Beckhoff EL5001-0011, EL5001, EL5001-0090, EL5002 Documentation
Documentation
EL500x
SSI Sensor Interface
Version:
Date:
3.6
2018-12-10
Table of contents
Table of contents
1 Foreword ....................................................................................................................................................5
1.1 EL500x product overview ..................................................................................................................5
1.2 Notes on the documentation..............................................................................................................5
1.3 Safety instructions .............................................................................................................................7
1.4 Documentation issue status ..............................................................................................................8
1.5 Version identification of EtherCAT devices .......................................................................................8
2 Product overview.....................................................................................................................................13
2.1 EL5001, EL5002..............................................................................................................................13
2.1.1 Introduction ...................................................................................................................... 13
2.1.2 Technical data ................................................................................................................. 14
2.2 EL5001-0011 ...................................................................................................................................15
2.2.1 Introduction ...................................................................................................................... 15
2.2.2 Technical data ................................................................................................................. 16
2.3 EL5001-0090 ...................................................................................................................................17
2.3.1 Introduction ...................................................................................................................... 17
2.3.2 Technical data ................................................................................................................. 18
2.4 Start .................................................................................................................................................18
3 Basics communication ...........................................................................................................................19
3.1 EtherCAT basics..............................................................................................................................19
3.2 EtherCAT cabling – wire-bound.......................................................................................................19
3.3 General notes for setting the watchdog...........................................................................................20
3.4 EtherCAT State Machine.................................................................................................................22
3.5 CoE Interface...................................................................................................................................24
3.6 Distributed Clock .............................................................................................................................29
4 Mounting and wiring................................................................................................................................30
4.1 Instructions for ESD protection........................................................................................................30
4.2 Installation on mounting rails ...........................................................................................................31
4.3 Installation instructions for enhanced mechanical load capacity .....................................................34
4.4 Connection ......................................................................................................................................35
4.4.1 Connection system .......................................................................................................... 35
4.4.2 Wiring............................................................................................................................... 36
4.4.3 Shielding .......................................................................................................................... 38
4.5 Installation positions ........................................................................................................................39
4.6 Positioning of passive Terminals .....................................................................................................41
4.7 ATEX - Special conditions (extended temperature range) ..............................................................42
4.8 ATEX Documentation ......................................................................................................................43
4.9 UL notice .........................................................................................................................................43
4.10 LEDs and connection ......................................................................................................................45
4.10.1 EL5001 ............................................................................................................................ 45
4.10.2 EL5002 ............................................................................................................................ 46
4.10.3 EL5001-0011 ................................................................................................................... 47
4.10.4 EL5001-0090 ................................................................................................................... 48
5 Commissioning........................................................................................................................................49
EL500x 3Version: 3.6
Table of contents
5.1 TwinCAT Quick Start .......................................................................................................................49
5.1.1 TwinCAT2 ....................................................................................................................... 51
5.1.2 TwinCAT 3 ....................................................................................................................... 61
5.2 TwinCAT Development Environment ..............................................................................................73
5.2.1 Installation of the TwinCAT real-time driver..................................................................... 73
