Documentation

EL30xx

Analog Input Terminals (12 Bit)

Version: 4.4
Date: 2017-03-28
Documentation

EL30xx

Analog Input Terminals (12 Bit)

Version: 4.4
Date: 2017-03-28
 Product overview Analog Input Terminals

1 Product overview Analog Input Terminals

EL3001, EL3002 [}17], EL3004, EL3008 [}19]
1, 2, 4 and 8 Channel, -10V to +10V; 12bit, single-ended

EL3011, EL3012 [}22], EL3014 [}24]

1, 2 and 4 Channel, 0 to 20mA; 12bit, differential inputs

EL3021, EL3022 [}26], EL3024 [}28]

1, 2 and 4 Channel, 4 to 20mA; 12bit, differential inputs

EL3041, EL3042 [}30], EL3044, EL3048 [}31]

1, 2, 4 and 8 Channel, 0 to 20mA; 12bit, single-ended

EL3051, EL3052 [}34], EL3058 [}35]

1, 2 and 8 Channel, 4 to 20mA; 12bit, single-ended

EL3054 [}35]
4 Channel, 4 to 20mA; 12bit, single-ended, supply for current-loop-fed sensors

EL3061, EL3062 [}38], EL3064, EL3068 [}39]

1, 2, 4 and 8 Channel, 0 to 10 V; 12bit, single-ended

EL3062-0030 [}38]
2 Channel, 0 to 30V; 12bit, single-ended

EL30xx Version: 4.4 5

Table of contents

Table of contents
1 Product overview Analog Input Terminals..............................................................................................5

2 Foreword ....................................................................................................................................................9
2.1 Notes on the documentation........................................................................................................... 9
2.2 Safety instructions ........................................................................................................................ 10
2.3 Documentation issue status.......................................................................................................... 11
2.4 Version identification of EtherCAT devices................................................................................... 12

3 Product overview.....................................................................................................................................17
3.1 EL300x.......................................................................................................................................... 17
3.1.1 EL3001, EL3002 - Introduction ........................................................................................17
3.1.2 EL3004, EL3008 - Introduction ........................................................................................19
3.1.3 EL300x - Technical data ..................................................................................................21
3.2 EL301x.......................................................................................................................................... 22
3.2.1 EL3011, EL3012 - Introduction ........................................................................................22
3.2.2 EL3014 - Introduction.......................................................................................................24
3.2.3 EL301x - Technical data ..................................................................................................25
3.3 EL302x.......................................................................................................................................... 26
3.3.1 EL3021, EL3022 - Introduction ........................................................................................26
3.3.2 EL3024 - Introduction.......................................................................................................28
3.3.3 EL302x - Technical data ..................................................................................................29
3.4 EL304x.......................................................................................................................................... 30
3.4.1 EL3041, EL3042 - Introduction ........................................................................................30
3.4.2 EL3044, EL3048 - Introduction ........................................................................................31
3.4.3 EL304x - Technical data ..................................................................................................33
3.5 EL305x.......................................................................................................................................... 34
3.5.1 EL3051, EL3052 - Introduction ........................................................................................34
3.5.2 EL3054, EL3058 - Introduction ........................................................................................35
3.5.3 EL305x - Technical data ..................................................................................................37
3.6 EL306x.......................................................................................................................................... 38
3.6.1 EL3061, EL3062 - Introduction ........................................................................................38
3.6.2 EL3064, EL3068 - Introduction ........................................................................................39
3.6.3 EL306x - Technical data ..................................................................................................41
3.7 Start up ......................................................................................................................................... 42

4 Basics communication ...........................................................................................................................43

4.1 EtherCAT basics........................................................................................................................... 43
4.2 EtherCAT cabling wire-bound.................................................................................................... 43
4.3 General notes for setting the watchdog ........................................................................................ 44
4.4 EtherCAT State Machine .............................................................................................................. 46
4.5 CoE Interface................................................................................................................................ 48
4.6 Distributed Clock........................................................................................................................... 53

5 Mounting and wiring ...............................................................................................................................54

5.1 Instructions for ESD protection ..................................................................................................... 54
5.2 Installation on mounting rails ........................................................................................................ 54
5.3 Installation instructions for enhanced mechanical load capacity .................................................. 57
5.4 Connection system ....................................................................................................................... 58
5.5 Installation positions ..................................................................................................................... 61
5.6 Mounting of Passive Terminals..................................................................................................... 62

6 Version: 4.4 EL30xx

 Table of contents

5.7 ATEX - Special conditions (standard temperature range) ............................................................ 64

5.8 ATEX - Special conditions (extended temperature range) ........................................................... 65
5.9 ATEX Documentation ................................................................................................................... 66
5.10 LEDs and connection.................................................................................................................... 67
5.10.1 EL300x - LEDs and connection .......................................................................................67
5.10.2 EL301x - LEDs and connection .......................................................................................72
5.10.3 EL302x - LEDs and connection .......................................................................................77
5.10.4 EL304x - LEDs and connection .......................................................................................82
5.10.5 EL305x - LEDs and connection .......................................................................................88
5.10.6 EL306x - LEDs and connection .......................................................................................94
5.11 Connection notes for 20 mA measurement .................................................................................. 99
5.11.1 Configuration of 0/4..20 mA differential inputs .................................................................99

6 Commissioning......................................................................................................................................103
6.1 TwinCAT Quick Start .................................................................................................................. 103
6.1.1 TwinCAT2 .....................................................................................................................105
6.1.2 TwinCAT 3 .....................................................................................................................115
6.2 TwinCAT Development Environment.......................................................................................... 127
6.2.1 Installation of the TwinCAT real-time driver ...................................................................127
6.2.2 Notes regarding ESI device description .........................................................................133
6.2.3 TwinCAT ESI Updater....................................................................................................137
6.2.4 Distinction between Online and Offline ..........................................................................137
6.2.5 OFFLINE configuration creation ....................................................................................138
6.2.6 ONLINE configuration creation ......................................................................................143
6.2.7 EtherCAT subscriber configuration ................................................................................151
6.3 General Notes - EtherCAT Slave Application ............................................................................. 161
6.4 Process data and operation modes ............................................................................................ 169
6.4.1 EL30xx parameterization ...............................................................................................169
6.4.2 Process data ..................................................................................................................169
6.4.3 Changeover of process data sets ..................................................................................172
6.4.4 Operating modes ...........................................................................................................176
6.4.5 Data stream and correction calculation..........................................................................180
6.4.6 Undershoot and overshoot of the measuring range (under-range, over-range), index
0x60n0:02, 0x60n0:03 ...................................................................................................182
6.4.7 Calculation of process data............................................................................................183
6.4.8 Settings ..........................................................................................................................184
6.4.9 EtherCAT master error messages .................................................................................190
6.4.10 Producer Codeword .......................................................................................................190
6.4.11 Password protection for user calibration ........................................................................190
6.4.12 Interference from equipment ..........................................................................................191
6.5 Object description and parameterization .................................................................................... 191
6.5.1 Restore object ................................................................................................................192
6.5.2 Configuration data..........................................................................................................193
6.5.3 Objects for regular operation .........................................................................................194
6.5.4 Profile-specific objects (0x6000-0xFFFF) ......................................................................194
6.5.5 Standard objects ............................................................................................................195
6.6 Notices on analog specifications ................................................................................................ 205
6.6.1 Full scale value (FSV) ....................................................................................................205
6.6.2 Measuring error/ measurement deviation ......................................................................205
6.6.3 Temperature coefficient tK [ppm/K] ...............................................................................206
6.6.4 Single-ended/differential typification ..............................................................................207
6.6.5 Common-mode voltage and reference ground (based on differential inputs) ................212
6.6.6 Dielectric strength ..........................................................................................................212
6.6.7 Temporal aspects of analog/digital conversion ..............................................................213

EL30xx Version: 4.4 7

Table of contents

7 Appendix ................................................................................................................................................217
7.1 EtherCAT AL Status Codes ........................................................................................................ 217
7.2 UL notice..................................................................................................................................... 217
7.3 Firmware compatibility ................................................................................................................ 219
7.4 Firmware Update EL/ES/EM/EPxxxx.......................................................................................... 225
7.5 Restoring the delivery state ........................................................................................................ 235
7.6 Support and Service ................................................................................................................... 236

8 Version: 4.4 EL30xx

 Foreword

2 Foreword

2.1 Notes on the documentation

Intended audience

This description is only intended for the use of trained specialists in control and automation engineering who
are familiar with the applicable national standards.
It is essential that the documentation and the following notes and explanations are followed when installing
and commissioning these components.
It is the duty of the technical personnel to use the documentation published at the respective time of each
installation and commissioning.

The responsible staff must ensure that the application or use of the products described satisfy all the
requirements for safety, including all the relevant laws, regulations, guidelines and standards.

Disclaimer

The documentation has been prepared with care. The products described are, however, constantly under
development.

We reserve the right to revise and change the documentation at any time and without prior announcement.

No claims for the modification of products that have already been supplied may be made on the basis of the
data, diagrams and descriptions in this documentation.

Trademarks

Beckhoff, TwinCAT, EtherCAT, Safety over EtherCAT, TwinSAFE, XFC and XTS are registered
trademarks of and licensed by Beckhoff Automation GmbH.
Other designations used in this publication may be trademarks whose use by third parties for their own
purposes could violate the rights of the owners.

Patent Pending

The EtherCAT Technology is covered, including but not limited to the following patent applications and
patents: EP1590927, EP1789857, DE102004044764, DE102007017835 with corresponding applications or
registrations in various other countries.

The TwinCAT Technology is covered, including but not limited to the following patent applications and
patents: EP0851348, US6167425 with corresponding applications or registrations in various other countries.

EtherCAT is registered trademark and patented technology, licensed by Beckhoff Automation GmbH,
Germany

Copyright

Beckhoff Automation GmbH & Co. KG, Germany.

The reproduction, distribution and utilization of this document as well as the communication of its contents to
others without express authorization are prohibited.
Offenders will be held liable for the payment of damages. All rights reserved in the event of the grant of a
patent, utility model or design.

EL30xx Version: 4.4 9

Foreword

2.2 Safety instructions

Safety regulations

Please note the following safety instructions and explanations!

Product-specific safety instructions can be found on following pages or in the areas mounting, wiring,
commissioning etc.

Exclusion of liability

All the components are supplied in particular hardware and software configurations appropriate for the
application. Modifications to hardware or software configurations other than those described in the
documentation are not permitted, and nullify the liability of Beckhoff Automation GmbH & Co. KG.

Personnel qualification

This description is only intended for trained specialists in control, automation and drive engineering who are
familiar with the applicable national standards.

Description of symbols

In this documentation the following symbols are used with an accompanying safety instruction or note. The
safety instructions must be read carefully and followed without fail!

Serious risk of injury!

Failure to follow the safety instructions associated with this symbol directly endangers the
life and health of persons.
DANGER

Risk of injury!
Failure to follow the safety instructions associated with this symbol endangers the life and
health of persons.
WARNING

Personal injuries!
Failure to follow the safety instructions associated with this symbol can lead to injuries to
persons.
CAUTION

Damage to the environment or devices

Failure to follow the instructions associated with this symbol can lead to damage to the en-
vironment or equipment.
Attention

Tip or pointer
This symbol indicates information that contributes to better understanding.

Note

10 Version: 4.4 EL30xx

 Foreword

2.3 Documentation issue status

Version Comment
4.4 Update chapter "Notices on Analog specification"
Update chapter "LEDs and connection"
Addenda chapter "Instructions for ESD protection"
Update revision status
4.3 Update chapter "Notes on the documentation"
Update of Technical data
Update revision status
4.2 Addenda chapter "Limit, Swap Limit"
Addenda chapter "Configuration data", Index 080n0:0E added
Update chapter "TwinCAT 2.1x" -> "TwinCAT Development Environment"
"TwinCAT Quick Start" added
4.1 Update connection diagrams
Update chapter "Notices on Analog specification"
Correction chapter "Data stream and correction calculation"
Update revision status
4.0 First publication in PDF format
Update structure
Correction chapter "Calculation of process data"

EL30xx Version: 4.4 11

Foreword

Version Comment
3.1 Update chapter "Technical data"
Addenda chapter "Installation instructions for enhanced mechanical load capacity"
Update structure
Update revision status
3.0 Update chapter "Technical data"
Update chapter "Analog specification"
Update Firmware revision status
2.9 Update chapter "Technical data"
Update chapter "Analog specification"
Update Firmware revision status
2.8 Update chapter "Technical data"
Update Firmware revision status
2.7 Update chapter "Technical data"
Update chapter "Process data"
Update Firmware revision status
2.6 Update structure
Update chapter "LEDs and connection"
Update Firmware revision status
2.5 Update chapter "Configuration of 0/4..20 mA differential inputs"
2.4 Update structure, Technical data
2.3 Update connection diagrams
2.2 Addenda chapter "Configuration of 0/4..20 mA differential inputs"
2.1 Update chapter "Introduction"
Update chapter "LEDs and connection"
EL301x, EL302x added
2.0 Update connection diagrams
Update structure
1.9 Update connection diagrams
1.8 Expanded note on filter settings added
1.7 Note on filter settings added
1.6 Addenda & corrections
1.5 LED amended
1.4 Process image, trademark notes amended, firmware chapter amended
1.3 Technical notes amended
1.2 Technical notes amended
1.1 Technical data amended
1.0 First public issue
0.1 Provisional documentation for EL30xx

2.4 Version identification of EtherCAT devices

Designation

A Beckhoff EtherCAT device has a 14-digit designation, made up of

family key
type
version
revision

12 Version: 4.4 EL30xx

 Foreword

Example Family Type Version Revision

EL3314-0000-0016 EL terminal 3314 (4-channel 0000 (basic type) 0016
(12 mm, non- thermocouple
pluggable terminal)
connection level)
CU2008-0000-000 CU device 2008 (8-port fast 0000 (basic type) 0000
0 ethernet switch)
ES3602-0010-0017 ES terminal 3602 (2-channel 0010 (high- 0017
(12 mm, pluggable voltage precision version)
connection level) measurement)

Notes
The elements mentioned above result in the technical designation. EL3314-0000-0016 is used in the
example below.
EL3314-0000 is the order identifier, in the case of -0000 usually abbreviated to EL3314. -0016 is the
EtherCAT revision.
The order identifier is made up of
- family key (EL, EP, CU, ES, KL, CX, etc.)
- type (3314)
- version (-0000)
The revision -0016 shows the technical progress, such as the extension of features with regard to the
EtherCAT communication, and is managed by Beckhoff.
In principle, a device with a higher revision can replace a device with a lower revision, unless specified
otherwise, e.g. in the documentation.
Associated and synonymous with each revision there is usually a description (ESI, EtherCAT Slave
Information) in the form of an XML file, which is available for download from the Beckhoff website.
From 2014/01 the revision is shown on the outside of the IP20 terminals, see Fig. EL5021 EL terminal,
standard IP20 IO device with batch number and revision ID (since 2014/01).
The type, version and revision are read as decimal numbers, even if they are technically saved in
hexadecimal.

Identification number

Beckhoff EtherCAT devices from the different lines have different kinds of identification numbers:

Production lot/batch number/serial number/date code/D number

The serial number for Beckhoff IO devices is usually the 8-digit number printed on the device or on a sticker.
The serial number indicates the configuration in delivery state and therefore refers to a whole production
batch, without distinguishing the individual modules of a batch.

Structure of the serial number: KKYYFFHH

KK - week of production (CW, calendar week)

YY - year of production
FF - firmware version
HH - hardware version

Example with
Ser. no.: 12063A02: 12 - production week 12 06 - production year 2006 3A - firmware version 3A 02 -
hardware version 02

Exceptions can occur in the IP67 area, where the following syntax can be used (see respective device
documentation):

Syntax: D ww yy x y z u

D - prefix designation
ww - calendar week
yy - year
x - firmware version of the bus PCB

EL30xx Version: 4.4 13

Foreword

y - hardware version of the bus PCB

z - firmware version of the I/O PCB
u - hardware version of the I/O PCB

Example: D.22081501 calendar week 22 of the year 2008 firmware version of bus PCB: 1 hardware version
of bus PCB: 5 firmware version of I/O PCB: 0 (no firmware necessary for this PCB) hardware version of I/O
PCB: 1

Unique serial number/ID, ID number

In addition, in some series each individual module has its own unique serial number.

See also the further documentation in the area

IP67: EtherCAT Box
Safety: TwinSafe
Terminals with factory calibration certificate and other measuring terminals

Examples of markings:

Fig.1: EL5021 EL terminal, standard IP20 IO device with batch number and revision ID (since 2014/01)

Fig.2: EK1100 EtherCAT coupler, standard IP20 IO device with batch number

14 Version: 4.4 EL30xx

 Foreword

Fig.3: CU2016 switch with batch number

Fig.4: EL3202-0020 with batch numbers 26131006 and unique ID-number 204418

Fig.5: EP1258-00001 IP67 EtherCAT Box with batch number 22090101 and unique serial number 158102

Fig.6: EP1908-0002 IP76 EtherCAT Safety Box with batch number 071201FF and unique serial number
00346070

EL30xx Version: 4.4 15

Foreword

Fig.7: EL2904 IP20 safety terminal with batch number/date code 50110302 and unique serial number
00331701

Fig.8: ELM3604-0002 terminal with ID number (QR code) 100001051 and unique serial number 44160201

16 Version: 4.4 EL30xx

 Product overview

3 Product overview

3.1 EL300x

3.1.1 EL3001, EL3002 - Introduction

Fig.9: EL3001

EL30xx Version: 4.4 17

Product overview

Fig.10: EL3002

Analog Input Terminal; 1 and 2 channel, 12bit, -10V ...+10V, single-ended inputs

The EL3001 and EL3002 analog input terminals process signals in the range between -10V and +10V. The
voltage is digitized to a resolution of 12 bits, and is transmitted, electrically isolated, to the higher-level
automation device.

The input channels of the EtherCAT Terminals EL3001 and EL3002 are single-ended inputs and have a
common internal ground potential, which is not connected to the power contacts.

The EL3001 is the single-channel version and is characterized by its fine granularity and electrical isolation.
The EL3002 combines two channels in one housing.

Quick-Links
EtherCAT basics
Process data and operating modes [}169]
Object description and parameterization [}191]

18 Version: 4.4 EL30xx

 Product overview

3.1.2 EL3004, EL3008 - Introduction

Fig.11: EL3004

Fig.12: EL3008

EL30xx Version: 4.4 19

Product overview

Analog Input Terminal; 4 and 8 channel, 12bit, -10V ...+10V, single-ended inputs

The EL3004 and EL3008 analog input terminals process signals in the range between -10V and +10V. The
voltage is digitized to a resolution of 12 bits, and is transmitted, electrically isolated, to the higher-level
automation device.
The power contacts are connected through.

In the EL3004 EtherCAT Terminal the four single-ended inputs are configured as 2-wire versions and have a
common internal ground potential, which is not connected to the power contacts.
The EL3008 combines eight channels in one housing. The reference ground for the inputs is the 0V power
contact.

Quick-Links
EtherCAT basics
Process data and operation modes [}169]
Object description and parameterization [}191]

20 Version: 4.4 EL30xx

 Product overview

3.1.3 EL300x - Technical data

Technical data EL3001 EL3002 EL3004 EL3008
analog inputs 1 (single ended) 2 (single ended) 4 (single ended) 8 (single ended)
Signal voltage -10V...+10V
Internal resistance >130k
Resolution 12bit (16 bit presentation)
Conversion time typical 0.625ms typical 1.25ms
(default setting: 50
Hz filter)
Input filter limit 1kHz
frequency
Measuring error (full < 0.30% (at 0 C ... +55 C, relative to the full scale value)
measuring range) < 0.75% (when the extended temperature range is used)
Supply voltage for via the E-bus
electronic
Current consumption typ. 130mA
via E-bus
Distributed clocks no
support
Electrical isolation 500V (E-bus/field voltage)
Dielectric strength max. 30V
Bit width of the 2 bytes status, 2 bytes value per channel
process image
(default setting)
Configuration no address or configuration settings required
Weight approx. 70g
Permissible ambient -25C ... +60C (extended temperature range)
temperature range
during operation
Permissible ambient -40C ... +85C
temperature range
during storage
Permissible relative 95%, no condensation
humidity
Dimensions (W x H x approx. 15mm x 100mm x 70mm (width aligned: 12mm)
D)
Mounting [}54] on 35mm mounting rail conforms to EN 60715
Vibration/shock conforms to EN 60068-2-6 / EN 60068-2-27
resistance see also installation instructions for terminals with increased mechanical load capacity
[}57]
EMC immunity/ conforms to EN 61000-6-2 / EN 61000-6-4
emission
Protection class IP20
Installation position variable
Approval CE
ATEX [}65]
cULus [}217]

EL30xx Version: 4.4 21

Product overview

3.2 EL301x

3.2.1 EL3011, EL3012 - Introduction

Fig.13: EL3011

Fig.14: EL3012

22 Version: 4.4 EL30xx

 Product overview

Analog Input Terminals; 1 and 2 channel, 12bit, 0 ...20mA, differential inputs

The EL3011 and EL3012 analog input terminals process signals in the range between 0 and 20 mA. The
current is digitized to a resolution of 12 bits, and is transmitted, in an electrically isolated form, to the higher-
level automation device. The input channels of the EL3011/EL3012 EtherCAT Terminals are differential
inputs and have a common internal ground potential, which is not connected to the power contacts.

Overcurrent is displayed not only in the process image, but also by an error LED for each channel.

The EL3011 is the single-channel version and is characterized by its fine granularity and electrical isolation.
The EL3012 combines two channels in one housing

Quick-Links
EtherCAT basics
Process data and operation modes [}169]
Object description and parameterization [}191]

EL30xx Version: 4.4 23

Product overview

3.2.2 EL3014 - Introduction

Fig.15: EL3014

Analog Input Terminals; 4 channel, 12bits, 0 ...20mA, differential inputs

The EL3014 analog input terminal handles signals in the range from 0 to 20 mA. The current is digitized to a
resolution of 12 bits, and is transmitted, in an electrically isolated form, to the higher-level automation device.
The input channels of the EtherCAT Terminal are differential inputs and have a common reference ground,
which is connected to the 0V power contact.

Overcurrent is displayed not only in the process image, but also by an error LED for each channel.

Quick-Links
EtherCAT basics
Process data and operation modes [}169]
Object description and parameterization [}191]

24 Version: 4.4 EL30xx

 Product overview

3.2.3 EL301x - Technical data

Technical data EL3011 EL3012 EL3014
analog inputs 1 (differential) 2 (differential) 4 (differential)
Signal current 0mA20mA
Internal resistance 85 type. + diode voltage
Input filter limit frequency 1kHz
Common-mode voltage max. 10V
Ucm
Conversion time (default typ. 0.625ms default, configurable
setting: 50 Hz filter)
Resolution 12bits (16bits representation, including sign)
Measuring error (full < 0.30% (at 0 C ... +55 C, relative to the full scale value)
measuring range) < 0.75% (when the extended temperature range is used)
Supply voltage for via the E-bus
electronic
Current consumption via typ. 130mA
E-bus
Electrical isolation 500V (E-bus/field voltage)
Bit width of the process 2bytes status, 2bytes value per channel
image (default setting)
Configuration no address or configuration settings required
Weight approx. 55g
Permissible ambient -25C ... +60C (extended temperature range)
temperature range during
operation
Permissible ambient -40C ... +85C
temperature range during
storage
Permissible relative 95%, no condensation
humidity
Dimensions (W x H x D) approx. 15mm x 100mm x 70mm (width aligned: 12mm)
Mounting [}54] on 35 mm mounting rail conforms to EN 60715
Vibration/shock resistance conforms to EN 60068-2-6 / EN 60068-2-27
see also installation instructions for terminals with increased mechanical load
capacity [}57]
EMC immunity/emission conforms to EN 61000-6-2 / EN 61000-6-4
Protection class IP20
Installation position variable
Approval CE
ATEX [}65]
cULus [}217]

EL30xx Version: 4.4 25

Product overview

3.3 EL302x

3.3.1 EL3021, EL3022 - Introduction

Fig.16: EL3021

Fig.17: EL3022

26 Version: 4.4 EL30xx

 Product overview

Analog Input Terminals; 1 and 2 channel, 12bit, 4 ...20mA, differential inputs

The EL3021 and EL3022 analog input terminals process signals in the range between 4 and 20 mA. The
current is digitized to a resolution of 12 bits, and is transmitted, in an electrically isolated form, to the higher-
level automation device. The input channels of the EtherCAT Terminals are differential inputs and have a
common internal ground potential, which is not connected to the power contacts.

Overcurrent and broken wire are displayed not only in the process image, but also by an error LED for each
channel.

The EL3021 is the single-channel version and is characterized by its fine granularity and electrical isolation.
The EL3022 combines two channels in one housing

Quick-Links
EtherCAT basics
Process data and operation modes [}169]
Object description and parameterization [}191]

EL30xx Version: 4.4 27

Product overview

3.3.2 EL3024 - Introduction

Fig.18: EL3024

Analog Input Terminals; 4 channel, 12bits, 4 ...20mA, differential inputs

The EL3024 analog input terminal handles signals in the range from 4 to 20 mA. The current is digitized to a
resolution of 12 bits, and is transmitted, in an electrically isolated form, to the higher-level automation device.
The input channels of the EtherCAT Terminal are differential inputs and have a common reference ground,
which is connected to the 0V power contact.

Overcurrent and open circuit are displayed not only in the process image, but also by an error LED for each
channel.

Quick-Links
EtherCAT basics
Process data and operation modes [}169]
Object description and parameterization [}191]

28 Version: 4.4 EL30xx

 Product overview

3.3.3 EL302x - Technical data

Technical data EL3021 EL3022 EL3024
analog inputs 1 (differential) 2 (differential) 4 (differential)
Signal current 4mA20mA
Internal resistance 85 type. + diode voltage
Input filter limit frequency 1kHz
Common-mode voltage max. 10V
Ucm
Conversion time (default typ. 0.625ms default, configurable
setting: 50 Hz filter)
Resolution 12bits (16bits representation, including sign)
Measuring error (full < 0.30% (at 0 C ... +55 C, relative to the full scale value)
measuring range) < 0.75% (when the extended temperature range is used)
Supply voltage for via the E-bus
electronic
Current consumption via typ. 130mA
E-bus
Electrical isolation 500V (E-bus/field voltage)
Bit width of the process 2bytes status, 2bytes value per channel
image (default setting)
Configuration no address or configuration settings required
Weight approx. 55g
Permissible ambient -25C ... +60C (extended temperature range)
temperature range during
operation
Permissible ambient -40C ... +85C
temperature range during
storage
Permissible relative 95%, no condensation
humidity
Dimensions (W x H x D) approx. 15mm x 100mm x 70mm (width aligned: 12mm)
Mounting [}54] on 35mm mounting rail conforms to EN 60715
Vibration/shock resistance conforms to EN 60068-2-6 / EN 60068-2-27
see also installation instructions for terminals with increased mechanical load
capacity [}57]
EMC immunity/emission conforms to EN 61000-6-2 / EN 61000-6-4
Protection class IP20
Installation position variable
Approval CE
ATEX [}65],
cULus [}217]

EL30xx Version: 4.4 29

Product overview

3.4 EL304x

3.4.1 EL3041, EL3042 - Introduction

Fig.19: EL3041

Fig.20: EL3042

30 Version: 4.4 EL30xx

 Product overview

Analog Input Terminal; 1 and 2 channel, 12bits, 0 ...20 mA, single-ended inputs

The job of the EL3041 and EL3042 analog input terminals is to supply power to measuring transducers
located in the field, and to transmit analog measurement signals with electrical isolation to the automation
device. The voltage for the sensors is supplied to the terminals via the power contacts. The EtherCAT
Terminals indicate overload via error LEDs.

The power contacts can optionally be supplied with operating voltage in the standard way or via a supply
terminal (EL9xxx) with electrical isolation. The input electronics is independent of the supply voltage of the
power contacts.
The 0V power contact is the reference potential for the inputs.

Quick-Links
EtherCAT basics
Process data and operation modes [}169]
Object description and parameterization [}191]

3.4.2 EL3044, EL3048 - Introduction

Fig.21: EL3044

EL30xx Version: 4.4 31

Product overview

Fig.22: EL3048

Analog Input Terminal; 4 and 8 channel, 12bits, 0 ...20 mA, single-ended inputs

The EL3044 and EL3048 analog input terminals process signals in the range between 0 and 20mA. The
current is digitized to a resolution of 12 bits, and is transmitted, in an electrically isolated form, to the higher-
level automation device.
The power contacts are connected through. The EtherCAT Terminals indicate overload via error LEDs.

In the EL3044 EtherCAT Terminal the four single-ended inputs are configured as 2-wire versions and have a
common internal ground potential, which is not connected to the power contacts.
The EL3048 combines eight channels in one housing. The reference ground for the inputs is the 0V power
contact.

Quick-Links
EtherCAT basics
Process data and operation modes [}169]
Object description and parameterization [}191]

32 Version: 4.4 EL30xx

 Product overview

3.4.3 EL304x - Technical data

Technical data EL3041 EL3042 EL3044 EL3048
analog inputs 1 2 4 8
Signal current 0mA ... 20mA
Internal resistance typ. 85
Resolution 12bit (16 bit presentation)
Conversion time typical 0.625ms typical 1.25ms
(default setting: 50
Hz filter)
Input filter limit 1kHz
frequency
Measuring error (full < 0.30% (at 0 C ... +55 C, relative to the full scale value)
measuring range) < 0.75% (when the extended temperature range is used)
Supply voltage for via the E-bus
electronic
Current consumption typ. 130mA
via E-bus
Distributed clocks no
support
Electrical isolation 500V (E-bus/field voltage)
Dielectric strength max. 30V
Bit width of the 2bytes status, 2bytes value per channel
process image
(default setting)
Configuration no address or configuration settings required
Weight approx. 60g
Permissible ambient -25C ... +60C (extended temperature range)
temperature range
during operation
Permissible ambient -40C ... +85C
temperature range
during storage
Permissible relative 95%, no condensation
humidity
Dimensions (W x H x approx. 15mm x 100mm x 70mm (width aligned: 12mm)
D)
Mounting [}54] on 35mm mounting rail conforms to EN 60715
Vibration/shock conforms to EN 60068-2-6 / EN 60068-2-27
resistance see also installation instructions for terminals with increased mechanical load capacity
[}57]
EMC immunity/ conforms to EN 61000-6-2 / EN 61000-6-4
emission
Protection class IP20
Installation position variable
Approval CE
ATEX [}65]
cULus [}217]

EL30xx Version: 4.4 33

Product overview

3.5 EL305x

3.5.1 EL3051, EL3052 - Introduction

Fig.23: EL3051

Fig.24: EL3052

34 Version: 4.4 EL30xx

 Product overview

Analog Input Terminal; 1 and 2 channel, 12bits, 4...20 mA, single-ended inputs

The job of the EL3051 and EL3052 analog input terminals is to supply power to measuring transducers
located in the field, and to transmit analog measurement signals with electrical isolation to the automation
device.

The voltage for the sensors is supplied to the terminals via the power contacts. The power contacts can
optionally be supplied with operating voltage in the standard way or via a supply terminal (EL9xxx) with
electrical isolation.

The input electronics is independent of the supply voltage of the power contacts. The reference potential for
the inputs is the 0 V power contact.
The error LEDs indicate an overload condition and a broken wire.

Quick-Links

EtherCAT basics

Process data and operation modes [}169]

Object description and parameterization [}191]

3.5.2 EL3054, EL3058 - Introduction

Fig.25: EL3054

EL30xx Version: 4.4 35

Product overview

Fig.26: EL3058

Analog Input Terminal; 4 and 8 channel, 12bits, 4...20 mA, single-ended inputs

The EL3054 and EL3058 analog input terminals process signals in the range between 4mA and 20mA. The
current is digitized to a resolution of 12 bits, and is transmitted, in an electrically isolated form, to the higher-
level automation device. The input electronics is independent of the supply voltage of the power contacts.
The power contacts are connected through. The reference ground for the inputs is the 0V power contact.
The error LEDs indicate an overload condition and a broken wire.

In the EL3054 with four inputs the 24V power contact is connected to the terminal, in order to enable
connection of 2-wire sensors without external supply.
The EL3058 combines eight channels in one housing.

Quick-Links
EtherCAT basics
Process data and operation modes [}169]
Object description and parameterization [}191]

36 Version: 4.4 EL30xx

 Product overview

3.5.3 EL305x - Technical data

Technical data EL3051 EL3052 EL3054 EL3058
analog inputs 1 2 4 8
Signal current 4mA ... 20mA
Internal resistance typ. 85
Resolution 12bit (16 bit presentation)
Conversion time typical 0.625ms typical 1.25ms
(default setting: 50
Hz filter)
Input filter limit 1kHz
frequency
Measuring error (full < 0.30% (at 0 C ... +55 C, relative to the full scale value)
measuring range) < 0.75% (when the extended temperature range is used)
Supply voltage for via the E-bus
electronic
Current consumption typ. 130mA
via E-bus
Distributed clocks no
support
Electrical isolation 500V (E-bus/field voltage)
Dielectric strength max. 30V
Bit width of the 2bytes status, 2bytes value per channel
process image
(default setting)
Configuration no address or configuration settings required
Weight approx. 60g
Permissible ambient -25C ... +60C (extended temperature range)
temperature range
during operation
Permissible ambient -40C ... +85C
temperature range
during storage
Permissible relative 95%, no condensation
humidity
Dimensions (W x H x approx. 15mm x 100mm x 70mm (width aligned: 12mm)
D)
Mounting [}54] on 35mm mounting rail conforms to EN 60715
Vibration/shock conforms to EN 60068-2-6 / EN 60068-2-27,
resistance see also installation instructions for terminals with increased mechanical load capacity
[}57]
EMC immunity/ conforms to EN 61000-6-2 / EN 61000-6-4
emission
Protection class IP20
Installation position variable
Approval CE
ATEX [}65]
cULus [}217]

EL30xx Version: 4.4 37

Product overview

3.6 EL306x

3.6.1 EL3061, EL3062 - Introduction

Fig.27: EL3061

Fig.28: EL3062

38 Version: 4.4 EL30xx

 Product overview

Analog Input Terminal; 1 and 2 channel, 12bit, 0 V ...+10V, single-ended inputs

The EL3061 and EL3062 analog input terminals process signals in the range between 0 and 10 V. The
EL3062-0030 terminal is a two-channel special version with a voltage range of 0V to +30V.

The voltage is digitized to a resolution of 12 bits, and is transmitted, electrically isolated, to the higher-level
automation device. The input channels of the EtherCAT Terminals have a common ground potential the
reference ground, which is not connected to the power contacts.

The EL3061 is a single-channel version. The EL3062 combines two channels in one housing.

Quick-Links

EtherCAT basics

Process data and operation modes [}169]

Object description and parameterization [}191]

3.6.2 EL3064, EL3068 - Introduction

Fig.29: EL3064

EL30xx Version: 4.4 39

Product overview

Fig.30: EL3068

Analog Input Terminal; 4 and 8 channel, 12bit, 0 V ...+10V, single-ended inputs

The EL3064 and EL3068 analog input terminals process signals in the range between 0 and 10 V. The
voltage is digitized to a resolution of 12 bits, and is transmitted, electrically isolated, to the higher-level
automation device. The power contacts are connected through.

In the EL3064 EtherCAT Terminal the four single-ended inputs are configured as 2-wire versions and have a
common internal ground potential, which is not connected to the power contacts.
The EL3068 EtherCAT Terminal combines eight channels in one housing. The reference ground for the
inputs is the 0V power contact.

Quick-Links
EtherCAT basics
Process data and operation modes [}169]
Object description and parameterization [}191]

40 Version: 4.4 EL30xx

 Product overview

3.6.3 EL306x - Technical data

Technical data EL3061 EL3062 EL3062-0030 EL3064 3068
analog inputs 1 (single ended) 2 (single ended) 2 (single ended) 4 (single ended) 8 (single ended)
Signal voltage 0V ... +10 V 0V ... +30V 0V...+10V
Internal resistance >130k
Resolution 12bit (16 bit presentation)
Conversion time (de- typical 0.625ms typical 1.25ms
fault setting: 50 Hz fil-
ter)
Input filter limit fre- 1kHz
quency
Measuring error (full < 0.30% (at 0 C ... +55 C, relative to the < 0.3 % < 0.30% (at 0 C ... +55 C, relative to the
measuring range) full scale value) full scale value)
(of the full scale
< 0.75% (when the extended temperature
value) < 0.75% (when the extended temperature
range is used)
range is used)
Supply voltage for via the E-bus
electronic
Current consumption typ. 130mA
via E-bus
Distributed clocks no
support
Electrical isolation 500V (E-bus/field voltage)
Dielectric strength max. 30V max. 40V
Bit width of the 2 bytes status, 2 bytes value per channel
process image (de-
fault setting)
Configuration no address or configuration settings required
Weight approx. 60g
Permissible ambient -25C ... +60C (extended temperature 0C ... + 55C -25C ... +60C (extended temperature
temperature range range) range)
during operation
Permissible ambient -40C...+85C -25C ... + 85C -40C...+85C
temperature range
during storage
Permissible relative 95%, no condensation
humidity
Dimensions (W x H x approx. 15mm x 100mm x 70mm (width aligned: 12mm)
D)
Mounting [}54] on 35mm mounting rail conforms to EN 60715
Vibration/shock resis- conforms to EN 60068-2-6 / EN 60068-2-27,
tance
see also installation instructions for terminals with increased mechanical load capacity [}57]
EMC immunity/emis- conforms to EN 61000-6-2 / EN 61000-6-4
sion
Protection class IP20
Installation position variable
Approval CE CE CE
ATEX (extended temperature range) [}65] ATEX [}64] (standard ATEX (extended temperature range)
cULus [}217] temperature range) [}65]
cULus [}217] cULus [}217]

EL30xx Version: 4.4 41

Product overview

3.7 Start up
For commissioning:
mount the EL30xx as described in the chapter Mounting and wiring [}54]
configure the EL30xx in TwinCAT as described in the chapter Commissioning [}151].

