Beckhoff EL3632, Documentation

Page 1: ...Documentation EL3632 2 channel analog input terminal for Condition Monitoring IEPE 2 8 2018 09 14 Version Date...

Page 2: ......

Page 3: ...notes for setting the watchdog 21 3 4 EtherCAT State Machine 23 3 5 CoE Interface 25 3 6 Distributed Clock 30 4 Mounting and wiring 31 4 1 Instructions for ESD protection 31 4 2 Installation on mounti...

Page 4: ...5 7 2 Measuring error measurement deviation 172 5 7 3 Temperature coefficient tK ppm K 173 5 7 4 Single ended differential typification 174 5 7 5 Common mode voltage and reference ground based on dif...

Page 5: ...diagrams and descriptions in this documentation Trademarks Beckhoff TwinCAT EtherCAT EtherCAT P Safety over EtherCAT TwinSAFE XFC and XTS are registered trademarks of and licensed by Beckhoff Automat...

Page 6: ...ined 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 us...

Page 7: ...ion of Technical data Update chapter TwinCAT 2 1x TwinCAT Development Environment and TwinCAT Quick Start Update revision status 2 2 Section Oversampling terminals and TwinCAT Scope added 2 1 Update c...

Page 8: ...eckhoff In principle a device with a higher revision can replace a device with a lower revision unless specified otherwise e g in the documentation Associated and synonymous with each revision there i...

Page 9: ...ardware 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...

Page 10: ...0 Version 2 8 Fig 2 EK1100 EtherCAT coupler standard IP20 IO device with serial batch number Fig 3 CU2016 switch with serial batch number Fig 4 EL3202 0020 with serial batch number 26131006 and unique...

Page 11: ...r 158102 Fig 6 EP1908 0002 IP67 EtherCAT Safety Box with batch number date code 071201FF and unique serial number 00346070 Fig 7 EL2904 IP20 safety terminal with batch number date code 50110302 and un...

Page 12: ...ty to be fully utilized Alternatively the evaluation can also be done using the user software The terminal can be adapted to individual requirements through configurable filters and supply currents A...

Page 13: ...it Measuring error 0 5 Supply voltage for electronic via the E bus Current consumption via E bus typ 220 mA Configuration via TwinCAT System Manager Weight approx 65 g Permissible ambient temperature...

Page 14: ...180 Hard fist stroke up to 100 Raindrop hitting the eye up to 150 Ball pen hitting hard floor from 1 m height order of magnitude 1000 Hard disk falling on hard floor from 1 m height without deformatio...

Page 15: ...current In inactive state they produce a constant DC bias voltage zero voltage Ubias typically 7 14 V Depending on the acceleration of the sensor an analog AC voltage generated proportionally to the m...

Page 16: ...sors are described by various parameters such as sensitivity e g 50 mV g measuring range e g 100 g 3 dB frequency range under 1 Hz to several kHz current consumption 2 20 mA bias voltage etc The figur...

Page 17: ...c sensors and electronic analysis equipment Different manufacturers have developed their own brand names such as ICP CCLD Isotron DeltaTron Piezotron Application Piezoelectric sensors are usually base...

Page 18: ...s up This can be disadvantageous Note the information provided by the sensor manufacturer The higher the feed current the higher the maximum transferable signal frequency since the charge supply disch...

Page 19: ...herCAT master The master analyses the measured data on the existing higher level PC via the TwinCAT library or custom software Fig 14 EL3632 with periphery 2 4 Start For commissioning mount the EL3632...

Page 20: ...802 3 Pin Color of conductor Signal Description 1 yellow TD Transmission Data 2 orange TD Transmission Data 3 white RD Receiver Data 6 blue RD Receiver Data Due to automatic cable detection auto cross...

Page 21: ...l for longer than the set and activated SM watchdog time e g in the event of a line interruption the watchdog is triggered and the outputs are set to FALSE The OP state of the terminal is unaffected T...

Page 22: ...the checkbox is not activated nothing is downloaded and the ESC settings remain unchanged Multiplier Multiplier Both watchdogs receive their pulses from the local terminal cycle divided by the watchdo...

Page 23: ...witching off of the SM watchdog via SM watchdog 0 is only implemented in terminals from version 0016 In previous versions this operating mode should not be used CAUTION Damage of devices and undefined...

Page 24: ...tional Safe Op During transition between Pre Op and Safe Op the EtherCAT slave checks whether the sync manager channels for process data communication and if required the distributed clocks settings a...

Page 25: ...ation values for analog measurement or passwords The order is specified in 2 levels via hexadecimal numbering main index followed by subindex The value ranges are Index 0x0000 0xFFFF 0 65535dez SubInd...

Page 26: ...ters are still available after a restart The situation may be different with other manufacturers An EEPROM is subject to a limited lifetime with respect to write operations From typically 100 000 writ...

