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EL72 1 Series
Beckhoff EL72 1 Series User Manual
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EL72x1
197
Version: 3.3
Fig. 178
Dialog Advanced Settings ...........................................................................................................
188
Fig. 179
Multiple selection and firmware update
......................................................................................
190
Fig. 180
Selecting the Restore default parameters PDO...........................................................................
191
Fig. 181
Entering a restore value in the Set Value dialog..........................................................................
191
196
Table of Contents
Table of Contents
4
Default Chapter
3
Product Overview Servo Motor Terminals
3
2 Foreword
7
Notes on the Documentation
7
Safety Instructions
8
Documentation Issue Status
9
Version Identification of Ethercat Devices
9
Fig. 1 EL5021 el Terminal, Standard IP20 IO Device with Serial/ Batch Number and Revision ID (Since 2014/01)
11
Fig. 2 EK1100 Ethercat Coupler, Standard IP20 IO Device with Serial/ Batch Number
11
Fig. 3 CU2016 Switch with Serial/ Batch Number
12
Fig. 4 EL3202-0020 with Serial/ Batch Number 26131006 and Unique ID-Number 204418
12
Fig. 5 EP1258-00001 IP67 Ethercat Box with Batch Number/ Date Code 22090101 and Unique Se- Rial Number 158102
12
Fig. 6 EP1908-0002 IP67 Ethercat Safety Box with Batch Number/ Date Code 071201FF and Unique Serial Number 00346070
12
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
13
3 Product Overview
14
Introduction El72X1
14
Fig. 9 EL7201
14
Fig. 10 EL7211
14
Technical Data
16
Technology
17
Fig. 11: Three Synchronous Motor Coils, each Offset by 120
17
Start-Up
19
Fig. 12 Limitation to the Rated Motor Current
19
4 Basics Communication
20
Ethercat Basics
20
Ethercat Cabling - Wire-Bound
20
General Notes for Setting the Watchdog
21
Fig. 13 System Manager Current Calculation
21
Fig. 14 Ethercat Tab -> Advanced Settings -> Behavior -> Watchdog
22
Ethercat State Machine
23
Fig. 15 States of the Ethercat State Machine
24
Coe Interface
25
Fig. 16 "Coe Online " Tab
26
Fig. 17 Startup List in the Twincat System Manager
27
Fig. 18 Offline List
28
Fig. 19 Online List
29
Distributed Clock
30
5 Installation
31
Installation on Mounting Rails
31
Fig. 20 Attaching on Mounting Rail
31
Fig. 21 Disassembling of Terminal
32
Fig. 22 Power Contact on Left Side
33
Installation Instructions for Enhanced Mechanical Load Capacity
34
Connection System
35
Fig. 23 Standard Wiring
35
Fig. 24 Pluggable Wiring
35
Fig. 25 High Density Terminals
36
Fig. 26 Mounting a Cable on a Terminal Connection
36
Positioning of Passive Terminals
38
Fig. 27 Correct Positioning
38
Fig. 28 Incorrect Positioning
38
Installation Position for Operation with or Without Fan
39
Fig. 29 Recommended Distances of Installation Position for Operating Without Fan
39
Fig. 30 Recommended Distances for Installation Position for Operation with Fan
40
Fig. 31 Other Installation Positions, Example 1
40
Fig. 32 Other Installation Positions, Example 2
41
Shielding Concept
42
Fig. 33 Shield Busbar
42
Fig. 34 Shield Busbar Clamp
43
Fig. 35 Shield Connection
43
Notes on Current Measurements Using Hall Sensors
45
Leds and Connection
46
EL7201-000X
46
Fig. 37 EL7201-000X - Leds
46
Fig. 38 EL7201-000X Connection
47
EL7211-000X
48
Fig. 39 EL7211-000X - Leds
48
Fig. 40 EL7211-000X Connection
49
Fig. 41 Connection Resolver and Motor Cable
50
6 Commissioning
51
Twincat Development Environment
51
Installation of the Twincat Real-Time Driver
51
Notes Regarding ESI Device Description
57
Twincat ESI Updater
61
Distinction between Online and Offline
61
OFFLINE Configuration Creation
