Beckhoff EL2124 - Page 4

Table of contents
EL20xx, EL21244 Version: 5.2
3.6 Distributed Clock .............................................................................................................................71
4 Mounting and wiring................................................................................................................................72
4.1 Installation on mounting rails ...........................................................................................................72
4.2 Installation instructions for enhanced mechanical load capacity .....................................................74
4.3 Connection ......................................................................................................................................75
4.3.1 Connection system .......................................................................................................... 75
4.3.2 Wiring............................................................................................................................... 77
4.3.3 Shielding .......................................................................................................................... 78
4.4 Installation positions ........................................................................................................................78
4.5 Positioning of passive Terminals .....................................................................................................80
4.6 ATEX - Special conditions (standard temperature range) ...............................................................81
4.7 ATEX - Special conditions (extended temperature range) ..............................................................82
4.8 ATEX Documentation ......................................................................................................................83
5 Commissioning........................................................................................................................................84
5.1 TwinCAT Quick Start .......................................................................................................................84
5.1.1 TwinCAT2 ....................................................................................................................... 87
5.1.2 TwinCAT 3 ....................................................................................................................... 97
5.2 TwinCAT Development Environment ............................................................................................109
5.2.1 Installation of the TwinCAT real-time driver................................................................... 109
5.2.2 Notes regarding ESI device description......................................................................... 115
5.2.3 TwinCAT ESI Updater ................................................................................................... 119
5.2.4 Distinction between Online and Offline.......................................................................... 119
5.2.5 OFFLINE configuration creation .................................................................................... 120
5.2.6 ONLINE configuration creation ...................................................................................... 125
5.2.7 EtherCAT subscriber configuration................................................................................ 133
5.3 General Notes - EtherCAT Slave Application................................................................................142
6 Appendix ................................................................................................................................................150
6.1 EtherCAT AL Status Codes...........................................................................................................150
6.2 UL notice .......................................................................................................................................150
6.3 Firmware compatibility...................................................................................................................151
6.4 Firmware Update EL/ES/EM/ELM/EPxxxx ....................................................................................151
6.4.1 Device description ESI file/XML..................................................................................... 152
6.4.2 Firmware explanation .................................................................................................... 155
6.4.3 Updating controller firmware *.efw................................................................................. 156
6.4.4 FPGA firmware *.rbf....................................................................................................... 157
6.4.5 Simultaneous updating of several EtherCAT devices.................................................... 161
6.5 Restoring the delivery state ...........................................................................................................162
6.6 Support and Service ......................................................................................................................163