Beckhoff EL6751 Users Guide
Documentation | EN
EL6751
Master/Slave Terminal for CANopen
2021-02-11 | Version: 3.7
Table of contents
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 .......................................................................................8
1.4.1 Beckhoff Identification Code (BIC)................................................................................... 12
2 Product overview.....................................................................................................................................14
2.1 Introduction......................................................................................................................................14
2.2 Technical data .................................................................................................................................15
2.3 CANopen Introduction .....................................................................................................................16
3 Mounting and wiring................................................................................................................................18
3.1 Recommended mounting rails.........................................................................................................18
3.2 Mounting and demounting - terminals with traction lever unlocking ................................................18
3.3 Mounting and demounting - terminals with front unlocking .............................................................20
3.4 Installation positions ........................................................................................................................22
3.5 Positioning of passive Terminals .....................................................................................................23
3.6 ATEX - Special conditions (extended temperature range) ..............................................................25
3.7 Continuative documentation about explosion protection .................................................................26
3.8 UL notice .........................................................................................................................................26
3.9 CANopen cabling.............................................................................................................................27
3.9.1 CAN topology................................................................................................................... 27
3.9.2 Bus length........................................................................................................................ 27
3.9.3 Drop lines......................................................................................................................... 28
3.9.4 Star Hub (Multiport Tap) .................................................................................................. 28
3.9.5 CAN cable........................................................................................................................ 28
3.9.6 Shielding .......................................................................................................................... 30
3.9.7 Cable colors..................................................................................................................... 30
3.9.8 BK5151, FC51xx, CX with CAN interface and EL6751: D-sub, 9pin .............................. 31
3.9.9 BK51x0/BX5100: 5-pin open style connector .................................................................. 32
3.9.10 LC5100: Bus connection via spring-loaded terminals...................................................... 32
3.9.11 Fieldbus Box: M12 CAN socket ....................................................................................... 33
4 Basics communication ...........................................................................................................................34
4.1 EtherCAT basics..............................................................................................................................34
4.2 EtherCAT State Machine.................................................................................................................34
4.3 General notes for setting the watchdog...........................................................................................35
4.4 CoE Interface...................................................................................................................................37
5 Parameterization and commissioning...................................................................................................42
5.1 TwinCAT Development Environment ..............................................................................................42
5.1.1 Installation of the TwinCAT real-time driver..................................................................... 42
5.1.2 Notes regarding ESI device description........................................................................... 48
5.1.3 OFFLINE configuration creation ...................................................................................... 52
5.1.4 ONLINE configuration creation ........................................................................................ 57
5.1.5 EtherCAT slave process data settings............................................................................. 65
EL6751 3Version: 3.7
Table of contents
5.2 General Notes - EtherCAT Slave Application..................................................................................66
5.3 TwinCAT (2.1x) System Manager ...................................................................................................75
5.3.1 Configuration by means of the TwinCAT System Manager............................................. 75
5.3.2 BECKHOFF CANopen Bus Coupler................................................................................ 86
5.3.3 CANopen devices ............................................................................................................ 88
5.4 CANopen Communication ...............................................................................................................94
5.4.1 Network Management...................................................................................................... 94
5.4.2 CANopen Master Network management ......................................................................... 98
5.4.3 Process Data Objects (PDO)......................................................................................... 102
5.4.4 PDO Parameterization................................................................................................... 110
5.4.5 Service Data Objects (SDO).......................................................................................... 112
5.4.6 EL6751- SDO communication ....................................................................................... 115
