Beckhoff EL6752 Documentation

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Documentation

EL6752

Master/Slave Terminal for DeviceNet

Version: Date:

2.1 2018-12-11

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

3 Basic DeviceNet principles.....................................................................................................................14

4 Mounting and cabling..............................................................................................................................15

4.1 Instructions for ESD protection........................................................................................................15

4.2 Recommended mounting rails.........................................................................................................15

4.3 Mounting and demounting - terminals with traction lever unlocking ................................................15

4.4 Mounting and demounting - terminals with front unlocking .............................................................17

4.5 DeviceNet wiring..............................................................................................................................19

4.5.1 CAN / DeviceNet topology ............................................................................................... 19

4.5.2 Bus length........................................................................................................................ 20

4.5.3 Drop lines......................................................................................................................... 20

4.5.4 Star Hub (Multiport Tap) .................................................................................................. 21

4.5.5 CAN cable........................................................................................................................ 22

4.5.6 Shielding .......................................................................................................................... 22

4.5.7 Cable colours and pin assignment................................................................................... 23

4.6 Installation positions ........................................................................................................................23

4.7 Positioning of passive Terminals .....................................................................................................26

4.8 ATEX - Special conditions (standard temperature range) ...............................................................27

5 DeviceNet communication......................................................................................................................28

5.1 DeviceNet Introduction ....................................................................................................................28

5.2 Explicit messages............................................................................................................................30

6 Parameterization and commissioning...................................................................................................32

6.1 CoE Interface...................................................................................................................................32

6.2 General notes for setting the watchdog...........................................................................................36

6.3 EtherCAT State Machine.................................................................................................................38

6.4 TwinCAT System Manager..............................................................................................................41

6.5 Beckhoff DeviceNet Bus Coupler ....................................................................................................51

6.6 General DeviceNet device...............................................................................................................56

6.6.1 Integrating a DeviceNet device with EDS file .................................................................. 56

6.6.2 Integrating a DeviceNet device without EDS file ............................................................. 57

6.6.3 Parameterization of a DeviceNet device.......................................................................... 60

6.7 EtherCAT description ......................................................................................................................65

6.7.1 Introduction ...................................................................................................................... 65

6.7.2 Object description and parameterization ......................................................................... 70

7 Error handling and diagnostics..............................................................................................................82

7.1 EL6752 - LED description................................................................................................................82

EL6752 3Version: 2.1

Table of contents

7.2 EL6752/-0010 diagnostics ...............................................................................................................84

7.2.1 EL6752/-0010 - WC-State ............................................................................................... 84

7.2.2 EL6752/-0010 - State....................................................................................................... 85

7.2.3 EL6752/-0010 - Error / DiagFlag...................................................................................... 86

7.3 DeviceNet device diagnostics..........................................................................................................86

7.3.1 DeviceNet slave device / EL6752-0010 - MacState ........................................................ 86

7.3.2 DeviceNet slave device / EL6752-0010 - DiagFlag ......................................................... 88

7.3.3 Beckhoff DeviceNet slave device - CouplerState ........................................................... 89

7.4 EL6752/-0010 - ADS Error Codes ...................................................................................................90

7.5 DeviceNet / CAN Trouble Shooting .................................................................................................94

8 Appendix ..................................................................................................................................................97

8.1 UL notice .........................................................................................................................................97

8.2 EtherCAT AL Status Codes.............................................................................................................98

8.3 Firmware compatibility.....................................................................................................................98

8.4 Firmware Update EL/ES/EM/EPxxxx ..............................................................................................99

8.4.1 Device description ESI file/XML..................................................................................... 100

8.4.2 Firmware explanation .................................................................................................... 103

8.4.3 Updating controller firmware *.efw................................................................................. 104

8.4.4 FPGA firmware *.rbf....................................................................................................... 105

8.4.5 Simultaneous updating of several EtherCAT devices.................................................... 109

8.5 ATEX Documentation ....................................................................................................................110

8.6 Abbreviations.................................................................................................................................110

8.7 Support and Service ......................................................................................................................111

EL67524 Version: 2.1

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

Patent Pending

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

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

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

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

EL6752 5Version: 2.1

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.

EL67526 Version: 2.1

Foreword

1.3 Documentation issue status

Version Comment

2.1 • Chapter “Explicit messages” added

• Update chapter “Technical data”

• Update structure

• Update revision status

2.0 • Migration

• Update structure

1.4 • Addendum: chapter "Configuration": changing DeviceNet address and baud rate via ADS

• Update structure

1.3 • Correction to chapter "Technical data"

• Addendum:chapter "Firmware status"

• Update structure

1.2 • Corrections to chapter "Mounting and wiring"

1.1 • Corrections to chapter "Mounting and wiring"

1.0 • Corrections and addenda, first publication

0.2 • Corrections and addenda

0.1 • Preliminary version for internal use

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

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)

3314 (4-channel thermocouple terminal)

3602 (2-channel voltage measurement)

0000 (basic type) 0016

0010 (highprecision version)

0017

EL6752 7Version: 2.1

Foreword

• 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: KKYYFFHH

KK - week of production (CW, calendar week) YY - year of production FF - firmware version HH - hardware version

Example with Ser. no.: 12063A02: 12 - production week 12 06 - production year 2006 3A - firmware version 3A 02 hardware version 02

Exceptions can occur in the IP67 area, where the following syntax can be used (see respective device documentation):

Syntax: D ww yy x y z u

D - prefix designation ww - calendar week yy - year x - firmware version of the bus PCB y - hardware version of the bus PCB z - firmware version of the I/O PCB u - hardware version of the I/O PCB

Example: D.22081501 calendar week 22 of the year 2008 firmware version of bus PCB: 1 hardware version of bus PCB: 5 firmware version of I/O PCB: 0 (no firmware necessary for this PCB) hardware version of I/O PCB: 1

Unique serial number/ID, ID number

In addition, in some series each individual module has its own unique serial number.

See also the further documentation in the area

• IP67: EtherCAT Box

• Safety: TwinSafe

• Terminals with factory calibration certificate and other measuring terminals

EL67528 Version: 2.1

Examples of markings

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

Foreword

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

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

EL6752 9Version: 2.1

Foreword

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

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

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

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

EL675210 Version: 2.1

Foreword

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

EL6752 11Version: 2.1

Product overview

2 Product overview

2.1 Introduction

Fig.9: EL6752

Master and slave terminals for DeviceNet

The master and slave terminals for DeviceNet correspond to the FC5201 PCI card from Beckhoff. Thanks to the connection via EtherCAT, no PCI slots are required in the PC. Within an EtherCAT terminal network, the terminal enables the integration of any DeviceNet devices. The EL6752 is optionally available in a master or slave version and has a powerful protocol implementation with many features:

• All I/O modes of the DeviceNet are supported: polling, change of state, cyclic, strobed

• Unconnected message manager (UCMM)

• Powerful parameter and diagnostics interfaces

• Error management freely configurable for each bus device

A description of all functionalities and operating modes can be found in the chapter "Configuration [}65]" and the corresponding subsections.

EL675212 Version: 2.1

Product overview

2.2 Technical data

Technical data EL6752-0000 EL6752-0010

Bus system DeviceNet

Variante Master Slave

Number of fieldbus channels 1

Data transfer rate 125, 250 or 500 kbaud

Bus interface Open style 5-pin connector according to DeviceNet specification,

galvanically isolated; card comes with connector.

Bus devices maximum 63 slaves

Communication DeviceNet network master

(scanner)

Diagnostics Status LEDs

Power supply via the E-bus

Current consumption via E-bus typ. 260 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

Mounting [}15]

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

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

Protection class IP20

Installation position variable

Approval CE

-25°C ... +60°C (extended temperature range) 0°C ... +55°C (according to cULus [}97] for Canada and the

USA) 0°C ... +55°C (according to ATEX [}27], see special conditions [}27])

-40°C ... +85°C

on 35 mm mounting rail conforms to EN 60715

ATEX [}27] cULus [}97]

DeviceNet - slave

EL6752 13Version: 2.1

Basic DeviceNet principles

3 Basic DeviceNet principles

Introduction to the system

DeviceNet is an open system based on CAN. CAN was developed some years ago by R. Bosch for data transmission in motor vehicles. Millions of CAN chips are now in use. A disadvantage for application in automation is that CAN does not contain definitions for the application layer. CAN only defines the physical and data link layer.

DeviceNet specifies a uniform application layer and this makes it possible to use the CAN protocol for industrial applications. ODVA (the Open DeviceNet Vendor Association) is an independent association which supports manufacturers and users of the DeviceNet system. ODVA ensures that all devices which conform to the specification can operate together in one system, regardless of their manufacturer. CAN’s bit arbitration procedure makes it theoretically possible to operate communication networks using master/slave and multimaster access methods.

Further details can be found on the official website of the ODVA (http://www.odva.org).

Fig.10: Example of DeviceNet in use

Bus cable

The bus cable consists of two pairs of shielded twisted-pair wiring, one for the data transfer and one for the power supply. The latter can carry currents of up to 8 amperes. The maximum possible length of a line depends essentially on the baud rate. If you choose the highest Baud rate (500 kbaud) you are restricted to lines of at most 100 m. With the lowest Baud rate (125 kbaud) you will be able to use cable with an overall

length of 500 m. Refer to the chapter "Mounting and wiring [}19]" for details

Fig.11: Example of DeviceNet cabling

EL675214 Version: 2.1

Mounting and cabling

4 Mounting and cabling

4.1 Instructions for ESD protection

NOTE

Destruction of the devices by electrostatic discharge possible!

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

• Please ensure you are electrostatically discharged and avoid touching the contacts of the device directly.

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

• Surroundings (working place, packaging and personnel) should by grounded probably, when handling with the devices.

• Each assembly must be terminated at the right hand end with an EL9011 or EL9012 bus end cap, to ensure the protection class and ESD protection.

Fig.12: Spring contacts of the Beckhoff I/O components

4.2 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)!

4.3 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).

EL6752 15Version: 2.1

Mounting and cabling

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.

and press (1) the terminal module against the mounting rail until it latches in place on the mounting rail (2).

• Attach the cables.

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

EL675216 Version: 2.1

Mounting and cabling

• 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.

4.4 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).

EL6752 17Version: 2.1

Mounting and cabling

Fixing of mounting rails

WARNING

Risk of electric shock and damage of device!

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

Mounting

• Fit the mounting rail to the planned assembly location.

and press (1) the terminal module against the mounting rail until it latches in place on the mounting rail (2).

• Attach the cables.

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.

EL675218 Version: 2.1

Mounting and cabling

• 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.

4.5 DeviceNet wiring

4.5.1 CAN / DeviceNet topology

CAN/DeviceNet is a 2-wire bus system, to which all participating devices are connected in parallel (i.e. using short drop lines) (Fig. DeviceNet Topology). 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.13: DeviceNet topology

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.

EL6752 19Version: 2.1

Mounting and cabling

Fig.14: Low interference through difference levels

4.5.2 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

500 kbit/s < 100m

250 kbit/s < 250m

125 kbit/s < 500m

4.5.3 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 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

500 kbit/s < 6m < 39m

250 kbit/s < 6m < 78m

125 kbit/s < 6 m < 156m

Drop lines must not be furnished with termination resistors (Fig. Drop line topology).

Fig.15: Drop line topology

EL675220 Version: 2.1

Mounting and cabling

4.5.4 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):

Guide values

The following values are recommended by BECKHOFF.

Baud rate Drop line length with multiport topology Trunk line length (without drop lines)

500 kbit/s < 1.2 m < 66 m

250 kbit/s < 2.4m < 120m

125 kbit/s < 4.8m < 310m

EL6752 21Version: 2.1

Mounting and cabling

4.5.5 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).

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 colours 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

Fig.16: DeviceNet cable configuration

4.5.6 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.

EL675222 Version: 2.1

4.5.7 Cable colours and pin assignment

Fig.17: Pin assignment (top view EL6752)

Suggested method of using the Beckhoff CAN cable on Bus Terminal and Fieldbus Box:

Pin EL6752 assignment ZB5200 cable color

1 V+ (24 V) red

2 CAN High white

3 Shield Filler strand

4 CAN Low blue

5 V- black

Mounting and cabling

4.6 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.

EL6752 23Version: 2.1

Mounting and cabling

Fig.18: 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.

EL675224 Version: 2.1

Fig.19: Other installation positions

Mounting and cabling

EL6752 25Version: 2.1

Mounting and cabling

4.7 Positioning of passive Terminals

Hint for positioning of passive terminals in the bus terminal block

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

Examples for positioning of passive terminals (highlighted)

Fig.20: Correct positioning

Fig.21: Incorrect positioning

EL675226 Version: 2.1

Mounting and cabling

4.8 ATEX - Special conditions (standard temperature range)

WARNING

Observe the special conditions for the intended use of Beckhoff fieldbus components with standard temperature range in potentially explosive areas (directive 94/9/EU)!

• The certified components are to be installed in a suitable housing that guarantees a protection class of at least IP54 in accordance with EN 60529! The environmental conditions during use are thereby to be taken into account!

• If the temperatures during rated operation are higher than 70°C at the feed-in points of cables, lines or pipes, or higher than 80°C at the wire branching points, then cables must be selected whose temperature data correspond to the actual measured temperature values!

