Table of contents
EL72x1-901x 3Version: 1.9
Table of contents
1 Foreword ....................................................................................................................................................7
1.1 Notes on the documentation..............................................................................................................7
1.2 Safety instructions .............................................................................................................................8
1.2.1 Delivery state ..................................................................................................................... 8
1.2.2 Operator's obligation to exercise diligence ........................................................................ 8
1.2.3 Description of instructions.................................................................................................. 9
1.3 Documentation issue status ............................................................................................................10
1.4 Version identification of EtherCAT devices .....................................................................................10
1.4.1 Beckhoff Identification Code (BIC)................................................................................... 15
2 Product overview.....................................................................................................................................17
2.1 Product overview Servomotor terminal with OCT and STO ............................................................17
2.2 Introduction......................................................................................................................................17
2.3 Technical data .................................................................................................................................20
2.4 Technology ......................................................................................................................................22
2.5 Start-up............................................................................................................................................24
3 Basics communication ...........................................................................................................................25
3.1 EtherCAT basics..............................................................................................................................25
3.2 EtherCAT cabling – wire-bound.......................................................................................................25
3.3 General notes for setting the watchdog...........................................................................................26
3.4 EtherCAT State Machine.................................................................................................................28
3.5 CoE Interface...................................................................................................................................30
3.6 Distributed Clock .............................................................................................................................35
4 Installation................................................................................................................................................36
4.1 Safety instructions ...........................................................................................................................36
4.2 Environmental conditions ................................................................................................................36
4.3 Transport / storage ..........................................................................................................................36
4.4 Control cabinet / terminal box..........................................................................................................36
4.5 Instructions for ESD protection........................................................................................................37
4.6 Installation on mounting rails ...........................................................................................................37
4.7 Installation position for operation with or without fan.......................................................................40
4.8 Positioning of passive Terminals .....................................................................................................43
4.9 Installation instructions for enhanced mechanical load capacity .....................................................44
4.10 Connection ......................................................................................................................................45
4.10.1 Connection system .......................................................................................................... 45
4.10.2 Wiring............................................................................................................................... 46
4.11 Example configuration for temperature measurement ....................................................................48
4.12 Shielding concept ............................................................................................................................48
4.13 UL notice - Compact Motion ............................................................................................................50
4.14 Notes on current measurements using Hall sensors.......................................................................51
4.15 EL72x1-9014 - LEDs and connection..............................................................................................53
5 Commissioning........................................................................................................................................57
5.1 TwinCAT Quick Start .......................................................................................................................57
5.1.1 TwinCAT2 ....................................................................................................................... 60
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