Beckhoff EtherCAT EL6752 - Table of Contents

Table of contents
EL6752 3Version: 2.1
Table of contents
1 Foreword ....................................................................................................................................................5
1.1 Notes on the documentation..............................................................................................................5
1.2 Safety instructions .............................................................................................................................6
1.3 Documentation issue status ..............................................................................................................7
1.4 Version identification of EtherCAT devices .......................................................................................7
2 Product overview.....................................................................................................................................12
2.1 Introduction......................................................................................................................................12
2.2 Technical data .................................................................................................................................13
3 Basic DeviceNet principles.....................................................................................................................14
4 Mounting and cabling..............................................................................................................................15
4.1 Instructions for ESD protection........................................................................................................15
4.2 Recommended mounting rails.........................................................................................................15
4.3 Mounting and demounting - terminals with traction lever unlocking ................................................15
4.4 Mounting and demounting - terminals with front unlocking .............................................................17
4.5 DeviceNet wiring..............................................................................................................................19
4.5.1 CAN / DeviceNet topology ............................................................................................... 19
4.5.2 Bus length........................................................................................................................ 20
4.5.3 Drop lines......................................................................................................................... 20
4.5.4 Star Hub (Multiport Tap) .................................................................................................. 21
4.5.5 CAN cable........................................................................................................................ 22
4.5.6 Shielding .......................................................................................................................... 22
4.5.7 Cable colours and pin assignment................................................................................... 23
4.6 Installation positions ........................................................................................................................23
4.7 Positioning of passive Terminals .....................................................................................................26
4.8 ATEX - Special conditions (standard temperature range) ...............................................................27
5 DeviceNet communication......................................................................................................................28
5.1 DeviceNet Introduction ....................................................................................................................28
5.2 Explicit messages............................................................................................................................30
6 Parameterization and commissioning...................................................................................................32
6.1 CoE Interface...................................................................................................................................32
6.2 General notes for setting the watchdog...........................................................................................36
6.3 EtherCAT State Machine.................................................................................................................38
6.4 TwinCAT System Manager..............................................................................................................41
6.5 Beckhoff DeviceNet Bus Coupler ....................................................................................................51
6.6 General DeviceNet device...............................................................................................................56
6.6.1 Integrating a DeviceNet device with EDS file .................................................................. 56
6.6.2 Integrating a DeviceNet device without EDS file ............................................................. 57
6.6.3 Parameterization of a DeviceNet device.......................................................................... 60
6.7 EtherCAT description ......................................................................................................................65
6.7.1 Introduction ...................................................................................................................... 65
6.7.2 Object description and parameterization ......................................................................... 70
7 Error handling and diagnostics..............................................................................................................82
7.1 EL6752 - LED description................................................................................................................82