Beckhoff EtherCAT Box Manuale utente
Quick start guide | EN
IO configuration in TwinCAT
EtherCATBox 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®, EtherCATG®, EtherCATG10®, EtherCATP®, SafetyoverEtherCAT®,
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.
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
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/EtherCATP 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/EtherCATP 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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