Table of contents
EL3182 3Version: 1.2
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
1.4.1 Beckhoff Identification Code (BIC)................................................................................... 11
2 Product overview.....................................................................................................................................13
2.1 EL3182 - introduction ......................................................................................................................13
2.2 Technical data .................................................................................................................................14
2.3 Start .................................................................................................................................................14
3 Basics communication ...........................................................................................................................15
3.1 EtherCAT basics..............................................................................................................................15
3.2 EtherCAT cabling – wire-bound.......................................................................................................15
3.3 General notes for setting the watchdog...........................................................................................16
3.4 EtherCAT State Machine.................................................................................................................18
3.5 CoE Interface...................................................................................................................................20
3.6 Distributed Clock .............................................................................................................................25
4 Mounting and wiring................................................................................................................................26
4.1 Instructions for ESD protection........................................................................................................26
4.2 Installation on mounting rails ...........................................................................................................26
4.3 Installation instructions for enhanced mechanical load capacity .....................................................29
4.4 Connection ......................................................................................................................................30
4.4.1 Connection system .......................................................................................................... 30
4.4.2 Wiring............................................................................................................................... 32
4.4.3 Shielding .......................................................................................................................... 33
4.5 Installation positions ........................................................................................................................33
4.6 Positioning of passive Terminals .....................................................................................................35
4.7 LEDs and connection ......................................................................................................................36
4.8 Connection notes for 20 mA measurement .....................................................................................37
4.8.1 Configuration of 0/4..20 mA differential inputs................................................................. 37
5 Commissioning........................................................................................................................................42
5.1 TwinCAT Development Environment ..............................................................................................42
5.1.1 Installation of the TwinCAT real-time driver..................................................................... 42
5.1.2 Notes regarding ESI device description........................................................................... 48
5.1.3 TwinCAT ESI Updater ..................................................................................................... 52
5.1.4 Distinction between Online and Offline............................................................................ 52
5.1.5 OFFLINE configuration creation ...................................................................................... 53
5.1.6 ONLINE configuration creation ........................................................................................ 58
5.1.7 EtherCAT subscriber configuration.................................................................................. 66
5.2 General Notes - EtherCAT Slave Application..................................................................................75
5.3 Object description and parametrization ...........................................................................................83
5.3.1 Restore object.................................................................................................................. 83
5.3.2 Configuration data ........................................................................................................... 84