5.4.7 CANopen baud rate and bit timing................................................................................. 120
5.4.8 Identifier Allocation ........................................................................................................ 120
5.4.9 Firmware versions ......................................................................................................... 121
5.4.10 Sending and receiving of CAN Messages (STD Frame Format) via ADS..................... 122
5.4.11 Modular Device Profil Mapping of EL6751 (MDP) ......................................................... 124
5.5 EtherCAT communication EL6751 ................................................................................................128
5.5.1 CANopen master ........................................................................................................... 128
5.5.2 CAN interface ................................................................................................................ 161
6 Error handling and diagnostics............................................................................................................170
6.1 EL6751 – LED description.............................................................................................................170
6.2 EL6751 – Bus node diagnostics ....................................................................................................171
6.3 EL6751 diagnostics .......................................................................................................................173
6.4 EL6751- Emergency messages ....................................................................................................175
6.5 EL6751 - ADS Error Codes ...........................................................................................................175
6.6 CANopen Trouble Shooting...........................................................................................................180
7 Appendix ................................................................................................................................................183
7.1 EtherCAT AL Status Codes...........................................................................................................183
7.2 Firmware compatibility...................................................................................................................183
7.3 Firmware Update EL/ES/EM/ELM/EPxxxx ....................................................................................184
7.3.1 Device description ESI file/XML..................................................................................... 185
7.3.2 Firmware explanation .................................................................................................... 188
7.3.3 Updating controller firmware *.efw................................................................................. 189
7.3.4 FPGA firmware *.rbf....................................................................................................... 191
7.3.5 Simultaneous updating of several EtherCAT devices.................................................... 195
7.4 CAN Identifier List..........................................................................................................................196
7.5 Abbreviations.................................................................................................................................212
7.6 Bibliography...................................................................................................................................212
7.7 Support and Service ......................................................................................................................214
EL67514 Version: 3.7
Foreword
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®, EtherCATG®, EtherCATG10®, EtherCATP®, SafetyoverEtherCAT®,
TwinSAFE®, XFC®, XTS® and XPlanar® 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, EP1456722, EP2137893, DE102015105702 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.
EL6751 5Version: 3.7
Foreword
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 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.
EL67516 Version: 3.7
1.3 Documentation issue status
Version Comment
3.7 • Update chapter „Object description“
• Update chapter „Technical data“
• Structural update
3.6 • Update chapter „Object description“
• Update chapter „Parameterization and commissioning“
• Structural update
• Update revision status
3.5 • Update chapter „Object description“
• Structural update
• Update revision status
3.4 • Update chapter „Object description“
• Structural update
3.3 • Update revision status
• Structural update
3.2 • Update chapter „CANopen communication“
• Update chapter „Object description“
• Update revision status
• Structural update
3.1 • "Technical data" chapter updated
• Structural update
3.0 • Migration
• Structural update
2.0 • "Technical data" chapter updated
• Structural update
1.9 • Addenda chapter "Mounting and wiring"
1.8 • Addenda chapter "Mounting and wiring"
1.7 • Addenda firmware compatibility
1.6 • Additions to technical notes
1.5 • Additions to technical notes
1.4 • Chapter inserted "EtherCAT communication"
1.3 • Technical data corrected
1.2 • Supplementary notes CAN interface
1.1 • Addendum CAN Interface description
1.0 • Revision, technical data amended
0.1 • Preliminary version for internal use
Foreword
EL6751 7Version: 3.7
Foreword
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
Example Family Type Version Revision
EL3314-0000-0016 EL terminal
(12 mm, nonpluggable connection
level)
ES3602-0010-0017 ES terminal
(12 mm, pluggable
connection level)
CU2008-0000-0000 CU device 2008 (8-port fast ethernet switch) 0000 (basic type) 0000
3314 (4-channel thermocouple
terminal)
3602 (2-channel voltage
measurement)
0000 (basic type) 0016
0010 (highprecision version)
0017
Notes
• The elements mentioned above result in the technical designation. EL3314-0000-0016 is used in the
example below.
• EL3314-0000 is the order identifier, in the case of “-0000” usually abbreviated to EL3314. “-0016” is the
EtherCAT revision.
• The order identifier is made up of
- family key (EL, EP, CU, ES, KL, CX, etc.)
- type (3314)
- version (-0000)
• The revision -0016 shows the technical progress, such as the extension of features with regard to the
EtherCAT communication, and is managed by Beckhoff.
In principle, a device with a higher revision can replace a device with a lower revision, unless specified
otherwise, e.g. in the documentation.
Associated and synonymous with each revision there is usually a description (ESI, EtherCAT Slave
Information) in the form of an XML file, which is available for download from the Beckhoff web site.
From 2014/01 the revision is shown on the outside of the IP20 terminals, see Fig. “EL5021 EL terminal,
standard IP20 IO device with batch number and revision ID (since 2014/01)”.
• The type, version and revision are read as decimal numbers, even if they are technically saved in
hexadecimal.