• Observe the permissible ambient temperature range of 0 to 55°C for the use of Beckhoff fieldbus components standard temperature range in potentially explosive areas!

• Measures must be taken to protect against the rated operating voltage being exceeded by more than 40% due to short-term interference voltages!

• The individual terminals may only be unplugged or removed from the Bus Terminal system if the supply voltage has been switched off or if a non-explosive atmosphere is ensured!

• The connections of the certified components may only be connected or disconnected if the supply voltage has been switched off or if a non-explosive atmosphere is ensured!

• The fuses of the KL92xx/EL92xx power feed terminals may only be exchanged if the supply voltage has been switched off or if a non-explosive atmosphere is ensured!

• Address selectors and ID switches may only be adjusted if the supply voltage has been switched off or if a non-explosive atmosphere is ensured!

Standards

The fundamental health and safety requirements are fulfilled by compliance with the following standards:

• EN 60079-0:2012+A11:2013

• EN 60079-15:2010

Marking

The Beckhoff fieldbus components with standard temperature range certified for potentially explosive areas bear one of the following markings:

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

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

EL6752 27Version: 2.1

DeviceNet communication

5 DeviceNet communication

5.1 DeviceNet Introduction

Fig.22: DeviceNet

Fig.23: Example of DeviceNet in use

DeviceNet is a sensor/actuator bus system. It is internationally standardised (EN50325) and is based on CAN (Controller Area Network). DeviceNet supports a number of communication types for the input and output data:

• Polling: The master module ("scanner") sends the output data cyclically to the assigned devices and

receives the input data in an answer telegram.

• Change-of-State: Telegrams are sent as soon as their contents have changed.

•  Cyclic : The modules send the data automatically after a cycle time has elapsed.

• Strobed: The scanner requests the input data using a broadcast telegram to all the devices.

The DeviceNet devices support all I/O communication types.

The DeviceNet devices are parameterized via acyclical services (explicit messaging).

The effective utilization of the bus bandwidth allows DeviceNet, particularly in Change-of-State mode, to achieve short system reaction times in spite of the relatively low data rates. The BECKHOFF DeviceNet devices have a powerful implementation of the protocol. Through active participation in the ODVA's technical committees, BECKHOFF are contributing to the further development of this bus system, and has in this way itself gathered profound DeviceNet expertise.

EL675228 Version: 2.1

DeviceNet communication

Configuration

The node address is set in the range from 0 to 63 using two decimally coded rotary switches. The data transfer rate set at the DeviceNet scanner is automatically recognized by the DeviceNet Box (auto baud rate). "Electronic Data Sheets" (EDS files) for DeviceNet configuration tools are available for download from

the Beckhoff internet site (http://www.beckhoff.de), and on the BECKHOFF product CDs. Special I/O parameters that are not covered by the DeviceNet standard can be set via the KS2000 software (serial connection) or via acyclical explicit messages.

Diagnostics

The extensive diagnostic functions of the BECKHOFF DeviceNet devices allow rapid fault localisation. The diagnostic messages are transmitted over the bus and collated by the master. The status of the network connection, the device status, the status of the inputs and outputs and of the power supply are displayed by LEDs.

Data transfer rates

Three data transfer rates from 125 kbaud to 500 kbaud are available for different bus lengths. The effective utilization of the bus bandwidth allows DeviceNet to achieve short system reaction times at relatively low data rates.

Topology

DeviceNet is based on a linear topology. The number of devices participating in each network is logically limited by DeviceNet to 64, 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 500kbaud, for instance, the network may extend 100 m, whereas at 125kbaud the network may reach up to 500 m. 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 DeviceNet parameters to be set conveniently. An "eds" file (electronic data sheet) is available on the BECKHOFF website (http://www.beckhoff.de) for the

parameterization of BECKHOFF DeviceNet devices using configuration tools from other manufacturers.

EL6752 29Version: 2.1

DeviceNet communication

5.2 Explicit messages

Program example „ExplMessageEditor“: https://infosys.beckhoff.com/content/1033/el6752/Resources/ zip/5979571979.zip

With the following ADS commands you can use EL6752 to send explicit messages.

GET_ATTRIBUTE_SINGLE via ADSRead Data Transfer SET_ATTRIBUTE_SINGLE via ADSWrite Data Transfer COMMON SERVICE via ADSReadWrite Data Transfer

For the ADS NetID and the port, the values from the system manager are to be used.

(* GET_ATTRIBUTE_SINGLE via ADSRead Data Transfer

IDXGRP: Index GroupNumber = Object Class IDXOFFS: Index OffsetNumber = (Object Instance *. 0x100) + Attribute Id LEN: Read Data Lengths in Bytes DESTADDR: Address of DataBuffer to read with the Get-Attribute Single Service *)

fbADSRead( NETID:= ADSNetId, PORT:= ADSPort, IDXGRP:= IGrp_ADSRead, IDXOFFS:= IOff_ADSRead, LEN:= ADSReadLen, DESTADDR:= ADR(GetAttributeData[0]), READ:= ADSReadCommand, TMOUT:= T#5s, BUSY=> ADSReadBusy, ERR=> ADSReadErr, ERRID=> ADSReadErrID); (*

COMMON SERVICE via ADSReadWrite Data Transfer

IDXGRP: Index GroupNumber = Object Class IDXOFFS: Index OffsetNumber = (Object Instance *. 0x100) + Service Id WRITELEN: Write Data Lengths in Bytes READLEN: Read Data Lengths in Bytes SRCADDR: Address of DataBuffer to write DESTADDR: Address of DataBuffer to read *)

fbADSReadWrite( NETID:= ADSNetId, PORT:= ADSPort, IDXGRP:= Grp_ADSReadWrite, IDXOFFS:= IOff_ADSReadWrite, WRITELEN:= ADSReadWriteWriteLen, READLEN:= ADSReadWriteReadLen, SRCADDR:= ADR(CommonServiceWriteData[0]), DESTADDR:= ADR(CommonServiceReadData[0]), WRTRD:= ADSReadWriteCommand, TMOUT:= T#5s, BUSY=> ADSReadWriteBusy, ERR=> ADSReadWriteErr, ERRID=> ADSReadWriteErrID);

and

(* SET_ATTRIBUTE_SINGLE via ADSWrite Data Transfer IDXGRP: Index GroupNumber = Object Class IDXOFFS: Index OffsetNumber = (Object Instance *. 0x100) + Attribute Id LEN: Write Data Lengths in Bytes SRCADDR: Address of DataBuffer to write with the Set-Attribute Single Service *)

fbADSWrite( NETID:= ADSNetId, PORT:= ADSPort, IDXGRP:= IGrp_ADSWrite,

EL675230 Version: 2.1

IDXOFFS:= IOff_ADSWrite, LEN:= ADSWriteLen, SRCADDR:= ADR(SetAttributeWriteData[0]), WRITE:= ADSWriteCommand, TMOUT:= T#5s, BUSY=> ADSWriteBusy, ERR=> ADSWriteErr, ERRID=> ADSWriteErrID);

DeviceNet communication

Fig.24: Using ADS NetID and Port from System Manager

EL6752 31Version: 2.1

Parameterization and commissioning

6 Parameterization and commissioning

6.1 CoE Interface

General description

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

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

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

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

• Index: 0x0000 …0xFFFF (0...65535

• SubIndex: 0x00…0xFF (0...255

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)

dez

)

dez

)

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:

EL675232 Version: 2.1

Parameterization and commissioning

Fig.25: "CoE Online " tab

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

Data management and function "NoCoeStorage"

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

• via the System Manager (Fig. "CoE Online " tab) by clicking

This is useful for commissioning of the system/slaves. Click on the row of the index to be parameterised and enter a value in the "SetValue" dialog.

• from the control system/PLC via ADS, e.g. through blocks from the TcEtherCAT.lib library

This is recommended for modifications while the system is running or if no System Manager or operating staff are available.

Data management

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

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

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

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

EL6752 33Version: 2.1

Parameterization and commissioning

Startup list

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

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

Recommended approach for manual modification of CoE parameters

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

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

Fig.26: Startup list in the TwinCAT System Manager

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

Online/offline list

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

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

• If the slave is offline

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

possible.

◦ The configured status is shown under Identity.

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

◦ Offline is shown in red.

EL675234 Version: 2.1

Parameterization and commissioning

Fig.27: Offline list

• If the slave is online

◦ The actual current slave list is read. This may take several seconds, depending on the size and

cycle time.

◦ The actual identity is displayed

◦ The firmware and hardware version of the equipment according to the electronic information is

displayed

◦ Online is shown in green.

Fig.28: Online list

EL6752 35Version: 2.1

Parameterization and commissioning

Channel-based order

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

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

dec

/10

steps. The parameter range

hex

0x8000 exemplifies this:

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

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

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

• ...

This is generally written as 0x80n0.

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

6.2 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.

EL675236 Version: 2.1

Parameterization and commissioning

Fig.29: EtherCAT tab -> Advanced Settings -> Behavior -> Watchdog

Notes:

• the multiplier is valid for both watchdogs.

• each watchdog has its own timer setting, the outcome of this in summary with the multiplier is a resulting time.

• Important: the multiplier/timer setting is only loaded into the slave at the start up, if the checkbox is activated. If the checkbox is not activated, nothing is downloaded and the ESC settings remain unchanged.

Multiplier

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

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

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

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

EL6752 37Version: 2.1

Parameterization and commissioning

Example "Set SM watchdog"

This checkbox enables manual setting of the watchdog times. If the outputs are set and the EtherCAT communication is interrupted, the SM watchdog is triggered after the set time and the outputs are erased. This setting can be used for adapting a terminal to a slower EtherCAT master or long cycle times. The default SM watchdog setting is 100 ms. The setting range is 0..65535. Together with a multiplier with a range of 1..65535 this covers a watchdog period between 0..~170 seconds.

Calculation

Multiplier = 2498 → watchdog base time = 1 / 25MHz * (2498 + 2) = 0.0001seconds = 100µs SM watchdog = 10000 → 10000 * 100µs = 1second watchdog monitoring time

CAUTION

Undefined state possible!

The function for switching off of the SM watchdog via SM watchdog = 0 is only implemented in terminals from version -0016. In previous versions this operating mode should not be used.

CAUTION

Damage of devices and undefined state possible!

If the SM watchdog is activated and a value of 0 is entered the watchdog switches off completely. This is the deactivation of the watchdog! Set outputs are NOT set in a safe state, if the communication is interrupted.

6.3 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.

EL675238 Version: 2.1

Fig.30: States of the EtherCAT State Machine

Parameterization and commissioning

Init

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

Pre-Operational (Pre-Op)

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

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

Safe-Operational (Safe-Op)

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

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

Outputs in SAFEOP state

The default set watchdog [}36] 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.

EL6752 39Version: 2.1

Parameterization and commissioning

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.

EL675240 Version: 2.1

Parameterization and commissioning

6.4 TwinCAT System Manager

The TwinCAT System Manager tool is used for the configuration of the EL6752 DeviceNet master/slave terminal. The System Manager provides a representation of the number of programs of the TwinCat PLC systems, the configuration of the axis control and of the connected I/O channels as a structure, and organizes the mapping of the data traffic.

Fig.31: TwinCAT System Manager logo

For applications without TwinCAT PLC or NC, the TwinCAT System Manager Tool configures the programming interfaces for a wide range of application programs:

• ActiveX control (ADS-OCX) for e.g. Visual Basic, Visual C++, Delphi, etc.

• DLL interface (ADS-DLL) for e.g. Visual C++ projects

• Script interface (ADS script DLL) for e.g. VBScript, JScript, etc.

System Manager – Features

• Bit-wise association of server process images and I/O channels

• Standard data formats such as arrays and structures

• User defined data formats

• Continuous variable linking

• Drag and Drop

• Import and export at all levels

Configuration by means of the TwinCAT System Manager

The procedure and the configuration facilities in the System Manager are described below.

EL6752 DeviceNet master terminal [}41] EL6752-0010 - DeviceNet slave terminal [}44]

EL6752 DeviceNet master terminal

Append device

The terminal can be appended to the I/O configuration either using the "Device search" routine in the TwinCAT System Manager or by manually selecting the "DeviceNet Master EL6752, EtherCAT" from the possible DeviceNet devices (Fig. Appending the device "DeviceNet slave EL6752, EtherCAT"). A right-click brings up the following context menu for selection:

EL6752 41Version: 2.1

Parameterization and commissioning

Fig.32: Appending the device "DeviceNet master EL6752, EtherCAT"

"EL6752" tab

Click on the "Device EL6752" in the TwinCAT tree and then on the EL6752 tab:

Fig.33: "EL6752" tab

EtherCAT

Terminal ID in the terminal network.

MAC-ID

Each DeviceNet device - master included - requires a unique station number referred to as MAC ID (Medium Access Identifier) - value range: 0...63.

Baud rate

Baud rate setting: 125 kbaud, 250 kbaud or 500 kbaud

EL675242 Version: 2.1

Parameterization and commissioning

Cycle time

Displays the cycle time of the corresponding highest priority task. The display is updated when the mapping is generated.

IO-Cycle Time

Setting of the cycle time for the I/O connections. This value is the standard value for newly inserted boxes.

Watchdog time

Time until triggering of the watchdog

Search...

