfer. In the tree diagram of the System Manager these PDOs are displayed as variables of the EtherCAT device. The name of the variable is identical to the Name parameter of the PDO, as displayed in the PDO list. If an entry in the PDO assignment list is deactivated (not selected and greyed out), this indicates that the input is excluded from the PDO assignment. In order to be able to select a greyed out PDO, the currently selected PDO has to be deselected first.
Commissioning
Activation of PDO assignment
ü If you have changed the PDO assignment, in order to activate the new PDO assign-
Note
PDO list
List of all PDOs supported by this EtherCAT device. The content of the selected PDOs is displayed in the PDO Content list. The PDO configuration can be modified by double-clicking on an entry.
Column Description
Index PDO index. Size Size of the PDO in bytes. Name Name of the PDO.
Flags F Fixed content: The content of this PDO is fixed and cannot be changed by the
SM Sync Manager to which this PDO is assigned. If this entry is empty, this PDO does not take
SU Sync unit to which this PDO is assigned.
ment,
a) the EtherCAT slave has to run through the PS status transition cycle (from pre-opera-
tional to safe-operational) once (see Online tab [}73]),
b) and the System Manager has to reload the EtherCAT slaves
( button for TwinCAT2 or button for TwinCAT3)
If this PDO is assigned to a Sync Manager, it appears as a variable of the slave with this parameter as the name.
System Manager.
M Mandatory PDO. This PDO is mandatory and must therefore be assigned to a
Sync Manager! Consequently, this PDO cannot be deleted from the PDO Assignment list
part in the process data traffic.
PDO Content
Indicates the content of the PDO. If flag F (fixed content) of the PDO is not set the content can be modified.
Download
If the device is intelligent and has a mailbox, the configuration of the PDO and the PDO assignments can be downloaded to the device. This is an optional feature that is not supported by all EtherCAT slaves.
PDO Assignment
If this check box is selected, the PDO assignment that is configured in the PDO Assignment list is downloaded to the device on startup. The required commands to be sent to the device can be viewed in the
Startup [}70] tab.
PDO Configuration
If this check box is selected, the configuration of the respective PDOs (as shown in the PDO list and the PDO Content display) is downloaded to the EtherCAT slave.