Identification number
Beckhoff EtherCAT devices from the different lines have different kinds of identification numbers:
Production lot/batch number/serial number/date code/D number
The serial number for Beckhoff IO devices is usually the 8-digit number printed on the device or on a sticker.
The serial number indicates the configuration in delivery state and therefore refers to a whole production
batch, without distinguishing the individual modules of a batch.
Structure of the serial number: KKYYFFHH
KK - week of production (CW, calendar week)
YY - year of production
FF - firmware version
HH - hardware version
EL67518 Version: 3.7
Foreword
Example with
Ser. no.: 12063A02: 12 - production week 12 06 - production year 2006 3A - firmware version 3A 02 hardware version 02
Exceptions can occur in the IP67 area, where the following syntax can be used (see respective device
documentation):
Syntax: D ww yy x y z u
D - prefix designation
ww - calendar week
yy - year
x - firmware version of the bus PCB
y - hardware version of the bus PCB
z - firmware version of the I/O PCB
u - hardware version of the I/O PCB
Example: D.22081501 calendar week 22 of the year 2008 firmware version of bus PCB: 1 hardware version
of bus PCB: 5 firmware version of I/O PCB: 0 (no firmware necessary for this PCB) hardware version of I/O
PCB: 1
Unique serial number/ID, ID number
In addition, in some series each individual module has its own unique serial number.
See also the further documentation in the area
• IP67: EtherCAT Box
• Safety: TwinSafe
• Terminals with factory calibration certificate and other measuring terminals
Examples of markings
Fig.1: EL5021 EL terminal, standard IP20 IO device with serial/ batch number and revision ID (since
2014/01)
EL6751 9Version: 3.7
Foreword
Fig.2: EK1100 EtherCAT coupler, standard IP20 IO device with serial/ batch number
Fig.3: CU2016 switch with serial/ batch number
Fig.4: EL3202-0020 with serial/ batch number 26131006 and unique ID-number 204418
EL675110 Version: 3.7
Foreword
Fig.5: EP1258-00001 IP67 EtherCAT Box with batch number/ date code 22090101 and unique serial
number 158102
Fig.6: EP1908-0002 IP67 EtherCAT Safety Box with batch number/ date code 071201FF and unique serial
number 00346070
Fig.7: EL2904 IP20 safety terminal with batch number/ date code 50110302 and unique serial number
00331701
Fig.8: ELM3604-0002 terminal with unique ID number (QR code) 100001051 and serial/ batch number
44160201
EL6751 11Version: 3.7
Foreword
1.4.1 Beckhoff Identification Code (BIC)
The Beckhoff Identification Code (BIC) is increasingly being applied to Beckhoff products to uniquely identify
the product. The BIC is represented as a Data Matrix Code (DMC, code scheme ECC200), the content is
based on the ANSI standard MH10.8.2-2016.
Fig.9: BIC as data matrix code (DMC, code scheme ECC200)
The BIC will be introduced step by step across all product groups.
Depending on the product, it can be found in the following places:
• on the packaging unit
• directly on the product (if space suffices)
• on the packaging unit and the product
The BIC is machine-readable and contains information that can also be used by the customer for handling
and product management.
Each piece of information can be uniquely identified using the so-called data identifier
(ANSIMH10.8.2-2016). The data identifier is followed by a character string. Both together have a maximum
length according to the table below. If the information is shorter, spaces are added to it. The data under
positions 1 to 4 are always available.
The following information is contained:
EL675112 Version: 3.7
Item
Type of
no.
information
1 Beckhoff order
number
2 Beckhoff Traceability
Number (BTN)
3 Article description Beckhoff article
4 Quantity Quantity in packaging
5 Batch number Optional: Year and week
6 ID/serial number Optional: Present-day
7 Variant number Optional: Product variant
...
Explanation Data
Beckhoff order number 1P 8 1P072222
Unique serial number,
see note below
description, e.g.
EL1008
unit, e.g. 1, 10, etc.
of production
serial number system,
e.g. with safety products
or calibrated terminals
number on the basis of
standard products
Foreword
Number of digits
identifier
S 12 SBTNk4p562d7
1K 32 1KEL1809
Q 6 Q1
2P 14 2P401503180016
51S 12 51S678294104
30P 32 30PF971, 2*K183
incl. data identifier
Example
Further types of information and data identifiers are used by Beckhoff and serve internal processes.
