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EL72 1-901 Series
Beckhoff EL72 1-901 Series User Manual
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Commissioning
EL72x1-901x
148
Version: 1.9
Fig.182: Selection of the reference modes in the NC
The velocity to be used for homing can also be set in the NC (Fig.
Setting the reference velocity
).
Fig.183: Setting the reference velocity
147
149
Table of Contents
Table of Contents
3
1 Foreword
7
Notes on the Documentation
7
Safety Instructions
8
Delivery State
8
Operator's Obligation to Exercise Diligence
8
Description of Instructions
9
Documentation Issue Status
10
Version Identification of Ethercat Devices
10
Fig. 1 EL5021 el Terminal, Standard IP20 IO Device with Serial/ Batch Number and Revision ID (Since 2014/01)
12
Fig. 2 EK1100 Ethercat Coupler, Standard IP20 IO Device with Serial/ Batch Number
12
Fig. 3 CU2016 Switch with Serial/ Batch Number
12
Fig. 4 EL3202-0020 with Serial/ Batch Number 26131006 and Unique ID-Number 204418
13
Fig. 5 EP1258-00001 IP67 Ethercat Box with Batch Number/ Date Code 22090101 and Unique Se- Rial Number 158102
13
Fig. 6 EP1908-0002 IP67 Ethercat Safety Box with Batch Number/ Date Code 071201FF and Unique Serial Number 00346070
13
Fig. 7 EL2904 IP20 Safety Terminal with Batch Number/ Date Code 50110302 and Unique Serial Num- Ber 00331701
13
Fig. 8 ELM3604-0002 Terminal with Unique ID Number (QR Code) 100001051 and Serial/ Batch Num- Ber 44160201
14
Beckhoff Identification Code (BIC)
15
Fig. 9 BIC as Data Matrix Code (DMC, Code Scheme ECC200)
15
2 Product Overview
17
Product Overview Servomotor Terminal with OCT and STO
17
Introduction
17
Fig. 10 EL7201-901X
17
Fig. 11 EL7211-901X, EL7221-901X
18
Technical Data
20
Technology
22
Fig. 12: Three Synchronous Motor Coils, each Offset by 120
22
Start-Up
24
Fig. 13 Limitation to the Rated Motor Current
24
3 Basics Communication
25
Ethercat Basics
25
Ethercat Cabling - Wire-Bound
25
General Notes for Setting the Watchdog
26
Fig. 14 System Manager Current Calculation
26
Fig. 15 Ethercat Tab -> Advanced Settings -> Behavior -> Watchdog
27
Ethercat State Machine
28
Fig. 16 States of the Ethercat State Machine
29
Coe Interface
30
Fig. 17 "Coe Online " Tab
31
Fig. 18 Startup List in the Twincat System Manager
32
Fig. 19 Offline List
33
Fig. 20 Online List
33
Distributed Clock
35
4 Installation
36
Safety Instructions
36
Environmental Conditions
36
Transport / Storage
36
Control Cabinet / Terminal Box
36
Instructions for ESD Protection
37
Installation on Mounting Rails
37
Fig. 21 Spring Contacts of the Beckhoff I/O Components
37
Fig. 22 Attaching on Mounting Rail
38
Fig. 23 Disassembling of Terminal
39
Installation Position for Operation with or Without Fan
40
Fig. 24 Power Contact on Left Side
40
Fig. 25 Recommended Distances of Installation Position for Operating Without Fan
41
Fig. 26 Recommended Distances for Installation Position for Operation with Fan
42
Fig. 27 Other Installation Positions, Example 1
42
Positioning of Passive Terminals
43
Fig. 28 Other Installation Positions, Example 2
43
Fig. 29 Correct Positioning
43
Installation Instructions for Enhanced Mechanical Load Capacity
44
Fig. 30 Incorrect Positioning
44
Connection
45
Connection System
45
Fig. 31 Standard Wiring
45
Fig. 32 Pluggable Wiring
45
Wiring
46
Fig. 33 High Density Terminals
47
Fig. 34 Connecting a Cable on a Terminal Point
47
Example Configuration for Temperature Measurement
48
Shielding Concept
48
Fig. 35 Example Configuration for Temperature Measurement
48
Fig. 36 Shield Busbar
49
Fig. 37 Shield Busbar Clamp
49
UL Notice - Compact Motion
50
Fig. 38 Shield Connection
50
Notes on Current Measurements Using Hall Sensors
51
El72X1-9014 - Leds and Connection
53
Fig. 40 EL7201-901X - Leds
53
Fig. 41 EL7201-901X Connection
54
5 Commissioning
57
Twincat Quick Start
57
Twincat 2
82
Twincat 3
82
Twincat Development Environment
82
Installation of the Twincat Real-Time Driver
82
Notes Regarding ESI Device Description
88
Twincat ESI Updater
92
Distinction between Online and Offline
92
OFFLINE Configuration Creation
93
ONLINE Configuration Creation
