Table of Contents
EL6201 3Version: 2.2
Table of Contents
1 Foreword ....................................................................................................................................................๎ฆ5
1.1 Notes on the documentation........................................................................................................... ๎5
1.2 Safety instructions .......................................................................................................................... ๎6
1.3 Documentation issue status............................................................................................................ ๎7
1.4 Version identification of EtherCAT devices..................................................................................... ๎7
2 Product overview.....................................................................................................................................๎ฆ12
2.1 Introduction ................................................................................................................................... ๎12
2.2 Technical data .............................................................................................................................. ๎13
2.3 Technology ................................................................................................................................... ๎14
2.3.1 โข AS-i requirements ..........................................................................................................๎14
2.3.2 Assembly using the piercing technology..........................................................................๎14
2.3.3 AS interface for every topology........................................................................................๎16
2.4 Start .............................................................................................................................................. ๎16
3 Basics communication ...........................................................................................................................๎ฆ17
3.1 EtherCAT basics........................................................................................................................... ๎17
3.2 EtherCAT cabling โ wire-bound.................................................................................................... ๎17
3.3 General notes for setting the watchdog ........................................................................................ ๎18
3.4 EtherCAT State Machine .............................................................................................................. ๎20
3.5 CoE Interface................................................................................................................................ ๎22
4 Installation................................................................................................................................................๎ฆ27
4.1 Instructions for ESD protection ..................................................................................................... ๎27
4.2 Installation on mounting rails ........................................................................................................ ๎27
4.3 Installation instructions for enhanced mechanical load capacity .................................................. ๎30
4.4 Connection system ....................................................................................................................... ๎31
4.5 Prescribed installation position ..................................................................................................... ๎34
4.6 Mounting of Passive Terminals..................................................................................................... ๎35
4.7 LEDs and connection.................................................................................................................... ๎36
5 Commissioning........................................................................................................................................๎ฆ40
5.1 TwinCAT Quick Start .................................................................................................................... ๎40
5.1.1 TwinCAT๎2 .......................................................................................................................๎42
5.1.2 TwinCAT 3 .......................................................................................................................๎52
5.2 TwinCAT Development Environment............................................................................................ ๎64
5.2.1 Installation of the TwinCAT real-time driver .....................................................................๎64
5.2.2 Notes regarding ESI device description...........................................................................๎70
5.2.3 TwinCAT ESI Updater......................................................................................................๎74
5.2.4 Distinction between Online and Offline ............................................................................๎74
5.2.5 OFFLINE configuration creation ......................................................................................๎75
5.2.6 ONLINE configuration creation ........................................................................................๎80
5.2.7 EtherCAT subscriber configuration ..................................................................................๎88
5.3 General Notes - EtherCAT Slave Application ............................................................................... ๎98
5.4 Functionality of the AS-i master.................................................................................................. ๎106
5.4.1 AS-i status machine .......................................................................................................๎106
5.4.2 Lists................................................................................................................................๎107
5.4.3 Operating modes ...........................................................................................................๎107
5.4.4 Operating phases...........................................................................................................๎108
5.4.5 Address assignment of the AS-i slaves .........................................................................๎109
