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EPI3174-0002
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Beckhoff ERI3174-0002, EPI3174-0002 Documentation

Documentation
EPI3xxx, ERI3xxx
IO-Link Box Modules with analog inputs
Version: Date:
1.2 2018-07-10

Table of contents

Table of contents
1 Foreword ....................................................................................................................................................5
1.1 Notes on the documentation..............................................................................................................5
1.2 Safety instructions .............................................................................................................................6
1.3 Documentation issue status ..............................................................................................................7
2 Product overview.......................................................................................................................................8
2.1 Module overview EPI3xxx, ERI3xxx ..................................................................................................8
2.2 EPI3174-0002, ERI3174-0002 ..........................................................................................................8
2.2.1 Introduction ........................................................................................................................ 8
2.2.2 Technical data ................................................................................................................... 9
2.2.3 Process image ................................................................................................................. 10
3 IO-Link basics ..........................................................................................................................................11
3.1 IO-Link system configuration ...........................................................................................................11
3.2 Establishment of IO-Link communication ........................................................................................13
3.3 Device description IODD .................................................................................................................14
3.4 Parameter server.............................................................................................................................14
3.5 Data transfer rate.............................................................................................................................15
4 Mounting and connection.......................................................................................................................16
4.1 Mounting..........................................................................................................................................16
4.1.1 Dimensions ...................................................................................................................... 16
4.1.2 Fixing ............................................................................................................................... 17
4.1.3 Tightening torque for connectors ..................................................................................... 18
4.2 IO-Link connection...........................................................................................................................19
4.2.1 IO-Link master connection............................................................................................... 19
4.2.2 Connection IO-Link Device .............................................................................................. 21
4.2.3 IO-Link status LED........................................................................................................... 21
4.3 Status LEDs for power supply .........................................................................................................21
4.4 Signal connection ............................................................................................................................22
4.5 UL Requirements.............................................................................................................................24
4.6 Cabling ............................................................................................................................................25
5 Commissioning/configuration of IO-Link master/device.....................................................................26
5.1 IO-Link master .................................................................................................................................26
5.1.1 Offline configuration settings - TwinCAT (master) ........................................................... 26
5.1.2 Online configuration settings - TwinCAT (master) ........................................................... 32
5.1.3 Configuration via TwinCAT - explanation tabs................................................................. 38
5.1.4 Restoring the delivery state of an EtherCAT device ........................................................ 48
5.2 Accessing IO-Link parameters ........................................................................................................48
5.3 IO-Link device..................................................................................................................................51
5.3.1 Configuration of the IO-Link devices................................................................................ 51
5.3.2 EPI3xxx, ERI3xxx - Process data .................................................................................... 60
5.3.3 Settings of the IO-Link devices ........................................................................................ 62
5.3.4 Data stream and correction calculation ........................................................................... 64
5.3.5 EPIxxxx, ERIxxxx - Setting of the IO-Link device parameters ......................................... 68
5.3.6 EPI31xx, ERI31xx - Setting of the IO-Link device parameters ........................................ 73
Table of contents
5.3.7 Object overview - EPI3174-0002, ERI3174-0002............................................................ 79
5.3.8 EPI3174-0002, ERI3174-0002 - Object description and parameterization...................... 84
5.3.9 Firmware update of the IO-Link device............................................................................ 92
6 Appendix ..................................................................................................................................................94
6.1 General operating conditions...........................................................................................................94
6.2 IP67 Box - Accessories ...................................................................................................................95
6.3 Support and Service ........................................................................................................................96
EPI3xxx, ERI3xxx4 Version: 1.2
Foreword

