Beckhoff EL6201 Documentation

Documentation

EL6201

AS-Interface Master Terminal

2.2

2017-03-30

Version:

Date:

Table of Contents

EL6201 3Version: 2.2

Table of Contents

1 Foreword ....................................................................................................................................................5

1.1 Notes on the documentation........................................................................................................... 5

1.2 Safety instructions .......................................................................................................................... 6

1.3 Documentation issue status............................................................................................................ 7

1.4 Version identification of EtherCAT devices..................................................................................... 7

2 Product overview.....................................................................................................................................12

2.1 Introduction ................................................................................................................................... 12

2.2 Technical data .............................................................................................................................. 13

2.3 Technology ................................................................................................................................... 14

2.3.1 • AS-i requirements ..........................................................................................................14

2.3.2 Assembly using the piercing technology..........................................................................14

2.3.3 AS interface for every topology........................................................................................16

2.4 Start .............................................................................................................................................. 16

3 Basics communication ...........................................................................................................................17

3.1 EtherCAT basics........................................................................................................................... 17

3.2 EtherCAT cabling – wire-bound.................................................................................................... 17

3.3 General notes for setting the watchdog ........................................................................................ 18

3.4 EtherCAT State Machine .............................................................................................................. 20

3.5 CoE Interface................................................................................................................................ 22

4 Installation................................................................................................................................................27

4.1 Instructions for ESD protection ..................................................................................................... 27

4.2 Installation on mounting rails ........................................................................................................ 27

4.3 Installation instructions for enhanced mechanical load capacity .................................................. 30

4.4 Connection system ....................................................................................................................... 31

4.5 Prescribed installation position ..................................................................................................... 34

4.6 Mounting of Passive Terminals..................................................................................................... 35

4.7 LEDs and connection.................................................................................................................... 36

5 Commissioning........................................................................................................................................40

5.1 TwinCAT Quick Start .................................................................................................................... 40

5.1.1 TwinCAT2 .......................................................................................................................42

5.1.2 TwinCAT 3 .......................................................................................................................52

5.2 TwinCAT Development Environment............................................................................................ 64

5.2.1 Installation of the TwinCAT real-time driver .....................................................................64

5.2.2 Notes regarding ESI device description...........................................................................70

5.2.3 TwinCAT ESI Updater......................................................................................................74

5.2.4 Distinction between Online and Offline ............................................................................74

5.2.5 OFFLINE configuration creation ......................................................................................75

5.2.6 ONLINE configuration creation ........................................................................................80

5.2.7 EtherCAT subscriber configuration ..................................................................................88

5.3 General Notes - EtherCAT Slave Application ............................................................................... 98

5.4 Functionality of the AS-i master.................................................................................................. 106

5.4.1 AS-i status machine .......................................................................................................106

5.4.2 Lists................................................................................................................................107

5.4.3 Operating modes ...........................................................................................................107

5.4.4 Operating phases...........................................................................................................108

5.4.5 Address assignment of the AS-i slaves .........................................................................109

Table of Contents

EL62014 Version: 2.2

5.4.6 Automatic address assignment......................................................................................109

5.5 Quickstart.................................................................................................................................... 109

5.6 Further notes on commissioning................................................................................................. 124

5.7 Object description and parameterization .................................................................................... 130

5.7.1 Restore object................................................................................................................130

5.7.2 Configuration data..........................................................................................................130

5.7.3 Command object ...........................................................................................................134

5.7.4 Input data .......................................................................................................................137

5.7.5 Output data ....................................................................................................................137

5.7.6 Information data ............................................................................................................137

5.7.7 Diagnostic data .............................................................................................................138

5.7.8 ASI data .........................................................................................................................141

5.8 Object description - standard objects ......................................................................................... 145

6 Appendix ................................................................................................................................................216

6.1 EtherCAT AL Status Codes ........................................................................................................ 216

6.2 Firmware compatibility ................................................................................................................ 216

6.3 Firmware Update EL/ES/EM/EPxxxx.......................................................................................... 216

6.4 Restoring the delivery state ........................................................................................................ 227

6.5 Support and Service ................................................................................................................... 228

Foreword

EL6201 5Version: 2.2

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

The reproduction, distribution and utilization of this document as well as the communication of its contents to

others without express authorization are prohibited.

patent, utility model or design.

Foreword

EL62016 Version: 2.2

1.2 Safety instructions

Safety regulations

Please note the following safety instructions and explanations!

