Beckhoff EL6201 Documentation
Documentation
EL6201
AS-Interface Master Terminal
2.2
2017-03-30
Version:
Date:
Table of Contents
EL6201 3Version: 2.2
Table of Contents
1 Foreword ....................................................................................................................................................5
1.1 Notes on the documentation........................................................................................................... 5
1.2 Safety instructions .......................................................................................................................... 6
1.3 Documentation issue status............................................................................................................ 7
1.4 Version identification of EtherCAT devices..................................................................................... 7
2 Product overview.....................................................................................................................................12
2.1 Introduction ................................................................................................................................... 12
2.2 Technical data .............................................................................................................................. 13
2.3 Technology ................................................................................................................................... 14
2.3.1 • AS-i requirements ..........................................................................................................14
2.3.2 Assembly using the piercing technology..........................................................................14
2.3.3 AS interface for every topology........................................................................................16
2.4 Start .............................................................................................................................................. 16
3 Basics communication ...........................................................................................................................17
3.1 EtherCAT basics........................................................................................................................... 17
3.2 EtherCAT cabling – wire-bound.................................................................................................... 17
3.3 General notes for setting the watchdog ........................................................................................ 18
3.4 EtherCAT State Machine .............................................................................................................. 20
3.5 CoE Interface................................................................................................................................ 22
4 Installation................................................................................................................................................27
4.1 Instructions for ESD protection ..................................................................................................... 27
4.2 Installation on mounting rails ........................................................................................................ 27
4.3 Installation instructions for enhanced mechanical load capacity .................................................. 30
4.4 Connection system ....................................................................................................................... 31
4.5 Prescribed installation position ..................................................................................................... 34
4.6 Mounting of Passive Terminals..................................................................................................... 35
4.7 LEDs and connection.................................................................................................................... 36
5 Commissioning........................................................................................................................................40
5.1 TwinCAT Quick Start .................................................................................................................... 40
5.1.1 TwinCAT2 .......................................................................................................................42
5.1.2 TwinCAT 3 .......................................................................................................................52
5.2 TwinCAT Development Environment............................................................................................ 64
5.2.1 Installation of the TwinCAT real-time driver .....................................................................64
5.2.2 Notes regarding ESI device description...........................................................................70
5.2.3 TwinCAT ESI Updater......................................................................................................74
5.2.4 Distinction between Online and Offline ............................................................................74
5.2.5 OFFLINE configuration creation ......................................................................................75
5.2.6 ONLINE configuration creation ........................................................................................80
5.2.7 EtherCAT subscriber configuration ..................................................................................88
5.3 General Notes - EtherCAT Slave Application ............................................................................... 98
5.4 Functionality of the AS-i master.................................................................................................. 106
5.4.1 AS-i status machine .......................................................................................................106
5.4.2 Lists................................................................................................................................107
5.4.3 Operating modes ...........................................................................................................107
5.4.4 Operating phases...........................................................................................................108
5.4.5 Address assignment of the AS-i slaves .........................................................................109
Table of Contents
EL62014 Version: 2.2
5.4.6 Automatic address assignment......................................................................................109
5.5 Quickstart.................................................................................................................................... 109
5.6 Further notes on commissioning................................................................................................. 124
5.7 Object description and parameterization .................................................................................... 130
5.7.1 Restore object................................................................................................................130
5.7.2 Configuration data..........................................................................................................130
5.7.3 Command object ...........................................................................................................134
5.7.4 Input data .......................................................................................................................137
5.7.5 Output data ....................................................................................................................137
5.7.6 Information data ............................................................................................................137
5.7.7 Diagnostic data .............................................................................................................138
5.7.8 ASI data .........................................................................................................................141
5.8 Object description - standard objects ......................................................................................... 145
6 Appendix ................................................................................................................................................216
6.1 EtherCAT AL Status Codes ........................................................................................................ 216
6.2 Firmware compatibility ................................................................................................................ 216
6.3 Firmware Update EL/ES/EM/EPxxxx.......................................................................................... 216
6.4 Restoring the delivery state ........................................................................................................ 227
6.5 Support and Service ................................................................................................................... 228
Foreword
EL6201 5Version: 2.2
1 Foreword
1.1 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
EL62016 Version: 2.2
1.2 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
Serious risk of injury!
Failure to follow the safety instructions associated with this symbol directly endangers the
life and health of persons.