98
Ethercat Subscriber Configuration
106
Start-Up and Parameter Configuration
115
Integration into the NC Configuration
115
Settings with the Drive Manager
119
Settings in the Coe Register
124
NC Settings
128
Application Example
134
Commissioning Without NC, Status Word/Control Word
139
Settings for the Automatic Configuration
143
Configuring the Limit Switch
145
Fig. 178 Pull-Down Menu for Activating End Position Monitoring
145
Homing
146
Fig. 179 Online Homing in the NC
146
Fig. 180 Configuration of the Mc_Home Block
147
Fig. 181 Extraction from the Functional Description for Mc_Home
147
Fig. 182 Selection of the Reference Modes in the NC
148
Fig. 183 Setting the Reference Velocity
148
Touch Probe
149
Fig. 184 Touch Probe Inputs
150
Fig. 185 Touch Probe Outputs
151
Operation Modes
152
Overview
152
Csv
152
Fig. 186 Selection of the Mode of Operation
153
Fig. 187 Selecting a Predefined PDO Assignment
154
Fig. 188 Set Enables
155
Fig. 189 Torque Specification
155
Cst
156
Fig. 190 Selection of the Mode of Operation
156
Fig. 191 Selecting a Predefined PDO Assignment
157
Fig. 192 Set Enables
158
Cstca
159
Fig. 193 Torque Specification
159
Fig. 194 Selection of the Mode of Operation
160
Fig. 195 Selecting a Predefined PDO Assignment
161
Fig. 196 Set Enables
162
Fig. 197 Specification of Torque and Commutation Angle
162
Csp
163
Fig. 198 Selection of the Mode of Operation
163
Fig. 199 Selecting a Predefined PDO Assignment
164
Fig. 200 Set Enables
165
Fig. 201 Position Specification
166
Fig. 202 Following Error Window
166
Profile MDP 742 or DS 402
167
MDP742 Process Data
167
Fig. 203 Following Error over Time
167
Fig. 204 Process Data Tab SM2, El72X1-0010 (Default)
168
Fig. 205 Process Data Tab SM3, El72X1-0010 (Default)
169
DS402 Process Data
171
Fig. 206 Process Data Tab - Predefined PDO Assignment, El72X1-0010
171
Fig. 207 Process Data Tab SM2, El72X1-0010 (Default)
172
Fig. 208 Process Data Tab SM3, El72X1-0010 (Default)
173
Fig. 209 Process Data Tab - Predefined PDO Assignment, El72X1-0010
175
6 Integrated Safety
176
Safety Regulations
176
Description of Product and Function
176
Intended Use
176
Dimensions
177
Fig. 210 Dimensions of the EL7201-XXXX
177
Twinsafe Reaction Times
178
Fig. 211 Dimensions of the EL7211-XXXX
178
Fig. 212 Typical Reaction Time
178
Fig. 213 Worst-Case Reaction Time
179
Application Example for STO Function (Cat. 3, PL D)
180
Fig. 214 Connection Example for El72X1_9014 with STO
181
Fig. 215 El72X1_9014_Block_Diagram
182
Maintenance
186
Service Life
186
Fig. 216 Unique Serial Number of a Twinsafe Terminal
187
7 Object Description and Parameterization
188
El72X1-9014 (MDP742)
188
Restore Object
188
Configuration Data
188
Fig. 39 Note
194
Configuration Data (Vendor-Specific)
195
Command Object
195
Input Data
195
Output Data
197
Information / Diagnosis Data
199
Standard Objects
202
El72X1-9014 (DS402)
211
Configuration Data
212
Configuration Data (Vendor-Specific)
217
Command Object
217
Input/Output Data
218
Information / Diagnosis Data
223
Standard Objects
226
8 Error Correction
233
Diagnostics - Basic Principles of Diag Messages
233
Fig. 217 Diagmessages in the Coe
233
Fig. 218 Implementation of the Diagmessage System in the Twincat System Manager
234
9 Appendix
243
Ethercat al Status Codes
243
Firmware Compatibility
243
Firmware Update El/Es/Em/Elm/Epxxxx
244
Device Description ESI File/Xml
245
Fig. 219 Device Identifier Consisting of Name EL3204-0000 and Revision -0016
245
Fig. 220 Scan the Subordinate Field by Right-Clicking on the Ethercat Device
246
Fig. 221 Configuration Is Identical
246
Fig. 222 Change Dialog
246
Fig. 223 EEPROM Update
247
Firmware Explanation
248
Updating Controller Firmware *.Efw
249
FPGA Firmware *.Rbf
250
Simultaneous Updating of Several Ethercat Devices
254
Restoring the Delivery State
255
Certificates
256
Support and Service
257
Table of Figures
258
4
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Beckhoff EL72 1-901 Series Specifications
General
Brand
Beckhoff
Model
EL72 1-901 Series
Category
Touch terminals
Language
English
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