Page 27: ...is to be stored permanently enter it in the Startup list The order of the Startup entries is usually irrelevant Fig 19 Startup list in the TwinCAT System Manager The Startup list may already contain v...

Page 28: ...The actual current slave list is read This may take several seconds depending on the size and cycle time The actual identity is displayed The firmware and hardware version of the equipment according t...

Page 29: ...placeholder n tends to be used for the individual channel numbers In the CoE system 16 indices each with 255 subindices are generally sufficient for representing all channel parameters The channel bas...

Page 30: ...1 ns Zero point 1 1 2000 00 00 Size 64 bit sufficient for the next 584 years however some EtherCAT slaves only offer 32 bit support i e the variable overflows after approx 4 2 seconds The EtherCAT mas...

Page 31: ...highly insulating materials synthetic fibers plastic film etc Surroundings working place packaging and personnel should by grounded probably when handling with the devices Each assembly must be termin...

Page 32: ...lock clicks onto the mounting rail If the terminals are clipped onto the mounting rail first and then pushed together without tongue and groove the connection will not be operational When correctly as...

Page 33: ...ents The six spring contacts of the K Bus E Bus deal with the transfer of the data and the supply of the Bus Terminal electronics The power contacts deal with the supply for the field electronics and...

Page 34: ...for testing these Power Feed Terminals can be released and pulled at least 10 mm from the group of terminals WARNING Risk of electric shock The PE power contact must not be used for other potentials...

Page 35: ...ounting rail during edging and installation of the rail The mounting points of the mounting rail must be set at 5 cm intervals Use countersunk head screws to fasten the mounting rail The free length b...

Page 36: ...cation The terminals of ELxxxx and KLxxxx series with standard wiring include electronics and connection level in a single enclosure The terminals of ESxxxx and KSxxxx series feature a pluggable conne...

Page 37: ...nnection wires when the connector is removed Conductor cross sections between 0 08 mm2 and 2 5 mm2 can continue to be used with the proven spring force technology The overview and nomenclature of the...

Page 38: ...t toggle 2 The wire can now be inserted into the round terminal opening without any force 3 The terminal point closes automatically when the pressure is released holding the wire securely and permanen...

Page 39: ...correspond to the actual measured temperature values Observe the permissible ambient temperature range of 0 to 55 C for the use of Beckhoff fieldbus compo nents standard temperature range in potentia...

Page 40: ...e areas ATEX that is available in the download area of the Beckhoff homepage http www beckhoff com 4 8 UL notice Application Beckhoff EtherCAT modules are intended for use with Beckhoff s UL Listed Et...

Page 41: ...tate Machine SAFEOP verification of the Sync Manager 92 channels and the distributed clocks Outputs remain in safe state on State of the EtherCAT State Machine OP normal operating state mailbox and pr...

Page 42: ...1 Input 1 2 Input 1 GND 3 Ground internally connected with terminal point 7 Shield 4 Shield internally connected to terminal point 8 Input 2 5 Input 2 Input 2 6 Input 2 GND 7 Ground internally connec...

Page 43: ...ger 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...

Page 44: ...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...

Page 45: ...004 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...

Page 46: ...tem Manager displays the following user interface after startup Fig 36 Initial TwinCAT 2 user interface Generally TwinCAT can be used in local or remote mode Once the TwinCAT system including the user...

Page 47: ...shown in red perform a Broadcast Search if the exact computer name is not known enter the known computer IP or AmsNetID Fig 38 Specify the PLC for access by the TwinCAT System Manager selection of the...

Page 48: ...enu Actions Set Reset TwinCAT to Config Mode Shift F4 Fig 39 Select Scan Devices Confirm the warning message which follows and select EtherCAT in the dialog Fig 40 Automatic detection of I O devices s...

Page 49: ...u which then reads the elements present in the configuration below Fig 42 Reading of individual terminals connected to a device This functionality is useful if the actual configuration is modified at...

Page 50: ...ction 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...

Page 51: ...cessful 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...

Page 52: ...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 objec...

Page 53: ...aneously 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 t...

Page 54: ...ntext 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 estab...

Page 55: ...k 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...

Page 56: ...onment 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 communi...

Page 57: ...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 54 Create new TwinCAT project The...

Page 58: ...ed on the respective PLC TwinCAT can be used in local mode and thereby the next step is Insert Device 59 If the intention is to address the TwinCAT runtime environment installed on a PLC as developmen...

Page 59: ...n 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 proj...

Page 60: ...be acknowledged Based on the sample configuration 44 described at the beginning of this section the result is as follows Fig 60 Mapping of the configuration in VS shell of the TwinCAT3 environment The...

Page 61: ...l supports all languages described in IEC 61131 3 There are two text based languages and three graphical languages Text based languages Instruction List IL Structured Text ST Graphical languages Funct...

Page 62: ...LC_example as project name for example and select a corresponding directory Fig 63 Specifying the name and directory for the PLC programming environment The Main program which already exists by select...

