Beckhoff CX B110 Series User manual

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Manual | EN
CXxxxx-B110
EtherCAT Slave Optional Interface for CX9020, CX5xx0 and CX20xx
2/9/2021 | Version: 1.3

Table of contents
CXxxxx-B110 3Version: 1.3
Table of contents
1 Foreword ....................................................................................................................................................5
1.1 Notes on the documentation..............................................................................................................5
1.2 Safety instructions .............................................................................................................................6
1.3 Documentation issue status ..............................................................................................................7
2 System overview EtherCAT......................................................................................................................8
2.1 EtherCAT Highlights ..........................................................................................................................9
2.2 Technical data - EtherCAT ..............................................................................................................10
3 Connection and cabling..........................................................................................................................11
3.1 EtherCAT connection ......................................................................................................................11
3.2 Cabling ............................................................................................................................................12
3.3 Topology..........................................................................................................................................14
4 TwinCAT tabs...........................................................................................................................................15
4.1 Tree view .........................................................................................................................................15
4.2 EtherCAT slave ...............................................................................................................................17
4.2.1 General ............................................................................................................................ 17
4.2.2 EtherCAT ......................................................................................................................... 18
4.2.3 DC.................................................................................................................................... 19
4.2.4 Process data.................................................................................................................... 20
4.2.5 Startup ............................................................................................................................. 22
4.2.6 EtherCAT slave (slave only) ............................................................................................ 23
5 Parameterization and commissioning...................................................................................................24
5.1 EtherCAT State Machine.................................................................................................................24
5.2 Parameterization with TwinCAT 2 ...................................................................................................26
5.2.1 Searching for target systems ........................................................................................... 26
5.2.2 Appending an EtherCAT device ...................................................................................... 28
5.2.3 Creating variables............................................................................................................ 29
5.2.4 Enable device status ....................................................................................................... 31
5.2.5 Enable device identification ............................................................................................. 32
5.2.6 Creating a PLC project .................................................................................................... 33
5.2.7 Linking variables .............................................................................................................. 35
5.2.8 Load configuration to CX ................................................................................................. 36
5.3 Parameterization with TwinCAT 3 ...................................................................................................38
5.3.1 Searching for target systems ........................................................................................... 38
5.3.2 Appending an EtherCAT device ...................................................................................... 40
5.3.3 Creating variables............................................................................................................ 41
5.3.4 Enable device status ....................................................................................................... 43
5.3.5 Enable device identification ............................................................................................. 44
5.3.6 Creating a PLC project .................................................................................................... 45
5.3.7 Linking variables .............................................................................................................. 47
5.3.8 Load configuration to CX ................................................................................................. 48
6 Error handling and diagnostics..............................................................................................................50
6.1 Diagnostic LEDs ..............................................................................................................................50
6.2 Device Status ..................................................................................................................................51

Table of contents
CXxxxx-B1104 Version: 1.3
6.3 State ................................................................................................................................................52
6.4 WcState ...........................................................................................................................................53
7 Appendix ..................................................................................................................................................54
7.1 Accessories .....................................................................................................................................54
7.2 Certifications....................................................................................................................................55
7.3 Support and Service ........................................................................................................................56

Foreword
CXxxxx-B110 5Version: 1.3
1 Foreword
1.1 Notes on the documentation
This description is only intended for the use of trained specialists in control and automation engineering who
are familiar with applicable national standards.
It is essential that the documentation and the following notes and explanations are followed when installing
and commissioning the 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®, EtherCAT G®, EtherCAT G10®, EtherCAT P®, Safety over EtherCAT®,
TwinSAFE®, XFC®, XTS® and XPlanar® 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, EP1456722, EP2137893, DE102015105702
with corresponding applications or registrations in various other countries.
EtherCAT® is a 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.

