Beckhoff EL7211-0000, EL7201-0000, EL7201-0001, EL7211-0001 Documentation
Documentation
EL72x1
Servo Motor Terminal, 50 VDC
Version:
Date:
3.3
2017-01-18
Product overview Servo Motor Terminals
1 Product overview Servo Motor Terminals
EL7201-0000 [}14] Servo Motor Terminal (MDP742 profile), 50 VDC, 2,8 A
EL7201-0001 [}14] Servo Motor Terminal (DS402 profile), 50 VDC, 2,8 A
rms
EL7211-0000 [}14] Servo Motor Terminal (MDP742 profile), 50 VDC, 4,5 A
EL7211-0001 [}14] Servo Motor Terminal (DS402 profile), 50 VDC, 4,5 A
rms
rms
rms
EL72x1 3Version: 3.3
Table of contents
Table of contents
1 Product overview Servo Motor Terminals...............................................................................................3
2 Foreword ....................................................................................................................................................7
2.1 Notes on the documentation........................................................................................................... 7
2.2 Safety instructions .......................................................................................................................... 8
2.3 Documentation issue status............................................................................................................ 9
2.4 Version identification of EtherCAT devices..................................................................................... 9
3 Product overview.....................................................................................................................................14
3.1 Introduction EL72x1...................................................................................................................... 14
3.2 Technical data .............................................................................................................................. 16
3.3 Technology ................................................................................................................................... 17
3.4 Start-up ......................................................................................................................................... 19
4 Basics communication ...........................................................................................................................20
4.1 EtherCAT basics........................................................................................................................... 20
4.2 EtherCAT cabling – wire-bound.................................................................................................... 20
4.3 General notes for setting the watchdog ........................................................................................ 21
4.4 EtherCAT State Machine .............................................................................................................. 23
4.5 CoE Interface................................................................................................................................ 25
4.6 Distributed Clock........................................................................................................................... 30
5 Installation................................................................................................................................................31
5.1 Installation on mounting rails ........................................................................................................ 31
5.2 Installation instructions for enhanced mechanical load capacity .................................................. 34
5.3 Connection system ....................................................................................................................... 35
5.4 Positioning of passive Terminals .................................................................................................. 38
5.5 Installation position for operation with or without fan .................................................................... 39
5.6 Shielding concept ......................................................................................................................... 42
5.7 Notes on current measurements using Hall sensors .................................................................... 45
5.8 LEDs and connection.................................................................................................................... 46
5.8.1 EL7201-000x....................................................................................................................46
5.8.2 EL7211-000x....................................................................................................................48
6 Commissioning........................................................................................................................................51
6.1 TwinCAT Development Environment............................................................................................ 51
6.1.1 Installation of the TwinCAT real-time driver .....................................................................51
6.1.2 Notes regarding ESI device description...........................................................................57
6.1.3 TwinCAT ESI Updater......................................................................................................61
6.1.4 Distinction between Online and Offline ............................................................................61
6.1.5 OFFLINE configuration creation ......................................................................................62
6.1.6 ONLINE configuration creation ........................................................................................67
6.1.7 EtherCAT subscriber configuration ..................................................................................75
6.2 Start-up and parameter configuration ........................................................................................... 85
6.2.1 Integration into the NC configuration ...............................................................................85
6.2.2 Settings with the Drive Manager ......................................................................................88
6.2.3 Settings in the CoE register .............................................................................................92
6.2.4 Application example.........................................................................................................96
6.2.5 Commissioning without NC, status word/control word...................................................101
6.2.6 Homing...........................................................................................................................105
6.2.7 NC settings.....................................................................................................................107
EL72x14 Version: 3.3
Table of contents
6.3 Operating modes ........................................................................................................................ 113
6.3.1 Overview ........................................................................................................................113
6.3.2 CSV................................................................................................................................114
6.3.3 CST................................................................................................................................118
6.3.4 CSTCA...........................................................................................................................121
6.3.5 CSP................................................................................................................................125
6.4 Profile MDP 742 or DS 402 ........................................................................................................ 129
6.5 MDP742 process data ............................................................................................................... 130
6.6 DS402 process data ................................................................................................................... 133
7 EL72x1-0000 (MDP742) - Object description and parameterization .................................................136
7.1 Restore object............................................................................................................................. 136
7.2 Configuration data ...................................................................................................................... 136
7.3 Configuration data (vendor-specific)........................................................................................... 141
7.4 Command object......................................................................................................................... 142
7.5 Input data.................................................................................................................................... 142
7.6 Output data ................................................................................................................................. 144
7.7 Information / diagnosis data ....................................................................................................... 145
7.8 Standard objects......................................................................................................................... 146
8 EL72x1-0001 (DS402) - Object description and parameterization ....................................................153
8.1 Configuration data ...................................................................................................................... 154
8.2 Configuration data (vendor-specific)........................................................................................... 156
8.3 Command object......................................................................................................................... 157
8.4 Input/output data......................................................................................................................... 157
8.5 Information / diagnosis data ....................................................................................................... 161
8.6 Standard objects......................................................................................................................... 162
9 Error correction .....................................................................................................................................168
9.1 Diagnostics – basic principles of diag messages ....................................................................... 168
9.2 Notes on Diag Messages associated with Motor Terminals ....................................................... 177
10 Appendix ................................................................................................................................................178
10.1 UL notice..................................................................................................................................... 178
10.2 EtherCAT AL Status Codes ........................................................................................................ 179
10.3 Firmware compatibility ................................................................................................................ 179
10.4 Firmware Update EL/ES/EM/EPxxxx.......................................................................................... 179
10.4.1 Device description ESI file/XML .....................................................................................180
10.4.2 Firmware explanation.....................................................................................................183
10.4.3 Updating controller firmware *.efw .................................................................................184
10.4.4 FPGA firmware *.rbf .......................................................................................................186
10.4.5 Simultaneous updating of several EtherCAT devices ....................................................190
10.5 Restoring the delivery state ........................................................................................................ 191
10.6 Support and Service ................................................................................................................... 192
EL72x1 5Version: 3.3
Table of contents
EL72x16 Version: 3.3
Foreword
2 Foreword
2.1 Notes on the documentation
Intended audience
This description is only intended for the use of trained specialists in control and automation engineering who
are familiar with the applicable national standards.