WARNING
Risk of injury!
Failure to follow the safety instructions associated with this symbol endangers the life and
health of persons.
CAUTION
Personal injuries!
Failure to follow the safety instructions associated with this symbol can lead to injuries to
persons.
Attention
Damage to the environment or devices
Failure to follow the instructions associated with this symbol can lead to damage to the environment or equipment.
Note
Tip or pointer
This symbol indicates information that contributes to better understanding.
Foreword
EL6201 7Version: 2.2
1.3 Documentation issue status
Version Comment
2.2 • Update chapter "Object description and parameterization"
• Update structure
2.1 • Update chapter "Notes on the documentation"
• Correction of Technical data
• Addenda chapter "TwinCAT Quick Start"
2.0 • Migration
• Amendments in section "Commissioning"
• Amendments in section "Technical data"
• Amendments in section "Object description and parameterization"
• Update structure
1.5 • Update chapter "Technical data"
• Addenda chapter "Installation instructions for enhanced mechanical load
capacity"
• Update revision status
1.4 • Update chapter "Technical data"
• Section "Connection" updated
• Update revision status
1.3 • Update chapter "Technical data"
• Update chapter "Object description and parameterization"
• Update structure
• Update revision status
1.2 • Update chapter "Technical data"
1.1 • Amendments re commissioning
1.0 • First public issue
0.8 • Amendments & corrections in section "Quickstart"
0.7 • Amendments & corrections in section "AS-iMaster functionality"
0.6 • Addenda & corrections
0.5 • Addenda & corrections
0.4 • Addenda
0.3 • Addenda
0.2 • Addenda
0.1 • Provisional documentation for EL6201
1.4 Version identification of EtherCAT devices
Designation
A Beckhoff EtherCAT device has a 14-digit designation, made up of
• family key
• type
• version
• revision
Foreword
EL62018 Version: 2.2
Example Family Type Version Revision
EL3314-0000-0016 EL terminal
(12 mm, nonpluggable
connection level)
3314 (4-channel
thermocouple
terminal)
0000 (basic type) 0016
CU2008-0000-0000CU device 2008 (8-port fast
ethernet switch)
0000 (basic type) 0000
ES3602-0010-0017 ES terminal
(12 mm, pluggable
connection level)
3602 (2-channel
voltage
measurement)
0010 (highprecision version)
0017
Notes
• The elements mentioned above result in the technical designation. EL3314-0000-0016 is used in the
example below.
• EL3314-0000 is the order identifier, in the case of “-0000” usually abbreviated to EL3314. “-0016” is the
EtherCAT revision.
• The order identifier is made up of
- family key (EL, EP, CU, ES, KL, CX, etc.)
- type (3314)
- version (-0000)
• The revision -0016 shows the technical progress, such as the extension of features with regard to the
EtherCAT communication, and is managed by Beckhoff.
In principle, a device with a higher revision can replace a device with a lower revision, unless specified
otherwise, e.g. in the documentation.
Associated and synonymous with each revision there is usually a description (ESI, EtherCAT Slave
Information) in the form of an XML file, which is available for download from the Beckhoff website.
From 2014/01 the revision is shown on the outside of the IP20 terminals, see Fig. “EL5021 EL terminal,
standard IP20 IO device with batch number and revision ID (since 2014/01)”.
• The type, version and revision are read as decimal numbers, even if they are technically saved in
hexadecimal.
Identification number
Beckhoff EtherCAT devices from the different lines have different kinds of identification numbers:
Production lot/batch number/serial number/date code/D number
The serial number for Beckhoff IO devices is usually the 8-digit number printed on the device or on a sticker.
The serial number indicates the configuration in delivery state and therefore refers to a whole production
batch, without distinguishing the individual modules of a batch.