This function searches for all existing channels of the EL6752 and the desired one can be selected.

Check configuration

In preparation.

Firmware

Shows the current firmware version of the EL6752.

Firmware Update...

Updates the EL6752 firmware. Attention: The TwinCAT System must be stopped for this function.

“ADS” tab

Fig.34: “ADS” tab

The EL6752 is an ADS device with its own net ID, which can be changed here. All ADS services (diagnostics, acyclical communication) associated with the EL6752 device must address the card via this NetID.

EL6752 43Version: 2.1

Parameterization and commissioning

”Box States" tab

Fig.35: "Box states" tab

Displays an overview of all current box statuses.

EL6752-0010 - DeviceNet slave terminal

In the system configuration tree structure right-click on I/O Devices and “Append device” to open the selection list of supported fieldbus cards. Select EL6752-0010 CANopenSlave. TwinCAT searches for the terminal and displays the memory addresses and slots it finds. Select the required address and confirm.

Fig.36: Appending the device "DeviceNet slave EL6752, EtherCAT"

Right-click on "Device (EL6752-0010)" to insert the box for the EL6752-0010:

EL675244 Version: 2.1

Parameterization and commissioning

Fig.37: Appending the box "DeviceNet slave EL6752, EtherCAT"

Selecting the I/O device for the EL6752-0010 in the tree structure opens a dialog with various configuration options:

“EL6752-0010” tab

Fig.38: “EL6752-0010” tab

EtherCAT

Terminal ID in the terminal network.

MAC-ID

Each DeviceNet device requires a unique station number referred to as MAC ID (Medium Access Identifier) value range: 0...63.

EL6752 45Version: 2.1

Parameterization and commissioning

Baud rate

The baud rate is set here.

Cycle time

Displays the cycle time of the corresponding highest priority task. The display is updated when the mapping is generated. The network variables are updated with the cycle of this task.

Watchdog time

Time until the watchdog is triggered

Search...

Searches for all available EL6752-0010 channels, from which the required channel can be selected. In the case of an FC5102 both channels A and B appear. These behave in logical terms like two FC5101 cards.

Firmware

Displays the current EL6752-0010 firmware version.

Firmware Update...

Updates the EL6752-0010 firmware. Attention: The TwinCAT System must be stopped for this function.

“ADS” tab

Fig.39: “ADS” tab

The EL6752-0010 is an ADS device with its own net ID, which can be changed here. All ADS services (diagnostics, acyclic communication) associated with the EL6752-0010 device must address the card via this NetID. Additional ADS Net IDs can be entered for addressing subordinate ADS devices (e.g. an additional fieldbus card in the same PC) via the card.

"(Online) DPRAM" tab

Read access to the DPRAM of the card is provided for diagnostic purposes.

Box EL6752-0010 slave

A box "EL6752-0010 (DeviceNet slave)" is created automatically. Further parameters have to be set:

EL675246 Version: 2.1

Parameterization and commissioning

Box EL6752-0010 tab:

Fig.40: "General" tab, Box EL6752-0010

DeviceNet IO modes

The EL6752-0010 supports the DeviceNet modes cyclic polling, change of state / cyclic and bit strobe. The IO modes can be selected according to the DeviceNet specification.

The DeviceNet IO mode cyclic polling is the default selection for the EL6752-0010:

IO mode Input data length / bytes Output data length / bytes

Polling 0 - 255 0 - 255

Change of State 0 - 255 0 - 255

Cyclic 0 - 255 0 - 255

Bit strobe 1 bit 0-8

Polling / Change of State (COS) / Cyclic

The cyclic polling mode is characterized by cyclic polling of the IO data by the master. The change of state mode is characterized by event-oriented sending of IO data. In cyclic mode the IO data are sent cyclically based on the communication parameters configured by the master. Since the communication settings are specified through the master no further settings are possible. Further information on the modes can be found in section DeviceNet Communication. The settings are identical for these modes.

The input and output data lengths are pre-initialized to 8 byte each:

EL6752 47Version: 2.1

Parameterization and commissioning

Fig.41: Pre-initialized input and output data lengths in polling mode

According to needs and the application, further input or output data can be appended by right-clicking (Fig. Adding further variables). Any data type can be selected:

Fig.42: Adding further variables

The data length is converted to a byte stream according to the DeviceNet specification and displayed in the tab for the corresponding connection:

EL675248 Version: 2.1

Parameterization and commissioning

Fig.43: "Connection" tab showing connection type "Polling" and input and output parameters

Maximum output data length

The maximum data length per data direction is 255 bytes.

The indicated input and output data lengths must be configured for the corresponding DeviceNet master.

Bit strobe

The IO mode bit strobe involves an 8-byte command from the master to the slaves. For each possible address/MAC ID (DeviceNet address space: 64) 1 bit of user data is allocated. The maximum length of the response message from the slave is 8 bytes. It is sent to the master immediately when the bit strobe command is received.

EL6752 49Version: 2.1

Parameterization and commissioning

Fig.44: Display of output parameters in the TwinCAT tree for connection type "Bit strobe"

Maximum output data length

The maximum output data length is 8 bytes. The input data length is fixed.

Since the communication settings are specified through the master no further settings are possible.

EL675250 Version: 2.1

Parameterization and commissioning

6.5 Beckhoff DeviceNet Bus Coupler

The Bus Coupler BK52xx and the IPxxx-B520 Fieldbus Box are used in the DeviceNet bus. The specific properties which distinguish them from other Bus Couplers and/or fieldbus box modules are then described below.

Types Description

BK5210 Economy Bus Coupler

BK5220 Economy + Bus Coupler

LC5200 Low-Cost Bus Coupler

BK5250 Compact Bus Coupler

BC5250 Compact Bus Terminal Controller with 48 kbyte program memory

BX5200 BX Bus Terminal Controller with 256 kbyte program memory

IPxxxx-B520 Fieldbus compact box: DeviceNet input/output module in protection class IP67

The following tabs are used for parameterization:

• “BK52x0” tab [}51]

• “Startup Attributes” tab [}53]

• “ADS” tab [}54]

• “Parameters” tab [}55]

• “Diag” tab [}55]

“BK52x0” tab

Fig.45: ”BK52x0” tab

MAC-ID

Sets the MAC ID, i.e. the device address of the DeviceNet device (between 0 and 63). This value must comply with the value set at the Bus Coupler and/or at the compact box.

EL6752 51Version: 2.1

Parameterization and commissioning

Cycle time

Sets the cycle time of the IO connection polling and bit strobe. The value is used as “Expected Packet Rate” attribute of the “Connection Object” according to the DeviceNet specification.

Electronic Key

Serves to check the devices within the network at the system StartUp. The electronic key is read from the devices at every system StartUp and compared with the saved configuration.

Polled

Produced/Consumed

Activation of the “Polling” mode, cyclic writing and reading of IO data. Setting of the data content of the data transmitted via the polled IO connections. You can choose from digital data, analog data or both. The selection depends upon the BK52xx terminal arrangement.

Bit-Strobed

Produced/Consumed

Activation of the “Bit Strobe” operating mode. A broadcast message requests all nodes to send their bit strobe message (up to 7 bytes input or status data). Setting of the data content of the data transmitted via the bit-strobed IO connections. You can choose between digital data or diagnostic data.

Change of State / Cyclic

Produced/Consumed

Setting of the data content of the data transmitted via the change of state/cyclical IO connections. You can choose from digital data, analog data or both. The selection depends upon the BK52xx terminal arrangement.

Change of State / Cyclic Selection of the required operating mode.

Heartbeat-Rate / Send-Rate In the “Change of State” mode the heartbeat rate gives the cycle time of the cyclical send of the lower-level (i.e. in addition to the event driven) IO data. In “Cyclic” mode the send rate specifies the cycle time with which the IO data are sent.

Inhibit-Time Delay time in “Change of State” mode; after a change of state IO data are sent after the specified time at the earliest.

Acknowledge Timeout Time before the retransmission in the event of faulty acknowledgement of a change of state / cyclical message.

Acknowldege Retry Limit Maximum number of retransmissions until IO connection goes into error mode.

K-Bus update

Calculates the expected time required for a full update of the terminal bus (depends on the connected terminals).

Auto Device Replacement (ADR)

Not supported.

EL675252 Version: 2.1

Parameterization and commissioning

“Startup Attributes” tab

Fig.46: “Startup Attributes” tab

The startup attributes are sent to the slave before the cyclic data exchange. The messages are sent before the actual IO data traffic.

Use the “New” or “Edit” button for configuration:

Fig.47: Edit an attribute entry

The attributes are initialized via Class/Instance/Attributes. Note the “Value” specification in hexadecimal form.

EL6752 53Version: 2.1

Parameterization and commissioning

“ADS” tab

Fig.48: “ADS” tab

The node (Bus Coupler) is assigned an ADS port to enable writing and reading of DeviceNet objects at runtime (e.g. from the PLC). It can be changed if required. A detailed description of explicit messages can be found in section “DeviceNet Communication” under “Explicit Messages”.

DeviceNet objects can be accessed via Online Access. To this end the DeviceNet-specific information such as Class/Instance/Attributes has to be entered.

Read

Reading of an object attribute via DeviceNet “Get_Attribute_Single” service. A service ID is not required.

Write

Writing of an object attribute via DeviceNet “Set_Attribute_Single” service. A service ID is not required.

Read/Write Executing any DeviceNet service. Specification of the service ID is required.

EL675254 Version: 2.1

“Parameter” tab

Parameterization and commissioning

Fig.49: “Parameter” tab

The parameters read from the EDS file are shown under the “Parameters” tab. Parameters can be read, written and entered in the list of the startup parameters.

“Diag” tab

Fig.50: "Diag" tab

The “Diag” tab indicates the state of the box. No further diagnostic options are available.

Also see about this

2 Explicit messages [}30]

EL6752 55Version: 2.1

Parameterization and commissioning

6.6 General DeviceNet device

DeviceNet devices are integrated as general DeviceNet devices.

Fig.51: Adding a DeviceNet device (I/O Devices-> Device n (EL6752)->right-click-> Append Box...)

6.6.1 Integrating a DeviceNet device with EDS file

If an EDS file is available for the DeviceNet to be integrated, it must be copied into the ..TwinCAT/IO/ DeviceNet directory.

Subsequently the device appears under the "Append Box" selection (see fig. Adding a DeviceNet device (I/O Devices -> Device n (EL6752) -> right-click -> Append Box ...) with the manufacturer ID:

Fig.52: Adding a box with the manufacturer ID

Alternatively a DeviceNet device with EDS file can be integrated via the "Miscellaneous" option:

EL675256 Version: 2.1

Parameterization and commissioning

Fig.53: Adding a box without EDS file

Depending on the information contained in the EDS file a DeviceNet node will appear with or without Parameters tab.

The IO mode and the corresponding data lengths are specified in the EDS file.

6.6.2 Integrating a DeviceNet device without EDS file

A DeviceNet device without EDS file can be integrated via the "Miscellaneous" option:

Fig.54: Adding a box without EDS file (click "Cancel")

Terminate EDS file selection with "Cancel". A general DeviceNet device is created.

EL6752 57Version: 2.1

Parameterization and commissioning

Selection of the IO mode and the general configuration must then be carried out manually.

DeviceNet IO modes

For DeviceNet devices the EL6752 supports the DeviceNet modes cyclic polling, change of state / cyclic and bit strobe. The IO modes can be selected according to the DeviceNet specification.

The DeviceNet IO mode cyclic polling is the default selection for the EL6752:

IO mode Input data length / bytes Output data length / bytes

Polling 0 - 255 0 - 255

Change of State 0 - 255 0 - 255

Cyclic 0 - 255 0 - 255

Bit strobe 1 bit 0-8

Total of all IO data max. xxx bytes max. xxx bytes

polling / change of state (COS) / cyclic

The input and output data lengths must be supplemented according to the device configuration:

Fig.55: Supplementing the input and output data

Input or output data must be appended depending on the device configuration. Any data type can be selected:

EL675258 Version: 2.1

Parameterization and commissioning

Fig.56: Add Variables

The data length is converted to a byte stream according to the DeviceNet specification and displayed in the tab for the corresponding connection:

Fig.57: "Connection" tab showing connection type "Polling" and input and output parameters

Maximum data length

The maximum data length per data direction is 255 bytes.

EL6752 59Version: 2.1

Parameterization and commissioning

Bit strobe

After selection of the bit strobe mode the input data must be configured accordingly. Any data type can be selected (see polling/ COS / cyclic). The data length is converted to a byte stream according to the DeviceNet specification and displayed in the tab for the bit strobe connection:

Fig.58: "Connection" tab showing connection type "Bit Strobe" and input and output parameters

Maximum data length

The maximum input data length is 8 bytes. The output data length is fixed.

Since the communication settings are specified through the master no further settings are possible.

6.6.3 Parameterization of a DeviceNet device

The DeviceNet devices are parameterized with the following tabs:

• "DeviceNet Node" tab [}61]

• “Startup Attributes” tab [}62]

• “ADS” tab [}63]

• “Parameter” tab [}64]

EL675260 Version: 2.1

• “Diag” tab [}64]

"DeviceNet Node" tab

Parameterization and commissioning

Fig.59: "DeviceNet Node" tab

MAC-ID

Sets the MAC ID, i.e. the device address of the DeviceNet device (between 0 and 63). This value must comply with the value set at the Bus Coupler and/or at the compact box.

