Beckhoff EM7004 Documentation

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Documentation

EM7004

4 Axis Interface, 16 Digital Inputs, 16 Digital Outputs, 4 Analog Outputs, 4 Encoder Inputs

Version: Date:

2.0 2016-09-21

Table of contents

1 Foreword ....................................................................................................................................................4

1.1 Notes on the documentation............................................................................................................... 4

1.2 Safety instructions .............................................................................................................................. 5

1.3 Documentation issue status................................................................................................................ 6

1.4 Version identification of EtherCAT devices......................................................................................... 6

2 Product overview.....................................................................................................................................10

2.1 Terminal Modules – System Overview ............................................................................................. 10

2.2 Introduction ....................................................................................................................................... 13

2.3 Technical data .................................................................................................................................. 14

2.4 Basic function principles ................................................................................................................... 14

2.4.1 Analog process data ..............................................................................................................15

2.4.2 Process data equations .........................................................................................................15

3 Mounting and wiring ...............................................................................................................................19

3.1 Recommended mounting rails .......................................................................................................... 19

3.2 Dimensions ....................................................................................................................................... 19

3.3 Mounting and demounting - terminals with traction lever unlocking ................................................. 19

3.4 Installation positions ......................................................................................................................... 21

3.5 Wiring................................................................................................................................................ 24

3.6 Connection technology ..................................................................................................................... 28

4 Commissioning........................................................................................................................................30

4.1 TwinCAT Quick Start ........................................................................................................................ 30

4.1.1 TwinCAT2 .............................................................................................................................32

4.1.2 TwinCAT 3 .............................................................................................................................42

4.2 TwinCAT Development Environment................................................................................................ 54

4.2.1 Installation of the TwinCAT real-time driver ...........................................................................54

4.2.2 Notes regarding ESI device description................................................................................. 60

4.2.3 TwinCAT ESI Updater............................................................................................................ 64

4.2.4 Distinction between Online and Offline ..................................................................................64

4.2.5 OFFLINE configuration creation ............................................................................................65

4.2.6 ONLINE configuration creation ..............................................................................................70

4.2.7 EtherCAT subscriber configuration ........................................................................................78

4.3 General Notes - EtherCAT Slave Application ................................................................................... 88

5 Object description and parameterization..............................................................................................96

5.1 Objects for commissioning................................................................................................................ 97

5.2 Objects for regular operation ............................................................................................................ 98

5.3 Standard objects (0x1000-0x1FFF) .................................................................................................. 98

5.4 Profile-specific objects (0x6000-0xFFFF) ....................................................................................... 107

6 Appendix ................................................................................................................................................113

6.1 Ordering information for EM7004 modules and EM/KM connectors .............................................. 113

6.2 EtherCAT AL Status Codes ............................................................................................................ 114

6.3 Firmware compatibility .................................................................................................................... 114

6.4 Firmware Update EL/ES/EM/EPxxxx.............................................................................................. 114

6.5 Restoring the delivery state ............................................................................................................ 125

6.6 Support and Service ....................................................................................................................... 126

EM7004 3Version: 2.0

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 following notes and explanations are followed when installing and commissioning these components.

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. For that reason the documentation is not in every case checked for consistency with performance data, standards or other characteristics. In the event that it contains technical or editorial errors, we retain the right to make alterations at any time and without warning. 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

© 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.

EM70044 Version: 2.0

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 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!

Serious risk of injury!

Failure to follow the safety instructions associated with this symbol directly endangers the

DANGER

life and health of persons.

Risk of injury!

Failure to follow the safety instructions associated with this symbol endangers the life and

WARNING

health of persons.

Personal injuries!

Failure to follow the safety instructions associated with this symbol can lead to injuries to

CAUTION

persons.

Damage to the environment or devices

Failure to follow the instructions associated with this symbol can lead to damage to the en-

Attention

vironment or equipment.

Tip or pointer

This symbol indicates information that contributes to better understanding.

Note

EM7004 5Version: 2.0

Foreword

1.3 Documentation issue status

Version Comment

2.0 • Migration

• Update structure

1.9 • Update chapter "Basic function principles"

1.8 • Update chapter "Wiring"

1.7 • Update chapter "Firmware"

1.6 • New safety and trademark notes added

1.5 • Object description added

1.4 • Technical data added

1.3 • Correction wiring description

1.2 • Update description added

1.1 • Technical data added

1.0 • Object description added, PLS function added

0.2 • Object description added

0.1 • First preliminary documentation for EM7004

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)

CU2008-0000-0000CU device 2008 (8-port fast

ES3602-0010-0017 ES terminal

(12 mm, pluggable connection level)

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.

3314 (4-channel thermocouple terminal)

ethernet switch) 3602 (2-channel

voltage measurement)

0000 (basic type) 0016

0000 (basic type) 0000

0010 (highprecision version)

0017

EM70046 Version: 2.0

Foreword

Associated and synonymous with each revision there is usually a description (ESI, EtherCAT Slave Information) in the form of an XML file, which is available for download from the Beckhoff website. From 2014/01 the revision is shown on the outside of the IP20 terminals, see Fig. “EL5021 EL terminal, standard IP20 IO device with batch number and revision ID (since 2014/01)”.

• The type, version and revision are read as decimal numbers, even if they are technically saved in hexadecimal.

Identification number

Beckhoff EtherCAT devices from the different lines have different kinds of identification numbers:

Production lot/batch number/serial number/date code/D number

The serial number for Beckhoff IO devices is usually the 8-digit number printed on the device or on a sticker. The serial number indicates the configuration in delivery state and therefore refers to a whole production batch, without distinguishing the individual modules of a batch.

Structure of the serial number: 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

EM7004 7Version: 2.0

Foreword

Examples of markings:

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

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

Fig.3: CU2016 switch with batch number

EM70048 Version: 2.0

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

Foreword

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

Fig.6: EP1908-0002 IP76 EtherCAT Safety Box with batch number 071201FF and unique serial number

00346070

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

EM7004 9Version: 2.0

Product overview

2 Product overview

2.1 Terminal Modules – System Overview

Fig.8: Terminal Modules – System Overview

Better sensor and actuator functionality makes machines and systems more and more powerful. The Bus Terminal reliably meets increased requirements for I/O signals through its modularity and compact design. The existing Beckhoff Bus Terminal system is complemented by the new version of the EMxxxx / KMxxxx Terminal Modules with increased packing density. In many areas of application, cost benefits can be realized through lower overall installed size and application-specific signal mix.

The new Terminal Modules are fully system-compatible. Like the Bus Terminals, they are bus-neutral and can therefore be operated with any Beckhoff Bus Coupler and Bus Terminal Controller. Like the standard Bus Terminals, the EM / KM modules are integrated in the I/O system and connected with the internal terminal bus (K-bus). Bus Terminals and terminal modules can be combined without restriction.

Connector

Like for the Bus Terminals, no tools are required for the wiring. Spring-loaded technology is used, however the connection layer is pluggable (fixed wiring).

Fig.9: Terminal modules - pluggable connection

Connection technology

Plug connectors are available for single and triple conductor connection methods.

EM700410 Version: 2.0

Product overview

Fig.10: Terminal module with plug connector for single conductor connection method (ZS2001-0002)

Fig.11: Terminal module with connector for three-wire connection (ZS2001-0004)

Packing density

The Terminal Modules combine 16, 32 or 64 digital inputs or outputs on a very small area. This compact and slimline design enables very high packing densities, leading to smaller control cabinets and terminal boxes.

EM7004 11Version: 2.0

Product overview

Fig.12: Terminal module with 16 channels

Fig.13: Terminal module with 32 channels

Fig.14: Terminal module with 64 channels

EM700412 Version: 2.0

2.2 Introduction

Product overview

Fig.15: EM7004

Terminal module axis interface

The EtherCAT module EM7004 is an interface that is optimized for direct connection of 4 servo drives, whose "encoder simulation" feeds the module with RS485 signals. The compact module features 4 integrated incremental encoders, 16 digital 24VDC inputs and outputs, and 4 analog ±10 V outputs. For fast preprocessing the digital outputs can be connected directly via the 4 encoders (PLS). This function is parameterizable. All inputs and outputs operate with a 24 V supply. Connectors X4, X5, X6 and X7 each feature an encoder input and an analog output. The connectors are galvanically isolated from each other and from the supply voltage. Connectors X0 and X1 with 16 digital inputs and X2 and X3 with 16 digital outputs enable 3-wire connection.

See also section Ordering information for EM/KM connector [}113].

EM7004 13Version: 2.0

Product overview

2.3 Technical data

Technical data EM7004

Digital inputs 16, 24V Digital outputs 16, 24V Max. output current

Digital outputs

Max. sum current (24 V supply voltage) 10 A Analog outputs 4 x ±10V (2mA) Encoder inputs 4x(A,/A,B,/B,gate,latch,ground); A B – insulated

Minimum cycle time 1ms Power supply for the electronics via the E-bus Current consumption via E-bus typ. 280 mA Electrical isolation 500 V (E-bus/signal voltage) Dimensions with connector (W x H x D) approx. 147 mm x 100 mm x 55 mm (width aligned:

Weight (without connector) approx. 260 g Weight of a connector ZS2001-0004 (three-pole) approx. 20 g Weight of a connector ZS2001-0005 (single-pole) approx. 10 g Permissible ambient temperature range during

operation Permissible ambient temperature range during

storage Permissible relative humidity 95%, no condensation

Mounting [}19]

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

X2.0 - X2.3: 0.5 A X2.4 - X2.7: 1.5 A X3.0 - X3.3: 0.5 A X3.4 - X3.7: 1.5 A

RS485 inputs (RS422); 4 x 16bit, quadrature encoder; < 400kHz

PLS function (Programmable Limit Switch) [}14]

145 mm), see dimensional drawing [}19]

0°C ... + 55°C

-25°C ... + 85°C

on 35 mm mounting rail conforms to EN 60715

2.4 Basic function principles

The 4-axis interface terminal module EM7004 integrates 4 Incremental encoder, 4 analog outputs with +/-10V and 16 digital 24V inputs and outputs. The digital inputs and outputs can be connected in single, two or three wire connection mode. For the incremental encoder a 16-bit counter with quadrature decoder and a 16-bit latch can be read, set or enabled. In addition to encoder inputs A, /A, B, /B, an additional latch input L (24V) and a gate input G (24V) for disabling the counter are available. The "Value" input value represents a 16-bit "position counter". The PLS function (Programmable Limit Switch) can be used to control digital outputs automatically depending on the encoder counter value (up to 75 entries).

Reference

An object description and an overview of adjustable encoder parameters can be found in chapter "TwinCAT System Manager - Object overview [}96]".

EM700414 Version: 2.0

2.4.1 Analog process data

Product overview

In the delivery state the process data are shown in two's complement form (-1

corresponds to 0xFFFF).

dez

The feature object 0x8020:02 [}97] (channel 1), 0x8030:02 [}97] (channel 2), 0x8040:02 [}97] (channel

3), 0x8050:02 [}97] (channel 4) can be used to select other presentation types (e.g. magnitude sign format, absolute value).