Structure of the serial number: KKYYFFHH
KK - week of production (CW, calendar week)
YY - year of production
FF - firmware version
HH - hardware version
Example with
Ser. no.: 12063A02: 12 - production week 12 06 - production year 2006 3A - firmware version 3A 02 hardware version 02
Exceptions can occur in the IP67 area, where the following syntax can be used (see respective device
documentation):
Syntax: D ww yy x y z u
D - prefix designation
ww - calendar week
yy - year
x - firmware version of the bus PCB
Foreword
EL6201 9Version: 2.2
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 batch number and revision ID (since 2014/01)
Fig.2: EK1100 EtherCAT coupler, standard IP20 IO device with batch number
Foreword
EL620110 Version: 2.2
Fig.3: CU2016 switch with batch number
Fig.4: EL3202-0020 with batch numbers 26131006 and unique ID-number 204418
Fig.5: EP1258-00001 IP67 EtherCAT Box with batch number 22090101 and unique serial number 158102
Fig.6: EP1908-0002 IP76 EtherCAT Safety Box with batch number 071201FF and unique serial number
00346070
Foreword
EL6201 11Version: 2.2
Fig.7: EL2904 IP20 safety terminal with batch number/date code 50110302 and unique serial number
00331701
Fig.8: ELM3604-0002 terminal with ID number (QR code) 100001051 and unique serial number 44160201
Product overview
EL620112 Version: 2.2
2 Product overview
2.1 Introduction
Fig.9: EL6201
Fig.10: AS-i logo
AS-Interface master terminal
The EL6201 AS interface master terminal enables the direct connection of AS interface slaves.
The AS-Interface-compliant interface supports digital and analog slaves according to version 3.0 (master
profile M3).
Quick links
• EtherCAT basics
• Technology [}14]
• Technical data [}13]
• Quick start [}109]
Product overview
EL6201 13Version: 2.2
2.2 Technical data
Technical data EL6201-0000
AS-Interface channels 1
Number of slaves up to 31 in V 2.0; up to 62 in V 2.11, V 3.0
AS-Interface versions V 2.0, V 2.11, V 3.0 (Rev. 4)
Slave types Standard: digital and analog,
extended:
Type 1 (CTT1): S-7.3, S-7.4,
Type 2 (CTT2): S-7.5.5, S-7.A.5, S-B.A.5,
Type 3 (CTT3): S-7.A.7, S-7.A.A,
Type 4 (CTT4): S-7.A.8, S-7.A.9,
Type 5 (CTT5): S-6.0,
Safety at work: S-0.B, S-7.B
Diagnostics power failure, slave failure, parameterization fault
AS-Interface address assignment via configuration or automatic
Cycle time max. 5ms (with 31 or 62 slaves)
Connection 2 lines via spring force technology
Data transfer rates 167 kbit/s
Distributed clocks -
Power contacts no
Electrical isolation 500V (AS-Interface/E-bus)
Supply voltage for electronics via the E-bus
Current consumption 120mA (E-Bus), typ. 40mA/max. 60mA (AS-Interface)
Configuration via TwinCAT System Manager
Dimensions (W x H x D) approx. 27 mm x 100 mm x 70 mm (width aligned: 24
mm)
Weight approx. 55 g
Assembly [}27]
on 35 mm mounting rail conforms to EN 60715
Operating temperature 0°C...+55°C
Storage temperature -25°C...+85°C
Relative humidity 95 % no condensation
Vibration/shock resistance conforms to EN 60068-2-6 / EN 60068-2-27,
see also installation instructions [}30] for enhanced
mechanical load capacity
EMC immunity/emission conforms to EN 61000-6-2 / EN 61000-6-4
Protect. class / installation pos.
IP20 / see note [}34]!
AS-Interface certificate yes, cert. no. 97701
Approvals CE
Product overview
EL620114 Version: 2.2
2.3 Technology
This section provides a short general technical introduction to the technology of the AS interface. Please
refer to the following sections for further details.
(Source: (AS-INTERNATIONAL ASSOCIATION e.V.)
Fig.11: AS-i logo
2.3.1 • AS-i requirements
The industry places many different demands on modern automation systems. It demands that the necessary
functions are fulfilled at an optimum price-performance ratio. AS-Interface, or AS-i for short, does precisely
that. The system is focused on the lower field level. The goal of the development was not a universal fieldbus
for all areas of automation, but rather an economically practical system for the lower field level, with which
binary sensors and actuators can be simply, reliably and economically networked and connected to the
higher control level.
The sensors and actuators can be networked and supplied with power via the AS-i-specific twin-core cable.
The cable harnesses of traditional cabling are dispensed with. A massive cost reduction due to the simple
wiring, which is possible without extensive training thanks to the proven click-and-go technology. Due to its
cost effectiveness the AS-Interface system proves to be a technically and economically practical supplement
to the normal fieldbus.