6.3 General Notes - EtherCAT Slave Application

This summary briefly deals with a number of aspects of EtherCAT Slave operation under TwinCAT. More detailed information on this may be found in the corresponding sections of, for instance, the EtherCAT System Documentation.
EL377376 Version: 2.5
Commissioning
Diagnosis in real time: WorkingCounter, EtherCAT State and Status
Generally speaking an EtherCAT Slave provides a variety of diagnostic information that can be used by the controlling task.
This diagnostic information relates to differing levels of communication. It therefore has a variety of sources, and is also updated at various times.
Any application that relies on I/O data from a fieldbus being correct and up to date must make diagnostic access to the corresponding underlying layers. EtherCAT and the TwinCAT System Manager offer comprehensive diagnostic elements of this kind. Those diagnostic elements that are helpful to the controlling task for diagnosis that is accurate for the current cycle when in operation (not during commissioning) are discussed below.
Fig.89: Selection of the diagnostic information of an EtherCAT Slave
In general, an EtherCAT Slave offers
• communication diagnosis typical for a slave (diagnosis of successful participation in the exchange of process data, and correct operating mode) This diagnosis is the same for all slaves.
as well as
• function diagnosis typical for a channel (device-dependent) See the corresponding device documentation
The colors in Fig. “Selection of the diagnostic information of an EtherCAT Slave” also correspond to the variable colors in the System Manager, see Fig. “Basic EtherCAT Slave Diagnosis in the PLC”.
Colour Meaning
yellow Input variables from the Slave to the EtherCAT Master, updated in every cycle red Output variables from the Slave to the EtherCAT Master, updated in every cycle green Information variables for the EtherCAT Master that are updated acyclically. This means that
it is possible that in any particular cycle they do not represent the latest possible status. It is therefore useful to read such variables through ADS.
Fig. “Basic EtherCAT Slave Diagnosis in the PLC” shows an example of an implementation of basic EtherCAT Slave Diagnosis. A Beckhoff EL3102 (2-channel analogue input terminal) is used here, as it offers both the communication diagnosis typical of a slave and the functional diagnosis that is specific to a channel. Structures are created as input variables in the PLC, each corresponding to the process image.
Commissioning
Fig.90: Basic EtherCAT Slave Diagnosis in the PLC
The following aspects are covered here:
Code Function Implementation Application/evaluation
A The EtherCAT Master's diagnostic infor-
mation
updated acyclically (yellow) or provided acyclically (green).
B In the example chosen (EL3102) the
EL3102 comprises two analogue input channels that transmit a single function status for the most recent cycle.
Status
• the bit significations may be found in the device documentation
• other devices may supply more information, or none that is typical of a slave
At least the DevState is to be evaluated for the most recent cycle in the PLC.
The EtherCAT Master's diagnostic informa­tion offers many more possibilities than are treated in the EtherCAT System Documenta­tion. A few keywords:
• CoE in the Master for communication with/through the Slaves
• Functions from TcEtherCAT.lib
• Perform an OnlineScan
In order for the higher-level PLC task (or cor­responding control applications) to be able to rely on correct data, the function status must be evaluated there. Such information is therefore provided with the process data for the most recent cycle.
EL377378 Version: 2.5
Code Function Implementation Application/evaluation
C For every EtherCAT Slave that has cyclic
process data, the Master displays, using what is known as a WorkingCounter, whether the slave is participating success­fully and without error in the cyclic ex­change of process data. This important, el­ementary information is therefore provided for the most recent cycle in the System Manager
1. at the EtherCAT Slave, and, with identical contents
2. as a collective variable at the EtherCAT Master (see Point A)
for linking.
D Diagnostic information of the EtherCAT
Master which, while it is represented at the slave for linking, is actually determined by the Master for the Slave concerned and represented there. This information cannot be characterized as real-time, because it
• is only rarely/never changed, except when the system starts up
• is itself determined acyclically (e.g. EtherCAT Status)
WcState (Working Counter)
0: valid real-time communication in the last cycle
1: invalid real-time communication
This may possibly have effects on the process data of other Slaves that are located in the same Syn­cUnit
State
current Status (INIT..OP) of the Slave. The Slave must be in OP (=8) when operating normally.
AdsAddr
The ADS address is useful for communicating from the PLC/task via ADS with the EtherCAT Slave, e.g. for reading/writing to the CoE. The AMS-NetID of a slave corre­sponds to the AMS-NetID of the EtherCAT Master; communication with the individual Slave is possible via the port (= EtherCAT address).
In order for the higher-level PLC task (or cor­responding control applications) to be able to rely on correct data, the communication sta­tus of the EtherCAT Slave must be evaluated there. Such information is therefore provided with the process data for the most recent cy­cle.
Information variables for the EtherCAT Mas­ter that are updated acyclically. This means that it is possible that in any particular cycle they do not represent the latest possible sta­tus. It is therefore possible to read such vari­ables through ADS.
Commissioning
Diagnostic information
It is strongly recommended that the diagnostic information made available is evaluated so
Attention
CoE Parameter Directory
The CoE parameter directory (CanOpen-over-EtherCAT) is used to manage the set values for the slave concerned. Changes may, in some circumstances, have to be made here when commissioning a relatively complex EtherCAT Slave. It can be accessed through the TwinCAT System Manager, see Fig. “EL3102, CoE directory”:
that the application can react accordingly.
Commissioning
Fig.91: EL3102, CoE directory
EtherCAT System Documentation
The comprehensive description in the EtherCAT System Documentation (EtherCAT Basics
Note
A few brief extracts:
• Whether changes in the online directory are saved locally in the slave depends on the device. EL terminals (except the EL66xx) are able to save in this way.
• The user must manage the changes to the StartUp list.
Commissioning aid in the TwinCAT System Manager
Commissioning interfaces are being introduced as part of an ongoing process for EL/EP EtherCAT devices. These are available in TwinCAT System Managers from TwinCAT 2.11R2 and above. They are integrated into the System Manager through appropriately extended ESI configuration files.
--> CoE Interface) must be observed!
EL377380 Version: 2.5
Commissioning
Fig.92: Example of commissioning aid for a EL3204
This commissioning process simultaneously manages
• CoE Parameter Directory
• DC/FreeRun mode
• the available process data records (PDO)
Although the "Process Data", "DC", "Startup" and "CoE-Online" that used to be necessary for this are still displayed, it is recommended that, if the commissioning aid is used, the automatically generated settings are not changed by it.
The commissioning tool does not cover every possible application of an EL/EP device. If the available setting options are not adequate, the user can make the DC, PDO and CoE settings manually, as in the past.
EtherCAT State: automatic default behaviour of the TwinCAT System Manager and manual operation
After the operating power is switched on, an EtherCAT Slave must go through the following statuses
• INIT
• PREOP
• SAFEOP
• OP
to ensure sound operation. The EtherCAT Master directs these statuses in accordance with the initialization routines that are defined for commissioning the device by the ES/XML and user settings (Distributed Clocks
(DC), PDO, CoE). See also the section on "Principles of Communication, EtherCAT State Machine [}21]" in this connection. Depending how much configuration has to be done, and on the overall communication, booting can take up to a few seconds.
The EtherCAT Master itself must go through these routines when starting, until it has reached at least the OP target state.
The target state wanted by the user, and which is brought about automatically at start-up by TwinCAT, can be set in the System Manager. As soon as TwinCAT reaches the status RUN, the TwinCAT EtherCAT Master will approach the target states.
Commissioning
Standard setting
The advanced settings of the EtherCAT Master are set as standard:
• EtherCAT Master: OP
• Slaves: OP This setting applies equally to all Slaves.
Fig.93: Default behaviour of the System Manager
In addition, the target state of any particular Slave can be set in the "Advanced Settings" dialogue; the standard setting is again OP.
Fig.94: Default target state in the Slave
EL377382 Version: 2.5
Commissioning
Manual Control
There are particular reasons why it may be appropriate to control the states from the application/task/PLC. For instance:
• for diagnostic reasons
• to induce a controlled restart of axes
• because a change in the times involved in starting is desirable
In that case it is appropriate in the PLC application to use the PLC function blocks from the TcEtherCAT.lib, which is available as standard, and to work through the states in a controlled manner using, for instance, FB_EcSetMasterState.
It is then useful to put the settings in the EtherCAT Master to INIT for master and slave.
Fig.95: PLC function blocks
Note regarding E-Bus current
EL/ES terminals are placed on the DIN rail at a coupler on the terminal strand. 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. 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 as a column value. 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.
Commissioning
Fig.96: Illegally exceeding the E-Bus current
From TwinCAT 2.11 and above, a warning message "E-Bus Power of Terminal..." is output in the logger window when such a configuration is activated:
Fig.97: Warning message for exceeding E-Bus current
Caution! Malfunction possible!
The same ground potential must be used for the E-Bus supply of all EtherCAT terminals in
Attention
a terminal block!
EL377384 Version: 2.5
Commissioning