5.2.2 Notes regarding ESI device description........................................................................... 79
5.2.3 TwinCAT ESI Updater ..................................................................................................... 83
5.2.4 Distinction between Online and Offline............................................................................ 83
5.2.5 OFFLINE configuration creation ...................................................................................... 84
5.2.6 ONLINE configuration creation ........................................................................................ 89
5.2.7 EtherCAT subscriber configuration.................................................................................. 97
5.3 General Notes - EtherCAT Slave Application................................................................................106
5.4 EL5001, EL5002............................................................................................................................114
5.4.1 Function principles and notes ........................................................................................ 114
5.4.2 Commissioning instructions ........................................................................................... 117
5.4.3 Object description and parameterization ....................................................................... 124
5.4.4 Status and control bits ................................................................................................... 133
5.5 EL5001-0011 .................................................................................................................................133
5.5.1 Function principles and notes ........................................................................................ 133
5.5.2 Commissioning instructions ........................................................................................... 134
5.5.3 Object description and parameterization ....................................................................... 137
5.6 EL5001-0090 .................................................................................................................................142
5.6.1 TwinSAFE SC................................................................................................................ 142
5.6.2 TwinSAFE SC process data EL5001-0090.................................................................... 146
5.6.3 Object description and parameterization ....................................................................... 146
6 Appendix ................................................................................................................................................154
6.1 EtherCAT AL Status Codes...........................................................................................................154
6.2 Firmware compatibility...................................................................................................................154
6.3 Firmware Update EL/ES/EM/EPxxxx ............................................................................................155
6.3.1 Device description ESI file/XML..................................................................................... 156
6.3.2 Firmware explanation .................................................................................................... 159
6.3.3 Updating controller firmware *.efw................................................................................. 160
6.3.4 FPGA firmware *.rbf....................................................................................................... 161
6.3.5 Simultaneous updating of several EtherCAT devices.................................................... 165
6.4 Restoring the delivery state ...........................................................................................................166
6.5 Support and Service ......................................................................................................................167
EL500x4 Version: 3.6
Foreword
1 Foreword
1.1 EL500x product overview
EL5001 [}13], 1-channel SSI encoder interface
EL5001-0011 [}15], 1-channel SSI monitor terminal
EL5001-0090 [}17], 1-channel SSI encoder interface with TwinSAFE SC
EL5002 [}13], 2-channel SSI encoder interface
1.2 Notes on the documentation
Intended audience
This description is only intended for the use of trained specialists in control and automation engineering who
are familiar with the applicable national standards.
It is essential that the documentation and the following notes and explanations are followed when installing
and commissioning these components.
It is the duty of the technical personnel to use the documentation published at the respective time of each
installation and commissioning.
The responsible staff must ensure that the application or use of the products described satisfy all the
requirements for safety, including all the relevant laws, regulations, guidelines and standards.
Disclaimer
The documentation has been prepared with care. The products described are, however, constantly under
development.
We reserve the right to revise and change the documentation at any time and without prior announcement.
No claims for the modification of products that have already been supplied may be made on the basis of the
data, diagrams and descriptions in this documentation.
Trademarks
Beckhoff®, TwinCAT®, EtherCAT®, EtherCATP®, SafetyoverEtherCAT®, 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.
EL500x 5Version: 3.6
Foreword
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.
EL500x6 Version: 3.6
Foreword
1.3 Safety instructions
Safety regulations
Please note the following safety instructions and explanations!
Product-specific safety instructions can be found on following pages or in the areas mounting, wiring,
commissioning etc.
Exclusion of liability
All the components are supplied in particular hardware and software configurations appropriate for the
application. Modifications to hardware or software configurations other than those described in the
documentation are not permitted, and nullify the liability of Beckhoff Automation GmbH & Co. KG.
Personnel qualification
This description is only intended for trained specialists in control, automation and drive engineering who are
familiar with the applicable national standards.
Description of instructions
In this documentation the following instructions are used.
These instructions must be read carefully and followed without fail!
DANGER
Serious risk of injury!
Failure to follow this safety instruction directly endangers the life and health of persons.
WARNING
Risk of injury!
Failure to follow this safety instruction endangers the life and health of persons.
CAUTION
Personal injuries!
Failure to follow this safety instruction can lead to injuries to persons.
NOTE
Damage to environment/equipment or data loss
Failure to follow this instruction can lead to environmental damage, equipment damage or data loss.
Tip or pointer
This symbol indicates information that contributes to better understanding.