Structure of the BIC
Example of composite information from item 1 to 4 and 6. The data identifiers are marked in red for better
display:
BTN
An important component of the BIC is the Beckhoff Traceability Number (BTN, item no.2). The BTN is a
unique serial number consisting of eight characters that will replace all other serial number systems at
Beckhoff in the long term (e.g. batch designations on IO components, previous serial number range for
safety products, etc.). The BTN will also be introduced step by step, so it may happen that the BTN is not yet
coded in the BIC.
NOTE
This information has been carefully prepared. However, the procedure described is constantly being further
developed. We reserve the right to revise and change procedures and documentation at any time and without prior notice. No claims for changes can be made from the information, illustrations and descriptions in
this information.
EL6751 13Version: 3.7
Product overview
2 Product overview
2.1 Introduction
Fig.10: EL6751
Master and slave terminals for CANopen
The master and slave terminals for CANopen correspond to the FC5101 PCI card from Beckhoff. Thanks to
the connection via Ethernet, no PCI slots are required in the PC. Within an EtherCAT terminal network, it
enables the integration of any CANopen devices. In addition, general CAN messages can be sent or
received – without having to bother with CAN frames in the applications program. The EL6751 is
alternatively available in a master or slave version and has a powerful protocol implementation with many
features:
• All CANopen PDO communication types are supported: event-controlled, time-controlled (event timer),
synchronous.
• Synchronization with the PC controller's task cycle.
• SYNC cycle with quartz precision for drive synchronization, zero cumulative jitter.
• Parameter communication (SDO) at start-up and at runtime.
• Emergency message handling, guarding and heartbeat.
• Powerful parameter and diagnostics interfaces.
• Online bus load display
Quick links
• EL6751 - CANopen master terminal [}76]
• EL6751-0010 - CANopen slave terminal [}82]
EL675114 Version: 3.7
Product overview
2.2 Technical data
Technical data EL6751-0000 EL6751-0010
Bus system CANopen
Version Master Slave
Number of fieldbus channels 1
Data transfer rate 10, 20, 50, 100, 125, 250, 500, 800 or 1000kbit/s
Bus interface D-Sub 9-pole connector according to CANopen specification,
galvanically uncoupled
Bus devices maximum 127 slaves
Communication CANopen network master and
CANopen manager
Diagnostics Status LEDs
Power supply via the E-bus
Current consumption via E-bus typ. 230 mA
Electrical isolation 500 V (E-bus/CANopen)
Configuration with TwinCAT System Manager
Weight approx. 70 g
Permissible ambient temperature range
during operation
Permissible ambient temperature range
during storage
Permissible relative humidity 95%, no condensation
Dimensions (W x H x D) approx. 26 mm x 100 mm x 52 mm (width aligned: 23mm)
Mounting [}18]
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, EAC
-25°C ... +60°C (extended temperature range)
-40°C ... +85°C
on 35 mm mounting rail conforms to EN 60715
ATEX [}25]
UL [}26]
CANopen slave
EL6751 15Version: 3.7
Product overview
2.3 CANopen Introduction
Fig.11: CANopenLogo
CANopen is a widely used CAN application layer, developed by the CAN-in-Automation association (CiA,
http://www.can-cia.org), and which has meanwhile been adopted for international standardization.
Device Model
CANopen consists of the protocol definitions (communication profile) and of the device profiles that
standardize the data contents for the various device classes. Process data objects (PDO) [}102] are used for
fast communication of input and output data. The CANopen device parameters and process data are stored
in a structured object directory. Any data in this object directory is accessed via service data objects (SDO).
There are, additionally, a few special objects (such as telegram types) for network management (NMT),
synchronization, error messages and so on.
Fig.12: CANopen Device Model
Communication Types
CANopen defines a number of communication classes for the input and output data (process data objects):
• Event driven [}105]: Telegrams are sent as soon as their contents have changed. This means that the
process image as a whole is not continuously transmitted, only its changes.
• Cyclic synchronous [}105]: A SYNC telegram causes the modules to accept the output data that was
previously received, and to send new input data.
• Requested (polled) [}102]: A CAN data request telegram causes the modules to send their input data.
The desired communication type is set by the Transmission Type [}102] parameter.