Output value Output voltage

hexadecimal decimal

0x8001 -32769 -10V 0xC001 -16383 -5V 0x0000 0 0V 0x3FFF +16383 +5V 0x7FFF +32767 +10V

2.4.2 Process data equations

Calculation

The process data, which are transferred to the Bus Terminal, are calculated based on the following equations:

YH = X x AK + B

YA = YH x AW x 2

-16

+ B

Output value after manufacturer calibration (the feature object user scaling [0x8020:01 [}97] (channel 1), 0x8030:01 [}97] (channel 2), 0x8040:01 [}97] (channel 3), 0x8050:01 [}97] (channel 4) is inactive]

Output value following user scaling

EM7004 15Version: 2.0

Product overview

Legend

Name Name Object index

X Controller process data B

Process data to D/A converter after manufacturer calibration Process data to D/A converter after user scaling -

Manufacturer calibration offset (can only be changed if the producer code word (object 0xF008 [}112]) is set)

Manufacturer calibration gain (can only be changed if the Producer codeword (object 0xF008 [}112]) is set)

User scaling offset (can be activated via feature object user scaling [0x8020:01 [}97] (channel1), 0x8030:01 [}97] (channel 2), 0x8040:01 [}97] (channel

3), 0x8050:01 [}97] (channel 4)]

User scaling gain (can be activated via feature object user scaling [0x8020:01 [}97] (channel1), 0x8030:01 [}97] (channel 2), 0x8040:01 [}97] (channel

3), 0x8050:01 [}97] (channel 4)]

0x802F:01 [}98], 0x803F:01 [}98], 0x804F:01 [}98], 0x805F:01 [}98]

0x802F:02 [}98], 0x803F:02 [}98], 0x804F:02 [}98], 0x805F:02 [}98]

0x8020:11 [}97], 0x8030:11 [}97], 0x8040:11 [}97], 0x8050:11 [}97]

0x8020:12 [}97], 0x8030:12 [}97], 0x8040:12 [}97], 0x8050:12 [}97]

EM700416 Version: 2.0

Product overview

Sample: Limitation of the output range from -5V to +5V, calculation of the user scaling GAIN factor

YA = 16383

dec

corresponds to the desired upper limit value of +5 V

YH = 32767 BW = 0

YA = YH x AW x 2

Û (YA - BW ) / (YH x 2

dec

-16

+ B

-16

(16383 - 0) / 32767 x 2

W

) =A

-16

corresponds to the upper limit value of +10 V corresponds to the offset of the user scaling

Calculation of the GAIN value for an upper limit value of +5V (corresponds to a lower limit value of -5V through cancelling the sign)

W

corresponds to the user scaling gain factor (factor 0.5)

=A W =32767

Sample: Shifting of the output range from -3V to +10V, calculation of the user scaling OFFSET value

YA = (- 9831 YH = (-32769 AW = 65536

YA = YH x AW x 2

Û YA - YH x AW x 2

) corresponds to the desired lower limit value of -3 V

dec

) corresponds to the lower limit value of -10 V

dec

-16

+ B

-16

= B

W

corresponds to the gain factor of the user scaling (factor 1)

Calculation of the OFFSET value for the shifting of the lower limit value to -3 V

(- 9831) - (- 32769 x 65536 x 2

-16

)

corresponds to the offset value of the user scaling of +7 V

= B W = 22938

OFFSET value

Shifting of the output value through the OFFSET is linear up to the lower (- 10V) or upper limit value (+ 10V).

Note

User-specific output value (user default output)

The analog output value can, e.g. in the case of a failure of communication with the controller, be set to a user-specific value. The objects 0x8020:06 [}97] (channel 1), 0x8030:06 [}97] (channel 2), 0x8040:06 [}97] (channel 3), 0x8050:06 [}97] (channel 4) activate this option (value: TRUE); the output values are determined with the objects 0x8020:13 [}97] (channel 1), 0x8030:13 [}97] (channel 2), 0x8040:13 [}97] (channel 3), 0x8050:13 [}97] (channel 4). If this function is disabled (value of object 0x8020:06 [}97] (channel 1), 0x8030:06 [}97] (channel 2), 0x8040:06 [}97] (channel 3), 0x8050:06 [}97] (channel 4) is

FALSE), the manufacturer default value (0V) is output. If the watchdog timer is deactivated (value of object 0x8020:05 [}97] (channel 1), 0x8030:05 [}97] (channel 2), 0x8040:05 [}97] (channel 3), 0x8050:05 [}97] (channel 4) is TRUE), no default value is

output.

PLS function (Programmable Limit Switch)

The PLS function enables a certain value ("PLS output data", object 0x80A2 [}111]) to be assigned to the digital outputs when the assigned encoder ("Encoder as PLS source", object 0x80A0:01 [}98]) has reached a particular switch value ("PLS switch value", object 0x80A1 [}111]). Object 0x80A0:11 [}98] ("output

mask") is used to specify which of the digital outputs are allocated to the PLS function.

EM7004 17Version: 2.0

Product overview

Sample

Value in object 0x80A0:11 [}98] = 0x00FF, outputs 0-7 are assigned to the PLS function, outputs 8-15 are not linked to the function.

If no valid table entry is available (counter reading >=0, but less than the first table entry), the value in object 0x80A0:12 [}98] ("default output") is output. Object 0x80A1 [}111] contains up to 75 switch values ("PLS switch values"); object 0x80A2 [}111] contains

up to 75 output data ("PLS output data"). The PLS function can only be activated if the subindex :0 (number of following subindices) for objects 0x80A1 [}111] and 0x80A2 [}111] is identical.

PLS function: Response time for triggering the outputs

The internal processing time of the terminal from reaching the PLS switch value to switch-

Note

ing of the digital outputs is specified with less than 365µs.

Code Word

Code word

The vendor reserves the authority for the basic calibration of the terminals. The code word

Note

is therefore at present reserved.

EM700418 Version: 2.0

Mounting and wiring

3 Mounting and wiring

3.1 Recommended mounting rails

Terminal Modules and 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 ter-

Note

3.2 Dimensions

EM7004

minals 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)!

Fig.16: EM7004 dimensions

3.3 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).

Fixing of mounting rails

The locking mechanism of the terminals and couplers extends to the profile of the mounting

Note

EM7004 19Version: 2.0

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).

Mounting and wiring

Risk of electric shock and damage of device!

Bring the bus terminal system into a safe, powered down state before starting installation,

WARNING

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

EM700420 Version: 2.0

Mounting and wiring

• In the case 32 and 64 channel terminal modules (KMxxx4 and KMxxx8 or EMxxx4 and EMxxx8) you now lever the second unlatching hook on the right-hand side of the terminal module upwards in the same way.

• Pull (4) the terminal module away from the mounting surface.

3.4 Installation positions

Constraints regarding installation position and operating temperature range

Please refer to the technical data for a terminal to ascertain whether any restrictions re-

Attention

EM7004 21Version: 2.0

garding 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!

Mounting and wiring

Optimum installation position (standard)

The optimum installation position requires the mounting rail to be installed horizontally and the connection surfaces of the EL/KL terminals to face forward (see Fig. “Recommended distances for standard installation position”). The terminals are ventilated from below, which enables optimum cooling of the electronics through convection. "From below" is relative to the acceleration of gravity.

Fig.17: 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.

EM700422 Version: 2.0

Mounting and wiring

Fig.18: Other installation positions

EM7004 23Version: 2.0

Mounting and wiring

3.5 Wiring

Otherwise the device may be damaged

Bring the bus system into a safe, de-energized state before starting installation, disassem-

Attention

Connection of the supply voltages and pin assignment

Version 1: 24Vsupply voltage via clamped joint X8

For power supply of the EM module, connect the clamped joint X8 (see Fig. Clamped joint for power supply) with the 24V supply voltage.

bly or wiring of the terminal modules!

Fig.19: Clamped joint for power supply

Risk of damage to the module; note sum current!

Regardless of the maximum output current of the individual module channels, the maxi-

Attention

mum sum current flowing via the clamped joint X8 must not exceed 10A (see Technical data [}14])!

Version 2: Alternative 24V module supply

The diagram shows the alternative connection of the supply voltage for the digital inputs and outputs, and the further connection of the module.

EM700424 Version: 2.0

Mounting and wiring

Fig.20: Connection of the module with alternative power supply

Alternative 24 V power supply of the EM module

For alternative supply (US) of the EM module, connect connectors X0-X3 (see Fig. Connec-

Note

tion of the module with alternative power supply)

• the positive supply voltage to terminal location +24V

• the negative supply voltage to terminal location 0V

Connection for clamped joints X0 - X1

Digital inputs, channel 0 - 15 (16 channels)

(with connector ZS2001-0002 or ZS2001-0004)

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Connection Terminal point on EM/KM plug connector

24V 24 X0 Input 0 0 X0 Input 1 1 X0 Input 2 2 X0 Input 3 3 X0 Input 4 4 X0 Input 5 5 X0 Input 6 6 X0 Input 7 7 X0 0V 0V X0 24V 24 X1 Input 8 0 X1 Input 9 1 X1 Input 10 2 X1 Input 11 3 X1 Input 12 4 X1 Input 13 5 X1 Input 14 6 X1 Input 15 7 X1 0V 0V X1

Connection for clamped joints X2 – X3

Digital outputs, channel 0 - 15 (16 channels)

(with connector ZS2001-0002 or ZS2001-0004)

Connection Terminal point on EM/KM plug connector

24V 24 X2 Output 0 0 X2 Output 1 1 X2 Output 2 2 X2 Output 3 3 X2 Output 4 4 X2 Output 5 5 X2 Output 6 6 X2 Output 7 7 X2 0V 0V X2 24V 24 X3 Output 8 8 X3 Output 9 9 X3 Output 10 10 X3 Output 11 11 X3 Output 12 12 X3 Output 13 13 X3 Output 14 14 X3 Output 15 15 X3 0V 0V X3

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Connection for clamped joints X4 – X7

Incremental encoder and analog outputs

(with connector ZS2001-0005)

Connection Terminal point on EM/KM plug connector

Encoder 1, input A 1 X4 Encoder 1, input /A 2 X4 Encoder 1, input B 3 X4 Encoder 1, input /B 4 X4 Encoder 1, Gate 5 X4 Encoder 1, Latch 6 X4 Ground 7 X4 Analog output 1, +10V 8 X4 Analog output 1, -10 V 9 X4 Shield 10 X4 Encoder 2, input A 1 X5 Encoder 2, input /A 2 X5 Encoder 2, input B 3 X5 Encoder 2, input /B 4 X5 Encoder 2, Gate 5 X5 Encoder 2, Latch 6 X5 Ground 7 X5 Analog output 2, +10 V 8 X5 Analog output 2, -10 V 9 X5 Shield 10 X5 Encoder 3, input A 1 X6 Encoder 3, input /A 2 X6 Encoder 3, input B 3 X6 Encoder 3, input /B 4 X6 Encoder 3, Gate 5 X6 Encoder 3, Latch 6 X6 Ground 7 X6 Analog output 3, +10 V 8 X6 Analog output 3, -10 V 9 X6 Shield 10 X6 Encoder 4, input A 1 X7 Encoder 4, input /A 2 X7 Encoder 4, input B 3 X7 Encoder 4, input /B 4 X7 Encoder 4, Gate 5 X7 Encoder 4, Latch 6 X7 Ground 7 X7 Analog output 4, +10 V 8 X7 Analog output 4, -10 V 9 X7 Shield 10 X7

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3.6 Connection technology

The digital inputs and outputs can be connected in

• single-conductor (see example, terminal point 0),

• two-conductor (see example, terminal point 3), or

• three-conductor mode (see example, terminal point 6)

Input circuits

Fig.21: Input circuits single-, two- and three-conductor mode

EM700428 Version: 2.0

Output circuits

Mounting and wiring

Fig.22: Output circuits single-, two- and three-conductor mode

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4 Commissioning

4.1 TwinCAT Quick Start

TwinCAT is a development environment for real-time control including multi-PLC system, NC axis control, programming and operation. The whole system is mapped through this environment and enables access to a programming environment (including compilation) for the controller. Individual digital or analog inputs or outputs can also be read or written directly, in order to verify their functionality, for example.

For further information please refer to http://infosys.beckhoff.com:

• EtherCAT Systemmanual: Fieldbus Components → EtherCAT Terminals → EtherCAT System Documentation → Setup in the TwinCAT System Manager

• TwinCAT2 → TwinCAT System Manager → I/O - Configuration

• In particular, TwinCAT driver installation: Fieldbus components → Fieldbus Cards and Switches → FC900x – PCI Cards for Ethernet → Installation

Devices contain the terminals for the actual configuration. All configuration data can be entered directly via editor functions (offline) or via the "Scan" function (online):

• "offline": The configuration can be customized by adding and positioning individual components. These can be selected from a directory and configured.

◦ The procedure for offline mode can be found under http://infosys.beckhoff.com:

TwinCAT2 → TwinCAT System Manager → IO - Configuration → Adding an I/O Device

• "online": The existing hardware configuration is read

◦ See also http://infosys.beckhoff.com:

Fieldbus components → Fieldbus cards and switches → FC900x – PCI Cards for Ethernet → Installation → Searching for devices

The following relationship is envisaged from user PC to the individual control elements:

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Fig.23: Relationship between user side (commissioning) and installation

The user inserting of certain components (I/O device, terminal, box...) is the same in TwinCAT2 and TwinCAT3. The descriptions below relate to the online procedure.