EL500x 7Version: 3.6
Foreword
1.4 Documentation issue status
Version Comment
3.6 • EL5001-0090 added
• Update chapter "Object description and parameterization"
• Update structure
• Update revision status
3.5 • Update chapter "Technical data"
• Update structure
3.4 • EL5002 data LEDs added
• Correction chapter "Technical data"
• Correction chapter "Function principals and notes"
• Update chapter "Commissioning instructions"
• Update structure
• Update revision status
3.3 • Update chapter "Commission instructions"
• Update chapter "Mounting of passive Terminals" -> "Positioning of passive Terminals"
• Update structure
• Update revision status
3.2 • Update chapter "Commission instructions"
• Update of chapter “Technical data”
• Update structure
• Update revision status
3.1 • Update chapter "Notes on the documentation"
• Update of Technical data
• Update chapter "TwinCAT 2.1x" -> "TwinCAT Development Environment" and "TwinCAT Quick Start"
3.0 • Migration
• Update structure
• Update revision status
2.0 • Update chapter "Technical data"
• Addenda chapter "Installation instructions for enhanced mechanical load capacity"
• Update structure
• Update revision status
1.9 • Update structure
• Update Technical data
• Update revision status
1.8 • Update Technical data
• Update revision status
1.7 • Update Technical data
1.6 • Update object description
1.5 • Update structure, addenda Technical Data
1.4 • EL5002 added, EL5001 DC mode
1.3 • Addenda Technical Data, EL5001-0011 added
1.2 • Technical data corrected
1.1 • Object description added
• Technical Data (ASIC) corrected
1.0.1 • Object description information (3101) expanded
1.0 • Control/Status byte information expanded
0.1 • Provisional documentation for EL5001
1.5 Version identification of EtherCAT devices
Designation
A Beckhoff EtherCAT device has a 14-digit designation, made up of
EL500x8 Version: 3.6
Foreword
• family key
• type
• version
• revision
Example Family Type Version Revision
EL3314-0000-0016 EL terminal
(12 mm, nonpluggable connection
level)
ES3602-0010-0017 ES terminal
(12 mm, pluggable
connection level)
CU2008-0000-0000 CU device 2008 (8-port fast ethernet switch) 0000 (basic type) 0000
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: KKYYFFHH
KK - week of production (CW, calendar week)
YY - year of production
FF - firmware version
HH - hardware version
Example with
Ser. no.: 12063A02: 12 - production week 12 06 - production year 2006 3A - firmware version 3A 02 hardware version 02
Exceptions can occur in the IP67 area, where the following syntax can be used (see respective device
documentation):
Syntax: D ww yy x y z u
EL500x 9Version: 3.6
Foreword
D - prefix designation
ww - calendar week
yy - year
x - firmware version of the bus PCB
y - hardware version of the bus PCB
z - firmware version of the I/O PCB
u - hardware version of the I/O PCB
Example: D.22081501 calendar week 22 of the year 2008 firmware version of bus PCB: 1 hardware version
of bus PCB: 5 firmware version of I/O PCB: 0 (no firmware necessary for this PCB) hardware version of I/O
PCB: 1
Unique serial number/ID, ID number
In addition, in some series each individual module has its own unique serial number.
See also the further documentation in the area
• IP67: EtherCAT Box
• Safety: TwinSafe
• Terminals with factory calibration certificate and other measuring terminals
Examples of markings
Fig.1: EL5021 EL terminal, standard IP20 IO device with serial/ batch number and revision ID (since
2014/01)
Fig.2: EK1100 EtherCAT coupler, standard IP20 IO device with serial/ batch number
EL500x10 Version: 3.6
Fig.3: CU2016 switch with serial/ batch number
Foreword
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
EL500x 11Version: 3.6
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
EL500x12 Version: 3.6
2 Product overview
2.1 EL5001, EL5002
2.1.1 Introduction
Product overview
Fig.9: EL5001, EL5002
Interface terminals for SSI encoders
The EL5001 SSI interface EtherCAT terminal is for the direct connection of an SSI encoder, the EL5002 2channel SSI interface EtherCAT terminal for the direct connection of two SSI encoders. The interface circuit
generates a pulse for reading the encoder, and makes the incoming data stream available to the controller
as a data word in the process image. Various operating modes, transmission frequencies and bit widths can
be permanently stored in a control register.
The EL5002 and EL5001 from FW10 feature distributed clock functionality. Cyclic reading of the SSI encoder
can thus be started with high precision, enabling detailed dynamic analysis of the axis in the control system.
The EL5002 and EL5001 from FW10 have a new, alternative process image for simpler commissioning from
TwinCAT 2.11. The tried and tested process image consisting of value and status continues to be set in
delivery state.
