Beckhoff and their partners around the world offer comprehensive support and service, making available fast and competent assistance with all questions related to Beckhoff products and system solutions.
Beckhoff's branch offices and representatives
Please contact your Beckhoff branch office or representative for local support and service on Beckhoff products!
The addresses of Beckhoff's branch offices and representatives round the world can be found on her internet pages:
http://www.beckhoff.com
You will also find further documentation for Beckhoff components there.
Beckhoff Headquarters
Beckhoff Automation GmbH & Co. KG Huelshorstweg 20 33415 Verl Germany Phone: +49(0)5246/963-0 Fax: +49(0)5246/963-198 e-mail: [email protected]
Beckhoff Support
Support offers you comprehensive technical assistance, helping you not only with the application of individual Beckhoff products, but also with other, wide-ranging services:
• support
• design, programming and commissioning of complex automation systems • and extensive training program for Beckhoff system components
Hotline: +49(0)5246/963-157
Fax: +49(0)5246/963-9157
e-mail: [email protected]
Beckhoff Service
The Beckhoff Service Center supports you in all matters of after-sales service: • on-site service
• repair service • spare parts service • hotline service
Hotline: +49(0)5246/963-460
Fax: +49(0)5246/963-479
List of illustrations
Fig. 1 EL5021 EL terminal, standard IP20 IO device with batch number and revision ID (since
2014/01) ... 10
Fig. 2 EK1100 EtherCAT coupler, standard IP20 IO device with batch number ... 10
Fig. 3 CU2016 switch with batch number ... 11
Fig. 4 EL3202-0020 with batch numbers 26131006 and unique D-number 204418 ... 11
Fig. 5 EP1258-00001 IP67 EtherCAT Box with batch number 22090101 and serial number 158102 11 Fig. 6 EP1908-0002 IP76 EtherCAT Safety Box with batch number 071201FF and serial number 00346070 ... 11
Fig. 7 EL2904 IP20 safety terminal with batch number/date code 50110302 and serial number 00331701 ... 12 Fig. 8 EL310x... 13 Fig. 9 EL311x... 15 Fig. 10 EL312x... 17 Fig. 11 EL314x... 19 Fig. 12 EL315x... 21 Fig. 13 EL316x... 23
Fig. 14 System manager current calculation ... 26
Fig. 15 EtherCAT tab -> Advanced Settings -> Behavior -> Watchdog ... 27
Fig. 16 States of the EtherCAT State Machine... 29
Fig. 17 "CoE Online " tab ... 31
Fig. 18 Startup list in the TwinCAT System Manager ... 32
Fig. 19 Offline list ... 33
Fig. 20 Online list ... 33
Fig. 21 Attaching on mounting rail ... 35
Fig. 22 Disassembling of terminal... 36
Fig. 23 Power contact on left side... 37
Fig. 24 Standard wiring... 38
Fig. 25 Pluggable wiring ... 39
Fig. 26 High Density Terminals... 39
Fig. 27 Mounting a cable on a terminal connection ... 40
Fig. 28 Recommended distances for standard installation position ... 41
Fig. 29 Other installation positions ... 42
Fig. 30 Correct configuration ... 43
Fig. 31 Incorrect configuration ... 43
Fig. 32 Bt_EL3104_LED_Conn ... 46
Fig. 33 Bt_EL3102_LED_Conn ... 46
Fig. 34 Bt_EL3101_LED_Conn ... 47
Fig. 35 Bt_EL3114_LED_Conn ... 49
Fig. 43 Bt_EL3141_LED_Conn ... 56 Fig. 44 Bt_EL3154_LED_Conn ... 58 Fig. 45 Bt_EL3152_LED_Conn ... 58 Fig. 46 Bt_EL3151_LED_Conn ... 59 Fig. 47 Bt_EL3164_LED_Conn ... 61 Fig. 48 Bt_EL3162_LED_Conn ... 61 Fig. 49 Bt_EL3161_LED_Conn ... 62
Fig. 50 Internal connection 0/4..20 mA inputs ... 64
Fig. 51 Internal connections for 0/4..20 mA inputs of a EL3xx2 ... 64
Fig. 52 Example 1: low-side measurement... 65
Fig. 53 Example 1a, high-side measurement ... 66
Fig. 54 Example 2, high-side/low-side measurement ... 66
Fig. 55 Invalid EL3xx4 configuration... 67
Fig. 56 System Manager option ... 68
Fig. 57 Overview of network interfaces ... 68
Fig. 58 EtherCAT device properties ... 68
Fig. 59 Windows properties of the network interface ... 69
Fig. 60 Incorrect driver settings for the Ethernet port ... 70
Fig. 61 TCP/IP setting for the Ethernet port ... 71
Fig. 62 For TwinCAT 2.11 and higher, the System Manager can search for current Beckhoff ESI files automatically, if an online connection is available ... 72
Fig. 63 Identifier structure ... 72
Fig. 64 OnlineDescription information window ... 73
Fig. 65 Information window OnlineDescription, TwinCAT 3.x... 73
Fig. 66 File OnlineDescription.xml created by the System Manager ... 73
Fig. 67 Arrow indicates ESI recorded from OnlineDescription ... 74
Fig. 68 Information window for faulty ESI file ... 74