1 Foreword

1.1 Notes on the documentation

Intended audience
This description is only intended for the use of trained specialists in control and automation engineering who are familiar with the applicable national standards. It is essential that the documentation and the following notes and explanations are followed when installing and commissioning these components. It is the duty of the technical personnel to use the documentation published at the respective time of each installation and commissioning.
The responsible staff must ensure that the application or use of the products described satisfy all the requirements for safety, including all the relevant laws, regulations, guidelines and standards.
Disclaimer
The documentation has been prepared with care. The products described are, however, constantly under development.
We reserve the right to revise and change the documentation at any time and without prior announcement.
No claims for the modification of products that have already been supplied may be made on the basis of the data, diagrams and descriptions in this documentation.
Trademarks
Beckhoff®, TwinCAT®, EtherCAT®, Safety over EtherCAT®, TwinSAFE®, XFC® and XTS® are registered trademarks of and licensed by Beckhoff Automation GmbH. Other designations used in this publication may be trademarks whose use by third parties for their own purposes could violate the rights of the owners.
Patent Pending
The EtherCAT Technology is covered, including but not limited to the following patent applications and patents: EP1590927, EP1789857, DE102004044764, DE102007017835 with corresponding applications or registrations in various other countries.
The TwinCAT Technology is covered, including but not limited to the following patent applications and patents: EP0851348, US6167425 with corresponding applications or registrations in various other countries.
EtherCAT® is registered trademark and patented technology, licensed by Beckhoff Automation GmbH, Germany
Copyright
© Beckhoff Automation GmbH & Co. KG, Germany. The reproduction, distribution and utilization of this document as well as the communication of its contents to others without express authorization are prohibited. Offenders will be held liable for the payment of damages. All rights reserved in the event of the grant of a patent, utility model or design.
Foreword

1.2 Safety instructions

Safety regulations
Please note the following safety instructions and explanations! Product-specific safety instructions can be found on following pages or in the areas mounting, wiring, commissioning etc.
Exclusion of liability
All the components are supplied in particular hardware and software configurations appropriate for the application. Modifications to hardware or software configurations other than those described in the documentation are not permitted, and nullify the liability of Beckhoff Automation GmbH & Co. KG.
Personnel qualification
This description is only intended for trained specialists in control, automation and drive engineering who are familiar with the applicable national standards.
Description of instructions
In this documentation the following instructions are used. These instructions must be read carefully and followed without fail!
DANGER
Serious risk of injury!
Failure to follow this safety instruction directly endangers the life and health of persons.
WARNING
Risk of injury!
Failure to follow this safety instruction endangers the life and health of persons.
CAUTION
Personal injuries!
Failure to follow this safety instruction can lead to injuries to persons.
NOTE
Damage to environment/equipment or data loss
Failure to follow this instruction can lead to environmental damage, equipment damage or data loss.
Tip or pointer
This symbol indicates information that contributes to better understanding.
EPI3xxx, ERI3xxx6 Version: 1.2
Foreword

1.3 Documentation issue status

Version Modifications
1.2 • Chapter "Process data" added
1.1 • Update connection assignment
• Update structure
• Update chapter "Connection IO-Link Master"
1.0 • First publication
0.5 • First preliminary version
Firm and hardware version
The documentation refers to the firm and hardware status that was valid at the time it was prepared.
The properties of the modules are subject to continuous development and improvement. Modules having earlier production statuses cannot have the same properties as modules with the latest status. Existing properties, however, are always retained and are not changed, so that these modules can always be replaced by new ones.
The firmware and hardware version (delivery state) can be found in the batch number (D number) printed at the side of the IO-Link box module.
Syntax of the batch number (D number)
D: WW YY FF HH
WW - week of production (calendar week) YY - year of production FF - firmware version HH - hardware version
Example with D No. 29 10 02 01:
29 - week of production 29 10 - year of production 2010 02 - firmware version 02 01 - hardware version 01
Product overview

2 Product overview

2.1 Module overview EPI3xxx, ERI3xxx

Analog input modules, 24V
Module Number of analog
EPI3174-0002 [}8]
ERI3174-0002 [}8]
inputs
4 4 x M12 Industrial housing four configurable analog differential in-
4 4 x M12 Die-cast zinc housing four configurable analog differential in-
DC
Signal connection Housing Comment