6.4 Basic function principles

RMS value (rms) specifications
All AC value specifications in this documentation such as RMS specifications ( 50/60 Hz 3-phase mains network with a sinusoidal waveform.
Note
The EL3773 has 6 analog input channels which are measured simultaneously in their respective measuring ranges. The properties are discussed below in the order of the data processing.
Input filter
Each channel has a 5th order low-pass filter with Bessel characteristic which can be parameterized via the CoE setting 0x8000:15 [}95]. The corresponding anti-aliasing filters are placed up or downstream and are
adapted automatically.
The filter setting of channel 1 also applies to channels 2 to 6; the corresponding CoE object cannot be written in these channels. All 6 input channels are thus subject to the same filter characteristic.
The input filter cannot be deactivated.
) refer to a
rms
Fig.98: Data flow diagram input filter
The following steps can be selected:
• 200 Hz
• 500Hz
• 1kHz
• 1.5 kHz
• 2.5 kHz
• 5 kHz
• 15kHz
Fig.99: Filter setting via the CoE object "Filter settings" (Index 0x8000:15)
The amplitude curve can be represented accordingly:
Commissioning
Fig.100: Amplitude curve
Changes in the CoE directory
In case of changes to the CoE default parameters, it is essential that corresponding values
Note
are entered in the start-up list, so that in the case of exchange the EL3773 operates again as foreseen in the application.

