Beckhoff EL72 1 Series - Table of Contents

Table of contents
EL72x14 Version: 3.3
Table of contents
1 Product overview Servo Motor Terminals...............................................................................................3
2 Foreword ....................................................................................................................................................7
2.1 Notes on the documentation........................................................................................................... 7
2.2 Safety instructions .......................................................................................................................... 8
2.3 Documentation issue status............................................................................................................ 9
2.4 Version identification of EtherCAT devices..................................................................................... 9
3 Product overview.....................................................................................................................................14
3.1 Introduction EL72x1...................................................................................................................... 14
3.2 Technical data .............................................................................................................................. 16
3.3 Technology ................................................................................................................................... 17
3.4 Start-up ......................................................................................................................................... 19
4 Basics communication ...........................................................................................................................20
4.1 EtherCAT basics........................................................................................................................... 20
4.2 EtherCAT cabling – wire-bound.................................................................................................... 20
4.3 General notes for setting the watchdog ........................................................................................ 21
4.4 EtherCAT State Machine .............................................................................................................. 23
4.5 CoE Interface................................................................................................................................ 25
4.6 Distributed Clock........................................................................................................................... 30
5 Installation................................................................................................................................................31
5.1 Installation on mounting rails ........................................................................................................ 31
5.2 Installation instructions for enhanced mechanical load capacity .................................................. 34
5.3 Connection system ....................................................................................................................... 35
5.4 Positioning of passive Terminals .................................................................................................. 38
5.5 Installation position for operation with or without fan .................................................................... 39
5.6 Shielding concept ......................................................................................................................... 42
5.7 Notes on current measurements using Hall sensors .................................................................... 45
5.8 LEDs and connection.................................................................................................................... 46
5.8.1 EL7201-000x....................................................................................................................46
5.8.2 EL7211-000x....................................................................................................................48
6 Commissioning........................................................................................................................................51
6.1 TwinCAT Development Environment............................................................................................ 51
6.1.1 Installation of the TwinCAT real-time driver .....................................................................51
6.1.2 Notes regarding ESI device description...........................................................................57
6.1.3 TwinCAT ESI Updater......................................................................................................61
6.1.4 Distinction between Online and Offline ............................................................................61
6.1.5 OFFLINE configuration creation ......................................................................................62
6.1.6 ONLINE configuration creation ........................................................................................67
6.1.7 EtherCAT subscriber configuration ..................................................................................75
6.2 Start-up and parameter configuration ........................................................................................... 85
6.2.1 Integration into the NC configuration ...............................................................................85
6.2.2 Settings with the Drive Manager ......................................................................................88
6.2.3 Settings in the CoE register .............................................................................................92
6.2.4 Application example.........................................................................................................96
6.2.5 Commissioning without NC, status word/control word...................................................101
6.2.6 Homing...........................................................................................................................105
6.2.7 NC settings.....................................................................................................................107