It is essential that the documentation and the following notes and explanations are followed when installing
and commissioning these components.
It is the duty of the technical personnel to use the documentation published at the respective time of each
installation and commissioning.
The responsible staff must ensure that the application or use of the products described satisfy all the
requirements for safety, including all the relevant laws, regulations, guidelines and standards.
Disclaimer
The documentation has been prepared with care. The products described are, however, constantly under
development.
We reserve the right to revise and change the documentation at any time and without prior announcement.
No claims for the modification of products that have already been supplied may be made on the basis of the
data, diagrams and descriptions in this documentation.
Trademarks
Beckhoff®, TwinCAT®, EtherCAT®, Safety over EtherCAT®, TwinSAFE®, XFC® and XTS® are registered
trademarks of and licensed by Beckhoff Automation GmbH.
Other designations used in this publication may be trademarks whose use by third parties for their own
purposes could violate the rights of the owners.
Patent Pending
The EtherCAT Technology is covered, including but not limited to the following patent applications and
patents: EP1590927, EP1789857, DE102004044764, DE102007017835 with corresponding applications or
registrations in various other countries.
The TwinCAT Technology is covered, including but not limited to the following patent applications and
patents: EP0851348, US6167425 with corresponding applications or registrations in various other countries.
EtherCAT® is registered trademark and patented technology, licensed by Beckhoff Automation GmbH,
Germany
Copyright
© Beckhoff Automation GmbH & Co. KG, Germany.
The reproduction, distribution and utilization of this document as well as the communication of its contents to
others without express authorization are prohibited.
Offenders will be held liable for the payment of damages. All rights reserved in the event of the grant of a
patent, utility model or design.
EL72x1 7Version: 3.3
Foreword
2.2 Safety instructions
Safety regulations
Please note the following safety instructions and explanations!
Product-specific safety instructions can be found on following pages or in the areas mounting, wiring,
commissioning etc.
Exclusion of liability
All the components are supplied in particular hardware and software configurations appropriate for the
application. Modifications to hardware or software configurations other than those described in the
documentation are not permitted, and nullify the liability of Beckhoff Automation GmbH & Co. KG.
Personnel qualification
This description is only intended for trained specialists in control, automation and drive engineering who are
familiar with the applicable national standards.
Description of symbols
In this documentation the following symbols are used with an accompanying safety instruction or note. The
safety instructions must be read carefully and followed without fail!
DANGER
WARNING
CAUTION
Attention
Note
Serious risk of injury!
Failure to follow the safety instructions associated with this symbol directly endangers the
life and health of persons.
Risk of injury!
Failure to follow the safety instructions associated with this symbol endangers the life and
health of persons.
Personal injuries!
Failure to follow the safety instructions associated with this symbol can lead to injuries to
persons.
Damage to the environment or devices
Failure to follow the instructions associated with this symbol can lead to damage to the environment or equipment.
Tip or pointer
This symbol indicates information that contributes to better understanding.