2.2 EPI3174-0002, ERI3174-0002

2.2.1 Introduction

puts
puts
Fig.1: EPI3174-0002, ERI3174-0002
IO-Link box with four configurable analog differential inputs
The EP3174-0002 and ERI3174-0002 IO-Link boxes have four analog inputs which can be individually parameterized, so that they process signals either in the -10V to +10V range or the 0/4mA…20mA range. The voltage or input current is digitized with a resolution of 16bits, and is transmitted (electrically isolated) to the higher-level automation device.
The four input channels have differential inputs and possess a common, internal ground potential. The input filter and therefore the conversion times are configurable in a wide range. The inputs can, if required, be scaled differently, and automatic limit value monitoring is also available. Parameterization is done via IO­Link. The parameters are stored in the module.
The IO-Link box modules with die-cast zinc housing (ERI series) can be used in extremely challenging industrial and process environments. The fully sealed design and the metal surface of the ERI series make it ideal for applications requiring enhanced load capacity and protection against welding spatter, for example.
EPI3xxx, ERI3xxx8 Version: 1.2

2.2.2 Technical data

Technical data EPI3174-0002 ERI3174-0002
Communication IO-Link Data transfer rate 230.4kBaud (COM 3) IO-Link connection 1 x M12 connector, a-coded Specification version IO-Link V1.1, Class B Requirements for IO-Link
master Number of inputs 4
Input connections [}22]
Connection technology two-wire, four-wire Signal type Configurable:
Internal resistance >200kΩ (typ. 85Ω + diode voltage) Common-mode voltage
U
CM
Resolution 16bit (including sign) Input filter Configurable Input filter limit frequency 5kHz Conversion time ~ 100µs Measuring error < ±0.3% (relative to full scale value) Number of outputs 0 Current consumption of
the module circuitry Supply of the module
electronics Sensor supply 2L+, DC, freely selectable up to 30V Process image Inputs: 4 x 16bit, status: 4 x 16bit Electrical isolation L+/2L+: yes Housing Industrial housing (polyamide PA6) Die-cast zinc housing Weight typ. 165g typ. 250g Permissible ambient
temperature during operation
Permissible ambient temperature during storage
Vibration / shock resistance
EMC immunity/emission conforms to EN 61000-6-2 / EN 61000-6-4 Protection class IP65, IP66, IP67 (conforms to EN 60529)
Installation position variable Approvals CE, UL
V1.1
4 x M12 socket, screwable
0V…+10V
-10V…+10V
0mA…20mA
4mA…20mA
max. 35V
typically 100mA from L
L
+
+
-25°C ... +60°C
-40°C ... +85°C
conforms to EN 60068-2-6 / EN 60068-2-27
See also chapter General operating conditions [}94]
Product overview
Product overview

2.2.3 Process image

Channel1 Status and Channel1 Value
The IO-Link device is connected to IO-Link port1 of the IO-Link master (EP6224-2022).
• Under Channel1 Status you will find the status information (16bits) of the first analog channel. (here as an example the process image of the EPI3174-0002).
• Under Channel1 Value you will find the analog value (16bits) of the first analog channel.
• Channels2 to 4 The data of analog channels 2 to 4 have the same structure as those of the 1st channel.
Fig.2: EPI3174-0002 - Process image in tree and list view
Also see about this
2 EPI3xxx, ERI3xxx - Process data [}60]
EPI3xxx, ERI3xxx10 Version: 1.2
IO-Link basics

3 IO-Link basics

IO-Link represents a communication system for the connection of intelligent sensors and actuators to an automation system in the IEC61131-9 standard under the designation "Single-drop digital communication interface for small sensors and actuators" (SDCI).
The electrical connection data and the communication protocol are standardized and summarized in the IO- Link specification.
IO-Link specification
The development of the EP6224-xxxxxx was based on IO-Link specification 1.1. At the time of the preparation of this documentation, the IO-Link specification is entering the IEC standardization and will be adopted in extended form as IEC61131-9. The new designation SDCI will be introduced at the same time. As a member of the respective committee, Beckhoff supports the development of IO-Link and reflects changes to the specification in its products.