42 Version: 4.4 EL30xx

 Basics communication

4 Basics communication

4.1 EtherCAT basics

Please refer to the chapter EtherCAT System Documentation for the EtherCAT fieldbus basics.

4.2 EtherCAT cabling wire-bound

The cable length between two EtherCAT devices must not exceed 100 m. This results from the FastEthernet
technology, which, above all for reasons of signal attenuation over the length of the cable, allows a maximum
link length of 5 + 90 + 5 m if cables with appropriate properties are used. See also the Design
recommendations for the infrastructure for EtherCAT/Ethernet.

Cables and connectors

For connecting EtherCAT devices only Ethernet connections (cables + plugs) that meet the requirements of
at least category 5 (CAt5) according to EN 50173 or ISO/IEC 11801 should be used. EtherCAT uses 4 wires
for signal transfer.

EtherCAT uses RJ45 plug connectors, for example. The pin assignment is compatible with the Ethernet
standard (ISO/IEC 8802-3).

Pin Color of conductor Signal Description

1 yellow TD + Transmission Data +
2 orange TD - Transmission Data -
3 white RD + Receiver Data +
6 blue RD - Receiver Data -

Due to automatic cable detection (auto-crossing) symmetric (1:1) or cross-over cables can be used between
EtherCAT devices from Beckhoff.

Recommended cables
Suitable cables for the connection of EtherCAT devices can be found on the Beckhoff web-
site!
Note

E-Bus supply

A bus coupler can supply the EL terminals added to it with the E-bus system voltage of 5V; a coupler is
thereby loadable up to 2A as a rule (see details in respective device documentation).
Information on how much current each EL terminal requires from the E-bus supply is available online and in
the catalogue. If the added terminals require more current than the coupler can supply, then power feed
terminals (e.g. EL9410) must be inserted at appropriate places in the terminal strand.

The pre-calculated theoretical maximum E-Bus current is displayed in the TwinCAT System Manager. A
shortfall is marked by a negative total amount and an exclamation mark; a power feed terminal is to be
placed before such a position.

EL30xx Version: 4.4 43

Basics communication

Fig.31: System manager current calculation

Malfunction possible!
The same ground potential must be used for the E-Bus supply of all EtherCAT terminals in
a terminal block!
Attention

4.3 General notes for setting the watchdog

ELxxxx terminals are equipped with a safety feature (watchdog) that switches off the outputs after a
specifiable time e.g. in the event of an interruption of the process data traffic, depending on the device and
settings, e.g. in OFF state.

The EtherCAT slave controller (ESC) in the EL2xxx terminals features 2 watchdogs:
SM watchdog (default: 100 ms)
PDI watchdog (default: 100 ms)

SM watchdog (SyncManager Watchdog)

The SyncManager watchdog is reset after each successful EtherCAT process data communication with the
terminal. If no EtherCAT process data communication takes place with the terminal for longer than the set
and activated SM watchdog time, e.g. in the event of a line interruption, the watchdog is triggered and the
outputs are set to FALSE. The OP state of the terminal is unaffected. The watchdog is only reset after a
successful EtherCAT process data access. Set the monitoring time as described below.

The SyncManager watchdog monitors correct and timely process data communication with the ESC from the
EtherCAT side.

PDI watchdog (Process Data Watchdog)

If no PDI communication with the EtherCAT slave controller (ESC) takes place for longer than the set and
activated PDI watchdog time, this watchdog is triggered.
PDI (Process Data Interface) is the internal interface between the ESC and local processors in the EtherCAT
slave, for example. The PDI watchdog can be used to monitor this communication for failure.

The PDI watchdog monitors correct and timely process data communication with the ESC from the
application side.

The settings of the SM- and PDI-watchdog must be done for each slave separately in the TwinCAT System
Manager.

44 Version: 4.4 EL30xx

 Basics communication

Fig.32: EtherCAT tab -> Advanced Settings -> Behavior -> Watchdog

Notes:
the multiplier is valid for both watchdogs.
each watchdog has its own timer setting, the outcome of this in summary with the multiplier is a
resulting time.
Important: the multiplier/timer setting is only loaded into the slave at the start up, if the checkbox is
activated.
If the checkbox is not activated, nothing is downloaded and the ESC settings remain unchanged.

Multiplier

Multiplier

Both watchdogs receive their pulses from the local terminal cycle, divided by the watchdog multiplier:

1/25 MHz * (watchdog multiplier + 2) = 100 s (for default setting of 2498 for the multiplier)

The standard setting of 1000 for the SM watchdog corresponds to a release time of 100 ms.

The value in multiplier + 2 corresponds to the number of basic 40 ns ticks representing a watchdog tick.
The multiplier can be modified in order to adjust the watchdog time over a larger range.

EL30xx Version: 4.4 45

Basics communication

Example "Set SM watchdog"

This checkbox enables manual setting of the watchdog times. If the outputs are set and the EtherCAT
communication is interrupted, the SM watchdog is triggered after the set time and the outputs are erased.
This setting can be used for adapting a terminal to a slower EtherCAT master or long cycle times. The
default SM watchdog setting is 100 ms. The setting range is 0..65535. Together with a multiplier with a range
of 1..65535 this covers a watchdog period between 0..~170 seconds.

Calculation

Multiplier = 2498 watchdog base time = 1 / 25MHz * (2498 + 2) = 0.0001seconds = 100s

SM watchdog = 10000 10000 * 100s = 1second watchdog monitoring time

Undefined state possible!

The function for switching off of the SM watchdog via SM watchdog = 0 is only imple-
mented in terminals from version -0016. In previous versions this operating mode should
CAUTION not be used.

Damage of devices and undefined state possible!

If the SM watchdog is activated and a value of 0 is entered the watchdog switches off com-
pletely. This is the deactivation of the watchdog! Set outputs are NOT set in a safe state, if
CAUTION the communication is interrupted.

4.4 EtherCAT State Machine

The state of the EtherCAT slave is controlled via the EtherCAT State Machine (ESM). Depending upon the
state, different functions are accessible or executable in the EtherCAT slave. Specific commands must be
sent by the EtherCAT master to the device in each state, particularly during the bootup of the slave.

A distinction is made between the following states:

Init
Pre-Operational
Safe-Operational and
Operational
Boot

The regular state of each EtherCAT slave after bootup is the OP state.

46 Version: 4.4 EL30xx

 Basics communication

Fig.33: States of the EtherCAT State Machine

Init

After switch-on the EtherCAT slave in the Init state. No mailbox or process data communication is possible.
The EtherCAT master initializes sync manager channels 0 and 1 for mailbox communication.

Pre-Operational (Pre-Op)

During the transition between Init and Pre-Op the EtherCAT slave checks whether the mailbox was initialized
correctly.

In Pre-Op state mailbox communication is possible, but not process data communication. The EtherCAT
master initializes the sync manager channels for process data (from sync manager channel 2), the FMMU
channels and, if the slave supports configurable mapping, PDO mapping or the sync manager PDO
assignment. In this state the settings for the process data transfer and perhaps terminal-specific parameters
that may differ from the default settings are also transferred.

Safe-Operational (Safe-Op)

During transition between Pre-Op and Safe-Op the EtherCAT slave checks whether the sync manager
channels for process data communication and, if required, the distributed clocks settings are correct. Before
it acknowledges the change of state, the EtherCAT slave copies current input data into the associated DP-
RAM areas of the EtherCAT slave controller (ECSC).

In Safe-Op state mailbox and process data communication is possible, although the slave keeps its outputs
in a safe state, while the input data are updated cyclically.

Outputs in SAFEOP state

The default set watchdog [}44] monitoring sets the outputs of the module in a safe state -
depending on the settings in SAFEOP and OP - e.g. in OFF state. If this is prevented by
Note deactivation of the watchdog monitoring in the module, the outputs can be switched or set
also in the SAFEOP state.

Operational (Op)

Before the EtherCAT master switches the EtherCAT slave from Safe-Op to Op it must transfer valid output
data.

In the Op state the slave copies the output data of the masters to its outputs. Process data and mailbox
communication is possible.

EL30xx Version: 4.4 47

Basics communication

Boot

In the Boot state the slave firmware can be updated. The Boot state can only be reached via the Init state.

In the Boot state mailbox communication via the file access over EtherCAT (FoE) protocol is possible, but no
other mailbox communication and no process data communication.

4.5 CoE Interface

General description

The CoE interface (CANopen over EtherCAT) is used for parameter management of EtherCAT devices.
EtherCAT slaves or the EtherCAT master manage fixed (read only) or variable parameters which they
require for operation, diagnostics or commissioning.

CoE parameters are arranged in a table hierarchy. In principle, the user has read access via the fieldbus.
The EtherCAT master (TwinCAT System Manager) can access the local CoE lists of the slaves via
EtherCAT in read or write mode, depending on the attributes.

Different CoE parameter types are possible, including string (text), integer numbers, Boolean values or larger
byte fields. They can be used to describe a wide range of features. Examples of such parameters include
manufacturer ID, serial number, process data settings, device name, calibration values for analog
measurement or passwords.

The order is specified in 2 levels via hexadecimal numbering: (main)index, followed by subindex. The value
ranges are
Index: 0x0000 0xFFFF (0...65535dez)
SubIndex: 0x000xFF (0...255dez)

A parameter localized in this way is normally written as 0x8010:07, with preceding "x" to identify the
hexadecimal numerical range and a colon between index and subindex.

The relevant ranges for EtherCAT fieldbus users are:

0x1000: This is where fixed identity information for the device is stored, including name, manufacturer,
serial number etc., plus information about the current and available process data configurations.
0x8000: This is where the operational and functional parameters for all channels are stored, such as
filter settings or output frequency.

Other important ranges are:

0x4000: In some EtherCAT devices the channel parameters are stored here (as an alternative to the
0x8000 range).
0x6000: Input PDOs ("input" from the perspective of the EtherCAT master)
0x7000: Output PDOs ("output" from the perspective of the EtherCAT master)

Availability
Not every EtherCAT device must have a CoE list. Simple I/O modules without dedicated
processor usually have no variable parameters and therefore no CoE list.
Note

If a device has a CoE list, it is shown in the TwinCAT System Manager as a separate tab with a listing of the
elements:

48 Version: 4.4 EL30xx

 Basics communication

Fig.34: "CoE Online " tab

The figure above shows the CoE objects available in device "EL2502", ranging from 0x1000 to 0x1600. The
subindices for 0x1018 are expanded.

Data management and function "NoCoeStorage"

Some parameters, particularly the setting parameters of the slave, are configurable and writeable. This can
be done in write or read mode
via the System Manager (Fig. "CoE Online " tab) by clicking
This is useful for commissioning of the system/slaves. Click on the row of the index to be
parameterised and enter a value in the "SetValue" dialog.
from the control system/PLC via ADS, e.g. through blocks from the TcEtherCAT.lib library
This is recommended for modifications while the system is running or if no System Manager or
operating staff are available.

If slave CoE parameters are modified online, Beckhoff devices store any changes in a fail-safe manner in the
EEPROM, i.e. the modified CoE parameters are still available after a restart. The situation may be different
with other manufacturers.

An EEPROM is subject to a limited lifetime with respect to write operations. From typically 100,000 write
operations onwards it can no longer be guaranteed that new (changed) data are reliably saved or are still
readable. This is irrelevant for normal commissioning. However, if CoE parameters are continuously changed
via ADS at machine runtime, it is quite possible for the lifetime limit to be reached. Support for the
NoCoeStorage function, which suppresses the saving of changed CoE values, depends on the firmware
version.

EL30xx Version: 4.4 49

Basics communication

Data management
If slave CoE parameters are modified online, Beckhoff devices store any changes in a fail-
safe manner in the EEPROM, i.e. the modified CoE parameters are still available after a
Note restart.
The situation may be different with other manufacturers.

An EEPROM is subject to a limited lifetime with respect to write operations. From typically
100,000 write operations onwards it can no longer be guaranteed that new (changed) data
are reliably saved or are still readable. This is irrelevant for normal commissioning. How-
ever, if CoE parameters are continuously changed via ADS at machine runtime, it is quite
possible for the lifetime limit to be reached. Support for the NoCoeStorage function, which
suppresses the saving of changed CoE values, depends on the firmware version.
Please refer to the technical data in this documentation as to whether this applies to the re-
spective device.
If the function is supported: the function is activated by entering the code word
0x12345678 once in CoE 0xF008 and remains active as long as the code word is not
changed. After switching the device on it is then inactive. Changed CoE values are not
saved in the EEPROM and can thus be changed any number of times.
Function is not supported: continuous changing of CoE values is not permissible in view
of the lifetime limit.

Startup list
Changes in the local CoE list of the terminal are lost if the terminal is replaced. If a terminal
is replaced with a new Beckhoff terminal, it will have the default settings. It is therefore ad-
Note visable to link all changes in the CoE list of an EtherCAT slave with the Startup list of the
slave, which is processed whenever the EtherCAT fieldbus is started. In this way a replace-
ment EtherCAT slave can automatically be parameterised with the specifications of the
user.
If EtherCAT slaves are used which are unable to store local CoE values permanently, the
Startup list must be used.

Recommended approach for manual modification of CoE parameters

Make the required change in the System Manager
The values are stored locally in the EtherCAT slave
If the value is to be stored permanently, enter it in the Startup list.
The order of the Startup entries is usually irrelevant.

Fig.35: Startup list in the TwinCAT System Manager

The Startup list may already contain values that were configured by the System Manager based on the ESI
specifications. Additional application-specific entries can be created.

50 Version: 4.4 EL30xx

 Basics communication

Online/offline list

While working with the TwinCAT System Manager, a distinction has to be made whether the EtherCAT
device is "available", i.e. switched on and linked via EtherCAT and therefore online, or whether a
configuration is created offline without connected slaves.

In both cases a CoE list as shown in Fig. CoE online tab is displayed. The connectivity is shown as offline/
online.
If the slave is offline
The offline list from the ESI file is displayed. In this case modifications are not meaningful or
possible.
The configured status is shown under Identity.
No firmware or hardware version is displayed, since these are features of the physical device.
Offline is shown in red.

Fig.36: Offline list

If the slave is online

The actual current slave list is read. This may take several seconds, depending on the size
and cycle time.
The actual identity is displayed
The firmware and hardware version of the equipment according to the electronic information is
displayed
Online is shown in green.

EL30xx Version: 4.4 51

Basics communication

Fig.37: Online list

Channel-based order

The CoE list is available in EtherCAT devices that usually feature several functionally equivalent channels.
For example, a 4-channel analog 0..10 V input terminal also has 4 logical channels and therefore 4 identical
sets of parameter data for the channels. In order to avoid having to list each channel in the documentation,
the placeholder "n" tends to be used for the individual channel numbers.

In the CoE system 16 indices, each with 255 subindices, are generally sufficient for representing all channel
parameters. The channel-based order is therefore arranged in 16dec/10hex steps. The parameter range
0x8000 exemplifies this:
Channel 0: parameter range 0x8000:00 ... 0x800F:255
Channel 1: parameter range 0x8010:00 ... 0x801F:255
Channel 2: parameter range 0x8020:00 ... 0x802F:255
...

This is generally written as 0x80n0.

Detailed information on the CoE interface can be found in the EtherCAT system documentation on the
Beckhoff website.

52 Version: 4.4 EL30xx

 Basics communication

4.6 Distributed Clock

The distributed clock represents a local clock in the EtherCAT slave controller (ESC) with the following
characteristics:
Unit 1 ns
Zero point 1.1.2000 00:00
Size 64 bit (sufficient for the next 584 years; however, some EtherCAT slaves only offer 32-bit support,
i.e. the variable overflows after approx. 4.2 seconds)
The EtherCAT master automatically synchronizes the local clock with the master clock in the EtherCAT
bus with a precision of < 100 ns.

For detailed information please refer to the EtherCAT system description.

EL30xx Version: 4.4 53

Mounting and wiring

5 Mounting and wiring

5.1 Instructions for ESD protection

Destruction of the devices by electrostatic discharge possible!
The devices contain components at risk from electrostatic discharge caused by improper
handling.
Attention
Please ensure you are electrostatically discharged and avoid touching the contacts of
the device directly.
a) Avoid contact with highly insulating materials (synthetic fibers, plastic film etc.).
b) Surroundings (working place, packaging and personnel) should by grounded probably,
when handling with the devices.
c) Each assembly must be terminated at the right hand end with an EL9011 bus end cap,
to ensure the protection class and ESD protection.

Fig.38: Spring contacts of the Beckhoff I/O components

5.2 Installation on mounting rails

Risk of electric shock and damage of device!
Bring the bus terminal system into a safe, powered down state before starting installation,
disassembly or wiring of the Bus Terminals!
WARNING

54 Version: 4.4 EL30xx

 Mounting and wiring

Assembly

Fig.39: Attaching on mounting rail

The Bus Coupler and Bus Terminals are attached to commercially available 35mm mounting rails (DIN rails
according to EN60715) by applying slight pressure:

1. First attach the Fieldbus Coupler to the mounting rail.

2. The Bus Terminals are now attached on the right-hand side of the Fieldbus Coupler. Join the compo-
nents with tongue and groove and push the terminals against the mounting rail, until the lock clicks
onto the mounting rail.
If the Terminals are clipped onto the mounting rail first and then pushed together without tongue and
groove, the connection will not be operational! When correctly assembled, no significant gap should
be visible between the housings.

Fixing of mounting rails

The locking mechanism of the terminals and couplers extends to the profile of the mounting
rail. At the installation, the locking mechanism of the components must not come into con-
Note flict with the fixing bolts of the mounting rail. To mount the mounting rails with a height of
7.5mm under the terminals and couplers, you should use flat mounting connections (e.g.
countersunk screws or blind rivets).

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Mounting and wiring

Disassembly

Fig.40: Disassembling of terminal

Each terminal is secured by a lock on the mounting rail, which must be released for disassembly:

1. Pull the terminal by its orange-colored lugs approximately 1cm away from the mounting rail. In doing
so for this terminal the mounting rail lock is released automatically and you can pull the terminal out of
the bus terminal block easily without excessive force.
2. Grasp the released terminal with thumb and index finger simultaneous at the upper and lower grooved
housing surfaces and pull the terminal out of the bus terminal block.

Connections within a bus terminal block

The electric connections between the Bus Coupler and the Bus Terminals are automatically realized by
joining the components:
The six spring contacts of the K-Bus/E-Bus deal with the transfer of the data and the supply of the Bus
Terminal electronics.
The power contacts deal with the supply for the field electronics and thus represent a supply rail within
the bus terminal block. The power contacts are supplied via terminals on the Bus Coupler (up to 24V)
or for higher voltages via power feed terminals.

Power Contacts
During the design of a bus terminal block, the pin assignment of the individual Bus Termi-
nals must be taken account of, since some types (e.g. analog Bus Terminals or digital 4-
Note channel Bus Terminals) do not or not fully loop through the power contacts. Power Feed
Terminals (KL91xx, KL92xx or EL91xx, EL92xx) interrupt the power contacts and thus rep-
resent the start of a new supply rail.

PE power contact

The power contact labeled PE can be used as a protective earth. For safety reasons this contact mates first
when plugging together, and can ground short-circuit currents of up to 125A.

56 Version: 4.4 EL30xx

 Mounting and wiring

Fig.41: Power contact on left side

Possible damage of the device

Note that, for reasons of electromagnetic compatibility, the PE contacts are capacitatively
coupled to the mounting rail. This may lead to incorrect results during insulation testing or
Attention to damage on the terminal (e.g. disruptive discharge to the PE line during insulation testing
of a consumer with a nominal voltage of 230V). For insulation testing, disconnect the PE
supply line at the Bus Coupler or the Power Feed Terminal! In order to decouple further
feed points for testing, these Power Feed Terminals can be released and pulled at least
10mm from the group of terminals.

Risk of electric shock!

The PE power contact must not be used for other potentials!

WARNING

5.3 Installation instructions for enhanced mechanical load

capacity
Risk of injury through electric shock and damage to the device!
Bring the Bus Terminal system into a safe, de-energized state before starting mounting,
disassembly or wiring of the Bus Terminals!
WARNING

Additional checks

The terminals have undergone the following additional tests:

Verification Explanation
Vibration 10 frequency runs in 3 axes
6 Hz < f < 60 Hz displacement 0.35 mm, constant amplitude
60.1Hz<f<500Hz acceleration 5g, constant amplitude
Shocks 1000 shocks in each direction, in 3 axes
25 g, 6 ms

EL30xx Version: 4.4 57

Mounting and wiring

Additional installation instructions

For terminals with enhanced mechanical load capacity, the following additional installation instructions apply:
The enhanced mechanical load capacity is valid for all permissible installation positions
Use a mounting rail according to EN 60715 TH35-15
Fix the terminal segment on both sides of the mounting rail with a mechanical fixture, e.g. an earth
terminal or reinforced end clamp
The maximum total extension of the terminal segment (without coupler) is:
64 terminals (12 mm mounting with) or 32 terminals (24 mm mounting with)
Avoid deformation, twisting, crushing and bending of the mounting rail during edging and installation of
the rail
The mounting points of the mounting rail must be set at 5 cm intervals
Use countersunk head screws to fasten the mounting rail
The free length between the strain relief and the wire connection should be kept as short as possible. A
distance of approx. 10 cm should be maintained to the cable duct.

5.4 Connection system

Risk of electric shock and damage of device!
Bring the bus terminal system into a safe, powered down state before starting installation,
disassembly or wiring of the Bus Terminals!
WARNING

Overview

The Bus Terminal system offers different connection options for optimum adaptation to the respective
application:
The terminals of KLxxxx and ELxxxx series with standard wiring include electronics and connection
level in a single enclosure.
The terminals of KSxxxx and ESxxxx series feature a pluggable connection level and enable steady
wiring while replacing.
The High Density Terminals (HD Terminals) include electronics and connection level in a single
enclosure and have advanced packaging density.

Standard wiring

Fig.42: Standard wiring

The terminals of KLxxxx and ELxxxx series have been tried and tested for years.
They feature integrated screwless spring force technology for fast and simple assembly.

58 Version: 4.4 EL30xx

 Mounting and wiring

Pluggable wiring

Fig.43: Pluggable wiring

The terminals of KSxxxx and ESxxxx series feature a pluggable connection level.
The assembly and wiring procedure for the KS series is the same as for the KLxxxx and ELxxxx series.
The KS/ES series terminals enable the complete wiring to be removed as a plug connector from the top of
the housing for servicing.
The lower section can be removed from the terminal block by pulling the unlocking tab.
Insert the new component and plug in the connector with the wiring. This reduces the installation time and
eliminates the risk of wires being mixed up.

The familiar dimensions of the terminal only had to be changed slightly. The new connector adds about 3
mm. The maximum height of the terminal remains unchanged.

A tab for strain relief of the cable simplifies assembly in many applications and prevents tangling of individual
connection wires when the connector is removed.

Conductor cross sections between 0.08mm2 and 2.5mm2 can continue to be used with the proven spring
force technology.

The overview and nomenclature of the product names for KSxxxx and ESxxxx series has been retained as
known from KLxxxx and ELxxxx series.

High Density Terminals (HD Terminals)

Fig.44: High Density Terminals

The Bus Terminals from these series with 16 connection points are distinguished by a particularly compact
design, as the packaging density is twice as large as that of the standard 12mm Bus Terminals. Massive
conductors and conductors with a wire end sleeve can be inserted directly into the spring loaded terminal
point without tools.

Wiring HD Terminals
The High Density (HD) Terminals of the KLx8xx and ELx8xx series doesn't support steady
wiring.
Note

Ultrasonically "bonded" (ultrasonically welded) conductors

Ultrasonically bonded" conductors

It is also possible to connect the Standard and High Density Terminals with ultrasonically
"bonded" (ultrasonically welded) conductors. In this case, please note the tables concern-
Note ing the wire-size width [}60] below!

EL30xx Version: 4.4 59

Mounting and wiring

Wiring

Terminals for standard wiring ELxxxx / KLxxxx and terminals for steady wiring ESxxxx / KSxxxx

Fig.45: Mounting a cable on a terminal connection

Up to eight connections enable the connection of solid or finely stranded cables to the Bus Terminals. The
terminals are implemented in spring force technology. Connect the cables as follows:

1. Open a spring-loaded terminal by slightly pushing with a screwdriver or a rod into the square opening
above the terminal.
2. The wire can now be inserted into the round terminal opening without any force.
3. The terminal closes automatically when the pressure is released, holding the wire securely and per-
manently.

Terminal housing ELxxxx, KLxxxx ESxxxx, KSxxxx

Wire size width 0.08 ... 2,5mm2 0.08 ... 2.5mm2
Wire stripping length 8 ... 9mm 9 ... 10mm

High Density Terminals ELx8xx, KLx8xx (HD)

The conductors of the HD Terminals are connected without tools for single-wire conductors using the direct
plug-in technique, i.e. after stripping the wire is simply plugged into the contact point. The cables are
released, as usual, using the contact release with the aid of a screwdriver. See the following table for the
suitable wire size width.

Terminal housing High Density Housing

Wire size width (conductors with a wire end sleeve) 0.14... 0.75mm2
Wire size width (single core wires) 0.08 ... 1.5mm2
Wire size width (fine-wire conductors) 0.25 ... 1.5mm2
Wire size width (ultrasonically bonded" conductors) only 1.5mm2 (see notice
[}59]!)
Wire stripping length 8 ... 9mm

60 Version: 4.4 EL30xx

 Mounting and wiring

Shielding

Shielding
Analog sensors and actors should always be connected with shielded, twisted paired wires.

Note

5.5 Installation positions

Constraints regarding installation position and operating temperature range
Please refer to the technical data for a terminal to ascertain whether any restrictions re-
garding the installation position and/or the operating temperature range have been speci-
Attention fied. When installing high power dissipation terminals ensure that an adequate spacing is
maintained between other components above and below the terminal in order to guarantee
adequate ventilation!

Optimum installation position (standard)

The optimum installation position requires the mounting rail to be installed horizontally and the connection
surfaces of the EL/KL terminals to face forward (see Fig. Recommended distances for standard installation
position). The terminals are ventilated from below, which enables optimum cooling of the electronics through
convection. "From below" is relative to the acceleration of gravity.

Fig.46: Recommended distances for standard installation position

Compliance with the distances shown in Fig. Recommended distances for standard installation position is
recommended.

EL30xx Version: 4.4 61

Mounting and wiring

Other installation positions

All other installation positions are characterized by different spatial arrangement of the mounting rail - see
Fig Other installation positions.

The minimum distances to ambient specified above also apply to these installation positions.

Fig.47: Other installation positions

5.6 Mounting of Passive Terminals

Hint for mounting passive terminals
EtherCAT Terminals (ELxxxx / ESxxxx), which do not take an active part in data transfer
within the bus terminal block are so called Passive Terminals. The Passive Terminals have
Note no current consumption out of the E-Bus To ensure an optimal data transfer, you must not
directly string together more than 2 Passive Terminals!

62 Version: 4.4 EL30xx

 Mounting and wiring

Examples for mounting passive terminals (highlighted)

Fig.48: Correct configuration

Fig.49: Incorrect configuration

EL30xx Version: 4.4 63

Mounting and wiring

5.7 ATEX - Special conditions (standard temperature

range)
Observe the special conditions for the intended use of Beckhoff fieldbus
components with standard temperature range in potentially explosive areas
(directive 94/9/EU)!
WARNING The certified components are to be installed in a suitable housing that guarantees a
protection class of at least IP54 in accordance with EN 60529! The environmental con-
ditions during use are thereby to be taken into account!
If the temperatures during rated operation are higher than 70C at the feed-in points of
cables, lines or pipes, or higher than 80C at the wire branching points, then cables
must be selected whose temperature data correspond to the actual measured tempera-
ture values!
Observe the permissible ambient temperature range of 0 to 55C for the use of Beck-
hoff fieldbus components standard temperature range in potentially explosive areas!
Measures must be taken to protect against the rated operating voltage being exceeded
by more than 40% due to short-term interference voltages!
The individual terminals may only be unplugged or removed from the Bus Terminal sys-
tem if the supply voltage has been switched off or if a non-explosive atmosphere is en-
sured!
The connections of the certified components may only be connected or disconnected if
the supply voltage has been switched off or if a non-explosive atmosphere is ensured!
The fuses of the KL92xx/EL92xx power feed terminals may only be exchanged if the
supply voltage has been switched off or if a non-explosive atmosphere is ensured!
Address selectors and ID switches may only be adjusted if the supply voltage has been
switched off or if a non-explosive atmosphere is ensured!

Standards

The fundamental health and safety requirements are fulfilled by compliance with the following standards:
EN 60079-0:2012+A11:2013
EN 60079-15:2010

Marking

The Beckhoff fieldbus components with standard temperature range certified for potentially explosive areas
bear one of the following markings:

II 3GKEMA 10ATEX0075 X Ex nA IIC T4 GcTa: 055C

or

II 3GKEMA 10ATEX0075 X Ex nC IIC T4 GcTa: 055C

64 Version: 4.4 EL30xx

 Mounting and wiring

5.8 ATEX - Special conditions (extended temperature

range)
Observe the special conditions for the intended use of Beckhoff fieldbus
components with extended temperature range (ET) in potentially explosive
areas (directive 94/9/EU)!
WARNING The certified components are to be installed in a suitable housing that guarantees a
protection class of at least IP54 in accordance with EN 60529! The environmental con-
ditions during use are thereby to be taken into account!
If the temperatures during rated operation are higher than 70C at the feed-in points of
cables, lines or pipes, or higher than 80C at the wire branching points, then cables
must be selected whose temperature data correspond to the actual measured tempera-
ture values!
Observe the permissible ambient temperature range of -25 to 60C for the use of Beck-
hoff fieldbus components with extended temperature range (ET) in potentially explosive
areas!
Measures must be taken to protect against the rated operating voltage being exceeded
by more than 40% due to short-term interference voltages!
The individual terminals may only be unplugged or removed from the Bus Terminal sys-
tem if the supply voltage has been switched off or if a non-explosive atmosphere is en-
sured!
The connections of the certified components may only be connected or disconnected if
the supply voltage has been switched off or if a non-explosive atmosphere is ensured!
The fuses of the KL92xx/EL92xx power feed terminals may only be exchanged if the
supply voltage has been switched off or if a non-explosive atmosphere is ensured!
Address selectors and ID switches may only be adjusted if the supply voltage has been
switched off or if a non-explosive atmosphere is ensured!

Standards

The fundamental health and safety requirements are fulfilled by compliance with the following standards:
EN 60079-0:2012+A11:2013
EN 60079-15:2010

Marking

The Beckhoff fieldbus components with extended temperature range (ET) certified for potentially explosive
areas bear the following marking:

II 3GKEMA 10ATEX0075 X Ex nA IIC T4 GcTa: -2560C

or

II 3GKEMA 10ATEX0075 X Ex nC IIC T4 GcTa: -2560C

EL30xx Version: 4.4 65

Mounting and wiring

5.9 ATEX Documentation

Notes about operation of the Beckhoff terminal systems in potentially explo-
sive areas (ATEX)
Pay also attention to the continuative documentation
Note
Notes about operation of the Beckhoff terminal systems in potentially explosive areas
(ATEX)

that is available in the download area of the Beckhoff homepage http:\\www.beckhoff.com!

66 Version: 4.4 EL30xx

 Mounting and wiring

5.10 LEDs and connection

5.10.1 EL300x - LEDs and connection

5.10.1.1 EL300x - LEDs

Fig.50: RUN LED, EL3001 as example

RUN - LEDs

LED Color Meaning

RUN *) green These LEDs indicate the terminal's operating state:
off State of the EtherCAT State Machine [}158]: INIT = initialization of the
terminal or BOOTSTRAP = function for firmware updates [}225] of the
terminal
flashing State of the EtherCAT State Machine: PREOP = function for mailbox
communication and different standard-settings set
single flash State of the EtherCAT State Machine: SAFEOP = verification of the Sync
Manager [}159] channels and the distributed clocks.
Outputs remain in safe state
on State of the EtherCAT State Machine: OP = normal operating state;
mailbox and process data communication is possible

*) If several RUN LEDs are present, all of them have the same function.

EL30xx Version: 4.4 67

Mounting and wiring

5.10.1.2 EL3001 - Connection

Fig.51: EL3001

Current carrying capacity of the input contacts

The maximum permitted current on the signal-relevant terminal points (inputs, GND) is
40mA (if applicable).
Note

EL3001 - Connection
Terminal point Description
Name No.
Input 1 1 Input 1
0V 2 0V (internally connected to negative power contact)
GND 3 Signal ground (internally connected to terminal point7)
Shield 4 Shield
n. c. 5 not connected
24V 6 24V (internally connected to positive power contact)
GND 7 Signal ground (internally connected to terminal point3)
Shield 8 Shield

Notices on analog specifications

For further information and for connection advice please refer to the chapter Notices on
analog specifications [}205]
Note

68 Version: 4.4 EL30xx

 Mounting and wiring

5.10.1.3 EL3002 - Connection

Fig.52: EL3002

Current carrying capacity of the input contacts

The maximum permitted current on the signal-relevant terminal points (inputs, GND) is
40mA (if applicable).
Note

EL3002 - Connection
Terminal point Description
Name No.
Input 1 1 Input 1
0V 2 0V (internally connected to negative power contact)
GND 3 Signal ground for input 1 (internally connected to terminal point7)
Shield 4 Shield
Input 2 5 Input 2
24V 6 24V (internally connected to positive power contact)
GND 7 Signal ground for input 2 (internally connected to terminal point3)
Shield 8 Shield

Notices on analog specifications

For further information and for connection advice please refer to the chapter Notices on
analog specifications [}205]
Note

EL30xx Version: 4.4 69

Mounting and wiring

5.10.1.4 EL3004 - Connection

Fig.53: EL3004

EL3004 - Connection
Terminal point Description
Name No.
Input 1 1 Input 1
GND 2 Signal ground (internally connected to terminal point4, 6, 8)
Input 3 3 Input 3
GND 4 Signal ground (internally connected to terminal point2, 6, 8)
Input 2 5 Input 2
GND 6 Signal ground (internally connected to terminal point2, 4, 8)
Input 4 7 Input 4
GND 8 Signal ground (internally connected to terminal point2, 4, 6)

Notices on analog specifications

For further information and for connection advice please refer to the chapter Notices on
analog specifications [}205]
Note

70 Version: 4.4 EL30xx

 Mounting and wiring

5.10.1.5 EL3008 - Connection

Fig.54: EL3008

EL3008 - Connection
Terminal point Description
Name No.
Input 1 1 Input 1
Input 3 2 Input 3
Input 5 3 Input 5
Input 7 4 Input 7
Input 2 5 Input 2
Input 4 6 Input 4
Input 6 7 Input 6
Input 8 8 Input 8

Notices on analog specifications

For further information and for connection advice please refer to the chapter Notices on
analog specifications [}205]
Note

EL30xx Version: 4.4 71

Mounting and wiring

5.10.2 EL301x - LEDs and connection

5.10.2.1 EL3011, EL3012 - LEDs

Fig.55: RUN and error LEDs, EL3011 as example

LED Color Meaning

RUN *) green These LEDs indicate the terminal's operating state:
off State of the EtherCAT State Machine [}158]: INIT = initialization of the
terminal or BOOTSTRAP = function for firmware updates [}225] of the
terminal
flashing State of the EtherCAT State Machine: PREOP = function for mailbox
communication and different standard-settings set
single flash State of the EtherCAT State Machine: SAFEOP = verification of the
Sync Manager [}159] channels and the distributed clocks.
Outputs remain in safe state
on State of the EtherCAT State Machine: OP = normal operating state;
mailbox and process data communication is possible
ERROR red Fault indication for broken wire and if the measuring range for the respective channel
**) is exceeded (under- or overrun)

*) If several RUN LEDs are present, all of them have the same function.
**) The error display shows the signal processing state for each channel.

