Beckhoff EL7031 Documentation Download

Page: 3 / 255

Table of contents

EL70x1

Version: 4.4

Table of contents

1 Foreword .................................................................................................................................................... 7

1.1

Product overview Stepper motor terminals..................................................................................... 7

1.2

Notes on the documentation........................................................................................................... 7

1.3

Safety instructions .......................................................................................................................... 9

1.4

Documentation issue status.......................................................................................................... 10

1.5

Version identification of EtherCAT devices................................................................................... 11

1.6

Non-reactive Bus Terminals ......................................................................................................... 15

2 Product overview..................................................................................................................................... 16

2.1

EL7031 - Introduction ................................................................................................................... 16

2.2

EL7031 - Technical data............................................................................................................... 18

2.3

EL7041 - Introduction ................................................................................................................... 19

2.4

EL7041-x00x - Technical data ...................................................................................................... 22

2.5

Technology ................................................................................................................................... 23

3 Basics communication ........................................................................................................................... 27

3.1

EtherCAT basics ........................................................................................................................... 27

3.2

EtherCAT cabling – wire-bound.................................................................................................... 27

3.3

General notes for setting the watchdog ........................................................................................ 28

3.4

EtherCAT State Machine .............................................................................................................. 30

3.5

CoE Interface ................................................................................................................................ 32

3.6

Distributed Clock........................................................................................................................... 37

4 Mounting and wiring ............................................................................................................................... 38

4.1

Installation on mounting rails ........................................................................................................ 38

4.2

Installation instructions for enhanced mechanical load capacity .................................................. 40

4.3

Connection.................................................................................................................................... 41
4.3.1

Connection system........................................................................................................... 41

4.3.2

Wiring ............................................................................................................................... 43

4.3.3

Shielding .......................................................................................................................... 44

4.4

Mounting of Passive Terminals..................................................................................................... 44

4.5

Installation position for operation with or without fan .................................................................... 45

4.6

UL notice - Compact Motion ......................................................................................................... 49

4.7

EL7031 ......................................................................................................................................... 51
4.7.1

LEDs and connection ....................................................................................................... 51

4.7.2

General connection examples ......................................................................................... 52

4.8

EL7041 ......................................................................................................................................... 54
4.8.1

LEDs and connection ....................................................................................................... 54

4.8.2

General connection examples ......................................................................................... 66

5 Commissioning........................................................................................................................................ 68

5.1

TwinCAT Quick Start .................................................................................................................... 68
5.1.1

TwinCAT 2 ....................................................................................................................... 70

5.1.2

TwinCAT 3 ....................................................................................................................... 80

5.2

TwinCAT Development Environment............................................................................................ 92
5.2.1

Installation of the TwinCAT real-time driver ..................................................................... 92

5.2.2

Notes regarding ESI device description ........................................................................... 98

5.2.3

TwinCAT ESI Updater.................................................................................................... 102