Foreword
CXxxxx-B1106 Version: 1.3
1.2 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!
DANGER
Serious risk of injury!
Failure to follow the safety instructions associated with this symbol directly endangers the life and health of
persons.
WARNING
Risk of injury!
Failure to follow the safety instructions associated with this symbol endangers the life and health of per-
sons.
CAUTION
Personal injuries!
Failure to follow the safety instructions associated with this symbol can lead to injuries to persons.
NOTE
Damage to the environment or devices
Failure to follow the instructions associated with this symbol can lead to damage to the environment or
equipment.
Tip or pointer
This symbol indicates information that contributes to better understanding.

Foreword
CXxxxx-B110 7Version: 1.3
1.3 Documentation issue status
Version Changes
1.0 First version
1.1 Chapter Diagnostic LEDs reworked
1.2 Chapter Technical data - EtherCAT reworked
1.3 Chapter "Technical data- EtherCAT" and "EtherCAT
connection" adjusted.

System overview EtherCAT
CXxxxx-B1108 Version: 1.3
2 System overview EtherCAT
The Beckhoff Embedded PCs can be ordered ex works with an optional interface, e.g. PROFIBUS,
CANopen or RS232. Some of the optional interfaces can be delivered as master or slave.
The following Embedded PCs can be ordered with an optional interface:
• CX9020
• CX50x0
• CX51x0
• CX20x0
EtherCAT slave (B110)
The optional interface B110 is an EtherCAT slave and enables an Embedded PC to be used as subordinate
decentral controller for configuring complex or modular systems.
The optional interface B110 offers the possibility to operate an Embedded PC as an EtherCAT slave device,
which can then be integrated into an existing topology with further EtherCAT devices.
The EtherCAT slave receives external process data from the master and processes them or returns data
from its own process periphery to the master after processing.
The optional EtherCAT slave interface is parameterized and configured in TwinCAT.
Further Information
EtherCAT system documentation
https://infosys.beckhoff.com/content/1033/ethercatsystem/index.html?id=7792317249389602120
EtherCAT Technology Group
https://www.ethercat.org/default.htm
Further information about EtherCAT and features such as cable redundancy, distributed clocks or
diagnostics can be found in the EtherCAT system documentation or on the website of the EtherCAT
Technology Group.
Functioning
EtherCAT is the real-time Ethernet technology from Beckhoff, which makes the familiar Ethernet telegram
real-time capable. In contrast to Ethernet, the telegram is no longer initially received and interpreted in each
connection, before the process data are copied. Instead, each EtherCAT device picks up the data intended
for it while the telegram passes through the device. In the same way, input data are dynamically added to the
data stream.
The slave detects the commands intended for it and executes them accordingly. The process is hardware-
implemented in the slave controller and is therefore independent of the protocol stack software run times or
the processor power. The last EtherCAT slave returns the processed telegram, so that it is sent from the first
slave to the controller as a response telegram.

System overview EtherCAT
CXxxxx-B110 9Version: 1.3
Protocol
The EtherCAT protocol is optimized for process data and is either transported directly in the Ethernet frame
or packed into UDP/IP datagrams. The UDP version is used in situations where EtherCAT segments in other
subnets are addressed via routers. Ethernet frames may contain several EtherCAT telegrams, with each
telegram serving a particular memory area of the logical process image with a size of up to 4GB. The data
sequence is independent of the physical order of the EtherCAT terminals in the network; addressing can be
in any order. Broadcast, Multicast and communication between slaves are possible. The protocol can also
handle parameter communication, which typically is acyclical.
Performance
EtherCAT reaches new dimensions in network performance. The update time for the data from 1.000
distributed inputs/outputs is only 30 µs - including terminal cycle time. Up to 1.486 bytes of process data can
be exchanged with a single Ethernet frame - this is equivalent to almost 12.000 digital inputs and outputs.
The transfer of this data quantity only takes 300 µs.
Topology
Line, tree or star: EtherCAT supports almost any topology. The bus or line structure known from the
fieldbuses thus also becomes available for Ethernet. Particularly useful for system wiring is the combination
of line and junctions or stubs. The required interfaces exist on the couplers; no additional switches are
required. Naturally, the classic switch-based Ethernet star topology can also be used.
2.1 EtherCAT Highlights
Performance
• 256 digital-I/Os in 12 µs
• 1.000 digital-I/Os in 30 µs
• 200 analog-I/Os (16 Bit) in 50 µs,
corresponding to 20-kHz sampling rate
• 100 servo axes every 100 µs
• 12,000 digital I/Os in 350 µs
Topology
• line, tree or star topology
• up to 65,535 devices
• network size: almost unlimited (> 500 km)
• operation with or without switches
• cost-effective cabling: Industrial Ethernet patch
cable (CAT5)
• twisted pair physical layer:
• Ethernet 100BASE-TX, up to 100 m between 2
devices
• alternative: fibre-optic cable variants 50 to
2,000 m
• hot connect/disconnect of bus segments
Address space
• network-wide process image: 4 Gbyte
• device process image: 1 bit to 64 kbyte
• address allocation: freely configurable
• device address selection: automatically via
software
Protokoll
• optimised protocol directly within the Ethernet
frame
• fully hardware-implemented
• for routing and socket interface: UDP datagram
• processing while passing
• distributed clock for accurate synchronisation
• time stamp data types for resolution in the
nanosecond range
• oversampling data types for high-resolution
measurements