Product-specific safety instructions can be found on following pages or in the areas mounting, wiring,

commissioning etc.

Exclusion of liability

All the components are supplied in particular hardware and software configurations appropriate for the

application. Modifications to hardware or software configurations other than those described in the

documentation are not permitted, and nullify the liability of Beckhoff Automation GmbH & Co. KG.

Personnel qualification

This description is only intended for trained specialists in control, automation and drive engineering who are

familiar with the applicable national standards.

Description of symbols

In this documentation the following symbols are used with an accompanying safety instruction or note. The

safety instructions must be read carefully and followed without fail!

DANGER

Serious risk of injury!

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

life and health of persons.

WARNING

Risk of injury!

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

health of persons.

CAUTION

Personal injuries!

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

persons.

Attention

Damage to the environment or devices

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

vironment or equipment.

Note

Tip or pointer

This symbol indicates information that contributes to better understanding.

Foreword

EL6201 7Version: 2.2

1.3 Documentation issue status

Version Comment

2.2 • Update chapter "Object description and parameterization"

• Update structure

2.1 • Update chapter "Notes on the documentation"

• Correction of Technical data

• Addenda chapter "TwinCAT Quick Start"

2.0 • Migration

• Amendments in section "Commissioning"

• Amendments in section "Technical data"

• Amendments in section "Object description and parameterization"

• Update structure

1.5 • Update chapter "Technical data"

• Addenda chapter "Installation instructions for enhanced mechanical load

capacity"

• Update revision status

1.4 • Update chapter "Technical data"

• Section "Connection" updated

• Update revision status

1.3 • Update chapter "Technical data"

• Update chapter "Object description and parameterization"

• Update structure

• Update revision status

1.2 • Update chapter "Technical data"

1.1 • Amendments re commissioning

1.0 • First public issue

0.8 • Amendments & corrections in section "Quickstart"

0.7 • Amendments & corrections in section "AS-iMaster functionality"

0.6 • Addenda & corrections

0.5 • Addenda & corrections

0.4 • Addenda

0.3 • Addenda

0.2 • Addenda

0.1 • Provisional documentation for EL6201

1.4 Version identification of EtherCAT devices

Designation

A Beckhoff EtherCAT device has a 14-digit designation, made up of

• family key

• type

• version

• revision

Foreword

EL62018 Version: 2.2

Example Family Type Version Revision

EL3314-0000-0016 EL terminal

(12 mm, non-

pluggable

connection level)

3314 (4-channel

thermocouple

terminal)

0000 (basic type) 0016

CU2008-0000-000

0

CU device 2008 (8-port fast

ethernet switch)

0000 (basic type) 0000

ES3602-0010-0017 ES terminal

(12 mm, pluggable

connection level)

3602 (2-channel

voltage

measurement)

0010 (high-

precision version)

0017

Notes

• The elements mentioned above result in the technical designation. EL3314-0000-0016 is used in the

example below.

• EL3314-0000 is the order identifier, in the case of “-0000” usually abbreviated to EL3314. “-0016” is the

EtherCAT revision.

• The order identifier is made up of

- family key (EL, EP, CU, ES, KL, CX, etc.)

- type (3314)

- version (-0000)

• The revision -0016 shows the technical progress, such as the extension of features with regard to the

EtherCAT communication, and is managed by Beckhoff.

In principle, a device with a higher revision can replace a device with a lower revision, unless specified

otherwise, e.g. in the documentation.

Associated and synonymous with each revision there is usually a description (ESI, EtherCAT Slave

Information) in the form of an XML file, which is available for download from the Beckhoff website.

From 2014/01 the revision is shown on the outside of the IP20 terminals, see Fig. “EL5021 EL terminal,

standard IP20 IO device with batch number and revision ID (since 2014/01)”.

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

hexadecimal.

Identification number

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

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

The serial number for Beckhoff IO devices is usually the 8-digit number printed on the device or on a sticker.

The serial number indicates the configuration in delivery state and therefore refers to a whole production

batch, without distinguishing the individual modules of a batch.

