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Beckhoff EL6751 Documentation

Master/slave terminal for canopen
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EL6751
Master/Slave Terminal for CANopen
Version:
Date:
3.5
2019-07-12

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  • Page 1 Documentation EL6751 Master/Slave Terminal for CANopen Version: Date: 2019-07-12...

  • Page 3: Table Of Contents

    CAN cable........................ 28 3.9.6 Shielding ..........................  30 3.9.7 Cable colors........................ 30 3.9.8 BK5151, FC51xx, CX with CAN interface and EL6751: D-sub, 9 pin ...... 31 3.9.9 BK51x0/BX5100: 5-pin open style connector .............. 32 3.9.10 LC5100: Bus connection via spring-loaded terminals............ 32 3.9.11 Fieldbus Box: M12 CAN socket ..................
  • Page 4 CANopen master ...................... 122 5.5.2 CAN interface ........................  154 6 Error handling and diagnostics...................... 163 EL6751 – LED description ...................... 163 EL6751 – Bus node diagnostics .................... 164 EL6751 diagnostics ........................ 166 EL6751- Emergency messages .................... 168 EL6751 - ADS Error Codes ...................... 168 CANopen Trouble Shooting...................... 173 7 Appendix .............................. 176...

  • Page 5: Foreword

    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.

  • Page 6: Safety Instructions

    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.

  • Page 7: Documentation Issue Status

    • Addendum CAN Interface description • Revision, technical data amended • Preliminary version for internal use Version identification of EtherCAT devices Designation A Beckhoff EtherCAT device has a 14-digit designation, made up of • family key • type • version • revision EL6751 Version: 3.5...
  • Page 8 Production lot/batch number/serial number/date code/D number The serial number for Beckhoff IO devices is usually the 8-digit number printed on the device or on a sticker. The serial number indicates the configuration in delivery state and therefore refers to a whole production batch, without distinguishing the individual modules of a batch.

  • Page 9: Fig. 1 El5021 El Terminal, Standard Ip20 Io Device With Serial/ Batch Number And Revision Id (Since 2014/01)

    • Terminals with factory calibration certificate and other measuring terminals Examples of markings Fig. 1: EL5021 EL terminal, standard IP20 IO device with serial/ batch number and revision ID (since 2014/01) Fig. 2: EK1100 EtherCAT coupler, standard IP20 IO device with serial/ batch number EL6751 Version: 3.5...

  • Page 10: Fig. 3 Cu2016 Switch With Serial/ Batch Number

    Fig. 4: EL3202-0020 with serial/ batch number 26131006 and unique ID-number 204418 Fig. 5: EP1258-00001 IP67 EtherCAT Box with batch number/ date code 22090101 and unique serial number 158102 Fig. 6: EP1908-0002 IP67 EtherCAT Safety Box with batch number/ date code 071201FF and unique serial number 00346070 Version: 3.5 EL6751...

  • Page 11: Fig. 7 El2904 Ip20 Safety Terminal With Batch Number/ Date Code 50110302 And Unique Serial Num- Ber 00331701

    Foreword Fig. 7: EL2904 IP20 safety terminal with batch number/ date code 50110302 and unique serial number 00331701 Fig. 8: ELM3604-0002 terminal with unique ID number (QR code) 100001051 and serial/ batch number 44160201 EL6751 Version: 3.5...

  • Page 12: Beckhoff Identification Code (Bic)

    1.4.1 Beckhoff Identification Code (BIC) The Beckhoff Identification Code (BIC) is increasingly being applied to Beckhoff products to uniquely identify the product. The BIC is represented as a Data Matrix Code (DMC, code scheme ECC200), the content is based on the ANSI standard MH10.8.2-2016.

  • Page 13: Fig. 10 Structure Of The Bic

    Fig. 10: Structure of the BIC An important component of the BIC is the Beckhoff Traceability Number (BTN, item no. 2). The BTN is a unique serial number consisting of eight characters that will replace all other serial number systems at Beckhoff in the long term (e.g.

  • Page 14: Product Overview

    Master and slave terminals for CANopen The master and slave terminals for CANopen correspond to the FC5101 PCI card from Beckhoff. Thanks to the connection via Ethernet, no PCI slots are required in the PC. Within an EtherCAT terminal network, it enables the integration of any CANopen devices.

  • Page 15: Technical Data

    Product overview Technical data Technical data EL6751-0000 EL6751-0010 Bus system CANopen Version Master Slave Number of fieldbus channels Data transfer rate 10, 20, 50, 100, 125, 250, 500, 800 or 1000 kbaud Bus interface D-Sub 9-pole connector according to CANopen specification,...

  • Page 16: Canopen Introduction

    • Requested (polled) [} 101]: A CAN data request telegram causes the modules to send their input data. The desired communication type is set by the Transmission Type [} 101] parameter. Version: 3.5 EL6751...
  • Page 17 Beckhoff website (http://www.beckhoff.de) for the parameterization of Beckhoff CANopen devices using configuration tools from other manufacturers. Certification The Beckhoff CANopen devices have a powerful implementation of the protocol, and are certified by the CAN in Automation Association (http://www.can-cia.org). EL6751...

  • Page 18: Mounting And Wiring

    Risk of electric shock and damage of device! Bring the bus terminal system into a safe, powered down state before starting installation, disassembly or wiring of the Bus Terminals! Mounting • Fit the mounting rail to the planned assembly location. Version: 3.5 EL6751...
  • Page 19 • Lever the unlatching hook on the left-hand side of the terminal module upwards with a screwdriver (3). As you do this ◦ an internal mechanism pulls the two latching lugs (3a) from the top hat rail back into the terminal module, ◦ the unlatching hook moves forwards (3b) and engages EL6751 Version: 3.5...

  • Page 20: Mounting And Demounting - Terminals With Front Unlocking

    Risk of electric shock and damage of device! Bring the bus terminal system into a safe, powered down state before starting installation, disassembly or wiring of the Bus Terminals! Mounting • Fit the mounting rail to the planned assembly location. Version: 3.5 EL6751...
  • Page 21 (3a) from the top hat rail back into the terminal module. • Pull (4) the terminal module away from the mounting surface. Avoid canting of the module; you should stabilize the module with the other hand, if required. EL6751 Version: 3.5...

  • Page 22: Installation Positions

    Other installation positions All other installation positions are characterized by different spatial arrangement of the mounting rail - see Fig “Other installation positions”. The minimum distances to ambient specified above also apply to these installation positions. Version: 3.5 EL6751...

  • Page 23: Positioning Of Passive Terminals

    The passive terminals have no current consump- tion out of the E-Bus. To ensure an optimal data transfer, you must not directly string together more than 2 passive termi- nals! EL6751 Version: 3.5...

  • Page 24: Fig. 16 Correct Positioning

    Mounting and wiring Examples for positioning of passive terminals (highlighted) Fig. 16: Correct positioning Fig. 17: Incorrect positioning Version: 3.5 EL6751...

  • Page 25: Atex - Special Conditions (Extended Temperature Range)

    80°C at the wire branching points, then cables must be selected whose tempera- ture data correspond to the actual measured temperature values! • Observe the permissible ambient temperature range of -25 to 60°C for the use of Beckhoff fieldbus com- ponents with extended temperature range (ET) in potentially explosive areas! •...

  • Page 26: Atex Documentation

    Beckhoff EtherCAT modules are intended for use with Beckhoff’s UL Listed EtherCAT Sys- tem only. Examination For cULus examination, the Beckhoff I/O System has only been investigated for risk of fire and electrical shock (in accordance with UL508 and CSA C22.2 No. 142). For devices with Ethernet connectors Not for connection to telecommunication circuits.