Cycle time

Sets the cycle time of the IO connection polling and bit strobe. The value is used as “Expected Packet Rate” attribute of the “Connection Objects” according to the DeviceNet specification.

Electronic Key

Serves to check the devices within the network at the system StartUp. The electronic key is read from the devices at every system StartUp and compared with the saved configuration.

Polled

Produced/Consumed

Bit-Strobed

Produced/Consumed

EL6752 61Version: 2.1

Parameterization and commissioning

Change of State / Cyclic

Produced/Consumed

Change of State / Cyclic Selection of the required operating mode.

Inhibit Time Delay time in “Change of State” mode; after a change of state IO data are sent after the specified time at the earliest.

Acknowledge Timeout Time before the retransmission in the event of faulty acknowledgement of a change of state / cyclical message.

Acknowledge Retry Limit Maximum number of re-sends until IO connection goes into error mode.

K-Bus update

Calculates the expected time required for a full update of the terminal bus (depends on the connected terminals).

Auto Device Replacement (ADR)

Not supported.

“Startup Attributes” tab

Fig.60: “Startup Attributes” tab

The startup attributes are sent to the slave before the cyclic data exchange. The messages are sent before the actual IO data traffic.

Use the “New” or “Edit” button for configuration:

EL675262 Version: 2.1

Parameterization and commissioning

Fig.61: Edit an attribute entry

The attributes are initialized via Class/Instance/Attributes. Note the “Value” specification in hexadecimal form.

“ADS” tab

Fig.62: “ADS” tab

DeviceNet objects can be accessed via Online Access. To this end the DeviceNet-specific information such as Class/Instance/Attributes has to be entered.

Read

Reading of an object attribute via DeviceNet “Get_Attribute_Single” service. A service ID is not required.

Write

Writing of an object attribute via DeviceNet “Set_Attribute_Single” service. A service ID is not required.

Read / Write

Executing any DeviceNet service. Specification of the service ID is required.

EL6752 63Version: 2.1

Parameterization and commissioning

“Parameter” tab

Fig.63: “Parameter” tab

The parameters read from the EDS file are shown under the “Parameters” tab. Parameters can be read, written and entered in the list of the startup parameters.

“Diag” tab

Fig.64: "Diag" tab

The “Diag” tab indicates the state of the box. No further diagnostic options are available.

EL675264 Version: 2.1

Parameterization and commissioning

6.7 EtherCAT description

6.7.1 Introduction

The DeviceNet functionality and configuration options can be changed and parameterized depending on the different EtherCAT states.

EtherCAT states

The EtherCAT states (INIT, PREOP, SAFEOP, OP) have the following meaning according to the fieldbusspecific functions:

EtherCAT state Meaning

INIT Fieldbus not running

PREOP Load fieldbus configuration

SAFEOP Fieldbus cyclic operation, safe state. Inputs are read, outputs are not written

OP Fieldbus cyclic operation.Inputs are read, outputs are written

The procedure and the configuration options are described below

6.7.1.1 EL6752 DeviceNet master configuration

The DeviceNet master and the associated DeviceNet slaves are configured in EtherCAT state PREOP. The DeviceNet master parameters are written via the EtherCAT object 0xF800, the slave parameters are written

via the EtherCAT objects from 0x80n0 [}71], see section EtherCAT Object Description.

The EtherCAT states are mapped to DeviceNet as follows:

Fig.65: EtherCAT states in mapping on EL6752-0000

EL6752 65Version: 2.1

Parameterization and commissioning

The EtherCAT PDO mapping (EtherCAT objects 0x16yy, 0x1Ayy) and the PDO assignment (EtherCAT objects 0x1C12 [}73], 0x1C13 [}74]) can be read once the DeviceNet master parameters and the

DeviceNet slave parameters have been written. The associated process image is then generated.

Once the DeviceNet master parameters have been written via the EtherCAT object 0xF800 [}76], the DeviceNet master registers itself in the network and carries out the Duplicate MAC ID check.

Starting the fieldbus

During the EtherCAT state transition from PREOP to SAFEOP the DeviceNet master starts the data communication with the slaves and allocates the configured operating modes. In EtherCAT state SAFEOP the DeviceNet master is in IDLE mode. During the EtherCAT state transition from SAFEOP to OP the DeviceNet master switches to RUN mode.

Loading a new configuration

A new DeviceNet configuration can only be loaded through an EtherCAT state transition to IDLE or PREOP. The DeviceNet master parameters and DeviceNet slave parameters then have to be written again.

6.7.1.2 EL6752-0010 DeviceNet slave configuration

The DeviceNet slaves are configured in EtherCAT state PREOP. The general DeviceNet slave parameters are written via the EtherCAT object 0xF800 [}81], the slave configuration data, i.e. the communication features and the IO configuration are written via the EtherCAT object 0x8000 [}77], see section EtherCAT

Object Description.

The EtherCAT states are mapped to DeviceNet as follows:

Fig.66: EtherCAT states in mapping on EL6752-0010

The EtherCAT PDO mapping (EtherCAT objects 0x1600 [}78], 0x1A00 [}78], 0x1A80) and the PDO assignment (EtherCAT objects 0x1C12 [}79], 0x1C13 [}79]) can be read once the DeviceNet slave

parameters and the DeviceNet slave configuration data have been written. The associated process image is then generated.

EL675266 Version: 2.1

Parameterization and commissioning

Once the DeviceNet slave parameters have been written via the EtherCAT object 0xF800 [}81], the DeviceNet slave registers itself in the network and carries out the Duplicate MAC ID check.

Starting the fieldbus

During the EtherCAT state transition from PREOP to SAFEOP the DeviceNet slave starts the data communication, i.e. it is now ready for communication with a DeviceNet master. In EtherCAT state SAFEOP the DeviceNet slave is in IDLE mode. During the EtherCAT state transition from SAFEOP to OP the DeviceNet slave switches to RUN mode.

Loading a new configuration

A new DeviceNet configuration can only be loaded through an EtherCAT state transition to IDLE or PREOP. The DeviceNet slave parameters and DeviceNet slave configuration data then have to be written again.

6.7.1.3 EL6752-0010 - Changing the DeviceNet address and baud rate using ADS

The DeviceNet address (MACId) and the baud rate of the EL6752-0010 DeviceNet Slave terminal can be set using an ADS command in addition to the familiar functions as already described in the chapter

“Configuration with the TwinCAT System Manager [}45]”

ADS command

Setting the MAC-ID and the baud rate using ADS

IDXGRP=0x1F480 IndexOffset0x00

LEN=6

DATA[0]=0x45 DATA[1]=0x23 DATA[2]=MACId(0_63) DATA[3]=0 DATA[4]=Baudrate(1=500k,2=250k,3=125k) DATA[5]=0

AmsNetId:diederEL6752 AmsPort:200

After writing the command the terminal must be switched once to INIT and then back to OP. The set data can be read in the object 0xF800 Index 1 (MAC ID) and Index 2 (baud rate).

EL6752 67Version: 2.1

Parameterization and commissioning

Command taking the example of the TwinCAT AMS ADS Viewer

Fig.67: ADS command with the data 3C - MACId (60dec) and 01 - baud rate (500k)

Reset

Once the MAC ID and the baud rate have been set using the ADS command, the terminal stores the information persistently. Once these data have been written, the entries in the objects 0x8000:01, 0xF800:01 and 0xF800:02 are ignored! ! This concerns the start-up commands, which are then ignored by the terminal.

EL675268 Version: 2.1

Parameterization and commissioning

Fig.68: Example of start-up CMD (0x8000:01; 0xF800:01 and 0xF800:02) that are ignored by the slave terminal after successfully setting the MACId and baud rate using ADS

ADS command (reset)

IDXGRP=0x1F480 IndexOffset0x00

LEN=6

DATA[0]=0 DATA[1]=0 DATA[2]=0 DATA[3]=0 DATA[4]=0 DATA[5]=0

AmsNetId:diederEL6752 AmsPort:200

In this way the data can be permanently deleted again and the terminal behaves as in the delivery condition.

EL6752 69Version: 2.1

Parameterization and commissioning

Reset command taking the example of the TwinCAT AMS ADS Viewer

Fig.69: Resetting the persistent data for MAC ID and baud rate

6.7.2 Object description and parameterization

6.7.2.1 DeviceNet master - EL6752

EtherCAT XML Device Description

The display matches that of the CoE objects from the EtherCAT XML Device Description. We recommend downloading the latest XML file from the download area of the Beckhoff website and in-

stalling it according to installation instructions.

Parameterization via the CoE list (CAN over EtherCAT)

The EtherCAT device is parameterized via the CoE-Online tab (double-click on the respective object) or via the Process Data tab (allocation of PDOs). Please note the following general CoE notes [}32] when using/manipulating the CoE parameters:

• Keep a startup list if components have to be replaced

• Differentiation between online/offline dictionary, existence of current XML description

• use “CoE reload” for resetting changes

Introduction

The CoE overview contains objects for different intended applications:

• Objects required for parameterization during commissioning

• Objects for indicating internal settings (may be fixed)

The parameterization and the objects required for normal operation will be presented first of all below. All further objects that are not needed for the normal application case can be found in the lower section of the table.

EL675270 Version: 2.1

Parameterization and commissioning

6.7.2.1.1 Objects for the parameterization

Index 8000-803E configuration data

Index (hex) Name Meaning Data type Flags Default

8000+n*16:0Configuration data (for each module one object is defined (0 ≤ n < maximum

number of modules))

(8000+n*16)

MAC ID DeviceNet device address (see DeviceNet specification) UINT16 RW 0x0000 (0

:01

(8000+n*16)

ProductName Product name OCTET-

:03

(8000+n*16)

Device Type Device type (see DeviceNet specification) UINT16 RW 0x0000 (0

:04

(8000+n*16)

Vendor ID Manufacturer ID (see DeviceNet specification) UINT16 RW 0x0000 (0

:05

(8000+n*16)

Product Code Product code (see DeviceNet specification) UINT16 RW 0x0000 (0

:06

(8000+n*16)

Revision Number Version number (see DeviceNet specification) UINT16 RW 0x0000 (0

:07

(8000+n*16)

Serial Number Serial number (see DeviceNet specification) UINT32 RW 0x00000000

:08

(8000+n*16)

Network Flags Reserved for AMS via DeviceNet UINT16 RW 0x0000 (0

:1D

(8000+n*16)

Network Port Reserved for AMS via DeviceNet UINT16 RW 0x0000 (0

:1E

(8000+n*16) :1F

(8000+n*16) :20

Network Segment Ad-

Reserved for AMS via DeviceNet OCTET-

dress

Allocation Choice DeviceNet mode selection (see DeviceNet specification)

Bit 0: reserved (0)

Bit1: Polled

Bit2: Bit-Strobed

Bit3: reserved (0)

Bit4: Change of State

Bit5: Cyclic

Bit6: Acknowledge Suppression

Bit7: reserved(0)

(8000+n*16) :21

(8000+n*16) :22

(8000+n*16) :23

(8000+n*16) :24

(8000+n*16) :25

(8000+n*16) :26

(8000+n*16) :27

(8000+n*16) :28

(8000+n*16) :29

Expected Packet Rate

- Poll

Expected Packet Rate

- Bit Strobe

Expected Packet Rate

- COS/Cyclic

Produced Data Size Poll

Produced Data Size Bit Strobe

Produced Data Size COS/Cyclic

Consumed Data Size

- Poll

Consumed data size Bit strobe

Consumed Data Size

- COS/Cyclic

Timing parameter for the poll connection (see DeviceNet specification)

Timing parameter for the bit strobe connection (see DeviceNet specification)

Timing parameter for the COS/cyclic connection (see DeviceNet specification)

Data length in poll mode UINT16 RW 0x0000 (0

Data length in bit strobe mode UINT16 RW 0x0000 (0

Data length in change of state / cyclic mode UINT16 RW 0x0000 (0

Data length in poll mode UINT16 RW 0x0000 (0

Data length in bit strobe mode UINT16 RW 0x0000 (0

Data length in change of state / cyclic mode UINT16 RW 0x0000 (0

UINT8 RW 0x33 (51

RW {0}

STRING[32]

)

dec

RW {0}

STRING[6]

UINT16 RW 0x0100

(256

dec

UINT16 RW 0x0000 (0

)

dez

)

dec

)

dez

)

dec

)

dec

)

dez

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dez

)

dec

)

dec

)

dec

)

dec

EL6752 71Version: 2.1

Parameterization and commissioning

Index (hex) Name Meaning Data type Flags Default

(8000+n*16 ):2A

(8000+n*16 ):2B

(8000+n*16 ):2C

(8000+n*16 ):2D

(8000+n*16 ):2E

(8000+n*16 ):2F

(8000+n*16 ):30

(8000+n*16 ):31

(8000+n*16 ):32

(8000+n*16 ):33

Electronic Key Electronic key bit mask:

Bit 0: Check Vendor Id

Bit 1: Check DeviceType

Bit 2: Check Product Code

Bit 3: Check Revision

Bit 4: reserved(0)

Bit 5: reserved(0)

Bit 6: reserved(0)

Bit 7: reserved(0)

Acknowledge Timer Timing parameter for the COS/cyclic connection (see

DeviceNet specification)

Acknowledge Retry Limit

Timing parameter for the COS/cyclic connection (see DeviceNet specification)

Inhibit Time Timing parameter for the COS/cyclic connection (see

DeviceNet specification)

Produced data type -

reserved UINT16 RW 0x0000 (0

poll

Produced data type -

reserved UINT16 RW 0x0000 (0

Bit strobe

Produced data type -

reserved UINT16 RW 0x0000 (0

COS/cyclic

Consumed data type

reserved UINT16 RW 0x0000 (0

- poll

Consumed data type

reserved UINT16 RW 0x0000 (0

- Bit strobe

Consumed data type

reserved UINT16 RW 0x0000 (0

- COS/cyclic

UINT16 RW 0x0100

(256

UINT16 RW 0x0000 (0

UINT16 RW 0x0100

(256

UINT16 RW 0x0000 (0

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

6.7.2.1.2 Objects for internal settings

Standard objects (0x1000-0x1FFF)

Index 1000 Device type

Index (hex) Name Meaning Data type Flags Default

1000:0 Device type Device type of the EtherCAT slave: The Lo-Word con-

tains the CoE profile used (5001). The Hi-Word contains the module profile according to the modular device profile.

