Beckhoff EL2809 - Page 4

Table of contents
EL28xx-xxxx4 Version: 2.2
4.4.1 Connection system .......................................................................................................... 67
4.4.2 Wiring............................................................................................................................... 69
4.4.3 Shielding .......................................................................................................................... 70
4.5 Installation positions ........................................................................................................................70
4.6 Positioning of passive Terminals .....................................................................................................73
4.7 UL notice .........................................................................................................................................73
4.8 ATEX - Special conditions (standard temperature range) ...............................................................75
4.9 ATEX - Special conditions (extended temperature range) ..............................................................76
4.10 ATEX Documentation ......................................................................................................................77
5 Commissioning........................................................................................................................................78
5.1 TwinCAT Quick Start .......................................................................................................................78
5.1.1 TwinCAT2 ....................................................................................................................... 80
5.1.2 TwinCAT 3 ....................................................................................................................... 90
5.2 TwinCAT Development Environment ............................................................................................102
5.2.1 Installation of the TwinCAT real-time driver................................................................... 102
5.2.2 Notes regarding ESI device description......................................................................... 108
5.2.3 TwinCAT ESI Updater ................................................................................................... 112
5.2.4 Distinction between Online and Offline.......................................................................... 112
5.2.5 OFFLINE configuration creation .................................................................................... 113
5.2.6 ONLINE configuration creation ...................................................................................... 118
5.2.7 EtherCAT subscriber configuration................................................................................ 126
5.3 General Notes - EtherCAT Slave Application................................................................................135
6 Appendix ................................................................................................................................................143
6.1 EtherCAT AL Status Codes...........................................................................................................143
6.2 Firmware compatibility...................................................................................................................143
6.3 Firmware Update EL/ES/EM/EPxxxx ............................................................................................143
6.3.1 Device description ESI file/XML..................................................................................... 144
6.3.2 Firmware explanation .................................................................................................... 147
6.3.3 Updating controller firmware *.efw................................................................................. 148
6.3.4 FPGA firmware *.rbf....................................................................................................... 150
6.3.5 Simultaneous updating of several EtherCAT devices.................................................... 154
6.4 Firmware compatibility - passive terminals....................................................................................155
6.5 Restoring the delivery state ...........................................................................................................155
6.6 Support and Service ......................................................................................................................156