EL72x18 Version: 3.3
2.3 Documentation issue status
Version Comment
3.3 - Update chapter “Technical data”
- Chapter “UL notices” added
- Chapter “Installation instructions for enhanced mechanical load capacity” added
- Update structure
3.2 - Update chapter “Object description”
3.1 - Update chapter “Technical data”
- Update chapter “Shielding concept”
- Update chapter “Operating mode CSP”
- Update chapter “Object description”
- Addenda note “Diag messages”
- Update structure
- Update revision status
3.0 - Migration
- Update structure
- Update revision status
2.1 - Addenda chapters "Object description" and "Technical data"
- Update Firmware status
2.0 - Update structure
- Addenda EL7211-0000
1.9 - Update structure
- Update Firmware status
1.8 - Addenda chapter "Technical data"
- Update Firmware status
1.7 - Addenda chapters "Object description" and "Technical data"
- Update Firmware status
1.6 - Addenda chapters "Homing" and "Settings with the Drive Manager"
- Update Firmware status
1.5 - Addenda chapter "Operating modes"
- Update Firmware status
1.4 - Update chapter "Technical data"
- Update chapter "Object description"
- Update Firmware status
1.3 - Update chapter "Commissioning without the NC, status word/control word"
- Update Firmware status
1.2 - Update chapter "LEDs and connection"
- Update Firmware status
1.1 - Addenda description I2T model
- Addenda to the MDP741 and DS402 profile
1.0 - Addenda
- First public issue
0.1 - Provisional documentation for EL72x1
Foreword
2.4 Version identification of EtherCAT devices
Designation
A Beckhoff EtherCAT device has a 14-digit designation, made up of
• family key
• type
• version
• revision
EL72x1 9Version: 3.3
Foreword
Example Family Type Version Revision
EL3314-0000-0016 EL terminal
(12 mm, nonpluggable connection
level)
ES3602-0010-0017 ES terminal
(12 mm, pluggable
connection level)
CU2008-0000-0000 CU device 2008 (8-port fast ethernet switch) 0000 (basic type) 0000
Notes
• The elements mentioned above result in the technical designation. EL3314-0000-0016 is used in the
example below.
• EL3314-0000 is the order identifier, in the case of “-0000” usually abbreviated to EL3314. “-0016” is the
EtherCAT revision.
• The order identifier is made up of
- family key (EL, EP, CU, ES, KL, CX, etc.)
- type (3314)
- version (-0000)
• The revision -0016 shows the technical progress, such as the extension of features with regard to the
EtherCAT communication, and is managed by Beckhoff.
In principle, a device with a higher revision can replace a device with a lower revision, unless specified
otherwise, e.g. in the documentation.
Associated and synonymous with each revision there is usually a description (ESI, EtherCAT Slave
Information) in the form of an XML file, which is available for download from the Beckhoff web site.
From 2014/01 the revision is shown on the outside of the IP20 terminals, see Fig. “EL5021 EL terminal,
standard IP20 IO device with batch number and revision ID (since 2014/01)”.
• The type, version and revision are read as decimal numbers, even if they are technically saved in
hexadecimal.
3314 (4-channel thermocouple
terminal)
3602 (2-channel voltage
measurement)
0000 (basic type) 0016
0010 (highprecision version)
0017
Identification number
Beckhoff EtherCAT devices from the different lines have different kinds of identification numbers:
Production lot/batch number/serial number/date code/D number
The serial number for Beckhoff IO devices is usually the 8-digit number printed on the device or on a sticker.
The serial number indicates the configuration in delivery state and therefore refers to a whole production
batch, without distinguishing the individual modules of a batch.
Structure of the serial number: KKYYFFHH
KK - week of production (CW, calendar week)
YY - year of production
FF - firmware version
HH - hardware version
Example with
Ser. no.: 12063A02: 12 - production week 12 06 - production year 2006 3A - firmware version 3A 02 hardware version 02
Exceptions can occur in the IP67 area, where the following syntax can be used (see respective device
documentation):
Syntax: D ww yy x y z u
D - prefix designation
ww - calendar week
yy - year
x - firmware version of the bus PCB
EL72x110 Version: 3.3
Foreword
y - hardware version of the bus PCB
z - firmware version of the I/O PCB
u - hardware version of the I/O PCB
Example: D.22081501 calendar week 22 of the year 2008 firmware version of bus PCB: 1 hardware version
of bus PCB: 5 firmware version of I/O PCB: 0 (no firmware necessary for this PCB) hardware version of I/O
PCB: 1
Unique serial number/ID, ID number
In addition, in some series each individual module has its own unique serial number.
