Beckhoff EtherCAT EL600x Series - Table of Contents

Table of contents
EL600x, EL602x 3Version: 4.6
Table of contents
1 Foreword ....................................................................................................................................................5
1.1 Overview Serial Interface Terminals..................................................................................................5
1.2 Notes on the documentation..............................................................................................................5
1.3 Safety instructions .............................................................................................................................7
1.4 Documentation Issue Status..............................................................................................................8
1.5 Version identification of EtherCAT devices .......................................................................................9
2 Product overview.....................................................................................................................................14
2.1 EL6001, EL6021..............................................................................................................................18
2.1.1 Introduction ...................................................................................................................... 18
2.1.2 Technical data ................................................................................................................. 19
2.2 EL6002, EL6022..............................................................................................................................20
2.2.1 Introduction ...................................................................................................................... 20
2.2.2 Technical data ................................................................................................................. 21
2.3 Start up ............................................................................................................................................21
3 Basics communication ...........................................................................................................................22
3.1 EtherCAT basics..............................................................................................................................22
3.2 EtherCAT cabling – wire-bound.......................................................................................................22
3.3 General notes for setting the watchdog...........................................................................................23
3.4 EtherCAT State Machine.................................................................................................................25
3.5 CoE Interface...................................................................................................................................27
3.6 Distributed Clock .............................................................................................................................32
4 Mounting and Wiring...............................................................................................................................33
4.1 Instructions for ESD protection........................................................................................................33
4.2 EL6001, EL6021..............................................................................................................................33
4.2.1 Installation on mounting rails ........................................................................................... 33
4.2.2 Connection....................................................................................................................... 36
4.2.3 Positioning of passive Terminals ..................................................................................... 40
4.2.4 LEDs and terminal connector assignments ..................................................................... 41
4.3 EL6002, EL6022..............................................................................................................................43
4.3.1 Mounting and demounting - terminals with front unlocking.............................................. 43
4.3.2 Recommended mounting rails ......................................................................................... 45
4.3.3 LEDs and pin assignment................................................................................................ 46
4.4 Positioning of passive Terminals .....................................................................................................49
4.5 Installation instructions for enhanced mechanical load capacity .....................................................50
4.6 Installation positions ........................................................................................................................51
4.7 UL notice .........................................................................................................................................53
4.8 ATEX - Special conditions (extended temperature range) ..............................................................54
4.9 ATEX Documentation ......................................................................................................................55
5 Commissioning........................................................................................................................................56
5.1 TwinCAT Quick Start .......................................................................................................................56
5.1.1 TwinCAT2 ....................................................................................................................... 58
5.1.2 TwinCAT 3 ....................................................................................................................... 68
5.2 TwinCAT Development Environment ..............................................................................................80