Beckhoff EtherCAT EL600x Series User Manual

Overview CoE objects EL6002, EL6022
EL600x, EL602x 185Version: 4.6
Control data
Bit position Name Meaning Data type
0 Transmit request By changing the state of this bit, the controller informs the
terminal that the DataOut bytes contain the number of bytes
displayed in “Output length”. The terminal acknowledges
receipt of the data by changing the state of the
“TransmitAccepted” bit. Only now new data can be transferred
from the controller to the terminal.
BOOLEAN
1 Receive accepted The controller acknowledges receipt of data by changing the
state of this bit. Only then new data can be transferred from
the terminal to the controller.
BOOLEAN
2 Init request 0 The controller once again requests the terminal to prepare
for serial data exchange.
BOOLEAN
1 The controller requests terminal for initialization. The
transmit and receive functions will be blocked, the FIFO
pointer will be reset and the interface will be initialized with
the values of the responsible Settings object. The execution
of the initialization will be acknowledged by the terminal
with the ‘Init accepted’ bit.
3 Send continuous Continuous sending of data from the FIFO.
The send buffer is filled (up to 128 bytes) by the controller. The
filled buffer contents will be sent on the rising edge of the bit. If
the data has been transmitted, the terminal informs the
controller by setting the “Init accepted” bit. “Init accepted” is
cleared with “SendContinuous”.
BOOLEAN
4...7 -
8...15 Output length Number of output bytes available for transfer from the
controller to the terminal.
UINT8
PDO Assignment
The terminal makes two input/output process images available for each channel. These differ only in the
representation of the control/status data.
In the case of bitwise representation, the data is made available as shown in the tables above. In the case of
word-wise representation, the first 16 bits of the process data are combined in one word.
The process data objects begin as standard with a control/status word. This PDO assignment is required in
order to use the ‘TwinCAT PLC Serial Communication’ library.
Status Inputs Control Outputs Representation
0x1A00 0x1600 bitwise Ch. 1
0x1A01 0x1601 bitwise Ch. 2
0x1A02 0x1602 bitwise Ch. 3
0x1A03 0x1603 bitwise Ch. 4
0x1A04 0x1604 word-wise Ch 1
0x1A05 0x1605 word-wise Ch 2
0x1A06 0x1606 word-wise Ch 3
0x1A07 0x1607 word-wise Ch 4

Beckhoff EtherCAT EL600x Series Specifications

General

Series	EL600x
Bus system	EtherCAT
Protection Class	IP20
Relative Humidity	95%, non-condensing
Electrical isolation	500 V (E-bus/signal voltage)
Vibration/shock resistance	conform to EN 60068-2-6/EN 60068-2-27
EMC immunity/emission	conform to EN 61000-6-2/EN 61000-6-4
Installation position	Any
Manufacturer	Beckhoff

Summary

Foreword

Serial Interface Terminals Overview

Provides an overview of the EL600x and EL602x serial interface terminals, including their types and interfaces.

Documentation Guidelines

Details the intended audience, notes, disclaimer, and trademarks relevant to the documentation.

Safety Instructions and Warnings

Details safety regulations, exclusion of liability, personnel qualification, and instruction symbols used in the document.

Documentation Version History

Lists the version history of the documentation, detailing changes made in each version.

EtherCAT Device Version Identification

Explains the 14-digit designation system for Beckhoff EtherCAT devices, including family key, type, version, and revision.

Product Overview

EL6001, EL6021 Introduction

Introduces the EL6001 and EL6021 serial interface terminals, their technology, and quick links.

EL6001, EL6021 Technical Specifications

Provides detailed technical specifications for the EL6001 and EL6021 serial interface terminals.

EL6002, EL6022 Introduction

Introduces the EL6002 and EL6022 serial interface terminals, their technology, and quick links.

EL6002, EL6022 Technical Specifications

Provides detailed technical specifications for the EL6002 and EL6022 serial interface terminals.

Initial Start-Up Procedures

Outlines the initial steps for starting up the EL600x/EL602x terminals.

Basics Communication

EtherCAT Fundamentals

Refers to the EtherCAT System Documentation for fieldbus basics.

EtherCAT Wiring and Cabling

Explains EtherCAT cabling requirements, connectors, and recommended cables for signal transfer.

Watchdog Configuration and Notes

Covers general notes on setting the SM watchdog and PDI watchdog for safety feature activation.

EtherCAT State Machine Operation

Details the EtherCAT State Machine (ESM) and its different states (Init, Pre-Op, Safe-Op, Op, Boot).

CANopen over EtherCAT (CoE) Interface

Describes the CANopen over EtherCAT interface for parameter management of EtherCAT devices.