3.1 IO-Link system configuration

An IO-Link system consists of an IO-Link master, one or more IO-Link devices and sensors or actuators. The IO-Link master provides the interface to the higher-level controller and controls the communication with the connected IO-Link devices. The EP6224-xxxx IO-Link master module from Beckhoff has four IO-Link ports, each of which can be connected to an IO-Link-Device. IO-Link is therefore not a fieldbus, but a peer-to-peer connection (see figure below).
IO-Link basics
Fig.3: IO-Link overview: Peer-to-peer communication
EPI3xxx, ERI3xxx12 Version: 1.2
IO-Link basics
The connected IO-Link devices have individual parameter information, which is detected during automatic scanning with TwinCAT and transferred to the System Manager (see chapter "Basic function principles", integration of IO-Link devices). Module-specific information can be imported offline in the form of an IO-Link Device Description (IODD) and transferred to TwinCAT.
• How to manually configure (physically non-existent) IO-Link masters and devices in TwinCAT is described under the following two links: Offline configuration settings - TwinCAT (master) [}26], 1.
Importing the device description IODD [}53]
• How to configure physically existent IO-Link masters and devices in TwinCAT is described under the following two links: Online configuration settings - TwinCAT (master) [}32], 2. Automatic scanning of
the IO-Link ports [}56]

3.2 Establishment of IO-Link communication

Establishment of IO-Link communication
The establishment of the IO-Link communication is illustrated in Fig. Establishment of IO-Link communication. This illustrates in particular the sequence when automatically scanning [}56] the IO-Link
port.
Fig.4: Establishment of IO-Link communication
• If an IO-Link device is connected to a master port, the master attempts to establish communication. A defined signal level, the WakeUp pulse, signals to the slave that UART bytes are to be sent from now on. From this point on, all data will be interpreted by the IO-Link slave as UART bytes.
• The master runs through all baud rates [}15], starting with the fastest baud rate (COM3 = 230 kbaud). A successful connection has been established when the slave responds to the WakeUp pulse.
• First of all the master reads the basic parameters (Vendor ID, Device ID, process data length, telegram type and cycle time) and compares them with the existing configuration.
IO-Link basics
• If no connection could be established to the slave, or if the saved parameters differ from those read, the corresponding error is output.
• If the saved parameters differ from those read, the IO-Link device changes to the PREOP state. If the IO-Link device specification is V1.1, the parameter server [}14] is now executed. If the IO-Link
device specification is V1.0, this step is omitted and the device changes directly to OP.
• Finally the cycle time is written and the device changes to OP. After that the master cyclically exchanges data with the slave.

3.3 Device description IODD

IO-Link devices possess individual system information in the form of an IO device description (IODD), which contains:
• Communication features
• Device parameters with value range and default values
• Identification, process and diagnostic data
• Device data
• Text description
• Picture of the device
• Vendor's logo
If the IODD is imported, then the device data are automatically detected during automatic scanning [}56] with TwinCAT and adopted in the System Manager (cf. integration of the IO-Link devices).

3.4 Parameter server

In order to be able to use the functionality of the parameter server, both the IO-Link master and the IO-Link device must be specified to V1.1. The IO-Link revision of the device can be read for the individual port under
Settings [}62]. The Beckhoff IO-Link master supports specification V1.1 from FW 07.
• The parameter server in the IO-Link master contains parameter data that are saved in the IO-Link device. The memory capacity is max. 2kbyte (including header). If the IO-Link-Device is exchanged, then the data are loaded from the parameter server into the new device. The requirement for this is that the device is of the same type (VendorID & DeviceID must be the same).
• If a new IO-Link-Device is configured, then the IO-Link master loads the parameters from the IO-Link­Device into the parameter server when starting for the first time. Data from other IO-Link devices that are already configured (VendorID & DeviceID do not correspond to the configured device) are overwritten.
• At each further start the IO-Link master uses a checksum to check whether the data in the parameter server correspond to those on the IO-Link-Device and if necessary downloads them to the device.
• If the parameters change during the device runtime, this can be reported via the Master's special event. The master then starts the parameter server with an upload.
• By default the event is not set each time the parameters are written, therefore the end of the parameterization procedure has to be reported to the IO-Link device. The IO-Link-Device then sends the corresponding event to the master. The data are loaded into the parameter server.
• In the case of a pre-programmed IO-Link-Device, no download takes place from the parameter server to the device.
EPI3xxx, ERI3xxx14 Version: 1.2
IO-Link basics