Page 63: ...Commissioning EL3632 63 Version 2 8 Fig 64 Initial Main program of the standard PLC project To continue sample variables and a sample program have now been created...

Page 64: ...r followed by the compile process Fig 66 Start program compilation The following variables identified in the ST PLC program with AT are then available in under Assignments in the project folder explor...

Page 65: ...on tree Fig 68 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...

Page 66: ...s 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 Fig 70 Application of a Goto Link variabl...

Page 67: ...he 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...

Page 68: ...tomation 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...

Page 69: ...s 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...

Page 70: ...s 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 net...

Page 71: ...Commissioning EL3632 71 Version 2 8 Fig 77 Exemplary correct driver setting for the Ethernet port Other possible settings have to be avoided...

Page 72: ...Commissioning EL3632 72 Version 2 8 Fig 78 Incorrect driver settings for the Ethernet port...

Page 73: ...here 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...

Page 74: ...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 Inte...

Page 75: ...on 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 101...

Page 76: ...leted 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...

Page 77: ...3632 77 Version 2 8 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 fi...

Page 78: ...sence 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 possi...

Page 79: ...ion 89 can also be carried out for comparison 5 2 5 OFFLINE configuration creation Creating the EtherCAT device Create an EtherCAT device in an empty System Manager window Fig 88 Append EtherCAT devic...

Page 80: ...can be appended by right clicking on a device in the configuration tree Fig 92 Appending EtherCAT devices left TwinCAT 2 right TwinCAT 3 The dialog for selecting a new device opens Only devices for w...

Page 81: ...ion can be displayed as Extended Information Fig 94 Display of device revision In many cases several device revisions were created for historic or functional reasons e g through technological advancem...

Page 82: ...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...

Page 83: ...Commissioning EL3632 83 Version 2 8 Fig 97 EtherCAT terminal in the TwinCAT tree left TwinCAT 2 right TwinCAT 3...

Page 84: ...online search is not available in RUN mode production operation Note the differentiation be tween TwinCAT programming system and TwinCAT target system The TwinCAT 2 icon or TwinCAT 3 icon within the W...

Page 85: ...e respective devices are lo cated in the stored ESI data and integrated in the configuration tree in the default state defined there Fig 102 Example default state NOTE Slave scanning in practice in se...

Page 86: ...iguration 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...

Page 87: ...hed to online state OPERATIONAL Fig 108 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 co...

Page 88: ...ce 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...

Page 89: ...uration is then replaced by the revision found this can affect the supported process data and functions If a scan is initiated for an existing configuration the actual I O environment may match the co...

Page 90: ...ed on the higher revision number Device selection based on revision compatibility The ESI description also defines the process image the communication type between master and slave device and the devi...

Page 91: ...offers a function Change to Compatible Type for the exchange of a device whilst retaining the links in the task Fig 117 Dialog Change to Compatible Type left TwinCAT 2 right TwinCAT 3 This function i...

Page 92: ...s 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 pro...

Page 93: ...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...

Page 94: ...difications 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...

Page 95: ...incorrect configuration the EtherCAT slave usu ally refuses to start and change to OP state The System Manager displays an invalid SM cfg log ger message This error message invalid SM IN cfg or invali...

Page 96: ...nt 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...

Page 97: ...ect 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 Update List The Update list button updates...

Page 98: ...cts 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 opt...

Page 99: ...ain 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...

Page 100: ...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 desele...

Page 101: ...riefly 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 Documen...

Page 102: ...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 acyclicall...

Page 103: ...on This may possibly have effects on the process data of other Slaves that are located in the same Syn cUnit In order for the higher level PLC task or cor responding control applications to be able to...

Page 104: ...ocally 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 Commissioning aid in the TwinCAT System Manag...

Page 105: ...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 i...

Page 106: ...as standard EtherCAT Master OP Slaves OP This setting applies equally to all Slaves Fig 133 Default behaviour of the System Manager In addition the target state of any particular Slave can be set in...

Page 107: ...e Fig 135 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...

Page 108: ...ove a warning message E Bus Power of Terminal is output in the logger window when such a configuration is activated Fig 137 Warning message for exceeding E Bus current NOTE Caution Malfunction possibl...

Page 109: ...s boxes The definition of oversampling by the Beckhoff s point of view shouldn t be mixed up with the oversampling process of a deltaSigma ADC deltaSigma ADC the frequency used by the ADC to sample th...

Page 110: ...EL3751 all EL3742 all EL3702 all EL3632 all EL2262 all EL1262 0050 all EL1262 all EP3632 0001 all EPP3632 0001 all Recording a PLC Variable with the TwinCAT 3 ScopeView By a precondition of an alread...

Page 111: ...identification AT I stands for swapping out this array variable to link it with the process data objects PDOs of a terminal box later Notice that at least the number of elements has to be the same as...

Page 112: ...f EL3773 Step 2b Creation of a PLC variable via a free task When a POU is not needed onto the particular system a referenced variable could be applied via a free task also If a free task is not existi...

