Table of contents
Table of contents
1 Product overview Servomotor terminal .................................................................................................3
2 Foreword ....................................................................................................................................................6
2.1 Notes on the documentation............................................................................................................. 6
2.2 Safety instructions ............................................................................................................................ 7
2.3 Documentation issue status.............................................................................................................. 8
2.4 Version identification of EtherCAT devices....................................................................................... 8
3 Product overview.....................................................................................................................................12
3.1 Introduction ..................................................................................................................................... 12
3.2 Technical data ................................................................................................................................ 14
3.3 Technology ..................................................................................................................................... 14
3.4 Start ................................................................................................................................................ 17
4 Basics communication ...........................................................................................................................18
4.1 EtherCAT basics............................................................................................................................. 18
4.2 EtherCAT cabling – wire-bound...................................................................................................... 18
4.3 General notes for setting the watchdog .......................................................................................... 19
4.4 EtherCAT State Machine ................................................................................................................ 21
4.5 CoE Interface.................................................................................................................................. 23
4.6 Distributed Clock............................................................................................................................. 28
5 Installation................................................................................................................................................29
5.1 Installation on mounting rails .......................................................................................................... 29
5.2 Installation instructions for enhanced mechanical load capacity .................................................... 31
5.3 Connection system ......................................................................................................................... 32
5.4 Mounting of Passive Terminals....................................................................................................... 35
5.5 Installation positions ....................................................................................................................... 36
5.6 Shielding concept ........................................................................................................................... 37
5.7 Notes on current measurements using Hall sensors ...................................................................... 38
5.8 EL72x1-0010 - LEDs and connection ............................................................................................. 40
6 Commissioning........................................................................................................................................44
6.1 TwinCAT 2.1x ................................................................................................................................. 44
6.1.1 Installation of the TwinCAT real-time driver ........................................................................44
6.1.2 Notes regarding ESI device description..............................................................................48
6.1.3 Offline configuration creation (master: TwinCAT 2.x) .........................................................52
6.1.4 Online configuration creation ‘scanning’ (master: TwinCAT 2.x) ........................................58
6.1.5 EtherCAT slave process data settings................................................................................67
6.1.6 General Notes - EtherCAT Slave Application .....................................................................68
6.1.7 Configuration by means of the TwinCAT System Manager ................................................77
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 ................................................................................................93
6.2.4 NC settings .........................................................................................................................97
6.2.5 Application example..........................................................................................................104
6.2.6 Commissioning without NC, status word/control word......................................................109
6.2.7 Settings for the automatic configuration............................................................................112
6.2.8 Configuring the limit switch ..............................................................................................114
6.2.9 Homing..............................................................................................................................115
6.2.10 Touch Probe .....................................................................................................................118
EL72x1-00104 Version: 2.0
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