System overview EtherCAT
CXxxxx-B11010 Version: 1.3
Diagnostics
• breaking point detection
• Topology View
• continuous “quality of line” measurement
enables accurate localisation of transmission
faults
Interfaces
• switch port terminal for standard Ethernet
devices
• fieldbus terminals for fieldbus devices
• decentralised serial interfaces
• communication gateways
• gateway to other EtherCAT systems
Openness
• fully Ethernet-compatible
• operation with switches and routers possible,
but not required
• mixed operation with other protocols also
possible
• internet technologies (Web server, FTP, etc.)
• compatible with the existing Bus Terminal range
• protocol is published completely
• EtherCAT is IEC, ISO and SEMI standard.
2.2 Technical data - EtherCAT
Optional interface B110
Technical data B110
Fieldbus EtherCAT (Slave)
Data transfer rate 100 Mbaud
Bus interface EtherCAT IN and Out (2 x RJ45)
Bus devices Up to 65,535 devices
max. process image 480 Byte in / 480 Byte out
Properties Protocols (real-time): EtherCAT
Protocols (non-real-time): CoE, AoE
Distributed Clocks, Hot-Connect, Mailbox, ADS-
Routing

Connection and cabling
CXxxxx-B110 11Version: 1.3
3 Connection and cabling
3.1 EtherCAT connection
The latest generation of Embedded PCs can be ordered with the optional EtherCAT slave interface (B110).
The optional interface B110 is identified as X300 on the devices and has as black border to identify it.
The incoming EtherCAT signal is connected to the upper port of the X300 interface. The lower port forwards
the signal to further EtherCAT slave devices. Up to 480 bytes of input and output data or 256 variables can
be connected via the EtherCAT interface.
It is not possible to create 480 bytes individually, for sample, since this would require 480 variables.
Assignment of the LAN ports (X300)
PIN Signal Description
1 TD + Transmit +
2 TD - Transmit -
3 RD + Receive +
4 connected reserved
5
6 RD - Receive -
7 connected reserved
8