3.5 Data transfer rate

An IO-Link master according to specification V1.1 supports all three transmission types and automatically adjusts the data transfer rate to that of the IO-Link device. An IO-Link device usually supports only one data transfer rate. IO-Link devices with different data transfer rate can be connected to the various ports of the master.
• COM1 = 4.8kbaud
• COM2 = 38.4kbaud
• COM3 = 230.4kbaud
Mounting and connection

4 Mounting and connection

4.1 Mounting

4.1.1 Dimensions

Fig.5: Dimensions of the IO-Link box modules
All dimensions are given in millimeters.
Housing features
IO-Link box modules Narrow housing Wide housing
Housing material PA6 (polyamide) for EPIxxxx or die-cast zinc for ERIxxxx Sealing compound Polyurethane Mounting two fastening holes Ø3mm forM3two fastening hole Ø3mm for M3
two fastening holes Ø4.5mm for M4 Metal parts Brass, nickel-plated Contacts CuZn, gold-plated Installation position variable Protection class IP65, IP66, IP67 (conforms to EN60529) when screwed together Dimensions (HxWxD) approx. 126 x 30 x 26.5mm approx. 126 x 60 x 26.5mm Weight approx. 125g, depending on
module type
approx. 250g, depending on module type
EPI3xxx, ERI3xxx16 Version: 1.2
Mounting and connection

4.1.2 Fixing

Protect connectors against soiling
Protect all connections from contamination during module installation! Protection class IP65 can only be guaranteed if all cables and connectors are connected! Unused connections must be pro­tected with the appropriate connectors! Connector sets see catalog.
Modules with narrow housing are installed with two M3 screws. Modules with wide housing are installed with two M3 screws in the mounting holes in the corners or two M4 screws in the central fastening holes.
The bolts must be longer than 15mm. The fastening holes in the modules have no thread.
Note when mounting that the overall height is increased further by the fieldbus connections. See the Accessories section.
Mounting Rail ZS5300-0001
The mounting rail ZS5300-0001 (500 mm x 129 mm) allows the time saving assembly of modules.
The rail is made of stainless steel, 1.5 mm thick, with already pre-made M3 threads for the modules. The rail has got 5.3 mm slots to mount it via M5 screws to the machine.
Fig.6: Mounting Rail ZS5300-000
The mounting rail is 500 mm long, that way 15 narrow modules can be mounted with a distance of 2 mm between two modules. The rail can be cut to length for the application.
Mounting Rail ZS5300-0011
The mounting rail ZS5300-0011 (500 mm x 129 mm) has in addition to the M3 treads also pre-made M4 treads to fix 60 mm wide modules via their middle holes.
Up to 14 narrow or 7 wide modules may be mixed mounted.
Mounting and connection

4.1.3 Tightening torque for connectors

M8 connector
We recommend fastening the M8 connector with a torque of 0.4Nm.
Fig.7: IO-Link box with M8 and M12 connectors
M12 connector
We recommend fastening the M12 connector with a torque of 0.6Nm.
Fig.8: IO-Link box with M12 connectors
Torque wrench
Fig.9: Torque wrench, ZB8801
Ensure the proper torque is used
Use the torque wrenches available from Beckhoff to tighten the plug connectors! You will find them under the following link.
IP67 Box - Accessories [}95]
EPI3xxx, ERI3xxx18 Version: 1.2
Mounting and connection