Index 1008 Device name

Index (hex) Name Meaning Data type Flags Default

1008:0 Device name Device name of the EtherCAT slave STRING RO EL6752

Index 1009 Hardware version

Index (hex) Name Meaning Data type Flags Default

1009:0 Hardware version Hardware version of the EtherCAT slave STRING RO 00

Index 100A Software version

Index (hex) Name Meaning Data type Flags Default

100A:0 Software version Firmware version of the EtherCAT slave STRING RO 00

UINT32 RO 0x14501389

(340792201 )

dec

EL675272 Version: 2.1

Parameterization and commissioning

Index 1018 Identity

Index (hex) Name Meaning Data type Flags Default

1018:0 Identity Information for identifying the slave UINT8 RO 0x04 (4

)

dec

1018:01 Vendor ID Vendor ID of the EtherCAT slave UINT32 RO 0x00000002

)

dec

1018:02 Product code Product code of the EtherCAT slave UINT32 RO 0x1A603052

(442511442 )

1018:03 Revision Revision numberof the EtherCAT slave; the low word (bit

0-15) indicates the special terminal number, the high word (bit 16-31) refers to the device description

1018:04 Serial number Serial number of the EtherCAT slave; the low byte (bit

0-7) of the low word contains the year of production, the high byte (bit 8-15) of the low word contains the week of

UINT32 RO 0x00100000

(1048576

dec

UINT32 RO 0x00000000

)

dec

production, the high word (bit 16-31) is 0

Index 1A85 DNM TxPDO-Map Device

Index (hex) Name Meaning Data type Flags Default

1A85:0 DNM TxPDO-Map

Device

1A85:01 SubIndex 001 1. PDO Mapping entry (object 0xF100 (DeviceNet sta-

1A85:02 SubIndex 002 2. PDO Mapping entry (7bits align) UINT32 RW 0x0000:00, 7

1A85:03 SubIndex 003 3. PDO Mapping entry (object 0xF100 (DeviceNet sta-

1A85:04 SubIndex 004 4. PDO Mapping entry (object 0xF101 (Network status),

1A85:05 SubIndex 005 5. PDO Mapping entry (object 0xF101 (Network status),

1A85:06 SubIndex 006 6. PDO Mapping entry (object 0xF101 (Network status),

1A85:07 SubIndex 007 7. PDO Mapping entry (object 0xF101 (Network status),

1A85:08 SubIndex 008 8. PDO Mapping entry (5bits align) UINT32 RW 0x0000:00, 5

1A85:09 SubIndex 009 9. PDO Mapping entry (object 0xF101 (Network status),

PDO Mapping TxPDO 134 UINT8 RW 0x09 (9

UINT32 RW 0xF100:01, 8

tus), entry 0x01 (Communication status))

UINT32 RW 0xF100:10, 1

tus), entry 0x10 (TxPdoState))

UINT32 RW 0xF101:01, 8

entry 0x01 (Device status))

UINT32 RW 0xF101:09, 1

entry 0x09 (CAN BUS-OFF))

UINT32 RW 0xF101:0A, 1

entry 0x0A (CAN warning limit))

UINT32 RW 0xF101:0B, 1

entry 0x0B (CAN Overrun))

UINT32 RW 0xF101:11, 16

entry 0x11 (CAN BUS load))

)

dec

)

Index 1C00 Sync manager type

Index (hex) Name Meaning Data type Flags Default

1C00:0 Sync manager type Using the sync managers UINT8 RO 0x04 (4

1C00:01 SubIndex 001 Sync-Manager Type Channel 1: Mailbox Write UINT8 RO 0x01 (1

1C00:02 SubIndex 002 Sync-Manager Type Channel 2: Mailbox Read UINT8 RO 0x02 (2

1C00:03 SubIndex 003 Sync-Manager Type Channel 3: Process Data Write

UINT8 RO 0x03 (3

(Outputs)

1C00:04 SubIndex 004 Sync-Manager Type Channel 4: Process Data Read (In-

UINT8 RO 0x04 (4

puts)

Index 1C12 RxPDO assign

Index (hex) Name Meaning Data type Flags Default

1C12:0 RxPDO assign PDO Assign Outputs UINT8 RW 0x00 (0

1C12:01 1st allocated RxPDO (contains the index of the associ-

...

1C12:FF 255th allocated RxPDO (contains the index of the associ-

ated RxPDO mapping object)

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

EL6752 73Version: 2.1

Parameterization and commissioning

Index 1C13 TxPDO assign

Index (hex) Name Meaning Data type Flags Default

1C13:0 TxPDO assign PDO Assign Inputs UINT8 RW 0x01 (1

1C13:01 1st allocated TxPDO (contains the index of the associated

TxPDO mapping object)

...

1C13:FF 255th allocated TxPDO (contains the index of the associ-

ated TxPDO mapping object)

Profile-specific objects (0x6000-0xFFFF)

The profile-specific objects have the same meaning for all EtherCAT slaves that support the profile 5001.

Index 6000-603E Poll Produced Data

Index (hex) Name Meaning Data type Flags Default

6000+n*16:0Poll Produced Data Output data of the polling connection UINT8 RO 0x01 (1

(6000+n*16) :01

...

(6000+n*16) :01

)

dec

)

dec

Index 6001-603F COS Produced Data

Index (hex) Name Meaning Data type Flags Default

6001+n*16:0COS Produced Data Output data of the change of state connection UINT8 RO 0x01 (1

(6001+n*16) :01

...

(6001+n*16) :01

Index 7000-703E Poll Consumed Data

Index (hex) Name Meaning Data type Flags Default

7000+n*16:0Poll Consumed Data Input data of the polling connection UINT8 RO 0x01 (1

(7000+n*16) :01

...

(7000+n*16) :01

Index 7001-703F COS Consumed Data

Index (hex) Name Meaning Data type Flags Default

7001+n*16:0COS Consumed Data Input data of the change of state connection UINT8 RO 0x01 (1

)

dec

)

dec

)

dec

(7001+n*16) :01

...

(7001+n*16) :01

EL675274 Version: 2.1

Parameterization and commissioning

Index F000 Modular device profile

Index (hex) Name Meaning Data type Flags Default

F000:0 Modular device profile General information for the modular device profile UINT8 RO 0x02 (2

F000:01 Module index dis-

Index distance of the objects of the individual channels UINT16 RO 0x0010 (16

dec

tance

F000:02 Maximum number of

modules

Number of channels UINT16 RO 0x00FF

(255

dec

)

Index F008 Code word

Index (hex) Name Meaning Data type Flags Default

F008:0 Code word reserved UINT32 RW 0x00000000

)

dec

Index F010 Module list

Index (hex) Name Meaning Data type Flags Default

F010:0 Module list List of the DeviceNet slaves connected to the EL6752. UINT8 RW 0x00 (0

F010:01 Product code of the first DeviceNet slave UINT16 RO 0x00 (0

dec

...

F010:FF

Index F100 DeviceNet status

Index (hex) Name Meaning Data type Flags Default

F100:0 DeviceNet status DeviceNet status of the EL6752 UINT8 RO 0x10 (16

F100:01 Number of Slaves not

in Run

Number of DeviceNet slaves that are not in the RUN state

UINT8 RO 0x00 (0

F100:10 TxPdoState Status of the Tx-PDO BOOLEAN RO 0x00 (0

dec

)

dec

)

Index F101 Network status

Index (hex) Name Meaning Data type Flags Default

F101:0 Network status Max. Subindex UINT8 RO 0x11 (17

F101:01 Device status 0: RUN MODE

1: IDLE MODE 2: Duplicate MacId Check failed, MAC ID used 3: Status: Selftest 4: Status: Standby 5: Status:Major Recoverable Fault 6: Status:Minor Recoverable Fault 7: DeviceNet Voltage Error 8: DeviceNet Access Error

F101:09 CAN BUS-OFF CAN controller of the EL6752 is in state bus-off BOOLEAN RO 0x00 (0

F101:0A CAN warning limit CAN controller of the EL6752 has exceeded the warning

limit

F101:0B CAN Overrun CAN controller of the EL6752 is in state bus-off BOOLEAN RO 0x00 (0

F101:11 CAN BUS load CAN bus load 0 - 100% UINT16 RO 0x0000 (0

UINT8 RO 0x00 (0

BOOLEAN RO 0x00 (0

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

EL6752 75Version: 2.1

Parameterization and commissioning

Index F800 bus parameter set

Index (hex) Name Meaning Data type Flags Default

F800:0 Bus Parameter set Max. Subindex UINT8 RW 0x08 (8

F800:01 MAC ID Device address of the DeviceNet device (see DeviceNet

specification)

F800:03 Product Name Product name of the DeviceNet device (see DeviceNet

specification)

F800:04 DeviceType Device type of the DeviceNet device (see DeviceNet

specification)

F800:05 Vendor ID Manufacturer ID of the DeviceNet device (see DeviceNet

specification)

F800:06 Product Code Product code of the DeviceNet device (see DeviceNet

specification)

F800:07 Revision Number Version number of the DeviceNet device (see DeviceNet

specification)

F800:08 Serial Number Serial number of the DeviceNet device (see DeviceNet

specification)

F800:09 Baud rate DeviceNet Baud Rate UINT16 RW 0x0100

UINT16 RW 0x0000 (0

OCTETSTRING[32]

UINT16 RW 0x0000 (0

UINT32 RW 0x00350000

RW {0}

(3473408

(256

dec

6.7.2.2 DeviceNet Slave - EL6752-0010

)

dez

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

EtherCAT XML Device Description

The display matches that of the CoE objects from the EtherCAT XML Device Description. We recommend downloading the latest XML file from the download area of the Beckhoff website and in-

stalling it according to installation instructions.

Parameterization via the CoE list (CAN over EtherCAT)

• Keep a startup list if components have to be replaced

• Differentiation between online/offline dictionary, existence of current XML description

• use “CoE reload” for resetting changes

Introduction

The CoE overview contains objects for different intended applications:

• Objects required for parameterization during commissioning

• Objects for indicating internal settings (may be fixed)

EL675276 Version: 2.1

Parameterization and commissioning

6.7.2.2.1 Objects for the parameterization

Index 8000 configuration data

Index (hex) Name Meaning Data type Flags Default

8000:0 Configuration Data Max. Subindex UINT8 RW 0x33 (51

8000:01 MAC ID DeviceNet device address (see DeviceNet specification) UINT16 RW 0x0000 (0

8000:03 ProductName Product name OCTET-

RW {0}

STRING[32]

8000:04 Device Type Device type (see DeviceNet specification) UINT16 RW 0x0000 (0

8000:05 Vendor ID Manufacturer ID (see DeviceNet specification) UINT16 RW 0x0000 (0

8000:06 Product Code Product code (see DeviceNet specification) UINT16 RW 0x0000 (0

8000:07 Revision Number Version number (see DeviceNet specification) UINT16 RW 0x0000 (0

8000:08 Serial Number Serial number (see DeviceNet specification) UINT32 RW 0x00000000

8000:1D Network Flags Reserved for AMS via DeviceNet UINT16 RW 0x0000 (0

8000:1E Network Port Reserved for AMS via DeviceNet UINT16 RW 0x0000 (0

8000:1F Network Segment Ad-

dress

8000:20 Allocation Choice DeviceNet mode selection (see DeviceNet specification)

Reserved for AMS via DeviceNet OCTET-

STRING[2]

UINT16 RW 0x0100

Bit 0: reserved (0)

RW {0}

(256

Bit 1: Polled

Bit 2: Bit-Strobed

Bit 3: reserved (0)

Bit 4: Change of State

Bit 5: Cyclic

Bit 6: Acknowledge Suppression

Bit 7: reserved(0)

8000:21 Expected Packet Rate

- Poll

8000:22 Expected Packet Rate

- Bit Strobe

8000:23 Expected Packet Rate

- COS/Cyclic

8000:24 Produced Data Size -

Timing parameter for the poll connection (see DeviceNet

UINT16 RW 0x0000 (0

specification)

Timing parameter for the bit strobe connection (see De-

UINT16 RW 0x0000 (0

viceNet specification)

Timing parameter for the COS/cyclic connection (see De-

UINT16 RW 0x0000 (0

viceNet specification)

Data length in poll mode UINT16 RW 0x0000 (0

Poll

8000:25 Produced Data Size -

Data length in bit strobe mode UINT16 RW 0x0000 (0

Bit Strobe

8000:26 Produced Data Size -

Data length in change of state / cyclic mode UINT16 RW 0x0000 (0

COS/Cyclic

8000:27 Consumed Data Size

Data length in poll mode UINT16 RW 0x0000 (0

- Poll

8000:28 Consumed data size -

Data length in bit strobe mode UINT16 RW 0x0000 (0

Bit strobe

8000:29 Consumed Data Size

Data length in change of state / cyclic mode UINT16 RW 0x0000 (0

- COS/Cyclic

dez

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

EL6752 77Version: 2.1

Parameterization and commissioning

6.7.2.2.2 Objects for internal settings

Standard objects (0x1000-0x1FFF)

The standard objects have the same meaning for all EtherCAT slaves.