  • Page 27: Canopen Cabling

    Bus length 1 Mbit/s < 20 m* 500 kbit/s < 100 m 250 kbit/s < 250 m 125 kbit/s < 500 m 50 kbit/s < 1000 m 20 kbit/s < 2500 m 10 kbit/s < 5000 m EL6751 Version: 3.5...

  • Page 28: Drop Lines

    Shorter drop line lengths must be maintained when passive distributors ("multiport taps"), such as the Beckhoff ZS5052-4500 Distributor Box. The following table indicates the maximum drop line lengths and the maximum length of the trunk line (without the drop lines):...

  • Page 29: Fig. 21 Structure Of Can Cable Zb5100

    Mounting and wiring ZB5100 CAN Cable A high quality CAN cable with the following properties is included in Beckhoff's range: • 2 x 2 x 0.25 mm² (AWG 24) twisted pairs, cable colors: red/black + white/black • double screened • braided screen with filler strand (can be attached directly to pin 3 of the 5-pin connection terminal) •...

  • Page 30: Shielding

    - it should nevertheless still be fully connected through. Notes related to checking the CAN wiring can be found in the Trouble Shooting [} 173] section. 3.9.7 Cable colors Suggested method of using the Beckhoff CAN cable on Bus Terminal and Fieldbus Box: BK51x0 pin Pin BK5151 Fieldbus...

  • Page 31: Bk5151, Fc51Xx, Cx With Can Interface And El6751: D-Sub, 9 Pin

    BK5151, FC51xx, CX with CAN interface and EL6751: D-sub, 9 pin The CANbus cable is connected to the FC51x1, FC51x2 CANopen cards and in the case of the EL6751 CANopen master/slave terminal via 9-pin Sub-D sockets with the following pin assignment.

  • Page 32: Bk51X0/Bx5100: 5-Pin Open Style Connector

    In the low cost LC5100 Coupler, the CAN wires are connected directly to the contact points 1 (CAN-H, marked with C+) and 5 (CAN-L, marked with C-). The screen can optionally be connected to contact points 4 or 8, which are connected to the mounting rail via an R/C network. Version: 3.5 EL6751...

  • Page 33: Fieldbus Box: M12 Can Socket

    Fig. 27: Pin assignment: M12 plug, fieldbus box Beckhoff offer plugs for field assembly, passive distributor's, terminating resistors and a wide range of pre- assembled cables for the Fieldbus Box system. Details be found in the catalogue, or under www.beckhoff.de.

  • Page 34: Basics Communication

    After switch-on the EtherCAT slave in the Init state. No mailbox or process data communication is possible. The EtherCAT master initializes sync manager channels 0 and 1 for mailbox communication. Pre-Operational (Pre-Op) During the transition between Init and Pre-Op the EtherCAT slave checks whether the mailbox was initialized correctly. Version: 3.5 EL6751...

  • Page 35: General Notes For Setting The Watchdog

    FALSE. The OP state of the terminal is unaffected. The watchdog is only reset after a successful EtherCAT process data access. Set the monitoring time as described below. The SyncManager watchdog monitors correct and timely process data communication with the ESC from the EtherCAT side. EL6751 Version: 3.5...

  • Page 36: Fig. 29 Ethercat Tab -> Advanced Settings -> Behavior -> Watchdog

    • Important: the multiplier/timer setting is only loaded into the slave at the start up, if the checkbox is activated. If the checkbox is not activated, nothing is downloaded and the ESC settings remain unchanged. Multiplier Multiplier Both watchdogs receive their pulses from the local terminal cycle, divided by the watchdog multiplier: Version: 3.5 EL6751...

  • Page 37: Coe Interface

    The relevant ranges for EtherCAT fieldbus users are: • 0x1000: This is where fixed identity information for the device is stored, including name, manufacturer, serial number etc., plus information about the current and available process data configurations. EL6751 Version: 3.5...

  • Page 38: Fig. 30 "Coe Online " Tab

    "SetValue" dialog. • from the control system/PLC via ADS, e.g. through blocks from the TcEtherCAT.lib library This is recommended for modifications while the system is running or if no System Manager or operating staff are available. Version: 3.5 EL6751...

  • Page 39: Fig. 31 Startup List In The Twincat System Manager

    Changes in the local CoE list of the terminal are lost if the terminal is replaced. If a terminal is re- placed with a new Beckhoff terminal, it will have the default settings. It is therefore advisable to link all changes in the CoE list of an EtherCAT slave with the Startup list of the slave, which is pro- cessed whenever the EtherCAT fieldbus is started.

  • Page 40: Fig. 32 Offline List

    ◦ The actual current slave list is read. This may take several seconds, depending on the size and cycle time. ◦ The actual identity is displayed ◦ The firmware and hardware version of the equipment according to the electronic information is displayed ◦ Online is shown in green. Version: 3.5 EL6751...

  • Page 41: Fig. 33 Online List

    • Channel 1: parameter range 0x8010:00 ... 0x801F:255 • Channel 2: parameter range 0x8020:00 ... 0x802F:255 • ... This is generally written as 0x80n0. Detailed information on the CoE interface can be found in the EtherCAT system documentation on the Beckhoff website. EL6751 Version: 3.5...

  • Page 42: Parameterization And Commissioning

    5.1.1 Installation of the TwinCAT real-time driver In order to assign real-time capability to a standard Ethernet port of an IPC controller, the Beckhoff real-time driver has to be installed on this port under Windows. This can be done in several ways. One option is described here.

  • Page 43: Fig. 34 System Manager "Options" (Twincat 2)

    Alternatively an EtherCAT-device can be inserted first of all as described in chapter Offline configuration creation, section “Creating the EtherCAT device” [} 52] in order to view the compatible ethernet ports via its EtherCAT properties (tab „Adapter“, button „Compatible Devices…“): EL6751 Version: 3.5...

  • Page 44: Fig. 37 Ethercat Device Properties(Twincat 2): Click On „Compatible Devices

    After the installation the driver appears activated in the Windows overview for the network interface (Windows Start → System Properties → Network) Fig. 38: Windows properties of the network interface A correct setting of the driver could be: Version: 3.5 EL6751...

  • Page 45: Fig. 39 Exemplary Correct Driver Setting For The Ethernet Port

    Parameterization and commissioning Fig. 39: Exemplary correct driver setting for the Ethernet port Other possible settings have to be avoided: EL6751 Version: 3.5...

  • Page 46: Fig. 40 Incorrect Driver Settings For The Ethernet Port

    Parameterization and commissioning Fig. 40: Incorrect driver settings for the Ethernet port Version: 3.5 EL6751...

  • Page 47: Fig. 41 Tcp/Ip Setting For The Ethernet Port

    DHCP. In this way the delay associated with the DHCP client for the Ethernet port assigning itself a default IP address in the absence of a DHCP server is avoided. A suitable address space is 192.168.x.x, for example. Fig. 41: TCP/IP setting for the Ethernet port EL6751 Version: 3.5...