Page 113: ...ty Create symbols must be activated There s a default value given for the Port number 301 that should be changed if necessary This number has to make acquainted for the Scope if applicable later on By...

Page 114: ...O U1 Samples of the EL3773 for MAIN aUI_Samples based by the last preceding paragraph Step 2a as illustrated above have to be done in the same way for Var 1 accordingly Step 4 Selection of the PLC arr...

Page 115: ...ariable aUI_Samples C have to be done Fig 147 Appending the variable aUI_Samples below axis within the scope project of the solution explorer Variable don t appears into the target browser If ROUTES d...

Page 116: ...nt cycle time The X axis view was fitted properly by using Panning X after the recording was stopped Following the Chart property Use X Axis SubGrid was set to true with 10 divisions as well as the Ch...

Page 117: ...left sided solution explorer I O Devices Device EtherCAT Image Next the register card ADS have to be selected to activate each checkbox Enable ADS Server and Create symbols then the port entry is don...

Page 118: ...EtherCAT device Also see Beckhoff Information System 5 4 2 TwinCAT 2 procedure The TwinCAT Scope2 supports the import and display of oversampling process data such as is used by oversampling able ter...

Page 119: ...via ADS without further measures since PLC variables are always created as ADS symbols in the background Fig 152 PLC in the System Manager Note the Scope2 can only see such variables in the variable...

Page 120: ...stem Manager an instance of it can be assigned to an additional task with a right click It appears in the overview sorted according to bit size Fig 155 Overview of declared types In this example the v...

Page 121: ...task will not run automatically ADS symbol tables are then created for all variables that have this task in their process data images Fig 158 Settings in the additional task Step 2 Configuration in th...

Page 122: ...ForceOversampling and DataType INT16 must be set in the channel which has now been created If necessary SymbolBased must be temporarily deactivated in addition Fig 161 Channel settings In order to che...

Page 123: ...issioning EL3632 123 Version 2 8 Fig 162 Activation of the marks An additional example illustrates the following image by representation of an oversampling variable from the EL3751 with 10 x oversampl...

Page 124: ...activated due to the oversampling variable is not provided by the terminal box Proceeding with TwinCAT 2 alternatively via ADS In former TwinCAT 2 versions or a lower revision as specified in the tab...

Page 125: ...tion tree I O Configuration I O Devices Device EtherCAT Device Image Next the register card ADS have to be selected to activate each checkbox Enable ADS Server and Create symbols then the port entry i...

Page 126: ...rsampling record Beckhoff TwinCAT supports the Scope2 with some oversampling devices in a special way by automatically calculating a special ADS array symbol in the background which appears in the Sco...

Page 127: ...desired sampling rate results from the selected cycle time and the set oversampling factor Automatic setting of the terminal box by the selection of the sampling rate alone is not possible Maximum va...

Page 128: ...herCAT folder be fore the TwinCAT System Manager is started Application with external masters The oversampling function can also be activated manually The oversampling factor should be specified depen...

Page 129: ...0 10 Hz Gain 20 1 100 Hz 2 500 Hz 3 1000 Hz 4 5000 Hz 5 10000 Hz 6 25000 Hz 7 2000 Hz from firmware 196 11 Setting the filters The filters must be configured separately for both channels Setting the f...

Page 130: ...f index 0x80n0 0A 132 is inactive Active offset adjustment If the function Active offset adjustment is active the offset values are not used Instead a dynamically calculated offset is subtracted Examp...

Page 131: ...ed directly at the shield connections of the terminal The red error LED comes on and the error bit is set in the event of an open circuit or if no sensor is connected If only the first channel is acti...

Page 132: ...for n 0 channel 1 n 1 channel 2 Index hex Name Meaning Data type Flags Default 80n0 0 AI Settings Maximum subindex UINT8 RO 0x20 32dec 80n0 07 Enable limit Activate limit evaluation deviates from oth...

Page 133: ...Flags Default FB00 0 DCM Command Command interface UINT8 RO 0x03 3dec FB00 01 Request 0x8000 Software reset hardware is re initialized with the current CoE configuration this otherwise happens only d...

Page 134: ...pe Flags Default 10F3 0 Diagnosis History Maximum subindex UINT8 RO 0x15 21dec 10F3 01 Maximum Messages Maximum number of stored messages A maximum of 16 messages can be stored UINT8 RO 0x00 0dec 10F3...

Page 135: ...of the EtherCAT slave STRING RO Index 100A Software version Index hex Name Meaning Data type Flags Default 100A 0 Software version Firmware version of the EtherCAT slave STRING RO 05 Index 1018 Ident...

Page 136: ...ex hex Name Meaning Data type Flags Default 1A01 0 Analog Input TxPDO MapSamples 1 Ch 1 PDO Mapping TxPDO 2 UINT8 RO 0x01 1dec 1A01 01 SubIndex 001 1 PDO Mapping entry object 0x6000 AI Inputs entry 0x...