The freely selectable network topology and its simple configuration facilitate the installation of an AS-i
network. The susceptibility to faults of other systems frequently leads to delays in the installation, for which
reason care was taken with the AS-Interface system to reduce sources of error. Reverse voltage protection
by means of the profiled cable is just one corresponding measure.
2.3.2 Assembly using the piercing technology
The simple assembly of the AS-interface is made possible by the special assembly method, which is also
called the piercing technology or, less frequently, the click-and-go method. The technology is based on the
use of the usually yellow AS-i cable, a cable with two cores that is protected against polarity reversal. When
assembling, the piercing pins of the device to be connected penetrate into the cores of the cable and reliably
make the contact. Some advantages:
• Direct, simple connection of sensors/actuators or modules
• Flat cable with reverse voltage protection
• Data and energy in one cable
• Piercing technology
• Very simple connection method
• Secure contacting
• Protection class IP67
• Cutting to length and stripping of insulation are not necessary
• Can be mounted in any place
• Trouble-free shifting is possible thanks to the self-healing capability of the cable for each type of cable
Product overview
EL6201 15Version: 2.2
Fig.12: Profiled twin-core cable for use with the AS-i technology
Assembly example
Fig.13: Upper and lower half of the AS-i component are disassembled.
Fig.14: The AS-i cable is placed – always without error thanks to its profiling – in the lower half of the AS-i
component.
Fig.15: Upper and lower halves are assembled using a simple tool.
Fig.16: Finished assembled junction
Product overview
EL620116 Version: 2.2
Fig.17: The piercing technology ensures the reliable connection of the AS-i component to the AS-i network
cable.
2.3.3 AS interface for every topology
The AS-i protocol guarantees simple expandability. The AS-interface network can be configured like every
conventional electrical installation. Every AS-i slave is freely addressable and can be connected to the bus
cable in any place. This enables a modular structure and, due to the robust principle of operation, there are
no limits to the structure. Any desired network topology may be used, i.e. including star or tree topologies.
Fail-safe
The data are transmitted reliably on the AS-i network. Each AS-Interface telegram is monitored in the
receiver with regard to a parity bit and several further independent variables. This ensures extremely high
reliability in the detection of single and multiple errors. The use of the AS-Interface in very noisy
environments such as welding plants and frequency converters is thus possible without problems.
Standardized economic efficiency
All AS-Interface products conform to the European standard EN 50295 and the world standard IEC 62026-2.
Certified: Economic and reliable
The certification of the AS-i products guarantees the user maximum system security. The products are fully
compatible and interchangeable with one another. As a user you can recognize the tested and certified
products by the AS-Interface “shadow logo” and the associated test number.
2.4 Start
For commissioning:
• mount the EL6201 as described in the chapter Mounting and wiring [}27]
• configure the EL6201 in TwinCAT as described in the chapter Commissioning [}109].
Basics communication
EL6201 17Version: 2.2
3 Basics communication
3.1 EtherCAT basics
Please refer to the chapter EtherCAT System Documentation for the EtherCAT fieldbus basics.
3.2 EtherCAT cabling – wire-bound
The cable length between two EtherCAT devices must not exceed 100 m. This results from the FastEthernet
technology, which, above all for reasons of signal attenuation over the length of the cable, allows a maximum
link length of 5 + 90 + 5 m if cables with appropriate properties are used. See also the Design
recommendations for the infrastructure for EtherCAT/Ethernet.
Cables and connectors
For connecting EtherCAT devices only Ethernet connections (cables + plugs) that meet the requirements of
at least category 5 (CAt5) according to EN 50173 or ISO/IEC 11801 should be used. EtherCAT uses 4 wires
for signal transfer.
EtherCAT uses RJ45 plug connectors, for example. The pin assignment is compatible with the Ethernet
standard (ISO/IEC 8802-3).
Pin Color of conductor Signal Description
1 yellow TD + Transmission Data +
2 orange TD - Transmission Data -
3 white RD + Receiver Data +
6 blue RD - Receiver Data -
Due to automatic cable detection (auto-crossing) symmetric (1:1) or cross-over cables can be used between
EtherCAT devices from Beckhoff.
Note
Recommended cables
Suitable cables for the connection of EtherCAT devices can be found on the Beckhoff website!
E-Bus supply
A bus coupler can supply the EL terminals added to it with the E-bus system voltage of 5V; a coupler is
thereby loadable up to 2A as a rule (see details in respective device documentation).