  • Page 48: Notes Regarding Esi Device Description

    The files are read (once) when a new System Manager window is opened, if they have changed since the last time the System Manager window was opened. A TwinCAT installation includes the set of Beckhoff ESI files that was current at the time when the TwinCAT build was created.
  • Page 49 1018 in the configuration. This is also stated by the Beckhoff compatibility rule. Refer in particular to the chapter ‘General notes on the use of Beckhoff EtherCAT IO components’ and for manual configuration to the chapter ‘Offline configuration creation’ [} 52].
  • Page 50 Faulty ESI file If an ESI file is faulty and the System Manager is unable to read it, the System Manager brings up an information window. Fig. 47: Information window for faulty ESI file (left: TwinCAT 2; right: TwinCAT 3) Version: 3.5 EL6751...
  • Page 51 Parameterization and commissioning Reasons may include: • Structure of the *.xml does not correspond to the associated *.xsd file → check your schematics • Contents cannot be translated into a device description → contact the file manufacturer EL6751 Version: 3.5...

  • Page 52: Offline Configuration Creation

    Then assign a real Ethernet port to this virtual device in the runtime system. Fig. 50: Selecting the Ethernet port This query may appear automatically when the EtherCAT device is created, or the assignment can be set/ modified later in the properties dialog; see Fig. “EtherCAT device properties (TwinCAT 2)”. Version: 3.5 EL6751...
  • Page 53 (e.g. EK1122 or EK1100), the required port can be selected on the right-hand side (A). Overview of physical layer • “Ethernet”: cable-based 100BASE-TX: EK couplers, EP boxes, devices with RJ45/M8/M12 connector • “E-Bus”: LVDS “terminal bus”, “EJ-module”: EL/ES terminals, various modular modules EL6751 Version: 3.5...
  • Page 54 (i.e. highest) revision and therefore the latest state of production is displayed in the selection dialog for Beckhoff devices. To show all device revisions available in the system as ESI descriptions tick the “Show Hidden Devices” check box, see Fig. “Display of previous revisions”.
  • Page 55 If current ESI descriptions are available in the TwinCAT system, the last revision offered in the selection dialog matches the Beckhoff state of production. It is recommended to use the last device revision when creating a new configuration, if current Beckhoff devices are used in the real application. Older revisions should only be used if older devices from stock are to be used in the application.
  • Page 56 Parameterization and commissioning Fig. 57: EtherCAT terminal in the TwinCAT tree (left: TwinCAT 2; right: TwinCAT 3) Version: 3.5 EL6751...

  • Page 57: Online Configuration Creation

    This scan mode attempts to find not only EtherCAT devices (or Ethernet ports that are usable as such), but also NOVRAM, fieldbus cards, SMB etc. However, not all devices can be found automatically. Fig. 60: Note for automatic device scan (left: TwinCAT 2; right: TwinCAT 3) EL6751 Version: 3.5...
  • Page 58 [} 62] with the defined initial configuration.Background: since Beckhoff occasionally increases the revision version of the delivered products for product maintenance reasons, a configuration can be created by such a scan which (with an identical machine construction) is identical according to the device list;...
  • Page 59 Likewise, A might create spare parts stores worldwide for the coming series-produced machines with EL2521-0025-1018 terminals. After some time Beckhoff extends the EL2521-0025 by a new feature C. Therefore the FW is changed, outwardly recognizable by a higher FW version and a new revision -1019. Nevertheless the new device naturally supports functions and interfaces of the predecessor version(s);...
  • Page 60 Fig. 69: Displaying of “Free Run” and “Config Mode” toggling right below in the status bar Fig. 70: TwinCAT can also be switched to this state by using a button (left: TwinCAT 2; right: TwinCAT 3) The EtherCAT system should then be in a functional cyclic state, as shown in Fig. “Online display example”. Version: 3.5 EL6751...
  • Page 61 The connections and devices should be checked in a targeted manner, e.g. via the emergency scan. Then re-run the scan. Fig. 72: Faulty identification In the System Manager such devices may be set up as EK0000 or unknown devices. Operation is not possible or meaningful. EL6751 Version: 3.5...
  • Page 62 A ‘ChangeTo’ or ‘Copy’ should only be carried out with care, taking into consideration the Beckhoff IO compatibility rule (see above). The device configuration is then replaced by the revision found; this can affect the supported process data and functions.
  • Page 63 If current ESI descriptions are available in the TwinCAT system, the last revision offered in the selection dialog matches the Beckhoff state of production. It is recommended to use the last device revision when creating a new configuration, if current Beckhoff devices are used in the real application. Older revisions should only be used if older devices from stock are to be used in the application.
  • Page 64 This function is preferably to be used on AX5000 devices. Change to Alternative Type The TwinCAT System Manager offers a function for the exchange of a device: Change to Alternative Type Fig. 78: TwinCAT 2 Dialog Change to Alternative Type Version: 3.5 EL6751...

  • Page 65: Ethercat Slave Process Data Settings

    To this end the EtherCAT master (Beckhoff TwinCAT) parameterizes each EtherCAT slave during the start-up phase to define which process data (size in bits/bytes, source location, transmission type) it wants to transfer to or from this slave.

  • Page 66: General Notes - Ethercat Slave Application

    EtherCAT and the TwinCAT System Manager offer comprehensive diagnostic elements of this kind. Those diagnostic elements that are helpful to the controlling task for diagnosis that is accurate for the current cycle when in operation (not during commissioning) are discussed below. Version: 3.5 EL6751...
  • Page 67 Fig. “Basic EtherCAT Slave Diagnosis in the PLC” shows an example of an implementation of basic EtherCAT Slave Diagnosis. A Beckhoff EL3102 (2-channel analogue input terminal) is used here, as it offers both the communication diagnosis typical of a slave and the functional diagnosis that is specific to a channel.
  • Page 68 Parameterization and commissioning Fig. 81: Basic EtherCAT Slave Diagnosis in the PLC The following aspects are covered here: Version: 3.5 EL6751...
  • Page 69 The CoE parameter directory (CanOpen-over-EtherCAT) is used to manage the set values for the slave concerned. Changes may, in some circumstances, have to be made here when commissioning a relatively complex EtherCAT Slave. It can be accessed through the TwinCAT System Manager, see Fig. “EL3102, CoE directory”: EL6751 Version: 3.5...
  • Page 70 Commissioning interfaces are being introduced as part of an ongoing process for EL/EP EtherCAT devices. These are available in TwinCAT System Managers from TwinCAT 2.11R2 and above. They are integrated into the System Manager through appropriately extended ESI configuration files. Version: 3.5 EL6751...
  • Page 71 The target state wanted by the user, and which is brought about automatically at start-up by TwinCAT, can be set in the System Manager. As soon as TwinCAT reaches the status RUN, the TwinCAT EtherCAT Master will approach the target states. EL6751 Version: 3.5...
  • Page 72 Fig. 84: Default behaviour of the System Manager In addition, the target state of any particular Slave can be set in the "Advanced Settings" dialogue; the standard setting is again OP. Fig. 85: Default target state in the Slave Version: 3.5 EL6751...
  • Page 73 The pre-calculated theoretical maximum E-Bus current is displayed in the TwinCAT System Manager as a column value. A shortfall is marked by a negative total amount and an exclamation mark; a power feed terminal is to be placed before such a position. EL6751 Version: 3.5...
  • Page 74 Fig. 88: Warning message for exceeding E-Bus current NOTE Caution! Malfunction possible! The same ground potential must be used for the E-Bus supply of all EtherCAT terminals in a terminal block! Version: 3.5 EL6751...