Page 137: ...1 1dec 1A09 01 SubIndex 001 1 PDO Mapping entry object 0x6009 Sample 9 entry 0x01 Value UINT32 RO 0x6001 09 16 Index 1A0A Analog Input TxPDO MapSamples 10 Ch 1 Index hex Name Meaning Data type Flags D...

Page 138: ...NT8 RO 0x01 1dec 1A11 01 SubIndex 001 1 PDO Mapping entry object 0x6001 Sample 1 entry 0x01 Value UINT32 RO 0x6001 11 16 Index 1A12 Analog Input TxPDO MapSamples 18 Ch 1 Index hex Name Meaning Data ty...

Page 139: ...26 UINT8 RO 0x01 1dec 1A19 01 SubIndex 001 1 PDO Mapping entry object 0x6002 Samples entry 0x18 UINT32 RO 0x6001 19 16 Index 1A1A Analog Input TxPDO MapSamples 26 Ch 1 Index hex Name Meaning Data type...

Page 140: ...34 UINT8 RO 0x01 1dec 1A21 01 SubIndex 001 1 PDO Mapping entry object 0x6002 Samples entry 0x20 UINT32 RO 0x6001 21 16 Index 1A22 Analog Input TxPDO MapSamples 34 Ch 1 Index hex Name Meaning Data type...

Page 141: ...42 UINT8 RO 0x01 1dec 1A29 01 SubIndex 001 1 PDO Mapping entry object 0x6002 Samples entry 0x28 UINT32 RO 0x6001 29 16 Index 1A2A Analog Input TxPDO MapSamples 42 Ch 1 Index hex Name Meaning Data type...

Page 142: ...001 31 16 Index 1A32 Analog Input TxPDO MapSamples 50 Ch 1 Index hex Name Meaning Data type Flags Default 1A32 0 Analog Input TxPDO MapSamples 50 Ch 1 PDO Mapping TxPDO 51 UINT8 RO 0x01 1dec 1A32 01 S...

Page 143: ...69 UINT8 RO 0x01 1dec 1A44 01 SubIndex 001 1 PDO Mapping entry object 0x6012 Samples entry 0x04 UINT32 RO 0x6011 04 16 Index 1A45 Analog Input TxPDO MapSamples 5 Ch 2 Index hex Name Meaning Data type...

Page 144: ...7 UINT8 RO 0x01 1dec 1A4C 01 SubIndex 001 1 PDO Mapping entry object 0x6012 Samples entry 0x0C UINT32 RO 0x6011 0C 16 Index 1A4D Analog Input TxPDO MapSamples 13 Ch 2 Index hex Name Meaning Data type...

Page 145: ...85 UINT8 RO 0x01 1dec 1A54 01 SubIndex 001 1 PDO Mapping entry object 0x6012 Samples entry 0x13 UINT32 RO 0x6011 14 16 Index 1A55 Analog Input TxPDO MapSamples 21 Ch 2 Index hex Name Meaning Data type...

Page 146: ...93 UINT8 RO 0x01 1dec 1A5C 01 SubIndex 001 1 PDO Mapping entry object 0x6012 Samples entry 0x0B UINT32 RO 0x6011 1C 16 Index 1A5D Analog Input TxPDO MapSamples 29 Ch 2 Index hex Name Meaning Data type...

Page 147: ...1 UINT8 RO 0x01 1dec 1A64 01 SubIndex 001 1 PDO Mapping entry object 0x6012 Samples entry 0x13 UINT32 RO 0x6011 24 16 Index 1A65 Analog Input TxPDO MapSamples 37 Ch 2 Index hex Name Meaning Data type...

Page 148: ...09 UINT8 RO 0x01 1dec 1A6C 01 SubIndex 001 1 PDO Mapping entry object 0x6012 Samples entry 0x1B UINT32 RO 0x6011 2C 16 Index 1A6D Analog Input TxPDO MapSamples 45 Ch 2 Index hex Name Meaning Data type...

Page 149: ...ping entry object 0x6021 CycleCount en try 0x01 Cycle Count UINT32 RO 0x6021 01 16 Index 1C00 Sync manager type Index hex Name Meaning Data type Flags Default 1C00 0 Sync manager type Using the sync m...

Page 150: ...g of 0x1C32 08 or 0x1C33 08 UINT16 RO 0xC007 49159dec 1C33 05 Minimum cycle time as 0x1C32 05 UINT32 RO 0x00002710 10000dec 1C33 06 Calc and copy time Time between reading of the inputs and availabili...

Page 151: ...subindex UINT8 RW 0x03 3dec F010 01 SubIndex 001 Profile AI UINT32 RW 0x0000012C 300dec F010 02 SubIndex 002 Profile AI UINT32 RW 0x0000012C 300dec F010 03 SubIndex 003 Profile AI UINT32 RW 0x0000012C...