Quick links
• EtherCAT basics
• Mounting and wiring [}30]
• Commissioning [}49]
EL500x 13Version: 3.6
Product overview
2.1.2 Technical data
Technical data EL5001 EL5002
Encoder connection binary input: D+, D-; binary output: Cl+, ClSupply of power to the internal SSI
electronics
Current consumption from the power
contacts (without encoder)
Encoder supply 24VDC via power contacts if necessary via EL91xx potential
Data transfer rate adjustable up to 1MHz (500kHz preset)
Serial input 24bit width (adjustable)
Data direction Read
Distributed Clocks yes (from FW11) yes
Signal output Differential signal (RS422)
Signal input Differential signal (RS422)
Supply voltage for electronics via the E-bus
Current consumption via E-bus typ. 120mA typ. 130mA
Electrical isolation 500V (E-bus/field voltage)
Bit width in process image default: Inputs 1 x 32-bit data, 1 x 8-bit status
Configuration via TwinCAT System Manager
Weight approx. 55g
Permissible ambient temperature range
during operation
Permissible ambient temperature range
during storage
Permissible relative humidity 95%, no condensation
Dimensions (W x H x D) approx. 15mm x 100mm x 70mm (width aligned: 12mm)
Mounting [}31]
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
24VDC via the power contacts
Typically 20mA (without sensor load current)
distributor terminal
-25°C ... +60°C
(extended temperature range)
-40 °C ... +85 °C
on 35 mm mounting rail conforms to EN 60715
see also Installation instructions [}34] for terminals with
enhanced mechanical load capacity
ATEX [}42]
cULus [}43]
EL500x14 Version: 3.6
2.2 EL5001-0011
2.2.1 Introduction
Product overview
Fig.10: EL5001-0011
Interface terminal for SSI encoders
The EL5001-0011 SSI monitor EtherCAT Terminal is used for monitoring the data exchange between SSI
master and SSI encoder (slave). The SSI encoder is supplied with power from the existing SSI master;
however, 24 V can also be taken from the EL5001-0011. The EL5001-0011 does not take an active part in
the data exchange.
The EL5001-0011 automatically adjusts itself to the frequency; the data width must be preset. Various
operating modes can be permanently set via the control register.
The latch triggering time can be precisely determined using the distributed clocks function.
Quick links
• EtherCAT basics
• Mounting and wiring [}30]
• Commissioning [}49]
EL500x 15Version: 3.6
Product overview
2.2.2 Technical data
Technical data EL5001-0011
Encoder connection Data input: D+, D-; clock input: Cl+, Cl-; RS422
differential signal
Supply of power to the internal SSI electronics 24VDC via the power contacts
Encoder supply 24VDC via the power contacts
Input frequency/clock rate 125KHz - 1MHz, automatically set
Data width 1 - 32 bits
Coding Gray, dual
Power Fail Bit activatable
Distributed Clocks yes
Supply voltage for electronics via the E-bus
Current consumption via E-bus typ. 130mA
Electrical isolation 500V (E-bus/field voltage)
Configuration via TwinCAT System Manager
Weight approx. 100 g
Permissible ambient temperature range during
operation
Permissible ambient temperature range during
storage
Permissible relative humidity 95%, no condensation
Dimensions (W x H x D) approx. 27mm x 100mm x 70mm (width aligned:
Mounting [}31]
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
-25°C ... +60°C
(extended temperature range)
-40°C ... +85°C
24mm)
on 35 mm mounting rail conforms to EN 60715
ATEX [}42]
cULus [}43]
EL500x16 Version: 3.6
2.3 EL5001-0090
2.3.1 Introduction
Product overview
Fig.11: EL5001-0090
TwinSAFE SC: SSI encoder interfaces
The EL5001-0090 SSI interface EtherCAT Terminal allows an SSI encoder to be connected directly. The
interface circuit generates a pulse for reading the encoder and makes the incoming data stream available to
the controller as a data word in the process image. Various operating modes, transmission frequencies and
bit widths can be permanently stored in a control register.