Index 1000 Device type

Index (hex) Name Meaning Data type Flags Default

1000:0 Device type Device type of the EtherCAT slave: The Lo-Word con-

tains the CoE profile used (5001). The Hi-Word contains the module profile according to the modular device profile.

Index 1008 Device name

Index (hex) Name Meaning Data type Flags Default

1008:0 Device name Device name of the EtherCAT slave STRING RO EL6752-0010

Index 1009 Hardware version

Index (hex) Name Meaning Data type Flags Default

1009:0 Hardware version Hardware-Version des EtherCAT-Slaves STRING RO 00

UINT32 RO 0x145A1389

(341447561 )

dec

Index 100A Software version

Index (hex) Name Meaning Data type Flags Default

100A:0 Software version Firmware version of the EtherCAT slave STRING RO 00

Index 1018 Identity

Index (hex) Name Meaning Data type Flags Default

1018:0 Identity Information for identifying the slave UINT8 RO 0x04 (4

1018:01 Vendor ID Vendor ID of the EtherCAT slave UINT32 RO 0x00000002

1018:02 Product code Product code of the EtherCAT slave UINT32 RO 0x1A603052

1018:03 Revision Revision numberof the EtherCAT slave; the low word (bit

0-15) indicates the special terminal number, the high word (bit 16-31) refers to the device description

1018:04 Serial number Serial number of the EtherCAT slave; the low byte (bit

0-7) of the low word contains the year of production, the high byte (bit 8-15) of the low word contains the week of production, the high word (bit 16-31) is 0

UINT32 RO 0x0010000A

UINT32 RO 0x00000000

dec

)

dec

(442511442 )

(1048586

)

dec

Index 1600 DNS RxPDO-Map

Index (hex) Name Meaning Data type Flags Default

1600:0 DNS RxPDO-Map PDO Mapping RxPDO 1 UINT8 RW 0x00 (0

1600:01

...

1600:FF

dec

)

dec

)

dec

)

Index 1A00 DNS TxPDO-Map

Index (hex) Name Meaning Data type Flags Default

1A00:0 DNS TxPDO-Map PDO Mapping TxPDO 1 UINT8 RW 0x00 (0

1A00:01

...

1A00:FF

)

dec

EL675278 Version: 2.1

Parameterization and commissioning

Index 1A01 DNM TxPDO-Map Device

Index (hex) Name Meaning Data type Flags Default

1A01:0 DNM TxPDO-Map

Device

1A01:01 SubIndex 001 1.PDO Mapping entry (object 0xF100 (DeviceNet sta-

PDO Mapping TxPDO 2 UINT8 RW 0x09 (9

UINT32 RW 0xF100:01, 8

)

dec

tus), entry 0x01 (Communication status))

1A01:02 SubIndex 002 2. PDO Mapping entry (7bits align) UINT32 RW 0x0000:00, 7

1A01:03 SubIndex 003 3. PDO Mapping entry (object 0xF100 (DeviceNet sta-

UINT32 RW 0xF100:10, 1

tus), entry 0x10 (TxPdoState))

1A01:04 SubIndex 004 4. PDO Mapping entry (object 0xF101 (Network status),

UINT32 RW 0xF101:01, 8

entry 0x01 (Device status))

1A01:05 SubIndex 005 5. PDO Mapping entry (object 0xF101 (Network status),

UINT32 RW 0xF101:09, 1

entry 0x09 (CAN BUS-OFF))

1A01:06 SubIndex 006 6. PDO Mapping entry (object 0xF101 (Network status),

UINT32 RW 0xF101:0A, 1

entry 0x0A (CAN warning limit))

1A01:07 SubIndex 007 7. PDO Mapping entry (object 0xF101 (Network status),

UINT32 RW 0xF101:0B, 1

entry 0x0B (CAN Overrun))

1A01:08 SubIndex 008 8. PDO Mapping entry (5bits align) UINT32 RW 0x0000:00, 5

1A01:09 SubIndex 009 9. PDO Mapping entry (object 0xF101 (Network status),

UINT32 RW 0xF101:11, 16

entry 0x11 (CAN BUS load))

Index 1C00 Sync manager type

Index (hex) Name Meaning Data type Flags Default

1C00:0 Sync manager type Using the sync managers UINT8 RO 0x04 (4

1C00:01 SubIndex 001 Sync-Manager Type Channel 1: Mailbox Write UINT8 RO 0x01 (1

1C00:02 SubIndex 002 Sync-Manager Type Channel 2: Mailbox Read UINT8 RO 0x02 (2

1C00:03 SubIndex 003 Sync-Manager Type Channel 3: Process Data Write

UINT8 RO 0x03 (3

(Outputs)

1C00:04 SubIndex 004 Sync-Manager Type Channel 4: Process Data Read (In-

UINT8 RO 0x04 (4

puts)

)

dec

)

dec

)

dec

)

dec

)

dec

Index 1C12 RxPDO assign

Index (hex) Name Meaning Data type Flags Default

1C12:0 RxPDO assign PDO Assign Outputs UINT8 RW 0x01 (1

1C12:01 SubIndex 001 1st allocated RxPDO (contains the index of the associ-

ated RxPDO mapping object)

UINT16 RW 0x1600

(5632

dec

Index 1C13 TxPDO assign

Index (hex) Name Meaning Data type Flags Default

1C13:0 TxPDO assign PDO Assign Inputs UINT8 RW 0x02 (2

1C13:01 SubIndex 001 1st allocated TxPDO (contains the index of the associated

TxPDO mapping object)

1C13:02 SubIndex 002 2nd allocated TxPDO (contains the index of the associ-

ated TxPDO mapping object)

UINT16 RW 0x1A00

(6656

UINT16 RW 0x1A01

(6657

dec

Profile-specific objects (0x6000-0xFFFF)

The profile-specific objects have the same meaning for all EtherCAT slaves that support the profile 5001.

Index 6000 Poll Produced Data

Index (hex) Name Meaning Data type Flags Default

6000:0 Poll Produced Data Output data of the polling connection UINT8 RO 0x01 (1

6000:01

...

6000:01

)

dec

)

dec

)

dec

EL6752 79Version: 2.1

Parameterization and commissioning

Index 6001 COS Produced Data

Index (hex) Name Meaning Data type Flags Default

6001:0 COS Produced Data Output data of the change of state connection UINT8 RO 0x01 (1

6001:01

...

6001:01

Index 7000 Poll Consumed Data

Index (hex) Name Meaning Data type Flags Default

7000:0 Poll Consumed Data Input data of the polling connection UINT8 RO 0x01 (1

7000:01

...

7000:01

Index 7001 COS Consumed Data

Index (hex) Name Meaning Data type Flags Default

7001:0 COS Consumed Data Input data of the change of state connection UINT8 RO 0x01 (1

7001:01

...

7001:01

)

dec

)

dec

)

dec

Index F000 Modular device profile

Index (hex) Name Meaning Data type Flags Default

F000:0 Modular device profile General information for the modular device profile UINT8 RO 0x02 (2

F000:01 Module index dis-

Index distance of the objects of the individual channels UINT16 RO 0x0010 (16

dec

tance

F000:02 Maximum number of

Number of channels UINT16 RO 0x0001 (1

modules

Index F008 Code word

Index (hex) Name Meaning Data type Flags Default

F008:0 Code word reserved UINT32 RW 0x00000000

)

dec

Index F010 Module list

Index (hex) Name Meaning Data type Flags Default

F010:0 Module list List of connected devices UINT8 RW 0x01 (1

dec

F010:01 SubIndex 001 Product code EL6752-0010 UINT32 RW 0x0000145A

(5210

)

dec

Index F100 DeviceNet status

Index (hex) Name Meaning Data type Flags Default

F100:0 DeviceNet status DeviceNet status of the EL6752-0010 UINT8 RO 0x10 (16

F100:01 Communication status Communication status of the EL6752-0010:

UINT8 RO 0x00 (0

0 = No error 1 = Station deactivated 2 = Station not exists 18 = Station ready 31 = only for EtherCAT gateways: WC-State of cyclic EtherCAT frame is 1

F100:10 TxPdoState Status of the Tx-PDO BOOLEAN RO 0x00 (0

dec

)

dec

)

dec

)

EL675280 Version: 2.1

Parameterization and commissioning

Index F101 Network status

Index (hex) Name Meaning Data type Flags Default

F101:0 Network status Max. Subindex UINT8 RO 0x11 (17

F101:01 Device status 0: RUN MODE

UINT8 RO 0x00 (0 1: IDLE MODE 2: Duplicate MacId Check failed, MAC ID used 3: Status: Selftest 4: Status: Standby 5: Status:Major Recoverable Fault 6: Status:Minor Recoverable Fault 7: DeviceNet Voltage Error 8: DeviceNet Access Error

F101:09 CAN BUS-OFF CAN controller of the EL6752-0010 is in state bus-off BOOLEAN RO 0x00 (0

F101:0A CAN warning limit CAN controller of the EL6752-0010 has exceeded the

BOOLEAN RO 0x00 (0 warning limit

F101:0B CAN Overrun CAN controller of the EL6752-0010 is in state bus-off BOOLEAN RO 0x00 (0

F101:11 CAN BUS load CAN bus load 0 - 100% UINT16 RO 0x0000 (0

Index F800 bus parameter set

Index (hex) Name Meaning Data type Flags Default

F800:0 Bus Parameter set Max. Subindex UINT8 RW 0x08 (8

F800:01 MAC ID Device address of the DeviceNet device (see DeviceNet

specification)

F800:03 Product Name Product name of the DeviceNet device (see DeviceNet

specification)

F800:04 DeviceType Device type of the DeviceNet device (see DeviceNet

specification)

F800:05 Vendor ID Manufacturer ID of the DeviceNet device (see DeviceNet

specification)

F800:06 Product Code Product code of the DeviceNet device (see DeviceNet

specification)

F800:07 Revision Number Version number of the DeviceNet device (see DeviceNet

specification)

F800:08 Serial Number Serial number of the DeviceNet device (see DeviceNet

specification)

F800:09 Baud rate DeviceNet Baud Rate UINT16 RW 0x0100

UINT16 RW 0x0000 (0

OCTET-

RW {0}

STRING[32]

UINT16 RW 0x0000 (0

UINT32 RW 0x00350000

(3473408

(256

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dez

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

EL6752 81Version: 2.1

Error handling and diagnostics

7 Error handling and diagnostics

7.1 EL6752 - LED description

Fig.70: LEDs

LED behaviour

The LEDs facilitate diagnosing of the main terminal states:

EL6752-0000 (DeviceNet master terminal)

LED Colours Meaning

RUN green This LED indicates the terminal's operating state:

off State of the EtherCAT State Machine:

flashing State of the EtherCAT State Machine:

Single flash State of the EtherCAT State Machine:

on State of the EtherCAT State Machine:

MNS green green off Master is offline

flashing Master is online and is performing the Duplicate MAC-ID check

on Master is online and is communicating with the configured slaves

MNS red red flashing Communication error of the master with one of the configured slaves

on DeviceNet Bus OFF, DeviceNet voltage error, Master failed Duplicate MAC-ID check

INIT = initialization of the terminal; BOOTSTRAP=function for terminal firmware updates

PREOP = function for mailbox communication and different standard-settings set

SAFEOP = verification of the sync manager channels and the distributed clocks.

Outputs remain in safe state

OP = normal operating state; mailbox and process data communication is possible

EL675282 Version: 2.1

Error handling and diagnostics

EL6752-0010 (DeviceNet slave terminal)

LED Color Meaning

RUN green This LED indicates the terminal's operating state:

off State of the EtherCAT State Machine:

flashing State of the EtherCAT State Machine:

Single flash State of the EtherCAT State Machine:

on State of the EtherCAT State Machine:

MNS green green off Slave is offline

flashing Slave port has ended the Duplicate MAC-ID check (Network OK), communication error with

on Slave port is online and is communicating with the master.

MNS red red flashing Communication error of the slave port with the master, timeout of the slave port

on DeviceNet Bus OFF, DeviceNet voltage error, slave port error, error in Duplicate MAC-ID

INIT = initialization of the terminal; BOOTSTRAP=function for terminal firmware updates

PREOP = function for mailbox communication and different standard-settings set

SAFEOP = verification of the sync manager channels and the distributed clocks.