72 Version: 4.4 EL30xx

 Mounting and wiring

5.10.2.2 EL3011 - Connection

Fig.56: EL3011

Current carrying capacity of the input contacts

The maximum permitted current on the signal-relevant terminal points (inputs, GND) is
40mA (if applicable).
Note

EL3011 - Connection
Terminal point Description
Name No.
+ Input1 1 + Input 1
- Input1 2 - Input 1
GND 3 Signal ground (internally connected to terminal point7)
Shield 4 Shield (internally connected to terminal point 8)
n.c. 5 not connected
n.c. 6 not connected
GND 7 Signal ground (internally connected to terminal point3)
Shield 8 Shield (internally connected to terminal point 4)

Notices on analog specifications

For further information and for connection advice please refer to the chapter Notices on
analog specifications [}205]
Note

EL30xx Version: 4.4 73

Mounting and wiring

5.10.2.3 EL3012 - Connection

Fig.57: EL3012

Current carrying capacity of the input contacts

The maximum permitted current on the signal-relevant terminal points (inputs, GND) is
40mA (if applicable).
Note

EL3012 - Connection
Terminal point Description
Name No.
+ Input1 1 + Input 1
- Input1 2 - Input 1
GND 3 Signal ground (internally connected to terminal point7)
Shield 4 Shield (internally connected to terminal point 8)
+ Input2 5 + Input 2
- Input2 6 - Input 2
GND 7 Signal ground (internally connected to terminal point3)
Shield 8 Shield (internally connected to terminal point 4)

Notices on analog specifications

For further information and for connection advice please refer to the chapter Notices on
analog specifications [}205]
Note

74 Version: 4.4 EL30xx

 Mounting and wiring

5.10.2.4 EL3014 - LEDs

Fig.58: RUN and ERROR LEDs EL3014

LED Color Meaning

RUN *) green These LEDs indicate the terminal's operating state:
off State of the EtherCAT State Machine [}158]: INIT = initialization of the
terminal or BOOTSTRAP = function for firmware updates [}225] of the
terminal
flashing State of the EtherCAT State Machine: PREOP = function for mailbox
communication and different standard-settings set
single flash State of the EtherCAT State Machine: SAFEOP = verification of the
Sync Manager [}159] channels and the distributed clocks.
Outputs remain in safe state
on State of the EtherCAT State Machine: OP = normal operating state;
mailbox and process data communication is possible
ERROR red Fault indication for broken wire and if the measuring range for the respective channel
**) is exceeded (under- or overrun)

*) If several RUN LEDs are present, all of them have the same function.
**) The error display shows the signal processing state for each channel.

EL30xx Version: 4.4 75

Mounting and wiring

5.10.2.5 EL3014 - Connection

Fig.59: EL3014

EL3014 - Connection
Terminal point Description
Name No.
+ Input1 1 + Input 1
- Input1 2 - Input 1
+ Input3 3 + Input 3
- Input3 4 - Input 3
+ Input2 5 + Input 2
- Input2 6 - Input 2
+ Input4 7 + Input 4
- Input4 8 - Input 4

Notices on analog specifications

For further information and for connection advice please refer to the chapter Notices on
analog specifications [}205]
Note

76 Version: 4.4 EL30xx

 Mounting and wiring

5.10.3 EL302x - LEDs and connection

5.10.3.1 EL3021, EL3022 - LEDs

Fig.60: RUN and error LEDs, EL3021 as example

LED Color Meaning

RUN *) green These LEDs indicate the terminal's operating state:
off State of the EtherCAT State Machine [}158]: INIT = initialization of the
terminal or BOOTSTRAP = function for firmware updates [}225] of the
terminal
flashing State of the EtherCAT State Machine: PREOP = function for mailbox
communication and different standard-settings set
single flash State of the EtherCAT State Machine: SAFEOP = verification of the
Sync Manager [}159] channels and the distributed clocks.
Outputs remain in safe state
on State of the EtherCAT State Machine: OP = normal operating state;
mailbox and process data communication is possible
ERROR red Fault indication for broken wire and if the measuring range for the respective channel
**) is exceeded (under- or overrun)

*) If several RUN LEDs are present, all of them have the same function.
**) The error display shows the signal processing state for each channel.

EL30xx Version: 4.4 77

Mounting and wiring

5.10.3.2 EL3021 - Connection

Fig.61: EL3021

Current carrying capacity of the input contacts

The maximum permitted current on the signal-relevant terminal points (inputs, GND) is
40mA (if applicable).
Note

EL3021 - Connection
Terminal point Description
Name No.
+ Input1 1 + Input 1
- Input1 2 - Input 1
GND 3 Signal ground (internally connected to terminal point7)
Shield 4 Shield (internally connected to terminal point 8)
n.c. 5 not connected
n.c. 6 not connected
GND 7 Signal ground (internally connected to terminal point3)
Shield 8 Shield (internally connected to terminal point 4)

Notices on analog specifications

For further information and for connection advice please refer to the chapter Notices on
analog specifications [}205]
Note

78 Version: 4.4 EL30xx

 Mounting and wiring

5.10.3.3 EL3022 - Connection

Fig.62: EL3022

Current carrying capacity of the input contacts

The maximum permitted current on the signal-relevant terminal points (inputs, GND) is
40mA (if applicable).
Note

EL3022 - Connection
Terminal point Description
Name No.
+ Input1 1 + Input 1
- Input1 2 - Input 1
GND 3 Signal ground (internally connected to terminal point7)
Shield 4 Shield (internally connected to terminal point 8)
+ Input2 5 + Input 2
- Input2 6 - Input 2
GND 7 Signal ground (internally connected to terminal point3)
Shield 8 Shield (internally connected to terminal point 4)

Notices on analog specifications

For further information and for connection advice please refer to the chapter Notices on
analog specifications [}205]
Note

EL30xx Version: 4.4 79

Mounting and wiring

5.10.3.4 EL3024 - LEDs

Fig.63: EL3024

LED Color Meaning

RUN *) green These LEDs indicate the terminal's operating state:
off State of the EtherCAT State Machine [}158]: INIT = initialization of the
terminal or BOOTSTRAP = function for firmware updates [}225] of the
terminal
flashing State of the EtherCAT State Machine: PREOP = function for mailbox
communication and different standard-settings set
single flash State of the EtherCAT State Machine: SAFEOP = verification of the
Sync Manager [}159] channels and the distributed clocks.
Outputs remain in safe state
on State of the EtherCAT State Machine: OP = normal operating state;
mailbox and process data communication is possible
ERROR red Fault indication for broken wire and if the measuring range for the respective channel
**) is exceeded (under- or overrun)

*) If several RUN LEDs are present, all of them have the same function.
**) The error display shows the signal processing state for each channel.

80 Version: 4.4 EL30xx

 Mounting and wiring

5.10.3.5 EL3024 - Connection

Fig.64: EL3024

EL3024 - Connection
Terminal point Description
Name No.
+ Input1 1 + Input 1
- Input1 2 - Input 1
+ Input3 3 + Input 3
- Input3 4 - Input 3
+ Input2 5 + Input 2
- Input2 6 - Input 2
+ Input4 7 + Input 4
- Input4 8 - Input 4

Notices on analog specifications

For further information and for connection advice please refer to the chapter Notices on
analog specifications [}205]
Note

EL30xx Version: 4.4 81

Mounting and wiring

5.10.4 EL304x - LEDs and connection

5.10.4.1 EL3041, EL3042 - LEDs

Fig.65: RUN and error LEDs, EL3041 as example

LED Color Meaning

RUN *) green These LEDs indicate the terminal's operating state:
off State of the EtherCAT State Machine [}158]: INIT = initialization of the
terminal or BOOTSTRAP = function for firmware updates [}225] of the
terminal
flashing State of the EtherCAT State Machine: PREOP = function for mailbox
communication and different standard-settings set
single flash State of the EtherCAT State Machine: SAFEOP = verification of the
Sync Manager [}159] channels and the distributed clocks.
Outputs remain in safe state
on State of the EtherCAT State Machine: OP = normal operating state;
mailbox and process data communication is possible
ERROR red Fault indication for broken wire and if the measuring range for the respective channel
**) is exceeded (under- or overrun)

*) If several RUN LEDs are present, all of them have the same function.
**) The error display shows the signal processing state for each channel.

82 Version: 4.4 EL30xx

 Mounting and wiring

5.10.4.2 EL3041 - Connection

Fig.66: EL3041

EL3041 - Connection
Terminal point Description
Name No.
Input 1 1 Input 1
24V 2 24 V (internally connected to terminal point6 and positive power contact)
0V 3 0V (internally connected to terminal point 7 and negative power contact)
Shield 4 Shield
n. c. 5 not connected
24 V 6 24 V (internally connected to terminal point2 and positive power contact)
0V 7 0V (internally connected to terminal point 3 and negative power contact)
Shield 8 Shield

Notices on analog specifications

For further information and for connection advice please refer to the chapter Notices on
analog specifications [}205]
Note

EL30xx Version: 4.4 83

Mounting and wiring

5.10.4.3 EL3042 - Connection

Fig.67: EL3042

EL3042 - Connection
Terminal point Description
Name No.
Input 1 1 Input 1
24V 2 24 V (internally connected to terminal point6 and positive power contact)
0V 3 0V (internally connected to terminal point 7 and negative power contact)
Shield 4 Shield
Input 2 5 Input 2
24V 6 24 V (internally connected to terminal point2 and positive power contact)
0V 7 0V (internally connected to terminal point 3 and negative power contact)
Shield 8 Shield

Notices on analog specifications

For further information and for connection advice please refer to the chapter Notices on
analog specifications [}205]
Note

84 Version: 4.4 EL30xx

 Mounting and wiring

5.10.4.4 EL3044 - LEDs

Fig.68: RUN and ERROR LEDs EL3044

LED Color Meaning

RUN *) green These LEDs indicate the terminal's operating state:
off State of the EtherCAT State Machine [}158]: INIT = initialization of the
terminal or BOOTSTRAP = function for firmware updates [}225] of the
terminal
flashing State of the EtherCAT State Machine: PREOP = function for mailbox
communication and different standard-settings set
single flash State of the EtherCAT State Machine: SAFEOP = verification of the
Sync Manager [}159] channels and the distributed clocks.
Outputs remain in safe state
on State of the EtherCAT State Machine: OP = normal operating state;
mailbox and process data communication is possible
ERROR red Fault indication for broken wire and if the measuring range for the respective channel
**) is exceeded (under- or overrun)

*) If several RUN LEDs are present, all of them have the same function.
**) The error display shows the signal processing state for each channel.

EL30xx Version: 4.4 85

Mounting and wiring

5.10.4.5 EL3044 - Connection

Fig.69: EL3044

EL3044 - Connection
Terminal point Description
Name No.
Input 1 1 Input 1
GND 2 Signal ground (internally connected to terminal point4, 6, 8)
Input 3 3 Input 3
GND 4 Signal ground (internally connected to terminal point2, 6, 8)
Input 2 5 Input 2
GND 6 Signal ground (internally connected to terminal point2, 4, 8)
Input 4 7 Input 4
GND 8 Signal ground (internally connected to terminal point2, 4, 6)

Notices on analog specifications

For further information and for connection advice please refer to the chapter Notices on
analog specifications [}205]
Note

86 Version: 4.4 EL30xx

 Mounting and wiring

5.10.4.6 EL3048 - LEDs and connection

Fig.70: EL3048

LED Color Meaning

ERROR **) red Fault indication for broken wire and if the measuring range for the respective channel
is exceeded

**) The error display shows the signal processing state for each channel

EL3048 - Connection
Terminal point Description
Name No.
Input 1 1 Input 1
Input 3 2 Input 3
Input 5 3 Input 5
Input 7 4 Input 7
Input 2 5 Input 2
Input 4 6 Input 4
Input 6 7 Input 6
Input 8 8 Input 8

Notices on analog specifications

For further information and for connection advice please refer to the chapter Notices on
analog specifications [}205]
Note

EL30xx Version: 4.4 87

Mounting and wiring

5.10.5 EL305x - LEDs and connection

5.10.5.1 EL3051, EL3052 - LEDs

Fig.71: RUN and error LEDs, EL3051 as example

LED Color Meaning

RUN *) green These LEDs indicate the terminal's operating state:
off State of the EtherCAT State Machine [}158]: INIT = initialization of the
terminal or BOOTSTRAP = function for firmware updates [}225] of the
terminal
flashing State of the EtherCAT State Machine: PREOP = function for mailbox
communication and different standard-settings set
single flash State of the EtherCAT State Machine: SAFEOP = verification of the
Sync Manager [}159] channels and the distributed clocks.
Outputs remain in safe state
on State of the EtherCAT State Machine: OP = normal operating state;
mailbox and process data communication is possible
ERROR red Fault indication for broken wire and if the measuring range for the respective channel
**) is exceeded (under- or overrun)

*) If several RUN LEDs are present, all of them have the same function.
**) The error display shows the signal processing state for each channel.

88 Version: 4.4 EL30xx

 Mounting and wiring

5.10.5.2 EL3051 - Connection

Fig.72: EL3051

EL3051 - Connection
Terminal point Description
Name No.
Input 1 1 Input 1
24V 2 24 V (internally connected to terminal point6 and positive power contact)
0V 3 0V (internally connected to terminal point 7 and negative power contact)
Shield 4 Shield
n. c. 5 not connected
24V 6 24 V (internally connected to terminal point2 and positive power contact)
0V 7 0V (internally connected to terminal point 3 and negative power contact)
Shield 8 Shield

Notices on analog specifications

For further information and for connection advice please refer to the chapter Notices on
analog specifications [}205]
Note

EL30xx Version: 4.4 89

Mounting and wiring

5.10.5.3 EL3052 - Connection

Fig.73: EL3052

EL3052 Connection
Terminal point Description
Name No.
Input 1 1 Input 1
24V 2 24V (internally connected to terminal point6 and positive power contact)
0V 3 0V (internally connected to terminal point 7 and negative power contact)
Shield 4 Shield
Input 2 5 Input 2
24V 6 24V (internally connected to terminal point2 and positive power contact)
0V 7 0V (internally connected to terminal point 3 and negative power contact)
Shield 8 Shield

Notices on analog specifications

For further information and for connection advice please refer to the chapter Notices on
analog specifications [}205]
Note

90 Version: 4.4 EL30xx

 Mounting and wiring

5.10.5.4 EL3054 - LEDs

Fig.74: RUN and ERROR LEDs EL3054

LED Color Meaning

RUN *) green These LEDs indicate the terminal's operating state:
off State of the EtherCAT State Machine [}158]: INIT = initialization of the
terminal or BOOTSTRAP = function for firmware updates [}225] of the
terminal
flashing State of the EtherCAT State Machine: PREOP = function for mailbox
communication and different standard-settings set
single flash State of the EtherCAT State Machine: SAFEOP = verification of the
Sync Manager [}159] channels and the distributed clocks.
Outputs remain in safe state
on State of the EtherCAT State Machine: OP = normal operating state;
mailbox and process data communication is possible
ERROR red Fault indication for broken wire and if the measuring range for the respective channel
**) is exceeded (under- or overrun)

*) If several RUN LEDs are present, all of them have the same function.
**) The error display shows the signal processing state for each channel.

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Mounting and wiring

5.10.5.5 EL3054 - Connection

Fig.75: EL3054

EL3054 - Connection
Terminal point Description
Name No.
Input 1 1 Input 1
+24 V 2 +24 V (internally connected to terminal point4, 6, 8 and positive power contact)
Input 3 3 Input 3
+24V 4 +24 V (internally connected to terminal point2, 6, 8 and positive power contact)
Input 2 5 Input 2
+24V 6 +24 V (internally connected to terminal point2, 4, 8 and positive power contact)
Input 4 7 Input 4
+24V 8 +24 V (internally connected to terminal point2, 4, 6 and positive power contact)

Notices on analog specifications

For further information and for connection advice please refer to the chapter Notices on
analog specifications [}205]
Note

92 Version: 4.4 EL30xx

 Mounting and wiring

5.10.5.6 EL3058 - LEDs and connection

Fig.76: EL3058

LED Color Meaning

ERROR **) red Fault indication for broken wire and if the measuring range for the respective channel
is exceeded

**) The error display shows the signal processing state for each channel

EL3058 - Connection
Terminal point Description
Name No.
Input 1 1 Input 1
Input 3 2 Input 3
Input 5 3 Input 5
Input 7 4 Input 7
Input 2 5 Input 2
Input 4 6 Input 4
Input 6 7 Input 6
Input 8 8 Input 8

Notices on analog specifications

For further information and for connection advice please refer to the chapter Notices on
analog specifications [}205]
Note

EL30xx Version: 4.4 93

Mounting and wiring

5.10.6 EL306x - LEDs and connection

5.10.6.1 EL306x - LEDs

Fig.77: RUN LED, EL3061 as example

RUN - LEDs

LED Color Meaning

RUN *) green These LEDs indicate the terminal's operating state:
off State of the EtherCAT State Machine [}158]: INIT = initialization of the
terminal or BOOTSTRAP = function for firmware updates [}225] of the
terminal
flashing State of the EtherCAT State Machine: PREOP = function for mailbox
communication and different standard-settings set
single flash State of the EtherCAT State Machine: SAFEOP = verification of the Sync
Manager [}159] channels and the distributed clocks.
Outputs remain in safe state
on State of the EtherCAT State Machine: OP = normal operating state;
mailbox and process data communication is possible

*) If several RUN LEDs are present, all of them have the same function.

94 Version: 4.4 EL30xx

 Mounting and wiring

5.10.6.2 EL3061 - Connection

Fig.78: EL3061

EL3061 - Connection
Terminal point Description
Name No.
Input 1 1 Input 1
0V 2 0V (internally connected to negative power contact)
GND 3 Signal ground (internally connected to terminal point7)
Shield 4 Shield
n. c. 5 not connected
24V 6 24V (internally connected to positive power contact)
GND 7 Signal ground (internally connected to terminal point3)
Shield 8 Shield

Notices on analog specifications

For further information and for connection advice please refer to the chapter Notices on
analog specifications [}205]
Note

EL30xx Version: 4.4 95

Mounting and wiring

5.10.6.3 EL3062 - Connection

Fig.79: EL3062

EL3062 - Connection
Terminal point Description
Name No.
Input 1 1 Input 1
0V 2 0V (internally connected to negative power contact)
GND 3 Signal ground for input 1 (internally connected to terminal point7)
Shield 4 Shield
Input 2 5 Input 2
24V 6 24V (internally connected to positive power contact)
GND 7 Signal ground for input 2 (internally connected to terminal point3)
Shield 8 Shield

Notices on analog specifications

For further information and for connection advice please refer to the chapter Notices on
analog specifications [}205]
Note

96 Version: 4.4 EL30xx

 Mounting and wiring

5.10.6.4 EL3064 - Connection

Fig.80: EL3064

EL3064 - Connection
Terminal point Description
Name No.
Input 1 1 Input 1
GND 2 Signal ground (internally connected to terminal point4, 6, 8)
Input 3 3 Input 3
GND 4 Signal ground (internally connected to terminal point2, 6, 8)
Input 2 5 Input 2
GND 6 Signal ground (internally connected to terminal point2, 4, 8)
Input 4 7 Input 4
GND 8 Signal ground (internally connected to terminal point2, 4, 6)

Notices on analog specifications

For further information and for connection advice please refer to the chapter Notices on
analog specifications [}205]
Note

EL30xx Version: 4.4 97

Mounting and wiring

5.10.6.5 EL3068 - Connection

Fig.81: EL3068

EL3068 - Connection
Terminal point Description
Name No.
Input 1 1 Input 1
Input 3 2 Input 3
Input 5 3 Input 5
Input 7 4 Input 7
Input 2 5 Input 2
Input 4 6 Input 4
Input 6 7 Input 6
Input 8 8 Input 8

Notices on analog specifications

For further information and for connection advice please refer to the chapter Notices on
analog specifications [}205]
Note

98 Version: 4.4 EL30xx

 Mounting and wiring

5.11 Connection notes for 20 mA measurement

5.11.1 Configuration of 0/4..20 mA differential inputs

This section describes the 0/4..20mA differential inputs for terminal series EL301x, EL302x, EL311x,
EL312x and terminals EL3174, EL3612, EL3742 and EL3751.

For the single-ended 20mA inputs the terminal series EL304x, EL305x, EL314x, EL315x, EL317x and
EL375x they only apply with regard to technical transferability and also for devices whose analogue input
channels have a common related ground potential (and therefore the channels are not to each other and/or
not to power supply electrically isolated). Herewith an example for an electrically isolated device is the
terminal EL3174-0002.

Technical background

The internal input electronics of the terminals referred to above have the following characteristic (see Fig.
[}99] Internal connection diagram for 0/4..20 mA inputs):
Differential current measurement, i.e. concrete potential reference is primarily not required.
The system limit applies is the individual terminal EL30xx/EL31xx.
Current measurement via a 33 shunt per channel, resulting in a maximum voltage drop of 660mV
via the shunt
Internal resistor configuration with GND point (A) central to the shunt
The configuration of the resistors is symmetric, such that the potential of (A) is central relative to the
voltage drop via the shunt.
All channels within the terminal have this GNDint potential in common.
the common GNDint potential (A)
is connected for 1 and 2 channel terminals to a terminal point and not with GNDPC (power
contact).
is connected for 4 channel terminals with GNDPC
The center point of the voltage drop over the 33 shunt is referred to common mode point (CMP).
According to the technical product data, the maximum permitted UCM voltage (common mode) refers to
the potential between the CMP of a channel and the internal GND or the potential between the CMP of
2 channels within a terminal.
It must not exceed the specified limit (typically 10 or 35V).

Accordingly, for multi-channel measurements UCMspecifications must be followed.

Fig.82: Internal connection 0/4..20 mA inputs

The block diagram for a 2 channel terminal shows the linked GND points within the terminal (Fig. [}100]
Internal connection for 0/4..20 mA inputs of a EL3xx2):

EL30xx Version: 4.4 99

Mounting and wiring

Fig.83: Internal connections for 0/4..20 mA inputs of a EL3xx2

For all channels within the terminal UCM-max must not be exceeded.

UCM for 0/4..20mA inputs

If UCM of an analog input channel is exceeded, internal equalizing currents result in erro-
neous measurements.
Note For 1 and 2 channel terminals the internal GND is therefore fed out to a terminal point, so
that the UCM specification can be met through application-specific configuration of this GND
point, even in cases of atypical sensor configuration.

Example 1

The 2-channel EL3012 is connected to 2 sensors, which are supplied with 5 and 24V. Both current
measurements are executed as low-side measurements. This connection type is permitted, because at Imax
CMPch1 and CMPch2 are approx. 330 mV above 0V, which means that UCM is always < 0.5V. The
requirement of UCM < 10V (applicable to EL30xx) is therefore adhered to.

Fig.84: Example 1: low-side measurement

100 Version: 4.4 EL30xx

 Mounting and wiring

If the EL30x1/EL30x2 or EL31x1/EL31x2 terminals have no external GNDint connection, the GNDint potential
can adjust itself as required (referred to as "floating"). Please note that for this mode reduced measuring
accuracy is to be expected.

Example 1a

Accordingly, this also applies if the floating point GNDINT is connected to another potential.

Fig.85: Example 1a, high-side measurement

Example 2

The same EL3012 is now again connected with the two 20mA sensors, although this time with one low-side
measurement at 5V and one high-side measurement at 12V. This results in significant potential differences
UCM > 10V (applicable to EL30xx) between the two channels, which is not permitted.

Fig.86: Example 2, high-side/low-side measurement

EL30xx Version: 4.4 101

Mounting and wiring

To rectify this, GNDint can in this case be connected externally with an auxiliary potential of 6V relative to
"0V". The resulting A/GNDint will be in the middle, i.e. approx. 0.3V or 11.6V.

Example 3

In the EL3xx4 terminals GNDint is internally connected with the negative power contact. The choice of
potential is therefore limited.

Fig.87: Invalid EL3xx4 configuration

The resulting CMP is 23.6V, i.e. >> 10V (applicable to EL30xx). The EL30x4/EL31x4 terminals should
therefore be configured such that CMP is always less than UCM,max.

Summary

This results in certain concrete specifications for external connection with 0/4..20mA sensors:
We recommended connecting GNDint with a low-impedance potential, because this significantly
improves the measuring accuracy of the EL30xx/31xx.
Please note the instructions relating to the UCM potential reference.
The UCM potential reference must be adhered to between CMP GNDint and CMPch(x) CMPch(y).
If this cannot be guaranteed, the single-channel version should be used.
Terminal configuration:
EL3xx1/EL3xx2: GNDint is connected to terminal point for external connection.
GNDint should be connected externally such that condition 2 is met.
EL3xx4: GND is connected with the negative power contact.
The external connection should be such that condition 2 is met.

If the sensor cable is shielded, the shield should not be connected with the GNDint terminal point but with a
dedicated low-impedanceshield point.
If terminal points of several EL30xx/EL31xx terminals are connected with each other, ensure that
condition 2 is met.

Connection of GNDint
In the EL30x1/EL30x2 and EL31x1/EL31x2 terminals the internal GND, GNDint connection
is fed out to terminal contacts.
Note
To achieve a precise measurement result GNDint should be connected to a suitable external
low-impedance potential, taking account the specifications for UCM.
In the EL30x4/EL31x4 terminals GNDint is already connected with the negative power con-
tact. Here too the specifications for UCM must be followed.

102 Version: 4.4 EL30xx

 Commissioning

6 Commissioning

6.1 TwinCAT Quick Start

TwinCAT is a development environment for real-time control including multi-PLC system, NC axis control,
programming and operation. The whole system is mapped through this environment and enables access to a
programming environment (including compilation) for the controller. Individual digital or analog inputs or
outputs can also be read or written directly, in order to verify their functionality, for example.

For further information please refer to http://infosys.beckhoff.com:

EtherCAT Systemmanual:
Fieldbus Components EtherCAT Terminals EtherCAT System Documentation Setup in the
TwinCAT System Manager
TwinCAT2 TwinCAT System Manager I/O - Configuration
In particular, TwinCAT driver installation:
Fieldbus components Fieldbus Cards and Switches FC900x PCI Cards for Ethernet
Installation

Devices contain the terminals for the actual configuration. All configuration data can be entered directly via
editor functions (offline) or via the "Scan" function (online):
"offline": The configuration can be customized by adding and positioning individual components.
These can be selected from a directory and configured.
The procedure for offline mode can be found under http://infosys.beckhoff.com:
TwinCAT2 TwinCAT System Manager IO - Configuration Adding an I/O Device
"online": The existing hardware configuration is read
See also http://infosys.beckhoff.com:
Fieldbus components Fieldbus cards and switches FC900x PCI Cards for Ethernet
Installation Searching for devices

The following relationship is envisaged from user PC to the individual control elements:

EL30xx Version: 4.4 103

Commissioning

Fig.88: Relationship between user side (commissioning) and installation

The user inserting of certain components (I/O device, terminal, box...) is the same in TwinCAT2 and
TwinCAT3. The descriptions below relate to the online procedure.

Sample configuration (actual configuration)

Based on the following sample configuration, the subsequent subsections describe the procedure for
TwinCAT2 and TwinCAT3:
Control system (PLC) CX2040 including CX2100-0004 power supply unit
Connected to the CX2040 on the right (E-bus):
EL1004 (4-channel analog input terminal -10+10V)
Linked via the X001 port (RJ-45): EK1100 EtherCAT Coupler
Connected to the EK1100 EtherCAT coupler on the right (E-bus):
EL2008 (8-channel digital output terminal 24VDC;0.5A)
(Optional via X000: a link to an external PC for the user interface)

104 Version: 4.4 EL30xx

 Commissioning

Fig.89: Control configuration with Embedded PC, input (EL1004) and output (EL2008)

Note that all combinations of a configuration are possible; for example, the EL1004 terminal could also be
connected after the coupler, or the EL2008 terminal could additionally be connected to the CX2040 on the
right, in which case the EK1100 coupler wouldnt be necessary.

6.1.1 TwinCAT2

Startup

TwinCAT basically uses two user interfaces: the TwinCAT System Manager for communication with the
electromechanical components and TwinCAT PLC Control for the development and compilation of a
controller. The starting point is the TwinCAT System Manager.

After successful installation of the TwinCAT system on the PC to be used for development, the TwinCAT2
System Manager displays the following user interface after startup:

Fig.90: Initial TwinCAT2 user interface

EL30xx Version: 4.4 105

Commissioning

Generally, TwinCAT can be used in local or remote mode. Once the TwinCAT system including the user
interface (standard) is installed on the respective PLC, TwinCAT can be used in local mode and thereby the
next step is "Insert Device [}107]".

If the intention is to address the TwinCAT runtime environment installed on a PLC as development
environment remotely from another system, the target system must be made known first. In the menu under

"Actions" "Choose Target System...", via the symbol " " or the "F8" key, open the following window:

Fig.91: Selection of the target system

Use "Search (Ethernet)..." to enter the target system. Thus a next dialog opens to either:
enter the known computer name after "Enter Host Name / IP:" (as shown in red)
perform a "Broadcast Search" (if the exact computer name is not known)
enter the known computer IP or AmsNetID.

Fig.92: Specify the PLC for access by the TwinCAT System Manager: selection of the target system

Once the target system has been entered, it is available for selection as follows (a password may have to be
entered):

106 Version: 4.4 EL30xx

 Commissioning

After confirmation with "OK" the target system can be accessed via the System Manager.

Adding devices

In the configuration tree of the TwinCAT2 System Manager user interface on the left, select "I/ODevices
and then right-click to open a context menu and select "ScanDevices", or start the action in the menu bar

via . The TwinCAT System Manager may first have to be set to "Configmode" via or via menu
Actions" "Set/Reset TwinCAT to Config Mode" (Shift + F4).

Fig.93: Select "Scan Devices..."

Confirm the warning message, which follows, and select "EtherCAT" in the dialog:

Fig.94: Automatic detection of I/O devices: selection the devices to be integrated

Confirm the message "Find new boxes", in order to determine the terminals connected to the devices. "Free
Run" enables manipulation of input and output values in "Config mode" and should also be acknowledged.

Based on the sample configuration [}104] described at the beginning of this section, the result is as follows:

EL30xx Version: 4.4 107

Commissioning

Fig.95: Mapping of the configuration in the TwinCAT2 System Manager

The whole process consists of two stages, which may be performed separately (first determine the devices,
then determine the connected elements such as boxes, terminals, etc.). A scan can also be initiated by
selecting "Device ..." from the context menu, which then reads the elements present in the configuration
below:

Fig.96: Reading of individual terminals connected to a device

This functionality is useful if the actual configuration is modified at short notice.

Programming and integrating the PLC

TwinCAT PLC Control is the development environment for the creation of the controller in different program
environments: TwinCAT PLC Control supports all languages described in IEC 61131-3. There are two text-
based languages and three graphical languages.
Text-based languages
Instruction List (IL)
Structured Text (ST)

108 Version: 4.4 EL30xx

 Commissioning

Graphical languages
Function Block Diagram (FBD)
Ladder Diagram (LD)
The Continuous Function Chart Editor (CFC)
Sequential Function Chart (SFC)

The following section refers to Structured Text (ST).

After starting TwinCAT PLC Control, the following user interface is shown for an initial project:

Fig.97: TwinCAT PLC Control after startup

Sample variables and a sample program have been created and stored under the name "PLC_example.pro":

EL30xx Version: 4.4 109

Commissioning

Fig.98: Sample program with variables after a compile process (without variable integration)

Warning 1990 (missing "VAR_CONFIG") after a compile process indicates that the variables defined as
external (with the ID "AT%I*" or "AT%Q*") have not been assigned. After successful compilation, TwinCAT
PLC Control creates a "*.tpy" file in the directory in which the project was stored. This file (*.tpy) contains
variable assignments and is not known to the System Manager, hence the warning. Once the System
Manager has been notified, the warning no longer appears.

First, integrate the TwinCAT PLC Control project in the System Manager via the context menu of the PLC
configuration; right-click and select "Append PLC Project":

Fig.99: Appending the TwinCAT PLC Control project

110 Version: 4.4 EL30xx

 Commissioning

Select the PLC configuration "PLC_example.tpy" in the browser window that opens. The project including the
two variables identified with "AT" are then integrated in the configuration tree of the System Manager:

Fig.100: PLC project integrated in the PLC configuration of the System Manager

The two variables "bEL1004_Ch4" and "nEL2008_value" can now be assigned to certain process objects of
the I/O configuration.

Assigning variables

Open a window for selecting a suitable process object (PDO) via the context menu of a variable of the
integrated project "PLC_example" and via "Modify Link..." "Standard":

Fig.101: Creating the links between PLC variables and process objects

In the window that opens, the process object for the variable bEL1004_Ch4 of type BOOL can be selected
from the PLC configuration tree:

EL30xx Version: 4.4 111

Commissioning

Fig.102: Selecting PDO of type BOOL

According to the default setting, certain PDO objects are now available for selection. In this sample the input
of channel 4 of the EL1004 terminal is selected for linking. In contrast, the checkbox "All types" must be
ticked for creating the link for the output variables, in order to allocate a set of eight separate output bits to a
byte variable. The following diagram shows the whole process:

Fig.103: Selecting several PDOs simultaneously: activate "Continuous" and "All types"

Note that the "Continuous" checkbox was also activated. This is designed to allocate the bits contained in the
byte of the variable "nEL2008_value" sequentially to all eight selected output bits of the EL2008 terminal. In
this way it is possible to subsequently address all eight outputs of the terminal in the program with a byte
corresponding to bit 0 for channel 1 to bit 7 for channel 8 of the PLC. A special symbol ( ) at the yellow or
red object of the variable indicates that a link exists. The links can also be checked by selecting a "Goto Link
Variable from the context menu of a variable. The object opposite, in this case the PDO, is automatically
selected:

112 Version: 4.4 EL30xx

 Commissioning

Fig.104: Application of a "Goto Link" variable, using "MAIN.bEL1004_Ch4" as a sample

The process of assigning variables to the PDO is completed via the menu selection "Actions" "Generate

Mappings, key Ctrl+M or by clicking on the symbol in the menu.

This can be visualized in the configuration:

The process of creating links can also take place in the opposite direction, i.e. starting with individual PDOs
to variable. However, in this example it would then not be possible to select all output bits for the EL2008,
since the terminal only makes individual digital outputs available. If a terminal has a byte, word, integer or
similar PDO, it is possible to allocate this a set of bit-standardised variables (type "BOOL"). Here, too, a
"Goto Link Variable from the context menu of a PDO can be executed in the other direction, so that the
respective PLC instance can then be selected.

Activation of the configuration

The allocation of PDO to PLC variables has now established the connection from the controller to the inputs
and outputs of the terminals. The configuration can now be activated. First, the configuration can be verified

via (or via "Actions" "Check Configuration). If no error is present, the configuration can be

activated via (or via "Actions" "Activate Configuration") to transfer the System Manager settings
to the runtime system. Confirm the messages "Old configurations are overwritten!" and "Restart TwinCAT
system in Run mode" with "OK".

A few seconds later the real-time status is displayed at the bottom right in the System Manager.
The PLC system can then be started as described below.

Starting the controller

Starting from a remote system, the PLC control has to be linked with the Embedded PC over Ethernet via
"Online" Choose Run-Time System":

EL30xx Version: 4.4 113

Commissioning

Fig.105: Choose target system (remote)

In this sample "Runtime system 1 (port 801)" is selected and confirmed. Link the PLC with the real-time

system via menu option "Online" "Login", the F11 key or by clicking on the symbol .The control
program can then be loaded for execution. This results in the message "No program on the controller!
Should the new program be loaded?", which should be acknowledged with "Yes". The runtime environment
is ready for the program start:

114 Version: 4.4 EL30xx

 Commissioning

Fig.106: PLC Control logged in, ready for program startup

The PLC can now be started via "Online" "Run", F5 key or .

6.1.2 TwinCAT 3

Startup

TwinCAT makes the development environment areas available together with Microsoft Visual Studio: after
startup, the project folder explorer appears on the left in the general window area (cf. "TwinCAT System
Manager" of TwinCAT2) for communication with the electromechanical components.

After successful installation of the TwinCAT system on the PC to be used for development, TwinCAT3
(shell) displays the following user interface after startup:

EL30xx Version: 4.4 115

Commissioning

Fig.107: Initial TwinCAT3 user interface

First create a new project via (or under "File"New" "Project"). In the
following dialog make the corresponding entries as required (as shown in the diagram):

Fig.108: Create new TwinCAT project

The new project is then available in the project folder explorer:

116 Version: 4.4 EL30xx

 Commissioning

Fig.109: New TwinCAT3 project in the project folder explorer

Generally, TwinCAT can be used in local or remote mode. Once the TwinCAT system including the user
interface (standard) is installed on the respective PLC, TwinCAT can be used in local mode and thereby the
next step is "Insert Device [}118]".

If the intention is to address the TwinCAT runtime environment installed on a PLC as development
environment remotely from another system, the target system must be made known first. Via the symbol in
the menu bar:

expand the pull-down menu:

and open the following window:

Fig.110: Selection dialog: Choose the target system

EL30xx Version: 4.4 117

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Use "Search (Ethernet)..." to enter the target system. Thus a next dialog opens to either:
enter the known computer name after "Enter Host Name / IP:" (as shown in red)
perform a "Broadcast Search" (if the exact computer name is not known)
enter the known computer IP or AmsNetID.