  • Page 75: Twincat (2.1X) System Manager

    5.3.1 Configuration by means of the TwinCAT System Manager The TwinCAT System Manager tool is used for the configuration of the EL6751 CANopen master/slave terminal. The System Manager provides a representation of the number of programs of the TwinCat PLC systems, the configuration of the axis control and of the connected I/O channels as a structure, and organizes the mapping of the data traffic.
  • Page 76 General CANopen device or general CAN device (access via CAN layer 2) CANopen Node [} 88] Delete Device... <Del> Removes the EL6751 and all subordinated elements from the I/O configuration. Online Reset Initiates an online reset on the CANopen bus. Version: 3.5...
  • Page 77 EtherCAT Terminal ID in the terminal network. Master Node ID Node address of the EL6751. Value range: 1...127. Determines the identifier of the master heartbeat telegram. Ensure that it is not the same as a slave node address. Baud rate Set the baud rate [} 109] here.
  • Page 78 Task Cycle Time = 2000µs, Sync Cycle Multiplier = 5, Sync Tx-PDO Delay =40. Event-controlled PDOs can be processed by the PLC task every 2 ms; the CANopen sync cycle is 10 ms; the EL6751 transmits its synchronous PDOs 4 ms (= 40% of 10 ms) after the SYNC.
  • Page 79 The firmware update is carried out via the associated hardware. “ADS” tab The EL6751 is an ADS device with its own net ID, which can be changed here. All ADS services (diagnostics, acyclical communication) associated with the EL6751 device must address the card via this NetID.
  • Page 80 Tx queue and Rx queue define the number of messages that are exchanged between the task and the CANopen master in a task cycle. If the message queues are to transmit 29-bit identifiers in addition, activate the checkbox "29 Bit Identifier supported". The process image of the CAN interface then looks like this: Version: 3.5 EL6751...
  • Page 81 The "CAN Rx Filter" tab of the CAN interface box in the TwinCAT tree is used for the setting of the filter for the Rx messages (default: all messages are received). After clicking the "Append..." button, the following dialog appears: EL6751 Version: 3.5...
  • Page 82 Sample code: Receiving messages from the PLC if Outputs.RxCounter <> Inputs.RxCounter then           for I := 0 to (Inputs.NoOfRxMessages-1) do                    MessageReceived[i] := Inputs.RxMessage [i];           End_for           Outputs.RxCounter := Outputs.RxCounter+1; end_if EL6751-0010 - CANopen slave terminal In the system configuration tree structure right-click on I/O Devices and "Append Device" to open the selection list of supported fieldbus cards: Version: 3.5 EL6751...
  • Page 83 Parameterization and commissioning Fig. 98: EL6751-0010: Dialog "Appending an I/O device" Select EL6751-0010 CANopenSlave. TwinCAT searches for the terminal and displays the memory addresses and slots it finds. Select the required address and confirm. I/O Device EL6751-0010 CANopen Slave Selecting the inserted I/O device in the tree structure opens a dialog with different configuration options: "EL6751-0010"...
  • Page 84 The firmware update for the EL6751-0010 is carried out via the associated EL6751-0010 terminal. “ADS” tab The EL6751-0010 is an ADS device with its own net ID, which can be changed here. All ADS services (diagnostics, acyclic communication) associated with the EL6751-0010 device must address the card via this NetID.
  • Page 85 The profile number and the Add. Information form the DeviceType that can be read via object 0x1000. Configuring network variables PLC variables communicated by the EL6751-0010 device are referred to as network variables. These variables must be created and added to the associated PDOs. To this end right-click on the PDO and select "Inserting variables".

  • Page 86: Beckhoff Canopen Bus Coupler

    TwinCAT Information System) with the variables for the different tasks. 5.3.2 BECKHOFF CANopen Bus Coupler The BK51xx Bus Coupler and the IPxxx-B510 Fieldbus Box are installed in the CANopen bus. The specific properties which distinguish them from other Bus Couplers and/or fieldbus box modules are then described below.
  • Page 87 Gives the Transmission Type [} 101] for digital / analog input telegrams. 254 + 255 corresponds to the event- driven transfer, 1 ... 240 are synchronous transfer types. For further details see also BK51X0 manual. Firmware Update Enables the updating of the coupler firmware via the serial interface (requires KS2000 software package interface cable). EL6751 Version: 3.5...

  • Page 88: Canopen Devices

    This will guarantee the optimum flexibility of this general CANopen interface. When using the FC510x / EL6751, this box also enables you to receive and send any CAN identifier - this enables communication with any CAN node. The only condition is the support of at least one of the baud rates [} 119] supported by the FC510x / EL6751.
  • Page 89 The FC 510x / EL6751 also support the Heartbeat protocol and initially attempt to start this form of node monitoring on the CANopen node (write access to the objects 0x1016 and 0x1017 in the object dictionary). If this attempt fails, guarding is activated.
  • Page 90 CANopen terminology As the CANopen terminology is retained, even in the case of the general CAN nodes, you need to take into account the fact that RxPDOs are the telegrams sent by the FC510x / EL6751 and TxP- DOs are the received telegrams.
  • Page 91 The length of the PDO is based on the mapped variables and cannot therefore be edit here. Event time (FC510x and EL6751 only) Enter the value for the Event Timer [} 101] in ms. For send PDOs (here: RxPDOs, see above) the StartUp of this timer triggers an additional PDO send, for receive PDOs (here: TxPDOs) the arrival of a PDO within the pre-set value is monitored and the box state of the node is changed as appropriate.
  • Page 92 PDOs without variables are not transmitted and also not expected. Context menu: Fig. 109: Context menu for inserting further Tx or Rx-PDOs. The menu above is obtained by right clicking on the general CANopen node. Here you can insert further Tx PDOs and/or Rx PDOs. Version: 3.5 EL6751...

  • Page 93: Canopen Communication

    In order to be able to read and write SDO objects during the running time (e.g. from the PLC), the node (Bus Coupler) can be allocated an ADS port (CIFx0-CAN). The FC510x / EL6751 provides an ADS port at all times for every node since the diagnostic information is transported via ADS. These ports can be used to read and write SDO objects using ADS read requests and/or write requests.
  • Page 94 0 applying to all nodes (broadcast). 11 bit identifier 2 byte user data 0x00 Node ID The following table gives an overview of all the CANopen state transitions and the associated commands (command specifier in the NMT master telegram): Version: 3.5 EL6751...
  • Page 95 Firmware version BA Up to firmware version BA the emergency identifier was used for the boot up message. Format of the Boot-up message 11 bit identifier 1 byte of user data 0x700 (=1792)+ node 0x00 EL6751 Version: 3.5...
  • Page 96 The guarding message for node 27 (0x1B) must be requested by a remote frame having identifier 0x71B (1819 ). If the node is Operational, the first data byte of the answer message alternates between 0x05 and 0x85, whereas in the Pre-Operational state it alternates between 0x7F and 0xFF. Version: 3.5 EL6751...
  • Page 97 The master also regularly transmits its heartbeat telegram, so that the slaves are also able to detect failure of the master. Heartbeat procedure Fig. 113: Schematic diagram: "Heartbeat procedure" Protocol The toggle bit is not used in the heart beat procedure. The nodes send their status cyclically (s). See Guarding [} 96]. EL6751 Version: 3.5...