6.5 Process data

Table of contents
• Data flow [}86]
• Data processing [}87]
• Predefined PDO Assignment [}89]
• Process image [}90]
• Control/status word [}91]
• Synchronization and conversion time [}92]
Data flow
The amplitude values are measured with 16-bit resolution and provided as oversampling packets in the process image for cyclic transmission.
Fig.101: Process data flow EL3773
EL377386 Version: 2.5
Commissioning
Data processing
The data processing is done simultaneously for all channels in the EL3773 with 16-bit conversion in the ADC Scaling related to the respective (constant) measuring range:
1. Vendor calibration (0x80p0:0B [}95])
Activation: CoE 0x80p0:0B X1 = (X
- Offset
ADC
Vendor
) * Gain
Vendor
This produces the following signed integer value representation:
Input signal Value
Voltage Current Decimal Hexadecimal
410V 1.5A 32767 0x7FFF 205V 0.75A 16383 0x3FFF 0V 0A 0 0x0000
-205V -0.75A -16383 0xC001
-410V -1.5 A -32767 0x8000
Signed integer: the negative output value is represented in two’s complement (negated + 1). Maximum representation range for 16 bits = -32768 to +32767
dec
.
2. User calibration (0x80p0:0A [}95])
Activation: CoE 0x80n0:0A X2 = (X1 - Offset
) * Gain
User
User
3. Limit value evaluation (0x80p0:13 [}95], 0x80p0:14 [}95])
Display in the status word [}91] of the channel
If the value exceeds or falls below these values, which can be entered in the indices 0x80p0:13 [}95] and 0x80p0:14 [}95], then the bits in the indices 0x60p0:03 [}96] and 0x60p0:05 [}96]are set accordingly (see example [}87] below). The entry 0x80p0:07 [}95] serves to activate the limit value monitoring.
Output limit n (2-bit):
• 0: not active
• 1: One or more values <= Limit n
• 2: One or more values >= Limit n
• 3: Cases 1 and 2 simultaneously
Linking in the PLC with 2-bit values
The limit information consists of 2 bits. Limitn can be linked to the PLC or a task in the Sys-
Note
tem Manager:
• PLC: IEC61131-PLC contains no 2-bit data type that can be linked with this process data di­rectly. In order to transmit the limit information, therefore, define an input byte, e.g.
and link the limit with the VariableSizeMismatch dialog.
• Additional task 2-bit variables can be created in the System Manager.
Commissioning
Fig.102: Linking of 2-bit variable to additional task
Example of voltage measurement with EL3773:
Channel 1;Limit 1 and Limit 2 enabled, Limit 1 = 100 V, Limit 2 = 200 V, representation: signed integer
Entry in index (Limit 1): 0x8000:13 [}95] (100V / 410V) x 216 / 2 - 1 = 7991
dec
Entry in index (Limit 2): 0x8000:14 [}95] (200V / 410V) x 216 / 2 - 1 = 15983
dec
Output:
Input channel 1
50V 0x01 100V 0x03 150V 0x02 210V 0x02
Index 0x6000:03 [}96] Index 0x6000:05 [}96]
, (Limit1, limit value undershot) 0x01
hex
, (Limit1, limit value reached) 0x01
hex
, (Limit1, limit value exceeded) 0x01
hex
, (Limit1, limit value exceeded) 0x02
hex
, (Limit2, limit value undershot)
hex
, (Limit2, limit value undershot)
hex
, (Limit2, limit value undershot)
hex
, (Limit2, limit value exceeded)
hex
4. Provision in the process data
The influencing parameters can be changed in the CoE of the respective channel.
Fig.103: User settings and vendor calibration in the CoE online directory
EL377388 Version: 2.5
Commissioning
Changes in the CoE directory
In case of changes to the CoE default parameters, it is essential that corresponding values
Note
Predefined PDO Assignment
The "Predefined PDO Assignment" enables a simplified selection of the process data. The desired function is selected on the lower part of the "Process Data" tab. As a result, all necessary PDOs are automatically activated and the unnecessary PDOs are deactivated. 8 PDO assignments are available:
Name SM3, PDO assignment, meaning
Synchronous 0x1A00, 0x1A01, 0x1A10, 0x1A11, 0x1A20, 0x1A21, 0x1A30, 0x1A31,
Synchronous oversampling20x1A00, 0x1A02, 0x1A10, 0x1A12, 0x1A20, 0x1A22, 0x1A30, 0x1A32,
Synchronous oversampling40x1A00, 0x1A03, 0x1A10, 0x1A13, 0x1A20, 0x1A23, 0x1A30, 0x1A33,
Synchronous oversampling80x1A00, 0x1A05, 0x1A10, 0x1A15, 0x1A20, 0x1A25, 0x1A30, 0x1A35,
Synchronous oversampling160x1A00, 0x1A07, 0x1A10, 0x1A17, 0x1A20, 0x1A27, 0x1A30, 0x1A37,
Synchronous oversampling320x1A00, 0x1A0A, 0x1A10, 0x1A1A, 0x1A20, 0x1A2A, 0x1A30, 0x1A3A,
Synchronous oversampling640x1A00, 0x1A0D, 0x1A10, 0x1A1D, 0x1A20, 0x1A2D, 0x1A30, 0x1A3D,
DC (activate Mode on DC tab)
are entered in the start-up list, so that in the case of exchange the EL3773 operates again as foreseen in the application.
0x1A40, 0x1A41, 0x1A50, 0x1A51 "Synchronous"
0x1A40, 0x1A42, 0x1A50, 0x1A52 0x1A61 "Synchronous, with 2-fold oversampling"
0x1A40, 0x1A43, 0x1A50, 0x1A53 0x1A61 "Synchronous, with 4-fold oversampling"
0x1A40, 0x1A45, 0x1A50, 0x1A55 0x1A61 "Synchronous, with 8-fold oversampling"
0x1A40, 0x1A47, 0x1A50, 0x1A57 0x1A61 "Synchronous, with 16-fold oversampling"
0x1A40, 0x1A4A, 0x1A50, 0x1A5A 0x1A61 "Synchronous, with 32-fold oversampling"
0x1A40, 0x1A4D, 0x1A50, 0x1A5D 0x1A61 "Synchronous, with 64-fold oversampling"
0x1A00, 0x1A05, 0x1A10, 0x1A15, 0x1A20, 0x1A25, 0x1A30, 0x1A35, 0x1A40, 0x1A45, 0x1A50, 0x1A55 0x1A60, 0x1A61
"Distributed Clocks, settings via DC tab [}92]"
Fig.104: EL3773 Selection dialog "Predefined PDO Assignment"
Commissioning
Process image
The EL3773 is inserted into the configuration by default with the 10-fold oversampling process image and DC timestamp:
Fig.105: Process image of the EL3773 in the TwinCAT System Manager
It is urgently recommended to evaluate the offered diagnostic values in the controller, e.g. see the Notes page [}76].
In particular the EL3773 offers the following cyclic information:
EL377390 Version: 2.5
Commissioning
Variable Meaning
Status word