Fig.111: Specify the PLC for access by the TwinCAT System Manager: selection of the target system

Once the target system has been entered, it is available for selection as follows (a password may have to be
entered):

After confirmation with "OK" the target system can be accessed via the Visual Studio shell.

Adding devices

In the project folder explorer of the Visual Studio shell user interface on the left, select "Devices" within

element I/O, then right-click to open a context menu and select "Scan" or start the action via in the

menu bar. The TwinCAT System Manager may first have to be set to "Config mode" via or via the
menu "TwinCAT" "Restart TwinCAT (Config mode)".

Fig.112: Select "Scan"

Confirm the warning message, which follows, and select "EtherCAT" in the dialog:

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Fig.113: Automatic detection of I/O devices: selection the devices to be integrated

Confirm the message "Find new boxes", in order to determine the terminals connected to the devices. "Free
Run" enables manipulation of input and output values in "Config mode" and should also be acknowledged.

Based on the sample configuration [}104] described at the beginning of this section, the result is as follows:

Fig.114: Mapping of the configuration in VS shell of the TwinCAT3 environment

The whole process consists of two stages, which may be performed separately (first determine the devices,
then determine the connected elements such as boxes, terminals, etc.). A scan can also be initiated by
selecting "Device ..." from the context menu, which then reads the elements present in the configuration
below:

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Fig.115: Reading of individual terminals connected to a device

This functionality is useful if the actual configuration is modified at short notice.

Programming the PLC

TwinCAT PLC Control is the development environment for the creation of the controller in different program
environments: TwinCAT PLC Control supports all languages described in IEC 61131-3. There are two text-
based languages and three graphical languages.
Text-based languages
Instruction List (IL)
Structured Text (ST)
Graphical languages
Function Block Diagram (FBD)
Ladder Diagram (LD)
The Continuous Function Chart Editor (CFC)
Sequential Function Chart (SFC)

The following section refers to Structured Text (ST).

In order to create a programming environment, a PLC subproject is added to the project sample via the
context menu of "PLC" in the project folder explorer by selecting "Add New Item.":

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Fig.116: Adding the programming environment in "PLC"

In the dialog that opens select "Standard PLC project" and enter "PLC_example" as project name, for
example, and select a corresponding directory:

Fig.117: Specifying the name and directory for the PLC programming environment

The "Main" program, which already exists by selecting "Standard PLC project", can be opened by double-
clicking on "PLC_example_project" in "POUs. The following user interface is shown for an initial project:

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Fig.118: Initial "Main" program of the standard PLC project

To continue, sample variables and a sample program have now been created:

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Fig.119: Sample program with variables after a compile process (without variable integration)

The control program is now created as a project folder, followed by the compile process:

Fig.120: Start program compilation

The following variables, identified in the ST/ PLC program with "AT%", are then available in under
"Assignments" in the project folder explorer:

Assigning variables

Via the menu of an instance - variables in the "PLC context, use the "Modify Link" option to open a
window for selecting a suitable process object (PDO) for linking:

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Fig.121: Creating the links between PLC variables and process objects

In the window that opens, the process object for the variable "bEL1004_Ch4" of type BOOL can be selected
from the PLC configuration tree:

Fig.122: Selecting PDO of type BOOL

According to the default setting, certain PDO objects are now available for selection. In this sample the input
of channel 4 of the EL1004 terminal is selected for linking. In contrast, the checkbox "All types" must be
ticked for creating the link for the output variables, in order to allocate a set of eight separate output bits to a
byte variable. The following diagram shows the whole process:

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Fig.123: Selecting several PDOs simultaneously: activate "Continuous" and "All types"

Note that the "Continuous" checkbox was also activated. This is designed to allocate the bits contained in the
byte of the variable "nEL2008_value" sequentially to all eight selected output bits of the EL2008 terminal. In
this way it is possible to subsequently address all eight outputs of the terminal in the program with a byte
corresponding to bit 0 for channel 1 to bit 7 for channel 8 of the PLC. A special symbol ( ) at the yellow or
red object of the variable indicates that a link exists. The links can also be checked by selecting a "Goto Link
Variable from the context menu of a variable. The object opposite, in this case the PDO, is automatically
selected:

Fig.124: Application of a "Goto Link" variable, using "MAIN.bEL1004_Ch4" as a sample

The process of creating links can also take place in the opposite direction, i.e. starting with individual PDOs
to variable. However, in this example it would then not be possible to select all output bits for the EL2008,
since the terminal only makes individual digital outputs available. If a terminal has a byte, word, integer or
similar PDO, it is possible to allocate this a set of bit-standardised variables (type "BOOL"). Here, too, a
"Goto Link Variable from the context menu of a PDO can be executed in the other direction, so that the
respective PLC instance can then be selected.

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Activation of the configuration

The allocation of PDO to PLC variables has now established the connection from the controller to the inputs

and outputs of the terminals. The configuration can now be activated with or via the menu under
"TwinCAT" in order to transfer settings of the development environment to the runtime system. Confirm the
messages "Old configurations are overwritten!" and "Restart TwinCAT system in Run mode" with "OK". The
corresponding assignments can be seen in the project folder explorer:

A few seconds later the corresponding status of the Run mode is displayed in the form of a rotating symbol

at the bottom right of the VS shell development environment. The PLC system can then be started as
described below.

Starting the controller

Select the menu option "PLC" "Login" or click on to link the PLC with the real-time system and load
the control program for execution. This results in the message "No program on the controller! Should the
new program be loaded?", which should be acknowledged with "Yes". The runtime environment is ready for

program start by click on symbol , the "F5" key or via "PLC" in the menu selecting Start. The started
programming environment shows the runtime values of individual variables:

Fig.125: TwinCAT development environment (VS shell): logged-in, after program startup

The two operator control elements for stopping and logout result in the required action
(accordingly also for stop "Shift + F5", or both actions can be selected via the PLC menu).

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6.2 TwinCAT Development Environment

The Software for automation TwinCAT (The Windows Control and Automation Technology) will be
distinguished into:
TwinCAT2: System Manager (Configuration) & PLC Control (Programming)
TwinCAT3: Enhancement of TwinCAT2 (Programming and Configuration takes place via a common
Development Environment)

Details:
TwinCAT2:
Connects I/O devices to tasks in a variable-oriented manner
Connects tasks to tasks in a variable-oriented manner
Supports units at the bit level
Supports synchronous or asynchronous relationships
Exchange of consistent data areas and process images
Datalink on NT - Programs by open Microsoft Standards (OLE, OCX, ActiveX, DCOM+, etc.)
Integration of IEC 61131-3-Software-SPS, Software- NC and Software-CNC within Windows
NT/2000/XP/Vista, Windows 7, NT/XP Embedded, CE
Interconnection to all common fieldbusses
More

Additional features:
TwinCAT3 (eXtended Automation):
Visual-Studio-Integration
Choice of the programming language
Supports object orientated extension of IEC 61131-3
Usage of C/C++ as programming language for real time applications
Connection to MATLAB/Simulink
Open interface for expandability
Flexible run-time environment
Active support of Multi-Core- und 64-Bit-Operatingsystem
Automatic code generation and project creation with the TwinCAT Automation Interface
More

Within the following sections commissioning of the TwinCAT Development Environment on a PC System for
the control and also the basically functions of unique control elements will be explained.

Please see further information to TwinCAT2 and TwinCAT3 at http://infosys.beckhoff.com.

6.2.1 Installation of the TwinCAT real-time driver

In order to assign real-time capability to a standard Ethernet port of an IPC controller, the Beckhoff real-time
driver has to be installed on this port under Windows.

This can be done in several ways. One option is described here.

In the System Manager call up the TwinCAT overview of the local network interfaces via Options Show
Real Time Ethernet Compatible Devices.

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Fig.126: System Manager Options (TwinCAT2)

This have to be called up by the Men TwinCAT within the TwinCAT3 environment:

Fig.127: Call up under VS Shell (TwinCAT3)

The following dialog appears:

Fig.128: Overview of network interfaces

Interfaces listed under Compatible devices can be assigned a driver via the Install button. A driver should
only be installed on compatible devices.

A Windows warning regarding the unsigned driver can be ignored.

Alternatively an EtherCAT-device can be inserted first of all as described in chapter Offline configuration
creation, section Creating the EtherCAT device [}138] in order to view the compatible ethernet ports via its
EtherCAT properties (tab Adapter, button Compatible Devices):

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Fig.129: EtherCAT device properties(TwinCAT2): click on Compatible Devices of tab Adapter

TwinCAT 3: the properties of the EtherCAT device can be opened by double click on Device .. (EtherCAT)
within the Solution Explorer under I/O:

After the installation the driver appears activated in the Windows overview for the network interface
(Windows Start System Properties Network)

Fig.130: Windows properties of the network interface

A correct setting of the driver could be:

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Fig.131: Exemplary correct driver setting for the Ethernet port

Other possible settings have to be avoided:

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Fig.132: Incorrect driver settings for the Ethernet port

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IP address of the port used

IP address/DHCP
In most cases an Ethernet port that is configured as an EtherCAT device will not transport
general IP packets. For this reason and in cases where an EL6601 or similar devices are
Note used it is useful to specify a fixed IP address for this port via the Internet Protocol TCP/IP
driver setting and to disable DHCP. In this way the delay associated with the DHCP client
for the Ethernet port assigning itself a default IP address in the absence of a DHCP server
is avoided. A suitable address space is 192.168.x.x, for example.

Fig.133: TCP/IP setting for the Ethernet port

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6.2.2 Notes regarding ESI device description

Installation of the latest ESI device description

The TwinCAT EtherCAT master/System Manager needs the device description files for the devices to be
used in order to generate the configuration in online or offline mode. The device descriptions are contained
in the so-called ESI files (EtherCAT Slave Information) in XML format. These files can be requested from the
respective manufacturer and are made available for download. An *.xml file may contain several device
descriptions.

The ESI files for Beckhoff EtherCAT devices are available on the Beckhoff website.

The ESI files should be stored in the TwinCAT installation directory.

Default settings:
TwinCAT2: C:\TwinCAT\IO\EtherCAT
TwinCAT3: C:\TwinCAT\3.1\Config\Io\EtherCAT

The files are read (once) when a new System Manager window is opened, if they have changed since the
last time the System Manager window was opened.

A TwinCAT installation includes the set of Beckhoff ESI files that was current at the time when the TwinCAT
build was created.

For TwinCAT2.11/TwinCAT3 and higher, the ESI directory can be updated from the System Manager, if the
programming PC is connected to the Internet; by
TwinCAT2: Option Update EtherCAT Device Descriptions
TwinCAT3: TwinCAT EtherCAT Devices Update Device Descriptions (via ETG Website)

The TwinCAT ESI Updater [}137] is available for this purpose.

ESI
The *.xml files are associated with *.xsd files, which describe the structure of the ESI XML
files. To update the ESI device descriptions, both file types should therefore be updated.
Note

Device differentiation

EtherCAT devices/slaves are distinguished by four properties, which determine the full device identifier. For
example, the device identifier EL2521-0025-1018 consists of:
family key EL
name 2521
type 0025
and revision 1018

Fig.134: Identifier structure

The order identifier consisting of name + type (here: EL2521-0010) describes the device function. The
revision indicates the technical progress and is managed by Beckhoff. In principle, a device with a higher
revision can replace a device with a lower revision, unless specified otherwise, e.g. in the documentation.
Each revision has its own ESI description. See further notes [}12].

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Online description

If the EtherCAT configuration is created online through scanning of real devices (see section Online setup)
and no ESI descriptions are available for a slave (specified by name and revision) that was found, the
System Manager asks whether the description stored in the device should be used. In any case, the System
Manager needs this information for setting up the cyclic and acyclic communication with the slave correctly.

Fig.135: OnlineDescription information window (TwinCAT2)

In TwinCAT3 a similar window appears, which also offers the Web update:

Fig.136: Information window OnlineDescription (TwinCAT3)

If possible, the Yes is to be rejected and the required ESI is to be requested from the device manufacturer.
After installation of the XML/XSD file the configuration process should be repeated.

Changing the usual configuration through a scan

If a scan discovers a device that is not yet known to TwinCAT, distinction has to be
made between two cases. Taking the example here of the EL2521-0000 in the revision
Attention 1019
a) no ESI is present for the EL2521-0000 device at all, either for the revision 1019 or for
an older revision. The ESI must then be requested from the manufacturer (in this case
Beckhoff).
b) an ESI is present for the EL2521-0000 device, but only in an older revision, e.g. 1018 or
1017.
In this case an in-house check should first be performed to determine whether the
spare parts stock allows the integration of the increased revision into the configuration
at all. A new/higher revision usually also brings along new features. If these are not to
be used, work can continue without reservations with the previous revision 1018 in the
configuration. This is also stated by the Beckhoff compatibility rule.

Refer in particular to the chapter General notes on the use of Beckhoff EtherCAT IO components and for
manual configuration to the chapter Offline configuration creation [}138].

If the OnlineDescription is used regardless, the System Manager reads a copy of the device description from
the EEPROM in the EtherCAT slave. In complex slaves the size of the EEPROM may not be sufficient for the
complete ESI, in which case the ESI would be incomplete in the configurator. Therefore its recommended
using an offline ESI file with priority in such a case.

The System Manager creates for online recorded device descriptions a new file
OnlineDescription0000...xml in its ESI directory, which contains all ESI descriptions that were read online.

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Fig.137: File OnlineDescription.xml created by the System Manager

Is a slave desired to be added manually to the configuration at a later stage, online created slaves are
indicated by a prepended symbol > in the selection list (see Figure Indication of an online recorded ESI of
EL2521 as an example).

Fig.138: Indication of an online recorded ESI of EL2521 as an example

If such ESI files are used and the manufacturer's files become available later, the file OnlineDescription.xml
should be deleted as follows:
close all System Manager windows
restart TwinCAT in Config mode
delete "OnlineDescription0000...xml"
restart TwinCAT System Manager

This file should not be visible after this procedure, if necessary press <F5> to update

OnlineDescription for TwinCAT3.x

In addition to the file described above "OnlineDescription0000...xml" , a so called EtherCAT
cache with new discovered devices is created by TwinCAT3.x, e.g. under Windows 7:
Note

(Please note the language settings of the OS!)

You have to delete this file, too.

Faulty ESI file

If an ESI file is faulty and the System Manager is unable to read it, the System Manager brings up an
information window.

Fig.139: Information window for faulty ESI file (left: TwinCAT2; right: TwinCAT3)

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Reasons may include:

Structure of the *.xml does not correspond to the associated *.xsd file check your schematics
Contents cannot be translated into a device description contact the file manufacturer

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6.2.3 TwinCAT ESI Updater

For TwinCAT2.11 and higher, the System Manager can search for current Beckhoff ESI files automatically, if
an online connection is available:

Fig.140: Using the ESI Updater (>= TwinCAT2.11)

The call up takes place under:

Options "Update EtherCAT Device Descriptions"

Selection under TwinCAT3:

Fig.141: Using the ESI Updater (TwinCAT3)

The ESI Updater (TwinCAT3) is a convenient option for automatic downloading of ESI data provided by
EtherCAT manufacturers via the Internet into the TwinCAT directory (ESI = EtherCAT slave information).
TwinCAT accesses the central ESI ULR directory list stored at ETG; the entries can then be viewed in the
Updater dialog, although they cannot be changed there.

The call up takes place under:

TwinCAT EtherCAT Devices Update Device Description (via ETG Website).

6.2.4 Distinction between Online and Offline

The distinction between online and offline refers to the presence of the actual I/O environment (drives,
terminals, EJ-modules). If the configuration is to be prepared in advance of the system configuration as a
programming system, e.g. on a laptop, this is only possible in Offline configuration mode. In this case all
components have to be entered manually in the configuration, e.g. based on the electrical design.

If the designed control system is already connected to the EtherCAT system and all components are
energised and the infrastructure is ready for operation, the TwinCAT configuration can simply be generated
through scanning from the runtime system. This is referred to as online configuration.

In any case, during each startup the EtherCAT master checks whether the slaves it finds match the
configuration. This test can be parameterised in the extended slave settings. Refer to note Installation of
the latest ESI-XML device description [}133].

For preparation of a configuration:

the real EtherCAT hardware (devices, couplers, drives) must be present and installed
the devices/modules must be connected via EtherCAT cables or in the terminal/ module strand in the
same way as they are intended to be used later

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the devices/modules be connected to the power supply and ready for communication
TwinCAT must be in CONFIG mode on the target system.

The online scan process consists of:

detecting the EtherCAT device [}143] (Ethernet port at the IPC)
detecting the connected EtherCAT devices [}144]. This step can be carried out independent of the
preceding step
troubleshooting [}147]

The scan with existing configuration [}148] can also be carried out for comparison.

6.2.5 OFFLINE configuration creation

Creating the EtherCAT device

Create an EtherCAT device in an empty System Manager window.

Fig.142: Append EtherCAT device (left: TwinCAT2; right: TwinCAT3)

Select type EtherCAT for an EtherCAT I/O application with EtherCAT slaves. For the present publisher/
subscriber service in combination with an EL6601/EL6614 terminal select EtherCAT Automation Protocol
via EL6601.

Fig.143: Selecting the EtherCAT connection (TwinCAT2.11, TwinCAT3)

Then assign a real Ethernet port to this virtual device in the runtime system.

Fig.144: Selecting the Ethernet port

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This query may appear automatically when the EtherCAT device is created, or the assignment can be set/
modified later in the properties dialog; see Fig. EtherCAT device properties (TwinCAT2).

Fig.145: EtherCAT device properties (TwinCAT2)

TwinCAT 3: the properties of the EtherCAT device can be opened by double click on Device .. (EtherCAT)
within the Solution Explorer under I/O:

Selecting the Ethernet port

Ethernet ports can only be selected for EtherCAT devices for which the TwinCAT real-time
driver is installed. This has to be done separately for each port. Please refer to the respec-
Note tive installation page [}127].

Defining EtherCAT slaves

Further devices can be appended by right-clicking on a device in the configuration tree.

Fig.146: Appending EtherCAT devices (left: TwinCAT2; right: TwinCAT3)

The dialog for selecting a new device opens. Only devices for which ESI files are available are displayed.

Only devices are offered for selection that can be appended to the previously selected device. Therefore the
physical layer available for this port is also displayed (Fig. Selection dialog for new EtherCAT device, A). In
the case of cable-based Fast-Ethernet physical layer with PHY transfer, then also only cable-based devices
are available, as shown in Fig. Selection dialog for new EtherCAT device. If the preceding device has
several free ports (e.g. EK1122 or EK1100), the required port can be selected on the right-hand side (A).

Overview of physical layer

Ethernet: cable-based 100BASE-TX: EK couplers, EP boxes, devices with RJ45/M8/M12 connector

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E-Bus: LVDS terminal bus, EJ-module: EL/ES terminals, various modular modules

The search field facilitates finding specific devices (since TwinCAT2.11 or TwinCAT3).

Fig.147: Selection dialog for new EtherCAT device

By default only the name/device type is used as selection criterion. For selecting a specific revision of the
device the revision can be displayed as Extended Information.

Fig.148: Display of device revision

In many cases several device revisions were created for historic or functional reasons, e.g. through
technological advancement. For simplification purposes (see Fig. Selection dialog for new EtherCAT
device) only the last (i.e. highest) revision and therefore the latest state of production is displayed in the
selection dialog for Beckhoff devices. To show all device revisions available in the system as ESI
descriptions tick the Show Hidden Devices check box, see Fig. Display of previous revisions.

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Fig.149: Display of previous revisions

Device selection based on revision, compatibility

The ESI description also defines the process image, the communication type between mas-
ter and slave/device and the device functions, if applicable. The physical device (firmware,
Note if available) has to support the communication queries/settings of the master. This is back-
ward compatible, i.e. newer devices (higher revision) should be supported if the EtherCAT
master addresses them as an older revision. The following compatibility rule of thumb is to
be assumed for Beckhoff EtherCAT Terminals/ Boxes/ EJ-modules:
device revision in the system >= device revision in the configuration
This also enables subsequent replacement of devices without changing the configuration
(different specifications are possible for drives).

Example:

If an EL2521-0025-1018 is specified in the configuration, an EL2521-0025-1018 or higher (-1019, -1020) can

be used in practice.

Fig.150: Name/revision of the terminal

If current ESI descriptions are available in the TwinCAT system, the last revision offered in the selection
dialog matches the Beckhoff state of production. It is recommended to use the last device revision when
creating a new configuration, if current Beckhoff devices are used in the real application. Older revisions
should only be used if older devices from stock are to be used in the application.

In this case the process image of the device is shown in the configuration tree and can be parameterised as
follows: linking with the task, CoE/DC settings, plug-in definition, startup settings, ...

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Fig.151: EtherCAT terminal in the TwinCAT tree (left: TwinCAT2; right: TwinCAT3)

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6.2.6 ONLINE configuration creation

Detecting/scanning of the EtherCAT device

The online device search can be used if the TwinCAT system is in CONFIG mode. This can be indicated by
a symbol right below in the information bar:

on TwinCAT2 by a blue display Config Mode within the System Manager window: .

on TwinCAT3 within the user interface of the development environment by a symbol .

TwinCAT can be set into this mode:

TwinCAT2: by selection of in the Menubar or by Actions Set/Reset TwinCATtoConfig

Mode

TwinCAT3: by selection of in the Menubar or by TwinCAT RestartTwinCAT(ConfigMode)

Online scanning in Config mode

The online search is not available in RUN mode (production operation). Note the differenti-
ation between TwinCAT programming system and TwinCAT target system.
Note

The TwinCAT2 icon ( ) or TwinCAT3 icon ( ) within the Windows-Taskbar always shows the
TwinCAT mode of the local IPC. Compared to that, the System Manager window of TwinCAT2 or the user
interface of TwinCAT3 indicates the state of the target system.

Fig.152: Differentiation local/target system (left: TwinCAT2; right: TwinCAT3)

Right-clicking on I/O Devices in the configuration tree opens the search dialog.

Fig.153: Scan Devices (left: TwinCAT2; right: TwinCAT3)

This scan mode attempts to find not only EtherCAT devices (or Ethernet ports that are usable as such), but
also NOVRAM, fieldbus cards, SMB etc. However, not all devices can be found automatically.

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Fig.154: Note for automatic device scan (left: TwinCAT2; right: TwinCAT3)

Ethernet ports with installed TwinCAT real-time driver are shown as RT Ethernet devices. An EtherCAT
frame is sent to these ports for testing purposes. If the scan agent detects from the response that an
EtherCAT slave is connected, the port is immediately shown as an EtherCAT Device .

Fig.155: Detected Ethernet devices

Via respective checkboxes devices can be selected (as illustrated in Fig. Detected Ethernet devices e.g.
Device 3 and Device 4 were chosen). After confirmation with OK a device scan is suggested for all selected
devices, see Fig.: Scan query after automatic creation of an EtherCAT device.

Selecting the Ethernet port

Ethernet ports can only be selected for EtherCAT devices for which the TwinCAT real-time
driver is installed. This has to be done separately for each port. Please refer to the respec-
Note tive installation page [}127].

Detecting/Scanning the EtherCAT devices

Online scan functionality

During a scan the master queries the identity information of the EtherCAT slaves from the
slave EEPROM. The name and revision are used for determining the type. The respective
Note devices are located in the stored ESI data and integrated in the configuration tree in the de-
fault state defined there.

Fig.156: Example default state

Slave scanning in practice in series machine production

The scanning function should be used with care. It is a practical and fast tool for creating an
initial configuration as a basis for commissioning. In series machine production or reproduc-
Attention tion of the plant, however, the function should no longer be used for the creation of the con-
figuration, but if necessary for comparison [}148] with the defined initial configura-
tion.Background: since Beckhoff occasionally increases the revision version of the deliv-
ered products for product maintenance reasons, a configuration can be created by such a
scan which (with an identical machine construction) is identical according to the device list;
however, the respective device revision may differ from the initial configuration.

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Example:

Company A builds the prototype of a machine B, which is to be produced in series later on. To do this the
prototype is built, a scan of the IO devices is performed in TwinCAT and the initial configuration B.tsm is
created. The EL2521-0025 EtherCAT terminal with the revision 1018 is located somewhere. It is thus built
into the TwinCAT configuration in this way:

Fig.157: Installing EthetCAT terminal with revision -1018

Likewise, during the prototype test phase, the functions and properties of this terminal are tested by the
programmers/commissioning engineers and used if necessary, i.e. addressed from the PLC B.pro or the
NC. (the same applies correspondingly to the TwinCAT3 solution files).

The prototype development is now completed and series production of machine B starts, for which Beckhoff
continues to supply the EL2521-0025-0018. If the commissioning engineers of the series machine production
department always carry out a scan, a B configuration with the identical contents results again for each
machine. Likewise, A might create spare parts stores worldwide for the coming series-produced machines
with EL2521-0025-1018 terminals.

After some time Beckhoff extends the EL2521-0025 by a new feature C. Therefore the FW is changed,
outwardly recognizable by a higher FW version and a new revision -1019. Nevertheless the new device
naturally supports functions and interfaces of the predecessor version(s); an adaptation of B.tsm or even
B.pro is therefore unnecessary. The series-produced machines can continue to be built with B.tsm and
B.pro; it makes sense to perform a comparative scan [}148] against the initial configuration B.tsm in order
to check the built machine.

However, if the series machine production department now doesnt use B.tsm, but instead carries out a
scan to create the productive configuration, the revision -1019 is automatically detected and built into the
configuration:

Fig.158: Detection of EtherCAT terminal with revision -1019

This is usually not noticed by the commissioning engineers. TwinCAT cannot signal anything either, since
virtually a new configuration is created. According to the compatibility rule, however, this means that no
EL2521-0025-1018 should be built into this machine as a spare part (even if this nevertheless works in the
vast majority of cases).

In addition, it could be the case that, due to the development accompanying production in company A, the
new feature C of the EL2521-0025-1019 (for example, an improved analog filter or an additional process
data for the diagnosis) is discovered and used without in-house consultation. The previous stock of spare
part devices are then no longer to be used for the new configuration B2.tsm created in this way. if series
machine production is established, the scan should only be performed for informative purposes for
comparison with a defined initial configuration. Changes are to be made with care!

If an EtherCAT device was created in the configuration (manually or through a scan), the I/O field can be
scanned for devices/slaves.

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Fig.159: Scan query after automatic creation of an EtherCAT device (left: TwinCAT2; right: TwinCAT3)

Fig.160: Manual triggering of a device scan on a specified EtherCAT device (left: TwinCAT2; right:
TwinCAT3)

In the System Manager (TwinCAT2) or the User Interface (TwinCAT3) the scan process can be monitored
via the progress bar at the bottom in the status bar.

Fig.161: Scan progressexemplary by TwinCAT2

The configuration is established and can then be switched to online state (OPERATIONAL).

Fig.162: Config/FreeRun query (left: TwinCAT2; right: TwinCAT3)

In Config/FreeRun mode the System Manager display alternates between blue and red, and the EtherCAT
device continues to operate with the idling cycle time of 4 ms (default setting), even without active task (NC,
PLC).

Fig.163: Displaying of Free Run and Config Mode toggling right below in the status bar

Fig.164: TwinCAT can also be switched to this state by using a button (left: TwinCAT2; right: TwinCAT3)

The EtherCAT system should then be in a functional cyclic state, as shown in Fig. Online display example.

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Fig.165: Online display example

Please note:
all slaves should be in OP state
the EtherCAT master should be in Actual State OP
frames/sec should match the cycle time taking into account the sent number of frames
no excessive LostFrames or CRC errors should occur

The configuration is now complete. It can be modified as described under manual procedure [}138].

Troubleshooting

Various effects may occur during scanning.

An unknown device is detected, i.e. an EtherCAT slave for which no ESI XML description is available.
In this case the System Manager offers to read any ESI that may be stored in the device. This case is
described in the chapter "Notes regarding ESI device description".
Device are not detected properly
Possible reasons include:
- faulty data links, resulting in data loss during the scan
- slave has invalid device description
The connections and devices should be checked in a targeted manner, e.g. via the emergency scan.
Then re-run the scan.

Fig.166: Faulty identification

In the System Manager such devices may be set up as EK0000 or unknown devices. Operation is not
possible or meaningful.

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Scan over existing Configuration

Change of the configuration after comparison

With this scan (TwinCAT2.11 or 3.1) only the device properties vendor (manufacturer), de-
vice name and revision are compared at present! A ChangeTo or Copy should only be
Attention carried out with care, taking into consideration the Beckhoff IO compatibility rule (see
above). The device configuration is then replaced by the revision found; this can affect the
supported process data and functions.

If a scan is initiated for an existing configuration, the actual I/O environment may match the configuration
exactly or it may differ. This enables the configuration to be compared.

Fig.167: Identical configuration (left: TwinCAT2; right: TwinCAT3)

If differences are detected, they are shown in the correction dialog, so that the user can modify the
configuration as required.

Fig.168: Correction dialog

It is advisable to tick the Extended Information check box to reveal differences in the revision.

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Colour Explanation
green This EtherCAT slave matches the entry on the other side. Both type and revision match.
blue This EtherCAT slave is present on the other side, but in a different revision. This other
revision can have other default values for the process data as well as other/additional
functions.
If the found revision is higher than the configured revision, the slave may be used provided
compatibility issues are taken into account.
If the found revision is lower than the configured revision, it is likely that the slave cannot be
used. The found device may not support all functions that the master expects based on the
higher revision number.
light blue This EtherCAT slave is ignored (Ignore button)
red This EtherCAT slave is not present on the other side.
It is present, but in a different revision, which also differs in its properties from the one
specified.
The compatibility principle then also applies here: if the found revision is higher than
the configured revision, use is possible provided compatibility issues are taken into
account, since the successor devices should support the functions of the predecessor
devices.
If the found revision is lower than the configured revision, it is likely that the slave
cannot be used. The found device may not support all functions that the master
expects based on the higher revision number.

Device selection based on revision, compatibility

The ESI description also defines the process image, the communication type between mas-
ter and slave/device and the device functions, if applicable. The physical device (firmware,
Note if available) has to support the communication queries/settings of the master. This is back-
ward compatible, i.e. newer devices (higher revision) should be supported if the EtherCAT
master addresses them as an older revision. The following compatibility rule of thumb is to
be assumed for Beckhoff EtherCAT Terminals/ Boxes/ EJ-modules:
device revision in the system >= device revision in the configuration
This also enables subsequent replacement of devices without changing the configuration
(different specifications are possible for drives).

Example:

If an EL2521-0025-1018 is specified in the configuration, an EL2521-0025-1018 or higher (-1019, -1020) can

be used in practice.

Fig.169: Name/revision of the terminal

If current ESI descriptions are available in the TwinCAT system, the last revision offered in the selection
dialog matches the Beckhoff state of production. It is recommended to use the last device revision when
creating a new configuration, if current Beckhoff devices are used in the real application. Older revisions
should only be used if older devices from stock are to be used in the application.

In this case the process image of the device is shown in the configuration tree and can be parameterised as
follows: linking with the task, CoE/DC settings, plug-in definition, startup settings, ...

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Fig.170: Correction dialog with modifications

Once all modifications have been saved or accepted, click OK to transfer them to the real *.tsm
configuration.

Change to compatible device

TwinCAT offers a function Change to Compatible Type for the exchange of a device whilst retaining the
links in the task.

Fig.171: Dialog Change to Compatible Type (left: TwinCAT2; right: TwinCAT3)

This function is preferably to be used on AX5000 devices. If called, the System Manager suggests the
devices that it finds in the associated sub-folder; in the case of the AX5000, for example, in \TwinCAT\IO
\EtherCAT\Beckhoff AX5xxx.

Change to Alternative Type

The TwinCAT System Manager offers a function for the exchange of a device: Change to Alternative Type

Fig.172: TwinCAT2 Dialog Change to Alternative Type

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If called, the System Manager searches in the procured device ESI (in this example: EL1202-0000) for
details of compatible devices contained there. The configuration is changed and the ESI-EEPROM is
overwritten at the same time therefore this process is possible only in the online state (ConfigMode).

6.2.7 EtherCAT subscriber configuration

In the left-hand window of the TwinCAT2 System Manager or the Solution Explorer of the TwinCAT3
Development Environment respectively, click on the element of the terminal within the tree you wish to
configure (in the example: EL3751 Terminal 3).

Fig.173: Branch element as terminal EL3751

In the right-hand window of the TwinCAT System manager (TwinCAT2) or the Development Environment
(TwinCAT3), various tabs are now available for configuring the terminal. And yet the dimension of
complexity of a subscriber determines which tabs are provided. Thus as illustrated in the example above the
terminal EL3751 provides many setup options and also a respective number of tabs are available. On the
contrary by the terminal EL1004 for example the tabs "General", "EtherCAT", "Process Data" and Online
are available only. Several terminals, as for instance the EL6695 provide special functions by a tab with its
own terminal name, so EL6695 in this case. A specific tab Settings by terminals with a wide range of
setup options will be provided also (e.g. EL3751).

General tab

Fig.174: General tab

Name Name of the EtherCAT device

Id Number of the EtherCAT device
Type EtherCAT device type
Comment Here you can add a comment (e.g. regarding the
system).
Disabled Here you can deactivate the EtherCAT device.
Create symbols Access to this EtherCAT slave via ADS is only
available if this control box is activated.

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EtherCAT tab

Fig.175: EtherCAT tab

Type EtherCAT device type

Product/Revision Product and revision number of the EtherCAT device
Auto Inc Addr. Auto increment address of the EtherCAT device. The
auto increment address can be used for addressing
each EtherCAT device in the communication ring
through its physical position. Auto increment
addressing is used during the start-up phase when
the EtherCAT master allocates addresses to the
EtherCAT devices. With auto increment addressing
the first EtherCAT slave in the ring has the address
0000hex. For each further slave the address is
decremented by 1 (FFFFhex, FFFEhex etc.).
EtherCAT Addr. Fixed address of an EtherCAT slave. This address is
allocated by the EtherCAT master during the start-up
phase. Tick the control box to the left of the input field
in order to modify the default value.
Previous Port Name and port of the EtherCAT device to which this
device is connected. If it is possible to connect this
device with another one without changing the order of
the EtherCAT devices in the communication ring,
then this combination field is activated and the
EtherCAT device to which this device is to be
connected can be selected.
Advanced Settings This button opens the dialogs for advanced settings.

The link at the bottom of the tab points to the product page for this EtherCAT device on the web.

Process Data tab

Indicates the configuration of the process data. The input and output data of the EtherCAT slave are
represented as CANopen process data objects (Process Data Objects, PDOs). The user can select a PDO
via PDO assignment and modify the content of the individual PDO via this dialog, if the EtherCAT slave
supports this function.

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Fig.176: Process Data tab

The process data (PDOs) transferred by an EtherCAT slave during each cycle are user data which the
application expects to be updated cyclically or which are sent to the slave. To this end the EtherCAT master
(Beckhoff TwinCAT) parameterizes each EtherCAT slave during the start-up phase to define which process
data (size in bits/bytes, source location, transmission type) it wants to transfer to or from this slave. Incorrect
configuration can prevent successful start-up of the slave.

For Beckhoff EtherCAT EL, ES, EM, EJ and EP slaves the following applies in general:
The input/output process data supported by the device are defined by the manufacturer in the ESI/XML
description. The TwinCAT EtherCAT Master uses the ESI description to configure the slave correctly.
The process data can be modified in the system manager. See the device documentation.
Examples of modifications include: mask out a channel, displaying additional cyclic information, 16-bit
display instead of 8-bit data size, etc.
In so-called intelligent EtherCAT devices the process data information is also stored in the CoE
directory. Any changes in the CoE directory that lead to different PDO settings prevent successful
startup of the slave. It is not advisable to deviate from the designated process data, because the
device firmware (if available) is adapted to these PDO combinations.

If the device documentation allows modification of process data, proceed as follows (see Figure Configuring
the process data).
A: select the device to configure
B: in the Process Data tab select Input or Output under SyncManager (C)
D: the PDOs can be selected or deselected
H: the new process data are visible as linkable variables in the system manager
The new process data are active once the configuration has been activated and TwinCAT has been
restarted (or the EtherCAT master has been restarted)
E: if a slave supports this, Input and Output PDO can be modified simultaneously by selecting a so-
called PDO record (predefined PDO settings).

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Fig.177: Configuring the process data

Manual modification of the process data

According to the ESI description, a PDO can be identified as fixed with the flag F in the
PDO overview (Fig. Configuring the process data, J). The configuration of such PDOs
Note cannot be changed, even if TwinCAT offers the associated dialog (Edit). In particular, CoE
content cannot be displayed as cyclic process data. This generally also applies in cases
where a device supports download of the PDO configuration, G. In case of incorrect con-
figuration the EtherCAT slave usually refuses to start and change to OP state. The System
Manager displays an invalid SM cfg logger message: This error message (invalid SM IN
cfg or invalid SM OUT cfg) also indicates the reason for the failed start.