Distributed Clock Synchronization

Explains the characteristics of the distributed clock representing a local clock in the EtherCAT slave controller.

Mounting and Wiring

ESD Protection Measures

Provides instructions for preventing electrostatic discharge damage to devices during handling.

EL6001/EL6021 Mounting and Wiring

Details installation on mounting rails, connection, positioning, LEDs, and connector assignments.

EL6002/EL6022 Mounting and Wiring

Explains mounting, demounting, recommended rails, LEDs, and pin assignments for EL6002/EL6022.

Passive Terminal Placement Guidelines

Provides hints on positioning passive terminals in the bus terminal block to ensure optimal data transfer.

Enhanced Mechanical Load Installation

Outlines additional installation instructions for terminals with enhanced mechanical load capacity.

Terminal Installation Positioning

Describes recommended and other installation positions for terminals, including ventilation.

Regulatory Notices (UL, ATEX)

Covers UL notice and ATEX special conditions for device installation and use.

Commissioning

TwinCAT Quick Start Guide

Provides a quick start guide for TwinCAT, covering its development environment and configuration.

TwinCAT Development Environment

Details TwinCAT 2 and TwinCAT 3 development environments, including features and installation.

ESI Device Description Notes

Explains the importance of ESI files and notes on updating the ESI description/EEPROM.

Online vs. Offline Configuration

Explains the difference between online and offline configuration modes and their respective procedures.

Offline EtherCAT Configuration

Guides on creating EtherCAT devices and connections for both offline and online modes.

Online EtherCAT Configuration

Describes the process of detecting and scanning EtherCAT devices for online configuration.

EtherCAT Subscriber Configuration

Guides on configuring EtherCAT subscribers, detailing various tabs like General, EtherCAT, and Process Data.

EtherCAT Slave Application Overview

Summarizes aspects of EtherCAT Slave operation, including real-time diagnosis and status information.

Operating Modes and Process Data Handling

Covers version notes, compatibility, process data monitoring, and enlarged process image.

TcVirtualComDriver Usage Hints

Provides hints for using the TwinCAT Virtual Serial COM Driver with EL60xx devices.

Serial Communication Features

Lists and compares communication features like baud rate and data coding for EL60xx devices.

Practical Example Programs

Presents sample applications for serial communication, LIN master, and interpreting time telegrams.

Overview of CoE Objects EL6001, EL6021

CoE Object Description and Parameterization

Explains how to interpret EtherCAT XML device descriptions and parameterize terminals via the CoE Online tab.

CoE Objects for Commissioning

Lists CoE objects required for commissioning, including restore default parameters and baud rate settings.

Standard CoE Objects (0x1000-0x1FFF)

Details standard CoE objects like Device Type, Device Name, Hardware/Software Version, and Identity.

Profile-Specific CoE Objects (HW v03)

Describes profile-specific CoE objects for COM Inputs and Outputs, relevant from hardware version 03.

Control and Status Word

Details the control and status data, including bit meanings and data transfer examples.

Overview of CoE Objects EL6002, EL6022

CoE Object Description and Parameterization

Explains CoE objects and parameterization for EL6002 and EL6022, covering commissioning and standard objects.

CoE Objects for Commissioning

Lists CoE objects required for commissioning, including restore default parameters for COM settings.

Standard CoE Objects (0x1000-0x1FFF)

Details standard CoE objects like Device Type, Device Name, Hardware/Software Version, and Identity.

Profile-Specific CoE Objects (HW v03)

Describes profile-specific CoE objects for COM Inputs and Outputs for EL6002/EL6022.

Control and Status Data

Describes the control and status data located in the input/output process image for communication.

Appendix

Firmware Compatibility Matrix

Lists firmware and hardware compatibility for EL6001, EL6021, EL6002, and EL6022 devices.

Firmware Update Procedures

Details the process for updating firmware, ESI, and FPGA firmware for EtherCAT slaves.

ESI File/XML Update Process

Explains the importance of ESI files and notes on updating the ESI description/EEPROM.

Firmware Version Determination

Explains how to determine firmware version via laser inscription and System Manager.

Controller Firmware (*.efw) Update

Details the step-by-step process for updating controller firmware (*.efw) using TwinCAT.

FPGA Firmware (*.rbf) Update

Explains how to update FPGA firmware (*.rbf) for EtherCAT communication.

Simultaneous EtherCAT Device Updates

Describes the process for simultaneously updating firmware and ESI descriptions of multiple EtherCAT devices.

Restoring Default Device State

Explains how to restore the delivery state for backup objects in ELxxxx terminals using CoE.

Beckhoff Support and Service

Provides contact information for Beckhoff support, branch offices, and service.