Outputs remain in safe state

OP = normal operating state; mailbox and process data communication is possible

the master.

check

EL6752 83Version: 2.1

Error handling and diagnostics

7.2 EL6752/-0010 diagnostics

The EL6752/-0010 feature various diagnostic variables that describe the state of the terminal and the DeviceNet and can be linked in the PLC:

We recommend monitoring the following process data during each cycle:

• WcState: if ≠ 0, this EtherCAT device does not take part in the process data traffic

• State: if ≠ 8, the EtherCAT device is not in OP (operational) status

We recommend monitoring the following process data:

• Error: if ≠ 0, the indicated number of DeviceNet devices has a BoxState not equal zero, i.e. check which DeviceNet devices are not operating correctly in the bus

• DiagFlag: indicates pending diagnostic data

7.2.1 EL6752/-0010 - WC-State

For monitoring the EtherCAT communication the WC state (working counter) of the EL6752/-0010 must be checked. If the WC state is not equal "0" the EtherCAT communication is disturbed, i.e. data sent to the slave or the master are no longer transferred correctly and are not valid.

Fig.71: WCState in the TwinCAT tree

WcState

0: data are valid 1: data are not valid, problem in the EtherCAT communication

EL675284 Version: 2.1

Error handling and diagnostics

7.2.2 EL6752/-0010 - State

The diagnostic state variable indicates the current EtherCAT state of the EL6752/-0010.

Fig.72: State diagnostic variable in the TwinCAT tree

State

0x___1 = Slave in 'INIT' state 0x___2 = Slave in 'PREOP' state 0x___3 = Slave in 'BOOT' state 0x___4 = Slave in 'SAFEOP' state 0x___8 = Slave in 'OP' state 0x001_ = Slave signals error 0x002_ = Invalid vendorId, productCode... read 0x004_ = Initialization error occurred 0x010_ = Slave not present 0x020_ = Slave signals link error 0x040_ = Slave signals missing link 0x080_ = Slave signals unexpected link 0x100_ = Communication port A 0x200_ = Communication port B 0x400_ = Communication port C 0x800_ = Communication port D

EL6752 85Version: 2.1

Error handling and diagnostics

7.2.3 EL6752/-0010 - Error / DiagFlag

Fig.73: Error and DiagFlag in the TwinCAT tree

Error

0: all DeviceNet devices have BoxState zero >0: number of DeviceNet devices with BoxState not equal zero.

DiagFlag

0 = no diagnostic data are pending 1 = diagnostic data are pending and can be read via AdsRead services

7.3 DeviceNet device diagnostics

DeviceNet slave devices feature different diagnostic variables that describe the DeviceNet communication state and can be linked in the PLC:

We recommend monitoring the following process data during each cycle:

• MacState: if ≠ 0, this DeviceNet device is not participating correctly in the process data traffic

• CouplerState: for Beckhoff Bus Couplers, the terminal communication of the Bus Coupler may be disturbed or diagnostic data may be present if ≠ 0

7.3.1 DeviceNet slave device / EL6752-0010 - MacState

For monitoring the DeviceNet communication the MacState of the DeviceNet device / EL6752-0010 must be checked. If the MacState is not equal zero, the DeviceNet slave is not participating correctly in the DeviceNet data exchange.

EL675286 Version: 2.1

Error handling and diagnostics

Fig.74: MacState in the TwinCAT tree

MacState

0 = No error 1 = Station deactivated 2 = Station not exists 18 = Station ready 40 = Heartbeat Message not received 41 = Shutdown Message received 42 = Electronic Key Fault: Vendor Id 43 = Electronic Key Fault: Device Type 44 = Electronic Key Fault: Product Code 45 = Electronic Key Fault: Revision 46 = Fault while writing Start-Up Attributs 47 = wrong Produced IO-Data Size 48 = wrong Consumed IO-Data Size 49 = Idle Mode

EL6752 87Version: 2.1

Error handling and diagnostics

7.3.2 DeviceNet slave device / EL6752-0010 - DiagFlag

The DiagFlag indicates pending diagnostic data. Pending diagnostic data can be read via an AdsRead command.

Fig.75: DiagFlag in the TwinCAT tree

DiagFlag

0 = no diagnostic data are pending 1 = diagnostic data are pending and can be read via AdsRead services

EL675288 Version: 2.1

Error handling and diagnostics

7.3.3 Beckhoff DeviceNet slave device - CouplerState

The CouplerState provides information on the terminal bus communication of the Beckhoff Bus Coupler. This information is available for Beckhoff BK52x0 Bus Couplers, devices from the IPxxxx-B520 IP Box-family and the IP Link family.

Fig.76: CouplerState in the TwinCAT tree

CouplerState

0x00 = I/O Run 0x01 = I/O Error (KBus, IO or Terminal Error) 0x80 = I/O idle mode / fieldbus error, no output data are written 0x08= diagnostic information for an analog/special function terminal is pending. This function first hast to be activated at the couplers. The diagnostic data can then be read in the associated registers of the terminals, IP/IL modules

EL6752 89Version: 2.1

Error handling and diagnostics

7.4 EL6752/-0010 - ADS Error Codes

The ADS error codes have the following meaning:

Error Description

Error during ADS/AMS data exchange

0x1001 Insufficient memory for AMS command

0x1101 Incorrect data length at StartFieldbus

0x1102 Incorrect DeviceState at StartFieldbus

0x1103 Device cannot change from INIT to RUN

0x1104 Incorrect AdsState in INIT state

0x1105 Incorrect DeviceState at StopFieldbus

0x1106 Device cannot change from STOP to RUN if a CDL is not defined

0x1107 Device cannot change from STOP to RUN if a box is not defined

0x1108 Incorrect data length at StartDataTransfer

0x1109 Incorrect DeviceState at StartDataTransfer

0x110A Incorrect AdsState in STOP state

0x110B Device cannot change from RUN to INIT

0x110C Incorrect data length at StopDataTransfer

0x110D Incorrect DeviceState at StopDataTransfer

0x1110 Incorrect AdsState in RUN state

0x1111 Loading the device parameters is only permitted in the INIT state

0x1112 Incorrect data length at SetDeviceState

0x1113 AddBox not allowed in INIT state

0x1114 Incorrect data length at AddBox

0x1115 DeleteBox not allowed in INIT state

0x1116 Incorrect IndexOffset at DeleteBox

0x1117 Incorrect data length at DeleteBox

0x1118 ReadBox only with AdsRead

0x1119 AddCdl not allowed in INIT state

0x111A Incorrect data length at AddCdl

0x111B DeleteCdl not allowed in INIT state

0x111C Incorrect IndexOffset at DeleteCdl

0x111D Incorrect data length at DeleteCdl

0x111E Incorrect IndexGroup at AdsWrite

0x111F Device parameters cannot be read

EL675290 Version: 2.1

Error handling and diagnostics

Error Description

Error during ADS/AMS data exchange

0x1120 Box parameters cannot be read 0x1121 Cdl parameters cannot be read 0x1122 DeleteBox or DeleteCdl only with AdsWrite 0x1123 ReadBox only possible in STOP state 0x1124 Incorrect IndexOffset at ReadBox 0x1125 Incorrect data length at ReadBox 0x1126 Incorrect IndexGroup at AdsRead 0x1127 AddDeviceNotification not allowed in INIT state 0x1128 DelDeviceNotification not allowed in INIT state 0x1129 IndexOffset too large during reading of the device diagnostic data 0x112B IndexOffset too large during reading of the box diagnostic data 0x112F Insufficient memory for ReadBox response 0x1201 AddCdl: CDL no. is too large 0x1202 DeleteCdl only possible when CDL is stopped 0x1203 DeleteCdl not possible as no CDL defined 0x1204 Cycle could not be completed within the internal watchdog time 0x1301 AddCdl: I/O access multiplier is too large 0x1302 AddCdl: Start cycle must be smaller than I/O access multiplier 0x1303 AddCdl: Incorrect data length for output area 0x1304 AddCdl: Incorrect data offset for output area 0x1305 AddCdl: Output area is already defined 0x1306 AddCdl: Incorrect data length for input area 0x1307 AddCdl: Incorrect data offset for input area 0x1308 AddCdl: Input area is already defined 0x1309 AddCdl: Incorrect area type 0x130A AddCdl: BoxNo has not been defined with AddBox 0x130B AddCdl: Incorrect action type 0x130C AddCdl: Insufficient memory for poll list 0x130D AddCdl: Insufficient memory for poll list array 0x130E AddCdl: Insufficient memory for actions 0x130F AddCdl: CdlNo already exists

EL6752 91Version: 2.1

Error handling and diagnostics

Error Description

Error during ADS/AMS data exchange

0x1310 DeleteCdl: CDL is not stopped 0x1311 AddCdl: Insufficient memory for asynchronous transmit list 0x1312 AddCdl: Insufficient memory for synchronous receive list 0x1313 AddCdl: Insufficient memory for asynchronous receive list 0x1316 AddCdl: Insufficient memory for synchronous receive list 0x1318 AddCdl: Only slave action allowed 0x1319 AddCdl: Insufficient memory for slave list 0x1601 AddBox: BoxNo is too large 0x1602 AddBox: Insufficient memory for ADS StartUp telegram 0x1604 DeleteBox: Box is not stopped 0x1605 AddBox: Insufficient memory for CDL telegram 0x1606 AddBox: Number of CDL telegrams is too large 0x1607 BoxRestart: Box is not stopped 0x1608 BoxRestart: AdsWriteControl syntax error 0x1609 BoxRestart: Incorrect AdsState 0x160A Syntax error in AdsWrite to box port 0x160B AMS CmdId is not supported by box port 0x160E AdsReadState is not supported by box port 0x160F AddBox: Insufficient memory for the ADS interface 0x1610 AddBox: AMS channel is invalid 0x1611 Error communicating with an AMS box 0x1613 Error communicating with an AMS box: Incorrect offset 0x1614 Error communicating with an AMS box: Data packet is too large 0x1615 Error communicating with an AMS box: AMS command is too large 0x1616 Error communicating with an AMS box: First data packet is too large 0x1617 Error communicating with an AMS box: First offset is incorrect

EL675292 Version: 2.1

Error handling and diagnostics

Error Description

Error during ADS/AMS data exchange

0x1701 AddDeviceNotification: Length of device diagnostic data to small 0x1702 AddDeviceNotification: Length of device diagnostic data to large 0x1703 AddDeviceNotification: Length of box diagnostic data to small 0x1704 AddDeviceNotification: Length of box diagnostic data to large 0x1705 AddDeviceNotification: Box is not defined 0x1706 AddDeviceNotification: Incorrect IndexGroup 0x1707 AddDeviceNotification: No more resources for client 0x1708 DelDeviceNotification: Incorrect handle 0x1801 StartFieldbus: In equidistant operation, shift time + safety time + 2*PLL sync. time must be

greater than the cycle time 0x1802 StartFieldbus: Cycle time is too large 0x1803 StartFieldbus: Cycle time is too large 0x1804 StartFieldbus: Shift time is too large 0x1805 StartFieldbus: PLL sync time is too large 0x1806 StartFieldbus: Safety time is too large 0x1807 StartFieldbus: Cycle times shorter than 1 ms must be integral divisors of 1 ms 0x1A01 Memory could not be allocated from the huge heap, because it is larger than 0x8000 bytes 0x1A02 Memory could not be allocated from the near heap, because it is larger than 0x1000 bytes 0x1A03 Memory could not be allocated from the huge heap, because it is 0 bytes 0x1A04 Memory could not be allocated from the near heap, because it is 0 bytes

 Error during initialization of the DeviceNet configuration

0x2001 .. 0x2xxx

 Error during explicit DeviceNet data exchange

0x2300 GENERR_RESUNAVAILABLE 0x2301 ADSERR_DEVICE_SRVNOTSUPP 0x2302 GENERR_INVALATTRVAL 0x2303 GENERR_ALRERADYINREQU 0x2304 GENERR_OBJECTSTATECONF 0x2305 GENERR_ATTRNOTSETABLE 0x2306 GENERR_PRIVVIOLATION 0x2307 GENERR_REPLDATTOOLARGE 0x2308 GENERR_NOTENOUGHDATA 0x2309 GENERR_ATTRNOTSUPP 0x230A GENERR_TOOMUCHDATA 0x230B GENERR_OBJECTNOTEXIST 0x230C GENERR_NOSTOREATTRDATA 0x230D GENERR_STOREOPFAIL 0x230E GENERR_VENDORSPEC 0x230F GENERR_INVALPARAM 0x2310 GENERR_INVALMEMBERID 0x2311 GENERR_MEMBERNOTSET 0x2312 ADSERR_DEVICE_SYMBOLNOTFOUND 0x2313 GENERR_OBJECTSTATECONF

EL6752 93Version: 2.1

Error handling and diagnostics

7.5 DeviceNet / CAN Trouble Shooting

Error Frames

One sign of errors in the CAN wiring, the address assignment or the setting of the baud rate is an increased number of error frames: the diagnostic LEDs then show Warning Limit exceeded or Bus-off state entered.