See also the further documentation in the area
• IP67: EtherCAT Box
• Safety: TwinSafe
• Terminals with factory calibration certificate and other measuring terminals
Examples of markings
Fig.1: EL5021 EL terminal, standard IP20 IO device with serial/ batch number and revision ID (since
2014/01)
Fig.2: EK1100 EtherCAT coupler, standard IP20 IO device with serial/ batch number
EL72x1 11Version: 3.3
Foreword
Fig.3: CU2016 switch with serial/ batch number
Fig.4: EL3202-0020 with serial/ batch number 26131006 and unique ID-number 204418
Fig.5: EP1258-00001 IP67 EtherCAT Box with batch number/ date code 22090101 and unique serial
number 158102
Fig.6: EP1908-0002 IP67 EtherCAT Safety Box with batch number/ date code 071201FF and unique serial
number 00346070
EL72x112 Version: 3.3
Foreword
Fig.7: EL2904 IP20 safety terminal with batch number/ date code 50110302 and unique serial number
00331701
Fig.8: ELM3604-0002 terminal with unique ID number (QR code) 100001051 and serial/ batch number
44160201
EL72x1 13Version: 3.3
Product overview
3 Product overview
3.1 Introduction EL72x1
Fig.9: EL7201
Fig.10: EL7211
EL72x114 Version: 3.3
Product overview
Servomotor terminals, 50 V
The servomotor EtherCAT Terminals EL7201-0000 (MDP742 profile, 50VDC, 2.8 A
(DS402 profile, 50VDC, 2.8 A
profile, 50VDC, 4.5 A
rms
DC
) / EL7201-0001
) and EL7211-0000 (MDP742 profile, 50VDC, 4.5 A
rms
rms
) / EL7211-0001 (DS402
rms
) with integrated resolver interface offer high servo performance with a very compact
design. The EL72x1 was designed for the motor types of the AM31xx and AM81xx series from Beckhoff
Automation.
The fast control technology, based on field-orientated current and PI speed control, supports fast and highly
dynamic positioning tasks. The monitoring of numerous parameters, such as overvoltage and undervoltage,
overcurrent, terminal temperature or motor load via the calculation of a I²T model, offers maximum
operational reliability.
EtherCAT, as a high-performance system communication, and CAN-over-EtherCAT (CoE), as the
application layer, enable ideal interfacing with PC-based control technology.
The latest power semiconductors guarantee minimum power loss and enable feedback into the DC link when
braking.
The LEDs indicate status, warning and error messages as well as possibly active limitations.
Recommended TwinCAT version
In order to be able to utilize the full power of the EL72x1, we recommend using the EL72x1
with TwinCAT 2.11 R3 or higher!
Note
Mandatory hardware
The EL72x1 must be operated with a real-time capable computer and distributed clocks.
Note
Approved motors
Trouble-free operation can only be guaranteed with motors approved by Beckhoff.
Note
Quick links
Connection instructions
• Chapter "Mounting and wiring",
◦ LEDs and connection [}46]
◦ Shielding concept [}42]
◦ Notes on current measurement via Hall sensor [}45]
Configuration instructions
• Chapter "Commissioning",
◦ Configuration of the main parameters [}85]
• Chapter "Configuration with the TwinCAT System Manager",
◦ Object description and parameterization [}136]
Application example
• Chapter "Commissioning",
◦ Application example [}96]
EL72x1 15Version: 3.3
Product overview
3.2 Technical data
Technical data EL7201-000x EL7211-000x
Number of outputs 3 motor phases, 2 resolver excitations, 2 motor holding brakes
Number of inputs 2 (4) DC link voltages, 4 resolvers
DC link supply voltage 8...50V
Supply voltage 24VDC via the power contacts, via the E-bus
Output current
Peak current
Rated power
Motor holding brake output voltage 24V (+ 6 %, - 10 %)
Max. motor holding brake output current max. 0.5A
Load type Permanent magnet synchronous motors, inductive (series AM31xx)
PWM switching frequency 16kHz
Current controller frequency double PWM switching frequency
Velocity controller frequency 16kHz
Diagnostics LED Status, warning, errors and limits
Power loss typ. 1.6W
Current consumption via E-bus typ. 120mA
Current consumption from the 24 V typ. 50 mA + holding brake
Supports NoCoeStorage [}25] function
Reverse polarity protection 24 V power supply yes, with leakage capacitor
Fuse protection 24 V power supply 10 A
Electrical isolation 500 V (E-bus/signal voltage)
Possible EtherCAT cycle times Multiple of 125µs
Configuration no address setting required
Weight approx. 60 g approx. 95 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. 15 mm x 100 mm x 70 mm (width
Mounting [}31]
Vibration/shock resistance conforms to EN 60068-2-6 / EN 60068-2-27,
EMC immunity/emission conforms to EN 61000-6-2 / EN 61000-6-4
EMC category Category C3 - standard
Protection class IP20
Installation position
Approval CE
DC
2.8A
(without fan cartridge ZB8610)
rms
4.5A
(with fan cartridge ZB8610)
rms
5.7A
for 1 second 2.8A
rms
(without fan
rms
4.5A
9A
rms
rms
for 1 second
cartridge ZB8610)
9A
for 1 second 2.8A
rms
(with fan car-
rms
tridge ZB8610)
170 W (without fan cartridge ZB8610)
276W
276 W (with fan cartridge ZB8610)
Yes
50 V power supply yes, with leakage capacitor
50 V power supply 10 A
configuration via TwinCAT System Manager
0°C ... + 55°C
-25°C ... + 85°C
approx. 27 mm x 100 mm x 70 mm (width
aligned: 12 mm)
aligned: 24 mm)
on 35 mm mounting rail conforms to EN 60715
see also installation instructions [}34] for enhanced mechanical load capacity
according to IEC/EN 61800-3
Category C2, C1 - auxiliary filter required
without fan cartridge ZB8610: standard installing position
with fan cartridge ZB8610: standard installing position, other installing positions (example 1
& 2)
see notice [}39]
cULus [}178]
EL72x116 Version: 3.3
Product overview
3.3 Technology
The very compact EL72x1 servomotor terminal integrates a complete servo drive for servomotors up to
276W.