Connection and cabling
CXxxxx-B11012 Version: 1.3
3.2 Cabling
Use the following components to connect an Embedded PC with integrated optional interface B110 to an
EtherCAT master or a further EtherCAT slave:
1. Ethernet/EtherCAT RJ45 connector.
2. RJ45 patch cable (CAT5).
Use PUR cables in robust industrial quality. Due to their mechanical properties and shielding, these cables
are suitable for industrial environments. Do not use ordinary office cables. Suitable cables in robust industrial
quality can be ordered from Beckhoff.
EtherCAT from Master
EtherCAT to Slave
The incoming EtherCAT signal is connected to the upper port of the X300 interface. The lower port forwards
the signal to further EtherCAT slave devices. The lower port can also be used for cable redundancy, in which
case it is connected to the master.
Transmission standards
10Base5
The transmission medium for 10Base5 consists of a thick coaxial cable ("yellow cable") with a max.
transmission speed of 10Mbaud arranged in a line topology with branches (drops) each of which is
connected to one network device. Because all the devices are in this case connected to a common
transmission medium, it is inevitable that collisions occur often in 10Base5.
10Base2
10Base2 (Cheaper net) is a further development of 10Base5, and has the advantage that the coaxial cable is
cheaper and, being more flexible, is easier to lay. It is possible for several devices to be connected to one
10Base2 cable. It is frequent for branches from a 10Base5 backbone to be implemented in 10Base2.
10BaseT
Describes a twisted pair cable for 10Mbaud. The network here is constructed as a star. It is no longer the
case that every device is attached to the same medium. This means that a broken cable no longer results in
failure of the entire network. The use of switches as star couplers enables collisions to be reduced. Using
full-duplex connections they can even be entirely avoided.
100BaseT
Twisted pair cable for 100MBaud. It is necessary to use a higher cable quality and to employ appropriate
hubs or switches in order to achieve the higher data rate.
10BaseF
The 10BaseF standard describes several optical fiber versions.

Connection and cabling
CXxxxx-B110 13Version: 1.3
Short description of the 10BaseT and 100BaseT cable types
Twisted pair copper cable for star topologies, where the distance between two devices may not exceed 100
meters.
UTP
Unshielded twisted pair
This type of cable belongs to category 3, and is not recommended for use in an industrial environment.
S/UTP
Screened/unshielded twisted pair (screened with copper braid)
Has a general screen of copper braid to reduce influence of external interference. This cable is
recommended for use with Bus Couplers.
FTP
Foiled shielded twisted pair (screened with aluminum foil)
This cable has an outer screen of laminated aluminum and plastic foil.
S/FTP
Screened/foiled-shielded twisted pair (screened with copper braid and aluminum foil)
Has a laminated aluminum screen with a copper braid on top. Such cables can provide up to 70dB reduction
in interference power.
STP
Shielded twisted pair
Describes a cable with an outer screen, without defining the nature of the screen any more closely.
S/STP
Screened/shielded twisted pair (wires are individually screened)
This identification refers to a cable with a screen for each of the two wires as well as an outer shield.
ITP
Industrial Twisted-Pair
The structure is similar to that of S/STP, but, in contrast to S/STP, it has only one pair of conductors.

Connection and cabling
CXxxxx-B11014 Version: 1.3
3.3 Topology
EtherCAT offers free choice of topology and maximum wiring flexibility. The EtherCAT devices can be wired
with or without switches, lines or tree topology. EtherCAT supports almost any topology. Addresses are
assigned automatically, and an IP address does not have to be set separately.
It is possible to operate up to 65.535 EtherCAT devices, with a maximum distance of 100 m between two
devices. EtherCAT devices with optical fibers can reach a cable length of 20.000 m. Twisted-pair Ethernet
100BASE-TX is commonly used as physical layer. The Hot Connect function can be used to subdivide whole
bus segments into groups for rapid replacement.

TwinCAT tabs
CXxxxx-B110 15Version: 1.3
4 TwinCAT tabs
In TwinCAT, information and settings for the EtherCAT interface are added under tabs. The main TwinCAT
tabs are described in this section. In addition, the section illustrates how the EtherCAT interface is displayed
in the tree view under TwinCAT.
The tree view and the tabs for a EtherCAT interface are identical under TwinCAT2 and TwinCAT3.
4.1 Tree view
An EtherCAT master and an EtherCAT slave are displayed as follows in the tree view:
1
2
3
6
4
5
In this sample the slave was linked to the master. TwinCAT was then scanned for the master, and the master
was added in TwinCAT together with the slave.
No. Description
1 EtherCAT master with corresponding input and output variables
2 The EtherCAT slave is shown below the EtherCAT master. The slave is
automatically added to the tree view, if the master and all connected
devices are scanned.
3 Input and output variables of the EtherCAT slave. Process data can be
created among the input and output variables, which can then be
exchanged cyclically.
The Device Status Mapping variables, which are used for slave diagnostics,
are also displayed here.
4 The variables under WcState indicate whether the EtherCAT slave takes
part in the cyclic process data traffic successfully and error-free. The
variable InputToggle counts new valid incoming telegrams.
5 InfoData contains input variables, which provide information about the
EtherCAT slave, such as status and NetId.
6 Further settings for the EtherCAT slave can be implemented under the tabs.
If only the EtherCAT slave is scanned and then added in the tree view, the EtherCAT is displayed differently.
An EtherCAT slave alone is displayed in the tree view as follows:

TwinCAT tabs
CXxxxx-B11016 Version: 1.3
1
2
3
4
If an EtherCAT slave is added in the tree view under I/O devices in TwinCAT, the EtherCAT slave is
displayed with all list entries and the corresponding variables. These include variables for the inputs and
outputs and variables, which can be used for diagnostic purposes or which provide additional information
about the EtherCAT slave.
No. Description
1 All input and output variables are arranged under the EtherCAT slave. The
variables can be linked and processed with the PLC program.
2 Process variables can be created under the inputs and outputs of the
EtherCAT slave, which can then be exchanged cyclically.
3 InfoData contains input variables, which provide information about the
EtherCAT slave that only changes rarely.
4 Further settings for the EtherCAT slave can be implemented under the tabs.
When the PLC process image is read, the inputs and outputs of the EtherCAT slave from the tree view can
be linked with the variables of the PLC program. Double-click on a variable name in the tree view to open the
link dialog. The linked signals are indicated by a small arrow on the signal symbol.
Further information about TwinCAT can be found in the TwinCAT documentation on the Beckhoff website:
www.beckhoff.de

TwinCAT tabs
CXxxxx-B110 17Version: 1.3
4.2 EtherCAT slave
4.2.1 General
The General tab contains general information for an EtherCAT slave, including name, type and ID.
1
2
3
5
4
No. Description
1 Name of the EtherCAT device
2 EtherCAT device type
3 Here you can add a comment (e.g. notes relating to the system component)
4 Here you can deactivate the EtherCAT device
5 Number of the EtherCAT device
The EtherCAT slave can be switched off via this tab. A comment field is available for describing the
EtherCAT slave.

TwinCAT tabs
CXxxxx-B11018 Version: 1.3
4.2.2 EtherCAT
General information about the EtherCAT slave is displayed on the EtherCAT tab.
1
2
3
6
4
7
5
No. Description
1 Name and type of the EtherCAT device.
2 Product and revision number of the EtherCAT device.
3 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.).
4 Fixed address of an EtherCAT slave. This address is allocated by the
EtherCAT master during the start-up phase. Click the control box to the left
of the input field in order to modify the default value.
5 Name and port of the EtherCAT device, to which the selected device is
connected. This combobox is enabled if it is possible to connect this device
to another device without changing the order of the EtherCAT devices in the
communication ring. You can use it to select the EtherCAT device, to which
the selected device is to be connected.
6 The Advanced Settings button opens further windows for additional
settings.
A link at the bottom of the tab leads to the product page for the respective EtherCAT device.

TwinCAT tabs
CXxxxx-B110 19Version: 1.3
4.2.3 DC
This tab can be used for the distributed clock settings. The EtherCAT slave can be operated in FreeRun
mode or DC Synchronous mode.
2
1
No. Description
1 Here you can change the settings for the Operation mode. You can choose
between FreeRun and DC Synchronous mode.
2 The Advanced Settings button opens a further window with additional
settings for the distributed clocks function.
EtherCAT slaves feature integrated local clocks, which are synchronized by the EtherCAT master via special
datagrams. For sample, the local clock of an EtherCAT slave can be used as reference clock, based on
which all other clocks are synchronized.
By default, TwinCAT sets the first EtherCAT slave that supports the distributed clocks function as reference
clock. This setting can be changed, although we recommend retaining the default setting.

TwinCAT tabs
CXxxxx-B11020 Version: 1.3
4.2.4 Process data
This tab indicates the configuration of the process data. The input and output data of the EtherCAT slave are
represented as CANopen process data objects (PDO).
1
2
3
6
5
4