Information on how much current each EL terminal requires from the E-bus supply is available online and in
the catalogue. If the added terminals require more current than the coupler can supply, then power feed
terminals (e.g. EL9410) must be inserted at appropriate places in the terminal strand.
The pre-calculated theoretical maximum E-Bus current is displayed in the TwinCAT System Manager. A
shortfall is marked by a negative total amount and an exclamation mark; a power feed terminal is to be
placed before such a position.
Basics communication
EL620118 Version: 2.2
Fig.18: System manager current calculation
Attention
Malfunction possible!
The same ground potential must be used for the E-Bus supply of all EtherCAT terminals in
a terminal block!
3.3 General notes for setting the watchdog
ELxxxx terminals are equipped with a safety feature (watchdog) that switches off the outputs after a
specifiable time e.g. in the event of an interruption of the process data traffic, depending on the device and
settings, e.g. in OFF state.
The EtherCAT slave controller (ESC) in the EL2xxx terminals features 2 watchdogs:
• SM watchdog (default: 100 ms)
• PDI watchdog (default: 100 ms)
SM watchdog (SyncManager Watchdog)
The SyncManager watchdog is reset after each successful EtherCAT process data communication with the
terminal. If no EtherCAT process data communication takes place with the terminal for longer than the set
and activated SM watchdog time, e.g. in the event of a line interruption, the watchdog is triggered and the
outputs are set to FALSE. The OP state of the terminal is unaffected. The watchdog is only reset after a
successful EtherCAT process data access. Set the monitoring time as described below.
The SyncManager watchdog monitors correct and timely process data communication with the ESC from the
EtherCAT side.
PDI watchdog (Process Data Watchdog)
If no PDI communication with the EtherCAT slave controller (ESC) takes place for longer than the set and
activated PDI watchdog time, this watchdog is triggered.
PDI (Process Data Interface) is the internal interface between the ESC and local processors in the EtherCAT
slave, for example. The PDI watchdog can be used to monitor this communication for failure.
The PDI watchdog monitors correct and timely process data communication with the ESC from the
application side.
The settings of the SM- and PDI-watchdog must be done for each slave separately in the TwinCAT System
Manager.
Basics communication
EL6201 19Version: 2.2
Fig.19: EtherCAT tab -> Advanced Settings -> Behavior -> Watchdog
Notes:
• the multiplier is valid for both watchdogs.
• each watchdog has its own timer setting, the outcome of this in summary with the multiplier is a
resulting time.
• Important: the multiplier/timer setting is only loaded into the slave at the start up, if the checkbox is
activated.
If the checkbox is not activated, nothing is downloaded and the ESC settings remain unchanged.
Multiplier
Multiplier
Both watchdogs receive their pulses from the local terminal cycle, divided by the watchdog multiplier:
1/25 MHz * (watchdog multiplier + 2) = 100 µs (for default setting of 2498 for the multiplier)
The standard setting of 1000 for the SM watchdog corresponds to a release time of 100 ms.
The value in multiplier + 2 corresponds to the number of basic 40 ns ticks representing a watchdog tick.
The multiplier can be modified in order to adjust the watchdog time over a larger range.
Basics communication
EL620120 Version: 2.2
Example "Set SM watchdog"
This checkbox enables manual setting of the watchdog times. If the outputs are set and the EtherCAT
communication is interrupted, the SM watchdog is triggered after the set time and the outputs are erased.
This setting can be used for adapting a terminal to a slower EtherCAT master or long cycle times. The
default SM watchdog setting is 100 ms. The setting range is 0..65535. Together with a multiplier with a range
of 1..65535 this covers a watchdog period between 0..~170 seconds.
Calculation
Multiplier = 2498 → watchdog base time = 1 / 25MHz * (2498 + 2) = 0.0001seconds = 100µs
SM watchdog = 10000 → 10000 * 100µs = 1second watchdog monitoring time
CAUTION
Undefined state possible!
The function for switching off of the SM watchdog via SM watchdog = 0 is only implemented in terminals from version -0016. In previous versions this operating mode should
not be used.
CAUTION
Damage of devices and undefined state possible!
If the SM watchdog is activated and a value of 0 is entered the watchdog switches off completely. This is the deactivation of the watchdog! Set outputs are NOT set in a safe state, if
the communication is interrupted.