  • Page 98: Canopen Master Network Management

    Parameterization and commissioning 5.4.2 CANopen Master Network management Automatic CANopen StartUp After the startup (EL6751: switch-over after SAFEOP) the CANopen master sends a Reset Communication All Nodes command. This is followed by an individual startup for each configured CANopen slave: Explanation Option...
  • Page 99 0x1017 of the factor on the tabs BK51x0 [} 86] or CAN node [} 88] are Heartbeat 0x1017 CANopen slave. not equal 0. If the SDO is active, the startup is aborted if an SDO timeout has occurred. EL6751 Version: 3.5...
  • Page 100 10 s after the startup no configured TxPDO was received (not active by default), the complete startup is repeated if this monitoring function is triggered. Sending the The configured RxPDOs are sent to the CANopen slave 1 RxPDOs second after the CANopen slave was started. Version: 3.5 EL6751...

  • Page 101: Process Data Objects (Pdo)

    40 or 22 and the CANopen slave is treated according to configured error response. The time slot ends after the input shift time has elapsed (EL6751, with a SYNC multiplier greater than 1 the input shift time in the...
  • Page 102 Generally speaking, CANopen is economical it its use of the available identifiers, so that the use of the 29-bit versions remains limited to unusual applications. It is therefore also not supported by a Beckhoff's CANopen devices. The highest bit (bit 31) can be used to activate the process data object or to turn it off.
  • Page 103 TxPDO. PDO Communication Types: Overview CANopen offers a number of possible ways to transmit process data (see also: Notes on PDO Parameterization [} 109]). EL6751 Version: 3.5...
  • Page 104 CAN controllers with simple message filtering (BasicCAN) on the other hand pass the request on to the application which can now compose the telegram with the latest data. This does take longer, but does mean that the data is up-to-date. Beckhoff use CAN controllers following the principle of Basic CAN.
  • Page 105 (such as a change in input) having occurred. Transmission type 0 thus combines transmission for reasons that are event driven with a time for transmission (and, as far as possible, sampling) and processing given by the reception of "SYNC". EL6751 Version: 3.5...
  • Page 106 Fig. 118: Timing diagram: "Inhibit time" Although the Beckhoff FC510x PC cards / EL6751 terminal can parameterize the inhibit time on slave devices, they do not themselves support it. The transmitted PDOs become automatically spread out (transmit delay) as a result of the selected PLC cycle time - and there is little value in having the PLC run faster than the bus bandwidth permits.
  • Page 107 In the case of receive PDOs, the timer is used to set a watchdog interval for the PDO: the application is informed if no corresponding PDO has been received within the set period. The FC510x / EL6751 can in this way monitor each individual PDO.
  • Page 108 As a rule, the default mapping of the process data objects already satisfies the requirements. For special types of application the mapping can nevertheless be altered: the Beckhoff CANopen Bus Couplers, for instance, thus support variable mapping, in which the application objects (input and output data) can be freely allocated to the PDOs.

  • Page 109: Pdo Parameterization

    The BECKHOFF FC510x PC cards / EL6751 CANopen terminal are capable of synchronizing the CANopen bus system with the cycles of the application program (PLC or NC).
  • Page 110 The BECKHOFF FC510x CANopen master cards / EL6751 CANopen master terminal display the bus load via the System Manager. This variable can also be processed in the PLC, or can be displayed in the visualization system.

  • Page 111: Service Data Objects (Sdo)

    Client -> Server, Upload Request 11 bit identifier 8 byte user data 0x600 (=1536dec) + node 0x40 Index0 Index1 SubIdx 0x00 0x00 0x00 0x00 Parameter Explanation Index0 Index low byte (Unsigned16, LSB) Index1 Index high byte (Unsigned16, MSB) SubIdx Sub-index (Unsigned8) EL6751 Version: 3.5...
  • Page 112 A download of data up to 4 bytes in length can therefore always be achieved in BECKHOFF bus nodes with 22 h in the first CAN data byte. Client -> Server, Download Response 11 bit identifier 8 byte user data...
  • Page 113 Function still active, try again later 0x05 04 00 40 General routing error 0x06 06 00 21 Error accessing BC table 0x06 09 00 10 General error communicating with terminal 0x05 04 00 47 Time-out communicating with terminal EL6751 Version: 3.5...

  • Page 114: El6751- Sdo Communication

    CANopen SDO (Service Data Object) communication is used to read or write any parameters in the CANopen bus node's object directory. The EL6751 CANopen terminal uses the SDO communication for the configuration of the communication parameters when starting up. Two types of application-specific SDO communication are additionally possible: 1.
  • Page 115 The NetID is a string, 23 bytes in length, and is formed by default from the IP address of the computer with an additional two bytes. It addresses the EL6751 and can be taken from the "ADS" tab in the System Manager.
  • Page 116 ReadError := SDO_READ.Error; ReadData := SDO_READ.ReadData; END_IF The SDO_READ function block that has been called in turn calls the ADSREAD function a number of times. It looks like this (starting with the variable declaration): FUNCTION_BLOCK SDO_READ VAR_INPUT ADSNetID:STRING(23); (* The AMSNetID addresses the EL6751. Can be empty if only one local single cha nnel card is present*) PortNr:WORD;         (* This Port No. addresses the CANopen Node (see System Manager) *) CO_Index:DWORD;      (* This is the Index of the CANopen Object Dictionary Entry*) CO_SubIndex:DWORD;   (* This is the Sub-Index of the CANopen Object Dictionary Entry*) DataLength:DWORD;    (* This is the Length of the CANopen Object Dictionary Entry*) StartReading:BOOL;   (* only reset to FALSE after ReadDataAvailable=TRUE*) END_VAR VAR_OUTPUT ReadData:ARRAY[0..255] OF BYTE;...
  • Page 117 WriteStart := FALSE; WriteError := SDO_WRITE.Error; END_IF The SDO_WRITE function block that has been called in turn calls the ADSWRITE function a number of times. It looks like this (starting with the variable declaration): FUNCTION_BLOCK SDO_WRITE VAR_INPUT ADSNetID:STRING(23);   (* The AMSNetID addresses the EL6751. Can be empty if only one local single c hannel card is present*) PortNr:WORD;           (* The Port No. addresses the CANopen Node (see System Manager) *) CO_Index:DWORD;        (* This is the Index of the CANopen Object Dictionary Entry*) CO_SubIndex:DWORD;     (*This is the Sub-Index of the CANopen Object Dictionary Entry*) DataLength:DWORD;      (* This is the Length of the CANopen Object Dictionary Entry*) StartWriting:BOOL;     (*only reset to FALSE after WriteDataFinished=TRUE*) WriteData:ARRAY[0..255] OF BYTE; (*This array contains the data to be written to the CANopen Object...
  • Page 118                SRCADDR:= ADR(WriteData),                WRITE:= TRUE,                TMOUT := T#1s                );            IF ADSWrite.err THEN                state := 2;                WriteDataFinished := TRUE;                Error := ADSWrite.ErrId;            ELSE                state := 1;            END_IF         ELSE            ADSWrite(                NETID:= '',                PORT:= PortNr,                IDXGRP:= CO_Index,                IDXOFFS:= CO_SubIndex,                LEN:= DataLength,                SRCADDR:= ADR(WriteData),                WRITE:= FALSE,                TMOUT := T#1s                );         END_IF         ADSWrite(WRITE:= FALSE);         IF ADSWrite.err THEN            state := 2;            WriteDataFinished := TRUE;            Error := ADSWrite.ErrId;         ELSE            IF NOT ADSWrite.busy THEN                state := 2;                WriteDataFinished := TRUE;            END_IF         END_IF         ADSWrite(WRITE:= FALSE);         state := 0; END_CASE Version: 3.5 EL6751...