See below [}91]
Overrange Value after calibration > 0x7FFF Underrange Value after calibration < 0x8000 SyncError - In DC mode: indicates whether a synchronization error occurred in the expired cycle.
This means a SYNC signal was triggered in the terminal, although no new process data were available (0=OK, 1=NOK).
- Error in the synchronous oversampling, e.g. the number of ADC values and the number of PDO values do not match.
StartTimeNextLatch In the 64-bit-wide process data StartTimeNextLatch, as was also the case with
previous EL37xx terminals, the time is specified in each process data cycle when the next SYNC1 pulse and thus the next block of sample values begins, referenced to the currently transmitted block. StartTimeNextLatch thus changes in each cycle by the amount of that task cycle time with which this terminal is operated. This time specification is based on the terminal’s local Distributed Clocks time. By means of this time specification a concrete time can to be assigned to each individual sample with the known oversampling factor.
Example:
With a cycle time of 1 ms (= 1,000,000 ns) and an oversampling factor of 10 in the regarded cycle, the EL3773 supplies a StartTimeNextLatch = 7,777,216
and 6 x 10
dec
measured values at 16 bits each as process data (3 x U, 3 x I). The time of measurement of the 5th supplied sample is now to be determined, i.e. the Distributed Clocks time at which the 5th sample was determined. The currently supplied set of 10 samples was started at the time 7,777,216 – 1,000,000 (cycle time) = 6,777,216 ns. The time interval between the samples is 1,000,000 / 10 = 100,000 ns. Hence, the 5th sample was determined at the time 6,777,216 + ((5 - 1) * 100,000) = 7,177,216 ns.
Cycle Count The cycle counter is incremented by one unit with each process data cycle. The
CycleCounter enables the higher-level controller to check whether a data record has possibly been omitted or transmitted twice. In that case the DC shift time of the terminal usually has to be adapted.
DcOutputShift, DcInputShift
In these static variables the System Manager announces the shift time to which this terminal has been set. The value is set once on activating/calculating the configuration and also depends on the customer-specific settings in the extended slave settings. It can be linked to offset calculations in the PLC.
Control/status word
Status word
The status word (SW) is located in the input process image, and is transmitted from terminal to the controller.
Bit SW.15 SW.14 SW.13 SW.12 SW.11 SW.10 SW.9 SW.8 Name TxPDO
Toggle
TxPDO State
Sync error
- - - - -
Bit SW.7 SW.6 SW.5 SW.4 SW.3 SW.2 SW.1 SW.0 Name - ERROR Limit 2 Limit 1 Overrange Underrange
Table1: Legend
Bit Name Description
SW.15 TxPDO
1
bin
Toggles with each new analog process value
Toggle SW.14 TxPDO State 1 SW.13* Sync error 1
bin
bin
TRUE in the case of an internal error TRUE (DC mode): a synchronization error occurred in the expired
cycle.
SW.6 ERROR 1
bin
General error bit, is also set together with overrange and underrange
Commissioning
Bit Name Description
SW.5 Limit 2 1 SW.4 1 SW.3 Limit 1 1 SW.2 1 SW.1 Overrange 1
bin
bin
bin
bin
bin
See Limit [}96]
See Limit [}96]
Analog input signal lies above the upper permissible threshold for this terminal
SW.0 Underrange 1
bin
Analog input signal lies under the lower permissible threshold for this terminal
Control word
The EL3773 has no control word
Synchronization, trigger and conversion time
The EL3773 generally operates in oversampling mode. It can be operated with and without Distributed Clocks activated.
Distributed Clocks activated
• the EtherCAT system-wide synchronized Distributed Clocks also encompass this EL3773
• the terminal then operates synchronously with all other DC devices
• the sampling clock is derived from the local DC in the EtherCAT slave controller (SYNC0: Oversampling, SYNC1: Provision of the data)
Advantages
• several EL3773 record the measured values of all their channels synchronously
• accurate time stamp of the individual samples
The following limit values are to be observed
• minimum sampling time 100 µs (10,000 kSps)
• only non-periodic values are permissible for the sampling rate
• the PDO StartTimeNextlatch can only be used/activated with cycle times > 100 µs
Table of sampling times
Fig.106: Samplingtime
The minimum EtherCAT cycle time for the EL3773 is 100 µs. In order to activate Distributed Clocks, "DC" is to be selected in the Predefined PDO list, so that amongst others the time stamp PDO is selected
EL377392 Version: 2.5
Fig.107: EL3773 Selection dialog "Predefined PDO Assignment"
The permissible oversampling rates are set via the System Manager DC tab:
Commissioning
Fig.108: Setting of the oversampling rates via System Manager, "DC" tab
Distributed Clocks not activated
• the EL3773 operates according to an internal clock, which is synchronized to the EtherCAT cycle time. The trigger point in this case is the access to the input Sync Manager SM3.
• As a result the EL3773 can compensate fluctuations in the cycle time to a large extent
• The EL3773 can thus be used in systems that have no Distributed Clocks functionality. The time accuracy of the measured values is reduced, however.
The EtherCAT cycle time must be selected such that
• it is not less than 100 µs
• the oversampling interval does not produce a non-periodic time value – for example, 33.3 µs is not allowed for the oversampling cycle
The Distributed Clock is to be deactivated in the DC tab
Fig.109: Deactivation of the Distributed Clock in the "DC" tab
The permissible oversampling rates are then set via the System Manager:
Commissioning
Fig.110: EL3773 Selection dialog "Predefined PDO Assignment"