Sample configuration (actual configuration)

Based on the following sample configuration, the subsequent subsections describe the procedure for TwinCAT2 and TwinCAT3:

• Control system (PLC) CX2040 including CX2100-0004 power supply unit

• Connected to the CX2040 on the right (E-bus): EL1004 (4-channel analog input terminal -10…+10V)

• Linked via the X001 port (RJ-45): EK1100 EtherCAT Coupler

• Connected to the EK1100 EtherCAT coupler on the right (E-bus): EL2008 (8-channel digital output terminal 24VDC;0.5A)

• (Optional via X000: a link to an external PC for the user interface)

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Fig.24: Control configuration with an Embedded PC and input (EL1004) and output (EL2008)

Note that all combinations of a configuration are possible; for example, the EL1004 terminal could also be connected after the coupler, or the EL2008 terminal could additionally be connected to the CX2040 on the right, in which case the EK1100 coupler wouldn’t be necessary.

4.1.1 TwinCAT2

Startup

TwinCAT basically uses two user interfaces: the TwinCAT System Manager for communication with the electromechanical components and TwinCAT PLC Control for the development and compilation of a controller. The starting point is the TwinCAT System Manager.

After successful installation of the TwinCAT system on the PC to be used for development, the TwinCAT2 System Manager displays the following user interface after startup:

Fig.25: Initial TwinCAT2 user interface

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Generally, TwinCAT can be used in local or remote mode. Once the TwinCAT system including the user interface (standard) is installed on the respective PLC, TwinCAT can be used in local mode and thereby the

next step is "Insert Device [}34]".

If the intention is to address the TwinCAT runtime environment installed on a PLC as development environment remotely from another system, the target system must be made known first. In the menu under

"Actions" → "Choose Target System...", via the symbol " " or the "F8" key, open the following window:

Fig.26: Selection of the target system

Use "Search (Ethernet)..." to enter the target system. Thus a next dialog opens to either:

• enter the known computer name after "Enter Host Name / IP:" (as shown in red)

• perform a "Broadcast Search" (if the exact computer name is not known)

• enter the known computer IP or AmsNetID.

Fig.27: Specify the PLC for access by the TwinCAT System Manager: selection of the target system

Once the target system has been entered, it is available for selection as follows (a password may have to be entered):

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After confirmation with "OK" the target system can be accessed via the System Manager.

Adding devices

In the configuration tree of the TwinCAT2 System Manager user interface on the left, select "I/ODevices” and then right-click to open a context menu and select "ScanDevices…", or start the action in the menu bar

via . The TwinCAT System Manager may first have to be set to "Configmode" via or via menu “Actions" → "Set/Reset TwinCAT to Config Mode…" (Shift + F4).

Fig.28: Select "Scan Devices..."

Confirm the warning message, which follows, and select "EtherCAT" in the dialog:

Fig.29: Automatic detection of I/O devices: selection the devices to be integrated

Confirm the message "Find new boxes", in order to determine the terminals connected to the devices. "Free Run" enables manipulation of input and output values in "Config mode" and should also be acknowledged.

Based on the sample configuration [}31] described at the beginning of this section, the result is as follows:

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Fig.30: Mapping of the configuration in the TwinCAT2 System Manager

The whole process consists of two stages, which may be performed separately (first determine the devices, then determine the connected elements such as boxes, terminals, etc.). A scan can also be initiated by selecting "Device ..." from the context menu, which then reads the elements present in the configuration below:

Fig.31: Reading of individual terminals connected to a device

This functionality is useful if the actual configuration is modified at short notice.

Programming and integrating the PLC

TwinCAT PLC Control is the development environment for the creation of the controller in different program environments: TwinCAT PLC Control supports all languages described in IEC 61131-3. There are two textbased languages and three graphical languages.

• Text-based languages

◦ Instruction List (IL)

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◦ Structured Text (ST)

• Graphical languages

◦ Function Block Diagram (FBD) ◦ Ladder Diagram (LD) ◦ The Continuous Function Chart Editor (CFC) ◦ Sequential Function Chart (SFC)

The following section refers to Structured Text (ST).

After starting TwinCAT PLC Control, the following user interface is shown for an initial project:

Fig.32: TwinCAT PLC Control after startup

Sample variables and a sample program have been created and stored under the name "PLC_example.pro":

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Fig.33: Sample program with variables after a compile process (without variable integration)

Warning 1990 (missing "VAR_CONFIG") after a compile process indicates that the variables defined as external (with the ID "AT%I*" or "AT%Q*") have not been assigned. After successful compilation, TwinCAT PLC Control creates a "*.tpy" file in the directory in which the project was stored. This file (*.tpy) contains variable assignments and is not known to the System Manager, hence the warning. Once the System Manager has been notified, the warning no longer appears.

First, integrate the TwinCAT PLC Control project in the System Manager via the context menu of the PLC configuration; right-click and select "Append PLC Project…":

Fig.34: Appending the TwinCAT PLC Control project

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Select the PLC configuration "PLC_example.tpy" in the browser window that opens. The project including the two variables identified with "AT" are then integrated in the configuration tree of the System Manager:

Fig.35: PLC project integrated in the PLC configuration of the System Manager

The two variables "bEL1004_Ch4" and "nEL2008_value" can now be assigned to certain process objects of the I/O configuration.

Assigning variables

Open a window for selecting a suitable process object (PDO) via the context menu of a variable of the integrated project "PLC_example" and via "Modify Link..." "Standard":

Fig.36: Creating the links between PLC variables and process objects

In the window that opens, the process object for the variable “bEL1004_Ch4” of type BOOL can be selected from the PLC configuration tree:

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Fig.37: Selecting PDO of type BOOL

According to the default setting, certain PDO objects are now available for selection. In this sample the input of channel 4 of the EL1004 terminal is selected for linking. In contrast, the checkbox "All types" must be ticked for creating the link for the output variables, in order to allocate a set of eight separate output bits to a byte variable. The following diagram shows the whole process:

Fig.38: Selecting several PDOs simultaneously: activate "Continuous" and "All types"

Note that the "Continuous" checkbox was also activated. This is designed to allocate the bits contained in the byte of the variable "nEL2008_value" sequentially to all eight selected output bits of the EL2008 terminal. In this way it is possible to subsequently address all eight outputs of the terminal in the program with a byte

corresponding to bit 0 for channel 1 to bit 7 for channel 8 of the PLC. A special symbol ( ) at the yellow or red object of the variable indicates that a link exists. The links can also be checked by selecting a "Goto Link Variable” from the context menu of a variable. The object opposite, in this case the PDO, is automatically selected:

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Fig.39: Application of a "Goto Link" variable, using "MAIN.bEL1004_Ch4" as a sample

The process of assigning variables to the PDO is completed via the menu selection "Actions" → "Generate

Mappings”, key Ctrl+M or by clicking on the symbol in the menu.

This can be visualized in the configuration:

The process of creating links can also take place in the opposite direction, i.e. starting with individual PDOs to variable. However, in this example it would then not be possible to select all output bits for the EL2008, since the terminal only makes individual digital outputs available. If a terminal has a byte, word, integer or similar PDO, it is possible to allocate this a set of bit-standardised variables (type "BOOL"). Here, too, a "Goto Link Variable” from the context menu of a PDO can be executed in the other direction, so that the respective PLC instance can then be selected.

Activation of the configuration

The allocation of PDO to PLC variables has now established the connection from the controller to the inputs and outputs of the terminals. The configuration can now be activated. First, the configuration can be verified

via (or via "Actions" → "Check Configuration”). If no error is present, the configuration can be

activated via (or via "Actions" → "Activate Configuration…") to transfer the System Manager settings to the runtime system. Confirm the messages "Old configurations are overwritten!" and "Restart TwinCAT system in Run mode" with "OK".

A few seconds later the real-time status is displayed at the bottom right in the System Manager. The PLC system can then be started as described below.

Starting the controller

Starting from a remote system, the PLC control has to be linked with the Embedded PC over Ethernet via "Online" → “Choose Run-Time System…":

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Fig.40: Choose target system (remote)

In this sample "Runtime system 1 (port 801)" is selected and confirmed. Link the PLC with the real-time

system via menu option "Online" → "Login", the F11 key or by clicking on the symbol .The control program can then be loaded for execution. This results in the message "No program on the controller! Should the new program be loaded?", which should be acknowledged with "Yes". The runtime environment is ready for the program start:

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Fig.41: PLC Control logged in, ready for program startup

The PLC can now be started via "Online" → "Run", F5 key or .

4.1.2 TwinCAT 3

Startup

TwinCAT makes the development environment areas available together with Microsoft Visual Studio: after startup, the project folder explorer appears on the left in the general window area (cf. "TwinCAT System Manager" of TwinCAT2) for communication with the electromechanical components.

After successful installation of the TwinCAT system on the PC to be used for development, TwinCAT3 (shell) displays the following user interface after startup:

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Fig.42: Initial TwinCAT3 user interface

First create a new project via (or under "File"→“New"→ "Project…"). In the following dialog make the corresponding entries as required (as shown in the diagram):

Fig.43: Create new TwinCAT project

The new project is then available in the project folder explorer:

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Fig.44: New TwinCAT3 project in the project folder explorer

next step is "Insert Device [}45]".

expand the pull-down menu:

and open the following window:

Fig.45: Selection dialog: Choose the target system

EM700444 Version: 2.0

Use "Search (Ethernet)..." to enter the target system. Thus a next dialog opens to either:

• enter the known computer name after "Enter Host Name / IP:" (as shown in red)

• perform a "Broadcast Search" (if the exact computer name is not known)

• enter the known computer IP or AmsNetID.

Commissioning

Fig.46: Specify the PLC for access by the TwinCAT System Manager: selection of the target system

Once the target system has been entered, it is available for selection as follows (a password may have to be entered):

After confirmation with "OK" the target system can be accessed via the Visual Studio shell.

Adding devices

In the project folder explorer of the Visual Studio shell user interface on the left, select "Devices" within

element “I/O”, then right-click to open a context menu and select "Scan" or start the action via in the

menu bar. The TwinCAT System Manager may first have to be set to "Config mode" via or via the menu "TwinCAT" → "Restart TwinCAT (Config mode)".

Fig.47: Select "Scan"

Confirm the warning message, which follows, and select "EtherCAT" in the dialog:

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Fig.48: Automatic detection of I/O devices: selection the devices to be integrated

Based on the sample configuration [}31] described at the beginning of this section, the result is as follows:

Fig.49: Mapping of the configuration in VS shell of the TwinCAT3 environment

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Fig.50: Reading of individual terminals connected to a device

This functionality is useful if the actual configuration is modified at short notice.

Programming the PLC

• Text-based languages

◦ Instruction List (IL) ◦ Structured Text (ST)

• Graphical languages

◦ Function Block Diagram (FBD) ◦ Ladder Diagram (LD) ◦ The Continuous Function Chart Editor (CFC) ◦ Sequential Function Chart (SFC)

The following section refers to Structured Text (ST).

In order to create a programming environment, a PLC subproject is added to the project sample via the context menu of "PLC" in the project folder explorer by selecting "Add New Item….":

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Fig.51: Adding the programming environment in "PLC"

In the dialog that opens select "Standard PLC project" and enter "PLC_example" as project name, for example, and select a corresponding directory:

Fig.52: Specifying the name and directory for the PLC programming environment

The "Main" program, which already exists by selecting "Standard PLC project", can be opened by doubleclicking on "PLC_example_project" in "POUs”. The following user interface is shown for an initial project:

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Fig.53: Initial "Main" program of the standard PLC project

To continue, sample variables and a sample program have now been created:

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Fig.54: Sample program with variables after a compile process (without variable integration)

The control program is now created as a project folder, followed by the compile process:

Fig.55: Start program compilation

The following variables, identified in the ST/ PLC program with "AT%", are then available in under "Assignments" in the project folder explorer:

Assigning variables

Via the menu of an instance - variables in the "PLC” context, use the "Modify Link…" option to open a window for selecting a suitable process object (PDO) for linking:

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Fig.56: Creating the links between PLC variables and process objects

In the window that opens, the process object for the variable "bEL1004_Ch4" of type BOOL can be selected from the PLC configuration tree:

Fig.57: Selecting PDO of type BOOL

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Fig.58: Selecting several PDOs simultaneously: activate "Continuous" and "All types"

Fig.59: Application of a "Goto Link" variable, using "MAIN.bEL1004_Ch4" as a sample

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Activation of the configuration

The allocation of PDO to PLC variables has now established the connection from the controller to the inputs

and outputs of the terminals. The configuration can now be activated with or via the menu under "TwinCAT" in order to transfer settings of the development environment to the runtime system. Confirm the messages "Old configurations are overwritten!" and "Restart TwinCAT system in Run mode" with "OK". The corresponding assignments can be seen in the project folder explorer:

A few seconds later the corresponding status of the Run mode is displayed in the form of a rotating symbol

at the bottom right of the VS shell development environment. The PLC system can then be started as

described below.