4.2 IO-Link connection

4.2.1 IO-Link master connection

IO-Link interface
The IO-Link specification defines various IO-Link pin assignment, which are described in the following section.
The switching and communication line is marked with (C/Q).
Port Class A (type A): The function of pin 2 and pin 5 is not preset. The vendor can assign an additional digital channel to pin 2. Port Class B (type B): Pin 2 and Pin 5 are used for an additional power supply. The information regarding the pin assignment of your module can be found in the chapter "Introduction".
Fig.10: Pin assignment Port Class A, Pin 2 not connected
In the case of Class A modules an additional digital input or output (I/Q) can be connected to Pin 2.
Fig.11: Pin assignment Port Class A, Pin 2 connected
Port Class B (type B): For devices with higher current demand, an additional power supply is provided via pin 2 and pin 5.
Fig.12: Pin assignment Port Class B
The IO-Link master (EP622x-xxxx) has an A-coded M12 socket for the outgoing IO-Link connection.
Mounting and connection
Fig.13: IO-Link connection, master
Wire colors
The wire colors of the IO-Link cable with corresponding pin assignment of the IO-Link connector:
Pin Wire color
1 brown 2 white 3 blue 4 black 5 grey
IO-Link cable
Fig.14: Example IO-Link cable: male to female
The cables available from Beckhoff for the IO-Link system can be found under the following link under "Accessories": https://beckhoff.de/english/fieldbus_components_accessories/m12_sensor_5w.htm?
id=51657421126830456
IO-Link cable
A 3-core IO-Link cable may be sufficient for Class A masters/devices from Beckhoff. A Class B master/device requires a 5-wire IO-Link cable.
EPI3xxx, ERI3xxx20 Version: 1.2
Mounting and connection

4.2.2 Connection IO-Link Device

The IO-Link box (EPIxxxx,ERIxxxx) has an A-coded M12 connector for the incoming IO-Link connection.
IO-Link connection, Device (narrow housing)
IO-Link connection, Device (wide housing)

4.2.3 IO-Link status LED

IO-Link Device status LED (narrow housing)
LED display
LED Display Meaning
IO-Link status LED (X1) off IO-Link communication inactive
flashes green (1Hz) IO-Link communication active
red illuminated Short circuit on C/Q line or overheating
IO-Link Device status LED (wide housing)

4.3 Status LEDs for power supply

The IO-Link module contains 2 diagnostic LEDs for the power supply and a Diagnostic object (0x0A00) for more accurate diagnosis. The description of the diagnostic parameters (Index 0x0A00 [}90]) is described in
the section Object description and parameterization.
Fig.15: Status LEDs for power supply
LED display
LED Display Meaning
24V off Voltage L+ non-existent
green voltage L+ ok
red Voltage L+ too low
right LED green Voltage 2L+ ok
off Voltage 2L+ too low, short-circuit
Mounting and connection

4.4 Signal connection

Analog voltage inputs M12, -10V to +10V
The input voltage is measured as a differential signal. One differential input is available for each socket.
Fig.16: Pin assignment, analog voltage inputs M12
Analog current inputs M12, 0 mA to 20 mA or 4 mA to 20 mA
The input current is measured as a differential signal. One differential input is available for each socket.
Fig.17: Pin assignment, analog current inputs M12
GND connections
If several sensors are connected to a box whose GND connections are not electrically isolated, GND must be connected to GND 2M.
Status LEDs on M12 connections 1 to 4 (inputs)
Fig.18: Status LEDs - M12 connections, analog input
EPI3xxx, ERI3xxx22 Version: 1.2
Mounting and connection
Connec­tion
M12 socket 1-4Rleft
Correct function is indicated if the green Run LED is on and the red Error LED is off.
LED Display Meaning
off No data transfer to the A/D converter green Data transfer to A/D converter
E right
off Function OK red Error: Broken wire or measured value outside the measuring
range
Mounting and connection

4.5 UL Requirements

The installation of UL-certified IP67 Box modules must meet the following requirements.
Supply voltage
CAUTION
CAUTION!
• from an isolated source protected by a fuse of max. 4A (according to UL248) or
• from a voltage supply complying with NEC class 2. An NEC class 2 voltage source must not be connected in series or parallel with another NEC class 2 voltage source!
CAUTION
CAUTION!
In order to comply with UL requirements, the IP67 Box modules must not be connected to unlimited voltage sources!
Networks
CAUTION
CAUTION!
In order to comply with UL requirements, the IP67 Box modules must not be connected to telecommunica­tions networks!
Ambient temperature
CAUTION
CAUTION!
In order to comply with UL requirements, the IP67 Box modules must only be operated in an ambient tem­perature range between 0 and 55 °C!
Marking for UL
All UL (Underwriters Laboratories) certified IP67 Box modules have the following markings.
Fig.19: UL marking
EPI3xxx, ERI3xxx24 Version: 1.2
Mounting and connection