Servomotor
The servomotor is an electrical motor. Together with a servo amplifier the servomotor forms a servo drive.
The servomotor is operated in a closed control loop with position, torque or speed control.
The servo terminal EL72x1 supports control of permanent magnet synchronous motors. These consist of 3
coils which are offset by 120° and a permanent magnet rotor.
Fig.11: Three synchronous motor coils, each offset by 120°
Servomotors particularly demonstrate their advantages in highly dynamic and precise positioning
applications:
• very high positioning accuracy in applications where maximum precision is required through integrated
position feedback
• high efficiency and high acceleration capacity
• servomotors are overload-proof and therefore have far greater dynamics than stepper motors, for
example.
• load-independent high torque right up to the higher speed ranges
• maintenance requirements reduced to a minimum
The EtherCAT servomotor terminal offers users the option to configure compact and cost-effective systems
without having to give up the benefits of a servomotor.
The Beckhoff servo terminal
The EL72x1 is a fully capable servo drive for direct connection to servomotors in the lower performance
range. There is no need for further modules or cabling to make a connection to the control system. This
results in a very compact control system solution. The E-Bus connection of the EL72x1 makes the full
functionality of EtherCAT available to the user. This includes in particular the short cycle time, low jitter,
simultaneity and easy diagnostics provided by EtherCAT. With this performance from EtherCAT the
dynamics that a servomotor can achieve can be used optimally.
A rated voltage of max. 50VDC and a rated current of max. 4.5A enable the user to drive a servomotor with a
rating of up to 276 W using the EL7211. Permanent magnet synchronous motors with a rated current of up to
4.5 A can be connected as loads. The monitoring of numerous parameters, such as overvoltage and
EL72x1 17Version: 3.3
Product overview
undervoltage, overcurrent, terminal temperature or motor load, offers maximum operational reliability.
Modern power semiconductors guarantee minimum power loss and enable feedback into the DC link when
braking.
Beckhoff sets new benchmarks with regard to size with the integration of a fully-featured servo drive in a
standard EtherCAT terminal – the EL7201 – with a width of just 12 mm. This small manufactured size is
possible thanks to the latest semiconductor technology and the resulting very high power factor. And yet,
despite the small dimensions, nothing has to be sacrificed.
The integrated fast control technology, with a field-orientated current and PI speed control, supports highly
dynamic positioning tasks. Apart from the direct connection of motor and resolver, the connection of a motor
holding brake is also possible.
Connection to the control system
A further big advantage of the EL72x1 is the easy incorporation into the control solution. The complete
integration into the control system simplifies commissioning and parameterization. As with all the other
Beckhoff terminals, the EL72x1 is simply inserted into the terminal network. Then the full terminal network
can be scanned by the TwinCAT System Manager or manually added by the application engineer. In the
System Manager the EL72x1 can be linked with the TwinCAT NC and parameterized.
Scalable motion solution
The servo terminal complements the product range of compact drive technology for Beckhoff I/O systems
that are available for stepper motors, AC and DC motors. With the EL72x1, the range of servo drives
becomes even more finely scalable: from the miniature servo drive up to 200 W in the EtherCAT Terminal
through to the AX5000 servo drive with 118 KW, Beckhoff offers a wide range including the servomotors.
The AM31xx series was specially developed for the servomotor terminal EL72x1.
Thermal I²T motor model
The thermal I²T motor model represents the thermal behavior of the motor winding taking into account the
absolute thermal resistance Rth and the thermal capacity Cth of motor and the stator winding.
The model assumes that the motor reaches its maximum continuous operating temperature T
continuous operation with rated current I
. This temperature corresponds to 100% motor load. During
nom
nom
during
operation at rated current the motor model reaches a load of 63% after a time of τth=Rth∙Cth and slowly
reaches its continuous operating temperature.
If the motor is operated with a current that is greater than the rated current, the model reaches 100% load
more quickly.
If the load of the I²T model exceeds 100%, the requested set current is limited to the rated current, in order to
protect the motor winding thermally. The load reduces to a maximum of 100%. If the current falls below the
rated current, the load falls below 100% and the set current limitation is cancelled.
For a motor that has been cooled to ambient temperature, the time for reaching 100% load with a set current
that exceeds the rated current can be estimated with τth∙I
nom
²/I
actual
².