EL675116 Version: 3.7
Product overview
Device Profile
The BECKHOFF CANopen devices support all types of I/O communication, and correspond to the device
profile for digital and analog input/output modules (DS401 Version 1). For reasons of backwards
compatibility, the default mapping was not adapted to the DS401 V2 profile version.
Data transfer rates
Nine transmission rates [}120] from 10 kbit/s up to 1 Mbit/s are available for different bus lengths. The
effective utilization of the bus bandwidth allows CANopen to achieve short system reaction times at relatively
low data rates.
Topology
CAN is based on a linear topology [}27]. The number of devices participating in each network is logically
limited by CANopen to 128, but physically the present generation of drivers allows up to 64 nodes in one
network segment. The maximum possible size of the network for any particular data rate is limited by the
signal propagation delay required on the bus medium. For 1Mbit/s, for instance, the network may extend
25m, whereas at 50kbit/s the network may reach up to 1000m. At low data rates the size of the network
can be increased by repeaters, which also allow the construction of tree structures.
Bus access procedures
CAN utilizes the Carrier Sense Multiple Access (CSMA) procedure, i.e. all participating devices have the
same right of access to the bus and may access it as soon as it is free (multi-master bus access). The
exchange of messages is thus not device-oriented but message-oriented. This means that every message is
unambiguously marked with a prioritized identifier. In order to avoid collisions on the bus when messages
are sent by different devices, a bit-wise bus arbitration is carried out at the start of the data transmission. The
bus arbitration assigns bus bandwidth to the messages in the sequence of their priority. At the end of the
arbitration phase only one bus device occupies the bus, collisions are avoided and the bandwidth is optimally
exploited.
Configuration and parameterization
The TwinCAT System Manager allows all the CANopen parameters to be set conveniently. An "eds" file (an
electronic data sheet) is available on the Beckhoff website (http://www.beckhoff.de) for the parameterization
of Beckhoff CANopen devices using configuration tools from other manufacturers.
Certification
The Beckhoff CANopen devices have a powerful implementation of the protocol, and are certified by the
CAN in Automation Association (http://www.can-cia.org).
EL6751 17Version: 3.7
Mounting and wiring
3 Mounting and wiring
3.1 Recommended mounting rails
Terminal Modules und EtherCAT Modules of KMxxxx and EMxxxx series, same as the terminals of the
EL66xx and EL67xx series can be snapped onto the following recommended mounting rails:
DIN Rail TH 35-7.5 with 1 mm material thickness (according to EN 60715)
DIN Rail TH 35-15 with 1,5 mm material thickness
Pay attention to the material thickness of the DIN Rail
Terminal Modules und EtherCAT Modules of KMxxxx and EMxxxx series, same as the terminals of
the EL66xx and EL67xx series does not fit to the DIN Rail TH 35-15 with 2,2 to 2,5 mm material
thickness (according to EN 60715)!
3.2 Mounting and demounting - terminals with traction lever unlocking
The terminal modules are fastened to the assembly surface with the aid of a 35 mm mounting rail (e.g.
mounting rail TH 35-15).
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 recommended mounting rails under the terminals and couplers, you should use flat mounting connections (e.g. countersunk screws or blind rivets).
WARNING
Risk of electric shock and damage of device!
Bring the bus terminal system into a safe, powered down state before starting installation, disassembly or
wiring of the Bus Terminals!
Mounting
• Fit the mounting rail to the planned assembly location.
EL675118 Version: 3.7
and press (1) the terminal module against the mounting rail until it latches in place on the mounting
rail (2).
• Attach the cables.
Mounting and wiring
Demounting
• Remove all the cables. Thanks to the KM/EM connector, it is not necessary to remove all the cables
separately for this, but for each KM/EM connector simply undo 2 screws so that you can pull them off
(fixed wiring)!
• Lever the unlatching hook on the left-hand side of the terminal module upwards with a screwdriver (3).
As you do this
◦ an internal mechanism pulls the two latching lugs (3a) from the top hat rail back into the terminal
module,
◦ the unlatching hook moves forwards (3b) and engages
EL6751 19Version: 3.7
Mounting and wiring
• In the case 32 and 64 channel terminal modules (KMxxx4 and KMxxx8 or EMxxx4 and EMxxx8) you
now lever the second unlatching hook on the right-hand side of the terminal module upwards in the
same way.