Starting the controller

Select the menu option "PLC" → "Login" or click on to link the PLC with the real-time system and load the control program for execution. This results in the message "No program on the controller! Should the new program be loaded?", which should be acknowledged with "Yes". The runtime environment is ready for

program start by click on symbol , the "F5" key or via "PLC" in the menu selecting “Start”. The started programming environment shows the runtime values of individual variables:

Fig.60: TwinCAT development environment (VS shell): logged-in, after program startup

The two operator control elements for stopping and logout result in the required action (accordingly also for stop "Shift + F5", or both actions can be selected via the PLC menu).

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4.2 TwinCAT Development Environment

The Software for automation TwinCAT (The Windows Control and Automation Technology) will be distinguished into:

• TwinCAT2: System Manager (Configuration) & PLC Control (Programming)

• TwinCAT3: Enhancement of TwinCAT2 (Programming and Configuration takes place via a common Development Environment)

Details:

• TwinCAT2:

◦ Connects I/O devices to tasks in a variable-oriented manner ◦ Connects tasks to tasks in a variable-oriented manner ◦ Supports units at the bit level ◦ Supports synchronous or asynchronous relationships ◦ Exchange of consistent data areas and process images ◦ Datalink on NT - Programs by open Microsoft Standards (OLE, OCX, ActiveX, DCOM+, etc.) ◦ Integration of IEC 61131-3-Software-SPS, Software- NC and Software-CNC within Windows

NT/2000/XP/Vista, Windows 7, NT/XP Embedded, CE

◦ Interconnection to all common fieldbusses ◦ More…

Additional features:

• TwinCAT3 (eXtended Automation):

◦ Visual-Studio®-Integration ◦ Choice of the programming language ◦ Supports object orientated extension of IEC 61131-3 ◦ Usage of C/C++ as programming language for real time applications ◦ Connection to MATLAB®/Simulink® ◦ Open interface for expandability ◦ Flexible run-time environment ◦ Active support of Multi-Core- und 64-Bit-Operatingsystem ◦ Automatic code generation and project creation with the TwinCAT Automation Interface

◦ More…

Within the following sections commissioning of the TwinCAT Development Environment on a PC System for the control and also the basically functions of unique control elements will be explained.

Please see further information to TwinCAT2 and TwinCAT3 at http://infosys.beckhoff.com.

4.2.1 Installation of the TwinCAT real-time driver

In order to assign real-time capability to a standard Ethernet port of an IPC controller, the Beckhoff real-time driver has to be installed on this port under Windows.

This can be done in several ways. One option is described here.

In the System Manager call up the TwinCAT overview of the local network interfaces via Options → Show Real Time Ethernet Compatible Devices.

EM700454 Version: 2.0

Fig.61: System Manager “Options” (TwinCAT2)

This have to be called up by the Menü “TwinCAT” within the TwinCAT3 environment:

Commissioning

Fig.62: Call up under VS Shell (TwinCAT3)

The following dialog appears:

Fig.63: Overview of network interfaces

Interfaces listed under “Compatible devices” can be assigned a driver via the “Install” button. A driver should only be installed on compatible devices.

A Windows warning regarding the unsigned driver can be ignored.

Alternatively an EtherCAT-device can be inserted first of all as described in chapter Offline configuration creation, section “Creating the EtherCAT device” [}65] in order to view the compatible ethernet ports via its

EtherCAT properties (tab „Adapter“, button „Compatible Devices…“):

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Fig.64: EtherCAT device properties(TwinCAT2): click on „Compatible Devices…“ of tab “Adapter”

TwinCAT 3: the properties of the EtherCAT device can be opened by double click on “Device .. (EtherCAT)” within the Solution Explorer under “I/O”:

After the installation the driver appears activated in the Windows overview for the network interface (Windows Start → System Properties → Network)

Fig.65: Windows properties of the network interface

A correct setting of the driver could be:

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Fig.66: Exemplary correct driver setting for the Ethernet port

Other possible settings have to be avoided:

Commissioning

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Fig.67: Incorrect driver settings for the Ethernet port

IP address of the port used

IP address/DHCP

In most cases an Ethernet port that is configured as an EtherCAT device will not transport

Note

general IP packets. For this reason and in cases where an EL6601 or similar devices are used it is useful to specify a fixed IP address for this port via the “Internet Protocol TCP/IP” driver setting and to disable DHCP. In this way the delay associated with the DHCP client for the Ethernet port assigning itself a default IP address in the absence of a DHCP server is avoided. A suitable address space is 192.168.x.x, for example.

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Fig.68: TCP/IP setting for the Ethernet port

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4.2.2 Notes regarding ESI device description

Installation of the latest ESI device description

The TwinCAT EtherCAT master/System Manager needs the device description files for the devices to be used in order to generate the configuration in online or offline mode. The device descriptions are contained in the so-called ESI files (EtherCAT Slave Information) in XML format. These files can be requested from the respective manufacturer and are made available for download. An *.xml file may contain several device descriptions.

The ESI files for Beckhoff EtherCAT devices are available on the Beckhoff website.

The ESI files should be stored in the TwinCAT installation directory.

Default settings:

• TwinCAT2: C:\TwinCAT\IO\EtherCAT

• TwinCAT3: C:\TwinCAT\3.1\Config\Io\EtherCAT

The files are read (once) when a new System Manager window is opened, if they have changed since the last time the System Manager window was opened.

A TwinCAT installation includes the set of Beckhoff ESI files that was current at the time when the TwinCAT build was created.

For TwinCAT2.11/TwinCAT3 and higher, the ESI directory can be updated from the System Manager, if the programming PC is connected to the Internet; by

• TwinCAT2: Option → “Update EtherCAT Device Descriptions”

• TwinCAT3: TwinCAT → EtherCAT Devices → “Update Device Descriptions (via ETG Website)…”

The TwinCAT ESI Updater [}64] is available for this purpose.

ESI

The *.xml files are associated with *.xsd files, which describe the structure of the ESI XML

Note

files. To update the ESI device descriptions, both file types should therefore be updated.

Device differentiation

EtherCAT devices/slaves are distinguished by four properties, which determine the full device identifier. For example, the device identifier EL2521-0025-1018 consists of:

• family key “EL”

• name “2521”

• type “0025”

• and revision “1018”

Fig.69: Identifier structure

The order identifier consisting of name + type (here: EL2521-0010) describes the device function. The revision indicates the technical progress 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.

Each revision has its own ESI description. See further notes [}6].

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Online description

If the EtherCAT configuration is created online through scanning of real devices (see section Online setup) and no ESI descriptions are available for a slave (specified by name and revision) that was found, the System Manager asks whether the description stored in the device should be used. In any case, the System Manager needs this information for setting up the cyclic and acyclic communication with the slave correctly.

Fig.70: OnlineDescription information window (TwinCAT2)

In TwinCAT3 a similar window appears, which also offers the Web update:

Fig.71: Information window OnlineDescription (TwinCAT3)

If possible, the Yes is to be rejected and the required ESI is to be requested from the device manufacturer. After installation of the XML/XSD file the configuration process should be repeated.

Changing the ‘usual’ configuration through a scan

ü If a scan discovers a device that is not yet known to TwinCAT, distinction has to be

Attention

Refer in particular to the chapter ‘General notes on the use of Beckhoff EtherCAT IO components’ and for manual configuration to the chapter ‘Offline configuration creation’ [}65].

If the OnlineDescription is used regardless, the System Manager reads a copy of the device description from the EEPROM in the EtherCAT slave. In complex slaves the size of the EEPROM may not be sufficient for the complete ESI, in which case the ESI would be incomplete in the configurator. Therefore it’s recommended using an offline ESI file with priority in such a case.

made between two cases. Taking the example here of the EL2521-0000 in the revision 1019

a) no ESI is present for the EL2521-0000 device at all, either for the revision 1019 or for

an older revision. The ESI must then be requested from the manufacturer (in this case Beckhoff).

b) an ESI is present for the EL2521-0000 device, but only in an older revision, e.g. 1018 or

1017. In this case an in-house check should first be performed to determine whether the spare parts stock allows the integration of the increased revision into the configuration at all. A new/higher revision usually also brings along new features. If these are not to be used, work can continue without reservations with the previous revision 1018 in the configuration. This is also stated by the Beckhoff compatibility rule.

The System Manager creates for online recorded device descriptions a new file “OnlineDescription0000...xml” in its ESI directory, which contains all ESI descriptions that were read online.

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Fig.72: File OnlineDescription.xml created by the System Manager

Is a slave desired to be added manually to the configuration at a later stage, online created slaves are indicated by a prepended symbol “>” in the selection list (see Figure “Indication of an online recorded ESI of EL2521 as an example”).

Fig.73: Indication of an online recorded ESI of EL2521 as an example

If such ESI files are used and the manufacturer's files become available later, the file OnlineDescription.xml should be deleted as follows:

• close all System Manager windows

• restart TwinCAT in Config mode

• delete "OnlineDescription0000...xml"

• restart TwinCAT System Manager

This file should not be visible after this procedure, if necessary press <F5> to update

OnlineDescription for TwinCAT3.x

In addition to the file described above "OnlineDescription0000...xml" , a so called EtherCAT

Note

cache with new discovered devices is created by TwinCAT3.x, e.g. under Windows 7:

(Please note the language settings of the OS!) You have to delete this file, too.

Faulty ESI file

If an ESI file is faulty and the System Manager is unable to read it, the System Manager brings up an information window.

Fig.74: Information window for faulty ESI file (left: TwinCAT2; right: TwinCAT3)

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Reasons may include:

• Structure of the *.xml does not correspond to the associated *.xsd file → check your schematics

• Contents cannot be translated into a device description → contact the file manufacturer

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4.2.3 TwinCAT ESI Updater

For TwinCAT2.11 and higher, the System Manager can search for current Beckhoff ESI files automatically, if an online connection is available:

Fig.75: Using the ESI Updater (>= TwinCAT2.11)

The call up takes place under: “Options” → "Update EtherCAT Device Descriptions"

Selection under TwinCAT3:

Fig.76: Using the ESI Updater (TwinCAT3)

The ESI Updater (TwinCAT3) is a convenient option for automatic downloading of ESI data provided by EtherCAT manufacturers via the Internet into the TwinCAT directory (ESI = EtherCAT slave information). TwinCAT accesses the central ESI ULR directory list stored at ETG; the entries can then be viewed in the Updater dialog, although they cannot be changed there.

The call up takes place under: “TwinCAT“ → „EtherCAT Devices“ → “Update Device Description (via ETG Website)…“.

4.2.4 Distinction between Online and Offline

The distinction between online and offline refers to the presence of the actual I/O environment (drives, terminals, EJ-modules). If the configuration is to be prepared in advance of the system configuration as a programming system, e.g. on a laptop, this is only possible in “Offline configuration” mode. In this case all components have to be entered manually in the configuration, e.g. based on the electrical design.

If the designed control system is already connected to the EtherCAT system and all components are energised and the infrastructure is ready for operation, the TwinCAT configuration can simply be generated through “scanning” from the runtime system. This is referred to as online configuration.

In any case, during each startup the EtherCAT master checks whether the slaves it finds match the configuration. This test can be parameterised in the extended slave settings. Refer to note “Installation of the latest ESI-XML device description” [}60].

For preparation of a configuration:

• the real EtherCAT hardware (devices, couplers, drives) must be present and installed

• the devices/modules must be connected via EtherCAT cables or in the terminal/ module strand in the same way as they are intended to be used later

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• the devices/modules be connected to the power supply and ready for communication

• TwinCAT must be in CONFIG mode on the target system.

The online scan process consists of:

• detecting the EtherCAT device [}70] (Ethernet port at the IPC)

• detecting the connected EtherCAT devices [}71]. This step can be carried out independent of the preceding step

• troubleshooting [}74]

The scan with existing configuration [}75] can also be carried out for comparison.

4.2.5 OFFLINE configuration creation

Creating the EtherCAT device

Create an EtherCAT device in an empty System Manager window.