62
ONLINE Configuration Creation
67
Ethercat Subscriber Configuration
75
Start-Up and Parameter Configuration
85
Integration into the NC Configuration
85
Settings with the Drive Manager
88
Settings in the Coe Register
92
Application Example
96
Commissioning Without NC, Status Word/Control Word
101
Homing
105
NC Settings
107
Fig. 132 Setting the Reference Velocity
107
Fig. 133 Definition of the Unit
108
Fig. 134 Adjusting the Reference Velocity
109
Fig. 135 Setting the Encoder Mask
110
Fig. 136 Setting the Scaling Factor
110
Fig. 137 Dead Time Compensation Parameter
111
Fig. 138 Output Scaling
111
Fig. 139 Lag Monitoring
112
Fig. 140 Enabling an Axis
112
Operating Modes
113
Overview
113
Fig. 141 Reversing Sequence
113
Csv
114
Fig. 142 Selection of the Mode of Operation
115
Fig. 143 Selecting a Predefined PDO Assignment
116
Fig. 144 Set Enables
117
Fig. 145 Torque Specification
117
Cst
118
Fig. 146 Selection of the Mode of Operation
118
Fig. 147 Selecting a Predefined PDO Assignment
119
Fig. 148 Set Enables
120
Cstca
121
Fig. 149 Torque Specification
121
Fig. 150 Selection of the Mode of Operation
122
Fig. 151 Selecting a Predefined PDO Assignment
123
Fig. 152 Set Enables
124
Fig. 153 Specification of Torque and Commutation Angle
124
Csp
125
Fig. 154 Selection of the Mode of Operation
125
Fig. 155 Selecting a Predefined PDO Assignment
126
Fig. 156 Set Enables
127
Fig. 157 Position Specification
128
Fig. 158 Following Error Window
128
Profile MDP 742 or DS 402
129
Fig. 159 Following Error over Time
129
MDP742 Process Data
130
Fig. 160 Process Data Tab SM2, El72X1 (Default)
130
Fig. 161 Process Data Tab SM3, El72X1 (Default)
131
Fig. 162 Process Data Tab Predefined PDO Assignment, El72X1
132
DS402 Process Data
133
Fig. 163 Process Data Tab SM2, El72X1 (Default)
133
Fig. 164 Process Data Tab SM3, El72X1 (Default)
134
Fig. 165 Process Data Tab Predefined PDO Assignment, El72X1
135
7 El72X1-0000 (MDP742) - Object Description and Parameterization
136
Restore Object
136
Configuration Data
136
Fig. 36 Note
136
Configuration Data (Vendor-Specific)
141
Command Object
142
Input Data
142
Output Data
144
Information / Diagnosis Data
145
Standard Objects
146
8 El72X1-0001 (DS402) - Object Description and Parameterization
153
Configuration Data
154
Configuration Data (Vendor-Specific)
156
Command Object
157
Input/Output Data
157
Information / Diagnosis Data
161
Standard Objects
162
9 Error Correction
168
Diagnostics - Basic Principles of Diag Messages
168
Fig. 166 Diagmessages in the Coe
168
Fig. 167 Implementation of the Diagmessage System in the Twincat System Manager
169
Notes on Diag Messages Associated with Motor Terminals
177
10 Appendix
178
UL Notice
178
Ethercat al Status Codes
179
Firmware Compatibility
179
Firmware Update El/Es/Em/Epxxxx
179
Device Description ESI File/Xml
180
Fig. 168 Device Identifier Consisting of Name EL3204-0000 and Revision -0016
181
Fig. 169 Scan the Subordinate Field by Right-Clicking on the Ethercat Device
181
Fig. 170 Configuration Is Identical
182
Fig. 171 Change Dialog
182
Firmware Explanation
183
Fig. 172 EEPROM Update
183
Fig. 173 Selecting the New ESI
183
Updating Controller Firmware *.Efw
184
Fig. 174 Display of EL3204 Firmware Version
184
Fig. 175 Firmware Update
185
FPGA Firmware *.Rbf
186
Fig. 176 FPGA Firmware Version Definition
187
Fig. 177 Context Menu Properties
187
Simultaneous Updating of Several Ethercat Devices
190
Restoring the Delivery State
191
Support and Service
192
Table of Figures
193
4
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Beckhoff EL72 1 Series Specifications
General
Brand
Beckhoff
Model
EL72 1 Series
Category
Touch terminals
Language
English
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