DeviceNet / CAN network analysis

CAN warning limit exceeded, passive error or bus-off state are indicated first of all at the node that has detected the most errors. These nodes are not necessarily the cause for the occurrence of error frames! If, for instance, one node contributes unusually heavily to the bus traffic (e.g. because it is the only one with analog inputs, the data for which triggers event-driven messages at a high rate), then the probability of its telegrams being damaged increases. Its error counter will, correspondingly, be the first to reach a critical level.

MAC ID / baud rate setting

Duplicate allocation of node addresses / MAC IDs must be avoided.

Test 1

Check MAC ID. If the DeviceNet communication works at least temporarily and all devices support the duplicate MAC ID check, the address assignment can also be checked by logging the duplicate MAC ID check messages when the devices are switched on, although this procedure does not detect incorrect allocation of node addresses.

Test 2

Check that the same baud rate has been set everywhere.

Testing the DeviceNet/CAN cabling

These tests should not be carried out if the network is active: No communication should take place during the tests. The following tests should be carried out in the stated sequence, because some of the tests assume that the previous test was successful. Not all the tests are generally necessary.

Network terminator and signal leads

The nodes should be switched off or the CAN cable unplugged for this test, because the results of the measurements can otherwise be distorted by the active CAN transceiver.

EL675294 Version: 2.1

Error handling and diagnostics

Fig.77: Wiring diagram for test setup

Test 3

Determine the resistance between CAN high and CAN low - at each device, if necessary.

If the measured value is greater than 65 Ohms, it indicates the absence of a terminating resistor or a break in a signal lead. If the measured value is less than 50 Ohms, look for a short circuit between the CAN lines, more than the correct number of terminating resistors, or faulty transceivers.

Test 4

Check for a short circuit between the CAN ground and the signal leads, or between the screen and signal leads.

Test 5

Remove the earth connection from the CAN ground and screen. Check for a short circuit between the CAN ground and screen.

Topology

The possible cable length in CAN networks depends heavily on the selected baud rate. CAN will tolerate short drop lines - although this again depends on the baud rate. The maximum permitted drop line length should not be exceeded. The length of cable that has been installed is often underestimated - estimates can even be a factor of 10 less than the actual length. The following test is therefore recommended:

Test 6

Measure the drop line lengths and the total bus length (a rough estimate is not sufficient) and compare the values with the topology rules (depending on the baud rate).

Screening and earthing

The power supply and the screen should be carefully earthed at the power supply unit, once only and with low resistance. At all connecting points, branches and so forth the screen of the CAN cable (and possibly the CAN GND) must also be connected, as well as the signal leads. In the Beckhoff IP20 Bus Couplers, the screen is grounded for high frequencies via an R/C element.

EL6752 95Version: 2.1

Error handling and diagnostics

Test 7

Use a DC ammeter (16 A max.) to measure the current between the power supply ground and the screen at the end of the network most remote from the power supply unit. An equalization current should be present. If there is no current, then either the screen is not connected all the way through, or the power supply unit is not properly earthed. If the power supply unit is somewhere in the middle of the network, the measurement should be performed at both ends. When appropriate, this test can also be carried out at the ends of the drop line.

Test 8

Interrupt the screen at a number of locations and measure the connection current. If current is flowing, the screen is earthed at more than one place, creating a ground loop.

Potential differences

The screen must be connected all the way through for this test, and must not be carrying any current - this has previously been tested.

Test 9

Measure and record the voltage between the screen and the power supply ground at each node. The maximum potential difference between any two devices should be less than 5 volts.

Detect and localize faults

The "low-tech approach" rule is the best localisation method: disconnect parts of the network, and observe when the fault disappears.

But: the approach based on this method is inadequate in the event of problems such as excessive potential differences, ground loops, EMC and signal corruption, since in many cases making the network smaller solves the problem notwithstanding the fact that the "missing" component may not have caused it. The bus load also changes as the network is reduced in size, which can mean that external interference "hits" CAN telegrams less often.

Diagnosis with an oscilloscope is not usually successful: even when they are in good condition, CAN signals can look really chaotic. It may be possible to trigger on error frames using a storage oscilloscope - this type of diagnosis, however, is only possible for expert technicians.

Protocol problems

In rare cases, protocol problems (e.g. faulty or incomplete DeviceNet implementation, unfavorable timing at boot up, etc.) can be the cause of faults. In this case it is necessary to trace the bus traffic for evaluation by

DeviceNet experts - the Beckhoff support team [}111] can help here. A free channel on a Beckhoff FC5102 CANopen PCI card is appropriate for such a trace - Beckhoff make the necessary trace software available on the internet. Alternatively, it is of course possible to use a normal commercial CAN analysis tool.

EL675296 Version: 2.1

Appendix

8 Appendix

8.1 UL notice

Application

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

Examination

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

For devices with Ethernet connectors

Not for connection to telecommunication circuits.

Basic principles

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

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

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

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

Application

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

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

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

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

EL6752 97Version: 2.1

Appendix

8.2 EtherCAT AL Status Codes

For detailed information please refer to the EtherCAT system description.

8.3 Firmware compatibility

Beckhoff EtherCAT devices are delivered with the latest available firmware version. Compatibility of firmware and hardware is mandatory; not every combination ensures compatibility. The overview below shows the hardware versions on which a firmware can be operated.

Note

• It is recommended to use the newest possible firmware for the respective hardware.

• Beckhoff is not under any obligation to provide customers with free firmware updates for delivered products.

NOTE

Risk of damage to the device!

Pay attention to the instructions for firmware updates on the separate page [}99]. If a device is placed in BOOTSTRAP mode for a firmware update, it does not check when downloading whether the new firmware is suitable. This can result in damage to the device! Therefore, always make sure that the firmware is suitable for the hardware version!

EL6752

Hardware (HW) Firmware (FW) Revision no. Release date

06 - 20* 07 EL6752-0000-0016 2008/06

08 2008/11

09 2010/05

EL6752-0000-0017 2011/10

10 2012/01

EL6752-0000-0018 2012/10

11 EL6752-0000-0019 2014/07

12 EL6752-0000-0020 2014/06

13* 2015/02

EL6752-0010

Hardware (HW) Firmware (FW) Revision no. Release date

06 - 20* 06 EL6752-0010-0016 2008/04

07 2008/06

08 2008/11

EL6752-0010-0017 2011/10

09 2012/01

10 2012/05

EL6752-0010-0018 2012/10

11 EL6752-0010-0019 2014/07

12 EL6752-0010-0020 2014/06

13* 2015/02

*) This is the current compatible firmware/hardware version at the time of the preparing this documentation. Check on the Beckhoff web page whether more up-to-date documentation is available.

EL675298 Version: 2.1

Appendix

8.4 Firmware Update EL/ES/EM/EPxxxx

This section describes the device update for Beckhoff EtherCAT slaves from the EL/ES, EM, EK and EP series. A firmware update should only be carried out after consultation with Beckhoff support.

Storage locations

An EtherCAT slave stores operating data in up to 3 locations:

• Depending on functionality and performance EtherCAT slaves have one or several local controllers for processing I/O data. The corresponding program is the so-called firmware in *.efw format.

• In some EtherCAT slaves the EtherCAT communication may also be integrated in these controllers. In this case the controller is usually a so-called FPGA chip with *.rbf firmware.

• In addition, each EtherCAT slave has a memory chip, a so-called ESI-EEPROM, for storing its own device description (ESI: EtherCAT Slave Information). On power-up this description is loaded and the EtherCAT communication is set up accordingly. The device description is available from the download

area of the Beckhoff website at (https://www.beckhoff.de). All ESI files are accessible there as zip files.

Customers can access the data via the EtherCAT fieldbus and its communication mechanisms. Acyclic mailbox communication or register access to the ESC is used for updating or reading of these data.

The TwinCAT System Manager offers mechanisms for programming all 3 parts with new data, if the slave is set up for this purpose. Generally the slave does not check whether the new data are suitable, i.e. it may no longer be able to operate if the data are unsuitable.

Simplified update by bundle firmware

The update using so-called bundle firmware is more convenient: in this case the controller firmware and the ESI description are combined in a *.efw file; during the update both the firmware and the ESI are changed in the terminal. For this to happen it is necessary

• for the firmware to be in a packed format: recognizable by the file name, which also contains the revision number, e.g. ELxxxx-xxxx_REV0016_SW01.efw

• for password=1 to be entered in the download dialog. If password=0 (default setting) only the firmware update is carried out, without an ESI update.

• for the device to support this function. The function usually cannot be retrofitted; it is a component of many new developments from year of manufacture 2016.

Following the update, its success should be verified

• ESI/Revision: e.g. by means of an online scan in TwinCAT ConfigMode/FreeRun – this is a convenient way to determine the revision

• Firmware: e.g. by looking in the online CoE of the device

NOTE

Risk of damage to the device!

Note the following when downloading new device files

• Firmware downloads to an EtherCAT device must not be interrupted

• Flawless EtherCAT communication must be ensured. CRC errors or LostFrames must be avoided.

• The power supply must adequately dimensioned. The signal level must meet the specification.

In the event of malfunctions during the update process the EtherCAT device may become unusable and require re-commissioning by the manufacturer.

EL6752 99Version: 2.1

Appendix

8.4.1 Device description ESI file/XML

NOTE

Attention regarding update of the ESI description/EEPROM

Some slaves have stored calibration and configuration data from the production in the EEPROM. These are irretrievably overwritten during an update.

The ESI device description is stored locally on the slave and loaded on start-up. Each device description has a unique identifier consisting of slave name (9 characters/digits) and a revision number (4 digits). Each slave configured in the System Manager shows its identifier in the EtherCAT tab:

Fig.78: Device identifier consisting of name EL3204-0000 and revision -0016

The configured identifier must be compatible with the actual device description used as hardware, i.e. the description which the slave has loaded on start-up (in this case EL3204). Normally the configured revision must be the same or lower than that actually present in the terminal network.

For further information on this, please refer to the EtherCAT system documentation.

Update of XML/ESI description

The device revision is closely linked to the firmware and hardware used. Incompatible combinations lead to malfunctions or even final shutdown of the device. Corresponding updates should only be carried out in consultation with Beckhoff support.

Display of ESI slave identifier

The simplest way to ascertain compliance of configured and actual device description is to scan the EtherCAT boxes in TwinCAT mode Config/FreeRun:

EL6752100 Version: 2.1

Beckhoff EL6752 Documentation

Specifications and Main Features

Frequently Asked Questions

User Manual

Table of contents

1 Foreword

1.1 Notes on the documentation

1.2 Safety instructions

1.3 Documentation issue status

1.4 Version identification of EtherCAT devices

2 Product overview

2.1 Introduction

2.2 Technical data

3 Basic DeviceNet principles

4 Mounting and cabling

4.1 Instructions for ESD protection

4.2 Recommended mounting rails

4.3 Mounting and demounting - terminals with traction lever unlocking

4.4 Mounting and demounting - terminals with front unlocking

4.5 DeviceNet wiring

4.5.1 CAN / DeviceNet topology

4.5.2 Bus length

4.5.3 Drop lines

4.5.4 Star Hub (Multiport Tap)

4.5.5 CAN cable

4.5.6 Shielding

4.5.7 Cable colours and pin assignment

4.6 Installation positions

4.7 Positioning of passive Terminals

4.8 ATEX - Special conditions (standard temperature range)

5 DeviceNet communication

5.1 DeviceNet Introduction

5.2 Explicit messages

6 Parameterization and commissioning

6.1 CoE Interface

6.2 General notes for setting the watchdog

6.3 EtherCAT State Machine

6.4 TwinCAT System Manager

6.5 Beckhoff DeviceNet Bus Coupler

6.6 General DeviceNet device

6.6.1 Integrating a DeviceNet device with EDS file

6.6.2 Integrating a DeviceNet device without EDS file

6.6.3 Parameterization of a DeviceNet device

6.7 EtherCAT description

6.7.1 Introduction

6.7.1.1 EL6752 DeviceNet master configuration

6.7.1.2 EL6752-0010 DeviceNet slave configuration

6.7.1.3 EL6752-0010 - Changing the DeviceNet address and baud rate using ADS

6.7.2 Object description and parameterization

6.7.2.1 DeviceNet master - EL6752

6.7.2.1.1 Objects for the parameterization

6.7.2.1.2 Objects for internal settings

Standard objects (0x1000-0x1FFF)

Profile-specific objects (0x6000-0xFFFF)

6.7.2.2 DeviceNet Slave - EL6752-0010

6.7.2.2.1 Objects for the parameterization

6.7.2.2.2 Objects for internal settings

Standard objects (0x1000-0x1FFF)

Profile-specific objects (0x6000-0xFFFF)

7 Error handling and diagnostics

7.1 EL6752 - LED description

7.2 EL6752/-0010 diagnostics

7.2.1 EL6752/-0010 - WC-State

7.2.2 EL6752/-0010 - State

7.2.3 EL6752/-0010 - Error / DiagFlag

7.3 DeviceNet device diagnostics

7.3.1 DeviceNet slave device / EL6752-0010 - MacState

7.3.2 DeviceNet slave device / EL6752-0010 - DiagFlag

7.4 EL6752/-0010 - ADS Error Codes

7.5 DeviceNet / CAN Trouble Shooting

8 Appendix

8.1 UL notice

8.2 EtherCAT AL Status Codes

8.3 Firmware compatibility

8.4 Firmware Update EL/ES/EM/EPxxxx

8.4.1 Device description ESI file/XML