With the aid of the TwinSAFE SC technology (TwinSAFE Single Channel) it is possible to make use of
standard signals for safety tasks in any network or fieldbus. To do this, EtherCAT I/Os from the areas of
analog input, position measurement or communication (4…20 mA, incremental encoder, IO-Link, etc.) are
extended by the TwinSAFE SC function. The properties typical for the signals and the standard functions of
the I/O components are retained. TwinSAFE SC I/Os differ optically from standard I/Os by a yellow stripe on
the front of the housing.
The TwinSAFE SC technology enables communication via a TwinSAFE protocol. These connections can be
distinguished from the usual secure communication via Safety over EtherCAT.
The data from the TwinSAFE SC components is fed via a TwinSAFE protocol to the TwinSAFE Logic, where
it can be used in the context of safety-relevant applications. Detailed examples confirmed/calculated by the
TÜV SÜD for the correct application of the TwinSAFE SC components and the respective normative
classifications can be found in the TwinSAFE application manual.
Quick links
• EtherCAT basics
• Mounting and wiring [}30]
• Commissioning [}49]
EL500x 17Version: 3.6
Product overview
2.3.2 Technical data
Technical data EL5001-0090
Encoder connection binary input: D+, D-; binary output: Cl+, ClSupply of power to the internal SSI
electronics
Current consumption from the power
contacts (without encoder)
Encoder supply 24VDC via power contacts
Data transfer rate adjustable up to 1MHz (500kHz preset)
Serial input 24bit width (adjustable)
Data direction Read
Distributed Clocks yes
Signal output Differential signal (RS422)
Signal input Differential signal (RS422)
Supply voltage for electronics via the E-bus
Current consumption via E-bus typ. 120mA
Electrical isolation 500V (E-bus/field voltage)
Special features TwinSAFE SC, adjustable baud rate, coding and data length
Configuration via TwinCAT System Manager
MTBF (+55°C) > 1,600,000h
Weight approx. 55g
Permissible ambient temperature
range during operation
Permissible ambient temperature
range during storage
Permissible relative humidity 95%, no condensation
Dimensions (W x H x D) approx. 15mm x 100mm x 70mm (width aligned: 12mm)
Mounting [}31]
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
24VDC via the power contacts
Typically 20mA (without sensor load current)
-25°C ... +60°C
(extended temperature range)
-40 °C ... +85 °C
on 35 mm mounting rail conforms to EN 60715
ATEX [}42]
cULus [}43]
2.4 Start
For commissioning:
• mount the EL500x as described in the chapter Mounting and wiring [}30]
• configure the EL500x in TwinCAT as described in the chapter Commissioning [}49].
EL500x18 Version: 3.6
Basics communication
3 Basics communication
3.1 EtherCAT basics
Please refer to the EtherCAT System Documentation for the EtherCAT fieldbus basics.
3.2 EtherCAT cabling – wire-bound
The cable length between two EtherCAT devices must not exceed 100 m. This results from the FastEthernet
technology, which, above all for reasons of signal attenuation over the length of the cable, allows a maximum
link length of 5 + 90 + 5 m if cables with appropriate properties are used. See also the Design
recommendations for the infrastructure for EtherCAT/Ethernet.
Cables and connectors
For connecting EtherCAT devices only Ethernet connections (cables + plugs) that meet the requirements of
at least category 5 (CAt5) according to EN 50173 or ISO/IEC 11801 should be used. EtherCAT uses 4 wires
for signal transfer.
EtherCAT uses RJ45 plug connectors, for example. The pin assignment is compatible with the Ethernet
standard (ISO/IEC 8802-3).
Pin Color of conductor Signal Description
1 yellow TD + Transmission Data +
2 orange TD - Transmission Data 3 white RD + Receiver Data +
6 blue RD - Receiver Data -
Due to automatic cable detection (auto-crossing) symmetric (1:1) or cross-over cables can be used between
EtherCAT devices from Beckhoff.
Recommended cables
Suitable cables for the connection of EtherCAT devices can be found on the Beckhoff website!
E-Bus supply
A bus coupler can supply the EL terminals added to it with the E-bus system voltage of 5V; a coupler is
thereby loadable up to 2A as a rule (see details in respective device documentation).