Structure of the serial number: KKYYFFHH

KK - week of production (CW, calendar week)

YY - year of production

FF - firmware version

HH - hardware version

Example with

Ser. no.: 12063A02: 12 - production week 12 06 - production year 2006 3A - firmware version 3A 02 -

hardware version 02

Exceptions can occur in the IP67 area, where the following syntax can be used (see respective device

documentation):

Syntax: D ww yy x y z u

D - prefix designation

ww - calendar week

yy - year

x - firmware version of the bus PCB

Foreword

EL6201 9Version: 2.2

y - hardware version of the bus PCB

z - firmware version of the I/O PCB

u - hardware version of the I/O PCB

Example: D.22081501 calendar week 22 of the year 2008 firmware version of bus PCB: 1 hardware version

of bus PCB: 5 firmware version of I/O PCB: 0 (no firmware necessary for this PCB) hardware version of I/O

PCB: 1

Unique serial number/ID, ID number

In addition, in some series each individual module has its own unique serial number.

See also the further documentation in the area

• IP67: EtherCAT Box

• Safety: TwinSafe

• Terminals with factory calibration certificate and other measuring terminals

Examples of markings:

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

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

Foreword

EL620110 Version: 2.2

Fig.3: CU2016 switch with batch number

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

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

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

00346070

Foreword

EL6201 11Version: 2.2

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

00331701

Fig.8: ELM3604-0002 terminal with ID number (QR code) 100001051 and unique serial number 44160201

Product overview

EL620112 Version: 2.2

2 Product overview

2.1 Introduction

Fig.9: EL6201

Fig.10: AS-i logo

AS-Interface master terminal

The EL6201 AS interface master terminal enables the direct connection of AS interface slaves.

The AS-Interface-compliant interface supports digital and analog slaves according to version 3.0 (master

profile M3).

Quick links

• EtherCAT basics

• Technology [}14]

• Technical data [}13]

• Quick start [}109]

Product overview

EL6201 13Version: 2.2

2.2 Technical data

Technical data EL6201-0000

AS-Interface channels 1

Number of slaves up to 31 in V 2.0; up to 62 in V 2.11, V 3.0

AS-Interface versions V 2.0, V 2.11, V 3.0 (Rev. 4)

Slave types Standard: digital and analog,

extended:

Type 1 (CTT1): S-7.3, S-7.4,

Type 2 (CTT2): S-7.5.5, S-7.A.5, S-B.A.5,

Type 3 (CTT3): S-7.A.7, S-7.A.A,

Type 4 (CTT4): S-7.A.8, S-7.A.9,

Type 5 (CTT5): S-6.0,

Safety at work: S-0.B, S-7.B

Diagnostics power failure, slave failure, parameterization fault

AS-Interface address assignment via configuration or automatic

Cycle time max. 5ms (with 31 or 62 slaves)

Connection 2 lines via spring force technology

Data transfer rates 167 kbit/s

Distributed clocks -

Power contacts no

Electrical isolation 500V (AS-Interface/E-bus)

Supply voltage for electronics via the E-bus

Current consumption 120mA (E-Bus), typ. 40mA/max. 60mA (AS-Interface)

Configuration via TwinCAT System Manager

Dimensions (W x H x D) approx. 27 mm x 100 mm x 70 mm (width aligned: 24

mm)

Weight approx. 55 g

Assembly [}27]

on 35 mm mounting rail conforms to EN 60715

Operating temperature 0°C...+55°C

Storage temperature -25°C...+85°C

Relative humidity 95 % no condensation

Vibration/shock resistance conforms to EN 60068-2-6 / EN 60068-2-27,

see also installation instructions [}30] for enhanced

mechanical load capacity

EMC immunity/emission conforms to EN 61000-6-2 / EN 61000-6-4

Protect. class / installation pos.

IP20 / see note [}34]!

AS-Interface certificate yes, cert. no. 97701

Approvals CE

Product overview

EL620114 Version: 2.2

2.3 Technology

This section provides a short general technical introduction to the technology of the AS interface. Please

refer to the following sections for further details.

(Source: (AS-INTERNATIONAL ASSOCIATION e.V.)

Fig.11: AS-i logo

2.3.1 • AS-i requirements

The industry places many different demands on modern automation systems. It demands that the necessary

functions are fulfilled at an optimum price-performance ratio. AS-Interface, or AS-i for short, does precisely

that. The system is focused on the lower field level. The goal of the development was not a universal fieldbus

for all areas of automation, but rather an economically practical system for the lower field level, with which

binary sensors and actuators can be simply, reliably and economically networked and connected to the

higher control level.

The sensors and actuators can be networked and supplied with power via the AS-i-specific twin-core cable.

The cable harnesses of traditional cabling are dispensed with. A massive cost reduction due to the simple

wiring, which is possible without extensive training thanks to the proven click-and-go technology. Due to its

cost effectiveness the AS-Interface system proves to be a technically and economically practical supplement

to the normal fieldbus.