Fig.77: Append EtherCAT device (left: TwinCAT2; right: TwinCAT3)

Select type ‘EtherCAT’ for an EtherCAT I/O application with EtherCAT slaves. For the present publisher/ subscriber service in combination with an EL6601/EL6614 terminal select “EtherCAT Automation Protocol via EL6601”.

Fig.78: Selecting the EtherCAT connection (TwinCAT2.11, TwinCAT3)

Then assign a real Ethernet port to this virtual device in the runtime system.

Fig.79: Selecting the Ethernet port

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This query may appear automatically when the EtherCAT device is created, or the assignment can be set/ modified later in the properties dialog; see Fig. “EtherCAT device properties (TwinCAT2)”.

Fig.80: EtherCAT device properties (TwinCAT2)

TwinCAT 3: the properties of the EtherCAT device can be opened by double click on “Device .. (EtherCAT)” within the Solution Explorer under “I/O”:

Selecting the Ethernet port

Ethernet ports can only be selected for EtherCAT devices for which the TwinCAT real-time

Note

driver is installed. This has to be done separately for each port. Please refer to the respective installation page [}54].

Defining EtherCAT slaves

Further devices can be appended by right-clicking on a device in the configuration tree.

Fig.81: Appending EtherCAT devices (left: TwinCAT2; right: TwinCAT3)

The dialog for selecting a new device opens. Only devices for which ESI files are available are displayed.

Only devices are offered for selection that can be appended to the previously selected device. Therefore the physical layer available for this port is also displayed (Fig. “Selection dialog for new EtherCAT device”, A). In the case of cable-based Fast-Ethernet physical layer with PHY transfer, then also only cable-based devices are available, as shown in Fig. “Selection dialog for new EtherCAT device”. If the preceding device has several free ports (e.g. EK1122 or EK1100), the required port can be selected on the right-hand side (A).

Overview of physical layer

• “Ethernet”: cable-based 100BASE-TX: EK couplers, EP boxes, devices with RJ45/M8/M12 connector

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• “E-Bus”: LVDS “terminal bus”, “EJ-module”: EL/ES terminals, various modular modules

The search field facilitates finding specific devices (since TwinCAT2.11 or TwinCAT3).

Commissioning

Fig.82: Selection dialog for new EtherCAT device

By default only the name/device type is used as selection criterion. For selecting a specific revision of the device the revision can be displayed as “Extended Information”.

Fig.83: Display of device revision

In many cases several device revisions were created for historic or functional reasons, e.g. through technological advancement. For simplification purposes (see Fig. “Selection dialog for new EtherCAT device”) only the last (i.e. highest) revision and therefore the latest state of production is displayed in the selection dialog for Beckhoff devices. To show all device revisions available in the system as ESI descriptions tick the “Show Hidden Devices” check box, see Fig. “Display of previous revisions”.

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Fig.84: Display of previous revisions

Device selection based on revision, compatibility

The ESI description also defines the process image, the communication type between mas-

Note

ter and slave/device and the device functions, if applicable. The physical device (firmware, if available) has to support the communication queries/settings of the master. This is backward compatible, i.e. newer devices (higher revision) should be supported if the EtherCAT master addresses them as an older revision. The following compatibility rule of thumb is to be assumed for Beckhoff EtherCAT Terminals/ Boxes/ EJ-modules:

device revision in the system >= device revision in the configuration

This also enables subsequent replacement of devices without changing the configuration (different specifications are possible for drives).

Example:

If an EL2521-0025-1018 is specified in the configuration, an EL2521-0025-1018 or higher (-1019, -1020) can be used in practice.

Fig.85: Name/revision of the terminal

If current ESI descriptions are available in the TwinCAT system, the last revision offered in the selection dialog matches the Beckhoff state of production. It is recommended to use the last device revision when creating a new configuration, if current Beckhoff devices are used in the real application. Older revisions should only be used if older devices from stock are to be used in the application.

In this case the process image of the device is shown in the configuration tree and can be parameterised as follows: linking with the task, CoE/DC settings, plug-in definition, startup settings, ...

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Fig.86: EtherCAT terminal in the TwinCAT tree (left: TwinCAT2; right: TwinCAT3)

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4.2.6 ONLINE configuration creation

Detecting/scanning of the EtherCAT device

The online device search can be used if the TwinCAT system is in CONFIG mode. This can be indicated by a symbol right below in the information bar:

• on TwinCAT2 by a blue display “Config Mode” within the System Manager window: .

• on TwinCAT3 within the user interface of the development environment by a symbol .

TwinCAT can be set into this mode:

• TwinCAT2: by selection of in the Menubar or by “Actions” → “Set/Reset TwinCATtoConfig Mode…”

• TwinCAT3: by selection of in the Menubar or by „TwinCAT“ → “RestartTwinCAT(ConfigMode)“

Online scanning in Config mode

The online search is not available in RUN mode (production operation). Note the differenti-

Note

ation between TwinCAT programming system and TwinCAT target system.

The TwinCAT2 icon ( ) or TwinCAT3 icon ( ) within the Windows-Taskbar always shows the TwinCAT mode of the local IPC. Compared to that, the System Manager window of TwinCAT2 or the user interface of TwinCAT3 indicates the state of the target system.

Fig.87: Differentiation local/target system (left: TwinCAT2; right: TwinCAT3)

Right-clicking on “I/O Devices” in the configuration tree opens the search dialog.

Fig.88: Scan Devices (left: TwinCAT2; right: TwinCAT3)

This scan mode attempts to find not only EtherCAT devices (or Ethernet ports that are usable as such), but also NOVRAM, fieldbus cards, SMB etc. However, not all devices can be found automatically.

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Fig.89: Note for automatic device scan (left: TwinCAT2; right: TwinCAT3)

Ethernet ports with installed TwinCAT real-time driver are shown as “RT Ethernet” devices. An EtherCAT frame is sent to these ports for testing purposes. If the scan agent detects from the response that an EtherCAT slave is connected, the port is immediately shown as an “EtherCAT Device” .

Fig.90: Detected Ethernet devices

Via respective checkboxes devices can be selected (as illustrated in Fig. “Detected Ethernet devices” e.g. Device 3 and Device 4 were chosen). After confirmation with “OK” a device scan is suggested for all selected devices, see Fig.: “Scan query after automatic creation of an EtherCAT device”.

Selecting the Ethernet port

Ethernet ports can only be selected for EtherCAT devices for which the TwinCAT real-time

Note

driver is installed. This has to be done separately for each port. Please refer to the respective installation page [}54].

Detecting/Scanning the EtherCAT devices

Online scan functionality

During a scan the master queries the identity information of the EtherCAT slaves from the

Note

Fig.91: Example default state

slave EEPROM. The name and revision are used for determining the type. The respective devices are located in the stored ESI data and integrated in the configuration tree in the default state defined there.

Slave scanning in practice in series machine production

The scanning function should be used with care. It is a practical and fast tool for creating an

Attention

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initial configuration as a basis for commissioning. In series machine production or reproduction of the plant, however, the function should no longer be used for the creation of the con-

figuration, but if necessary for comparison [}75] with the defined initial configuration.Background: since Beckhoff occasionally increases the revision version of the delivered products for product maintenance reasons, a configuration can be created by such a scan which (with an identical machine construction) is identical according to the device list; however, the respective device revision may differ from the initial configuration.

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Example:

Company A builds the prototype of a machine B, which is to be produced in series later on. To do this the prototype is built, a scan of the IO devices is performed in TwinCAT and the initial configuration ‘B.tsm’ is created. The EL2521-0025 EtherCAT terminal with the revision 1018 is located somewhere. It is thus built into the TwinCAT configuration in this way:

Fig.92: Installing EthetCAT terminal with revision -1018

Likewise, during the prototype test phase, the functions and properties of this terminal are tested by the programmers/commissioning engineers and used if necessary, i.e. addressed from the PLC ‘B.pro’ or the NC. (the same applies correspondingly to the TwinCAT3 solution files).

The prototype development is now completed and series production of machine B starts, for which Beckhoff continues to supply the EL2521-0025-0018. If the commissioning engineers of the series machine production department always carry out a scan, a B configuration with the identical contents results again for each machine. Likewise, A might create spare parts stores worldwide for the coming series-produced machines with EL2521-0025-1018 terminals.

After some time Beckhoff extends the EL2521-0025 by a new feature C. Therefore the FW is changed, outwardly recognizable by a higher FW version and a new revision -1019. Nevertheless the new device naturally supports functions and interfaces of the predecessor version(s); an adaptation of ‘B.tsm’ or even ‘B.pro’ is therefore unnecessary. The series-produced machines can continue to be built with ‘B.tsm’ and

‘B.pro’; it makes sense to perform a comparative scan [}75] against the initial configuration ‘B.tsm’ in order to check the built machine.

However, if the series machine production department now doesn’t use ‘B.tsm’, but instead carries out a scan to create the productive configuration, the revision -1019 is automatically detected and built into the configuration:

Fig.93: Detection of EtherCAT terminal with revision -1019

This is usually not noticed by the commissioning engineers. TwinCAT cannot signal anything either, since virtually a new configuration is created. According to the compatibility rule, however, this means that no EL2521-0025-1018 should be built into this machine as a spare part (even if this nevertheless works in the vast majority of cases).

In addition, it could be the case that, due to the development accompanying production in company A, the new feature C of the EL2521-0025-1019 (for example, an improved analog filter or an additional process data for the diagnosis) is discovered and used without in-house consultation. The previous stock of spare part devices are then no longer to be used for the new configuration ‘B2.tsm’ created in this way.Þ if series machine production is established, the scan should only be performed for informative purposes for comparison with a defined initial configuration. Changes are to be made with care!

If an EtherCAT device was created in the configuration (manually or through a scan), the I/O field can be scanned for devices/slaves.

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Fig.94: Scan query after automatic creation of an EtherCAT device (left: TwinCAT2; right: TwinCAT3)

Fig.95: Manual triggering of a device scan on a specified EtherCAT device (left: TwinCAT2; right:

TwinCAT3)

In the System Manager (TwinCAT2) or the User Interface (TwinCAT3) the scan process can be monitored via the progress bar at the bottom in the status bar.

Fig.96: Scan progressexemplary by TwinCAT2

The configuration is established and can then be switched to online state (OPERATIONAL).

Fig.97: Config/FreeRun query (left: TwinCAT2; right: TwinCAT3)

In Config/FreeRun mode the System Manager display alternates between blue and red, and the EtherCAT device continues to operate with the idling cycle time of 4 ms (default setting), even without active task (NC, PLC).

Fig.98: Displaying of “Free Run” and “Config Mode” toggling right below in the status bar

Fig.99: TwinCAT can also be switched to this state by using a button (left: TwinCAT2; right: TwinCAT3)

The EtherCAT system should then be in a functional cyclic state, as shown in Fig. “Online display example”.

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Fig.100: Online display example

Please note:

• all slaves should be in OP state

• the EtherCAT master should be in “Actual State” OP

• “frames/sec” should match the cycle time taking into account the sent number of frames

• no excessive “LostFrames” or CRC errors should occur

The configuration is now complete. It can be modified as described under manual procedure [}65].

Troubleshooting

Various effects may occur during scanning.

• An unknown device is detected, i.e. an EtherCAT slave for which no ESI XML description is available. In this case the System Manager offers to read any ESI that may be stored in the device. This case is described in the chapter "Notes regarding ESI device description".

• Device are not detected properly Possible reasons include:

- faulty data links, resulting in data loss during the scan

- slave has invalid device description The connections and devices should be checked in a targeted manner, e.g. via the emergency scan. Then re-run the scan.

Fig.101: Faulty identification

In the System Manager such devices may be set up as EK0000 or unknown devices. Operation is not possible or meaningful.

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Scan over existing Configuration

Change of the configuration after comparison

With this scan (TwinCAT2.11 or 3.1) only the device properties vendor (manufacturer), de-

Attention

If a scan is initiated for an existing configuration, the actual I/O environment may match the configuration exactly or it may differ. This enables the configuration to be compared.

Fig.102: Identical configuration (left: TwinCAT2; right: TwinCAT3)

If differences are detected, they are shown in the correction dialog, so that the user can modify the configuration as required.

vice name and revision are compared at present! A ‘ChangeTo’ or ‘Copy’ should only be carried out with care, taking into consideration the Beckhoff IO compatibility rule (see above). The device configuration is then replaced by the revision found; this can affect the supported process data and functions.