A detailed description [}159] can be found at the end of this section.

Startup tab

The Startup tab is displayed if the EtherCAT slave has a mailbox and supports the CANopen over EtherCAT
(CoE) or Servo drive over EtherCAT protocol. This tab indicates which download requests are sent to the
mailbox during startup. It is also possible to add new mailbox requests to the list display. The download
requests are sent to the slave in the same order as they are shown in the list.

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Fig.178: Startup tab

Column Description
Transition Transition to which the request is sent. This can either be
the transition from pre-operational to safe-operational (PS), or
the transition from safe-operational to operational (SO).
If the transition is enclosed in "<>" (e.g. <PS>), the mailbox request is fixed and cannot be
modified or deleted by the user.
Protocol Type of mailbox protocol
Index Index of the object
Data Date on which this object is to be downloaded.
Comment Description of the request to be sent to the mailbox

Move Up This button moves the selected request up by one

position in the list.
Move Down This button moves the selected request down by one
position in the list.
New This button adds a new mailbox download request to
be sent during startup.
Delete This button deletes the selected entry.
Edit This button edits an existing request.

CoE Online tab

The additional CoE - Online tab is displayed if the EtherCAT slave supports the CANopen over EtherCAT
(CoE) protocol. This dialog lists the content of the object list of the slave (SDO upload) and enables the user
to modify the content of an object from this list. Details for the objects of the individual EtherCAT devices can
be found in the device-specific object descriptions.

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Fig.179: CoE Online tab

Object list display

Column Description
Index Index and sub-index of the object
Name Name of the object
Flags RW The object can be read, and data can be written to the object (read/write)
RO The object can be read, but no data can be written to the object (read only)
P An additional P identifies the object as a process data object.
Value Value of the object

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Update List The Update list button updates all objects in the
displayed list
Auto Update If this check box is selected, the content of the
objects is updated automatically.
Advanced The Advanced button opens the Advanced Settings
dialog. Here you can specify which objects are
displayed in the list.

Fig.180: Dialog Advanced settings

Online - via SDO Information If this option button is selected, the list of the objects
included in the object list of the slave is uploaded
from the slave via SDO information. The list below
can be used to specify which object types are to be
uploaded.
Offline - via EDS File If this option button is selected, the list of the objects
included in the object list is read from an EDS file
provided by the user.

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Online tab

Fig.181: Online tab

State Machine

Init This button attempts to set the EtherCAT device to

the Init state.
Pre-Op This button attempts to set the EtherCAT device to
the pre-operational state.
Op This button attempts to set the EtherCAT device to
the operational state.
Bootstrap This button attempts to set the EtherCAT device to
the Bootstrap state.
Safe-Op This button attempts to set the EtherCAT device to
the safe-operational state.
Clear Error This button attempts to delete the fault display. If an
EtherCAT slave fails during change of state it sets an
error flag.
Example: An EtherCAT slave is in PREOP state (pre-
operational). The master now requests the SAFEOP
state (safe-operational). If the slave fails during
change of state it sets the error flag. The current state
is now displayed as ERR PREOP. When the Clear
Error button is pressed the error flag is cleared, and
the current state is displayed as PREOP again.
Current State Indicates the current state of the EtherCAT device.
Requested State Indicates the state requested for the EtherCAT
device.

DLL Status

Indicates the DLL status (data link layer status) of the individual ports of the EtherCAT slave. The DLL status
can have four different states:

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Status Description
No Carrier / Open No carrier signal is available at the port, but the port
is open.
No Carrier / Closed No carrier signal is available at the port, and the port
is closed.
Carrier / Open A carrier signal is available at the port, and the port is
open.
Carrier / Closed A carrier signal is available at the port, but the port is
closed.

File Access over EtherCAT

Download With this button a file can be written to the EtherCAT

device.
Upload With this button a file can be read from the EtherCAT
device.

"DC" tab (Distributed Clocks)

Fig.182: "DC" tab (Distributed Clocks)

Operation Mode Options (optional):

FreeRun
SM-Synchron
DC-Synchron (Input based)
DC-Synchron
Advanced Settings Advanced settings for readjustment of the real time determinant TwinCAT-
clock

Detailed information to Distributed Clocks are specified on http://infosys.beckhoff.com:

Fieldbus Components EtherCAT Terminals EtherCAT System documentation EtherCAT basics

Distributed Clocks

6.2.7.1 Detailed description of Process Data tab

Sync Manager

Lists the configuration of the Sync Manager (SM).

If the EtherCAT device has a mailbox, SM0 is used for the mailbox output (MbxOut) and SM1 for the mailbox
input (MbxIn).
SM2 is used for the output process data (outputs) and SM3 (inputs) for the input process data.

If an input is selected, the corresponding PDO assignment is displayed in the PDO Assignment list below.

PDO Assignment

PDO assignment of the selected Sync Manager. All PDOs defined for this Sync Manager type are listed
here:

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If the output Sync Manager (outputs) is selected in the Sync Manager list, all RxPDOs are displayed.
If the input Sync Manager (inputs) is selected in the Sync Manager list, all TxPDOs are displayed.

The selected entries are the PDOs involved in the process data transfer. In the tree diagram of the System
Manager these PDOs are displayed as variables of the EtherCAT device. The name of the variable is
identical to the Name parameter of the PDO, as displayed in the PDO list. If an entry in the PDO assignment
list is deactivated (not selected and greyed out), this indicates that the input is excluded from the PDO
assignment. In order to be able to select a greyed out PDO, the currently selected PDO has to be deselected
first.

Activation of PDO assignment

If you have changed the PDO assignment, in order to activate the new PDO assign-
ment,
Note
a) the EtherCAT slave has to run through the PS status transition cycle (from pre-opera-
tional to safe-operational) once (see Online tab [}158]),
b) and the System Manager has to reload the EtherCAT slaves

( button for TwinCAT2 or button for TwinCAT3)

PDO list

List of all PDOs supported by this EtherCAT device. The content of the selected PDOs is displayed in the
PDO Content list. The PDO configuration can be modified by double-clicking on an entry.

Column Description
Index PDO index.
Size Size of the PDO in bytes.
Name Name of the PDO.
If this PDO is assigned to a Sync Manager, it appears as a variable of the slave with this
parameter as the name.
Flags F Fixed content: The content of this PDO is fixed and cannot be changed by the
System Manager.
M Mandatory PDO. This PDO is mandatory and must therefore be assigned to a
Sync Manager! Consequently, this PDO cannot be deleted from the PDO
Assignment list
SM Sync Manager to which this PDO is assigned. If this entry is empty, this PDO does not take
part in the process data traffic.
SU Sync unit to which this PDO is assigned.

PDO Content

Indicates the content of the PDO. If flag F (fixed content) of the PDO is not set the content can be modified.

Download

If the device is intelligent and has a mailbox, the configuration of the PDO and the PDO assignments can be
downloaded to the device. This is an optional feature that is not supported by all EtherCAT slaves.

PDO Assignment

If this check box is selected, the PDO assignment that is configured in the PDO Assignment list is
downloaded to the device on startup. The required commands to be sent to the device can be viewed in the
Startup [}154] tab.

PDO Configuration

If this check box is selected, the configuration of the respective PDOs (as shown in the PDO list and the
PDO Content display) is downloaded to the EtherCAT slave.

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6.3 General Notes - EtherCAT Slave Application

This summary briefly deals with a number of aspects of EtherCAT Slave operation under TwinCAT. More
detailed information on this may be found in the corresponding sections of, for instance, the EtherCAT
System Documentation.

Diagnosis in real time: WorkingCounter, EtherCAT State and Status

Generally speaking an EtherCAT Slave provides a variety of diagnostic information that can be used by the
controlling task.

This diagnostic information relates to differing levels of communication. It therefore has a variety of sources,
and is also updated at various times.

Any application that relies on I/O data from a fieldbus being correct and up to date must make diagnostic
access to the corresponding underlying layers. EtherCAT and the TwinCAT System Manager offer
comprehensive diagnostic elements of this kind. Those diagnostic elements that are helpful to the controlling
task for diagnosis that is accurate for the current cycle when in operation (not during commissioning) are
discussed below.

Fig.183: Selection of the diagnostic information of an EtherCAT Slave

In general, an EtherCAT Slave offers

communication diagnosis typical for a slave (diagnosis of successful participation in the exchange of
process data, and correct operating mode)
This diagnosis is the same for all slaves.

as well as
function diagnosis typical for a channel (device-dependent)
See the corresponding device documentation

The colors in Fig. Selection of the diagnostic information of an EtherCAT Slave also correspond to the
variable colors in the System Manager, see Fig. Basic EtherCAT Slave Diagnosis in the PLC.

Colour Meaning
yellow Input variables from the Slave to the EtherCAT Master, updated in every cycle
red Output variables from the Slave to the EtherCAT Master, updated in every cycle
green Information variables for the EtherCAT Master that are updated acyclically. This means that
it is possible that in any particular cycle they do not represent the latest possible status. It is
therefore useful to read such variables through ADS.

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Fig. Basic EtherCAT Slave Diagnosis in the PLC shows an example of an implementation of basic
EtherCAT Slave Diagnosis. A Beckhoff EL3102 (2-channel analogue input terminal) is used here, as it offers
both the communication diagnosis typical of a slave and the functional diagnosis that is specific to a channel.
Structures are created as input variables in the PLC, each corresponding to the process image.

Fig.184: Basic EtherCAT Slave Diagnosis in the PLC

The following aspects are covered here:

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Code Function Implementation Application/evaluation

A The EtherCAT Master's diagnostic infor- At least the DevState is to be evaluated for
mation the most recent cycle in the PLC.
updated acyclically (yellow) or provided The EtherCAT Master's diagnostic informa-
acyclically (green). tion offers many more possibilities than are
treated in the EtherCAT System Documenta-
tion. A few keywords:
CoE in the Master for communication
with/through the Slaves
Functions from TcEtherCAT.lib
Perform an OnlineScan
B In the example chosen (EL3102) the Status In order for the higher-level PLC task (or cor-
EL3102 comprises two analogue input responding control applications) to be able to
the bit significations may be
channels that transmit a single function rely on correct data, the function status must
found in the device
status for the most recent cycle. be evaluated there. Such information is
documentation
therefore provided with the process data for
other devices may supply the most recent cycle.
more information, or none
that is typical of a slave
C For every EtherCAT Slave that has cyclic WcState (Working Counter) In order for the higher-level PLC task (or cor-
process data, the Master displays, using responding control applications) to be able to
0: valid real-time communication in
what is known as a WorkingCounter, rely on correct data, the communication sta-
the last cycle
whether the slave is participating success- tus of the EtherCAT Slave must be evaluated
fully and without error in the cyclic ex- 1: invalid real-time communication there. Such information is therefore provided
change of process data. This important, el- This may possibly have effects on with the process data for the most recent cy-
ementary information is therefore provided the process data of other Slaves cle.
for the most recent cycle in the System that are located in the same Syn-
Manager cUnit
1. at the EtherCAT Slave, and, with
identical contents
2. as a collective variable at the
EtherCAT Master (see Point A)
for linking.
D Diagnostic information of the EtherCAT State Information variables for the EtherCAT Mas-
Master which, while it is represented at the ter that are updated acyclically. This means
current Status (INIT..OP) of the
slave for linking, is actually determined by that it is possible that in any particular cycle
Slave. The Slave must be in OP
the Master for the Slave concerned and they do not represent the latest possible sta-
(=8) when operating normally.
represented there. This information cannot tus. It is therefore possible to read such vari-
be characterized as real-time, because it AdsAddr ables through ADS.
is only rarely/never changed, The ADS address is useful for
except when the system starts up communicating from the PLC/task
via ADS with the EtherCAT Slave,
is itself determined acyclically (e.g.
e.g. for reading/writing to the CoE.
EtherCAT Status)
The AMS-NetID of a slave corre-
sponds to the AMS-NetID of the
EtherCAT Master; communication
with the individual Slave is possible
via the port (= EtherCAT address).

Diagnostic information
It is strongly recommended that the diagnostic information made available is evaluated so
that the application can react accordingly.
Attention

CoE Parameter Directory

The CoE parameter directory (CanOpen-over-EtherCAT) is used to manage the set values for the slave
concerned. Changes may, in some circumstances, have to be made here when commissioning a relatively
complex EtherCAT Slave. It can be accessed through the TwinCAT System Manager, see Fig. EL3102,
CoE directory:

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Fig.185: EL3102, CoE directory

EtherCAT System Documentation

The comprehensive description in the EtherCAT System Documentation (EtherCAT Basics
--> CoE Interface) must be observed!
Note

A few brief extracts:

Whether changes in the online directory are saved locally in the slave depends on the device. EL
terminals (except the EL66xx) are able to save in this way.
The user must manage the changes to the StartUp list.

Commissioning aid in the TwinCAT System Manager

Commissioning interfaces are being introduced as part of an ongoing process for EL/EP EtherCAT devices.
These are available in TwinCAT System Managers from TwinCAT 2.11R2 and above. They are integrated
into the System Manager through appropriately extended ESI configuration files.

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Fig.186: Example of commissioning aid for a EL3204

This commissioning process simultaneously manages

CoE Parameter Directory
DC/FreeRun mode
the available process data records (PDO)

Although the "Process Data", "DC", "Startup" and "CoE-Online" that used to be necessary for this are still
displayed, it is recommended that, if the commissioning aid is used, the automatically generated settings are
not changed by it.

The commissioning tool does not cover every possible application of an EL/EP device. If the available setting
options are not adequate, the user can make the DC, PDO and CoE settings manually, as in the past.

EtherCAT State: automatic default behaviour of the TwinCAT System Manager and manual operation

After the operating power is switched on, an EtherCAT Slave must go through the following statuses
INIT
PREOP
SAFEOP
OP

to ensure sound operation. The EtherCAT Master directs these statuses in accordance with the initialization
routines that are defined for commissioning the device by the ES/XML and user settings (Distributed Clocks
(DC), PDO, CoE). See also the section on "Principles of Communication, EtherCAT State Machine [}46]" in
this connection. Depending how much configuration has to be done, and on the overall communication,
booting can take up to a few seconds.

The EtherCAT Master itself must go through these routines when starting, until it has reached at least the
OP target state.

The target state wanted by the user, and which is brought about automatically at start-up by TwinCAT, can
be set in the System Manager. As soon as TwinCAT reaches the status RUN, the TwinCAT EtherCAT
Master will approach the target states.

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Standard setting

The advanced settings of the EtherCAT Master are set as standard:

EtherCAT Master: OP
Slaves: OP
This setting applies equally to all Slaves.

Fig.187: Default behaviour of the System Manager

In addition, the target state of any particular Slave can be set in the "Advanced Settings" dialogue; the
standard setting is again OP.

Fig.188: Default target state in the Slave

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Manual Control

There are particular reasons why it may be appropriate to control the states from the application/task/PLC.
For instance:
for diagnostic reasons
to induce a controlled restart of axes
because a change in the times involved in starting is desirable

In that case it is appropriate in the PLC application to use the PLC function blocks from the TcEtherCAT.lib,
which is available as standard, and to work through the states in a controlled manner using, for instance,
FB_EcSetMasterState.

It is then useful to put the settings in the EtherCAT Master to INIT for master and slave.

Fig.189: PLC function blocks

Note regarding E-Bus current

EL/ES terminals are placed on the DIN rail at a coupler on the terminal strand. A Bus Coupler can supply the
EL terminals added to it with the E-bus system voltage of 5 V; a coupler is thereby loadable up to 2 A as a
rule. Information on how much current each EL terminal requires from the E-bus supply is available online
and in the catalogue. If the added terminals require more current than the coupler can supply, then power
feed terminals (e.g. EL9410) must be inserted at appropriate places in the terminal strand.

The pre-calculated theoretical maximum E-Bus current is displayed in the TwinCAT System Manager as a
column value. A shortfall is marked by a negative total amount and an exclamation mark; a power feed
terminal is to be placed before such a position.

EL30xx Version: 4.4 167

Commissioning

Fig.190: Illegally exceeding the E-Bus current

From TwinCAT 2.11 and above, a warning message "E-Bus Power of Terminal..." is output in the logger
window when such a configuration is activated:

Fig.191: Warning message for exceeding E-Bus current

Caution! Malfunction possible!

The same ground potential must be used for the E-Bus supply of all EtherCAT terminals in
a terminal block!
Attention

168 Version: 4.4 EL30xx

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6.4 Process data and operation modes

The 12-bit EL30xx series internally measures the analog value with a 12-bit resolution. A process data width
of 16 bits is achieved by moving the digits to the left bit by bit.

6.4.1 EL30xx parameterization

An EL30xx is parameterized via two dialog boxes/tabs in the TwinCAT System Manager, the Process Data
tab (A) for the communication-specific settings and the CoE directory (B) for the settings in the slave.

Fig.192: EL30xx parameterization

Changes to the process data-specific settings are generally only effective after a restart of the
EtherCAT master:
Restart TwinCAT in RUN or CONFIG mode; RELOAD in CONFIG mode
Changes to the online CoE directory
are in general immediately effective.
are in general stored non-volatile only in the terminal/in the slave and should therefore be
entered in the CoE StartUp list. This list is processed at each EtherCAT start and the settings
are loaded into the slave.

6.4.2 Process data

The EL30xx terminals offer two different process data per analog channel for transmission: the analog value
Value (16-bit) and status information Status (16-bit). The transfer of individual status information and
individual channels can be disabled in the ProcessData tab. These changes become effective after activation
and an EtherCAT restart or a reload.

There is a choice of two types of process data in the EL30xx:

Standard: standard setting, Value (16-bit) and status information (8 or 16 bit) are transmitted per
channel.
Compact: only the Value (16 bit) is transmitted per channel

The settings are described below, taking the EL3002 (two channels, +/-10V) as an example. The data apply
to TwinCAT 2.11 from build 1544 onward and XML revision from EL30xx-0000-0017 onward.

EL30xx Version: 4.4 169

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Interpretation of value & status variable

Fig.193: Default process data of the EL3002-0000-0017

The plain text display of the bit meanings of the Status word is particularly helpful not only in commissioning
but also for linking to the PLC program.
By right-clicking on the Status variable in the configuration tree (A), the structure can be opened for linking
(B).

In order to be able to read the bit meanings in plain text in the online display (C), use the button Show Sub
Variables

Fig.194: Show Sub Variables

to display all subvariables and the structure contents of the status word, see Fig. Display of the subvariables
of the EL3002-0000-0017 from TwinCAT 2.11 build 1544 onwards.

170 Version: 4.4 EL30xx

 Commissioning

Fig.195: Display of the subvariables of the EL3002-0000-0017 from TwinCAT 2.11 build 1544 onwards

Status word

The status word (SW) is located in the input process image, and is transmitted from terminal to the controller.

Bit SW.15 SW.14 SW.13 SW.12 SW.11 SW.10 SW.9 SW.8

Name TxPDO TxPDO - - - - - -
Toggle State

Bit SW.7 SW.6 SW.5 SW.4 SW.3 SW.2 SW.1 SW.0

Name - ERROR Limit 2 Limit 1 Overrange Underrang
e

Table1: Legend

Bit Name Description

SW.15 TxPDO Toggle 1bin Toggles with each new analog process value
SW.14 TxPDO State 1bin TRUE in the case of an internal error
SW.6 ERROR 1bin General error bit, is set together with overrange and
underrange
SW.5 Limit 2 1bin See Limit [}186]
SW.4 1bin
SW.3 Limit 1 1bin See Limit [}186]
SW.2 1bin
SW.1 Overrange 1bin Analog input signal lies above the upper permissible threshold
for this terminal
SW.0 Underrange 1bin Analog input signal lies under the lower permissible threshold
for this terminal

EL30xx Version: 4.4 171

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6.4.3 Changeover of process data sets

The process data to be transmitted (PDO, ProcessDataObjects) can be selected by the user
completely for all channels via the selection dialog Predefined PDO Assignment (all TwinCAT
versions)
selectively for individual PDOs, taking into account the excluded elements.

Predefined PDO Assignment selection dialog (from TwinCAT 2.11 build 1544 onwards)

Defined PDO sets can be preselected if they exist in the XML description.

Fig.196: Predefined PDO assignments of the EL3002-0000-0017

As a result, all channels of the EL30xx are set at the same time to standard or compact process image.

Selective PDO selection

All TwinCAT versions support the selective selection of individual PDOs, as defined in the XML description.
Exclusion criteria prevent irregular combinations.

172 Version: 4.4 EL30xx

 Commissioning

Fig.197: Selective PDO selection

Explanatory notes for Fig. Selective PDO selection: In the Process Data tab, it can be seen under (A) that
this EL3002 offers several different PDOs for the transmission, and in fact for each channel
AI Standard from the CoE index 0x1A00/0x1A02: Measured value and status of the channel ,
therefore 4 bytes
and
AI Compact under CoE index 0x1A01/0x1A03: only the measured value of the channel, therefore 2
bytes

By selecting the necessary Input SyncManager in (B), the PDO assignment under (C) can be carried out
manually. The process data can then be linked in the TwinCAT tree (D).

Note about earlier EL30xx versions

EtherCAT Terminals of version EL30xx-0000-0016 (FW < 04) only offer element-wise linking according to
Fig. Element-orientated process data in EL30xx-0000-0016.

EL30xx Version: 4.4 173

Commissioning

Fig.198: Element-orientated process data of the EL30xx-0000-0016

An update [}225] of the XML description to Rev. -0017 is possible.

Note about the 1-byte status of earlier EtherCAT terminals

Previous analog input terminals from Beckhoff (e.g. EL31x2) had a Status byte instead of the Status word
that is now implemented and therefore a 3-byte interface. 8 additional bits now offer extended diagnostic
options, wherein the default process image of the EL30xx and EL31xx now encompasses 4 bytes, Status
word and Value word. The bit meanings of the LowByte are retained; Limit1 and Limit2 as 2-bit types are
shown in the case of the EL30xx.

Fig.199: 3-byte interface of the EL31x2

If the 3-byte interface for linking to the analogue input channel is implemented in existing PLC projects, the
TwinCAT System Manager nevertheless offers the possibility to link the EL30xx/EL31xx with a 4-byte
interface.

To do this, open the link dialog as usual by double-clicking on the variable and activate the AllTypes
checkbox. As a result, variables with differing sizes are also offered for linking. Select the corresponding 1-
byte input variable for your application. In the following SizeMismatch dialog the cover of 8bits is confirmed.
Fig. Connecting 4-byte interface of the EL31xx/EL30xx to a 3-byte interface existing in the project.

174 Version: 4.4 EL30xx

 Commissioning

Fig.200: Connecting the 4-byte interface of the EL31xx/EL30xx to a 3-byte interface existing in the project

Note about TwinCAT 2.10

The structured representation of the EL30xx from revision EL30xx-0000-0017 onwards as shown in figure
(B) below is due to a corresponding interpretation of the designations of the variables. This function does not
exist in TwinCAT 2.10 (A) yet, which is why only element-wise linking is possible there.

Fig.201: Element-orientated process image under TwinCAT 2.10 structured representation TwinCAT 2.11

EL30xx Version: 4.4 175

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6.4.4 Operating modes

The operating modes recommended for the EL30xx are defined via the terminal settings. Setting parameters
are:

Parameter Explanation
Analog value of filter Filters can be switched on and parameterized for all channels at the same
(index:0x8000:06 [}193] ) time via the CoE directory.
FastOp-Mode "CoE" (Index: Deactivation of the processing of the CoE directory results in a higher
0x1C33:01 [}204], bit 15) possible update frequency.
Synchronization mode Selection of the basic operating mode: free running or frame triggered.
(index:0x1C33:01 [}204], bit 0) The EL30xx has no Distributed Clocks mode

Certain analog input and output terminals from Beckhoff feature the so-called fast mode in the filter off mode
by reducing the transmitted channel data via the PDO selection, it was possible to achieve faster analog
value processing, since a shorter processing time was required for the retrieval and processing of analog
values. This is the case with the EL31xx and EL41xx, for example. The EL30xx does not have this mode.

176 Version: 4.4 EL30xx

 Commissioning

The operating modes of the EL30xx are:

Mode 1 (default) 2 3 4 5
Filter (Index: On (default.: 50Hz FIR) Off
0x8000:06 [}193])
Default setting for EL30xx EL31xx
Synchronization FreeRun (default) FreeRun (default) Frame Triggered (SM2)
mode
(index:0x1C33:01
[}204], bit 0)
FastOp-Mode Off (default) Off (default) On Off (default) On
"CoE" (Index:
0x1C33:01 [}204],
bit 15)
StartUp entry 0x0000 0x0000 0x8000 0x0001 0x8001
index 0x1C33:01
[}204]
Update frequency depends on filter setting; automatically set inside EtherCAT cycle time, if value does
the terminal not fall below the lower setting-de-
see following values pendent limit. See following values
for typical limit.
Operation with a faster EtherCAT
cycle is possible, but in that case
the EL30xx no longer supplies new
data in each cycle.
typical data update 50Hz FIR: typical 625 < 600 s < 500 s
time (EL30x1) s
typ. data update 60Hz FIR: typical 520
time (EL30x2) s
typ. data update IIR: typical 1 ms
time (EL30x4)
typ. data update 50Hz FIR: typ. 1.25ms < 1.1ms < 1ms
time (EL30x8) 60Hz FIR: typ. 1ms
IIR: typ. 1ms
Note If filtering is enabled, the
following settings are
activated in the EL30xx,
irrespective of other set-
tings
FreeRun = on
and
FastOp mode = off.

Combinations of filters, FastOp mode and Synchronization mode

Other combination options of filter, FastOp mode and Synchronization mode are expressly
not recommended.
Note

Filter

The filters of the EL30xx are activated or deactivated via the CoE index 0x8000:15 [}193].

EL30xx Version: 4.4 177

Commissioning

The filter characteristics are set via index 0x8000:15 [}193]

The filter frequencies are set for all channels of the EL30xx terminals centrally via index
0x8000:15 [}193] (channel 1). All other corresponding indices 0x80n0:15 have no parame-
Note
terization function! The latest firmware version (see status table [}219]) returns an Ether-
CAT-compliant error message, if the filter characteristics of other channels (index
0x80n0:06, 0x80n0:15) are set.

Synchronization & FastOp mode

The synchronization and the standard/fast mode are set via a 16-bit StartUp entry on the CoE index
0x1C33:01 [}204] in the transition PREOP --> SAFEOP. They can thus be changed only by activation and
an EtherCAT restart.

The success of parameter changes on the IO update time can be monitored by checking TxPDOToggle.

Synchronization mode FreeRun (default) FrameTriggered SM2: synchro-

nous with SM2 Event
Setting Delete the LSB (least significant Set the LSB (least significant bit) in
bit) in the 16-bit entry index the 16-bit entry index 0x1C33:01
0x1C33:01
Index 0x1C33:01 [}204], bit 0 = 1
Index 0x1C33:01 [}204], bit 0 = 0 e.g. 0x1C33:01 = 0001hex
e.g. 0x1C33:01 = 0000hex Dont forget the entry in the StartUp
list!
Effect The sequence of the internal The sequence of the internal
terminal calculations and CoE terminal calculations and CoE
processing is automatically processing is started after a run by
restarted after a run operation is the next communication event of
free-running. the SyncManager2 (Inputs), i.e. by
The IO update frequency is the next EtherCAT cycle.
independent of the EtherCAT cycle The EL30xx operates in fast mode
time. with the cycle time of the
This mode of operation is application and returns the current
necessary in conjunction with filters reading in each cycle, as long as
that require filter-dependent the typical data update time [}177]
computing times. does not fall below the minimum
value.
If the EL30xx is operated faster,
object 0x1C33:0C [}204] in
the CoE increments.
the process data
TxPDOToggle no longer
toggles in each IO cycle
Filters are not possible in this
operating mode.

FastOp mode Off (default) On

Setting Delete the 15th bit in 16-bit entry Set the 15th bit in 16-bit entry index
index 0x1C33:01 0x1C33:01
Index 0x1C33:01 [}204], bit 15 = 0 Index 0x1C33:01 [}204], bit 15 = 1
e.g. 0x1C33:01 = 0000hex e.g. 0x1C33:01 = 8000hex
Effect Normal operation of the EL30xx Support for the online CoE
directory is switched off. The
calculation and update time for new
analog values can thus be
shortened.

Example:

178 Version: 4.4 EL30xx

 Commissioning

The SM2 mode is activated by the following entry in the transition P-->S in the StartUp list:

Fig.202: modified StartUp list

FastOp mode and CoE

If the FastOp mode is turned on, the CoE interface is deactivated starting from the slave
state SAFEOP. CoE parameterization of the EL30xx is no longer possible during the oper-
Attention ating period/online, neither via the control nor via the System Manager. The EL30xx then
works with the CoE settings that it had stored last. Therefore, if further CoE settings (e.g.
filters or limits) are to be made, these must likewise be entered in the transition P-->S in the
StartUp list. The FastOp mode must be deactivated by an entry 00 on the index
0x1C33:01 [}204] in the StartUp list this change is only active after the next EtherCAT
restart (wherein the StartUp list is executed).

CoE StartUp list

Entries in the startup list are only executed when the specified change of EtherCAT status
is reached, if the configuration *.tsm was activated with the button Enable Configuration, for
Note example (Fig. Enable Configuration button)!

Fig.203: Enable Configuration button

EL30xx Version: 4.4 179

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6.4.5 Data stream and correction calculation

The flow chart below (Fig. EL30xx data stream) illustrates the data stream for the EL30xx (processing of raw
data, and verification and correction of the process data when the limits are reached).

Fig.204: EL30xx data stream

The correction calculation for the raw values in relation to the output values when the limit ranges are
exceeded is shown in figures:

Data flow with correction calculation - EL300x [}180]

Data flow with correction calculation - EL301x, EL304x [}181]

Data flow with correction calculation - EL302x, EL305x [}181]

Data flow with correction calculation - EL306x [}181]

EL300x

+/- 10V

Fig.205: Data flow with correction calculation - EL300x

180 Version: 4.4 EL30xx

 Commissioning

EL301x, EL304x

0...20mA

Fig.206: Data flow with correction calculation - EL301x, EL304x

EL302x, EL305x

4...20mA

Fig.207: Data flow with correction calculation - EL302x, EL305x

EL306x

0...10V/0...30V

Fig.208: Data flow with correction calculation - EL306x

EL30xx Version: 4.4 181

Commissioning

6.4.6 Undershoot and overshoot of the measuring range (under-

range, over-range), index 0x60n0:02, 0x60n0:03
Undershoot:
Index 0x60n0:01 [}194] and index 0x60n0:07 [}194] (under-range and error bit) are set.
Indicates that the output value is below -256 (approx. 0.8% of end value; -32767 for bipolar terminals). The
output value is limited to 0 (-32768). For bipolar terminals underrange is also set if the ADC outputs the lower
limit value.

Overshoot:
Index 0x60n0:02 [}194] and index 0x60n0:07 [}194] (over-range and error bit) are set.
Indicates that the output value is above 32768. The output value is limited to 32768. Overrange is also set if
the ADC outputs the upper limit value.

The error LED lights up if the error bit is set.

Error bit (index 0x60n0:07 [}194])

The error bit indicates an overrange or underrange. For the EL305x terminals (4..20mA
versions), overrange or underrange of approx. 3.5mA is displayed.
Note

182 Version: 4.4 EL30xx

 Commissioning

6.4.7 Calculation of process data

Calculation of process data

The concept calibration, which has historical roots at Beckhoff, is used here even if it has nothing to do with
the deviation statements of a calibration certificate. Actually, this is a description of the vendor or customer
calibration data/adjustment data used by the device during operation in order to maintain the assured
measuring accuracy.

The terminal constantly records measured values and saves the raw values from its A/D converter in the
ADC raw value object 0x80nE:01 [}195]. After each recording of the analog signal, the correction calculation
takes place with the vendor and user calibration data as well as the user scaling, if these are activated (see
following picture).

Fig.209: Calculation of process data

Calculation Designation
XADC Output of the A/D converter
XF Output value after the filter
YH = (XADC BH) x AH x 2-14 Measured value after vendor calibration,
YA = (YH BA) x AA x 2 -14 Measured value after vendor and user calibration

YS= YA x AS x 2-16 + BS Measured value following user scaling

Table2: Legend

Name Designation Index

XADC Output value of the A/D converter 0x80nE:01 [}195]
XF Output value after the filter -
BH Vendor calibration offset (not changeable) 0x80nF:01 [}194]
AH Vendor calibration gain (not changeable) 0x80nF:02 [}194]
BA User calibration offset (can be activated via index 0x80n0:0A [}193]) 0x80n0:17 [}193]
AA User calibration gain (can be activated via index 0x80n0:0A [}193]) 0x80n0:18 [}193]
BS User scaling offset (can be activated via index 0x80n0:01 [}193]) 0x80n0:11 [}193]
AS User scaling gain (can be activated via index 0x80n0:01 [}193]) 0x80n0:12 [}193]
YS Process data for controller -

Measurement result
The accuracy of the result may be reduced if the measured value is smaller than 32767 / 4
due to one or more multiplications.
Note

EL30xx Version: 4.4 183

Commissioning

6.4.8 Settings

6.4.8.1 FIR and IIR filter

Filter

The EL 30xx terminals incorporate a digital filter which, depending on its settings, can adopt the
characteristics of a Finite Impulse Response filter (an FIR filter), or an Infinite Impulse Response filter (an
IIR filter). The filter can also be deactivated.

The filter characteristics are set via index 0x8000:15 [}193]

The filter frequencies are set for all channels of the EL30xx terminals centrally via index
0x8000:15 [}193] (channel 1). The corresponding indices 0x80n0:15 of the other channels
Note
have no parameterization function.

FIR filter

The filter performs a notch filter function and determines the conversion time of the terminal. It is
parameterized via the index 0x8000:15 [}193]. The higher the filter frequency, the faster the conversion time.
A 50 Hz and a 60 Hz filter are available.
Notch filter means that the filter has zeros (notches) in the frequency response at the filter frequency and
multiples thereof, i.e. it attenuates the amplitude at these frequencies.

The FIR filter functions as a non-recursive filter, which can be adjusted by the parameterization of the object
0x8000:15 [}193].

Fig.210: typical attenuation curve of notch filter at 50 Hz

Table3: Filter data for FIR filter (1 to 4-channel terminals)

Filter Attenuation Limit frequency (-3 dB)

50Hz FIR >50dB 22Hz
60Hz FIR >40dB 26Hz

184 Version: 4.4 EL30xx

 Commissioning

Table4: Filter data for FIR filter (8-channel terminals)

Filter Attenuation Limit frequency (-3 dB)

50Hz FIR >50dB 23Hz
60Hz FIR >50dB 27Hz

IIR filter

The filter with IIR characteristics is a discrete time, linear, time invariant filter that can be set to eight levels
(level 1 = weak recursive filter, up to level 8 = strong recursive filter).

The IIR can be understood to be a moving average value calculation after a low-pass filter.

By means of the synchronization mode FreeRun, the IIR filter works with an internal cycle time of 500 s (1,
2 or 4 channels) or 1 ms (8 channels).

Table5: Filter data for IIR filter

IIR filter Limit frequency for an internal terminal cycle time of 1 ms (-3 dB)
IIR 1 168 Hz
IIR 2 88 Hz
IIR 3 43Hz
IIR 4 21Hz
IIR 5 10.5Hz
IIR 6 5.2Hz
IIR 7 2.5Hz
IIR 8 1.2Hz

Conversion time & FIR and IIR filters, index 0x80n0:06 [}193]

0x80n0:06 [}193]FIR and IIR filter conversion time

The typical conversion time and trigger mode depend on

the selected filter setting (default: 50Hz)
the setting in the CoE register 0x1C33:01 [}204]
by manual parameterization in the System Manager. CAUTION: Enter any changes made in
the StartUp list!
by the StartUp list as an automatic parameter download during the EtherCAT start phase.
CAUTION: Entries are implemented only after activation of the configuration!

The conversion time is the time interval in which the EL30xx makes a new measured value available. A new
measured value is displayed by toggling TxPDO Toggle (index 0x60n0:10 [}194]).

6.4.8.2 Calibration

User scaling, index 0x80n0:01 [}193]

The user scaling is enabled via index 0x80n0:01 [}193]. Parameterization takes place via the indices
0x80n0:11 [}193]
User scaling offset
0x80n0:12 [}193]
User scaling gain

EL30xx Version: 4.4 185

Commissioning

Vendor calibration, index 0x80n0:0B [}193]

The vendor calibration is enabled via index 0x80n0:0B [}193]. Parameterization takes place via the indices
0x80nF:01 [}194]
Offset (vendor calibration)
0x80nF:02 [}194]
Gain (vendor calibration)

Vendor calibration
The vendor reserves the authority for the basic calibration of the terminals. Therefore, the
vendor calibration cannot be changed.
Note

User compensation, index 0x80n0:17 [}193], 0x80n0:18 [}193]

The user calibration is enabled via index 0x80n0:0A [}193]. Parameterization takes place via the indices
0x80n0:17 [}193]
User offset compensation
0x80n0:18 [}193]
User gain compensation

6.4.8.3 Limit, Swap limit

Limit 1 and limit 2, index 0x80n0:13, [}193] index 0x80n0:14 [}193]

If the value exceeds or falls below these values, which can be entered in the indices 0x80n0:13 [}193] and
0x80n0:14 [}193] , then the bits in the indices 0x60n0:03 [}194] and 0x60n0:05 [}194] are set accordingly
(see example below). The indices 0x80n0:07 [}193] or 0x80n0:08 [}193] respectively serve to activate the
limit value monitoring.

