Table of contents
EL34x34 Version: 4.4
4.7.3 EL3413-0120 ................................................................................................................... 56
4.7.4 EL3433-0000 ................................................................................................................... 59
5 Commissioning........................................................................................................................................62
5.1 TwinCAT Quick Start .......................................................................................................................62
5.1.1 TwinCAT2 ....................................................................................................................... 65
5.1.2 TwinCAT 3 ....................................................................................................................... 75
5.2 TwinCAT Development Environment ..............................................................................................87
5.2.1 Installation of the TwinCAT real-time driver..................................................................... 87
5.2.2 Notes regarding ESI device description........................................................................... 93
5.2.3 TwinCAT ESI Updater ..................................................................................................... 97
5.2.4 Distinction between Online and Offline............................................................................ 97
5.2.5 OFFLINE configuration creation ...................................................................................... 98
5.2.6 ONLINE configuration creation ...................................................................................... 103
5.2.7 EtherCAT subscriber configuration................................................................................ 111
5.3 General Notes - EtherCAT Slave Application................................................................................120
5.4 Process data..................................................................................................................................128
5.4.1 Sync Manager (SM)....................................................................................................... 128
5.4.2 Operating modes and settings....................................................................................... 131
5.4.3 Predefined PDO Assignment......................................................................................... 133
5.5 Start-up and parameter configuration............................................................................................133
5.5.1 Settings.......................................................................................................................... 133
5.5.2 Measurements ............................................................................................................... 135
5.5.3 Scaling factors ............................................................................................................... 139
5.6 Notices on analog specifications ...................................................................................................140
5.6.1 Full scale value (FSV).................................................................................................... 141
5.6.2 Measuring error/ measurement deviation ...................................................................... 141
5.6.3 Temperature coefficient tK [ppm/K] ............................................................................... 142
5.6.4 Single-ended/differential typification .............................................................................. 143
5.6.5 Common-mode voltage and reference ground (based on differential inputs)................ 148
5.6.6 Dielectric strength .......................................................................................................... 148
5.6.7 Temporal aspects of analog/digital conversion.............................................................. 149
5.7 Object description and parameterization .......................................................................................152
5.7.1 Restore object................................................................................................................ 152
5.7.2 Configuration data ......................................................................................................... 153
5.7.3 Command object............................................................................................................ 153
5.7.4 Configuration data (vendor-specific).............................................................................. 155
5.7.5 Input data....................................................................................................................... 158
5.7.6 Output data .................................................................................................................... 163
5.7.7 Information and diagnostic data..................................................................................... 163
5.7.8 Standard objects............................................................................................................ 165
6 Diagnostics – basic principles of diag messages..............................................................................173
7 Appendix ................................................................................................................................................183
7.1 EtherCAT AL Status Codes...........................................................................................................183
7.2 Firmware compatibility...................................................................................................................183
7.3 Firmware Update EL/ES/EM/ELM/EPxxxx ....................................................................................184