Information on how much current each EL terminal requires from the E-bus supply is available online and in
the catalogue. If the added terminals require more current than the coupler can supply, then power feed
terminals (e.g. EL9410) must be inserted at appropriate places in the terminal strand.
The pre-calculated theoretical maximum E-Bus current is displayed in the TwinCAT System Manager. A
shortfall is marked by a negative total amount and an exclamation mark; a power feed terminal is to be
placed before such a position.
EL500x 19Version: 3.6
Basics communication
Fig.12: System manager current calculation
NOTE
Malfunction possible!
The same ground potential must be used for the E-Bus supply of all EtherCAT terminals in a terminal block!
3.3 General notes for setting the watchdog
ELxxxx terminals are equipped with a safety feature (watchdog) that switches off the outputs after a
specifiable time e.g. in the event of an interruption of the process data traffic, depending on the device and
settings, e.g. in OFF state.
The EtherCAT slave controller (ESC) in the EL2xxx terminals features 2 watchdogs:
• SM watchdog (default: 100 ms)
• PDI watchdog (default: 100 ms)
SM watchdog (SyncManager Watchdog)
The SyncManager watchdog is reset after each successful EtherCAT process data communication with the
terminal. If no EtherCAT process data communication takes place with the terminal for longer than the set
and activated SM watchdog time, e.g. in the event of a line interruption, the watchdog is triggered and the
outputs are set to FALSE. The OP state of the terminal is unaffected. The watchdog is only reset after a
successful EtherCAT process data access. Set the monitoring time as described below.
The SyncManager watchdog monitors correct and timely process data communication with the ESC from the
EtherCAT side.
PDI watchdog (Process Data Watchdog)
If no PDI communication with the EtherCAT slave controller (ESC) takes place for longer than the set and
activated PDI watchdog time, this watchdog is triggered.
PDI (Process Data Interface) is the internal interface between the ESC and local processors in the EtherCAT
slave, for example. The PDI watchdog can be used to monitor this communication for failure.
The PDI watchdog monitors correct and timely process data communication with the ESC from the
application side.
The settings of the SM- and PDI-watchdog must be done for each slave separately in the TwinCAT System
Manager.
EL500x20 Version: 3.6
Basics communication
Fig.13: 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.
EL500x 21Version: 3.6
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 / 25MHz * (2498 + 2) = 0.0001seconds = 100µs
SM watchdog = 10000 → 10000 * 100µs = 1second watchdog monitoring time
CAUTION
Undefined state possible!
The function for switching off of the SM watchdog via SM watchdog = 0 is only implemented in terminals
from version -0016. In previous versions this operating mode should not be used.
CAUTION
Damage of devices and undefined state possible!
If the SM watchdog is activated and a value of 0 is entered the watchdog switches off completely. This is
the deactivation of the watchdog! Set outputs are NOT set in a safe state, if the communication is interrupted.
3.4 EtherCAT State Machine
The state of the EtherCAT slave is controlled via the EtherCAT State Machine (ESM). Depending upon the
state, different functions are accessible or executable in the EtherCAT slave. Specific commands must be
sent by the EtherCAT master to the device in each state, particularly during the bootup of the slave.
A distinction is made between the following states:
• Init
• Pre-Operational
• Safe-Operational and
• Operational
• Boot
The regular state of each EtherCAT slave after bootup is the OP state.
EL500x22 Version: 3.6
Fig.14: States of the EtherCAT State Machine
Basics communication
Init
After switch-on the EtherCAT slave in the Init state. No mailbox or process data communication is possible.
The EtherCAT master initializes sync manager channels 0 and 1 for mailbox communication.
Pre-Operational (Pre-Op)
During the transition between Init and Pre-Op the EtherCAT slave checks whether the mailbox was initialized
correctly.
In Pre-Op state mailbox communication is possible, but not process data communication. The EtherCAT
master initializes the sync manager channels for process data (from sync manager channel 2), the FMMU
channels and, if the slave supports configurable mapping, PDO mapping or the sync manager PDO
assignment. In this state the settings for the process data transfer and perhaps terminal-specific parameters
that may differ from the default settings are also transferred.