The actual load must be known for exact calculation of the time when the 100% load threshold is exceeded.
EL72x118 Version: 3.3
Fig.12: Limitation to the rated motor current
3.4 Start-up
Product overview
For commissioning:
• mount the EL72x1-000x as described in the chapter Mounting and wiring [}31]
• configure the EL72x1-000x in TwinCAT as described in the chapter Commissioning [}51].
EL72x1 19Version: 3.3
Basics communication
4 Basics communication
4.1 EtherCAT basics
Please refer to the chapter EtherCAT System Documentation for the EtherCAT fieldbus basics.
4.2 EtherCAT cabling – wire-bound
The cable length between two EtherCAT devices must not exceed 100 m. This results from the FastEthernet
technology, which, above all for reasons of signal attenuation over the length of the cable, allows a maximum
link length of 5 + 90 + 5 m if cables with appropriate properties are used. See also the Design
recommendations for the infrastructure for EtherCAT/Ethernet.
Cables and connectors
For connecting EtherCAT devices only Ethernet connections (cables + plugs) that meet the requirements of
at least category 5 (CAt5) according to EN 50173 or ISO/IEC 11801 should be used. EtherCAT uses 4 wires
for signal transfer.
EtherCAT uses RJ45 plug connectors, for example. The pin assignment is compatible with the Ethernet
standard (ISO/IEC 8802-3).
Pin Color of conductor Signal Description
1 yellow TD + Transmission Data +
2 orange TD - Transmission Data 3 white RD + Receiver Data +
6 blue RD - Receiver Data -
Due to automatic cable detection (auto-crossing) symmetric (1:1) or cross-over cables can be used between
EtherCAT devices from Beckhoff.
Recommended cables
Suitable cables for the connection of EtherCAT devices can be found on the Beckhoff web-
Note
E-Bus supply
A bus coupler can supply the EL terminals added to it with the E-bus system voltage of 5V; a coupler is
thereby loadable up to 2A as a rule (see details in respective device documentation).
Information on how much current each EL terminal requires from the E-bus supply is available online and in
the catalogue. If the added terminals require more current than the coupler can supply, then power feed
terminals (e.g. EL9410) must be inserted at appropriate places in the terminal strand.
site!
The pre-calculated theoretical maximum E-Bus current is displayed in the TwinCAT System Manager. A
shortfall is marked by a negative total amount and an exclamation mark; a power feed terminal is to be
placed before such a position.
EL72x120 Version: 3.3
Fig.13: System manager current calculation
Malfunction possible!
The same ground potential must be used for the E-Bus supply of all EtherCAT terminals in
a terminal block!
Attention
4.3 General notes for setting the watchdog
Basics communication
ELxxxx terminals are equipped with a safety feature (watchdog) that switches off the outputs after a
specifiable time e.g. in the event of an interruption of the process data traffic, depending on the device and
settings, e.g. in OFF state.
The EtherCAT slave controller (ESC) in the EL2xxx terminals features 2 watchdogs:
• SM watchdog (default: 100 ms)
• PDI watchdog (default: 100 ms)
SM watchdog (SyncManager Watchdog)
The SyncManager watchdog is reset after each successful EtherCAT process data communication with the
terminal. If no EtherCAT process data communication takes place with the terminal for longer than the set
and activated SM watchdog time, e.g. in the event of a line interruption, the watchdog is triggered and the
outputs are set to FALSE. The OP state of the terminal is unaffected. The watchdog is only reset after a
successful EtherCAT process data access. Set the monitoring time as described below.
The SyncManager watchdog monitors correct and timely process data communication with the ESC from the
EtherCAT side.
PDI watchdog (Process Data Watchdog)
If no PDI communication with the EtherCAT slave controller (ESC) takes place for longer than the set and
activated PDI watchdog time, this watchdog is triggered.
PDI (Process Data Interface) is the internal interface between the ESC and local processors in the EtherCAT
slave, for example. The PDI watchdog can be used to monitor this communication for failure.
The PDI watchdog monitors correct and timely process data communication with the ESC from the
application side.
The settings of the SM- and PDI-watchdog must be done for each slave separately in the TwinCAT System
Manager.
EL72x1 21Version: 3.3
Basics communication
Fig.14: EtherCAT tab -> Advanced Settings -> Behavior -> Watchdog
Notes:
• the multiplier is valid for both watchdogs.
• each watchdog has its own timer setting, the outcome of this in summary with the multiplier is a
resulting time.
• Important: the multiplier/timer setting is only loaded into the slave at the start up, if the checkbox is
activated.
If the checkbox is not activated, nothing is downloaded and the ESC settings remain unchanged.
Multiplier
Multiplier
Both watchdogs receive their pulses from the local terminal cycle, divided by the watchdog multiplier:
1/25 MHz * (watchdog multiplier + 2) = 100 µs (for default setting of 2498 for the multiplier)
The standard setting of 1000 for the SM watchdog corresponds to a release time of 100 ms.
