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EtherCAT EL6752
Beckhoff EtherCAT EL6752 User Manual
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1
3
Table of Contents
Table of Contents
3
1 Foreword
5
Notes on the Documentation
5
Safety Instructions
6
Documentation Issue Status
7
Version Identification of Ethercat Devices
7
Fig. 1 EL5021 el Terminal, Standard IP20 IO Device with Serial/ Batch Number and Revision ID (Since 2014/01)
9
Fig. 2 EK1100 Ethercat Coupler, Standard IP20 IO Device with Serial/ Batch Number
9
Fig. 3 CU2016 Switch with Serial/ Batch Number
9
Fig. 4 EL3202-0020 with Serial/ Batch Number 26131006 and Unique ID-Number 204418
10
Fig. 5 EP1258-00001 IP67 Ethercat Box with Batch Number/ Date Code 22090101 and Unique Se- Rial Number 158102
10
Fig. 6 EP1908-0002 IP67 Ethercat Safety Box with Batch Number/ Date Code 071201FF and Unique Serial Number 00346070
10
Fig. 7 EL2904 IP20 Safety Terminal with Batch Number/ Date Code 50110302 and Unique Serial Num- Ber 00331701
10
Fig. 8 ELM3604-0002 Terminal with Unique ID Number (QR Code) 100001051 and Serial/ Batch Num- Ber 44160201
11
2 Product Overview
12
Introduction
12
Technical Data
13
3 Basic Devicenet Principles
14
Fig. 10 Example of Devicenet in Use
14
Fig. 11 Example of Devicenet Cabling
14
4 Mounting and Cabling
15
Instructions for ESD Protection
15
Recommended Mounting Rails
15
Mounting and Demounting - Terminals with Traction Lever Unlocking
15
Fig. 12 Spring Contacts of the Beckhoff I/O Components
15
Mounting and Demounting - Terminals with Front Unlocking
17
Devicenet Wiring
19
CAN / Devicenet Topology
19
Fig. 13 Devicenet Topology
19
Bus Length
20
Drop Lines
20
Fig. 14 Low Interference through Difference Levels
20
Fig. 15 Drop Line Topology
20
Star Hub (Multiport Tap)
21
CAN Cable
22
Shielding
22
Fig. 16 Devicenet Cable Configuration
22
Cable Colours and Pin Assignment
23
Installation Positions
23
Fig. 17 Pin Assignment (Top View EL6752)
23
Fig. 18 Recommended Distances for Standard Installation Position
24
Fig. 19 Other Installation Positions
25
Positioning of Passive Terminals
26
Fig. 20 Correct Positioning
26
Fig. 21 Incorrect Positioning
26
ATEX - Special Conditions (Standard Temperature Range)
27
5 Devicenet Communication
28
Devicenet Introduction
28
Fig. 23 Example of Devicenet in Use
28
Explicit Messages
30
Fig. 22 Devicenet
30
Fig. 24 Using ADS Netid and Port from System Manager
31
6 Parameterization and Commissioning
32
Coe Interface
32
Fig. 25 "Coe Online " Tab
33
Fig. 26 Startup List in the Twincat System Manager
34
Fig. 27 Offline List
35
Fig. 28 Online List
35
General Notes for Setting the Watchdog
36
Fig. 29 Ethercat Tab -> Advanced Settings -> Behavior -> Watchdog
37
Ethercat State Machine
38
Fig. 30 States of the Ethercat State Machine
39
Twincat System Manager
41
Fig. 31 Twincat System Manager Logo
41
Fig. 32 Appending the Device "Devicenet Master EL6752, Ethercat
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Fig. 33 "EL6752" Tab
42
Fig. 34 "ADS" Tab
43
Fig. 35 "Box States" Tab
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Fig. 36 Appending the Device "Devicenet Slave EL6752, Ethercat
44
Fig. 37 Appending the Box "Devicenet Slave EL6752, Ethercat
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Fig. 38 "EL6752-0010" Tab
45
Fig. 39 "ADS" Tab
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Fig. 40 "General" Tab, Box EL6752-0010
47
Fig. 41 Pre-Initialized Input and Output Data Lengths in Polling Mode
48
Beckhoff Devicenet Bus Coupler
51
General Devicenet Device
56
Integrating a Devicenet Device with EDS File
56
Integrating a Devicenet Device Without EDS File
57
Parameterization of a Devicenet Device
60
Ethercat Description
65
Introduction
65
Object Description and Parameterization
70
7 Error Handling and Diagnostics
82
EL6752 - LED Description
82
EL6752/-0010 Diagnostics
84
EL6752/-0010 - WC-State
84
EL6752/-0010 - State
85
EL6752/-0010 - Error / Diagflag
86
Devicenet Device Diagnostics
86
Devicenet Slave Device / EL6752-0010 - Macstate
86
Devicenet Slave Device / EL6752-0010 - Diagflag
88
Beckhoff Devicenet Slave Device - Couplerstate
89
EL6752/-0010 - ADS Error Codes
90
Devicenet / CAN Trouble Shooting
94
8 Appendix
97
UL Notice
97
Ethercat al Status Codes
98
Firmware Compatibility
98
Fig. 9 EL6752
98
Firmware Update El/Es/Em/Epxxxx
99
Device Description ESI File/Xml
100
Firmware Explanation
103
Updating Controller Firmware *.Efw
104
FPGA Firmware *.Rbf
105
Simultaneous Updating of Several Ethercat Devices
109
ATEX Documentation
110
Abbreviations
110
Support and Service
111
Table of Figures
112
4
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Beckhoff EtherCAT EL6752 Specifications
General
Brand
Beckhoff
Model
EtherCAT EL6752
Category
Touch terminals
Language
English
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