Beckhoff EtherCAT Box Manuale utente

Quick start guide | EN

IO configuration in TwinCAT

EtherCATBox modules

2020-09-02 | Version: 1.1

Table of contents

IO configuration in TwinCAT 3Version: 1.1

Table of contents

1 Foreword ....................................................................................................................................................5

1.1 Notes on the documentation..............................................................................................................5

1.2 Safety instructions .............................................................................................................................6

1.3 Documentation issue status ..............................................................................................................7

2 Introduction................................................................................................................................................8

3 Distinction between Online and Offline...................................................................................................9

4 Offline IO configuration...........................................................................................................................10

5 Online IO configuration...........................................................................................................................12

6 Configuration of EtherCAT P via TwinCAT ...........................................................................................17

7 Appendix ..................................................................................................................................................23

7.1 Support and Service ........................................................................................................................23

Table of contents

IO configuration in TwinCAT4 Version: 1.1

Foreword

IO configuration in TwinCAT 5Version: 1.1

1 Foreword

1.1 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®, 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 registered trademark and patented technology, licensed by Beckhoff Automation GmbH,

Germany.

The reproduction, distribution and utilization of this document as well as the communication of its contents to

others without express authorization are prohibited.

patent, utility model or design.

Foreword

IO configuration in TwinCAT6 Version: 1.1

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 instructions

In this documentation the following instructions are used.

These instructions must be read carefully and followed without fail!

DANGER

Serious risk of injury!

Failure to follow this safety instruction directly endangers the life and health of persons.

WARNING

Risk of injury!

Failure to follow this safety instruction endangers the life and health of persons.

CAUTION

Personal injuries!

Failure to follow this safety instruction can lead to injuries to persons.

NOTE

Damage to environment/equipment or data loss

Failure to follow this instruction can lead to environmental damage, equipment damage or data loss.

Tip or pointer

This symbol indicates information that contributes to better understanding.

Foreword

IO configuration in TwinCAT 7Version: 1.1

1.3 Documentation issue status

Version Comment

1.1 • Screenshots updated

1.0 • First release

Introduction

IO configuration in TwinCAT8 Version: 1.1

2 Introduction

The IO configuration is the prerequisite for the use of the functions of IO modules in a PLC program. It

covers the appending and parameterization of IO modules in TwinCAT.

This quick start guide describes the basic IO configuration in TwinCAT 3 for IO modules of the type:

• EtherCAT Box (EPxxxx)

• EtherCAT P Box (EPPxxxx)

Link

The complete documentation for TwinCAT 3.

Distinction between Online and Offline

IO configuration in TwinCAT 9Version: 1.1

3 Distinction between Online and Offline

The distinction between online and offline refers to the existence of the actual I/O environment (drives,

terminals, box 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 (as described under TwinCAT

configuration setup, manual).

If the designed control system is already connected to the EtherCAT system and all components are

energized 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 devices it finds match the

configuration.

To ensure that the latest features/settings of the master can be used, always download the latest ESI file.

Please note the following information.

Installation of the latest ESI-XML device description

The TwinCAT System Manager needs the device description files for the devices to be used in or-

der 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 vendor and are made available for download. The ESI files for Beckhoff Ether-

CAT/EtherCATP devices are available on the Beckhoff website (https://www.beckhoff.de/english/

download/elconfg.htm?id=1983920606140). The ESI files should be stored in the TwinCAT installa-

tion directory (default: C:\TwinCAT\IO\EtherCAT). The files are read (once) when a new System

Manager window is opened. A TwinCAT installation includes the Beckhoff ESI files that were cur-

rent at the time when the TwinCAT build was created. From TwinCAT 2.11 and in TwinCAT 3 the

ESI directory can be updated from the System Manager, if the programming PC is connected to the

internet (TwinCAT → EtherCAT Devices → Update Device Description…)

Offline IO configuration

IO configuration in TwinCAT10 Version: 1.1

4 Offline IO configuration

The manual configuration of an EtherCAT Box/EtherCATP Box in TwinCAT is described in this part of the

documentation.

1. Open the section "I/O" in the "Solution Explorer".

2. Right click on „Devices“ and click on „Add new Item“.

ðA dialog window opens.

3. Select the entry "EtherCAT Master" in the dialog window and click on "OK".

ðAn entry "Device 1 (EtherCAT)" appears.

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