Output Limit n (2-bit):

0: not active
1: Value is smaller than the limit value
2: Value is larger than the limit value
3: Value is equal to the limit value

Limit evaluation
The limit evaluation assumes a signed representation. The conversion to the desired repre-
sentation (index 0x80n0:02 [}193]) only takes place after the limit evaluation.
Note

Swap Limit index 0x80n0:0E [}193]

The limit function can be inverted by SwapLimitBits in index 0x80n0:0E [}193].

Output Limit n (2-bit):

186 Version: 4.4 EL30xx

 Commissioning

SwapLimitBits setting Value

FALSE (default setting) 0: not active
1: value < limit value
2: value > limit value
3: Value is equal to the limit value
TRUE 0: not active
1: value > limit value
2: value < limit value
3: Value is equal to the limit value

The Swap limit function is available according to the table below

Terminal Swap limit function from

EL300x Firmware 05, Rev. EL300x-000-0018
EL301x, Firmware 01, Rev. EL301x-0000-0016
EL302x Firmware 01, Rev. EL302x-0000-0016
EL3041, Firmware 05, Rev. EL3041-0000-0017
EL3042, EL3042-0017 Firmware 05, Rev. EL3042-xxxx-0017
EL3044, Firmware 06, Rev. EL3044-000-0017
EL3048 Firmware 06, Rev. EL3048-000-0017
EL3051, Firmware 05, Rev. EL3051-000-0017
EL3052 Firmware 05, Rev. EL3052-000-0017
EL3054, Firmware 06, Rev. EL3054-000-0017
EL3058 Firmware 06, Rev. EL3058-000-0017
EL3061, Firmware 04, Rev. EL3061-000-0017
EL3062 Firmware 04, Rev. EL3061-000-0017
EL3064, Firmware 06, Rev. EL3064-000-0017
EL3068 Firmware 06, Rev. EL3068-000-0017

Example for EL3062:

Channel 1;Limit 1 and Limit 2 enabled, Limit 1 = 2.8 V, Limit 2 = 7.4 V, representation: signed integer

Entry in index (Limit 1): 0x8000:13 [}193]

(2.8V/10V) x 216 / 2 - 1 = 9.174dec

Entry in index (Limit 2): 0x8000:14 [}193]

(7.4V/10V) x 216 / 2 - 1 = 24.247dec

Output:

Input channel 1 Index 0x6000:03 [}194] Index 0x6000:05 [}194]

1.8 V 0x01hex, (Limit1, limit value 0x01hex, (Limit2, limit value undershot)
undershot)
2.8 V 0x03hex, (Limit1, limit value reached) 0x01hex, (Limit2, limit value undershot)
4.2 V 0x02hex, (Limit1, limit value exceeded) 0x01hex, (Limit2, limit value undershot)
8.5 V 0x02hex, (Limit1, limit value exceeded) 0x02hex, (Limit2, limit value exceeded)

Note on linking in the PLC with 2-bit values

Linking in the PLC with 2-bit values

The limit information consists of 2 bits. Limitn can be linked to the PLC or a task in the Sys-
tem Manager.
Note

EL30xx Version: 4.4 187

Commissioning

PLC:
IEC61131-PLC contains no 2-bit data type that can be linked with this process data directly. For
transferring the limit information, define an input byte (e.g. see Fig. Input byte definition) and link the
limit to the VariableSizeMismatch dialog, as described in section Note about the 1-byte status of
earlier EtherCAT Terminals [}174].

Fig.211: Input byte definition

Additional task
2-bit variables can be created in the System Manager.

Fig.212: Linking of 2-bit variable to additional task

6.4.8.4 Presentation

Presentation, index 0x80n0:02 [}193]

The measured value output is set in factory to two's complement representation (signed integer).
Index 0x80n0:02 [}193] offers the possibility to change the method of representation of the measured value.

Signed Integer representation

The negative output value is represented in twos complement (negated + 1).

Maximum representation range for 16 bits = -32768 to +32767dec

188 Version: 4.4 EL30xx

 Commissioning

Input signal Value

EL300x EL304x EL305x EL306x EL3062-0030 Decimal Hexadecimal
10V 20mA 20mA 10V 30V 32767 0x7FFF
5V 10mA 12mA 5V 15V 16383 0x3FFF
0x0001
0V 0mA 4mA 0V 0V 0 0x0000
0xFFFF
-5V -16383 0xC001
-10V -32768 0x8000

Unsigned Integer representation

The output value is represented with 15-bit resolution without sign, therefore polarity detection is no longer
possible.
Maximum representation range for 16 bits = 0 to +32767dec
Input signal Value
EL300x EL304x EL305x EL306x EL3062-0030 Decimal Hexadecimal
10V 20mA 20mA 10V 30V 32767 0x7FFF
5V 10mA 12mA 5V 15V 16383 0x3FFF
0x0001
0V 0mA 4mA 0V 0V 0 0x0000
0x0001
-5V 16383 0x3FFF
-10V 32767 0x7FFF

Absolute value with MSB as sign - representation

The output value is displayed in magnitude-sign format: MSB=1 (highest bit) in the case of negative values.
Maximum representation range for 16 bits = -32767 to +32767dec
Input signal Value
EL300x EL304x EL305x EL306x EL3062-0030 Decimal Hexadecimal
10V 20mA 20mA 10V 30V 32767 0x7FFF
5V 10mA 12mA 5V 15V 16383 0x3FFF
0x0001
0V 0mA 4mA 0V 0V 0 0x0000
0x8001
-5V [-16383] 0xBFFF
-10V [-32767] 0xFFFF

Presentation types
The presentation types "Unsigned Integer" and "Absolute value with MSB as sign" have no
function for unipolar terminals. There is no change in the presentation in the positive range.
Note

6.4.8.5 Siemens Bits

Siemens bits, index 0x80n0:05 [}193]

If this bit is set, status displays are superimposed on the lowest three bits. In the error case "overrange" or
"underrange", bit 0 is set.

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6.4.9 EtherCAT master error messages

EtherCAT error messages specifically for the EL30xx are

Number Name Explanation

0x06090031 ABORT_VALUE_TOO_GREAT CoE 0x8000:12 (user scale gain
greater than 0x0007FFFF)
0x06090032 ABORT_VALUE_TOO_SMALL CoE 0x8000:12 (user scale gain
smaller than -0x0007FFFF)
0x08000021 ABORT_DATA_CANNOT_BE_READ_OR_STORED_ CoE 0x80nF:0x no authorization to
BECAUSE_OF_LOCAL_CONTROL write manufacturer data
CoE 0x1C33: Contents locked
because filter active

The Beckhoff TwinCAT EtherCAT master outputs the slave error message according to the ETG
specification in plain text in the logger window:

Fig.213: TwinCAT logger window, example of incorrect StartUp entry under TwinCAT 2.11

6.4.10 Producer Codeword

Producer Codeword
Beckhoff reserves the right to implement the basic calibration of the terminals. The Pro-
ducer codeword is therefore at present reserved.
Note

6.4.11 Password protection for user calibration

The data for the User calibration (offset/gain) are located in the CoE in the group together with the other
channel-specific setting data.

Fig.214: specific data for EL30xx, channel 1

190 Version: 4.4 EL30xx

 Commissioning

These data are also overwritten by a RestoreDefaultParameter (CoE 0x1011:01) or CompleteAccess access
to 0x80n0.

From the FW revision specified above these two values are protected by an additional password in CoE
0xF009

Fig.215: Password protection

Use
0x12345678 activates the password protection --> object indicates 1 (switched on)
User Calibration gain and offset can no longer be changed; there is no error message with a write
access!
0x11223344 deactivates the password protection --> object indicates 0 (switched off)

This function is available according to the table below

Terminal from FW
EL300x FW07
EL301x, EL302x FW03
EL304x, EL305x, El306x FW08

6.4.12 Interference from equipment

When operating the EL30xx analog EtherCAT terminals, high frequency superimposed signals from
interfering devices (e.g. proportional valves, stepper motors or DC motor output stages) can be picked up by
the terminal. In order to guarantee interference-free operation, we recommend the use of separate power
supply units for the terminals and the interference-causing devices.

6.5 Object description and parameterization

EtherCAT XML Device Description
The display matches that of the CoE objects from the EtherCAT XML Device Description.
We recommend downloading the latest XML file from the download area of the Beckhoff
Note
website and installing it according to installation instructions.

Parameterization
The terminal is parameterized via the CoE - Online tab [}155] (double-click on the respec-
tive object) or via the Process Data tab [}152](allocation of PDOs).
Note

Introduction

The CoE overview contains objects for different intended applications:

Objects required for parameterization during commissioning:
Restore object [}192] index 0x1011
Configuration data [}193] index 0x80n0
Objects intended for regular operation [}194], e.g. through ADS access.
Profile-specific objects:
Configuration data (manufacturer-specific) [}194] index 0x80nF
Input data [}194] index 0x60n0
Information and diagnostic data [}195] index 0x80nE, 0xF000, 0xF008, 0xF010

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Standard objects [}195]

The following section first describes the objects required for normal operation, followed by a complete
overview of missing objects.

6.5.1 Restore object

Index 1011 Restore default parameters

Index (hex) Name Meaning Data type Flags Default
1011:0 Restore default param- Restore default parameters UINT8 RO 0x01 (1dec)
eters [}235]
1011:01 SubIndex 001 If this object is set to "0x64616F6C" in the set value di- UINT32 RW 0x00000000
alog, all backup objects are reset to their delivery state. (0dec)

192 Version: 4.4 EL30xx

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6.5.2 Configuration data

Index 80n0 AI settings (for 0 n 7)

Index (hex) Name Meaning Data type Flags Default
80n0:0 AI Settings Maximum subindex UINT8 RO 0x18 (24dec)
80n0:01 Enable user scale User scale is active. BOOLEAN RW 0x00 (0dec)
[}186]
80n0:02 Presentation [}188] 0: Signed presentation BIT3 RW 0x00 (0dec)
1: Unsigned presentation
2: Absolute value with MSB as sign
Signed amount representation
80n0:05 Siemens bits [}189] The S5 bits are displayed in the three low-order bits BOOLEAN RW 0x00 (0dec)
80n0:06 Enable filter [}185] Enable filter, which makes PLC-cycle-synchronous BOOLEAN RW 0x01 (1dec)
data exchange unnecessary
80n0:07 Enable limit 1 [}186] Limit 1 enabled BOOLEAN RW 0x00 (0dec)
80n0:08 Enable limit 2 [}186] Limit 2 enabled BOOLEAN RW 0x00 (0dec)
80n0:0A Enable user calibration Enabling of the user calibration BOOLEAN RW 0x00 (0dec)
[}185]
80n0:0B Enable vendor calibra- Enabling of the vendor calibration BOOLEAN RW 0x01 (1dec)
tion [}186]
80n0:0E* Swap limit bits [}186] Swap limit bits BOOLEAN RW 0x00 (0dec)
80n0:11 User scale offset User scaling offset INT16 RW 0x0000 (0dec)
[}185]
80n0:12 User scale gain [}185] User scaling gain. INT32 RW 0x00010000
The gain is represented in fixed-point format, with the (65536dec)
factor 2-16.
The value 1 corresponds to 65535dec (0x00010000hex)
and is limited to +/- 0x7FFFF.
80n0:13 Limit 1 [}186] First limit value for setting the status bits INT16 RW 0x0000 (0dec)
80n0:14 Limit 2 [}186] Second limit value for setting the status bits INT16 RW 0x0000 (0dec)
80n0:15 Filter settings [}185] This object determines the digital filter settings, if it is UINT16 RW 0x0000 (0dec)
active via Enable filter (index 0x80n0:06 [}193]).
The possible settings are sequentially numbered.

0: 50Hz FIR
1: 60Hz FIR
2: IIR 1
3: IIR 2
4: IIR 3
5: IIR 4
6: IIR 5
7: IIR 6
8: IIR 7
9: IIR 8
Refer to the Note on setting the filter characteristics
[}193]
80n0:17 User calibration offset User offset compensation INT16 RW 0x0000 (0dec)
[}186]
80n0:18 User calibration gain User calibration gain INT16 RW 0x4000
[}186] (16384dec)

*available from FW / Rev. see table of availability [}187]

Filter

The filters of the EL30xx are activated or deactivated via the CoE index 0x8000:15 [}193].

EL30xx Version: 4.4 193

Commissioning

The filter characteristics are set via index 0x8000:15 [}193]

The filter frequencies are set for all channels of the EL30xx terminals centrally via index
0x8000:15 [}193] (channel 1). All other corresponding indices 0x80n0:15 have no parame-
Note
terization function! The latest firmware version (see status table [}219]) returns an Ether-
CAT-compliant error message, if the filter characteristics of other channels (index
0x80n0:06, 0x80n0:15) are set.

6.5.3 Objects for regular operation

The EL30xx has no such objects.

6.5.4 Profile-specific objects (0x6000-0xFFFF)

The profile-specific objects have the same meaning for all EtherCAT slaves that support the profile 5001.

6.5.4.1 Input data

Index 60n0 AI Inputs (for 0 n 7)

Index (hex) Name Meaning Data type Flags Default
60n0:0 AI inputs Maximum subindex INT16 RO 0x11 (17dec)
60n0:01 Underrange Value below measuring range. BOOLEAN RO 0x00 (0dec)
60n0:02 Overrange Measuring range exceeded. BOOLEAN RO 0x00 (0dec)
60n0:03 Limit 1 Limit value monitoring Limit 1 BIT2 RO 0x00 (0dec)

0: not active
1: Value is smaller than Limit Value 1
2: Value is larger than Limit Value 1
3: Value is equal to Limit Value 1
60n0:05 Limit 2 Limit value monitoring Limit 2 BIT2 RO 0x00 (0dec)

0: not active
1: Value is smaller than Limit Value 2
2: Value is larger than Limit Value 2
3: Value is equal to Limit Value 2
60n0:07 Error The error bit is set if the data is invalid (over-range, un- BOOLEAN RO 0x00 (0dec)
der-range)
60n0:0F TxPDO State Validity of the data of the associated TxPDO (0 = valid, BOOLEAN RO 0x00 (0dec)
1 = invalid).
60n0:10 TxPDO Toggle The TxPDO toggle is toggled by the slave when the BOOLEAN RO 0x00 (0dec)
data of the associated TxPDO is updated.
60n0:11 Value Analog input date INT32 RO 0x0000 (0dec)

6.5.4.2 Configuration data (vendor-specific)

Index 80nF AI Vendor data (for 0 n 7)

Index (hex) Name Meaning Data type Flags Default
80nF:0 AI Vendor data Maximum subindex UINT8 RO 0x02 (2dec)
80nF:01 Calibration offset Offset (vendor calibration) INT16 RW 0x0000 (0dec)
80nF:02 Calibration gain Gain (vendor calibration) INT16 RW 0x4000
(16384dec)

194 Version: 4.4 EL30xx

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6.5.4.3 Information and diagnostic data

Index 80nE AI Internal data (for 0 n 7)

Index (hex) Name Meaning Data type Flags Default
80nE:0 AI Internal data Maximum subindex UINT8 RO 0x01 (1dec)
80nE:01 ADC raw value ADC raw value UINT32 RO 0x00000000
(0dec)

Index F000 Modular device profile

Index (hex) Name Meaning Data type Flags Default
F000:0 Modular device profile General information for the modular device profile UINT8 RO 0x02 (2dec)
F000:01 Module index distance Index spacing of the objects of the individual channels UINT16 RO 0x0010 (16dec)
F000:02 Maximum number of Number of channels UINT16 RO 0x0008 (8dec)
modules

Index F008 Code word

Index (hex) Name Meaning Data type Flags Default
F008:0 Code word reserved UINT32 RW 0x00000000
(0dec)

Index F010 Module list

Index (hex) Name Meaning Data type Flags Default
F010:0 Module list Maximum subindex UINT8 RW 0x08 (8dec)
F010:01 SubIndex 001 Analog input profile (300) UINT32 RW 0x0000012C
(300dec)
F010:02 SubIndex 002 Analog input profile (300) UINT32 RW 0x0000012C
(300dec)
F010:03 SubIndex 003 Analog input profile (300) UINT32 RW 0x0000012C
(300dec)
F010:04 SubIndex 004 Analog input profile (300) UINT32 RW 0x0000012C
(300dec)
F010:05 SubIndex 005 Analog input profile (300) UINT32 RW 0x0000012C
(300dec)
F010:06 SubIndex 006 Analog input profile (300) UINT32 RW 0x0000012C
(300dec)
F010:07 SubIndex 007 Analog input profile (300) UINT32 RW 0x0000012C
(300dec)
F010:08 SubIndex 008 Analog input profile (300) UINT32 RW 0x0000012C
(300dec)

6.5.5 Standard objects

Standard objects (0x1000-0x1FFF)

The standard objects have the same meaning for all EtherCAT slaves.

Index 1000 Device type

Index (hex) Name Meaning Data type Flags Default
1000:0 Device type Device type of the EtherCAT slave: the Lo-Word con- UINT32 RO 0x012C1389
tains the CoE profile used (5001). The Hi-Word con- (19665801dec)
tains the module profile according to the modular de-
vice profile.

Index 1008 Device name

Index (hex) Name Meaning Data type Flags Default
1008:0 Device name Device name of the EtherCAT slave STRING RO EL30xx

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Index 1009 Hardware version

Index (hex) Name Meaning Data type Flags Default
1009:0 Hardware version Hardware version of the EtherCAT slave STRING RO 00

Index 100A Software version

Index (hex) Name Meaning Data type Flags Default
100A:0 Software version Firmware version of the EtherCAT slave STRING RO 01

Index 1018 Identity

Index (hex) Name Meaning Data type Flags Default
1018:0 Identity Information for identifying the slave UINT8 RO 0x04
1018:01 Vendor ID Vendor ID of the EtherCAT slave UINT32 RO 0x00000002
1018:02 Product code Product code of the EtherCAT slave UINT32 RO 0x0BC03052
1018:03 Revision Revision numberof the EtherCAT slave; the low word UINT32 RO 0x00110000
(bit 0-15) indicates the special terminal number, the
high word (bit 16-31) refers to the device description
1018:04 Serial number Serial number of the EtherCAT slave; the low byte (bit UINT32 RO 0x00000000
0-7) of the low word contains the year of production,
the high byte (bit 8-15) of the low word contains the
week of production, the high word (bit 16-31) is 0

Index 10F0 Backup parameter handling

Index (hex) Name Meaning Data type Flags Default
10F0:0 Backup parameter Information for standardised loading and saving of UINT8 RO 0x01 (1dec)
handling backup entries
10F0:01 Checksum Checksum across all backup entries of the EtherCAT UINT32 RO 0x00000000
slave (0dec)

Index 1800 AI TxPDO-Par Standard Ch.1

Index (hex) Name Meaning Data type Flags Default
1800:0 AI TxPDO-Par Stan- PDO parameter TxPDO 1 UINT8 RO 0x09 (9dec)
dard Ch.1
1800:06 Exclude TxPDOs Specifies the TxPDOs (index of TxPDO mapping ob- OCTET- RO 01 1A
jects) that must not be transferred together with Tx- STRING[2]
PDO 1
1800:07 TxPDO State The TxPDO state is set if it was not possible to cor- BOOLEAN RO 0x00 (0dec)
rectly read in the associated input data
1800:09 TxPDO Toggle The TxPDO toggle is toggled with each update the cor- BOOLEAN RO 0x00 (0dec)
responding input data

Index 1801 AI TxPDO-Par Compact Ch.1

Index (hex) Name Meaning Data type Flags Default
1801:0 AI TxPDO-Par Com- PDO parameter TxPDO 2 UINT8 RO 0x06 (6dec)
pact Ch.1
1801:06 Exclude TxPDOs Specifies the TxPDOs (index of TxPDO mapping ob- OCTET- RO 00 1A
jects) that must not be transferred together with Tx- STRING[2]
PDO 2

Index 1802 AI TxPDO-Par Standard Ch.2

Index (hex) Name Meaning Data type Flags Default
1802:0 AI TxPDO-Par Stan- PDO parameter TxPDO 3 UINT8 RO 0x09 (9dec)
dard Ch.2
1802:06 Exclude TxPDOs Specifies the TxPDOs (index of TxPDO mapping ob- OCTET- RO
jects) that must not be transferred together with Tx- STRING[2]
PDO 3
1802:07 TxPDO State The TxPDO state is set if it was not possible to cor- BOOLEAN RO
rectly read in the associated input data
1802:09 TxPDO Toggle The TxPDO toggle is toggled with each update the cor- BOOLEAN RO
responding input data

196 Version: 4.4 EL30xx

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Index 1803 AI TxPDO-Par Compact Ch.2

Index (hex) Name Meaning Data type Flags Default
1803:0 AI TxPDO-Par Com- PDO parameter TxPDO 4 UINT8 RO
pact Ch.2
1803:06 Exclude TxPDOs Specifies the TxPDOs (index of TxPDO mapping ob- OCTET- RO
jects) that must not be transferred together with Tx- STRING[2]
PDO 4

Index 1804 AI TxPDO-Par Standard Ch.3

Index (hex) Name Meaning Data type Flags Default
1804:0 AI TxPDO-Par Stan- PDO Parameter TxPDO 5 UINT8 RO
dard Ch.3
1804:06 Exclude TxPDOs Specifies the TxPDOs (index of TxPDO mapping ob- OCTET- RO
jects) that must not be transferred together with Tx- STRING[2]
PDO 5
1804:07 TxPDO State The TxPDO state is set if it was not possible to cor- BOOLEAN RO
rectly read in the associated input data
1804:09 TxPDO Toggle The TxPDO toggle is toggled with each update the cor- BOOLEAN RO
responding input data

Index 1805 AI TxPDO-Par Compact Ch.3

Index (hex) Name Meaning Data type Flags Default
1805:0 AI TxPDO-Par Com- PDO parameter TxPDO 6 UINT8 RO
pact Ch.3
1805:06 Exclude TxPDOs Specifies the TxPDOs (index of TxPDO mapping ob- OCTET- RO
jects) that must not be transferred together with Tx- STRING[2]
PDO 6

Index 1806 AI TxPDO-Par Standard Ch.4

Index (hex) Name Meaning Data type Flags Default
1806:0 AI TxPDO-Par Stan- PDO Parameter TxPDO 7 UINT8 RO
dard Ch.4
1806:06 Exclude TxPDOs Specifies the TxPDOs (index of TxPDO mapping ob- OCTET- RO
jects) that must not be transferred together with Tx- STRING[2]
PDO 7
1806:07 TxPDO State The TxPDO state is set if it was not possible to cor- BOOLEAN RO
rectly read in the associated input data
1806:09 TxPDO Toggle The TxPDO toggle is toggled with each update the cor- BOOLEAN RO
responding input data

Index 1807 AI TxPDO-Par Compact Ch.4

Index (hex) Name Meaning Data type Flags Default
1807:0 AI TxPDO-Par Com- PDO Parameter TxPDO 8 UINT8 RO
pact Ch.4
1807:06 Exclude TxPDOs Specifies the TxPDOs (index of TxPDO mapping ob- OCTET- RO
jects) that must not be transferred together with Tx- STRING[2]
PDO 8

Index 1808 AI TxPDO-Par Standard Ch.5

Index (hex) Name Meaning Data type Flags Default
1808:0 AI TxPDO-Par Stan- PDO Parameter TxPDO 9 UINT8 RO
dard Ch.5
1808:06 Exclude TxPDOs Specifies the TxPDOs (index of TxPDO mapping ob- OCTET- RO
jects) that must not be transferred together with Tx- STRING[2]
PDO 9
1808:07 TxPDO State The TxPDO state is set if it was not possible to cor- BOOLEAN RO
rectly read in the associated input data
1808:09 TxPDO Toggle The TxPDO toggle is toggled with each update the cor- BOOLEAN RO
responding input data

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Index 1809 AI TxPDO-Par Compact Ch.5

Index (hex) Name Meaning Data type Flags Default
1809:0 AI TxPDO-Par Com- PDO Parameter TxPDO 10 UINT8 RO
pact Ch.5
1809:06 Exclude TxPDOs Specifies the TxPDOs (index of TxPDO mapping ob- OCTET- RO
jects) that must not be transferred together with Tx- STRING[2]
PDO 10

Index 180A AI TxPDO-Par Standard Ch.6

Index (hex) Name Meaning Data type Flags Default
180A:0 AI TxPDO-Par Stan- PDO Parameter TxPDO 11 UINT8 RO
dard Ch.6
180A:06 Exclude TxPDOs Specifies the TxPDOs (index of TxPDO mapping ob- OCTET- RO
jects) that must not be transferred together with Tx- STRING[2]
PDO 11
180A:07 TxPDO State The TxPDO state is set if it was not possible to cor- BOOLEAN RO
rectly read in the associated input data
180A:09 TxPDO Toggle The TxPDO toggle is toggled with each update the cor- BOOLEAN RO
responding input data

Index 180B AI TxPDO-Par Compact Ch.6

Index (hex) Name Meaning Data type Flags Default
180B:0 AI TxPDO-Par Com- PDO Parameter TxPDO 12 UINT8 RO
pact Ch.6
180B:06 Exclude TxPDOs Specifies the TxPDOs (index of TxPDO mapping ob- OCTET- RO
jects) that must not be transferred together with Tx- STRING[2]
PDO 12

Index 180C AI TxPDO-Par Standard Ch.7

Index (hex) Name Meaning Data type Flags Default
180C:0 AI TxPDO-Par Stan- PDO Parameter TxPDO 13 UINT8 RO
dard Ch.7
180C:06 Exclude TxPDOs Specifies the TxPDOs (index of TxPDO mapping ob- OCTET- RO
jects) that must not be transferred together with Tx- STRING[2]
PDO 13
180C:07 TxPDO State The TxPDO state is set if it was not possible to cor- BOOLEAN RO
rectly read in the associated input data
180C:09 TxPDO Toggle The TxPDO toggle is toggled with each update the cor- BOOLEAN RO
responding input data

Index 180D AI TxPDO-Par Compact Ch.7

Index (hex) Name Meaning Data type Flags Default
180D:0 AI TxPDO-Par Com- PDO Parameter TxPDO 14 UINT8 RO
pact Ch.7
180D:06 Exclude TxPDOs Specifies the TxPDOs (index of TxPDO mapping ob- OCTET- RO
jects) that must not be transferred together with Tx- STRING[2]
PDO 14

Index 180E AI TxPDO-Par Standard Ch.8

Index (hex) Name Meaning Data type Flags Default
180E:0 AI TxPDO-Par Stan- PDO Parameter TxPDO 15 UINT8 RO
dard Ch.8
180E:06 Exclude TxPDOs Specifies the TxPDOs (index of TxPDO mapping ob- OCTET- RO
jects) that must not be transferred together with Tx- STRING[2]
PDO 15
180E:07 TxPDO State The TxPDO state is set if it was not possible to cor- BOOLEAN RO
rectly read in the associated input data
180E:09 TxPDO Toggle The TxPDO toggle is toggled with each update the cor- BOOLEAN RO
responding input data

198 Version: 4.4 EL30xx

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Index 180F AI TxPDO-Par Compact Ch.8

Index (hex) Name Meaning Data type Flags Default
180F:0 AI TxPDO-Par Com- PDO Parameter TxPDO 16 UINT8 RO
pact Ch.8
180F:06 Exclude TxPDOs Specifies the TxPDOs (index of TxPDO mapping ob- OCTET- RO
jects) that must not be transferred together with Tx- STRING[2]
PDO 16

Index 1A00 AI TxPDO-Map Standard Ch.1

Index (hex) Name Meaning Data type Flags Default
1A00:0 AI TxPDO-Map Stan- PDO Mapping TxPDO 1 UINT8 RO 0x09 (9dec)
dard Ch.1
1A00:01 SubIndex 001 1. PDO Mapping entry (object 0x6000 (AI Inputs), entry UINT32 RO 0x6000:01, 1
0x01 (Underrange))
1A00:02 SubIndex 002 2. PDO Mapping entry (object 0x6000 (AI Inputs), entry UINT32 RO 0x6000:02, 1
0x02 (Overrange))
1A00:03 SubIndex 003 3. PDO Mapping entry (object 0x6000 (AI Inputs), entry UINT32 RO 0x6000:03, 2
0x03 (Limit 1))
1A00:04 SubIndex 004 4. PDO Mapping entry (object 0x6000 (AI Inputs), entry UINT32 RO 0x6000:05, 2
0x05 (Limit 2))
1A00:05 SubIndex 005 5. PDO Mapping entry (2 bits align) UINT32 RO 0x0000:00, 2
1A00:06 SubIndex 006 6. PDO Mapping entry (6 bits align) UINT32 RO 0x0000:00, 6
1A00:07 SubIndex 007 7. PDO Mapping entry (object 0x1800 (AI TxPDO-Par UINT32 RO 0x1800:07, 1
Standard Ch.1), entry 0x07 (TxPDO State))
1A00:08 SubIndex 008 8. PDO Mapping entry (object 0x1800 (AI TxPDO-Par UINT32 RO 0x1800:09, 1
Standard Ch.1), entry 0x09 (TxPDO Toggle))
1A00:09 SubIndex 009 9. PDO Mapping entry (object 0x6000 (AI Inputs), entry UINT32 RO 0x6000:11, 16
0x11 (Value))

Index 1A01 AI TxPDO-Map Compact Ch.1

Index (hex) Name Meaning Data type Flags Default
1A01:0 AI TxPDO-Map Com- PDO Mapping TxPDO 2 UINT8 RO 0x01 (1dec)
pact Ch.1
1A01:01 SubIndex 001 1. PDO Mapping entry (object 0x6000 (AI Inputs), entry UINT32 RO 0x6000:11, 16
0x11 (Value))

Index 1A02 AI TxPDO-Map Standard Ch.2

Index (hex) Name Meaning Data type Flags Default
1A02:0 AI TxPDO-Map Stan- PDO Mapping TxPDO 3 UINT8 RO 0x09 (9dec)
dard Ch.2
1A02:01 SubIndex 001 1. PDO Mapping entry (object 0x6010 (AI Inputs), entry UINT32 RO 0x6010:01, 1
0x01 (Underrange))
1A02:02 SubIndex 002 2. PDO Mapping entry (object 0x6010 (AI Inputs), entry UINT32 RO 0x6010:02, 1
0x02 (Overrange))
1A02:03 SubIndex 003 3. PDO Mapping entry (object 0x6010 (AI Inputs), entry UINT32 RO 0x6010:03, 2
0x03 (Limit 1))
1A02:04 SubIndex 004 4. PDO Mapping entry (object 0x6010 (AI Inputs), entry UINT32 RO 0x6010:05, 2
0x05 (Limit 2))
1A02:05 SubIndex 005 5. PDO Mapping entry (2 bits align) UINT32 RO 0x0000:00, 2
1A02:06 SubIndex 006 6. PDO Mapping entry (6 bits align) UINT32 RO 0x0000:00, 6
1A02:07 SubIndex 007 7. PDO Mapping entry (object 0x1802 (AI TxPDO-Par UINT32 RO 0x1802:07, 1
Standard Ch.2), entry 0x07 (TxPDO State))
1A02:08 SubIndex 008 8. PDO Mapping entry (object 0x1802 (AI TxPDO-Par UINT32 RO 0x1802:09, 1
Standard Ch.2), entry 0x09 (TxPDO Toggle))
1A02:09 SubIndex 009 9. PDO Mapping entry (object 0x6010 (AI Inputs), entry UINT32 RO 0x6010:11, 16
0x11 (Value))

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Index 1A03 AI TxPDO-Map Compact Ch.2

Index (hex) Name Meaning Data type Flags Default
1A03:0 AI TxPDO-Map Com- PDO Mapping TxPDO 4 UINT8 RO 0x01 (1dec)
pact Ch.2
1A03:01 SubIndex 001 1. PDO Mapping entry (object 0x6010 (AI Inputs), entry UINT32 RO 0x6010:11, 16
0x11 (Value))

Index 1A04 AI TxPDO-Map Standard Ch.3

Index (hex) Name Meaning Data type Flags Default
1A04:0 AI TxPDO-Map Stan- PDO Mapping TxPDO 5 UINT8 RO 0x09 (9dec)
dard Ch.3
1A04:01 SubIndex 001 1. PDO Mapping entry (object 0x6020 (AI Inputs), entry UINT32 RO 0x6020:01, 1
0x01 (Underrange))
1A04:02 SubIndex 002 2. PDO Mapping entry (object 0x6020 (AI Inputs), entry UINT32 RO 0x6020:02, 1
0x02 (Overrange))
1A04:03 SubIndex 003 3. PDO Mapping entry (object 0x6020 (AI Inputs), entry UINT32 RO 0x6020:03, 2
0x03 (Limit 1))
1A04:04 SubIndex 004 4. PDO Mapping entry (object 0x6020 (AI Inputs), entry UINT32 RO 0x6020:05, 2
0x05 (Limit 2))
1A04:05 SubIndex 005 5. PDO Mapping entry (2 bits align) UINT32 RO 0x0000:00, 2
1A04:06 SubIndex 006 6. PDO Mapping entry (6 bits align) UINT32 RO 0x0000:00, 6
1A04:07 SubIndex 007 7. PDO Mapping entry (object 0x1804 (AI TxPDO-Par UINT32 RO 0x1804:07, 1
Standard Ch.3), entry 0x07 (TxPDO State))
1A04:08 SubIndex 008 8. PDO Mapping entry (object 0x1804 (AI TxPDO-Par UINT32 RO 0x1804:09, 1
Standard Ch.3), entry 0x09 (TxPDO Toggle))
1A04:09 SubIndex 009 9. PDO Mapping entry (object 0x6020 (AI Inputs), entry UINT32 RO 0x6020:11, 16
0x11 (Value))

Index 1A05 AI TxPDO-Map Compact Ch.3

Index (hex) Name Meaning Data type Flags Default
1A05:0 AI TxPDO-Map Com- PDO Mapping TxPDO 6 UINT8 RO 0x01 (1dec)
pact Ch.3
1A05:01 SubIndex 001 1. PDO Mapping entry (object 0x6020 (AI Inputs), entry UINT32 RO 0x6020:11, 16
0x11 (Value))

Index 1A06 AI TxPDO-Map Standard Ch.4

Index (hex) Name Meaning Data type Flags Default
1A06:0 AI TxPDO-Map Stan- PDO Mapping TxPDO 7 UINT8 RO 0x09 (9dec)
dard Ch.4
1A06:01 SubIndex 001 1. PDO Mapping entry (object 0x6030 (AI Inputs), entry UINT32 RO 0x6030:01, 1
0x01 (Underrange))
1A06:02 SubIndex 002 2. PDO Mapping entry (object 0x6030 (AI Inputs), entry UINT32 RO 0x6030:02, 1
0x02 (Overrange))
1A06:03 SubIndex 003 3. PDO Mapping entry (object 0x6030 (AI Inputs), entry UINT32 RO 0x6030:03, 2
0x03 (Limit 1))
1A06:04 SubIndex 004 4. PDO Mapping entry (object 0x6030 (AI Inputs), entry UINT32 RO 0x6030:05, 2
0x05 (Limit 2))
1A06:05 SubIndex 005 5. PDO Mapping entry (2 bits align) UINT32 RO 0x0000:00, 2
1A06:06 SubIndex 006 6. PDO Mapping entry (6 bits align) UINT32 RO 0x0000:00, 6
1A06:07 SubIndex 007 7. PDO Mapping entry (object 0x1806 (AI TxPDO-Par UINT32 RO 0x1806:07, 1
Standard Ch.4), entry 0x07 (TxPDO State))
1A06:08 SubIndex 008 8. PDO Mapping entry (object 0x1806 (AI TxPDO-Par UINT32 RO 0x1806:09, 1
Standard Ch.4), entry 0x09 (TxPDO Toggle))
1A06:09 SubIndex 009 9. PDO Mapping entry (object 0x6030 (AI Inputs), entry UINT32 RO 0x6030:11, 16
0x11 (Value))

Index 1A07 AI TxPDO-Map Compact Ch.4

Index (hex) Name Meaning Data type Flags Default
1A07:0 AI TxPDO-Map Com- PDO Mapping TxPDO 8 UINT8 RO 0x01 (1dec)
pact Ch.4
1A07:01 SubIndex 001 1. PDO Mapping entry (object 0x6030 (AI Inputs), entry UINT32 RO 0x6030:11, 16
0x11 (Value))

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Index 1A08 AI TxPDO-Map Standard Ch.5