Fig.103: Correction dialog

It is advisable to tick the “Extended Information” check box to reveal differences in the revision.

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Colour Explanation

green This EtherCAT slave matches the entry on the other side. Both type and revision match. blue This EtherCAT slave is present on the other side, but in a different revision. This other

revision can have other default values for the process data as well as other/additional functions. If the found revision is higher than the configured revision, the slave may be used provided compatibility issues are taken into account.

If the found revision is lower than the configured revision, it is likely that the slave cannot be used. The found device may not support all functions that the master expects based on the

higher revision number. light blue This EtherCAT slave is ignored (“Ignore” button) red • This EtherCAT slave is not present on the other side.

• It is present, but in a different revision, which also differs in its properties from the one specified. The compatibility principle then also applies here: if the found revision is higher than the configured revision, use is possible provided compatibility issues are taken into account, since the successor devices should support the functions of the predecessor devices. If the found revision is lower than the configured revision, it is likely that the slave cannot be used. The found device may not support all functions that the master expects based on the higher revision number.

Device selection based on revision, compatibility

The ESI description also defines the process image, the communication type between mas-

Note

Example:

If an EL2521-0025-1018 is specified in the configuration, an EL2521-0025-1018 or higher (-1019, -1020) can be used in practice.

Fig.104: Name/revision of the terminal

device revision in the system >= device revision in the configuration

This also enables subsequent replacement of devices without changing the configuration (different specifications are possible for drives).

In this case the process image of the device is shown in the configuration tree and can be parameterised as follows: linking with the task, CoE/DC settings, plug-in definition, startup settings, ...

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Fig.105: Correction dialog with modifications

Commissioning

Once all modifications have been saved or accepted, click “OK” to transfer them to the real *.tsm configuration.

Change to compatible device

TwinCAT offers a function “Change to Compatible Type…” for the exchange of a device whilst retaining the links in the task.

Fig.106: Dialog “Change to Compatible Type…” (left: TwinCAT2; right: TwinCAT3)

This function is preferably to be used on AX5000 devices. If called, the System Manager suggests the devices that it finds in the associated sub-folder; in the case of the AX5000, for example, in \TwinCAT\IO

\EtherCAT\Beckhoff AX5xxx.

Change to Alternative Type

The TwinCAT System Manager offers a function for the exchange of a device: Change to Alternative Type

Fig.107: TwinCAT2 Dialog Change to Alternative Type

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If called, the System Manager searches in the procured device ESI (in this example: EL1202-0000) for details of compatible devices contained there. The configuration is changed and the ESI-EEPROM is overwritten at the same time – therefore this process is possible only in the online state (ConfigMode).

4.2.7 EtherCAT subscriber configuration

In the left-hand window of the TwinCAT2 System Manager or the Solution Explorer of the TwinCAT3 Development Environment respectively, click on the element of the terminal within the tree you wish to configure (in the example: EL3751 Terminal 3).

Fig.108: Branch element as terminal EL3751

In the right-hand window of the TwinCAT System manager (TwinCAT2) or the Development Environment (TwinCAT3), various tabs are now available for configuring the terminal. And yet the dimension of complexity of a subscriber determines which tabs are provided. Thus as illustrated in the example above the terminal EL3751 provides many setup options and also a respective number of tabs are available. On the contrary by the terminal EL1004 for example the tabs "General", "EtherCAT", "Process Data" and “Online“ are available only. Several terminals, as for instance the EL6695 provide special functions by a tab with its own terminal name, so “EL6695” in this case. A specific tab “Settings” by terminals with a wide range of setup options will be provided also (e.g. EL3751).

„General“ tab

Fig.109: “General” tab

Name Name of the EtherCAT device Id Number of the EtherCAT device Type EtherCAT device type Comment Here you can add a comment (e.g. regarding the

system).

Disabled Here you can deactivate the EtherCAT device. Create symbols Access to this EtherCAT slave via ADS is only

available if this control box is activated.

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„EtherCAT“ tab

Fig.110: „EtherCAT“ tab

Type EtherCAT device type Product/Revision Product and revision number of the EtherCAT device Auto Inc Addr. Auto increment address of the EtherCAT device. The

auto increment address can be used for addressing each EtherCAT device in the communication ring through its physical position. Auto increment addressing is used during the start-up phase when the EtherCAT master allocates addresses to the EtherCAT devices. With auto increment addressing the first EtherCAT slave in the ring has the address 0000 decremented by 1 (FFFF

EtherCAT Addr. Fixed address of an EtherCAT slave. This address is

allocated by the EtherCAT master during the start-up phase. Tick the control box to the left of the input field in order to modify the default value.

Previous Port Name and port of the EtherCAT device to which this

device is connected. If it is possible to connect this device with another one without changing the order of the EtherCAT devices in the communication ring, then this combination field is activated and the EtherCAT device to which this device is to be connected can be selected.

Advanced Settings This button opens the dialogs for advanced settings.

. For each further slave the address is

hex

, FFFE

hex

etc.).

The link at the bottom of the tab points to the product page for this EtherCAT device on the web.

“Process Data” tab

Indicates the configuration of the process data. The input and output data of the EtherCAT slave are represented as CANopen process data objects (Process Data Objects, PDOs). The user can select a PDO via PDO assignment and modify the content of the individual PDO via this dialog, if the EtherCAT slave supports this function.

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Fig.111: “Process Data” tab

The process data (PDOs) transferred by an EtherCAT slave during each cycle are user data which the application expects to be updated cyclically or which are sent to the slave. To this end the EtherCAT master (Beckhoff TwinCAT) parameterizes each EtherCAT slave during the start-up phase to define which process data (size in bits/bytes, source location, transmission type) it wants to transfer to or from this slave. Incorrect configuration can prevent successful start-up of the slave.

For Beckhoff EtherCAT EL, ES, EM, EJ and EP slaves the following applies in general:

• The input/output process data supported by the device are defined by the manufacturer in the ESI/XML description. The TwinCAT EtherCAT Master uses the ESI description to configure the slave correctly.

• The process data can be modified in the system manager. See the device documentation. Examples of modifications include: mask out a channel, displaying additional cyclic information, 16-bit display instead of 8-bit data size, etc.

• In so-called “intelligent” EtherCAT devices the process data information is also stored in the CoE directory. Any changes in the CoE directory that lead to different PDO settings prevent successful startup of the slave. It is not advisable to deviate from the designated process data, because the device firmware (if available) is adapted to these PDO combinations.

If the device documentation allows modification of process data, proceed as follows (see Figure “Configuring the process data”).

• A: select the device to configure

• B: in the “Process Data” tab select Input or Output under SyncManager (C)

• D: the PDOs can be selected or deselected

• H: the new process data are visible as linkable variables in the system manager The new process data are active once the configuration has been activated and TwinCAT has been restarted (or the EtherCAT master has been restarted)

• E: if a slave supports this, Input and Output PDO can be modified simultaneously by selecting a socalled PDO record (“predefined PDO settings”).

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Fig.112: Configuring the process data

Manual modification of the process data

According to the ESI description, a PDO can be identified as “fixed” with the flag “F” in the

Note

A detailed description [}86] can be found at the end of this section.

PDO overview (Fig. “Configuring the process data”, J). The configuration of such PDOs cannot be changed, even if TwinCAT offers the associated dialog (“Edit”). In particular, CoE content cannot be displayed as cyclic process data. This generally also applies in cases where a device supports download of the PDO configuration, “G”. In case of incorrect configuration the EtherCAT slave usually refuses to start and change to OP state. The System Manager displays an “invalid SM cfg” logger message: This error message (“invalid SM IN cfg” or “invalid SM OUT cfg”) also indicates the reason for the failed start.

„Startup“ tab

The Startup tab is displayed if the EtherCAT slave has a mailbox and supports the CANopen over EtherCAT (CoE) or Servo drive over EtherCAT protocol. This tab indicates which download requests are sent to the mailbox during startup. It is also possible to add new mailbox requests to the list display. The download requests are sent to the slave in the same order as they are shown in the list.

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Fig.113: „Startup“ tab

Column Description

Transition Transition to which the request is sent. This can either be

• the transition from pre-operational to safe-operational (PS), or

• the transition from safe-operational to operational (SO).

If the transition is enclosed in "<>" (e.g. <PS>), the mailbox request is fixed and cannot be

modified or deleted by the user. Protocol Type of mailbox protocol Index Index of the object Data Date on which this object is to be downloaded. Comment Description of the request to be sent to the mailbox

Move Up This button moves the selected request up by one

position in the list.

Move Down This button moves the selected request down by one

position in the list.

New This button adds a new mailbox download request to

be sent during startup.

Delete This button deletes the selected entry. Edit This button edits an existing request.

“CoE – Online” tab

The additional CoE - Online tab is displayed if the EtherCAT slave supports the CANopen over EtherCAT (CoE) protocol. This dialog lists the content of the object list of the slave (SDO upload) and enables the user to modify the content of an object from this list. Details for the objects of the individual EtherCAT devices can be found in the device-specific object descriptions.

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Fig.114: “CoE – Online” tab

Object list display

Column Description

Index Index and sub-index of the object Name Name of the object Flags RW The object can be read, and data can be written to the object (read/write)

RO The object can be read, but no data can be written to the object (read only) P An additional P identifies the object as a process data object.

Value Value of the object

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Update List The Update list button updates all objects in the

displayed list

Auto Update If this check box is selected, the content of the

objects is updated automatically.

Advanced The Advanced button opens the Advanced Settings

dialog. Here you can specify which objects are displayed in the list.

Fig.115: Dialog “Advanced settings”

Online - via SDO Information If this option button is selected, the list of the objects

included in the object list of the slave is uploaded from the slave via SDO information. The list below can be used to specify which object types are to be uploaded.

Offline - via EDS File If this option button is selected, the list of the objects

included in the object list is read from an EDS file provided by the user.

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„Online“ tab

Commissioning

Fig.116: „Online“ tab

State Machine

Init This button attempts to set the EtherCAT device to

the Init state.

Pre-Op This button attempts to set the EtherCAT device to

the pre-operational state.

Op This button attempts to set the EtherCAT device to

the operational state.

Bootstrap This button attempts to set the EtherCAT device to

the Bootstrap state.

Safe-Op This button attempts to set the EtherCAT device to

the safe-operational state.

Clear Error This button attempts to delete the fault display. If an

EtherCAT slave fails during change of state it sets an error flag.

Example: An EtherCAT slave is in PREOP state (preoperational). The master now requests the SAFEOP state (safe-operational). If the slave fails during change of state it sets the error flag. The current state is now displayed as ERR PREOP. When the Clear Error button is pressed the error flag is cleared, and the current state is displayed as PREOP again.

Current State Indicates the current state of the EtherCAT device. Requested State Indicates the state requested for the EtherCAT

device.

DLL Status

Indicates the DLL status (data link layer status) of the individual ports of the EtherCAT slave. The DLL status can have four different states:

EM7004 85Version: 2.0

Commissioning

Status Description

No Carrier / Open No carrier signal is available at the port, but the port

is open.

No Carrier / Closed No carrier signal is available at the port, and the port

is closed.

Carrier / Open A carrier signal is available at the port, and the port is

open.

Carrier / Closed A carrier signal is available at the port, but the port is

closed.

File Access over EtherCAT

Download With this button a file can be written to the EtherCAT

device.

Upload With this button a file can be read from the EtherCAT

device.

"DC" tab (Distributed Clocks)

Fig.117: "DC" tab (Distributed Clocks)

Operation Mode Options (optional):

• FreeRun

• SM-Synchron

• DC-Synchron (Input based)

• DC-Synchron

Advanced Settings… Advanced settings for readjustment of the real time determinant TwinCAT-

clock

Detailed information to Distributed Clocks are specified on http://infosys.beckhoff.com:

Fieldbus Components → EtherCAT Terminals → EtherCAT System documentation → EtherCAT basics → Distributed Clocks

4.2.7.1 Detailed description of Process Data tab

Sync Manager

Lists the configuration of the Sync Manager (SM). If the EtherCAT device has a mailbox, SM0 is used for the mailbox output (MbxOut) and SM1 for the mailbox input (MbxIn). SM2 is used for the output process data (outputs) and SM3 (inputs) for the input process data.

If an input is selected, the corresponding PDO assignment is displayed in the PDO Assignment list below.

EM700486 Version: 2.0

Commissioning

PDO Assignment

PDO assignment of the selected Sync Manager. All PDOs defined for this Sync Manager type are listed here:

• If the output Sync Manager (outputs) is selected in the Sync Manager list, all RxPDOs are displayed.

