Beckhoff EL7031 - Table of Contents

Table of contents
EL70x1 3Version: 4.4
Table of contents
1 Foreword ....................................................................................................................................................7
1.1 Product overview Stepper motor terminals..................................................................................... 7
1.2 Notes on the documentation........................................................................................................... 7
1.3 Safety instructions .......................................................................................................................... 9
1.4 Documentation issue status.......................................................................................................... 10
1.5 Version identification of EtherCAT devices................................................................................... 11
1.6 Non-reactive Bus Terminals ......................................................................................................... 15
2 Product overview.....................................................................................................................................16
2.1 EL7031 - Introduction ................................................................................................................... 16
2.2 EL7031 - Technical data............................................................................................................... 18
2.3 EL7041 - Introduction ................................................................................................................... 19
2.4 EL7041-x00x - Technical data ...................................................................................................... 22
2.5 Technology ................................................................................................................................... 23
3 Basics communication ...........................................................................................................................27
3.1 EtherCAT basics........................................................................................................................... 27
3.2 EtherCAT cabling – wire-bound.................................................................................................... 27
3.3 General notes for setting the watchdog ........................................................................................ 28
3.4 EtherCAT State Machine .............................................................................................................. 30
3.5 CoE Interface................................................................................................................................ 32
3.6 Distributed Clock........................................................................................................................... 37
4 Mounting and wiring ...............................................................................................................................38
4.1 Installation on mounting rails ........................................................................................................ 38
4.2 Installation instructions for enhanced mechanical load capacity .................................................. 40
4.3 Connection.................................................................................................................................... 41
4.3.1 Connection system...........................................................................................................41
4.3.2 Wiring...............................................................................................................................43
4.3.3 Shielding ..........................................................................................................................44
4.4 Mounting of Passive Terminals..................................................................................................... 44
4.5 Installation position for operation with or without fan .................................................................... 45
4.6 UL notice - Compact Motion ......................................................................................................... 49
4.7 EL7031 ......................................................................................................................................... 51
4.7.1 LEDs and connection.......................................................................................................51
4.7.2 General connection examples .........................................................................................52
4.8 EL7041 ......................................................................................................................................... 54
4.8.1 LEDs and connection.......................................................................................................54
4.8.2 General connection examples .........................................................................................66
5 Commissioning........................................................................................................................................68
5.1 TwinCAT Quick Start .................................................................................................................... 68
5.1.1 TwinCAT2 .......................................................................................................................70
5.1.2 TwinCAT 3 .......................................................................................................................80
5.2 TwinCAT Development Environment............................................................................................ 92
5.2.1 Installation of the TwinCAT real-time driver .....................................................................92
5.2.2 Notes regarding ESI device description...........................................................................98
5.2.3 TwinCAT ESI Updater....................................................................................................102
5.2.4 Distinction between Online and Offline ..........................................................................102
5.2.5 OFFLINE configuration creation ....................................................................................103