4.6 Cabling

A list of EtherCAT cables, power cables, sensor cables, IO-Link cables, Ethernet/EtherCAT connectors and field-configurable connectors can be found under the following link: https://beckhoff.de/english/ethercat-
box/ethercat_box_cables.htm?id=690338951657421
IO-Link cable
The IO-Link master is connected to the IO-Link device by an unshielded 3, 4 or 5-core (type A) or 5-core (type B) cable with a maximum length of 20m. The IO-Link cables are available as straight and angled
versions. Further information about the IO-Link connection can be found under: IO-Link master connection
[}19]
Fig.20: Example IO-Link cable: male to female
Sensor cable
Fig.21: Selection of sensor cables available from Beckhoff

Commissioning/configuration of IO-Link master/device

5 Commissioning/configuration of IO-Link master/
device

5.1 IO-Link master

5.1.1 Offline configuration settings - TwinCAT (master)

In this part of the documentation is the manual configuration of the IO-Link master in TwinCAT described.
Distinction between Online and Offline
The distinction between online and offline refers to the presence of the actual I/O environment (drives, terminals, box-modules).
• Offline 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 (as described under 1. Importing the device description IODD [}53]).
• Online If the designed control system is already connected to the EtherCAT system and all components are energized 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/ IO-Link master checks whether the devices it finds match the configuration. This test can be parameterized in the extended device settings.
To take advantage of the current features/settings of the master, the latest version of the ESI file should always be downloaded. Therefore it is necessary to consider the following note first.
Installation of the latest ESI-XML device description
The TwinCAT 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 description is 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. The ESI files for Beckhoff
EtherCAT devices are available on the Beckhoff website. The ESI files should be saved in the Twin­CAT installation directory (default: C:\TwinCAT\IO\EtherCAT). The files are read (once) when a new System Manager window is 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 and higher, the ESI directory can be uploaded from the System Manager, if the programming PC is connected to the internet (TwinCAT → EtherCAT-Devices → Update Device Description…) see following fig­ure.
EPI3xxx, ERI3xxx26 Version: 1.2
Commissioning/configuration of IO-Link master/device
Fig.22: Update Device Descriptions
Appending a module manually
• The EtherCAT system must be in a safe, de-energized state before the EtherCAT modules are connected to the EtherCAT network!
• Switch on the operating voltage, open the TwinCAT System Manager [}38] (Config mode)
• Append a new I/O device. In the dialog that appears select the device EtherCAT (Direct Mode), and confirm with OK.
Fig.23: Appending a new I/O device (I/O Devices -> right-click -> Append Device...)
Commissioning/configuration of IO-Link master/device
Fig.24: Selecting the device EtherCAT
• Append a new box.
Fig.25: Appending a new box (Device -> right-click -> Append Box...)
• In the dialog that appears select the desired box (e.g. EP6224-2022), and confirm with OK.
EPI3xxx, ERI3xxx28 Version: 1.2
Commissioning/configuration of IO-Link master/device
Fig.26: Selecting a Box (e.g. EP6224-2022)
Commissioning/configuration of IO-Link master/device
Fig.27: Appended Box in the TwinCAT tree
In this section is described, how to configure the IO-Link master in TwinCAT and the integration of IO-Link devices.
Configuration of the IO-Link master
Configuration of the IO-Link master requires a plug-in, which is usually supplied with the TwinCAT installation. When the IO-Link master is added to the TwinCAT System Manager (see section Offline [}26] / Online [}32] configuration settings - TwinCAT (master)) an additional tab called IO-Link is created (see
following figure). If the tab is not displayed, the associated System Manager extension is missing. You can install it separately. Please contact support [}96].
EPI3xxx, ERI3xxx30 Version: 1.2
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