  • Page 119: Canopen Baud Rate And Bit Timing

    Broadcast objects Object Function Function Resulting COB ID hex / dec Object for communication Pa- code rameter / mapping Boot-Up 0x00 / 0 - / - SYNC Synchronization 1 0x80 / 128 0x1005 + 0x1006 / - EL6751 Version: 3.5...

  • Page 120: Firmware Versions

    * For historical reasons, the Beckhoff default mapping applies to PDOs 3 and 4 in Beckhoff I/O devices. In most configurations, PDOs 3 and 4 contain data related to analog inputs and outputs, but there can also be "excess"...

  • Page 121: Sending And Receiving Of Can Messages (Std Frame Format) Via Ads

    5.4.10 Sending and receiving of CAN Messages (STD Frame Format) via ADS Sending CAN messages via ADS AdsWrite: NETID = AoeNetId der EL6751 PORT = 200 IDXGRP = 16#F921 IDXOFFS = 0 LEN = Length of the following DATA, DATA[0]: 1st CAN-Message, CAN-Id Bit 0-7...

  • Page 122: Ethercat Communication El6751

    EtherCAT configurator and transferred to the EtherCAT master, in the same way as is carried out, for example, in the TwinCAT System Manager. 2. Configuration of the EL6751 by scanning the CAN bus [} 124]: Here, the EL6751 is ordered to scan the CAN bus and to save the CANopen configuration found there in the InfoData objects.
  • Page 123 The following flow chart shows the sequence of the configuration of the EL6751 with StartUp SDOs: Fig. 126: Flow chart for the EL6751 with Start SDOs After a power-on, the EL6751 is in the INIT state and has no CANopen configuration. The CAN controller is in the OFFLINE state.
  • Page 124 ‘Start Node’ message and the CAN PDO communication is active. All outputs in the CAN RxPDOs are thereby set to 0. As soon as the EL6751 has been switched to OP, the data from the EtherCAT outputs are also adopted into the CAN RxPDOs.
  • Page 125 Parameterization and commissioning Fig. 127: Flow chart for EL6751 with scanning of the CAN bus After a power-on, the EL6751 is in the INIT state and has no CANopen configuration. The CAN controller is in the OFFLINE state. Scanning the CAN bus The scanning of the CAN bus can be started in the PREOP state, provided that no CANopen configuration has been loaded yet.
  • Page 126 The number of CANopen slaves found can be read via entry 0xF002:03 or object 0xF040. The EtherCAT master can now read the InfoData objects 0x9yyz, generate the StartUp objects 0x8yyz from them and proceed according to the Configuration of the EL6751 with StartUp SDOs [} 123]. Creating the Backup Parameter Storage As an alternative to reading the InfoData, the Backup Parameter Storage can also be created by writing the value 0x65766173 to entry 0x1010:01.
  • Page 127 Parameterization and commissioning After a power-on, the EL6751 is in the INIT state and has no CANopen configuration. The CAN controller is in the OFFLINE state. CAN Bus parameter / CANopen slave configuration The configuration stored in the Backup Parameter Storage object 0x10F2 is loaded during the transition from INIT to PREOP.
  • Page 128 Subsequently, the receipt of the synchronous TxPDOs is checked. If the transmission type of a TxPDO is set to 1, the EL6751 expects a RxPDO in each cycle until the time T4; if this has not been received, the Node State of the CANopen slave (0xF102:yy) is set to 0x28 for one cycle.
  • Page 129 EtherCAT cycle (n > 1) (Sync Multiplier > 1 (n*0x1C32:02 == 0xF800:04 and 0x1C32:02 != 0 and 0xF800:04 != 0)). If no Distributed Clocks mode is set, then the cycle time of the EtherCAT master (0x1C32:02) must be transmitted in the StartUp SDOs (or the Backup Parameter Storage object). EL6751 Version: 3.5...
  • Page 130 After that, the next event is waited for each time until the last EtherCAT cycle within the CAN cycle is reached. In the middle EtherCAT cycles, the data of the asynchronous RxPDOs to be sent always receive the latest value, whereas the data of the synchronous RxPDOs are only updated in the first EtherCAT cycle. Version: 3.5 EL6751...
  • Page 131 EtherCAT XML Device Description The display matches that of the CoE objects from the EtherCAT XML Device Description. We rec- ommend downloading the latest XML file from the download area of the Beckhoff website and in- stalling it according to installation instructions.
  • Page 132 Index 10F0 Backup parameter handling Index (hex) Name Meaning Data type Flags Default 10F0:0 Backup parameter Information for standardized loading and saving of UINT8 handling backup entries 10F0:01 Checksum Checksum of the Backup Parameter Storage (object UINT32 0x10F2 [} 133], word 2-3) Version: 3.5 EL6751...
  • Page 133 Storage contains the complete StartUp SDOs (see Con- figuration of the EL6751 with Backup Parameter Storage [} 126]). The EL6751 is rebooted 5 s after the flashing of the Backup Parameter Storage (switches to INIT with AL status code = 0x60). The data have the following mean-...
  • Page 134 0x06 (6 1885:06 Exclude TxPDOs Specifies the TxPDOs (index of TxPDO mapping objects) OCTET- 80 1A 84 1A that must not be transferred together with TxPDO 134 STRING[14] 00 00 00 00 00 00 00 00 00 00 Version: 3.5 EL6751...
  • Page 135 PDO state of the first configured CANopen slave (config- UINT32 0x1800:07, 1 ured via the objects 0x800z) 1A81:m PDO state of the last (m ) configured CANopen slave UINT32 0x1800+(m-1) (configured via the objects 0x800z+(m-1)*16 (1 <= m <= :07, 1 127)) EL6751 Version: 3.5...
  • Page 136 Node state of the first configured CANopen slave (config- UINT32 0xF102:01,8 ured via the objects 0x800z) 1A83:m Node state of the last (m ) configured CANopen slave UINT32 0xF102:m,8 (configured via the objects 0x800z+(m-1)*16 (1 <= m <= 127)) Version: 3.5 EL6751...
  • Page 137 0x06 (Ack error)) 1A84:14 SubIndex 020 20. PDO Mapping entry (2 bits align) UINT32 0x0000:00, 2 1A84:15 SubIndex 021 21. PDO Mapping entry (8 bits align) UINT32 0x0000:00, 8 1A84:16 SubIndex 022 22. PDO Mapping entry (16 bits align) UINT32 0x0000:00, 16 EL6751 Version: 3.5...
  • Page 138 Sync-Manager Type Channel 2: Mailbox Read UINT8 0x02 (2 1C00:03 SubIndex 003 Sync-Manager Type Channel 3: Process Data Write UINT8 0x03 (3 (Outputs) 1C00:04 SubIndex 004 Sync-Manager Type Channel 4: Process Data Read (In- UINT8 0x04 (4 puts) Version: 3.5 EL6751...
  • Page 139 CANopen slaves, the TxPDOs 0x1A83 and 0x1A85 are transmitted in the default settings. 1C13:01 1. allocated TxPDO (contains the index of the associated UINT16 TxPDO mapping object) 1C13:83 135. allocated TxPDO (contains the index of the associ- UINT16 ated TxPDO mapping object) EL6751 Version: 3.5...
  • Page 140 Shift too short counter Number of occasions that the interval between SYNC0 UINT16 0x0000 (0 and SYNC1 event was too short (DC mode only) 1C32:20 Sync error The synchronization was not correct in the last cycle BOOLEAN 0x00 (0 (outputs were output too late; DC mode only) Version: 3.5 EL6751...
  • Page 141 The object is mapped in the TxPDO (n+1) (index 0x1A00 [} 135]+n). (6000+n*16) Data of CAN TxPDO 1 of the (n+1) configured OCTET- CANopen slave STRING (6000+n*16) Data of CAN TxPDO 255 of the (n+1) configured OCTET- CANopen slave STRING EL6751 Version: 3.5...
  • Page 142 RTR bit was also configured in object 0x8006+n*16 [} 145]. (7004+n*16) RTR bit of CAN TxPDO 1 of the (n+1) configured BOOLEAN CANopen slave (7004+n*16) RTR bit of CAN TxPDO 255 of the (n+1) configured BOOLEAN CANopen slave Version: 3.5 EL6751...
  • Page 143 (object 0x1016:01) for Heartbeat (in accordance with bit 4 of the flags in SubIndex 0x20) (8000+n*16) SDO timeout Timeout for the transmission of CAN SDOs to the UINT16 0x07D0 CANopen slave (in ms, 0 corresponds to 2000 ms) (2000 EL6751 Version: 3.5...
  • Page 144 UINT8 0x05 (5 ):25 CANopen slave that can be received via AoE from the EtherCAT master, saved and processed on the EL6751 (0 corresponds to the default value of 5) (8000+n*16 Reaction on If an error is detected during communication with the...
  • Page 145 EtherCAT TxPDO 137/138 (index 0x1A88 [} 138]/0x1A89) Bit 1-9 reserved for extensions; must be 0 Bit 10 Length checking is switched off Bits 11-15 reserved for extensions; must be 0 (8006+n*16) Configuration of CAN TxPDO 255 of the CANopen slave EL6751 Version: 3.5...
  • Page 146 COB-ID (bits 11-31 must be 0) Byte 4 Transmission Type Byte 5 Length of the data of the CAN RxPDO Bytes 6-7 Inhibit time, is ignored by the EL6751 Bytes 8-9 Event Time Bytes 10-11 Flags, must be 0 (8008+n*16)
  • Page 147 CANopen slave, if the Scan Boxes com- mand has been executed following switching to PREOP. (9008+n*16) CAN RxPDO 1 (meaning of the data is identical to object OCTET- STRING[12] 0x8yy8 [} 146]) (9008+n*16) CAN RxPDO 255 OCTET- STRING[12] EL6751 Version: 3.5...
  • Page 148 Toggle bit has not toggled during Guarding CANopen slave has automatically switched to STOPPED CANopen slave sends an unknown COP state Send queue of the EL6751 has overflowed (e.g. when no further CAN acknowledge is re- ceived during the operation) Version: 3.5...
  • Page 149 (127 F000:03 General Configuration indicates which of the SubIndexes 1-31 of the objects UINT16 0x700000F9 Entries 0x8zz0 are supported F000:04 General Information indicates which of the SubIndexes 1-31 of the objects UINT16 0x000000FD Entries 0x9zz0 are supported EL6751 Version: 3.5...
  • Page 150 However, none of the objects 0x8yyz [} 143] or 0xF800 [} 154] may be transmitted before that. If this is the case, or if the scan is to be repeated, the EL6751 must be switched once to INIT and back to PREOP be- forehand.
  • Page 151 Index F101 Extended Diag Index (hex) Name Meaning Data type Flags Default F101:0 Extended Diag This object contains the diagnosis of the EL6751, which UINT8 is mapped into TxPDO 133 (Index 0x1A84 [} 137]) F101:01 reserved for extensions 8-bit gap F101:09 reserved for extensions...
  • Page 152 CAN acknowledge has not been detected (e.g. no CAN BOOLEAN 0x00 (0 cable connected) F108:21 RX error counter Rx error counter of the CAN controller UINT8 0x00 (0 F108:22 TX error counter Tx error counter of the CAN controller UINT8 0x00 (0 Version: 3.5 EL6751...
  • Page 153 The object contains the control data that are mapped in UINT8 RxPDO 134 (index 0x1685 [} 134]) F200:01 CAN Controller Auto In the case of a CAN bus-off, this allows the EL6751 to BOOLEAN Reset when BUS- be switched again to bus-on via the process data. EL6751...