• If the input Sync Manager (inputs) is selected in the Sync Manager list, all TxPDOs are displayed.

The selected entries are the PDOs involved in the process data transfer. In the tree diagram of the System Manager these PDOs are displayed as variables of the EtherCAT device. The name of the variable is identical to the Name parameter of the PDO, as displayed in the PDO list. If an entry in the PDO assignment list is deactivated (not selected and greyed out), this indicates that the input is excluded from the PDO assignment. In order to be able to select a greyed out PDO, the currently selected PDO has to be deselected first.

Activation of PDO assignment

ü If you have changed the PDO assignment, in order to activate the new PDO assign-

Note

ment,

a) the EtherCAT slave has to run through the PS status transition cycle (from pre-opera-

tional to safe-operational) once (see Online tab [}85]),

b) and the System Manager has to reload the EtherCAT slaves

( button for TwinCAT2 or button for TwinCAT3)

PDO list

List of all PDOs supported by this EtherCAT device. The content of the selected PDOs is displayed in the PDO Content list. The PDO configuration can be modified by double-clicking on an entry.

Column Description

Index PDO index. Size Size of the PDO in bytes. Name Name of the PDO.

If this PDO is assigned to a Sync Manager, it appears as a variable of the slave with this parameter as the name.

Flags F Fixed content: The content of this PDO is fixed and cannot be changed by the

System Manager.

M Mandatory PDO. This PDO is mandatory and must therefore be assigned to a

Sync Manager! Consequently, this PDO cannot be deleted from the PDO Assignment list

SM Sync Manager to which this PDO is assigned. If this entry is empty, this PDO does not take

part in the process data traffic.

SU Sync unit to which this PDO is assigned.

PDO Content

Indicates the content of the PDO. If flag F (fixed content) of the PDO is not set the content can be modified.

Download

If the device is intelligent and has a mailbox, the configuration of the PDO and the PDO assignments can be downloaded to the device. This is an optional feature that is not supported by all EtherCAT slaves.

PDO Assignment

If this check box is selected, the PDO assignment that is configured in the PDO Assignment list is downloaded to the device on startup. The required commands to be sent to the device can be viewed in the

Startup [}81] tab.

EM7004 87Version: 2.0

Commissioning

PDO Configuration

If this check box is selected, the configuration of the respective PDOs (as shown in the PDO list and the PDO Content display) is downloaded to the EtherCAT slave.

4.3 General Notes - EtherCAT Slave Application

This summary briefly deals with a number of aspects of EtherCAT Slave operation under TwinCAT. More detailed information on this may be found in the corresponding sections of, for instance, the EtherCAT System Documentation.

Diagnosis in real time: WorkingCounter, EtherCAT State and Status

Generally speaking an EtherCAT Slave provides a variety of diagnostic information that can be used by the controlling task.

This diagnostic information relates to differing levels of communication. It therefore has a variety of sources, and is also updated at various times.

Any application that relies on I/O data from a fieldbus being correct and up to date must make diagnostic access to the corresponding underlying layers. EtherCAT and the TwinCAT System Manager offer comprehensive diagnostic elements of this kind. Those diagnostic elements that are helpful to the controlling task for diagnosis that is accurate for the current cycle when in operation (not during commissioning) are discussed below.

Fig.118: Selection of the diagnostic information of an EtherCAT Slave

In general, an EtherCAT Slave offers

• communication diagnosis typical for a slave (diagnosis of successful participation in the exchange of process data, and correct operating mode) This diagnosis is the same for all slaves.

as well as

• function diagnosis typical for a channel (device-dependent) See the corresponding device documentation

The colors in Fig. “Selection of the diagnostic information of an EtherCAT Slave” also correspond to the variable colors in the System Manager, see Fig. “Basic EtherCAT Slave Diagnosis in the PLC”.

EM700488 Version: 2.0

Commissioning

Colour Meaning

yellow Input variables from the Slave to the EtherCAT Master, updated in every cycle red Output variables from the Slave to the EtherCAT Master, updated in every cycle green Information variables for the EtherCAT Master that are updated acyclically. This means that

it is possible that in any particular cycle they do not represent the latest possible status. It is therefore useful to read such variables through ADS.

Fig. “Basic EtherCAT Slave Diagnosis in the PLC” shows an example of an implementation of basic EtherCAT Slave Diagnosis. A Beckhoff EL3102 (2-channel analogue input terminal) is used here, as it offers both the communication diagnosis typical of a slave and the functional diagnosis that is specific to a channel. Structures are created as input variables in the PLC, each corresponding to the process image.

Fig.119: Basic EtherCAT Slave Diagnosis in the PLC

The following aspects are covered here:

EM7004 89Version: 2.0

Commissioning

Code Function Implementation Application/evaluation

A The EtherCAT Master's diagnostic infor-

mation updated acyclically (yellow) or provided

acyclically (green).

B In the example chosen (EL3102) the

EL3102 comprises two analogue input channels that transmit a single function status for the most recent cycle.

C For every EtherCAT Slave that has cyclic

process data, the Master displays, using what is known as a WorkingCounter, whether the slave is participating successfully and without error in the cyclic exchange of process data. This important, elementary information is therefore provided for the most recent cycle in the System Manager

1. at the EtherCAT Slave, and, with identical contents

2. as a collective variable at the EtherCAT Master (see Point A)

for linking.

D Diagnostic information of the EtherCAT

Master which, while it is represented at the slave for linking, is actually determined by the Master for the Slave concerned and represented there. This information cannot be characterized as real-time, because it

• is only rarely/never changed, except when the system starts up

• is itself determined acyclically (e.g. EtherCAT Status)

Status

• the bit significations may be found in the device documentation

• other devices may supply more information, or none that is typical of a slave

WcState (Working Counter) 0: valid real-time communication in

the last cycle 1: invalid real-time communication This may possibly have effects on

the process data of other Slaves that are located in the same SyncUnit

State current Status (INIT..OP) of the

Slave. The Slave must be in OP (=8) when operating normally.

AdsAddr

The ADS address is useful for communicating from the PLC/task via ADS with the EtherCAT Slave, e.g. for reading/writing to the CoE. The AMS-NetID of a slave corresponds to the AMS-NetID of the EtherCAT Master; communication with the individual Slave is possible via the port (= EtherCAT address).

At least the DevState is to be evaluated for the most recent cycle in the PLC.

The EtherCAT Master's diagnostic information offers many more possibilities than are treated in the EtherCAT System Documentation. A few keywords:

• CoE in the Master for communication with/through the Slaves

• Functions from TcEtherCAT.lib

• Perform an OnlineScan

In order for the higher-level PLC task (or corresponding control applications) to be able to rely on correct data, the function status must be evaluated there. Such information is therefore provided with the process data for the most recent cycle.

In order for the higher-level PLC task (or corresponding control applications) to be able to rely on correct data, the communication status of the EtherCAT Slave must be evaluated there. Such information is therefore provided with the process data for the most recent cycle.

Information variables for the EtherCAT Master that are updated acyclically. This means that it is possible that in any particular cycle they do not represent the latest possible status. It is therefore possible to read such variables through ADS.

Diagnostic information

It is strongly recommended that the diagnostic information made available is evaluated so that the application can react accordingly.

Attention

CoE Parameter Directory

The CoE parameter directory (CanOpen-over-EtherCAT) is used to manage the set values for the slave concerned. Changes may, in some circumstances, have to be made here when commissioning a relatively complex EtherCAT Slave. It can be accessed through the TwinCAT System Manager, see Fig. “EL3102, CoE directory”:

EM700490 Version: 2.0

Commissioning

Fig.120: EL3102, CoE directory

EtherCAT System Documentation

The comprehensive description in the EtherCAT System Documentation (EtherCAT Basics

Note

A few brief extracts:

• Whether changes in the online directory are saved locally in the slave depends on the device. EL terminals (except the EL66xx) are able to save in this way.

• The user must manage the changes to the StartUp list.

--> CoE Interface) must be observed!

Commissioning aid in the TwinCAT System Manager

Commissioning interfaces are being introduced as part of an ongoing process for EL/EP EtherCAT devices. These are available in TwinCAT System Managers from TwinCAT 2.11R2 and above. They are integrated into the System Manager through appropriately extended ESI configuration files.

EM7004 91Version: 2.0

Commissioning

Fig.121: Example of commissioning aid for a EL3204

This commissioning process simultaneously manages

• CoE Parameter Directory

• DC/FreeRun mode

• the available process data records (PDO)

Although the "Process Data", "DC", "Startup" and "CoE-Online" that used to be necessary for this are still displayed, it is recommended that, if the commissioning aid is used, the automatically generated settings are not changed by it.

The commissioning tool does not cover every possible application of an EL/EP device. If the available setting options are not adequate, the user can make the DC, PDO and CoE settings manually, as in the past.

EtherCAT State: automatic default behaviour of the TwinCAT System Manager and manual operation

After the operating power is switched on, an EtherCAT Slave must go through the following statuses

• INIT

• PREOP

• SAFEOP

• OP

to ensure sound operation. The EtherCAT Master directs these statuses in accordance with the initialization routines that are defined for commissioning the device by the ES/XML and user settings (Distributed Clocks (DC), PDO, CoE). See also the section on "Principles of Communication, EtherCAT State Machine" in this connection. Depending how much configuration has to be done, and on the overall communication, booting can take up to a few seconds.

The EtherCAT Master itself must go through these routines when starting, until it has reached at least the OP target state.

The target state wanted by the user, and which is brought about automatically at start-up by TwinCAT, can be set in the System Manager. As soon as TwinCAT reaches the status RUN, the TwinCAT EtherCAT Master will approach the target states.

EM700492 Version: 2.0

Standard setting

The advanced settings of the EtherCAT Master are set as standard:

• EtherCAT Master: OP

• Slaves: OP This setting applies equally to all Slaves.

Commissioning

Fig.122: Default behaviour of the System Manager

In addition, the target state of any particular Slave can be set in the "Advanced Settings" dialogue; the standard setting is again OP.

Fig.123: Default target state in the Slave

EM7004 93Version: 2.0

Commissioning

Manual Control

There are particular reasons why it may be appropriate to control the states from the application/task/PLC. For instance:

• for diagnostic reasons

• to induce a controlled restart of axes

• because a change in the times involved in starting is desirable

In that case it is appropriate in the PLC application to use the PLC function blocks from the TcEtherCAT.lib, which is available as standard, and to work through the states in a controlled manner using, for instance, FB_EcSetMasterState.

It is then useful to put the settings in the EtherCAT Master to INIT for master and slave.

Fig.124: PLC function blocks

Note regarding E-Bus current

EL/ES terminals are placed on the DIN rail at a coupler on the terminal strand. A Bus Coupler can supply the EL terminals added to it with the E-bus system voltage of 5 V; a coupler is thereby loadable up to 2 A as a rule. Information on how much current each EL terminal requires from the E-bus supply is available online and in the catalogue. If the added terminals require more current than the coupler can supply, then power feed terminals (e.g. EL9410) must be inserted at appropriate places in the terminal strand.

The pre-calculated theoretical maximum E-Bus current is displayed in the TwinCAT System Manager as a column value. 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.

EM700494 Version: 2.0

Commissioning

Fig.125: Illegally exceeding the E-Bus current

From TwinCAT 2.11 and above, a warning message "E-Bus Power of Terminal..." is output in the logger window when such a configuration is activated:

Fig.126: Warning message for exceeding E-Bus current

Caution! Malfunction possible!

The same ground potential must be used for the E-Bus supply of all EtherCAT terminals in

Attention

a terminal block!

EM7004 95Version: 2.0

Object description and parameterization

5 Object description and parameterization

EtherCAT XML Device Description

The display matches that of the CoE objects from the EtherCAT XML Device Description.

Note

Introduction

The CoE overview contains objects for different intended applications:

• Objects required for parameterization [}97] during commissioning

We recommend downloading the latest XML file from the download area of the Beckhoff website and installing it according to installation instructions.

Parameterization via the CoE list (CAN over EtherCAT)

The EtherCAT device is parameterized via the CoE - Online tab [}82] (double-click on the respective object) or via the Process Data tab [}79](allocation of PDOs). Please note the

following general CoE notes 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

• Objects intended for regular operation [}98], e.g. through ADS access.