Page 152: ...e click on the respective object or via the Process Data tab 93 allocation of PDOs Please note the following general CoE notes 25 when using manipulating the CoE parameters Keep a startup list if comp...

Page 153: ...mA 2 8 mA ENUM RW 2 mA 0 80n0 21 Active offset adjust ment Automatic offset calculation 129 0 Disabled 1 Level 1 2 Level 2 3 Level 3 4 Level 4 5 Level 5 6 Level 6 7 Level 7 8 Level 8 ENUM RW Disabled...

Page 154: ...r equal to Limit 1 3 1 and 2 both true BIT2 RO 0x00 0dec 60n0 07 Error Measuring error BOOLEAN RO 0x00 0dec 60n0 0E Sync error Synchronization error BOOLEAN RO 0x00 0dec 60n0 0F TxPDO State Validity o...

Page 155: ...erCAT XML Device Description We rec ommend downloading the latest XML file from the download area of the Beckhoff website and in stalling it according to installation instructions Parameterization via...

Page 156: ...1A00 0 Analog Input TxPDO MapStatus Ch 1 PDO Mapping TxPDO 1 UINT8 RO 0x09 9dec 1A00 01 SubIndex 001 1 PDO Mapping entry object 0x6000 AI Inputs entry 0x01 Underrange UINT32 RO 0x6000 01 1 1A00 02 Sub...

Page 157: ...O 0x01 1dec 1A06 01 SubIndex 001 1 PDO Mapping entry object 0x6006 Sample 6 entry 0x01 Value UINT32 RO 0x6001 06 16 Index 1A07 Analog Input TxPDO MapSamples 7 Ch 1 Index hex Name Meaning Data type Fla...

Page 158: ...RO 0x01 1dec 1A0E 01 SubIndex 001 1 PDO Mapping entry object 0x600E Sample 14 entry 0x01 Value UINT32 RO 0x6001 0E 16 Index 1A0F Analog Input TxPDO MapSamples 15 Ch 1 Index hex Name Meaning Data type...

Page 159: ...ping TxPDO 23 UINT8 RO 0x01 1dec 1A16 01 SubIndex 001 1 PDO Mapping entry object 0x6002 Samples entry 0x15 UINT32 RO 0x6001 16 16 Index 1A17 Analog Input TxPDO MapSamples 23 Ch 1 Index hex Name Meanin...

Page 160: ...31 UINT8 RO 0x01 1dec 1A1E 01 SubIndex 001 1 PDO Mapping entry object 0x6002 Samples entry 0x1D UINT32 RO 0x6001 1E 16 Index 1A1F Analog Input TxPDO MapSamples 31 Ch 1 Index hex Name Meaning Data type...

Page 161: ...39 UINT8 RO 0x01 1dec 1A26 01 SubIndex 001 1 PDO Mapping entry object 0x6002 Samples entry 0x25 UINT32 RO 0x6001 26 16 Index 1A27 Analog Input TxPDO MapSamples 39 Ch 1 Index hex Name Meaning Data type...

Page 162: ...47 UINT8 RO 0x01 1dec 1A2E 01 SubIndex 001 1 PDO Mapping entry object 0x6002 Samples entry 0x2D UINT32 RO 0x6001 2E 16 Index 1A2F Analog Input TxPDO MapSamples 47 Ch 1 Index hex Name Meaning Data type...

Page 163: ...2 Index hex Name Meaning Data type Flags Default 1A41 0 Analog Input TxPDO MapSamples 1 Ch 2 PDO Mapping TxPDO 66 UINT8 RO 0x01 1dec 1A41 01 SubIndex 001 1 PDO Mapping entry object 0x6002 Samples ent...

Page 164: ...INT8 RO 0x01 1dec 1A49 01 SubIndex 001 1 PDO Mapping entry object 0x6012 Samples entry 0x09 UINT32 RO 0x6011 09 16 Index 1A4A Analog Input TxPDO MapSamples 10 Ch 2 Index hex Name Meaning Data type Fla...

Page 165: ...82 UINT8 RO 0x01 1dec 1A51 01 SubIndex 001 1 PDO Mapping entry object 0x6012 Samples entry 0x10 UINT32 RO 0x6011 11 16 Index 1A52 Analog Input TxPDO MapSamples 18 Ch 2 Index hex Name Meaning Data type...

Page 166: ...90 UINT8 RO 0x01 1dec 1A59 01 SubIndex 001 1 PDO Mapping entry object 0x6012 Samples entry 0x08 UINT32 RO 0x6011 19 16 Index 1A5A Analog Input TxPDO MapSamples 26 Ch 2 Index hex Name Meaning Data type...

Page 167: ...UINT8 RO 0x01 1dec 1A61 01 SubIndex 001 1 PDO Mapping entry object 0x6012 Samples entry 0x10 UINT32 RO 0x6011 21 16 Index 1A62 Analog Input TxPDO MapSamples 34 Ch 2 Index hex Name Meaning Data type F...

