Beckhoff EL3773 - Table of Contents

Table of contents
EL37734 Version: 2.5
Table of contents
1 Product overview Power monitoring oversampling...............................................................................3
2 Foreword ....................................................................................................................................................7
2.1 Notes on the documentation........................................................................................................... 7
2.2 Safety instructions .......................................................................................................................... 8
2.3 Documentation issue status............................................................................................................ 9
2.4 Version identification of EtherCAT devices..................................................................................... 9
3 Product overview.....................................................................................................................................14
3.1 Introduction ................................................................................................................................... 14
3.2 Technical data .............................................................................................................................. 15
3.3 Technology ................................................................................................................................... 16
3.4 Start .............................................................................................................................................. 17
4 Basics communication ...........................................................................................................................18
4.1 EtherCAT basics........................................................................................................................... 18
4.2 EtherCAT cabling – wire-bound.................................................................................................... 18
4.3 General notes for setting the watchdog ........................................................................................ 19
4.4 EtherCAT State Machine .............................................................................................................. 21
4.5 CoE Interface................................................................................................................................ 23
4.6 Distributed Clock........................................................................................................................... 28
5 Mounting and wiring ...............................................................................................................................29
5.1 Instructions for ESD protection ..................................................................................................... 29
5.2 Installation on mounting rails ........................................................................................................ 29
5.3 Installation instructions for enhanced mechanical load capacity .................................................. 32
5.4 Connection.................................................................................................................................... 33
5.4.1 Connection system...........................................................................................................33
5.4.2 Wiring...............................................................................................................................35
5.4.3 Shielding ..........................................................................................................................36
5.5 Positioning of passive Terminals .................................................................................................. 36
5.6 Installation positions ..................................................................................................................... 37
5.7 Connection assignment ................................................................................................................ 40
6 Commissioning........................................................................................................................................42
6.1 Quick start..................................................................................................................................... 42
6.2 TwinCAT Development Environment............................................................................................ 43
6.2.1 Installation of the TwinCAT real-time driver .....................................................................44
6.2.2 Notes regarding ESI device description...........................................................................49
6.2.3 TwinCAT ESI Updater......................................................................................................53
6.2.4 Distinction between Online and Offline ............................................................................53
6.2.5 OFFLINE configuration creation ......................................................................................54
6.2.6 ONLINE configuration creation ........................................................................................59
6.2.7 EtherCAT subscriber configuration ..................................................................................67
6.3 General Notes - EtherCAT Slave Application ............................................................................... 76
6.4 Basic function principles ............................................................................................................... 85
6.5 Process data................................................................................................................................. 86
6.6 Object description and parameterization ...................................................................................... 94
6.6.1 Restore object..................................................................................................................94
6.6.2 Configuration data............................................................................................................95