The value in multiplier + 2 corresponds to the number of basic 40 ns ticks representing a watchdog tick.
The multiplier can be modified in order to adjust the watchdog time over a larger range.
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Example "Set SM watchdog"
This checkbox enables manual setting of the watchdog times. If the outputs are set and the EtherCAT
communication is interrupted, the SM watchdog is triggered after the set time and the outputs are erased.
This setting can be used for adapting a terminal to a slower EtherCAT master or long cycle times. The
default SM watchdog setting is 100 ms. The setting range is 0..65535. Together with a multiplier with a range
of 1..65535 this covers a watchdog period between 0..~170 seconds.
Calculation
Multiplier = 2498 → watchdog base time = 1 / 25MHz * (2498 + 2) = 0.0001seconds = 100µs
SM watchdog = 10000 → 10000 * 100µs = 1second watchdog monitoring time
Undefined state possible!
The function for switching off of the SM watchdog via SM watchdog = 0 is only imple-
CAUTION
mented in terminals from version -0016. In previous versions this operating mode should
not be used.
Damage of devices and undefined state possible!
If the SM watchdog is activated and a value of 0 is entered the watchdog switches off com-
CAUTION
pletely. This is the deactivation of the watchdog! Set outputs are NOT set in a safe state, if
the communication is interrupted.
4.4 EtherCAT State Machine
The state of the EtherCAT slave is controlled via the EtherCAT State Machine (ESM). Depending upon the
state, different functions are accessible or executable in the EtherCAT slave. Specific commands must be
sent by the EtherCAT master to the device in each state, particularly during the bootup of the slave.
A distinction is made between the following states:
• Init
• Pre-Operational
• Safe-Operational and
• Operational
• Boot
The regular state of each EtherCAT slave after bootup is the OP state.
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Fig.15: States of the EtherCAT State Machine
Init
After switch-on the EtherCAT slave in the Init state. No mailbox or process data communication is possible.
The EtherCAT master initializes sync manager channels 0 and 1 for mailbox communication.
Pre-Operational (Pre-Op)
During the transition between Init and Pre-Op the EtherCAT slave checks whether the mailbox was initialized
correctly.
In Pre-Op state mailbox communication is possible, but not process data communication. The EtherCAT
master initializes the sync manager channels for process data (from sync manager channel 2), the FMMU
channels and, if the slave supports configurable mapping, PDO mapping or the sync manager PDO
assignment. In this state the settings for the process data transfer and perhaps terminal-specific parameters
that may differ from the default settings are also transferred.
Safe-Operational (Safe-Op)
During transition between Pre-Op and Safe-Op the EtherCAT slave checks whether the sync manager
channels for process data communication and, if required, the distributed clocks settings are correct. Before
it acknowledges the change of state, the EtherCAT slave copies current input data into the associated DPRAM areas of the EtherCAT slave controller (ECSC).
In Safe-Op state mailbox and process data communication is possible, although the slave keeps its outputs
in a safe state, while the input data are updated cyclically.
Outputs in SAFEOP state
The default set watchdog [}21] monitoring sets the outputs of the module in a safe state -
Note
Operational (Op)
Before the EtherCAT master switches the EtherCAT slave from Safe-Op to Op it must transfer valid output
data.
In the Op state the slave copies the output data of the masters to its outputs. Process data and mailbox
communication is possible.
depending on the settings in SAFEOP and OP - e.g. in OFF state. If this is prevented by
deactivation of the watchdog monitoring in the module, the outputs can be switched or set
also in the SAFEOP state.
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Boot
In the Boot state the slave firmware can be updated. The Boot state can only be reached via the Init state.
In the Boot state mailbox communication via the file access over EtherCAT (FoE) protocol is possible, but no
other mailbox communication and no process data communication.
4.5 CoE Interface
General description
The CoE interface (CANopen over EtherCAT) is used for parameter management of EtherCAT devices.
EtherCAT slaves or the EtherCAT master manage fixed (read only) or variable parameters which they
require for operation, diagnostics or commissioning.
CoE parameters are arranged in a table hierarchy. In principle, the user has read access via the fieldbus.
The EtherCAT master (TwinCAT System Manager) can access the local CoE lists of the slaves via
EtherCAT in read or write mode, depending on the attributes.
Different CoE parameter types are possible, including string (text), integer numbers, Boolean values or larger
byte fields. They can be used to describe a wide range of features. Examples of such parameters include
manufacturer ID, serial number, process data settings, device name, calibration values for analog
measurement or passwords.
The order is specified in 2 levels via hexadecimal numbering: (main)index, followed by subindex. The value
ranges are
• Index: 0x0000 …0xFFFF (0...65535
• SubIndex: 0x00…0xFF (0...255
dez
)
dez
)
A parameter localized in this way is normally written as 0x8010:07, with preceding "x" to identify the
hexadecimal numerical range and a colon between index and subindex.