The freely selectable network topology and its simple configuration facilitate the installation of an AS-i

network. The susceptibility to faults of other systems frequently leads to delays in the installation, for which

reason care was taken with the AS-Interface system to reduce sources of error. Reverse voltage protection

by means of the profiled cable is just one corresponding measure.

2.3.2 Assembly using the piercing technology

The simple assembly of the AS-interface is made possible by the special assembly method, which is also

called the piercing technology or, less frequently, the click-and-go method. The technology is based on the

use of the usually yellow AS-i cable, a cable with two cores that is protected against polarity reversal. When

assembling, the piercing pins of the device to be connected penetrate into the cores of the cable and reliably

make the contact. Some advantages:

• Direct, simple connection of sensors/actuators or modules

• Flat cable with reverse voltage protection

• Data and energy in one cable

• Piercing technology

• Very simple connection method

• Secure contacting

• Protection class IP67

• Cutting to length and stripping of insulation are not necessary

• Can be mounted in any place

• Trouble-free shifting is possible thanks to the self-healing capability of the cable for each type of cable

Product overview

EL6201 15Version: 2.2

Fig.12: Profiled twin-core cable for use with the AS-i technology

Assembly example

Fig.13: Upper and lower half of the AS-i component are disassembled.

Fig.14: The AS-i cable is placed – always without error thanks to its profiling – in the lower half of the AS-i

component.

Fig.15: Upper and lower halves are assembled using a simple tool.

Fig.16: Finished assembled junction

Product overview

EL620116 Version: 2.2

Fig.17: The piercing technology ensures the reliable connection of the AS-i component to the AS-i network

cable.

2.3.3 AS interface for every topology

The AS-i protocol guarantees simple expandability. The AS-interface network can be configured like every

conventional electrical installation. Every AS-i slave is freely addressable and can be connected to the bus

cable in any place. This enables a modular structure and, due to the robust principle of operation, there are

no limits to the structure. Any desired network topology may be used, i.e. including star or tree topologies.

Fail-safe

The data are transmitted reliably on the AS-i network. Each AS-Interface telegram is monitored in the

receiver with regard to a parity bit and several further independent variables. This ensures extremely high

reliability in the detection of single and multiple errors. The use of the AS-Interface in very noisy

environments such as welding plants and frequency converters is thus possible without problems.

Standardized economic efficiency

All AS-Interface products conform to the European standard EN 50295 and the world standard IEC 62026-2.

Certified: Economic and reliable

The certification of the AS-i products guarantees the user maximum system security. The products are fully

compatible and interchangeable with one another. As a user you can recognize the tested and certified

products by the AS-Interface “shadow logo” and the associated test number.

2.4 Start

For commissioning:

• mount the EL6201 as described in the chapter Mounting and wiring [}27]

• configure the EL6201 in TwinCAT as described in the chapter Commissioning [}109].

Basics communication

EL6201 17Version: 2.2

3 Basics communication

3.1 EtherCAT basics

Please refer to the chapter EtherCAT System Documentation for the EtherCAT fieldbus basics.

3.2 EtherCAT cabling – wire-bound

The cable length between two EtherCAT devices must not exceed 100 m. This results from the FastEthernet

technology, which, above all for reasons of signal attenuation over the length of the cable, allows a maximum

link length of 5 + 90 + 5 m if cables with appropriate properties are used. See also the Design

recommendations for the infrastructure for EtherCAT/Ethernet.

Cables and connectors

For connecting EtherCAT devices only Ethernet connections (cables + plugs) that meet the requirements of

at least category 5 (CAt5) according to EN 50173 or ISO/IEC 11801 should be used. EtherCAT uses 4 wires

for signal transfer.

EtherCAT uses RJ45 plug connectors, for example. The pin assignment is compatible with the Ethernet

standard (ISO/IEC 8802-3).

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-crossing) symmetric (1:1) or cross-over cables can be used between

EtherCAT devices from Beckhoff.

Note

Recommended cables

Suitable cables for the connection of EtherCAT devices can be found on the Beckhoff web-

site!

E-Bus supply

A bus coupler can supply the EL terminals added to it with the E-bus system voltage of 5V; a coupler is

thereby loadable up to 2A as a rule (see details in respective device documentation).

Information on how much current each EL terminal requires from the E-bus supply is available online and in

the catalogue. If the added terminals require more current than the coupler can supply, then power feed

terminals (e.g. EL9410) must be inserted at appropriate places in the terminal strand.