• Pull (4) the terminal module away from the mounting surface.
3.3 Mounting and demounting - terminals with front unlocking
The terminal modules are fastened to the assembly surface with the aid of a 35 mm mounting rail (e.g.
mounting rail TH 35-15).
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 recommended mounting rails under the terminals and couplers, you should use flat mounting connections (e.g. countersunk screws or blind rivets).
WARNING
Risk of electric shock and damage of device!
Bring the bus terminal system into a safe, powered down state before starting installation, disassembly or
wiring of the Bus Terminals!
Mounting
• Fit the mounting rail to the planned assembly location.
EL675120 Version: 3.7
and press (1) the terminal module against the mounting rail until it latches in place on the mounting
rail (2).
• Attach the cables.
Mounting and wiring
Demounting
• Remove all the cables.
• Lever the unlatching hook back with thumb and forefinger (3). An internal mechanism pulls the two
latching lugs (3a) from the top hat rail back into the terminal module.
• Pull (4) the terminal module away from the mounting surface.
Avoid canting of the module; you should stabilize the module with the other hand, if required.
EL6751 21Version: 3.7
Mounting and wiring
3.4 Installation positions
NOTE
Constraints regarding installation position and operating temperature range
Please refer to the technical data for a terminal to ascertain whether any restrictions regarding the installation position and/or the operating temperature range have been specified. When installing high power dissipation terminals ensure that an adequate spacing is maintained between other components above and below the terminal in order to guarantee adequate ventilation!
Optimum installation position (standard)
The optimum installation position requires the mounting rail to be installed horizontally and the connection
surfaces of the EL/KL terminals to face forward (see Fig. Recommended distances for standard installation
position). The terminals are ventilated from below, which enables optimum cooling of the electronics through
convection. “From below” is relative to the acceleration of gravity.
Fig.13: Recommended distances for standard installation position
Compliance with the distances shown in Fig. Recommended distances for standard installation position is
recommended.
Other installation positions
All other installation positions are characterized by different spatial arrangement of the mounting rail - see
Fig Other installation positions.
The minimum distances to ambient specified above also apply to these installation positions.
EL675122 Version: 3.7
Mounting and wiring
Fig.14: Other installation positions
3.5 Positioning of passive Terminals
Hint for positioning of passive terminals in the bus terminal block
EtherCAT Terminals (ELxxxx / ESxxxx), which do not take an active part in data transfer within the
bus terminal block are so called passive terminals. The passive terminals have no current consumption out of the E-Bus.
To ensure an optimal data transfer, you must not directly string together more than two passive terminals!
EL6751 23Version: 3.7
Mounting and wiring
Examples for positioning of passive terminals (highlighted)
Fig.15: Correct positioning
Fig.16: Incorrect positioning
EL675124 Version: 3.7
Mounting and wiring
3.6 ATEX - Special conditions (extended temperature range)
WARNING
Observe the special conditions for the intended use of Beckhoff fieldbus components with
extended temperature range (ET) in potentially explosive areas (directive 2014/34/EU)!
• The certified components are to be installed in a suitable housing that guarantees a protection class of at
least IP54 in accordance with EN60079-15! The environmental conditions during use are thereby to be
taken into account!
• For dust (only the fieldbus components of certificate no. KEMA 10ATEX0075 X Issue 9): The equipment
shall be installed in a suitable enclosure providing a degree of protection of IP54 according to EN
60079-0 for group IIIA or IIIB and IP6X for group IIIC, taking into account the environmental conditions
under which the equipment is used.
• If the temperatures during rated operation are higher than 70°C at the feed-in points of cables, lines or
pipes, or higher than 80°C at the wire branching points, then cables must be selected whose temperature data correspond to the actual measured temperature values!
• Observe the permissible ambient temperature range of -25 to 60°C for the use of Beckhoff fieldbus components with extended temperature range (ET) in potentially explosive areas!
• Measures must be taken to protect against the rated operating voltage being exceeded by more than
40% due to short-term interference voltages!
• The individual terminals may only be unplugged or removed from the Bus Terminal system if the supply
voltage has been switched off or if a non-explosive atmosphere is ensured!
• The connections of the certified components may only be connected or disconnected if the supply voltage has been switched off or if a non-explosive atmosphere is ensured!