Safe-Operational (Safe-Op)
During transition between Pre-Op and Safe-Op the EtherCAT slave checks whether the sync manager
channels for process data communication and, if required, the distributed clocks settings are correct. Before
it acknowledges the change of state, the EtherCAT slave copies current input data into the associated DPRAM areas of the EtherCAT slave controller (ECSC).
In Safe-Op state mailbox and process data communication is possible, although the slave keeps its outputs
in a safe state, while the input data are updated cyclically.
Outputs in SAFEOP state
The default set watchdog [}20] monitoring sets the outputs of the module in a safe state - depending on the settings in SAFEOP and OP - e.g. in OFF state. If this is prevented by deactivation of the
watchdog monitoring in the module, the outputs can be switched or set also in the SAFEOP state.
Operational (Op)
Before the EtherCAT master switches the EtherCAT slave from Safe-Op to Op it must transfer valid output
data.
In the Op state the slave copies the output data of the masters to its outputs. Process data and mailbox
communication is possible.
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Boot
In the Boot state the slave firmware can be updated. The Boot state can only be reached via the Init state.
In the Boot state mailbox communication via the file access over EtherCAT (FoE) protocol is possible, but no
other mailbox communication and no process data communication.
3.5 CoE Interface
General description
The CoE interface (CANopen over EtherCAT) is used for parameter management of EtherCAT devices.
EtherCAT slaves or the EtherCAT master manage fixed (read only) or variable parameters which they
require for operation, diagnostics or commissioning.
CoE parameters are arranged in a table hierarchy. In principle, the user has read access via the fieldbus.
The EtherCAT master (TwinCAT System Manager) can access the local CoE lists of the slaves via
EtherCAT in read or write mode, depending on the attributes.
Different CoE parameter types are possible, including string (text), integer numbers, Boolean values or larger
byte fields. They can be used to describe a wide range of features. Examples of such parameters include
manufacturer ID, serial number, process data settings, device name, calibration values for analog
measurement or passwords.
The order is specified in 2 levels via hexadecimal numbering: (main)index, followed by subindex. The value
ranges are
• Index: 0x0000 …0xFFFF (0...65535
• SubIndex: 0x00…0xFF (0...255
dez
)
dez
)
A parameter localized in this way is normally written as 0x8010:07, with preceding "x" to identify the
hexadecimal numerical range and a colon between index and subindex.
The relevant ranges for EtherCAT fieldbus users are:
• 0x1000: This is where fixed identity information for the device is stored, including name, manufacturer,
serial number etc., plus information about the current and available process data configurations.
• 0x8000: This is where the operational and functional parameters for all channels are stored, such as
filter settings or output frequency.
Other important ranges are:
• 0x4000: In some EtherCAT devices the channel parameters are stored here (as an alternative to the
0x8000 range).
• 0x6000: Input PDOs ("input" from the perspective of the EtherCAT master)
• 0x7000: Output PDOs ("output" from the perspective of the EtherCAT master)
Availability
Not every EtherCAT device must have a CoE list. Simple I/O modules without dedicated processor
usually have no variable parameters and therefore no CoE list.
If a device has a CoE list, it is shown in the TwinCAT System Manager as a separate tab with a listing of the
elements:
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Basics communication
Fig.15: "CoE Online " tab
The figure above shows the CoE objects available in device "EL2502", ranging from 0x1000 to 0x1600. The
subindices for 0x1018 are expanded.
Data management and function "NoCoeStorage"
Some parameters, particularly the setting parameters of the slave, are configurable and writeable. This can
be done in write or read mode
• via the System Manager (Fig. "CoE Online " tab) by clicking
This is useful for commissioning of the system/slaves. Click on the row of the index to be
parameterised and enter a value in the "SetValue" dialog.
• from the control system/PLC via ADS, e.g. through blocks from the TcEtherCAT.lib library
This is recommended for modifications while the system is running or if no System Manager or
operating staff are available.
