Table of contents
EL28xx-xxxx4 Version: 2.5
7.6.5 Output data ...................................................................................................................... 47
7.6.6 Standard objects.............................................................................................................. 47
8 Basics communication ...........................................................................................................................57
8.1 EtherCAT basics..............................................................................................................................57
8.2 EtherCAT cabling – wire-bound.......................................................................................................57
8.3 General notes for setting the watchdog...........................................................................................58
8.4 EtherCAT State Machine.................................................................................................................60
8.5 CoE Interface...................................................................................................................................61
8.6 Distributed Clock .............................................................................................................................66
9 Mounting and wiring................................................................................................................................67
9.1 Instructions for ESD protection........................................................................................................67
9.2 Installation on mounting rails ...........................................................................................................67
9.3 Installation instructions for enhanced mechanical load capacity .....................................................71
9.4 Connection ......................................................................................................................................71
9.4.1 Connection system .......................................................................................................... 71
9.4.2 Wiring............................................................................................................................... 74
9.4.3 Shielding .......................................................................................................................... 75
9.5 Installation positions ........................................................................................................................75
9.6 Positioning of passive Terminals .....................................................................................................78
9.7 UL notice .........................................................................................................................................78
9.8 ATEX - Special conditions (standard temperature range) ...............................................................80
9.9 ATEX - Special conditions (extended temperature range) ..............................................................82
9.10 Continuative documentation for ATEX and IECEx ..........................................................................83
9.11 IECEx - Special conditions ..............................................................................................................83
9.12 cFMus - Special conditions..............................................................................................................85
9.13 Continuative documentation for cFMus ...........................................................................................86
10 Commissioning........................................................................................................................................87
10.1 TwinCAT Quick Start .......................................................................................................................87
10.1.1 TwinCAT 2 ....................................................................................................................... 90
10.1.2 TwinCAT 3 ..................................................................................................................... 100
10.2 TwinCAT Development Environment ............................................................................................113
10.2.1 Installation of the TwinCAT real-time driver................................................................... 114
10.2.2 Notes regarding ESI device description......................................................................... 119
10.2.3 TwinCAT ESI Updater ................................................................................................... 123
10.2.4 Distinction between Online and Offline.......................................................................... 123
10.2.5 OFFLINE configuration creation .................................................................................... 124
10.2.6 ONLINE configuration creation ...................................................................................... 129
10.2.7 EtherCAT subscriber configuration................................................................................ 137
10.2.8 Import/Export of EtherCAT devices with SCI and XTI ................................................... 146
10.3 General Notes - EtherCAT Slave Application................................................................................152
11 Appendix ................................................................................................................................................160
11.1 EtherCAT AL Status Codes...........................................................................................................160
11.2 Firmware compatibility...................................................................................................................160
11.3 Firmware Update EL/ES/EM/ELM/EPxxxx ....................................................................................160
11.3.1 Device description ESI file/XML..................................................................................... 162