6.6 Object description and parameterization

EtherCAT XML Device Description
The display matches that of the CoE objects from the EtherCAT XML Device Description.
Note
We recommend downloading the latest XML file from the download area of the Beckhoff website and installing it according to installation instructions.
Parameterization via the CoE list (CAN over EtherCAT)
The EtherCAT device is parameterized via the CoE - Online tab [}71] (double-click on the
Note
respective object) or via the Process Data tab [}68](allocation of PDOs). Please note the following general CoE notes [}23] when using/manipulating the CoE parameters:
- Keep a startup list if components have to be replaced
- Differentiation between online/offline dictionary, existence of current XML description
- use “CoE reload” for resetting changes
Introduction
The CoE overview contains objects for different intended applications:
• Objects required for parameterization during commissioning:
◦ Restore object index 0x1011
◦ Configuration data index 0x80n0
• Objects intended for regular operation, e.g. through ADS access.
• Profile-specific objects:
◦ Configuration data (vendor-specific) index 0x80nF
◦ Input data index 0x60n0
◦ Information and diagnostic data index 0x80nE, 0xF000, 0xF008, 0xF010
• Standard objects
The following section first describes the objects required for normal operation, followed by a complete overview of missing objects.

6.6.1 Restore object

Index 1011 Restore default parameters
Index (hex) Name Meaning Data type Flags Default
1011:0
1011:01 SubIndex 001 If this object is set to "0x64616F6C" in the set value di-
Restore default param­eters [}172]
Restore default parameters UINT8 RO > 1 <
alog, all backup objects are reset to their delivery state.
UINT32 RW 0x00000000
(0
dec
)
EL377394 Version: 2.5
Commissioning

6.6.2 Configuration data

Index 80p0 AI Settings (for p = 0...5, corresponding to channel 1...6)
Index (hex) Name Meaning Data type Flags Default
80p0:0 AI Settings Maximum subindex UINT8 RO > 24 <
80p0:07
80p0:0A
80p0:0B
80p0:13
80p0:14
80p0:15
80p0:17
80p0:18
Enable limit [}87]
Enable user calibration [}87]
Enable vendor calibra­tion [}87]
Limit 1 [}87]
Limit 2 [}87]
Filter settings [}85]
User calibration offset [}87]
User calibration gain [}87]
Limit 1 enabled BOOLEAN RW FALSE
Enabling of the user calibration BOOLEAN RW FALSE
Enabling of the vendor calibration BOOLEAN RW TRUE
First limit value for setting the status bits INT16 RW 0
Second limit value for setting the status bits INT16 RW 0
This object determines the digital filter settings. The possible settings are sequentially numbered.
0: 200Hz 1: 500Hz 2: 1000Hz 3: 1500Hz 4: 2500Hz 5: 5000Hz 6: 15000Hz See note below:
User calibration offset INT16 RW 0
User calibration gain INT16 RW 16384
UINT16 RW 2500 Hz (4)
dec
dec
dec
dec
The filter characteristics are set via index 0x8000:15
The filter frequencies are set for all channels centrally via index 0x8000:15 (channel 1). All
Note
Index 80pF AI Vendor data (for p = 0...5, corresponding to channel 1...6)
Index (hex) Name Meaning Data type Flags Default
80pF:0 AI Vendor data Maximum subindex UINT8 RO > 2 <
80pF:01 Calibration offset Offset (vendor calibration) INT16 RW -
80pF:02 Calibration gain Gain (vendor calibration) INT16 RW -
other corresponding indices 0x80p0:15 have no parameterization function!
Commissioning

6.6.3 Input data

Index 60p0 AI Inputs (for p = 0...5, corresponding to channel 1...6)
Index (hex) Name Meaning Data type Flags Default
60p0:0 Status Maximum subindex UINT8 RO > 16 <
60p0:01 Underrange Value below measuring range. BOOLEAN RO FALSE
60p0:02 Overrange Measuring range exceeded. BOOLEAN RO FALSE
60p0:03 Limit 1 Limit value monitoring Limit 1
0: not active 1: One or more values <= Limit 1 2: One or more values >= Limit 1 3: Cases 1 and 2 simultaneously
60p0:05 Limit 2 Limit value monitoring Limit 2
0: not active 1: One or more values <= Limit 2 2: One or more values >= Limit 2 3: Cases 1 and 2 simultaneously
60p0:07 Error The error bit is set if the data is invalid (over-range, un-
der-range)
60p0:0E Sync error The Sync error bit is only required for DC mode. It indi-
cates whether a synchronization error has occurred during the previous cycle. This means a SYNC signal was triggered in the termi­nal, although no new process data were available (0=OK, 1=NOK).
60p0:0F TxPDO State Validity of the data of the associated TxPDO (0 = valid,
1 = invalid).
60p0:10 TxPDO Toggle The TxPDO toggle is toggled by the slave when the
data of the associated TxPDO is updated.
BIT2 RO 0x00 (0
BIT2 RO 0x00 (0
BOOLEAN RO FALSE
BOOLEAN RO FALSE
BOOLEAN RO FALSE
BOOLEAN RO FALSE
)
dec
)
dec
Index 60p2 Samples (for p = 0...5, corresponding to channel 1...6)
Index (hex) Name Meaning Data type Flags Default
60p2:0 Samples Maximum subindex UINT8 RO > 100 <
60p2:01 Subindex 001 Sample 001 BOOLEAN RO 0
... ... ... .. ... ...
60p2:64 Subindex 100 Sample 100 BOOLEAN RO 0
Index 6060 NextSync1 Time
Index (hex) Name Meaning Data type Flags Default
6060:0 Next Sync1 Time Max. subindex UINT8 RO > 1 <
6060:01
StartTimeNextLatch [}90]
see Process data [}90]
UINT64 RO 00 00 00 00 00
00 00 00
Index 6061 Sample Count
Index (hex) Name Meaning Data type Flags Default
6061:0 Sample Count Max. Subindex UINT8 RO > 1 <
6061:01
Cycle Count [}90] see Process data [}90]
UINT16 RO 0x6061:01, 16
EL377396 Version: 2.5
Commissioning

6.6.4 Diagnostic data

Index 10F3 Diagnosis History
Index (hex) Name Meaning Data type Flags Default
10F3:0 Diagnosis History Maximum subindex UINT8 RO > 21 <
10F3:01 Maximum Messages Maximum number of stored messages
10F3:02 Newest Message Subindex of the latest message UINT8 RO 0x00 (0
10F3:03 Newest Acknowledged
Message
10F3:04 New Messages Avail-
able
10F3:05 Flags not used UINT16 RW 0x0000 (0
10F3:06 Diagnosis Message
001
... ... ... ... ... ...
10F3:15 Diagnosis Message
016
A maximum of 50 messages can be stored
Subindex of the last confirmed message UINT8 RW 0x00 (0
Indicates that a new message is available BOOLEAN RO FALSE
Message 1 OCTET-
Message 50 OCTET-
Index 10F8 Actual Time Stamp
Index (hex) Name Meaning Data type Flags Default
10F8:0 Actual Time Stamp Time stamp UINT64 RO -
UINT8 RO 0x10 (16
STRING[28]
STRING[28]
RO see
Diag Mes­sages
RO -
)
dec
)
dec
)
dec
)
dec