Page 168: ...06 UINT8 RO 0x01 1dec 1A69 01 SubIndex 001 1 PDO Mapping entry object 0x6012 Samples entry 0x18 UINT32 RO 0x6011 29 16 Index 1A6A Analog Input TxPDO MapSamples 42 Ch 2 Index hex Name Meaning Data type...

Page 169: ...2 Index hex Name Meaning Data type Flags Default 1A71 0 Analog Input TxPDO MapSamples 49 Ch 2 PDO Mapping TxPDO 114 UINT8 RO 0x01 1dec 1A71 01 SubIndex 001 1 PDO Mapping entry object 0x6012 Samples e...

Page 170: ...x 1C12 RxPDO assign Index hex Name Meaning Data type Flags Default 1C12 0 RxPDO assign PDO Assign Outputs UINT8 RW 0x00 0dec Index 1C13 TxPDO assign Index hex Name Meaning Data type Flags Default 1C13...

Page 171: ...g of 0x1C32 08 or 0x1C33 08 UINT16 RO 0xC007 49159dec 1C33 05 Minimum cycle time as 0x1C32 05 UINT32 RO 0x00002710 10000dec 1C33 06 Calc and copy time Time between reading of the inputs and availabili...

Page 172: ...on end value initial value Analogous to pointing devices this is the measuring scale see IEC 61131 or also the dynamic range For analog I O devices from Beckhoff the rule is that the limit with the la...

Page 173: ...nd thermal stabiliza tion after a user calibration This applies to analog output devices 5 7 3 Temperature coefficient tK ppm K An electronic circuit is usually temperature dependent to a greater or l...

Page 174: ...en two potential points For voltage measurements a large R is used in order to ensure a high impedance For current measurements a small R is used as shunt If the purpose is resistance measurement corr...

Page 175: ...portant to pay attention to the quality of this potential noiselessness voltage stability At this GND point a wire may be connected to make sure that VCM max is not exceeded in the differential sensor...

Page 176: ...ufactured on the application side to be connected with the right polarity to Signal and Signal It is important to refer to the information page Configuration of 0 4 20 mA differential inputs see docum...

Page 177: ...and related product groups exactly the same Differential EL3x1x 0 20 mA EL3x2x 4 20 mA KL and related product groups exactly the same Preferred current direction because of internal diode Preferred cu...

Page 178: ...Commissioning EL3632 178 Version 2 8 Single ended Differential Fig 175 2 3 and 4 wire connection at single ended and differential inputs...

Page 179: ...der consideration For multi channel terminals boxes with resistive direct ohmic galvanic or capacitive connection between the channels the reference ground should preferably be the symmetry point of a...

Page 180: ...user perspective they all have a common characteristic after the conversion a certain digital value is available in the controller for further processing This digital value the so called analog proces...

Page 181: ...hronous or more quickly if the AI channel operates in slow FreeRun mode or more slowly e g with oversampling is then a question of the fieldbus setting and which modes the AI device supports For Ether...

Page 182: ...awtooth or sine A simultaneous square wave signal would be used as reference The signal delay ms s is then the interval between the applied electrical signal with a particular amplitude and the moment...

Page 183: ...f the ADC if different from the channel sampling rate Time correction values for run times with different filter settings etc 5 8 Application example Use of ScopeView2 with oversampling Preparation Us...

Page 184: ...med fig Target Browser Select ScopeView2 View Target Browser Select Enable Server Ports button at top left Enter the noted port see fig Activation of ScopeView2 in the field at the bottom left Confirm...

Page 185: ...n additional task must be used if no PLC is active TwinCAT System Manager SYSTEM Config uration additional task rights mouse button Add task rights mouse button Insert vari able Create variable s and...

Page 186: ...ion er ror Jitter of master too high distributed clocks switched off The error LED lights up only in case of open circuit Troubleshooting The dialog for setting the sampling rate is missing The dialog...

Page 187: ...can therefore be implemented supplier independently Support is optional The firmware can store up to 250 DiagMessages in its own CoE Each DiagMessage consists of Diag Code 4 byte Flags 2 byte info war...

Page 188: ...e stamp Text ID Plain text message according to ESI XML data The meanings of the buttons are self explanatory DiagMessages within the ADS Logger Eventlogger Since TwinCAT 3 1 build 4022 DiagMessages s...

Page 189: ...ID The structure of the MessageID is not subject to any standardization and can be supplier specifically defined In the case of Beckhoff EtherCAT devices EL EP it usually reads according to xyzz x y...

Page 190: ...eleted Idx 0x X SubIdx 0x X Data deleted 0x117F Information General Information 0x X 0x X 0x X Information 0x1201 Information Communication Communication re es tablished Communication to the field sid...