Fig. 69 Updating of the ESI directory... 76
Fig. 70 Append EtherCAT device ... 76
Fig. 71 Selecting the EtherCAT connection (TwinCAT 2.11) ... 77
Fig. 72 Selecting the EtherCAT connection (TwinCAT 2.11 R2) ... 77
Fig. 73 Selecting the Ethernet port ... 77
Fig. 74 EtherCAT properties dialog ... 78
Fig. 75 Appending EtherCAT devices ... 78
Fig. 76 Selection dialog for new EtherCAT device ... 79
Fig. 77 Display of device revision ... 79
Fig. 78 Display of previous revisions ... 80
Fig. 79 Name/revision of the terminal ... 80
Fig. 80 EtherCAT terminal in the TwinCAT tree ... 81
Fig. 81 Updating ESI directory... 82
Fig. 82 TwinCAT CONFIG mode display... 83
Fig. 83 Differentiation local/target system... 83
Fig. 84 Scan Devices ... 83
Fig. 85 Note for automatic device scan ... 83
Fig. 88 Installing EthetCAT terminal with revision -1018 ... 85
Fig. 89 Detection of EtherCAT terminal with revision -1019 ... 85
Fig. 90 Scan query after automatic creation of an EtherCAT device ... 85
Fig. 91 Manual triggering of a device scan on a specified EtherCAT device ... 86
Fig. 92 Scan progress ... 86
Fig. 93 Config/FreeRun query ... 86
Fig. 94 Config/FreeRun indicator ... 86
Fig. 95 TwinCAT kann auch durch einen Button in diesen Zustand versetzt werden ... 86
Fig. 96 Online display example ... 87
Fig. 97 Faulty identification ... 87
Fig. 98 Identical configuration ... 88
Fig. 99 Correction dialog ... 88
Fig. 100 Name/revision terminal ... 89
Fig. 101 Correction dialog with modifications ... 90
Fig. 102 TwinCAT 2 Dialog ChangeToCompatibleDevice ... 90
Fig. 103 TwinCAT 2 Dialog ChangeToCompatibleDevice ... 91
Fig. 104 Configuring the process data ... 92
Fig. 105 Branch of EL5001 ... 92
Fig. 106 “General” tab... 93
Fig. 107 „EtherCAT“ tab... 93
Fig. 108 “Process Data” tab... 94
Fig. 109 „Startup“ tab... 96
Fig. 110 “CoE – Online” tab ... 97
Fig. 111 Dialog “Advanced settings”... 98
Fig. 112 „Online“ tab ... 99
Fig. 113 Selection of the diagnostic information of an EtherCAT Slave ... 100
Fig. 114 Basic EtherCAT Slave Diagnosis in the PLC ... 102
Fig. 115 EL3102, CoE directory ... 104
Fig. 116 Example of commissioning aid for a EL3204 ... 105
Fig. 117 Default behaviour of the System Manager ... 106
Fig. 118 Default target state in the Slave ... 107
Fig. 119 PLC function blocks ... 107
Fig. 120 Illegally exceeding the E-Bus current ... 108
Fig. 121 Warning message for exceeding E-Bus current ... 108
Fig. 122 EL31xx parameterization ... 109
Fig. 123 Input byte definition... 111
Fig. 124 Linking of 2-bit variable to additional task... 112
Fig. 125 Relationship of operating modes ... 113
Fig. 126 Attenuation curve notch.filter at 50 Hz... 114
Fig. 133 Connecting the 4-byte interface of the EL31xx to a 3-byte interface existing in the project ... 121
Fig. 134 Element-orientated process image under TwinCAT 2.10 ... 122
Fig. 135 Specific data for EL31xx, channel 1 ... 122
Fig. 136 Password protection ... 123
Fig. 137 EL31xx data stream... 124
Fig. 138 Data flow with correction calculation EL310x ... 124
Fig. 139 Data flow with correction calculation EL311x, EL314x ... 125
Fig. 140 Data flow with correction calculation EL312x, EL315x ... 125
Fig. 141 Data flow with correction calculation EL316x ... 125
Fig. 142 Full scale value, measuring span ... 137
Fig. 143 SE and DIFF module as 2-channel version ... 138
Fig. 144 2-wire connection... 140
Fig. 145 Connection of externally supplied sensors ... 141
Fig. 146 2-, 3- and 4-wire connection at single-ended and differential inputs ... 142
Fig. 147 TwinCAT logger window, example of incorrect StartUp entry under TwinCAT 2.11 ... 143
Fig. 148 Device identifier consisting of name EL3204-0000 and revision -0016 ... 151
Fig. 149 Scan the subordinate field by right-clicking on the EtherCAT device in Config/FreeRun mode 151 Fig. 150 Configuration is identical... 152
Fig. 151 Change dialog... 152
Fig. 152 EEPROM Update... 153
Fig. 153 Selecting the new ESI... 153
Fig. 154 Display of EL3204 firmware version ... 154
Fig. 155 Firmware Update ... 155
Fig. 156 FPGA firmware version definition ... 156
Fig. 157 Context menu Properties ... 156
Fig. 158 Dialog Advanced Settings ... 157
Fig. 159 Select dialog Advanced Settings ... 158
Fig. 160 Select dialog FPGA ... 158
Fig. 161 Write FPGA... 159
Fig. 162 Multiple selection and firmware update ... 159
Fig. 163 Selecting the "Restore default parameters" PDO ... 160