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Beckhoff
I/O Systems
EtherCAT EL6021
Beckhoff EtherCAT EL6021 User Manual
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List of illustratrions
EL600x, EL602x
204
Version: 4.6
Fig. 176
Selecting the "Restore default parameters" PDO
........................................................................
198
Fig. 177
Entering a restore value in the Set Value dialog
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198
203
Table of Contents
Table of Contents
3
1 Foreword
5
Overview Serial Interface Terminals
5
Notes on the Documentation
5
Safety Instructions
7
Documentation Issue Status
8
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
11
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
12
Fig. 8 ELM3604-0002 Terminal with Unique ID Number (QR Code) 100001051 and Serial/ Batch Num- Ber 44160201
13
2 Product Overview
14
Fig. 9 Level Interfaces RS232, RS485/422
15
Fig. 10 RS422 Termination
15
Fig. 11 RS485 Termination
16
Fig. 12 El60Xx Shield Connection
17
El6001, El6021
18
Introduction
18
Technical Data
19
El6002, El6022
20
Introduction
20
Technical Data
21
Start up
21
3 Basics Communication
22
Ethercat Basics
22
Ethercat Cabling - Wire-Bound
22
General Notes for Setting the Watchdog
23
Fig. 13 System Manager Current Calculation
23
Fig. 14 Ethercat Tab -> Advanced Settings -> Behavior -> Watchdog
24
Ethercat State Machine
25
Fig. 15 States of the Ethercat State Machine
26
Coe Interface
27
Fig. 16 "Coe Online " Tab
28
Fig. 17 Startup List in the Twincat System Manager
29
Fig. 18 Offline List
30
Fig. 19 Online List
30
Distributed Clock
32
4 Mounting and Wiring
33
Instructions for ESD Protection
33
El6001, El6021
33
Installation on Mounting Rails
33
Fig. 20 Spring Contacts of the Beckhoff I/O Components
33
Fig. 21 Attaching on Mounting Rail
34
Fig. 22 Disassembling of Terminal
35
Connection
36
Fig. 23 Power Contact on Left Side
36
Fig. 24 Standard Wiring
37
Fig. 25 Pluggable Wiring
37
Fig. 27 Connecting a Cable on a Terminal Point
38
Fig. 26 High Density Terminals
39
Positioning of Passive Terminals
40
Fig. 28 Correct Positioning
40
Fig. 29 Incorrect Positioning
40
Leds and Terminal Connector Assignments
41
Fig. 30 EL6001, EL6021 - Leds and Connection
41
Fig. 31 EL6001, EL6021 - Leds and Connection
42
El6002, El6022
43
Mounting and Demounting - Terminals with Front Unlocking
43
Fig. 32 Connection for RS422 Transfer
43
Fig. 33 Connection for RS485 Transfer
43
Recommended Mounting Rails
45
Leds and Pin Assignment
46
Fig. 34 EL6002, EL6022 - Leds
46
Fig. 35 Connection for RS422 Transfer
48
Fig. 36 Connection for RS485 Transfer
48
Positioning of Passive Terminals
49
Fig. 37 Correct Positioning
49
Fig. 38 Incorrect Positioning
49
Installation Instructions for Enhanced Mechanical Load Capacity
50
Installation Positions
51
Fig. 39 Recommended Distances for Standard Installation Position
51
Fig. 40 Other Installation Positions
52
UL Notice
53
ATEX - Special Conditions (Extended Temperature Range)
54
ATEX Documentation
55
5 Commissioning
56
Twincat Quick Start
56
Fig. 41 Relationship between User Side (Commissioning) and Installation
57
Twincat 2
80
Twincat 3
80
Twincat Development Environment
80
Installation of the Twincat Real-Time Driver
80
Notes Regarding ESI Device Description
86
Twincat ESI Updater
90
Distinction between Online and Offline
90
OFFLINE Configuration Creation
91
ONLINE Configuration Creation
96
Ethercat Subscriber Configuration
104
General Notes - Ethercat Slave Application
114
Operating Modes and Process Data
122
Hints Regarding Tcvirtualcomdriver
129
Communication Features
131
LIN Master Feature EL6001
132
Example Programs
136
Sample Program 1
136
Sample Program 2
139
Sample Program 3 (LIN)
141
6 Overview of Coe Objects EL6001, EL6021
144
Object Description and Parameterization
144
Objects for Commissioning
144
Standard Objects (0X1000-0X1Fff)
146
Profile-Specific Objects (0X6000-0Xffff) [From Hardware Version 03]
162
Control and Status Word
165
7 Overview Coe Objects EL6002, EL6022
168
Object Description and Parameterization
168
Objects for Commissioning
168
Standard Objects (0X1000-0X1Fff)
169
Profile-Specific Objects (0X6000-0Xffff) [From Hardware Version 03]
181
Control and Status Data
184
8 Appendix
186
Ethercat al Status Codes
186
Firmware Compatibility
186
Firmware Update El/Es/Em/Epxxxx
187
Device Description ESI File/Xml
188
Firmware Explanation
191
Updating Controller Firmware *.Efw
192
FPGA Firmware *.Rbf
193
Simultaneous Updating of Several Ethercat Devices
197
Restoring the Delivery State
198
Support and Service
199
List of Illustratrions
200
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Beckhoff EtherCAT EL6021 Specifications
General
Brand
Beckhoff
Model
EtherCAT EL6021
Category
I/O Systems
Language
English
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