Index (hex) Name Meaning Data type Flags Default
1A08:0 AI TxPDO-Map Stan- PDO Mapping TxPDO 9 UINT8 RO 0x09 (9dec)
dard Ch.5
1A08:01 SubIndex 001 1. PDO Mapping entry (object 0x6040 (AI Inputs), entry UINT32 RO 0x6040:01, 1
0x01 (Underrange))
1A08:02 SubIndex 002 2. PDO Mapping entry (object 0x6040 (AI Inputs), entry UINT32 RO 0x6040:02, 1
0x02 (Overrange))
1A08:03 SubIndex 003 3. PDO Mapping entry (object 0x6040 (AI Inputs), entry UINT32 RO 0x6040:03, 2
0x03 (Limit 1))
1A08:04 SubIndex 004 4. PDO Mapping entry (object 0x6040 (AI Inputs), entry UINT32 RO 0x6040:05, 2
0x05 (Limit 2))
1A08:05 SubIndex 005 5. PDO Mapping entry (2 bits align) UINT32 RO 0x0000:00, 2
1A08:06 SubIndex 006 6. PDO Mapping entry (6 bits align) UINT32 RO 0x0000:00, 6
1A08:07 SubIndex 007 7. PDO Mapping entry (object 0x1808 (AI TxPDO-Par UINT32 RO 0x1808:07, 1
Standard Ch.5), entry 0x07 (TxPDO State))
1A08:08 SubIndex 008 8. PDO Mapping entry (object 0x1808 (AI TxPDO-Par UINT32 RO 0x1808:09, 1
Standard Ch.5), entry 0x09 (TxPDO Toggle))
1A08:09 SubIndex 009 9. PDO Mapping entry (object 0x6040 (AI Inputs), entry UINT32 RO 0x6040:11, 16
0x11 (Value))

Index 1A09 AI TxPDO-Map Compact Ch.5

Index (hex) Name Meaning Data type Flags Default
1A09:0 AI TxPDO-Map Com- PDO Mapping TxPDO 10 UINT8 RO 0x01 (1dec)
pact Ch.5
1A09:01 SubIndex 001 1. PDO Mapping entry (object 0x6040 (AI Inputs), entry UINT32 RO 0x6040:11, 16
0x11 (Value))

Index 1A0A AI TxPDO-Map Standard Ch.6

Index (hex) Name Meaning Data type Flags Default
1A0A:0 AI TxPDO-Map Stan- PDO Mapping TxPDO 11 UINT8 RO 0x09 (9dec)
dard Ch.6
1A0A:01 SubIndex 001 1. PDO Mapping entry (object 0x6050 (AI Inputs), entry UINT32 RO 0x6050:01, 1
0x01 (Underrange))
1A0A:02 SubIndex 002 2. PDO Mapping entry (object 0x6050 (AI Inputs), entry UINT32 RO 0x6050:02, 1
0x02 (Overrange))
1A0A:03 SubIndex 003 3. PDO Mapping entry (object 0x6050 (AI Inputs), entry UINT32 RO 0x6050:03, 2
0x03 (Limit 1))
1A0A:04 SubIndex 004 4. PDO Mapping entry (object 0x6050 (AI Inputs), entry UINT32 RO 0x6050:05, 2
0x05 (Limit 2))
1A0A:05 SubIndex 005 5. PDO Mapping entry (2 bits align) UINT32 RO 0x0000:00, 2
1A0A:06 SubIndex 006 6. PDO Mapping entry (6 bits align) UINT32 RO 0x0000:00, 6
1A0A:07 SubIndex 007 7. PDO Mapping entry (object 0x180A (AI TxPDO-Par UINT32 RO 0x180A:07, 1
Standard Ch.6), entry 0x07 (TxPDO State))
1A0A:08 SubIndex 008 8. PDO Mapping entry (object 0x180A (AI TxPDO-Par UINT32 RO 0x180A:09, 1
Standard Ch.6), entry 0x09 (TxPDO Toggle))
1A0A:09 SubIndex 009 9. PDO Mapping entry (object 0x6050 (AI Inputs), entry UINT32 RO 0x6050:11, 16
0x11 (Value))

Index 1A0B AI TxPDO-Map Compact Ch.6

Index (hex) Name Meaning Data type Flags Default
1A0B:0 AI TxPDO-Map Com- PDO Mapping TxPDO 12 UINT8 RO 0x01 (1dec)
pact Ch.6
1A0B:01 SubIndex 001 1. PDO Mapping entry (object 0x6050 (AI Inputs), entry UINT32 RO 0x6050:11, 16
0x11 (Value))

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Index 1A0C AI TxPDO-Map Standard Ch.7

Index (hex) Name Meaning Data type Flags Default
1A0C:0 AI TxPDO-Map Stan- PDO Mapping TxPDO 13 UINT8 RO 0x09 (9dec)
dard Ch.7
1A0C:01 SubIndex 001 1. PDO Mapping entry (object 0x6060 (AI Inputs), entry UINT32 RO 0x6060:01, 1
0x01 (Underrange))
1A0C:02 SubIndex 002 2. PDO Mapping entry (object 0x6060 (AI Inputs), entry UINT32 RO 0x6060:02, 1
0x02 (Overrange))
1A0C:03 SubIndex 003 3. PDO Mapping entry (object 0x6060 (AI Inputs), entry UINT32 RO 0x6060:03, 2
0x03 (Limit 1))
1A0C:04 SubIndex 004 4. PDO Mapping entry (object 0x6060 (AI Inputs), entry UINT32 RO 0x6060:05, 2
0x05 (Limit 2))
1A0C:05 SubIndex 005 5. PDO Mapping entry (2 bits align) UINT32 RO 0x0000:00, 2
1A0C:06 SubIndex 006 6. PDO Mapping entry (6 bits align) UINT32 RO 0x0000:00, 6
1A0C:07 SubIndex 007 7. PDO Mapping entry (object 0x180C (AI TxPDO-Par UINT32 RO 0x180C:07, 1
Standard Ch.7), entry 0x07 (TxPDO State))
1A0C:08 SubIndex 008 8. PDO Mapping entry (object 0x180C (AI TxPDO-Par UINT32 RO 0x180C:09, 1
Standard Ch.7), entry 0x09 (TxPDO Toggle))
1A0C:09 SubIndex 009 9. PDO Mapping entry (object 0x6060 (AI Inputs), entry UINT32 RO 0x6060:11, 16
0x11 (Value))

Index 1A0D AI TxPDO-Map Compact Ch.7

Index (hex) Name Meaning Data type Flags Default
1A0D:0 AI TxPDO-Map Com- PDO Mapping TxPDO 14 UINT8 RO 0x01 (1dec)
pact Ch.7
1A0D:01 SubIndex 001 1. PDO Mapping entry (object 0x6060 (AI Inputs), entry UINT32 RO 0x6060:11, 16
0x11 (Value))

Index 1A0E AI TxPDO-Map Standard Ch.8

Index (hex) Name Meaning Data type Flags Default
1A0E:0 AI TxPDO-Map Stan- PDO Mapping TxPDO 15 UINT8 RO 0x09 (9dec)
dard Ch.8
1A0E:01 SubIndex 001 1. PDO Mapping entry (object 0x6070 (AI Inputs), entry UINT32 RO 0x6070:01, 1
0x01 (Underrange))
1A0E:02 SubIndex 002 2. PDO Mapping entry (object 0x6070 (AI Inputs), entry UINT32 RO 0x6070:02, 1
0x02 (Overrange))
1A0E:03 SubIndex 003 3. PDO Mapping entry (object 0x6070 (AI Inputs), entry UINT32 RO 0x6070:03, 2
0x03 (Limit 1))
1A0E:04 SubIndex 004 4. PDO Mapping entry (object 0x6070 (AI Inputs), entry UINT32 RO 0x6070:05, 2
0x05 (Limit 2))
1A0E:05 SubIndex 005 5. PDO Mapping entry (2 bits align) UINT32 RO 0x0000:00, 2
1A0E:06 SubIndex 006 6. PDO Mapping entry (6 bits align) UINT32 RO 0x0000:00, 6
1A0E:07 SubIndex 007 7. PDO Mapping entry (object 0x180E (AI TxPDO-Par UINT32 RO 0x180E:07, 1
Standard Ch.8), entry 0x07 (TxPDO State))
1A0E:08 SubIndex 008 8. PDO Mapping entry (object 0x180E (AI TxPDO-Par UINT32 RO 0x180E:09, 1
Standard Ch.8), entry 0x09 (TxPDO Toggle))
1A0E:09 SubIndex 009 9. PDO Mapping entry (object 0x6070 (AI Inputs), entry UINT32 RO 0x6070:11, 16
0x11 (Value))

Index 1A0F AI TxPDO-Map Compact Ch.8

Index (hex) Name Meaning Data type Flags Default
1A0F:0 AI TxPDO-Map Com- PDO Mapping TxPDO 16 UINT8 RO 0x01 (1dec)
pact Ch.8
1A0F:01 SubIndex 001 1. PDO Mapping entry (object 0x6070 (AI Inputs), entry UINT32 RO 0x6070:11, 16
0x11 (Value))

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Index 1C00 Sync manager type

Index (hex) Name Meaning Data type Flags Default
1C00:0 Sync manager type Using the sync managers UINT8 RO 0x04 (4dec)
1C00:01 SubIndex 001 Sync-Manager Type Channel 1: Mailbox Write UINT8 RO 0x01 (1dec)
1C00:02 SubIndex 002 Sync-Manager Type Channel 2: Mailbox Read UINT8 RO 0x02 (2dec)
1C00:03 SubIndex 003 Sync-Manager Type Channel 3: Process Data Write UINT8 RO 0x03 (3dec)
(Outputs)
1C00:04 SubIndex 004 Sync-Manager Type Channel 4: Process Data Read UINT8 RO 0x04 (4dec)
(Inputs)

Index 1C12 RxPDO assign

Index (hex) Name Meaning Data type Flags Default
1C12:0 RxPDO assign PDO Assign Outputs UINT8 RW 0x00 (0dec)

Index 1C13 TxPDO assign

For operation on masters other than TwinCAT it must be ensured that the channels are entered in the PDO
assignment (TxPDO assign, object 0x1C13) successively.
Index (hex) Name Meaning Data type Flags Default
1C13:0 TxPDO assign PDO Assign Inputs UINT8 RW 0x08 (8dec)
1C13:01 SubIndex 001 1st allocated TxPDO (contains the index of the associ- UINT16 RW 0x1A00
ated TxPDO mapping object) (6656dec)
1C13:02 SubIndex 002 2nd allocated TxPDO (contains the index of the associ- UINT16 RW 0x1A02
ated TxPDO mapping object) (6658dec)
1C13:03 SubIndex 003 3rd allocated TxPDO (contains the index of the associ- UINT16 RW 0x1A04
ated TxPDO mapping object) (6660dec)
1C13:04 SubIndex 004 4th allocated TxPDO (contains the index of the associ- UINT16 RW 0x1A06
ated TxPDO mapping object) (6662dec)
1C13:05 SubIndex 005 5th allocated TxPDO (contains the index of the associ- UINT16 RW 0x1A08
ated TxPDO mapping object) (6664dec)
1C13:06 SubIndex 006 6th allocated TxPDO (contains the index of the associ- UINT16 RW 0x1A0A
ated TxPDO mapping object) (6666dec)
1C13:07 SubIndex 007 7th allocated TxPDO (contains the index of the associ- UINT16 RW 0x1A0C
ated TxPDO mapping object) (6668dec)
1C13:08 SubIndex 008 8th allocated TxPDO (contains the index of the associ- UINT16 RW 0x1A0E
ated TxPDO mapping object) (6670dec)

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Index 1C33 SM input parameter

Index (hex) Name Meaning Data type Flags Default
1C33:0 SM input parameter Synchronization parameters for the inputs UINT8 RO 0x20 (32dec)
1C33:01 Sync mode Current synchronization mode: UINT16 RW 0x0000 (0dec)
Bit 0 = 0: Free Run
Bit 0 = 1: Synchron with SM 2 Event
Bit 15 = 0: Standard
Bit 15 = 1: FastOp mode (CoE deactivated)
1C33:02 Cycle time Cycle time (in ns): UINT32 RW 0x000F4240
(1000000dec)
Free Run: Cycle time of the local timer
Synchronous with SM 2 event: Master cycle
time
DC-Mode: SYNC0/SYNC1 Cycle Time
1C33:03 Shift time Time between SYNC0 event and reading of the inputs UINT32 RO 0x00000000
(in ns, only DC mode) (0dec)
1C33:04 Sync modes supported Supported synchronization modes: UINT16 RO 0xC003
(49155dec)
Bit 0: free run is supported
Bit 1: synchronous with SM 2 event is
supported (outputs available)
Bit 1: synchronous with SM 3 event is
supported (no outputs available)
Bit 2-3 = 01: DC mode is supported
Bit 4-5 = 01: input shift through local event
(outputs available)
Bit 4-5 = 10: input shift with SYNC1 event (no
outputs available)
Bit 14 = 1: dynamic times (measurement
through writing of 0x1C33:08 [}204])
1C33:05 Minimum cycle time Minimum cycle time (in ns) UINT32 RO 0x0000FDE8
(65000dec)
1C33:06 Calc and copy time Time between reading of the inputs and availability of UINT32 RO 0x00000000
the inputs for the master (in ns, only DC mode) (0dec)
1C33:08 Command With this entry the real required process data provision UINT16 RW 0x0000 (0dec)
time can be measured.
0: Measurement of the local cycle time is
stopped
1: Measurement of the local cycle time is
started
The entries 0x1C33:03 [}204], 0x1C33:06 [}204],
1C33:09 [}204] are updated with the maximum mea-
sured values.
For a subsequent measurement the measured values
are reset.
1C33:09 Delay time Time between SYNC1 event and reading of the inputs UINT32 RO 0x00000000
(in ns, only DC mode) (0dec)
1C33:0B SM event missed Number of missed SM events in OPERATIONAL (DC UINT16 RO 0x0000 (0dec)
counter mode only)
1C33:0C Cycle exceeded Number of occasions the cycle time was exceeded in UINT16 RO 0x0000 (0dec)
counter OPERATIONAL (cycle was not completed in time or
the next cycle began too early)
1C33:0D Shift too short counter Number of occasions that the interval between SYNC0 UINT16 RO 0x0000 (0dec)
and SYNC1 event was too short (DC mode only)
1C33:20 Sync error The synchronization was not correct in the last cycle BOOLEAN RO 0x00 (0dec)
(outputs were output too late; DC mode only)

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6.6 Notices on analog specifications

Beckhoff I/O devices (terminals, boxes, modules) with analog inputs are characterized by a number of
technical characteristic data; refer to the technical data in the respective documents.

Some explanations are given below for the correct interpretation of these characteristic data.

6.6.1 Full scale value (FSV)

An I/O device with an analog input measures over a nominal measuring range that is limited by an upper and
a lower limit (initial value and end value); these can usually be taken from the device designation.
The range between the two limits is called the measuring span and corresponds to the equation (end value -
initial value). Analogous to pointing devices this is the measuring scale (see IEC 61131) or also the dynamic
range.

For analog I/O devices from Beckhoff the rule is that the limit with the largest value is chosen as the full scale
value of the respective product (also called the reference value) and is given a positive sign. This applies to
both symmetrical and asymmetrical measuring spans.

Fig.216: Full scale value, measuring span

For the above examples this means:

Measuring range 0..10 V: asymmetric unipolar, full scale value = 10 V, measuring span = 10 V
Measuring range 4..20 mA: asymmetric unipolar, full scale value = 20 mA, measuring span = 16 mA
Measuring range -200..1370 C: asymmetric bipolar, full scale value = 1370 C, measuring span =
1570 C
Measuring range -10..+10 V: symmetric bipolar, full scale value = 10 V, measuring span = 20 V

This applies to analog output terminals/ boxes (and related Beckhoff product groups).

6.6.2 Measuring error/ measurement deviation

The relative measuring error (% of the full scale value) is referenced to the full scale value and is calculated
as the quotient of the largest numerical deviation from the true value (measuring error) referenced to the full
scale value.

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The measuring error is generally valid for the entire permitted operating temperature range, also called the
usage error limit and contains random and systematic portions of the referred device (i.e. all influences
such as temperature, inherent noise, aging, etc.).

It always to be regarded as a positive/negative span with , even if it is specified without in some cases.

The maximum deviation can also be specified directly.

Example: Measuring range 0..10 V and measuring error < 0.3% full scale value maximum deviation
30 mV in the permissible operating temperature range.

Lower measuring error

Since this specification also includes the temperature drift, a significantly lower measuring
error can usually be assumed in case of a constant ambient temperature of the device and
Note thermal stabilization after a user calibration.
This applies to analog output devices.

6.6.3 Temperature coefficient tK [ppm/K]

An electronic circuit is usually temperature dependent to a greater or lesser degree. In analog measurement
technology this means that when a measured value is determined by means of an electronic circuit, its
deviation from the "true" value is reproducibly dependent on the ambient/operating temperature.

A manufacturer can alleviate this by using components of a higher quality or by software means.

The temperature coefficient specified by Beckhoff allows the user to calculate the expected measuring error
outside the basic accuracy at 23 C.

Due to the extensive uncertainty considerations that are incorporated in the determination of the basic
accuracy (at 23 C), Beckhoff recommends a quadratic summation.

Example: Let the basic accuracy at 23 C be 0.01% typ. (full scale value), tK = 20 ppm/K typ.; the accuracy
A35 at 35 C is wanted, hence T = 12 K

Remarks: ppm 10-6 % 10-2

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6.6.4 Single-ended/differential typification

For analog inputs Beckhoff makes a basic distinction between two types: single-ended (SE) and differential
(DIFF), referring to the difference in electrical connection with regard to the potential difference.

The diagram shows two-channel versions of an SE module and a DIFF module as examples for all multi-
channel versions.

Fig.217: SE and DIFF module as 2-channel version

Note: Dashed lines indicate that the respective connection may not necessarily be present in each SE or
DIFF module. Electrical isolated channels are operating as differential type in general, hence there is no
direct relation (voltaic) to ground within the module established at all. Indeed, specified information to
recommended and maximum voltage levels have to be taken into account.

The basic rule:

Analog measurements always take the form of voltage measurements between two potential points.
For voltage measurements a large R is used, in order to ensure a high impedance. For current
measurements a small R is used as shunt. If the purpose is resistance measurement, corresponding
considerations are applied.
Beckhoff generally refers to these two points as input+/signal potential and input-/reference
potential.
For measurements between two potential points two potentials have to be supplied.
Regarding the terms "single-wire connection" or "three-wire connection", please note the
following for pure analog measurements: three- or four-wire connections can be used for
sensor supply, but are not involved in the actual analog measurement, which always takes
place between two potentials/wires.
In particular this also applies to SE, even though the term suggest that only one wire is
required.
The term "electrical isolation" should be clarified in advance.
Beckhoff IO modules feature 1..8 or more analog channels; with regard to the channel connection a
distinction is made in terms of:
how the channels WITHIN a module relate to each other, or
how the channels of SEVERAL modules relate to each other.

The property of electrical isolation indicates whether the channels are directly connected to each
other.

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Beckhoff terminals/ boxes (and related product groups) always feature electrical isolation
between the field/analog side and the bus/EtherCAT side. In other words, if two analog
terminals/ boxes are not connected via the power contacts (cable), the modules are effectively
electrically isolated.
If channels within a module are electrically isolated, or if a single-channel module has no
power contacts, the channels are effectively always differential. See also explanatory notes
below. Differential channels are not necessarily electrically isolated.
Analog measuring channels are subject to technical limits, both in terms of the recommended operating
range (continuous operation) and the destruction limit. Please refer to the respective terminal/ box
documentation for further details.

Explanation
differential (DIFF)
Differential measurement is the most flexible concept. The user can freely choose both
connection points, input+/signal potential and input-/reference potential, within the framework
of the technical specification.
A differential channel can also be operated as SE, if the reference potential of several sensors
is linked. This interconnection may take place via the system GND.
Since a differential channel is configured symmetrically internally (cf. Fig. SE and DIFF module
as 2-channel variant), there will be a mid-potential (X) between the two supplied potentials that
is the same as the internal ground/reference ground for this channel. If several DIFF channels
are used in a module without electrical isolation, the technical property VCM (common-mode
voltage) indicates the degree to which the mean voltage of the channels may differ.
The internal reference ground may be accessible as connection point at the terminal/ box, in
order to stabilize a defined GND potential in the terminal/ box. In this case it is particularly
important to pay attention to the quality of this potential (noiselessness, voltage stability). At
this GND point a wire may be connected to make sure that VCM,max is not exceeded in the
differential sensor cable.
If differential channels are not electrically isolated, usually only one VCM, max is permitted. If the
channels are electrically isolated this limit should not apply, and the channels voltages may
differ up to the specified separation limit.
Differential measurement in combination with correct sensor wiring has the special advantage
that any interference affecting the sensor cable (ideally the feed and return line are arranged
side by side, so that interference signals have the same effect on both wires) has very little
effect on the measurement, since the potential of both lines varies jointly (hence the term
common mode). In simple terms: Common-mode interference has the same effect on both
wires in terms of amplitude and phasing.
Nevertheless, the suppression of common-mode interference within a channel or between
channels is subject to technical limits, which are specified in the technical data.
Further helpfully information on this topic can be found on the documentation page
Configuration of 0/4..20mA differential inputs (see documentation for the EL30xx terminals, for
example).
Single Ended (SE)
If the analog circuit is designed as SE, the input/reference wire is internally fixed to a certain
potential that cannot be changed. This potential must be accessible from outside on at least
one point for connecting the reference potential, e.g. via the power contacts (cable).
In other words, in situations with several channels SE offers users the option to avoid returning
at least one of the two sensor cables to the terminal/ box (in contrast to DIFF). Instead, the
reference wire can be consolidated at the sensors, e.g. in the system GND.
A disadvantage of this approach is that the separate feed and return line can result in voltage/
current variations, which a SE channel may no longer be able to handle. See common-mode
interference. A VCM effect cannot occur, since the module channels are internally always 'hard-
wired' through the input/reference potential.

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Typification of the 2/3/4-wire connection of current sensors

Current transducers/sensors/field devices (referred to in the following simply as sensor) with the industrial
0/4-20 mA interface typically have internal transformation electronics for the physical measured variable
(temperature, current, etc.) at the current control output. These internal electronics must be supplied with
energy (voltage, current). The type of cable for this supply thus separates the sensors into self-supplied or
externally supplied sensors:

Self-supplied sensors
The sensor draws the energy for its own operation via the sensor/signal cable + and -.
So that enough energy is always available for the sensors own operation and open-circuit detection is
possible, a lower limit of 4 mA has been specified for the 4-20 mA interface; i.e. the sensor allows a
minimum current of 4 mA and a maximum current of 20 mA to pass.
2-wire connection see Fig. 2-wire connection, cf. IEC60381-1
Such current transducers generally represent a current sink and thus like to sit between + and as a
variable load. Refer also to the sensor manufacturers information.

Fig.218: 2-wire connection

Therefore, they are to be connected according to the Beckhoff terminology as follows:

preferably to single-ended inputs if the +Supply connections of the terminal/ box are also to be used -
connect to +Supply and Signal

they can, however, also be connected to differential inputs, if the termination to GND is then
manufactured on the application side to be connected with the right polarity to +Signal and Signal
It is important to refer to the information page Configuration of 0/4..20mA differential inputs (see
documentation for the EL30xx terminals, for example)!

Externally supplied sensors

3- and 4-wire connection see Fig. Connection of externally supplied sensors, cf. IEC60381-1
the sensor draws the energy/operating voltage for its own operation from 2 supply cables of its own.
One or two further sensor cables are used for the signal transmission of the current loop:
1 sensor cable: according to the Beckhoff terminology such sensors are to be connected to
single-ended inputs in 3 cables with +/-/Signal lines and if necessary FE/shield
2 sensor cables: for sensors with 4-wire connection based on +supply/-supply/+signal/-signal,
check whether +signal can be connected to +supply or signal to supply.
- Yes: then you can connect accordingly to a Beckhoff single-ended input.
- No: the Beckhoff differential input for +Signal and Signal is to be selected; +Supply and
Supply are to be connected via additional cables.
It is important to refer to the information page Configuration of 0/4..20mA differential inputs
(see documentation for the EL30xx terminals, for example)!

Note: expert organizations such as NAMUR demand a usable measuring range <4 mA/>20 mA for error
detection and adjustment, see also NAMUR NE043.
The Beckhoff device documentation must be consulted in order to see whether the respective device
supports such an extended signal range.
Usually there is an internal diode existing within unipolar terminals/ boxes (and related product groups), in
this case the polarity/direction of current have to be observed.

EL30xx Version: 4.4 209

Commissioning

Fig.219: Connection of externally supplied sensors

Classification of the Beckhoff terminals/ boxes - Beckhoff 0/4-20 mA terminals/ boxes (and related product
groups) are available as differential and single-ended terminals/ boxes (and related product groups):
Single-ended Differential
EL3x4x: 0-20 mA, EL3x5x: 4-20 mA; KL and related product EL3x1x: 0-20 mA, EL3x2x: 4-20 mA; KL and related product
groups exactly the same groups exactly the same
Preferred current direction because of internal diode Preferred current direction because of internal diode
Designed for the connection of externally-supplied sensors with a The terminal/ box is a passive differential current measuring de-
3/4-wire connection vice; passive means that the sensor is not supplied with power.
Designed for the connection of self-supplied sensors with a 2-wire
connection

210 Version: 4.4 EL30xx

 Commissioning

Single-ended Differential

Fig.220: 2-, 3- and 4-wire connection at single-ended and differential inputs

EL30xx Version: 4.4 211

Commissioning

6.6.5 Common-mode voltage and reference ground (based on

differential inputs)
Common-mode voltage (Vcm) is defined as the average value of the voltages of the individual connections/
inputs and is measured/specified against reference ground.

Fig.221: Common-mode voltage (Vcm)

The definition of the reference ground is important for the definition of the permitted common-mode voltage
range and for measurement of the common-mode rejection ratio (CMRR) for differential inputs.

The reference ground is also the potential against which the input resistance and the input impedance for
single-ended inputs or the common-mode resistance and the common-mode impedance for differential
inputs is measured.

The reference ground is usually accessible at or near the terminal/ box, e.g. at the terminal contacts, power
contacts (cable) or a mounting rail. Please refer to the documentation regarding positioning. The reference
ground should be specified for the device under consideration.

For multi-channel terminals/ boxes with resistive (=direct, ohmic, galvanic) or capacitive connection between
the channels, the reference ground should preferably be the symmetry point of all channels, taking into
account the connection resistances.

Reference ground samples for Beckhoff IO devices:

1. Internal AGND fed out: EL3102/EL3112, resistive connection between the channels
2. 0V power contact: EL3104/EL3114, resistive connection between the channels and AGND; AGND
connected to 0V power contact with low-resistance
3. Earth or SGND (shield GND):
EL3174-0002: Channels have no resistive connection between each other, although they are
capacitively coupled to SGND via leakage capacitors
EL3314: No internal ground fed out to the terminal points, although capacitive coupling to
SGND

6.6.6 Dielectric strength

A distinction should be made between:
Dielectric strength (destruction limit): Exceedance can result in irreversible changes to the electronics
Against a specified reference ground
Differential
Recommended operating voltage range: If the range is exceeded, it can no longer be assumed that the
system operates as specified
Against a specified reference ground
Differential

212 Version: 4.4 EL30xx

 Commissioning

Fig.222: recommended operating voltage range

The device documentation may contain particular specifications and timings, taking into account:
Self-heating
Rated voltage
Insulating strength
Edge steepness of the applied voltage or holding periods
Normative environment (e.g. PELV)

6.6.7 Temporal aspects of analog/digital conversion

The conversion of the constant electrical input signal to a value-discrete digital and machine-readable form
takes place in the analog Beckhoff EL/KL/EP input modules with ADC (analog digital converter). Although
different ADC technologies are in use, from a user perspective they all have a common characteristic: after
the conversion a certain digital value is available in the controller for further processing. This digital value,
the so-called analog process data, has a fixed temporal relationship with the original parameter, i.e. the
electrical input value. Therefore, corresponding temporal characteristic data can be determined and specified
for Beckhoff analogue input devices.

This process involves several functional components, which act more or less strongly in every AI (analog
input) module:
the electrical input circuit
the analog/digital conversion
the digital further processing
the final provision of the process and diagnostic data for collection at the fieldbus (EtherCAT, Kbus,
etc.)

Fig.223: Signal processing analog input

Two aspects are crucial from a user perspective:

EL30xx Version: 4.4 213

Commissioning

How often do I receive new values?, i.e. a sampling rate in terms of speed with regard to the device/
channel
What delay does the (whole) AD conversion of the device/channel cause?
- i.e. the hardware and firmware components in its entirety. For technological reasons, the signal
characteristics must be taken into account when determining this information: the run times through the
system differ, depending on the signal frequency.

This is the external view of the Beckhoff AI channel system internally the signal delay in particular is
composed of different components: hardware, amplifier, conversion itself, data transport and processing.
Internally a higher sampling rate may be used (e.g. in the deltaSigma converters) than is offered externally
from the user perspective. From a user perspective of the BeckhoffAIchannel component this is usually
irrelevant or is specified accordingly, if it is relevant for the function.

For Beckhoff AI devices the following specification parameters for the AI channel are available for the user
from a temporal perspective:

1. Minimum conversion time [ms, s]

= the reciprocal value of the maximum sampling rate [sps, samples per second]:
Indicates how often the analog channel makes a newly detected process data value available for collection
by the fieldbus. Whether the fieldbus (EtherCAT, K-bus) fetches the value with the same speed (i.e.
synchronous), or more quickly (if the AI channel operates in slow FreeRun mode) or more slowly (e.g. with
oversampling), is then a question of the fieldbus setting and which modes the AI device supports.
For EtherCAT devices the so-called toggle bit indicates (by toggling) for the diagnostic PDOs when a newly
determined analog value is available.
Accordingly, a maximum conversion time, i.e. a smallest sampling rate supported by the AI device, can be
specified.
Corresponds to IEC 61131-2, section 7.10.2 2, Sampling repeat time

2. Typical signal delay

Corresponds to IEC 61131-2, section 7.10.2 1, Sampling duration. From this perspective it includes all
internal hardware and firmware components, but not external delay components from the fieldbus or the
controller (TwinCAT).
This delay is particularly relevant for absolute time considerations, if AI channels also provide a time stamp
that corresponds to the amplitude value which can be assumed to match the physically prevailing
amplitude value at the time.
Due to the frequency-dependent signal delay time, a dedicated value can only be specified for a given
signal. The value also depends on potentially variable filter settings of the channel.
A typical characterization in the device documentation may be:

2.1Signal delay (step response)

Keywords: Settling time
The square wave signal can be generated externally with a frequency generator (note impedance!)
The 90% limit is used as detection threshold.
The signal delay [ms, s] is then the time interval between the (ideal) electrical square wave signal and the
time at which the analog process value has reached the 90% amplitude.

214 Version: 4.4 EL30xx

 Commissioning

Fig.224: Diagram signal delay (step response)

2.2Signal delay (linear)

Keyword: Group delay
Describes the delay of a signal with constant frequency
A test signal can be generated externally with a frequency generator, e.g. as sawtooth or sine. A
simultaneous square wave signal would be used as reference.
The signal delay [ms, s] is then the interval between the applied electrical signal with a particular amplitude
and the moment at which the analog process value reaches the same value.
A meaningful range must be selected for the test frequency, e.g. 1/20 of the maximum sampling rate.

EL30xx Version: 4.4 215

Commissioning

Fig.225: Diagram signal delay (linear)

3. Additional information:
may be provided in the specification, e.g.
3.1Actual sampling rate of the ADC (if different from the channel sampling rate)
3.2Time correction values for run times with different filter settings

216 Version: 4.4 EL30xx

 Appendix

7 Appendix

7.1 EtherCAT AL Status Codes

For detailed information please refer to the EtherCAT system description.

7.2 UL notice
Application
Beckhoff EtherCAT modules are intended for use with Beckhoffs UL Listed EtherCAT Sys-
tem only.

Examination
For cULus examination, the Beckhoff I/O System has only been investigated for risk of fire
and electrical shock (in accordance with UL508 and CSA C22.2 No. 142).

For devices with Ethernet connectors

Not for connection to telecommunication circuits.

Basic principles

Two UL certificates are met in the Beckhoff EtherCAT product range, depending upon the components:
UL certification according to UL508
Devices with this kind of certification are marked by this sign:

Almost all current EtherCAT products (as at 2010/05) are UL certified without restrictions.
UL certification according to UL508 with limited power consumption
The current consumed by the device is limited to a max. possible current consumption of 4 A. Devices
with this kind of certification are marked by this sign:

Almost all current EtherCAT products (as at 2010/05) are UL certified without restrictions.

Application

If terminals certified with restrictions are used, then the current consumption at 24 V DC must be limited
accordingly by means of supply
from an isolated source protected by a fuse of max. 4A (according to UL248) or
from a voltage supply complying with NEC class 2.
A voltage source complying with NEC class 2 may not be connected in series or parallel with another
NEC class 2 compliant voltage supply!

EL30xx Version: 4.4 217

Appendix

These requirements apply to the supply of all EtherCAT bus couplers, power adaptor terminals, Bus
Terminals and their power contacts.

218 Version: 4.4 EL30xx

 Appendix

7.3 Firmware compatibility

Beckhoff EtherCAT devices are delivered with the latest available firmware version. Compatibility of firmware
and hardware is mandatory; not every combination ensures compatibility. The overview below shows the
hardware versions on which a firmware can be operated.

Note
It is recommended to use the newest possible firmware for the respective hardware.
Beckhoff is not under any obligation to provide customers with free firmware updates for delivered
products.

Risk of damage to the device!

Pay attention to the instructions for firmware updates on the separate page [}225]. If a de-
vice is placed in BOOTSTRAP mode for a firmware update, it does not check when down-
Attention loading whether the new firmware is suitable. This can result in damage to the device!
Therefore, always make sure that the firmware is suitable for the hardware version!