  • Page 154: Can Interface

    32-bit gap 0x00 (0 5.5.2 CAN interface 5.5.2.1 CAN interface configuration The CAN interface of the EL6751 is configured via the StartUp SDOs of the objects 0xF800, 0x8000 and 0x8001 (optional) in the PREOP state. Version: 3.5 EL6751...
  • Page 155 Parameterization and commissioning Fig. 131: Flow chart for CAN interface startup After a power-on, the EL6751 is in the INIT state and has no CAN configuration. The CAN controller is in the OFFLINE state. EL6751 Version: 3.5...
  • Page 156 In the SAFEOP state, the EL6751 can already receive CAN messages that are stored in the local RX queue. As soon as the EL6751 has been switched to OP, the data from the EtherCAT outputs are adopted and the CAN messages can also be exchanged via EtherCAT.
  • Page 157 Distributed Clocks. The CAN Rx messages received are entered directly in the EtherCAT input data; there is no longer any local storage. So that the CAN receiver always has access to EtherCAT input data, the Fast CAN Queue works only in the 3-buffer mode of the Sync Managers. EL6751 Version: 3.5...
  • Page 158 As a result of this, two cycles elapse in the task with which the EtherCAT master cycle is synchronized until the increment of the TxCounter is confirmed by the EL6751. This dead time can be avoided by selecting ‘Separate input update’ in the task, since in this case the EtherCAT output data are to be transmitted with a Version: 3.5...
  • Page 159 A second alternative would be to allow the task (and hence the EtherCAT master) to run with half the cycle time of the CAN interface cycle. 5.5.2.3 Object description – CAN interface If the EL6751 is used as a CAN Layer-2 interface, the following objects are available: Index (hex) Name Device type 1000 [} 131]...
  • Page 160 1A00:m m. PDO Mapping entry (object 0x6000 (CAN Interface in- UINT32 put), entry m (RX Message m-4)) 5.5.2.3.2 Profile-specific objects (0x6000-0xFFFF) The profile-specific objects have the same meaning for all EtherCAT slaves that support the profile 5001. Version: 3.5 EL6751...
  • Page 161 RX counter see CAN interface description UINT16 7001:03 Number of TX Mes- see CAN interface description UINT16 sages 7001:04 TX Message 1 see CAN interface description OCTET- STRING[16] 7001:m TX Message m-3 see CAN interface description OCTET- STRING[16] EL6751 Version: 3.5...
  • Page 162 (150 Index 8001 CAN Rx filter table From firmware 17 of the EL6751, parameter 0x8001 must be written with valid values. If all data are to be written into the CAN interface, the following must be entered: For 11 bit and 29 bit identifiers:...

  • Page 163: Error Handling And Diagnostics

    Error handling and diagnostics Error handling and diagnostics EL6751 – LED description Fig. 134: LEDs LED behavior The most important states of the terminal can be quickly diagnosed on the basis of the LEDs: Color Meaning green This LED indicates the terminal's operating state: State of the EtherCAT State Machine: INIT = initialization of the terminal;...

  • Page 164: El6751 - Bus Node Diagnostics

    Error handling and diagnostics EL6751 – Bus node diagnostics The CANopen fieldbus card EL6751 has a comprehensive range of diagnostic options for connected network nodes. Fig. 135: Diagnosis of inputs in the TwinCAT tree For each CANopen fieldbus node there is a node state input variable, which signals the status of the current slave during the runtime and can be linked, for example with the PLC.
  • Page 165 Reading the Diagnostic Data via ADS CANopen emergencies and other diagnostic data can be read out via ADS read (new data present as soon as you see the DiagFlag). The ADS Net-ID of the EL6751 must be entered for this. Other ADS parameters: Port: 200 IndexGroup: Lo-Word = 0xF180, Hi-Word = Node-Number.