• The fuses of the KL92xx/EL92xx power feed terminals may only be exchanged if the supply voltage has
been switched off or if a non-explosive atmosphere is ensured!
• Address selectors and ID switches may only be adjusted if the supply voltage has been switched off or if
a non-explosive atmosphere is ensured!
Standards
The fundamental health and safety requirements are fulfilled by compliance with the following standards:
• EN 60079-0:2012+A11:2013
• EN 60079-15:2010
• EN 60079-31:2013 (only for certificate no. KEMA 10ATEX0075 X Issue 9)
EL6751 25Version: 3.7
Mounting and wiring
Marking
The Beckhoff fieldbus components with extended temperature range (ET) certified according to the ATEX
directive for potentially explosive areas bear the following marking:
II 3G KEMA 10ATEX0075 X Ex nA IIC T4 Gc Ta: -25 … +60°C
II 3D KEMA 10ATEX0075 X Ex tc IIC T135°C Dc Ta: -25 ... +60°C
(only for fieldbus components of certificate no. KEMA 10ATEX0075 X Issue 9)
or
II 3G KEMA 10ATEX0075 X Ex nC IIC T4 Gc Ta: -25 … +60°C
II 3D KEMA 10ATEX0075 X Ex tc IIC T135°C Dc Ta: -25 ... +60°C
(only for fieldbus components of certificate no. KEMA 10ATEX0075 X Issue 9)
3.7 Continuative documentation about explosion protection
Explosion protection for terminal systems
Pay also attention to the continuative documentation
Notes on the use of the Beckhoff terminal systems in hazardous areas according to ATEX and
IECEx
that is available for download on the Beckhoff homepage https:\\www.beckhoff.com!
3.8 UL notice
Application
Beckhoff EtherCAT modules are intended for use with Beckhoff’s UL Listed EtherCAT System only.
Examination
For cULus examination, the Beckhoff I/O System has only been investigated for risk of fire
and electrical shock (in accordance with UL508 and CSAC22.2 No.142).
For devices with Ethernet connectors
Not for connection to telecommunication circuits.
Basic principles
UL certification according to UL508. Devices with this kind of certification are marked by this sign:
EL675126 Version: 3.7
Mounting and wiring
3.9 CANopen cabling
Notes related to checking the CAN wiring can be found in the Trouble Shooting [}180] section.
3.9.1 CAN topology
CAN is a 2-wire bus system, to which all participating devices are connected in parallel (i.e. using short drop
lines). The bus must be terminated at each end with a 120 (or 121) Ohm terminating resistor to prevent
reflections. This is also necessary even if the cable lengths are very short!
Fig.17: Termination of the bus with a 120 Ohm termination resistor
Since the CAN signals are represented on the bus as the difference between the two levels, the CAN leads
are not very sensitive to incoming interference (EMI): Both leads are affected, so the interference has very
little effect on the difference.
Fig.18: Insensitivity to incoming interference
3.9.2 Bus length
The maximum length of a CAN bus is primarily limited by the signal propagation delay. The multi-master bus
access procedure (arbitration) requires signals to reach all the nodes at effectively the same time (before the
sampling within a bit period). Since the signal propagation delays in the CAN connecting equipment
(transceivers, opto-couplers, CAN controllers) are almost constant, the line length must be chosen in
accordance with the baud rate:
Baud rate Bus length
1 Mbit/s < 20 m*
500 kbit/s < 100 m
250 kbit/s < 250 m
125 kbit/s < 500 m
50 kbit/s < 1000 m
20 kbit/s < 2500 m
10 kbit/s < 5000 m
EL6751 27Version: 3.7
Mounting and wiring
*) A figure of 40 m at 1 Mbit/s is often found in the CAN literature. This does not, however, apply to networks
with optically isolated CAN controllers. The worst case calculation for opto-couplers yields a figure 5 m at 1
Mbit/s - in practice, however, 20 m can be reached without difficulty.
It may be necessary to use repeaters for bus lengths greater than 1000 m.
3.9.3 Drop lines
Drop lines must always be avoided as far as possible, since they inevitably cause reflections. The reflections
caused by drop lines are not however usually critical, provided they have decayed fully before the sampling
time. In the case of the bit timing settings [}120] selected in the Bus Couplers it can be assumed that this is
the case, provided the following drop line lengths are not exceeded:
Baud rate Drop line length Total length of all drop lines
1 Mbit/s < 1 m < 5 m
500 kbit/s <5m <25m
250 kbit/s <10m <50m
125 kbit/s <20m <100m
50 kbit/s <50m <250m
Drop lines must not have terminating resistors.
