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EL6731
Beckhoff EL6731 User Manual
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EtherCAT communication EL6731-00x0
EL6731
135
Version: 2.8
Fig.129: Flow chart: Sequence of the configuration of the EL6731 with start SDOs
Following a power-on, the EL6731 is in the INIT state and has no DP configuration. The EL6731 is not
active on the PROFIBUS.
134
136
Table of Contents
Table of Contents
3
1 Foreword
5
Notes on the Documentation
5
Safety Instructions
6
Documentation Issue Status
7
Version Identification of Ethercat Devices
7
Fig. 1 EL5021 el Terminal, Standard IP20 IO Device with Serial/ Batch Number and Revision ID (Since 2014/01)
9
Fig. 2 EK1100 Ethercat Coupler, Standard IP20 IO Device with Serial/ Batch Number
9
Fig. 3 CU2016 Switch with Serial/ Batch Number
10
Fig. 4 EL3202-0020 with Serial/ Batch Number 26131006 and Unique ID-Number 204418
10
Fig. 5 EP1258-00001 IP67 Ethercat Box with Batch Number/ Date Code 22090101 and Unique Se- Rial Number 158102
10
Fig. 6 EP1908-0002 IP67 Ethercat Safety Box with Batch Number/ Date Code 071201FF and Unique Serial Number 00346070
10
Fig. 7 EL2904 IP20 Safety Terminal with Batch Number/ Date Code 50110302 and Unique Serial Num- Ber 00331701
11
Fig. 8 ELM3604-0002 Terminal with Unique ID Number (QR Code) 100001051 and Serial/ Batch Num- Ber 44160201
11
Beckhoff Identification Code (BIC)
12
Fig. 9 BIC as Data Matrix Code (DMC, Code Scheme ECC200)
12
2 Product Overview
14
Introduction
14
Technical Data
15
3 Mounting and Wiring
16
Instructions for ESD Protection
16
Recommended Mounting Rails
16
Fig. 11 Spring Contacts of the Beckhoff I/O Components
16
Installation Positions
17
Fig. 12 Recommended Distances for Standard Installation Position
17
Mounting and Demounting - Terminals with Traction Lever Unlocking
18
Fig. 13 Other Installation Positions
18
Mounting and Demounting - Terminals with Front Unlocking
20
Positioning of Passive Terminals
22
PROFIBUS Cabling
22
Fig. 14 Correct Positioning
22
Fig. 15 Incorrect Positioning
22
Fig. 16 PROFIBUS Cable Assignment
23
PROFIBUS Connection
24
Fig. 17 Pin Assignment M12 Socket (-B310)
25
Fig. 18 Pin Assignment M12 Socket/Plug Connector (-B318)
25
Fig. 19 Pin Assignment of the PROFIBUS D-Sub Socket
25
ATEX - Special Conditions (Extended Temperature Range)
26
Fig. 20 Pin Assignment Socket/Plug Connector Fieldbus Box Modules
26
ATEX Documentation
27
UL Notice
27
4 Basics Communication
28
Ethercat Basics
28
General Notes for Setting the Watchdog
28
Fig. 21 Ethercat Tab -> Advanced Settings -> Behavior -> Watchdog
29
Ethercat State Machine
30
Fig. 22 States of the Ethercat State Machine
31
Coe Interface
32
Fig. 23 "Coe Online " Tab
33
Fig. 24 Startup List in the Twincat System Manager
34
Fig. 25 Offline List
35
Fig. 26 Online List
35
5 Parameterization and Commissioning
37
EL6731 - PROFIBUS Master Terminal
37
PROFIBUS Protocols
37
Profibus Dp
38
Fig. 27 Adding a DP Slave
39
Profibus MC
40
Fig. 28 EL6731 Task Cycle
40
Synchronization
41
Fig. 29 Cycle with IO at Task Start
41
Fig. 30 Cycle with IO Not at Task Start
41
ADS (Acyclic Services)
42
Fig. 31 Twincat Task, DP Cycle and K-Bus Cycle Sequence
42
Fig. 10 EL6731
46
Twincat (2.1X) System Manager
53
Fig. 32 System Manager "Options" (Twincat 2)
54
Fig. 33 Call up under VS Shell (Twincat 3)
54
Fig. 34 Overview of Network Interfaces
54
Fig. 35 Ethercat Device Properties(Twincat 2): Click on „Compatible Devices
55
Fig. 36 Windows Properties of the Network Interface
55
Fig. 37 Exemplary Correct Driver Setting for the Ethernet Port
56
Fig. 38 Incorrect Driver Settings for the Ethernet Port
57
Fig. 39 TCP/IP Setting for the Ethernet Port
58
Fig. 40 Identifier Structure
59
Fig. 41 Onlinedescription Information Window (Twincat 2)
60
Operation of Profidrive MC Drives
101
Diagnostics and Error Description
114
Slave Prioritization/Multiple DP Cycles
129
EL6731-0010 - PROFIBUS Slave Terminal
130
6 Ethercat Communication EL6731-00X0
134
PROFIBUS Master
134
State Machine
134
Synchronization
138
Object Description and Parameterization
142
PROFIBUS Slave
160
State Machine
160
Object Description and Parameterization
164
7 Appendix
172
Ethercat al Status Codes
172
Firmware Compatibility
172
Firmware Update El/Es/Em/Elm/Epxxxx
173
Device Description ESI File/Xml
174
Firmware Explanation
177
Updating Controller Firmware *.Efw
178
FPGA Firmware *.Rbf
179
Simultaneous Updating of Several Ethercat Devices
183
Support and Service
184
Table of Figures
185
4
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Beckhoff EL6731 Specifications
General
Brand
Beckhoff
Model
EL6731
Category
Touch terminals
Language
English
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