The relevant ranges for EtherCAT fieldbus users are:
• 0x1000: This is where fixed identity information for the device is stored, including name, manufacturer,
serial number etc., plus information about the current and available process data configurations.
• 0x8000: This is where the operational and functional parameters for all channels are stored, such as
filter settings or output frequency.
Other important ranges are:
• 0x4000: In some EtherCAT devices the channel parameters are stored here (as an alternative to the
0x8000 range).
• 0x6000: Input PDOs ("input" from the perspective of the EtherCAT master)
• 0x7000: Output PDOs ("output" from the perspective of the EtherCAT master)
Availability
Not every EtherCAT device must have a CoE list. Simple I/O modules without dedicated
Note
processor usually have no variable parameters and therefore no CoE list.
If a device has a CoE list, it is shown in the TwinCAT System Manager as a separate tab with a listing of the
elements:
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Fig.16: "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.
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Note
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Data management
If slave CoE parameters are modified online, Beckhoff devices store any changes in a failsafe manner in the EEPROM, i.e. the modified CoE parameters are still available after a
restart.
The situation may be different with other manufacturers.
An EEPROM is subject to a limited lifetime with respect to write operations. From typically
100,000 write operations onwards it can no longer be guaranteed that new (changed) data
are reliably saved or are still readable. This is irrelevant for normal commissioning. However, if CoE parameters are continuously changed via ADS at machine runtime, it is quite
possible for the lifetime limit to be reached. Support for the NoCoeStorage function, which
suppresses the saving of changed CoE values, depends on the firmware version.
Please refer to the technical data in this documentation as to whether this applies to the respective device.
• If the function is supported: the function is activated by entering the code word
0x12345678 once in CoE 0xF008 and remains active as long as the code word is not
changed. After switching the device on it is then inactive. Changed CoE values are not
saved in the EEPROM and can thus be changed any number of times.
• Function is not supported: continuous changing of CoE values is not permissible in view
of the lifetime limit.
Startup list
Changes in the local CoE list of the terminal are lost if the terminal is replaced. If a terminal
Note
Recommended approach for manual modification of CoE parameters
• Make the required change in the System Manager
The values are stored locally in the EtherCAT slave
• If the value is to be stored permanently, enter it in the Startup list.
The order of the Startup entries is usually irrelevant.
is replaced with a new Beckhoff terminal, it will have the default settings. It is therefore advisable to link all changes in the CoE list of an EtherCAT slave with the Startup list of the
slave, which is processed whenever the EtherCAT fieldbus is started. In this way a replacement EtherCAT slave can automatically be parameterized with the specifications of the
user.
If EtherCAT slaves are used which are unable to store local CoE values permanently, the
Startup list must be used.
Fig.17: 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.
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Online/offline list
While working with the TwinCAT System Manager, a distinction has to be made whether the EtherCAT
device is "available", i.e. switched on and linked via EtherCAT and therefore online, or whether a
configuration is created offline without connected slaves.
In both cases a CoE list as shown in Fig. “’CoE online’ tab” is displayed. The connectivity is shown as offline/
online.
• If the slave is offline
◦ The offline list from the ESI file is displayed. In this case modifications are not meaningful or
possible.
◦ The configured status is shown under Identity.
◦ No firmware or hardware version is displayed, since these are features of the physical device.
◦ Offline is shown in red.
Fig.18: 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.
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Fig.19: Online list
Basics communication
Channel-based order
The CoE list is available in EtherCAT devices that usually feature several functionally equivalent channels.
For example, a 4-channel analog 0..10 V input terminal also has 4 logical channels and therefore 4 identical
sets of parameter data for the channels. In order to avoid having to list each channel in the documentation,
the placeholder "n" tends to be used for the individual channel numbers.
In the CoE system 16 indices, each with 255 subindices, are generally sufficient for representing all channel
parameters. The channel-based order is therefore arranged in 16
dec
/10
steps. The parameter range
hex
0x8000 exemplifies this:
• Channel 0: parameter range 0x8000:00 ... 0x800F:255
• Channel 1: parameter range 0x8010:00 ... 0x801F:255
• Channel 2: parameter range 0x8020:00 ... 0x802F:255
• ...
This is generally written as 0x80n0.
Detailed information on the CoE interface can be found in the EtherCAT system documentation on the
Beckhoff website.
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4.6 Distributed Clock
The distributed clock represents a local clock in the EtherCAT slave controller (ESC) with the following
characteristics:
• Unit 1 ns
• Zero point 1.1.2000 00:00
• Size 64 bit (sufficient for the next 584 years; however, some EtherCAT slaves only offer 32-bit support,
i.e. the variable overflows after approx. 4.2 seconds)
• The EtherCAT master automatically synchronizes the local clock with the master clock in the EtherCAT
bus with a precision of < 100 ns.
For detailed information please refer to the EtherCAT system description.
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