The pre-calculated theoretical maximum E-Bus current is displayed in the TwinCAT System Manager. A

shortfall is marked by a negative total amount and an exclamation mark; a power feed terminal is to be

placed before such a position.

Basics communication

EL620118 Version: 2.2

Fig.18: System manager current calculation

Attention

Malfunction possible!

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

a terminal block!

3.3 General notes for setting the watchdog

ELxxxx terminals are equipped with a safety feature (watchdog) that switches off the outputs after a

specifiable time e.g. in the event of an interruption of the process data traffic, depending on the device and

settings, e.g. in OFF state.

The EtherCAT slave controller (ESC) in the EL2xxx terminals features 2 watchdogs:

• SM watchdog (default: 100 ms)

• PDI watchdog (default: 100 ms)

SM watchdog (SyncManager Watchdog)

The SyncManager watchdog is reset after each successful EtherCAT process data communication with the

terminal. If no EtherCAT process data communication takes place with the terminal 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. The watchdog is only reset after a

successful EtherCAT process data access. Set the monitoring time as described below.

The SyncManager watchdog monitors correct and timely process data communication with the ESC from the

EtherCAT side.

PDI watchdog (Process Data Watchdog)

If no PDI communication with the EtherCAT slave controller (ESC) takes place for longer than the set and

activated PDI watchdog time, this watchdog is triggered.

PDI (Process Data Interface) is the internal interface between the ESC and local processors in the EtherCAT

slave, for example. The PDI watchdog can be used to monitor this communication for failure.

The PDI watchdog monitors correct and timely process data communication with the ESC from the

application side.

The settings of the SM- and PDI-watchdog must be done for each slave separately in the TwinCAT System

Manager.

Basics communication

EL6201 19Version: 2.2

Fig.19: EtherCAT tab -> Advanced Settings -> Behavior -> Watchdog

Notes:

• the multiplier is valid for both watchdogs.

• each watchdog has its own timer setting, the outcome of this in summary with the multiplier is a

resulting time.

• Important: the multiplier/timer setting is only loaded into the slave at the start up, if the checkbox is

activated.

If the checkbox is not activated, nothing is downloaded and the ESC settings remain unchanged.

Multiplier

Both watchdogs receive their pulses from the local terminal cycle, divided by the watchdog multiplier:

1/25 MHz * (watchdog multiplier + 2) = 100 µs (for default setting of 2498 for the multiplier)

The standard setting of 1000 for the SM watchdog corresponds to a release time of 100 ms.

The value in multiplier + 2 corresponds to the number of basic 40 ns ticks representing a watchdog tick.

The multiplier can be modified in order to adjust the watchdog time over a larger range.

Basics communication

EL620120 Version: 2.2

Example "Set SM watchdog"

This checkbox enables manual setting of the watchdog times. If the outputs are set and the EtherCAT

communication is interrupted, the SM watchdog is triggered after the set time and the outputs are erased.

This setting can be used for adapting a terminal to a slower EtherCAT master or long cycle times. The

default SM watchdog setting is 100 ms. The setting range is 0..65535. Together with a multiplier with a range

of 1..65535 this covers a watchdog period between 0..~170 seconds.

Calculation

Multiplier = 2498 → watchdog base time = 1 / 25MHz * (2498 + 2) = 0.0001seconds = 100µs

SM watchdog = 10000 → 10000 * 100µs = 1second watchdog monitoring time

CAUTION

Undefined state possible!

The function for switching off of the SM watchdog via SM watchdog = 0 is only imple-

mented in terminals from version -0016. In previous versions this operating mode should

not be used.

CAUTION

Damage of devices and undefined state possible!

If the SM watchdog is activated and a value of 0 is entered the watchdog switches off com-

pletely. This is the deactivation of the watchdog! Set outputs are NOT set in a safe state, if

the communication is interrupted.

3.4 EtherCAT State Machine

The state of the EtherCAT slave is controlled via the EtherCAT State Machine (ESM). Depending upon the

state, different functions are accessible or executable in the EtherCAT slave. Specific commands must be

sent by the EtherCAT master to the device in each state, particularly during the bootup of the slave.

A distinction is made between the following states:

• Init

• Pre-Operational

• Safe-Operational and

• Operational

• Boot

The regular state of each EtherCAT slave after bootup is the OP state.

Page is loading ...

Beckhoff EL6201 Documentation

Beckhoff EL6201 Documentation

Related papers

Other documents