6.6.5 Standard objects

Index 1000 Device type
Index (hex) Name Meaning Data type Flags Default
1000:0 Device type Device type of the EtherCAT slave: the Lo-Word con-
tains the CoE profile used (5001). The Hi-Word con­tains the module profile according to the modular de­vice profile.
Index 1008 Device name
Index (hex) Name Meaning Data type Flags Default
1008:0 Device name Device name of the EtherCAT slave STRING RO EL3773
Index 1009 Hardware version
Index (hex) Name Meaning Data type Flags Default
1009:0 Hardware version Hardware version of the EtherCAT slave STRING RO -
Index 100A Software version
Index (hex) Name Meaning Data type Flags Default
100A:0 Software version Firmware version of the EtherCAT slave STRING RO -
UINT32 RO 0x012C1389(1
9665801
)
dec
Commissioning
Index 1018 Identity
Index (hex) Name Meaning Data type Flags Default
1018:0 Identity Information for identifying the slave UINT8 RO > 4 <
1018:01 Vendor ID Vendor ID of the EtherCAT slave UINT32 RO 0x00000002
1018:02 Product code Product code of the EtherCAT slave UINT32 RO 0x0EBD3052
1018:03 Revision Revision numberof the EtherCAT slave; the low word
(bit 0-15) indicates the special terminal number, the high word (bit 16-31) refers to the device description
1018:04 Serial number Serial number of the EtherCAT slave; the low byte (bit
0-7) of the low word contains the year of production, the high byte (bit 8-15) of the low word contains the week of production, the high word (bit 16-31) is 0
UINT32 RO -
UINT32 RO 0x00000000
(247279698
Index 10F0 Backup parameter handling
Index Name Meaning Data type Flags Default
10F0:0 Backup parameter
handling
10F0:01 Checksum Checksum across all backup entries of the EtherCAT
Information for standardized loading and saving of backup entries
slave
UINT8 RO > 1 <
UINT32 RO 0x00000000
(0
)
dec
)
dec
Index 18pp Analog Input TxPDO-Par Samples (for Ch. 1 ... Ch.6; 01
Index (hex) Name Meaning Data type Flags Default
18pp:0 AI TxPDO-Par Sample PDO Parameter TxPDO UINT8 RO > 6 <
18pp:06 Exclude TxPDOs Specifies the TxPDOs (index of TxPDO mapping ob-
jects) that must not be transferred together with this PDO
≤ pp ≤ 5F
hex
OCTET­STRING[2]
)
hex
RO see
Predefined PDO Assign­ment [}89]
Index 1Ap0 AI TxPDO-Map Status (forp = 0...5; dependent on the number of channels)
Index (hex) Name Meaning Data type Flags Default
1Ap0:0 AI TxPDO-Map Status PDO Mapping TxPDO UINT8 RO > 10 <
1Ap0:01 SubIndex 001 1. PDO Mapping entry (object 0x60p0 (AI Inputs), entry
0x01 (Underrange))
1Ap0:02 SubIndex 002 2. PDO Mapping entry (object 0x60p0 (AI Inputs), entry
0x02 (Overrange))
1Ap0:03 SubIndex 003 3. PDO Mapping entry (object 0x60p0 (AI Inputs), entry
0x03 (Limit 1))
1Ap0:04 SubIndex 004 4. PDO Mapping entry (object 0x60p0 (AI Inputs), entry
0x05 (Limit 2))
1Ap0:05 SubIndex 005 5. PDO Mapping entry (object 0x60p0 (AI Inputs), entry
0x07 (Error))
1Ap0:06 SubIndex 006 6. PDO Mapping entry (1bit align) UINT32 RO 0x0000:00, 1
1Ap0:07 SubIndex 007 7. PDO Mapping entry (5bits align) UINT32 RO 0x0000:00, 5
1Ap0:08 SubIndex 008 8. PDO Mapping entry (object 0x60p0 (AI Inputs), entry
0x0E (Sync error))
1Ap0:09 SubIndex 009 9. PDO Mapping entry (object 0x60p0 (AI Inputs), entry
0x0F (TxPDO State))
1Ap0:0A SubIndex 010 10. PDO Mapping entry (object 0x60p0 (AI Inputs), en-
try 0x10 (TxPDO Toggle))
UINT32 RO 0x60p0:01, 1
UINT32 RO 0x60p0:02, 1
UINT32 RO 0x60p0:03, 2
UINT32 RO 0x60p0:05, 2
UINT32 RO 0x60p0:07, 1
UINT32 RO 0x60p0:0E, 1
UINT32 RO 0x60p0:0F, 1
UINT32 RO 0x60p0:10, 1
EL377398 Version: 2.5
Commissioning
Index 1Apq AI TxPDO-Map Samples
Index (hex) Name Meaning Data type Flags De-
1Apq:0 AI TxPDO-
Map Sam­ples
n p q UINT8 RO > n <
1
= Max. Subindex: 001
dec
2
= Max. Subindex: 002
dec
4
 = Max. Subindex: 004
dec
5
= Max. Subindex: 005
dec
8
= Max. Subindex: 008
dec
10
= Max. Subindex: 010
dec
16
= Max. Subindex: 016
dec
20
= Max. Subindex: 020
dec
25
= Max. Subindex: 025
dec
32
= Max. Subindex: 032
dec
40
= Max. Subindex: 040
dec
50
= Max. Subindex: 050
dec
64
= Max. Subindex: 064
dec
80
= Max. Subindex: 080