• Objects for indicating internal settings [}98] (may be fixed)

The following section first describes the objects required for normal operation, followed by a complete overview of missing objects.

EM700496 Version: 2.0

Object description and parameterization

5.1 Objects for commissioning

Index 80n0 AO Settings Ch.1 - 4 (for 2 ≤ n ≤ 5)

Index (hex) Name Meaning Data type Flags Default

80n0:0 AO Settings Ch.1 - 4 Maximum subindex UINT8 RO 0x13 (19 80n0:01 Enable user scale FALSE

The user scaling is deactivated

TRUE The user scaling (object 0x80n0:11, 0x80n0:12) is active; the output value is then calculated as described in the

Calculation example [}14].

80n0:02 Presentation 0:

Signed Presentation: The output value is output as signed integer in the two's complement 0x7FFF = +10Volt 0x8001 = -10Volt

1: Unsigned Presentation: In the negative range, the value is output as an absolute value 0x7FFF = 10Volt 0x8001 = 10Volt

BOOLEAN RW 0x00 (0

BIT3 RW 0x00 (0

)

dec

)

dec

)

dec

2: Enable absolute value with MSB as sign: The output value is displayed in magnitude-sign format 0x7FFF = +10Volt 0xFFFF = -10Volt

80n0:05 Disable watchdog FALSE

BOOLEAN RW 0x00 (0

dec

The watchdog is active. In the event of a failure of communication, the analog output value will be set to either the manufacturer's or the user's default value.

TRUE The watchdog timer is deactivated. In the event of a fail-

ure of communication, the analog output value will not be set to either the manufacturer's or the user's default value.

80n0:06 Enable user default

output

FALSE The manufacturer's value (0V) will be output if the

BOOLEAN RW 0x00 (0

dec

watchdog timer triggers

TRUE

If the watchdog timer triggers, the user-specific output

value [}14] (object 0x80n0:13) will be output. 80n0:11 Offset User scaling offset compensation INT16 RW 0x0000 (0 80n0:12 Gain User scaling gain compensation:

The gain is represented in fixed-point format, with the

-16

factor 2

INT32 RW 0x00010000

(65536

dec

A value of 1 for the gain factor therefore corresponds to

65536

(0x00010000).

dec

80n0:13 Default output

Definition of the user-specific output value [}14] that is

INT16 RW 0x0000 (0

presented to the output if the watchdog timer for the

cyclic communication triggers.

)

dec

)

dec

Index 80nE AO Internal data Ch.1 - 4 (for 2 ≤ n ≤ 5)

Index (hex) Name Meaning Data type Flags Default

80nE:0 AO Internal data Ch.1

- 4

80nE:01 DAC raw value DAC raw value INT16 RO 0x0000 (0

EM7004 97Version: 2.0

Maximum subindex UINT8 RO 0x01 (1

)

dec

)

dec

Object description and parameterization

Index 80nF AO Vendor data Ch.1 - 4 (for 2 ≤ n ≤ 5)

Index (hex) Name Meaning Data type Flags Default

80nF:0 AO Vendor data Ch.1

Maximum subindex UINT8 RO 0x02 (2

- 4

80nF:01 Calibration offset Calibration offset INT16 RW 0x0800

(2048

80nF:02 Calibration gain Calibration gain INT16 RW 0x7D00

(32000

Index 8060 ENC Settings Ch.1 - 4 (for 6 ≤ n ≤ 9)

Index (hex) Name Meaning Data type Flags Default

80n0:0 ENC Settings Ch.1 - 4 Maximum subindex UINT8 RO 0x06 (6 80n0:02 Enable reset The counter is set to zero whenever a latch event occurs BOOLEAN RW 0x00 (0 80n0:03 Enable up/down

counter

80n0:04 Gate polarity 0: Gate disabled

80n0:06 Evaluation mode 0: 1-fold (single evaluation)

Enable up/down counter instead of the encoder BOOLEAN RW 0x00 (0

BIT2 RW 0x01 (1

1: Gate input responds to positive edge and locks the

counter

2: Gate input responds to negative edge and locks the

counter

BIT2 RW 0x03 (3

1: 2-fold (two-fold evaluation)

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

3: 4-fold (four-fold evaluation)

Index 80A0 PLS Settings

Index (hex) Name Meaning Data type Flags Default

80A0:0 PLS Settings Maximum subindex UINT8 RO 0x12 (18 80A0:01 Encoder as PLS

0: Channel 1 is the source for PLS functions

BIT2 RW 0x00 (0

source

1: Channel 2 is the source for PLS functions

2: Channel 3 is the source for PLS functions

3: Channel 4 is the source for PLS functions 80A0:11 Output mask Determines which of the digital outputs are assigned to

UINT16 RW 0x0000 (0 the PLS. Sample: 0x00FF, outputs 0-7 are assigned to the PLS, outputs 8-15 can be controlled freely by the PLC.

80A0:12 Default output If no valid table entry is available (counter value is >=0

UINT16 RW 0x0000 (0 but less than the first entry in the table), this value is output

5.2 Objects for regular operation

The EM7004 has no such objects.

)

dec

)

dec

)

dec

)

dec

5.3 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.

UINT32 RO 0x00001389

(5001

)

dec

EM700498 Version: 2.0

Object description and parameterization

Index 1008 Device name

Index (hex) Name Meaning Data type Flags Default

1008:0 Device name Device name of the EtherCAT slave STRING RO EM7004

Index 1009 Hardware version

Index (hex) Name Meaning Data type Flags Default

1009:0 Hardware version Hardware version of the EtherCAT slave STRING RO 02

Index 100A Software version

Index (hex) Name Meaning Data type Flags Default

100A:0 Software version Firmware version of the EtherCAT slave STRING RO 01

Index 1011 Restore default parameters

Index (hex) Name Meaning Data type Flags Default

1011:0 Restore default pa-

rameters

1011:01 SubIndex 001 If this object is set to "0x64616F6C" in the set value dia-

Restore default parameters UINT8 RO 0x01 (1

UINT32 RW 0x00000000 log, all backup objects are reset to their delivery state.

)

dec

)

dec

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 0x1B5C3452

(459027538 )

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 10F0 Backup parameter handling

Index (hex) Name Meaning Data type Flags Default

10F0:0 Backup parameter

handling

10F0:01 Checksum Checksum across all backup entries of the EtherCAT

Information for standardized loading and saving of backup entries

slave

UINT8 RO 0x01 (1

)

dec

UINT32 RO 0x00000000

)

dec

)

EM7004 99Version: 2.0

Object description and parameterization

Index 1601 DO RxPDO-Map

Index (hex) Name Meaning Data type Flags Default

1601:0 DO RxPDO-Map PDO Mapping RxPDO 2 UINT8 RO 0x10 (16 1601:01 SubIndex 001 1. PDO Mapping entry (object 0x7010 (DO Outputs), en-

try 0x01 (Output 0))

1601:02 SubIndex 002 2. PDO Mapping entry (object 0x7010 (DO Outputs), en-

try 0x02 (Output 1))

1601:03 SubIndex 003 3. PDO Mapping entry (object 0x7010 (DO Outputs), en-

try 0x03 (Output 2))

1601:04 SubIndex 004 4. PDO Mapping entry (object 0x7010 (DO Outputs), en-

try 0x04 (Output 3))

1601:05 SubIndex 005 5. PDO Mapping entry (object 0x7010 (DO Outputs), en-

try 0x05 (Output 4))

1601:06 SubIndex 006 6. PDO Mapping entry (object 0x7010 (DO Outputs), en-

try 0x06 (Output 5))

1601:07 SubIndex 007 7. PDO Mapping entry (object 0x7010 (DO Outputs), en-

try 0x07 (Output 6))

1601:08 SubIndex 008 8. PDO Mapping entry (object 0x7010 (DO Outputs), en-

try 0x08 (Output 7))

1601:09 SubIndex 009 9. PDO Mapping entry (object 0x7010 (DO Outputs), en-

try 0x09 (Output 8))

1601:0A SubIndex 010 10. PDO Mapping entry (object 0x7010 (DO Outputs),

entry 0x0A (Output 9))

1601:0B SubIndex 011 11. PDO Mapping entry (object 0x7010 (DO Outputs),

entry 0x0B (Output 10))

1601:0C SubIndex 012 12. PDO Mapping entry (object 0x7010 (DO Outputs),

entry 0x0C (Output 11))

1601:0D SubIndex 013 13. PDO Mapping entry (object 0x7010 (DO Outputs),

entry 0x0D (Output 12))

1601:0E SubIndex 014 14. PDO Mapping entry (1bits align) UINT32 RO 0x0000:00, 1 1601:0F SubIndex 015 15. PDO Mapping entry (object 0x7010 (DO Outputs),

entry 0x0F (Output 14))

1601:10 SubIndex 016 16. PDO Mapping entry (object 0x7010 (DO Outputs),

entry 0x10 (Output 15))

UINT32 RO 0x7010:01, 1

UINT32 RO 0x7010:02, 1

UINT32 RO 0x7010:03, 1

UINT32 RO 0x7010:04, 1

UINT32 RO 0x7010:05, 1

UINT32 RO 0x7010:06, 1

UINT32 RO 0x7010:07, 1

UINT32 RO 0x7010:08, 1

UINT32 RO 0x7010:09, 1

UINT32 RO 0x7010:0A, 1

UINT32 RO 0x7010:0B, 1

UINT32 RO 0x7010:0C, 1

UINT32 RO 0x7010:0D, 1

UINT32 RO 0x7010:0F, 1

UINT32 RO 0x7010:10, 1

dec

)

Index 1602 AO RxPDO-Map Ch.1

Index (hex) Name Meaning Data type Flags Default

1602:0 AO RxPDO-Map Ch.1 PDO Mapping RxPDO 3 UINT8 RO 0x01 (1 1602:01 SubIndex 001 1. PDO Mapping entry (object 0x7020 (AO Outputs

Ch.1), entry 0x11 (Analog output))

UINT32 RO 0x7020:11, 16

Index 1603 AO RxPDO-Map Ch.2

Index (hex) Name Meaning Data type Flags Default

1603:0 AO RxPDO-Map Ch.2 PDO Mapping RxPDO 4 UINT8 RO 0x01 (1 1603:01 SubIndex 001 1. PDO Mapping entry (object 0x7030 (AO Outputs

Ch.2), entry 0x11 (Analog output))

UINT32 RO 0x7030:11, 16

Index 1604 AO RxPDO-Map Ch.3

Index (hex) Name Meaning Data type Flags Default

1604:0 AO RxPDO-Map Ch.3 PDO Mapping RxPDO 5 UINT8 RO 0x01 (1 1604:01 SubIndex 001 1. PDO Mapping entry (object 0x7040 (AO Outputs

Ch.3), entry 0x11 (Analog output))

UINT32 RO 0x7040:11, 16

Index 1605 AO RxPDO-Map Ch.4

Index (hex) Name Meaning Data type Flags Default

1605:0 AO RxPDO-Map Ch.4 PDO Mapping RxPDO 6 UINT8 RO 0x01 (1 1605:01 SubIndex 001 1. PDO Mapping entry (object 0x7050 (AO Outputs

Ch.4), entry 0x11 (Analog output))

UINT32 RO 0x7050:11, 16

)

dec

)

dec

)

dec

)

dec

EM7004100 Version: 2.0

Beckhoff EM7004 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 Terminal Modules – System Overview

2.2 Introduction

2.3 Technical data

2.4 Basic function principles

2.4.1 Analog process data

2.4.2 Process data equations

3 Mounting and wiring

3.1 Recommended mounting rails

3.2 Dimensions

3.3 Mounting and demounting - terminals with traction lever unlocking

3.4 Installation positions

3.5 Wiring

3.6 Connection technology

4 Commissioning

4.1 TwinCAT Quick Start

4.1.2 TwinCAT 3

4.2 TwinCAT Development Environment

4.2.1 Installation of the TwinCAT real-time driver

4.2.2 Notes regarding ESI device description

4.2.3 TwinCAT ESI Updater

4.2.4 Distinction between Online and Offline

4.2.5 OFFLINE configuration creation

4.2.6 ONLINE configuration creation

4.2.7 EtherCAT subscriber configuration

4.2.7.1 Detailed description of Process Data tab

4.3 General Notes - EtherCAT Slave Application

5 Object description and parameterization

5.1 Objects for commissioning

5.2 Objects for regular operation

5.3 Standard objects (0x1000-0x1FFF)