Fig.19: Sample topology of drop lines
3.9.4 Star Hub (Multiport Tap)
Shorter drop line lengths must be maintained when passive distributors ("multiport taps"), such as the
Beckhoff ZS5052-4500 Distributor Box. The following table indicates the maximum drop line lengths and the
maximum length of the trunk line (without the drop lines):
Baud rate Drop line length with multiport
topology
1 Mbit/s < 0,3 m < 25 m
500 kbit/s < 1,2 m < 66 m
250 kbit/s <2,4m <120m
125 kbit/s <4,8m <310m
Trunk line length (without drop lines)
3.9.5 CAN cable
Screened twisted-pair cables (2x2) with a characteristic impedance of between 108 and 132 Ohm is
recommended for the CAN wiring. If the CAN transceiver’s reference potential (CAN ground) is not to be
connected, the second pair of conductors can be omitted. (This is only recommended for networks of small
physical size with a common power supply for all the participating devices).
EL675128 Version: 3.7
Mounting and wiring
ZB5100 CAN Cable
A high quality CAN cable with the following properties is included in Beckhoff's range:
• 2 x 2 x 0.25 mm² (AWG 24) twisted pairs, cable colors: red/black + white/black
• double screened
• braided screen with filler strand (can be attached directly to pin 3 of the 5-pin connection terminal)
• flexible (minimum bending radius 35 mm when bent once, 70 mm for repeated bending)
• characteristic impedance (60 kHz): 120 ohm
• conductor resistance < 80 Ohm/km
• sheath: grey PVC, outside diameter 7.3 +/- 0.4 mm
• Weight: 64 kg/km.
• printed with "Beckhoff ZB5100 CAN-BUS 2x2x0.25" and meter marking (length data every 20cm)
Fig.20: Structure of CAN cable ZB5100
ZB5200 CAN/DeviceNet Cable
The ZB5200 cable material corresponds to the DeviceNet specification, and is also suitable for CANopen
systems. The ready-made ZK1052-xxxx-xxxx bus cables for the Fieldbus Box modules are made from this
cable material. It has the following specification:
• 2 x 2 x 0.34 mm² (AWG 22) twisted pairs
• double screened, braided screen with filler strand
• characteristic impedance (1 MHz): 126 ohm
• Conductor resistance 54 Ohm/km
• sheath: grey PVC, outside diameter 7.3 mm
• printed with "InterlinkBT DeviceNet Type 572" as well as UL and CSA ratings
• stranded wire colors correspond to the DeviceNet specification
• UL recognized AWM Type 2476 rating
• CSA AWM I/II A/B 80°C 300V FT1
• corresponds to the DeviceNet "Thin Cable" specification
EL6751 29Version: 3.7
Mounting and wiring
Fig.21: Structure of CAN/DeviceNet cable ZB5200
3.9.6 Shielding
The screen is to be connected over the entire length of the bus cable, and only galvanically grounded at one
point, in order to avoid ground loops.
The design of the screening, in which HF interference is diverted through R/C elements to the mounting rail
assumes that the rail is appropriately earthed and free from interference. If this is not the case, it is possible
that HF interference will be transmitted from the mounting rail to the screen of the bus cable. In that case the
screen should not be attached to the couplers - it should nevertheless still be fully connected through.
Notes related to checking the CAN wiring can be found in the Trouble Shooting [}180] section.
3.9.7 Cable colors
Suggested method of using the Beckhoff CAN cable on Bus Terminal and Fieldbus Box:
BK51x0 pin
PIN BX5100 (X510)
1 3 3 3 CAN Ground black/ (red) black
2 2 5 2 CAN Low black blue
3 5 1 5 Shield Filler strand Filler strand
4 7 4 7 CAN high white white
5 9 2 9 not used (red) (red)
Pin BK5151
CX8050, CX8051,
CXxxxx-B510/M510
Fieldbus
Box pin
Pin
FC51xx
Function ZB5100 cable
color
ZB5200 cable color
EL675130 Version: 3.7
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