dec
100
= Max. Subindex:100
dec
0x0=L1 Voltage Samples 0x1=L1 Current Samples 0x2=L2 Voltage Samples 0x3=L2 Current Samples 0x4=L3 Voltage Samples 0x5=L3 Current Samples
0x1= 1 Sample 0x60p2:01, 16 0x2= 2 Samples, 0x60p2:01, 16 0x60p2:02, 16 0x3 =4 Samples, 0x60p2:01, 16
....
0x60p2:04, 16
0x4=5 Samples,....
0x5 = 8 Samples,....
0x6=10 Samples,....
0x7=16 Samples,....
0x8=20 Samples,....
0x9=25 Samples,....
0xA=32 Samples,....
0xB=40 Samples,....
0xC=50 Samples,....
0xD=64 Samples,....
0xE=80 Samples,....
0xF=100 Samples,
0x60p2:01, 16
....
0x60p2:64, 16
1Apq:hh
(for 01 ≤ 64
hex)
hex
SubindexnVoltage Samples or Current Samples INT16 RO -
≤ hh
fault
Index 1A60 Analog Input TxPDO-Map Timestamp
Index (hex) Name Meaning Data type Flags Default
1A60:0 AI Timestamp Next
Max. Subindex UINT8 RO > 1 <
Sync1 Time
1A60:01 Subindex 001 1. PDO Mapping entry (object 0x6060 (AI Inputs), entry
UINT64 RO 0x6060:01, 64
0x01 (Next Sync1 Time))
Index 1A61 Analog Input TxPDO-Map Sample Counter
Index (hex) Name Meaning Data type Flags Default
1A60:0 AI Timestamp Sample
Max. Subindex UINT8 RO > 1 <
Counter
1A61:01 Subindex 001 1. PDO Mapping entry (object 0x6061 (AI Inputs), entry
UINT16 RO 0x6061:01, 16
0x01 (SampleCount))
Index 1C00 0 Sync manager type
Index (hex) Name Meaning Data type Flags Default
1C00:0 Sync manager type Using the sync managers UINT8 RO > 4 <
1C00:01 SubIndex 001 Sync-Manager Type Channel 1: Mailbox Write UINT8 RO 0x01 (1
1C00:02 SubIndex 002 Sync-Manager Type Channel 2: Mailbox Read UINT8 RO 0x02 (2
1C00:03 SubIndex 003 Sync-Manager Type Channel 3: Process Data Write
(Outputs)
1C00:04 SubIndex 004 Sync-Manager Type Channel 4: Process Data Read
(Inputs)
UINT8 RO 0x03 (3
UINT8 RO 0x04 (4
)
dec
)
dec
)
dec
)
dec
Index 1C12 RxPDO assign
Index (hex) Name Meaning Data type Flags Default
1C12:0 RxPDO assign PDO Assign Outputs UINT8 RW > 0 <
Index 1C13 TxPDO assign
For operation on masters other than TwinCAT it must be ensured that the channels are entered in the PDO assignment (“TxPDO assign”, object 0x1C13) successively.
Commissioning
Index (hex) Name Meaning Data type Flags Default
1C13:0 TxPDO assign PDO Assign Inputs UINT8 RW > 4 <
1C13:01 SubIndex 001 1. allocated TxPDO (contains the index of the associ-
ated TxPDO mapping object)
1C13:02 SubIndex 002 2. allocated TxPDO (contains the index of the associ-
ated TxPDO mapping object)
1C13:03 SubIndex 003 3. allocated TxPDO (contains the index of the associ-
ated TxPDO mapping object)
1C13:04 SubIndex 004 4. allocated TxPDO (contains the index of the associ-
ated TxPDO mapping object)
1C13:05 SubIndex 005 5. allocated TxPDO (contains the index of the associ-
ated TxPDO mapping object)
1C13:06 SubIndex 006 6. allocated TxPDO (contains the index of the associ-
ated TxPDO mapping object)
1C13:07 SubIndex 007 7. allocated TxPDO (contains the index of the associ-
ated TxPDO mapping object)
1C13:08 SubIndex 008 8. allocated TxPDO (contains the index of the associ-
ated TxPDO mapping object)
1C13:09 SubIndex 009 9. allocated TxPDO (contains the index of the associ-
ated TxPDO mapping object)
1C13:0A SubIndex 010 10. allocated TxPDO (contains the index of the associ-
ated TxPDO mapping object)
1C13:0B SubIndex 011 11. allocated TxPDO (contains the index of the associ-
ated TxPDO mapping object)
1C13:0C SubIndex 012 12. allocated TxPDO (contains the index of the associ-
ated TxPDO mapping object)
1C13:0D SubIndex 013 13. allocated TxPDO (contains the index of the associ-
ated TxPDO mapping object)
1C13:0E SubIndex 014 14. allocated TxPDO (contains the index of the associ-
ated TxPDO mapping object)
UINT16 RW 0x1A00
(6656
UINT16 RW 0x1A06
(6662
UINT16 RW 0x1A10
(6672
UINT16 RW 0x1A16
(6678
UINT16 RW 0x1A20
(6688
UINT16 RW 0x1A26
(6694
UINT16 RW 0x1A30
(6704
UINT16 RW 0x1A36
(6710
UINT16 RW 0x1A40
(6720
UINT16 RW 0x1A46
(6726
UINT16 RW 0x1A50
(6736
UINT16 RW 0x1A56
(6742
UINT16 RW 0x1A60
(6752
UINT16 RW 0x1A61
(6753
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
EL3773100 Version: 2.5
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