EL3001
Hardware (HW) Firmware (FW) Revision no. Release date
02 - 09* 01 EL3001-0000-0016 2009/05
02 2009/06
03 2009/09
04 EL3001-0000-0017 2010/03
05 EL3001-0000-0018 2011/06
EL3001-0000-0019 2012/08
06 2013/05
07 EL3001-0000-0020 2013/10
08* 2014/05

EL3002
Hardware (HW) Firmware (FW) Revision no. Release date
02 - 11* 01 EL3002-0000-0016 2009/05
02 2009/06
03 2009/09
04 EL3002-0000-0017 2010/03
05 EL3002-0000-0018 2011/06
EL3002-0000-0019 2012/08
06 2013/05
07 EL3002-0000-0020 2013/10
08* 2014/05

EL30xx Version: 4.4 219

Appendix

EL3004
Hardware (HW) Firmware (FW) Revision no. Release date
02 - 11* 01 EL3004-0000-0016 2009/05
02 2009/06
03 2009/09
04 EL3004-0000-0017 010/03
05 EL3004-0000-0018 2011/06
EL3004-0000-0019 2012/08
06 2013/05
07 EL3004-0000-0020 2013/10
08* 2014/05
EL3004-0000-0021 2016/08

EL3008
Hardware (HW) Firmware (FW) Revision no. Release date
02 - 08* 01 EL3008-0000-0016 2009/05
02 2009/06
03 2009/09
04 EL3008-0000-0017 2010/03
05 EL3008-0000-0018 2011/06
EL3008-0000-0019 2012/08
06 2013/05
07 EL3008-0000-0020 2013/10
08* 2014/05

EL3011
Hardware (HW) Firmware (FW) Revision no. Release date
00 - 08* 01 EL3011-0000-0016 2011/04
EL3011-0000-0017 2012/08
02 2013/05
03 EL3011-0000-0018 2013/10
04* 2014/05
EL3011-0000-0019 2016/06

EL3012
Hardware (HW) Firmware (FW) Revision no. Release date
00 - 09* 01 EL3012-0000-0016 2011/04
EL3012-0000-0017 2012/07
02 2013/05
03 EL3012-0000-0018 2013/10
04* 2014/05

EL3014
Hardware (HW) Firmware (FW) Revision no. Release date
00 - 08* 01 EL3014-0000-0016 2011/04
EL3014-0000-0017 2012/08
02 2013/05
03 EL3014-0000-0018 2013/10
04* 2014/05
EL3014-0000-0019 2016/06

220 Version: 4.4 EL30xx

 Appendix

EL3021
Hardware (HW) Firmware (FW) Revision no. Release date
00 - 07* 01 EL3021-0000-0016 2011/04
EL3021-0000-0017 2012/08
02 2013/05
03 EL3021-0000-0018 2013/10
04* 2014/05
EL3021-0000-0019 2016/06

EL3022
Hardware (HW) Firmware (FW) Revision no. Release date
00 - 09* 01 EL3022-0000-0016 2011/04
EL3022-0000-0017 2012/07
02 2013/05
03 EL3022-0000-0018 2013/10
04* 2014/05
EL3022-0000-0019 2016/06

EL3024
Hardware (HW) Firmware (FW) Revision no. Release date
00 - 08* 01 EL3024-0000-0016 2011/04
EL3024-0000-0017 2012/08
02 2013/05
03 EL3024-0000-0018 2013/10
04* 2014/05
EL3024-0000-0019 2016/06

EL3041
Hardware (HW) Firmware (FW) Revision no. Release date
02 - 05* 01 EL3041-0000-0016 2009/05
02 2009/06
03 2009/09
04 2009/10
05 EL3041-0000-0017 2011/06
EL3041-0000-0018 2012/08
06 2013/05
07 2013/10
08 EL3041-0000-0019 2013/10
09* 2014/05

EL30xx Version: 4.4 221

Appendix

EL3042
Hardware (HW) Firmware (FW) Revision no. Release date
02 - 09* 01 EL3042-0000-0016 2009/05
02 2009/06
03 2009/09
04 2009/10
05 EL3042-0000-0017 2011/06
EL3042-0000-0018 2012/08
06 2013/05
07 2013/10
08 EL3042-0000-0019 2013/10
09* 2014/05

EL3044
Hardware (HW) Firmware (FW) Revision no. Release date
02 - 09* 01 EL3044-0000-0016 2009/05
02 2009/06
03 2009/09
04 2009/10
05 2010/02
06 EL3044-0000-0017 2011/06
EL3044-0000-0018 2012/07
07 2013/05
08 EL3044-0000-0019 2013/10
09* 2014/05

EL3048
Hardware (HW) Firmware (FW) Revision no. Release date
02 - 08* 01 EL3048-0000-0016 2009/05
02 2009/06
03 2009/09
04 2009/10
05 2010/02
06 EL3048-0000-0017 2011/06
EL3048-0000-0018 2012/08
07 2013/05
08 EL3048-0000-0019 2013/10
09* 2014/05

EL3051
Hardware (HW) Firmware (FW) Revision no. Release date
02 - 09* 01 EL3051-0000-0016 2009/05
02 2009/06
03 2009/09
04 2009/10
05 EL3051-0000-0017 2011/06
EL3051-0000-0018 2012/08
06 2013/05
07 2013/10
08 EL3051-0000-0019 2013/10
09* 2014/05

222 Version: 4.4 EL30xx

 Appendix

EL3052
Hardware (HW) Firmware (FW) Revision no. Release date
02 - 11* 01 EL3052-0000-0016 2009/05
02 2009/06
03 2009/09
04 2009/10
05 EL3052-0000-0017 2011/06
EL3052-0000-0018 2012/08
06 2013/05
07 2013/10
08 EL3052-0000-0019 2013/10
09* 2014/05
EL3052-0000-0020 2016/08

EL3054
Hardware (HW) Firmware (FW) Revision no. Release date
02 - 10* 01 EL3054-0000-0016 2009/05
02 2009/06
03 2009/09
04 2009/10
05 2010/01
06 EL3054-0000-0017 2011/06
EL3054-0000-0018 2012/07
07 2013/01
08 EL3054-0000-0019 2013/10
09* 2014/05

EL3058
Hardware (HW) Firmware (FW) Revision no. Release date
02 - 11* 01 EL3058-0000-0016 2009/05
02 2009/06
03 2009/09
04 2009/10
05 2010/01
06 EL3058-0000-0017 2011/06
EL3058-0000-0018 2012/08
07* 2013/05
08 EL3058-0000-0019 2013/10
09* 2014/05
EL3058-0000-0020 2016/09

EL30xx Version: 4.4 223

Appendix

EL3061
Hardware (HW) Firmware (FW) Revision no. Release date
02 - 11* 01 EL3061-0000-0016 2009/05
02 2009/06
03 2009/09
04 EL3061-0000-0017 2011/06
EL3061-0000-0018 2012/07
05 2013/05
06 2013/10
07 2013/10
08 EL3061-0000-0019 2013/10
09* 2014/05
EL3061-0000-0020 2016/09

EL3062
Hardware (HW) Firmware (FW) Revision no. Release date
02 - 11* 01 EL3062-0000-0016 2009/05
02 2009/06
03 2009/09
04 EL3062-0000-0017 2011/06
EL3062-0000-0018 2012/08
05 2013/05
06 2013/10
07 2013/10
08 EL3062-0000-0019 2013/10
09* 2014/05

EL3062-0030
Hardware (HW) Firmware (FW) Revision no. Release date
02 - 11* 01 EL3062-0030-0016 2009/05
02 2009/06
03 2009/09
04 EL3062-0030-0017 2011/06
EL3062-0030-0018 2012/08
05 EL3062-0030-0019 2013/05
06 2013/10
07 2013/10
08 EL3062-0030-0020 2013/10
09* 2014/05
EL3062-0030-0021 2016/09

224 Version: 4.4 EL30xx

 Appendix

EL3064
Hardware (HW) Firmware (FW) Revision no. Release date
02 - 12* 01 EL3064-0000-0016 2009/05
02 2009/06
03 2009/09
05 2010/02
06 EL3064-0000-0017 2011/06
EL3064-0000-0018 2012/07
07 2013/05
08 EL3064-0000-0019 2013/10
09* 2014/05
EL3064-0000-0020 2016/09

EL3068
Hardware (HW) Firmware (FW) Revision no. Release date
02 - 10* 01 EL3068-0000-0016 2009/05
02 2009/06
03 2009/09
05 2010/02
06 EL3068-0000-0017 2011/06
EL3068-0000-0018 2012/08
07 2013/05
08 EL3068-0000-0019 2013/10
09* 2014/05

*) This is the current compatible firmware/hardware version at the time of the preparing this documentation.
Check on the Beckhoff web page whether more up-to-date documentation is available.

7.4 Firmware Update EL/ES/EM/EPxxxx

This section describes the device update for Beckhoff EtherCAT slaves from the EL/ES, EM, EK and EP
series. A firmware update should only be carried out after consultation with Beckhoff support.

Storage locations

An EtherCAT slave stores operating data in up to 3 locations:

Depending on functionality and performance EtherCAT slaves have one or several local controllers for
processing I/O data. The corresponding program is the so-called firmware in *.efw format.
In some EtherCAT slaves the EtherCAT communication may also be integrated in these controllers. In
this case the controller is usually a so-called FPGA chip with *.rbf firmware.
In addition, each EtherCAT slave has a memory chip, a so-called ESI-EEPROM, for storing its own
device description (ESI: EtherCAT Slave Information). On power-up this description is loaded and the
EtherCAT communication is set up accordingly. The device description is available from the download
area of the Beckhoff website at (http://www.beckhoff.de). All ESI files are accessible there as zip files.

Customers can access the data via the EtherCAT fieldbus and its communication mechanisms. Acyclic
mailbox communication or register access to the ESC is used for updating or reading of these data.

The TwinCAT System Manager offers mechanisms for programming all 3 parts with new data, if the slave is
set up for this purpose. Generally the slave does not check whether the new data are suitable, i.e. it may no
longer be able to operate if the data are unsuitable.

EL30xx Version: 4.4 225

Appendix

Simplified update by bundle firmware

The update using so-called bundle firmware is more convenient: in this case the controller firmware and the
ESI description are combined in a *.efw file; during the update both the firmware and the ESI are changed in
the terminal. For this to happen it is necessary
for the firmware to be in a packed format: recognizable by the file name, which also contains the
revision number, e.g. ELxxxx-xxxx_REV0016_SW01.efw
for password=1 to be entered in the download dialog. If password=0 (default setting) only the firmware
update is carried out, without an ESI update.
for the device to support this function. The function usually cannot be retrofitted; it is a component of
many new developments from year of manufacture 2016.

Following the update, its success should be verified

ESI/Revision: e.g. by means of an online scan in TwinCAT ConfigMode/FreeRun this is a convenient
way to determine the revision
Firmware: e.g. by looking in the online CoE of the device

Risk of damage to the device!

Note the following when downloading new device files

Attention Firmware downloads to an EtherCAT device must not be interrupted

Flawless EtherCAT communication must be ensured. CRC errors or LostFrames must be
avoided.
The power supply must adequately dimensioned. The signal level must meet the specifi-
cation.

In the event of malfunctions during the update process the EtherCAT device may become
unusable and require re-commissioning by the manufacturer.

Device description ESI file/XML

Notice regarding update of the ESI description/EEPROM

Some slaves have stored calibration and configuration data from the production in the EEP-
ROM. These are irretrievably overwritten during an update.
Attention

The ESI device description is stored locally on the slave and loaded on start-up. Each device description has
a unique identifier consisting of slave name (9 characters/digits) and a revision number (4 digits). Each slave
configured in the System Manager shows its identifier in the EtherCAT tab:

Fig.226: Device identifier consisting of name EL3204-0000 and revision -0016

226 Version: 4.4 EL30xx

 Appendix

The configured identifier must be compatible with the actual device description used as hardware, i.e. the
description which the slave has loaded on start-up (in this case EL3204). Normally the configured revision
must be the same or lower than that actually present in the terminal network.

For further information on this, please refer to the EtherCAT system documentation.

Update of XML/ESI description

The device revision is closely linked to the firmware and hardware used. Incompatible com-
binations lead to malfunctions or even final shutdown of the device. Corresponding updates
Note should only be carried out in consultation with Beckhoff support.

Display of ESI slave identifier

The simplest way to ascertain compliance of configured and actual device description is to scan the
EtherCAT boxes in TwinCAT mode Config/FreeRun:

Fig.227: Scan the subordinate field by right-clicking on the EtherCAT device in Config/FreeRun mode

If the found field matches the configured field, the display shows

Fig.228: Configuration is identical

otherwise a change dialog appears for entering the actual data in the configuration.

EL30xx Version: 4.4 227

Appendix

Fig.229: Change dialog

In this example in Fig. "Change dialog", an EL3201-0000-0017 was found, while an EL3201-0000-0016 was
configured. In this case the configuration can be adapted with the Copy Before button. The Extended
Information checkbox must be set in order to display the revision.

Changing the ESI slave identifier

The ESI/EEPROM identifier can be updated as follows under TwinCAT:

Trouble-free EtherCAT communication must be established with the slave.
The state of the slave is irrelevant.
Right-clicking on the slave in the online display opens the EEPROM Update dialog, Fig. "EEPROM
Update"

Fig.230: EEPROM Update

The new ESI description is selected in the following dialog, see Fig. "Selecting the new ESI". The checkbox
Show Hidden Devices also displays older, normally hidden versions of a slave.

228 Version: 4.4 EL30xx

 Appendix

Fig.231: Selecting the new ESI

A progress bar in the System Manager shows the progress. Data are first written, then verified.

The change only takes effect after a restart.

Most EtherCAT devices read a modified ESI description immediately or after startup from
the INIT. Some communication settings such as distributed clocks are only read during
Note power-on. The EtherCAT slave therefore has to be switched off briefly in order for the
change to take effect.

Determining the firmware version

Determining the version on laser inscription

Beckhoff EtherCAT slaves feature serial numbers applied by laser. The serial number has the following
structure: KK YY FF HH

KK - week of production (CW, calendar week)

YY - year of production
FF - firmware version
HH - hardware version

Example with ser. no.: 12 10 03 02:

12 - week of production 12
10 - year of production 2010
03 - firmware version 03
02 - hardware version 02

Determining the version via the System Manager

The TwinCAT System Manager shows the version of the controller firmware if the master can access the
slave online. Click on the E-Bus Terminal whose controller firmware you want to check (in the example
terminal 2 (EL3204)) and select the tab CoE Online (CAN over EtherCAT).

CoE Online and Offline CoE

Two CoE directories are available:
online: This is offered in the EtherCAT slave by the controller, if the EtherCAT slave does
Note supported it. This CoE directory can only be displayed if a slave is connected and opera-
tional.
offline: The EtherCAT Slave Information ESI/XML may contain the default content of the
CoE. This CoE directory can only be displayed if it is included in the ESI (e.g. "Beckhoff
EL5xxx.xml").

The Advanced button must be used for switching between the two views.

In Fig. Display of EL3204 firmware version the firmware version of the selected EL3204 is shown as 03 in
CoE entry 0x100A.

EL30xx Version: 4.4 229

Appendix

Fig.232: Display of EL3204 firmware version

In (A) TwinCAT 2.11 shows that the Online CoE directory is currently displayed. If this is not the case, the
Online directory can be loaded via the Online option in Advanced Settings (B) and double-clicking on
AllObjects.

Updating controller firmware *.efw

CoE directory
The Online CoE directory is managed by the controller and stored in a dedicated EEPROM,
which is generally not changed during a firmware update.
Note

Switch to the Online tab to update the controller firmware of a slave, see Fig. "Firmware Update".

Fig.233: Firmware Update

Proceed as follows, unless instructed otherwise by Beckhoff support.

230 Version: 4.4 EL30xx

 Appendix

Switch slave to INIT (A)

Switch slave to BOOTSTRAP
Check the current status (B, C)
Download the new *efw file
After the download switch to INIT, then OP
Switch off the slave briefly

FPGA firmware *.rbf

If an FPGA chip deals with the EtherCAT communication an update may be accomplished via an *.rbf file.
Controller firmware for processing I/O signals
FPGA firmware for EtherCAT communication (only for terminals with FPGA)

The firmware version number included in the terminal serial number contains both firmware components. If
one of these firmware components is modified this version number is updated.

Determining the version via the System Manager

The TwinCAT System Manager indicates the FPGA firmware version. Click on the Ethernet card of your
EtherCAT strand (Device 2 in the example) and select the Online tab.

The Reg:0002 column indicates the firmware version of the individual EtherCAT devices in hexadecimal and
decimal representation.

Fig.234: FPGA firmware version definition

If the column Reg:0002 is not displayed, right-click the table header and select Properties in the context
menu.

EL30xx Version: 4.4 231

Appendix

Fig.235: Context menu Properties

The Advanced Settings dialog appears where the columns to be displayed can be selected. Under
Diagnosis/Online View select the '0002 ETxxxx Build' check box in order to activate the FPGA firmware
version display.

Fig.236: Dialog Advanced Settings

Update

For updating the FPGA firmware

of an EtherCAT coupler the coupler must have FPGA firmware version 11 or higher;
of an E-Bus Terminal the terminal must have FPGA firmware version 10 or higher.

Older firmware versions can only be updated by the manufacturer!

Updating an EtherCAT device

In the TwinCAT System Manager select the terminal for which the FPGA firmware is to be updated (in the
example: Terminal 5: EL5001) and
click the Advanced Settings button in the EtherCAT tab.

232 Version: 4.4 EL30xx

 Appendix

Fig.237: Select dialog Advanced Settings

The Advanced Settings dialog appears. Under ESC Access/EPROM/FPGA click on Write FPGA button,

Fig.238: Select dialog Write FPGA

EL30xx Version: 4.4 233

Appendix

Fig.239: Select file

Select the file (*.rbf) with the new FPGA firmware, and transfer it to the EtherCAT device.

Risk of damage to the device!

A firmware download to an EtherCAT device must never be interrupted! If this process is
cancelled, the supply voltage switched off or the Ethernet connection interrupted, the Ether-
Attention CAT device can only be recommissioned by the manufacturer!

In order to activate the new FPGA firmware a restart (switching the power supply off and on again) of the
EtherCAT device is required.

Simultaneous updating of several EtherCAT devices

The firmware and ESI descriptions of several devices can be updated simultaneously, provided the devices
have the same firmware file/ESI.

Fig.240: Multiple selection and firmware update

Select the required slaves and carry out the firmware update in BOOTSTRAP mode as described above.

234 Version: 4.4 EL30xx

 Appendix

7.5 Restoring the delivery state

Restoring the delivery state To restore the delivery state for backup objects in ELxxxx terminals, the CoE
object "Restore default parameters", SubIndex 001 can be selected in the TwinCAT System Manager
(Config mode) (see Fig. Selecting the Restore default parameters PDO)

Fig.241: Selecting the "Restore default parameters" PDO

Double-click on SubIndex 001 to enter the Set Value dialog. Enter the value 1684107116 in field "Dec" or the
value 0x64616F6C in field "Hex" and confirm with OK (Fig. Entering a restore value in the Set Value
dialog).
All backup objects are reset to the delivery state.

Fig.242: Entering a restore value in the Set Value dialog

Alternative restore value

In some older terminals the backup objects can be switched with an alternative restore
value:Decimal value: "1819238756", Hexadecimal value: "0x6C6F6164"An incorrect entry
Note for the restore value has no effect.

EL30xx Version: 4.4 235

Appendix

7.6 Support and Service

Beckhoff and their partners around the world offer comprehensive support and service, making available fast
and competent assistance with all questions related to Beckhoff products and system solutions.

Beckhoff's branch offices and representatives

Please contact your Beckhoff branch office or representative for local support and service on Beckhoff
products!

The addresses of Beckhoff's branch offices and representatives round the world can be found on her internet
pages:
http://www.beckhoff.com

You will also find further documentation for Beckhoff components there.

Beckhoff Headquarters

Beckhoff Automation GmbH & Co. KG

Huelshorstweg 20
33415 Verl
Germany

Phone: +49(0)5246/963-0
Fax: +49(0)5246/963-198
e-mail: [email protected]

Beckhoff Support

Support offers you comprehensive technical assistance, helping you not only with the application of
individual Beckhoff products, but also with other, wide-ranging services:
support
design, programming and commissioning of complex automation systems
and extensive training program for Beckhoff system components

Hotline: +49(0)5246/963-157
Fax: +49(0)5246/963-9157
e-mail: [email protected]

Beckhoff Service

The Beckhoff Service Center supports you in all matters of after-sales service:
on-site service
repair service
spare parts service
hotline service

Hotline: +49(0)5246/963-460
Fax: +49(0)5246/963-479
e-mail: [email protected]

236 Version: 4.4 EL30xx

 List of illustrations

List of illustrations
Fig. 1 EL5021 EL terminal, standard IP20 IO device with batch number and revision ID (since
2014/01) ...................................................................................................................................... 14
Fig. 2 EK1100 EtherCAT coupler, standard IP20 IO device with batch number .................................. 14
Fig. 3 CU2016 switch with batch number ............................................................................................. 15
Fig. 4 EL3202-0020 with batch numbers 26131006 and unique ID-number 204418 ........................... 15
Fig. 5 EP1258-00001 IP67 EtherCAT Box with batch number 22090101 and unique serial number
158102 ........................................................................................................................................ 15
Fig. 6 EP1908-0002 IP76 EtherCAT Safety Box with batch number 071201FF and unique serial
number 00346070 ....................................................................................................................... 15
Fig. 7 EL2904 IP20 safety terminal with batch number/date code 50110302 and unique serial num-
ber 00331701 .............................................................................................................................. 16
Fig. 8 ELM3604-0002 terminal with ID number (QR code) 100001051 and unique serial number
44160201..................................................................................................................................... 16
Fig. 9 EL3001 ........................................................................................................................................ 17
Fig. 10 EL3002 ........................................................................................................................................ 18
Fig. 11 EL3004 ........................................................................................................................................ 19
Fig. 12 EL3008 ........................................................................................................................................ 19
Fig. 13 EL3011 ........................................................................................................................................ 22
Fig. 14 EL3012 ........................................................................................................................................ 22
Fig. 15 EL3014 ........................................................................................................................................ 24
Fig. 16 EL3021 ........................................................................................................................................ 26
Fig. 17 EL3022 ........................................................................................................................................ 26
Fig. 18 EL3024 ........................................................................................................................................ 28
Fig. 19 EL3041 ........................................................................................................................................ 30
Fig. 20 EL3042 ........................................................................................................................................ 30
Fig. 21 EL3044 ........................................................................................................................................ 31
Fig. 22 EL3048 ........................................................................................................................................ 32
Fig. 23 EL3051 ........................................................................................................................................ 34
Fig. 24 EL3052 ........................................................................................................................................ 34
Fig. 25 EL3054 ........................................................................................................................................ 35
Fig. 26 EL3058 ........................................................................................................................................ 36
Fig. 27 EL3061 ........................................................................................................................................ 38
Fig. 28 EL3062 ........................................................................................................................................ 38
Fig. 29 EL3064 ........................................................................................................................................ 39
Fig. 30 EL3068 ........................................................................................................................................ 40
Fig. 31 System manager current calculation .......................................................................................... 44
Fig. 32 EtherCAT tab -> Advanced Settings -> Behavior -> Watchdog .................................................. 45
Fig. 33 States of the EtherCAT State Machine........................................................................................ 47
Fig. 34 "CoE Online " tab ........................................................................................................................ 49
Fig. 35 Startup list in the TwinCAT System Manager ............................................................................. 50
Fig. 36 Offline list ..................................................................................................................................... 51
Fig. 37 Online list .................................................................................................................................... 52
Fig. 38 Spring contacts of the Beckhoff I/O components......................................................................... 54
Fig. 39 Attaching on mounting rail ........................................................................................................... 55
Fig. 40 Disassembling of terminal............................................................................................................ 56
Fig. 41 Power contact on left side............................................................................................................ 57

EL30xx Version: 4.4 237

List of illustrations

Fig. 42 Standard wiring............................................................................................................................ 58

Fig. 43 Pluggable wiring .......................................................................................................................... 59
Fig. 44 High Density Terminals................................................................................................................ 59
Fig. 45 Mounting a cable on a terminal connection ................................................................................. 60
Fig. 46 Recommended distances for standard installation position ........................................................ 61
Fig. 47 Other installation positions .......................................................................................................... 62
Fig. 48 Correct configuration .................................................................................................................. 63
Fig. 49 Incorrect configuration ................................................................................................................ 63
Fig. 50 RUN LED, EL3001 as example ................................................................................................... 67
Fig. 51 EL3001 ........................................................................................................................................ 68
Fig. 52 EL3002 ........................................................................................................................................ 69
Fig. 53 EL3004 ........................................................................................................................................ 70
Fig. 54 EL3008 ........................................................................................................................................ 71
Fig. 55 RUN and error LEDs, EL3011 as example.................................................................................. 72
Fig. 56 EL3011 ........................................................................................................................................ 73
Fig. 57 EL3012 ........................................................................................................................................ 74
Fig. 58 RUN and ERROR LEDs EL3014................................................................................................. 75
Fig. 59 EL3014 ........................................................................................................................................ 76
Fig. 60 RUN and error LEDs, EL3021 as example.................................................................................. 77
Fig. 61 EL3021 ........................................................................................................................................ 78
Fig. 62 EL3022 ........................................................................................................................................ 79
Fig. 63 EL3024 ........................................................................................................................................ 80
Fig. 64 EL3024 ........................................................................................................................................ 81
Fig. 65 RUN and error LEDs, EL3041 as example.................................................................................. 82
Fig. 66 EL3041 ........................................................................................................................................ 83
Fig. 67 EL3042 ........................................................................................................................................ 84
Fig. 68 RUN and ERROR LEDs EL3044................................................................................................. 85
Fig. 69 EL3044 ........................................................................................................................................ 86
Fig. 70 EL3048 ........................................................................................................................................ 87
Fig. 71 RUN and error LEDs, EL3051 as example.................................................................................. 88
Fig. 72 EL3051 ........................................................................................................................................ 89
Fig. 73 EL3052 ........................................................................................................................................ 90
Fig. 74 RUN and ERROR LEDs EL3054................................................................................................. 91
Fig. 75 EL3054 ........................................................................................................................................ 92
Fig. 76 EL3058 ........................................................................................................................................ 93
Fig. 77 RUN LED, EL3061 as example ................................................................................................... 94
Fig. 78 EL3061 ........................................................................................................................................ 95
Fig. 79 EL3062 ........................................................................................................................................ 96
Fig. 80 EL3064 ........................................................................................................................................ 97
Fig. 81 EL3068 ........................................................................................................................................ 98
Fig. 82 Internal connection 0/4..20 mA inputs ......................................................................................... 99
Fig. 83 Internal connections for 0/4..20 mA inputs of a EL3xx2 .............................................................. 100
Fig. 84 Example 1: low-side measurement.............................................................................................. 100
Fig. 85 Example 1a, high-side measurement .......................................................................................... 101
Fig. 86 Example 2, high-side/low-side measurement .............................................................................. 101
Fig. 87 Invalid EL3xx4 configuration........................................................................................................ 102

238 Version: 4.4 EL30xx

 List of illustrations

Fig. 88 Relationship between user side (commissioning) and installation............................................... 104

Fig. 89 Control configuration with Embedded PC, input (EL1004) and output (EL2008) ........................ 105
Fig. 90 Initial TwinCAT2 user interface................................................................................................... 105
Fig. 91 Selection of the target system ..................................................................................................... 106
Fig. 92 Specify the PLC for access by the TwinCAT System Manager: selection of the target system .. 106
Fig. 93 Select "Scan Devices..." .............................................................................................................. 107
Fig. 94 Automatic detection of I/O devices: selection the devices to be integrated................................. 107
Fig. 95 Mapping of the configuration in the TwinCAT2 System Manager............................................... 108
Fig. 96 Reading of individual terminals connected to a device................................................................ 108
Fig. 97 TwinCAT PLC Control after startup ............................................................................................. 109
Fig. 98 Sample program with variables after a compile process (without variable integration) ............... 110
Fig. 99 Appending the TwinCAT PLC Control project ............................................................................. 110
Fig. 100 PLC project integrated in the PLC configuration of the System Manager ................................... 111
Fig. 101 Creating the links between PLC variables and process objects .................................................. 111
Fig. 102 Selecting PDO of type BOOL ...................................................................................................... 112
Fig. 103 Selecting several PDOs simultaneously: activate "Continuous" and "All types".......................... 112
Fig. 104 Application of a "Goto Link" variable, using "MAIN.bEL1004_Ch4" as a sample ........................ 113
Fig. 105 Choose target system (remote) ................................................................................................... 114
Fig. 106 PLC Control logged in, ready for program startup ....................................................................... 115
Fig. 107 Initial TwinCAT3 user interface................................................................................................... 116
Fig. 108 Create new TwinCAT project....................................................................................................... 116
Fig. 109 New TwinCAT3 project in the project folder explorer .................................................................. 117
Fig. 110 Selection dialog: Choose the target system ................................................................................ 117
Fig. 111 Specify the PLC for access by the TwinCAT System Manager: selection of the target system .. 118
Fig. 112 Select "Scan" ............................................................................................................................... 118
Fig. 113 Automatic detection of I/O devices: selection the devices to be integrated................................. 119
Fig. 114 Mapping of the configuration in VS shell of the TwinCAT3 environment..................................... 119
Fig. 115 Reading of individual terminals connected to a device................................................................ 120
Fig. 116 Adding the programming environment in "PLC" .......................................................................... 121
Fig. 117 Specifying the name and directory for the PLC programming environment ................................ 121
Fig. 118 Initial "Main" program of the standard PLC project...................................................................... 122
Fig. 119 Sample program with variables after a compile process (without variable integration) ............... 123
Fig. 120 Start program compilation............................................................................................................ 123
Fig. 121 Creating the links between PLC variables and process objects .................................................. 124
Fig. 122 Selecting PDO of type BOOL ...................................................................................................... 124
Fig. 123 Selecting several PDOs simultaneously: activate "Continuous" and "All types".......................... 125
Fig. 124 Application of a "Goto Link" variable, using "MAIN.bEL1004_Ch4" as a sample ........................ 125
Fig. 125 TwinCAT development environment (VS shell): logged-in, after program startup....................... 126
Fig. 126 System Manager Options (TwinCAT2)..................................................................................... 128
Fig. 127 Call up under VS Shell (TwinCAT3) ........................................................................................... 128
Fig. 128 Overview of network interfaces ................................................................................................... 128
Fig. 129 EtherCAT device properties(TwinCAT2): click on Compatible Devices of tab Adapter ..... 129
Fig. 130 Windows properties of the network interface............................................................................... 129
Fig. 131 Exemplary correct driver setting for the Ethernet port ................................................................. 130
Fig. 132 Incorrect driver settings for the Ethernet port ............................................................................. 131
Fig. 133 TCP/IP setting for the Ethernet port ............................................................................................ 132

EL30xx Version: 4.4 239

List of illustrations

Fig. 134 Identifier structure ....................................................................................................................... 133

Fig. 135 OnlineDescription information window (TwinCAT2) ................................................................... 134
Fig. 136 Information window OnlineDescription (TwinCAT3) ................................................................... 134
Fig. 137 File OnlineDescription.xml created by the System Manager ...................................................... 135
Fig. 138 Indication of an online recorded ESI of EL2521 as an example .................................................. 135
Fig. 139 Information window for faulty ESI file (left: TwinCAT2; right: TwinCAT3).................................. 135
Fig. 140 Using the ESI Updater (>= TwinCAT2.11).................................................................................. 137
Fig. 141 Using the ESI Updater (TwinCAT3)............................................................................................ 137
Fig. 142 Append EtherCAT device (left: TwinCAT2; right: TwinCAT3) ................................................... 138
Fig. 143 Selecting the EtherCAT connection (TwinCAT2.11, TwinCAT3)............................................... 138
Fig. 144 Selecting the Ethernet port ......................................................................................................... 138
Fig. 145 EtherCAT device properties (TwinCAT2) ................................................................................... 139
Fig. 146 Appending EtherCAT devices (left: TwinCAT2; right: TwinCAT3)............................................. 139
Fig. 147 Selection dialog for new EtherCAT device ................................................................................. 140
Fig. 148 Display of device revision ........................................................................................................... 140
Fig. 149 Display of previous revisions ...................................................................................................... 141
Fig. 150 Name/revision of the terminal ...................................................................................................... 141
Fig. 151 EtherCAT terminal in the TwinCAT tree (left: TwinCAT2; right: TwinCAT3).............................. 142
Fig. 152 Differentiation local/target system (left: TwinCAT2; right: TwinCAT3)....................................... 143
Fig. 153 Scan Devices (left: TwinCAT2; right: TwinCAT3) ...................................................................... 143
Fig. 154 Note for automatic device scan (left: TwinCAT2; right: TwinCAT3)........................................... 144
Fig. 155 Detected Ethernet devices .......................................................................................................... 144
Fig. 156 Example default state .................................................................................................................. 144
Fig. 157 Installing EthetCAT terminal with revision -1018 ......................................................................... 145
Fig. 158 Detection of EtherCAT terminal with revision -1019 .................................................................... 145
Fig. 159 Scan query after automatic creation of an EtherCAT device (left: TwinCAT2; right: Twin-
CAT3) ......................................................................................................................................... 146
Fig. 160 Manual triggering of a device scan on a specified EtherCAT device (left: TwinCAT2; right:
TwinCAT3).................................................................................................................................. 146
Fig. 161 Scan progressexemplary by TwinCAT2 ..................................................................................... 146
Fig. 162 Config/FreeRun query (left: TwinCAT2; right: TwinCAT3)......................................................... 146
Fig. 163 Displaying of Free Run and Config Mode toggling right below in the status bar .................... 146
Fig. 164 TwinCAT can also be switched to this state by using a button (left: TwinCAT2; right: Twin-
CAT3) ......................................................................................................................................... 146
Fig. 165 Online display example ............................................................................................................... 147
Fig. 166 Faulty identification ...................................................................................................................... 147
Fig. 167 Identical configuration (left: TwinCAT2; right: TwinCAT3) ......................................................... 148
Fig. 168 Correction dialog ......................................................................................................................... 148
Fig. 169 Name/revision of the terminal ...................................................................................................... 149
Fig. 170 Correction dialog with modifications ........................................................................................... 150
Fig. 171 Dialog Change to Compatible Type (left: TwinCAT2; right: TwinCAT3) .............................. 150
Fig. 172 TwinCAT2 Dialog Change to Alternative Type ........................................................................... 150
Fig. 173 Branch element as terminal EL3751............................................................................................ 151
Fig. 174 General tab................................................................................................................................ 151
Fig. 175 EtherCAT tab............................................................................................................................. 152
Fig. 176 Process Data tab....................................................................................................................... 153
Fig. 177 Configuring the process data....................................................................................................... 154

240 Version: 4.4 EL30xx

 List of illustrations

Fig. 178 Startup tab................................................................................................................................. 155

Fig. 179 CoE Online tab ....................................................................................................................... 156
Fig. 180 Dialog Advanced settings.......................................................................................................... 157
Fig. 181 Online tab .................................................................................................................................. 158
Fig. 182 "DC" tab (Distributed Clocks)....................................................................................................... 159
Fig. 183 Selection of the diagnostic information of an EtherCAT Slave ................................................... 161
Fig. 184 Basic EtherCAT Slave Diagnosis in the PLC............................................................................... 162
Fig. 185 EL3102, CoE directory ................................................................................................................ 164
Fig. 186 Example of commissioning aid for a EL3204 .............................................................................. 165
Fig. 187 Default behaviour of the System Manager .................................................................................. 166
Fig. 188 Default target state in the Slave .................................................................................................. 166
Fig. 189 PLC function blocks .................................................................................................................... 167
Fig. 190 Illegally exceeding the E-Bus current ......................................................................................... 168
Fig. 191 Warning message for exceeding E-Bus current ......................................................................... 168
Fig. 192 EL30xx parameterization ............................................................................................................. 169
Fig. 193 Default process data of the EL3002-0000-0017 .......................................................................... 170
Fig. 194 Show Sub Variables .................................................................................................................... 170
Fig. 195 Display of the subvariables of the EL3002-0000-0017 from TwinCAT 2.11 build 1544 onwards 171
Fig. 196 Predefined PDO assignments of the EL3002-0000-0017............................................................ 172
Fig. 197 Selective PDO selection .............................................................................................................. 173
Fig. 198 Element-orientated process data of the EL30xx-0000-0016 ....................................................... 174
Fig. 199 3-byte interface of the EL31x2..................................................................................................... 174
Fig. 200 Connecting the 4-byte interface of the EL31xx/EL30xx to a 3-byte interface existing in the
project .......................................................................................................................................... 175
Fig. 201 Element-orientated process image under TwinCAT 2.10 structured representation TwinCAT
2.11.............................................................................................................................................. 175
Fig. 202 modified StartUp list..................................................................................................................... 179
Fig. 203 Enable Configuration button...................................................................................................... 179
Fig. 204 EL30xx data stream..................................................................................................................... 180
Fig. 205 Data flow with correction calculation - EL300x ............................................................................ 180
Fig. 206 Data flow with correction calculation - EL301x, EL304x .............................................................. 181
Fig. 207 Data flow with correction calculation - EL302x, EL305x .............................................................. 181
Fig. 208 Data flow with correction calculation - EL306x ............................................................................ 181
Fig. 209 Calculation of process data ........................................................................................................ 183
Fig. 210 typical attenuation curve of notch filter at 50 Hz .......................................................................... 184
Fig. 211 Input byte definition...................................................................................................................... 188
Fig. 212 Linking of 2-bit variable to additional task.................................................................................... 188
Fig. 213 TwinCAT logger window, example of incorrect StartUp entry under TwinCAT 2.11 ................... 190
Fig. 214 specific data for EL30xx, channel 1 ............................................................................................. 190
Fig. 215 Password protection .................................................................................................................... 191
Fig. 216 Full scale value, measuring span ................................................................................................ 205
Fig. 217 SE and DIFF module as 2-channel version ................................................................................. 207
Fig. 218 2-wire connection......................................................................................................................... 209
Fig. 219 Connection of externally supplied sensors .................................................................................. 210
Fig. 220 2-, 3- and 4-wire connection at single-ended and differential inputs ........................................... 211
Fig. 221 Common-mode voltage (Vcm)..................................................................................................... 212

EL30xx Version: 4.4 241

List of illustrations

Fig. 222 recommended operating voltage range ....................................................................................... 213

Fig. 223 Signal processing analog input.................................................................................................... 213
Fig. 224 Diagram signal delay (step response) ......................................................................................... 215
Fig. 225 Diagram signal delay (linear) ....................................................................................................... 216
Fig. 226 Device identifier consisting of name EL3204-0000 and revision -0016 ...................................... 226
Fig. 227 Scan the subordinate field by right-clicking on the EtherCAT device in Config/FreeRun mode . 227
Fig. 228 Configuration is identical ............................................................................................................. 227
Fig. 229 Change dialog ............................................................................................................................. 228
Fig. 230 EEPROM Update ........................................................................................................................ 228
Fig. 231 Selecting the new ESI ................................................................................................................. 229
Fig. 232 Display of EL3204 firmware version ............................................................................................ 230
Fig. 233 Firmware Update ........................................................................................................................ 230
Fig. 234 FPGA firmware version definition ............................................................................................... 231
Fig. 235 Context menu Properties ............................................................................................................ 232
Fig. 236 Dialog Advanced Settings ........................................................................................................... 232
Fig. 237 Select dialog Advanced Settings ................................................................................................ 233
Fig. 238 Select dialog Write FPGA ........................................................................................................... 233
Fig. 239 Select file .................................................................................................................................... 234
Fig. 240 Multiple selection and firmware update ...................................................................................... 234
Fig. 241 Selecting the "Restore default parameters" PDO ....................................................................... 235
Fig. 242 Entering a restore value in the Set Value dialog ......................................................................... 235

242 Version: 4.4 EL30xx