3.4 EtherCAT State Machine
The state of the EtherCAT slave is controlled via the EtherCAT State Machine (ESM). Depending upon the
state, different functions are accessible or executable in the EtherCAT slave. Specific commands must be
sent by the EtherCAT master to the device in each state, particularly during the bootup of the slave.
A distinction is made between the following states:
• Init
• Pre-Operational
• Safe-Operational and
• Operational
• Boot
The regular state of each EtherCAT slave after bootup is the OP state.
Basics communication
EL6201 21Version: 2.2
Fig.20: 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.
Note
Outputs in SAFEOP state
The default set watchdog [}18] monitoring sets the outputs of the module in a safe state depending on the settings in SAFEOP and OP - e.g. in OFF state. If this is prevented by
deactivation of the watchdog monitoring in the module, the outputs can be switched or set
also in the SAFEOP state.
Operational (Op)
Before the EtherCAT master switches the EtherCAT slave from Safe-Op to Op it must transfer valid output
data.
In the Op state the slave copies the output data of the masters to its outputs. Process data and mailbox
communication is possible.
Basics communication
EL620122 Version: 2.2
Boot
In the Boot state the slave firmware can be updated. The Boot state can only be reached via the Init state.
In the Boot state mailbox communication via the file access over EtherCAT (FoE) protocol is possible, but no
other mailbox communication and no process data communication.
3.5 CoE Interface
General description
The CoE interface (CANopen over EtherCAT) is used for parameter management of EtherCAT devices.
EtherCAT slaves or the EtherCAT master manage fixed (read only) or variable parameters which they
require for operation, diagnostics or commissioning.
CoE parameters are arranged in a table hierarchy. In principle, the user has read access via the fieldbus.
The EtherCAT master (TwinCAT System Manager) can access the local CoE lists of the slaves via
EtherCAT in read or write mode, depending on the attributes.
Different CoE parameter types are possible, including string (text), integer numbers, Boolean values or larger
byte fields. They can be used to describe a wide range of features. Examples of such parameters include
manufacturer ID, serial number, process data settings, device name, calibration values for analog
measurement or passwords.
The order is specified in 2 levels via hexadecimal numbering: (main)index, followed by subindex. The value
ranges are
• Index: 0x0000 …0xFFFF (0...65535
dez
)
• SubIndex: 0x00…0xFF (0...255
dez
)
A parameter localized in this way is normally written as 0x8010:07, with preceding "x" to identify the
hexadecimal numerical range and a colon between index and subindex.
The relevant ranges for EtherCAT fieldbus users are:
• 0x1000: This is where fixed identity information for the device is stored, including name, manufacturer,
serial number etc., plus information about the current and available process data configurations.
• 0x8000: This is where the operational and functional parameters for all channels are stored, such as
filter settings or output frequency.
Other important ranges are:
• 0x4000: In some EtherCAT devices the channel parameters are stored here (as an alternative to the
0x8000 range).
• 0x6000: Input PDOs ("input" from the perspective of the EtherCAT master)
• 0x7000: Output PDOs ("output" from the perspective of the EtherCAT master)
Note
Availability
Not every EtherCAT device must have a CoE list. Simple I/O modules without dedicated
processor usually have no variable parameters and therefore no CoE list.
If a device has a CoE list, it is shown in the TwinCAT System Manager as a separate tab with a listing of the
elements:
Basics communication
EL6201 23Version: 2.2
Fig.21: "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.
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.
Basics communication
EL620124 Version: 2.2
Note
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.
Note
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 parameterised 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.22: 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
EL6201 25Version: 2.2
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.23: 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.
Basics communication
EL620126 Version: 2.2
Fig.24: Online list
Channel-based order
The CoE list is available in EtherCAT devices that usually feature several functionally equivalent channels.
For example, a 4-channel analog 0..10 V input terminal also has 4 logical channels and therefore 4 identical
sets of parameter data for the channels. In order to avoid having to list each channel in the documentation,
the placeholder "n" tends to be used for the individual channel numbers.
In the CoE system 16 indices, each with 255 subindices, are generally sufficient for representing all channel
parameters. The channel-based order is therefore arranged in 16
dec
/10
hex
steps. The parameter range
0x8000 exemplifies this:
• Channel 0: parameter range 0x8000:00 ... 0x800F:255
• Channel 1: parameter range 0x8010:00 ... 0x801F:255
• Channel 2: parameter range 0x8020:00 ... 0x802F:255
• ...