Page 191: ...0x2004 Information System s valid IP Configura tion IP d d d d assigned by Dhcp server d d d d Valid IP configuration assigned by the DHCP server 0x2005 Information System s Dhcp client timed out DHC...

Page 192: ...the PDO Configuration The selected PDOs do not match the set operating mode Sample Drive operates in velocity mode but the ve locity PDO is but not mapped in the PDOs 0x417F Warning General Warning 0x...

Page 193: ...ve Limit Current Limit current is limited 0x4419 Warning Drive Limit Amplifier I2T model exceeds 100 The threshold values for the maximum current were exceeded 0x441A Warning Drive Limit Motor I2T mod...

Page 194: ...Communication between the fieldbus and the output stage is secured by a Watchdog The axis is stopped automatically if the fieldbus communication is inter rupted The EtherCAT connection was interrupted...

Page 195: ...0 Error Drive Incorrect drive configura tion 0x X d Drive incorrectly configured 0x8401 Error Drive Limiting of calibration ve locity d d Limitation of the calibration velocity 0x8402 Error Drive Emer...

Page 196: ...mpling setting is not possible Oversampling setting not possible 0x8703 Error No slave controller found No slave controller found 0x8704 Error Slave controller is not in Bootstrap Slave controller is...

Page 197: ...its own device description ESI EtherCAT Slave Information On power up this description is loaded and the EtherCAT communication is set up accordingly The device description is available from the down...

Page 198: ...ata from the production in the EEPROM These are irretrievably overwritten during an update The ESI device description is stored locally on the slave and loaded on start up Each device description has...

Page 199: ...on is to scan the EtherCAT boxes in TwinCAT mode Config FreeRun Fig 186 Scan the subordinate field by right clicking on the EtherCAT device If the found field matches the configured field the display...

Page 200: ...ave in the online display opens the EEPROM Update dialog Fig EEPROM Update Fig 189 EEPROM Update The new ESI description is selected in the following dialog see Fig Selecting the new ESI The checkbox...

Page 201: ...terminal 2 EL3204 and select the tab CoE Online CAN over EtherCAT CoE Online and Offline CoE Two CoE directories are available online This is offered in the EtherCAT slave by the controller if the Eth...

Page 202: ...ring a firmware update Switch to the Online tab to update the controller firmware of a slave see Fig Firmware Update Fig 192 Firmware Update Proceed as follows unless instructed otherwise by Beckhoff...

Page 203: ...date may be accomplished via an rbf file Controller firmware for processing I O signals FPGA firmware for EtherCAT communication only for terminals with FPGA The firmware version number included in th...

Page 204: ...right click the table header and select Properties in the context menu Fig 194 Context menu Properties The Advanced Settings dialog appears where the columns to be displayed can be selected Under Dia...

Page 205: ...terminal must have FPGA firmware version 10 or higher Older firmware versions can only be updated by the manufacturer Updating an EtherCAT device The following sequence order have to be met if no othe...

Page 206: ...nager select the terminal for which the FPGA firmware is to be updated in the example Terminal 5 EL5001 and click the Advanced Settings button in the EtherCAT tab The Advanced Settings dialog appears...

Page 207: ...the device A download of firmware to an EtherCAT device must not be interrupted in any case If you interrupt this process by switching off power supply or disconnecting the Ethernet link the EtherCAT...

Page 208: ...PDO Double click on SubIndex 001 to enter the Set Value dialog Enter the value 1684107116 in field Dec or the value 0x64616F6C in field Hex and confirm with OK Fig Entering a restore value in the Set...

Page 209: ...components there Beckhoff Headquarters Beckhoff Automation GmbH Co KG Huelshorstweg 20 33415 Verl Germany Phone 49 5246 963 0 Fax 49 5246 963 198 e mail info beckhoff com Beckhoff Support Support off...

Page 210: ...al of an IEPE sensor sample 16 Fig 13 Frequency response of an acceleration sensor 17 Fig 14 EL3632 with periphery 19 Fig 15 System manager current calculation 21 Fig 16 EtherCAT tab Advanced Settings...

Page 211: ...d to a device 61 Fig 62 Adding the programming environment in PLC 62 Fig 63 Specifying the name and directory for the PLC programming environment 62 Fig 64 Initial Main program of the standard PLC pro...

Page 212: ...AT device left TwinCAT 2 right Twin CAT 3 86 Fig 106 Manual triggering of a device scan on a specified EtherCAT device left TwinCAT 2 right TwinCAT 3 87 Fig 107 Scan progressexemplary by TwinCAT 2 87...

Page 213: ...xis within the scope project of the solution explorer 115 Fig 148 Example of recording a sine signal with 10 x oversampling at 1 ms measurement cycle time 116 Fig 149 Activation of the ADS server of t...

Page 214: ...ion of the DiagMessage system in the TwinCAT System Manager 188 Fig 185 Device identifier consisting of name EL3204 0000 and revision 0016 198 Fig 186 Scan the subordinate field by right clicking on t...