Data management
If slave CoE parameters are modified online, Beckhoff devices store any changes in a fail-safe
manner in the EEPROM, i.e. the modified CoE parameters are still available after a restart.
The situation may be different with other manufacturers.
An EEPROM is subject to a limited lifetime with respect to write operations. From typically 100,000
write operations onwards it can no longer be guaranteed that new (changed) data are reliably saved
or are still readable. This is irrelevant for normal commissioning. However, if CoE parameters are
continuously changed via ADS at machine runtime, it is quite possible for the lifetime limit to be
reached. Support for the NoCoeStorage function, which suppresses the saving of changed CoE values, depends on the firmware version.
Please refer to the technical data in this documentation as to whether this applies to the respective
device.
• If the function is supported: the function is activated by entering the code word 0x12345678 once
in CoE 0xF008 and remains active as long as the code word is not changed. After switching the
device on it is then inactive. Changed CoE values are not saved in the EEPROM and can thus
be changed any number of times.
• Function is not supported: continuous changing of CoE values is not permissible in view of the
lifetime limit.
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Startup list
Changes in the local CoE list of the terminal are lost if the terminal is replaced. If a terminal is replaced with a new Beckhoff terminal, it will have the default settings. It is therefore advisable to link
all changes in the CoE list of an EtherCAT slave with the Startup list of the slave, which is processed whenever the EtherCAT fieldbus is started. In this way a replacement EtherCAT slave can
automatically be parameterized with the specifications of the user.
If EtherCAT slaves are used which are unable to store local CoE values permanently, the Startup
list must be used.
Recommended approach for manual modification of CoE parameters
• Make the required change in the System Manager
The values are stored locally in the EtherCAT slave
• If the value is to be stored permanently, enter it in the Startup list.
The order of the Startup entries is usually irrelevant.
Fig.16: Startup list in the TwinCAT System Manager
The Startup list may already contain values that were configured by the System Manager based on the ESI
specifications. Additional application-specific entries can be created.
Online/offline list
While working with the TwinCAT System Manager, a distinction has to be made whether the EtherCAT
device is "available", i.e. switched on and linked via EtherCAT and therefore online, or whether a
configuration is created offline without connected slaves.
In both cases a CoE list as shown in Fig. “’CoE online’ tab” is displayed. The connectivity is shown as offline/
online.
• If the slave is offline
◦ The offline list from the ESI file is displayed. In this case modifications are not meaningful or
possible.
◦ The configured status is shown under Identity.
◦ No firmware or hardware version is displayed, since these are features of the physical device.
◦ Offline is shown in red.
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Fig.17: Offline list
• If the slave is online
◦ The actual current slave list is read. This may take several seconds, depending on the size and
cycle time.
◦ The actual identity is displayed
◦ The firmware and hardware version of the equipment according to the electronic information is
displayed
◦ Online is shown in green.
Fig.18: Online list
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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.
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3.6 Distributed Clock
The distributed clock represents a local clock in the EtherCAT slave controller (ESC) with the following
characteristics:
• Unit 1 ns
• Zero point 1.1.2000 00:00
• Size 64 bit (sufficient for the next 584 years; however, some EtherCAT slaves only offer 32-bit support,
i.e. the variable overflows after approx. 4.2 seconds)
• The EtherCAT master automatically synchronizes the local clock with the master clock in the EtherCAT
bus with a precision of < 100 ns.
For detailed information please refer to the EtherCAT system description.
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Mounting and wiring
4 Mounting and wiring
4.1 Instructions for ESD protection
NOTE
Destruction of the devices by electrostatic discharge possible!
The devices contain components at risk from electrostatic discharge caused by improper handling.
• Please ensure you are electrostatically discharged and avoid touching the contacts of the device directly.
• Avoid contact with highly insulating materials (synthetic fibers, plastic film etc.).
• Surroundings (working place, packaging and personnel) should by grounded probably, when handling
with the devices.
• Each assembly must be terminated at the right hand end with an EL9011 or EL9012 bus end cap, to ensure the protection class and ESD protection.
Fig.19: Spring contacts of the Beckhoff I/O components
EL500x30 Version: 3.6
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