This is generally written as 0x80n0.
Detailed information on the CoE interface can be found in the EtherCAT system documentation on the
Beckhoff website.
Installation
EL6201 27Version: 2.2
4 Installation
4.1 Instructions for ESD protection
Attention
Destruction of the devices by electrostatic discharge possible!
The devices contain components at risk from electrostatic discharge caused by improper
handling.
ü Please ensure you are electrostatically discharged and avoid touching the contacts of
the device 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.
Fig.25: Spring contacts of the Beckhoff I/O components
4.2 Installation on mounting rails
WARNING
Risk of electric shock and damage of device!
Bring the bus terminal system into a safe, powered down state before starting installation,
disassembly or wiring of the Bus Terminals!
Installation
EL620128 Version: 2.2
Assembly
Fig.26: Attaching on mounting rail
The Bus Coupler and Bus Terminals are attached to commercially available 35mm mounting rails (DIN rails
according to EN60715) by applying slight pressure:
1. First attach the Fieldbus Coupler to the mounting rail.
2. The Bus Terminals are now attached on the right-hand side of the Fieldbus Coupler. Join the components with tongue and groove and push the terminals against the mounting rail, until the lock clicks
onto the mounting rail.
If the Terminals are clipped onto the mounting rail first and then pushed together without tongue and
groove, the connection will not be operational! When correctly assembled, no significant gap should
be visible between the housings.
Note
Fixing of mounting rails
The locking mechanism of the terminals and couplers extends to the profile of the mounting
rail. At the installation, the locking mechanism of the components must not come into conflict with the fixing bolts of the mounting rail. To mount the mounting rails with a height of
7.5mm under the terminals and couplers, you should use flat mounting connections (e.g.
countersunk screws or blind rivets).
Installation
EL6201 29Version: 2.2
Disassembly
Fig.27: Disassembling of terminal
Each terminal is secured by a lock on the mounting rail, which must be released for disassembly:
1. Pull the terminal by its orange-colored lugs approximately 1cm away from the mounting rail. In doing
so for this terminal the mounting rail lock is released automatically and you can pull the terminal out of
the bus terminal block easily without excessive force.
2. Grasp the released terminal with thumb and index finger simultaneous at the upper and lower grooved
housing surfaces and pull the terminal out of the bus terminal block.
Connections within a bus terminal block
The electric connections between the Bus Coupler and the Bus Terminals are automatically realized by
joining the components:
• The six spring contacts of the K-Bus/E-Bus deal with the transfer of the data and the supply of the Bus
Terminal electronics.
• The power contacts deal with the supply for the field electronics and thus represent a supply rail within
the bus terminal block. The power contacts are supplied via terminals on the Bus Coupler (up to 24V)
or for higher voltages via power feed terminals.
Note
Power Contacts
During the design of a bus terminal block, the pin assignment of the individual Bus Terminals must be taken account of, since some types (e.g. analog Bus Terminals or digital 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.
PE power contact
The power contact labeled PE can be used as a protective earth. For safety reasons this contact mates first
when plugging together, and can ground short-circuit currents of up to 125A.
Installation
EL620130 Version: 2.2
Fig.28: Power contact on left side
Attention
Possible damage of the device
Note that, for reasons of electromagnetic compatibility, the PE contacts are capacitatively
coupled to the mounting rail. This may lead to incorrect results during insulation testing or
to damage on the terminal (e.g. disruptive discharge to the PE line during insulation testing
of a consumer with a nominal voltage of 230V). 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
10mm from the group of terminals.
WARNING
Risk of electric shock!
The PE power contact must not be used for other potentials!
4.3 Installation instructions for enhanced mechanical load
capacity
WARNING
Risk of injury through electric shock and damage to the device!
Bring the Bus Terminal system into a safe, de-energized state before starting mounting,
disassembly or wiring of the Bus Terminals!
Additional checks
The terminals have undergone the following additional tests:
Verification Explanation
Vibration 10 frequency runs in 3 axes
6 Hz < f < 60 Hz displacement 0.35 mm, constant amplitude
60.1Hz<f<500Hz acceleration 5g, constant amplitude
Shocks 1000 shocks in each direction, in 3 axes
25 g, 6 ms
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