  • Page 166: El6751 Diagnostics

    Expected value (if offset 6 = 1) Offset 24-25: Number of consecutive emergencies Offset 26 - n: Emergencies (8 bytes each) EL6751 diagnostics Diagnostic Inputs The EL6751 has various diagnostic variables that describe the state of the terminal and the CANopen network: Version: 3.5 EL6751...
  • Page 167 Bit 3: Hi-Prio Tx queue overrun; transmit buffer overflow for PDOs and SYNC messages. Bit 4: Lo-Prio Tx queue overrun; transmit buffer overflow for SDOs, guarding, heartbeat, etc. Bit 5: CAN transmission error; this bit is set when no data can be transmitted, e.g. if the EL6751 connector is unplugged.

  • Page 168: El6751- Emergency Messages

    New diagnostic data (emergencies or other diagnostic data) is present as soon as the DiagFlag is set. Fig. 138: TwinCAT tree: Diagnostic Inputs CANopen emergencies and other diagnostic data can be read via ADS. You need to enter the EL6751 ADS net ID. Other ADS parameters: Port: 200 IndexGroup: Lo-Word = 0xF180, Hi-Word = Node-Number.
  • Page 169 Insufficient memory for ReadBox response 0x1201 AddCdl: CDL no. is too large 0x1202 DeleteCdl only possible when CDL is stopped 0x1203 DeleteCdl not possible as no CDL defined 0x1204 Cycle could not be completed within the internal watchdog time EL6751 Version: 3.5...
  • Page 170 AddDeviceNotification: Length of box diagnostic data to small 0x1704 AddDeviceNotification: Length of box diagnostic data to large 0x1705 AddDeviceNotification: Box is not defined 0x1706 AddDeviceNotification: Incorrect IndexGroup 0x1707 AddDeviceNotification: No more resources for client 0x1708 DelDeviceNotification: Incorrect handle Version: 3.5 EL6751...
  • Page 171 0x1804 StartFieldbus: Shift time is too large 0x1805 StartFieldbus: PLL sync time is too large 0x1806 StartFieldbus: Safety time is too large 0x1807 StartFieldbus: Cycle times shorter than 1 ms must be integral divisors of 1 ms EL6751 Version: 3.5...
  • Page 172 Insufficient memory at node boot-up 0x2104 Insufficient memory at node boot-up 0x2105 Insufficient memory at node boot-up 0x2106 Insufficient memory at node boot-up 0x2107 Insufficient memory at node boot-up 0x2108 Insufficient memory at node boot-up 0x2109 Insufficient memory at node boot-up Version: 3.5 EL6751...

  • Page 173: Canopen Trouble Shooting

    These tests should not be carried out if the network is active: No communication should take place during the tests. The following tests should be carried out in the stated sequence, because some of the tests assume that the previous test was successful. Not all the tests are generally necessary. EL6751 Version: 3.5...
  • Page 174 10 less than the actual length. The following test is therefore recommended: Test 6 Measure the lengths of the drop lines and the total bus lengths (do not just make rough estimates!) and compare them with the topology rules for the relevant baud rate. Version: 3.5 EL6751...
  • Page 175 CANopen experts - the Beckhoff support team can help here. A free channel on a Beckhoff FC5102 CANopen PCI card is appropriate for such a trace - Beckhoff make the necessary trace software available on the internet. Alternatively, it is of course possible to use a normal commercial CAN analysis tool.

  • Page 176: Appendix

    Note • It is recommended to use the newest possible firmware for the respective hardware • Beckhoff is not under any obligation to provide customers with free firmware updates for delivered products. NOTE Risk of damage to the device! Pay attention to the instructions for firmware updates on the separate page [} 177].

  • Page 177: Firmware Update El/Es/Em/Elm/Epxxxx

    Check on the Beckhoff web page whether more up-to-date documentation is available. Firmware Update EL/ES/EM/ELM/EPxxxx This section describes the device update for Beckhoff EtherCAT slaves from the EL/ES, ELM, EM, EK and EP series. A firmware update should only be carried out after consultation with Beckhoff support.

  • Page 178: Device Description Esi File/Xml

    The device revision is closely linked to the firmware and hardware used. Incompatible combinations lead to malfunctions or even final shutdown of the device. Corresponding updates should only be carried out in consultation with Beckhoff support. Display of ESI slave identifier...
  • Page 179 In this example in Fig. Change dialog, an EL3201-0000-0017 was found, while an EL3201-0000-0016 was configured. In this case the configuration can be adapted with the Copy Before button. The Extended Information checkbox must be set in order to display the revision. EL6751 Version: 3.5...
  • Page 180 Most EtherCAT devices read a modified ESI description immediately or after startup from the INIT. Some communication settings such as distributed clocks are only read during power-on. The Ether- CAT slave therefore has to be switched off briefly in order for the change to take effect. Version: 3.5 EL6751...

  • Page 181: Firmware Explanation

    • offline: The EtherCAT Slave Information ESI/XML may contain the default content of the CoE. This CoE directory can only be displayed if it is included in the ESI (e.g. "Beckhoff EL5xxx.xml"). The Advanced button must be used for switching between the two views.

  • Page 182: Updating Controller Firmware *.Efw

    Switch to the Online tab to update the controller firmware of a slave, see Fig. Firmware Update. Fig. 147: Firmware Update Proceed as follows, unless instructed otherwise by Beckhoff support. Valid for TwinCAT 2 and 3 as EtherCAT master. • Switch TwinCAT system to ConfigMode/FreeRun with cycle time >= 1 ms (default in ConfigMode is 4 ms).

  • Page 183: Fpga Firmware *.Rbf

    The TwinCAT System Manager indicates the FPGA firmware version. Click on the Ethernet card of your EtherCAT strand (Device 2 in the example) and select the Online tab. The Reg:0002 column indicates the firmware version of the individual EtherCAT devices in hexadecimal and decimal representation. EL6751 Version: 3.5...
  • Page 184 Fig. 149: Context menu Properties The Advanced Settings dialog appears where the columns to be displayed can be selected. Under Diagnosis/Online View select the '0002 ETxxxx Build' check box in order to activate the FPGA firmware version display. Version: 3.5 EL6751...
  • Page 185 Older firmware versions can only be updated by the manufacturer! Updating an EtherCAT device The following sequence order have to be met if no other specifications are given (e.g. by the Beckhoff support): • Switch TwinCAT system to ConfigMode/FreeRun with cycle time >= 1 ms (default in ConfigMode is 4 ms).
  • Page 186 • In the TwinCAT System Manager select the terminal for which the FPGA firmware is to be updated (in the example: Terminal 5: EL5001) and click the Advanced Settings button in the EtherCAT tab: • The Advanced Settings dialog appears. Under ESC Access/E²PROM/FPGA click on Write FPGA button: Version: 3.5 EL6751...

  • Page 187: Simultaneous Updating Of Several Ethercat Devices

    The firmware and ESI descriptions of several devices can be updated simultaneously, provided the devices have the same firmware file/ESI. Fig. 151: Multiple selection and firmware update Select the required slaves and carry out the firmware update in BOOTSTRAP mode as described above. EL6751 Version: 3.5...

  • Page 188: Can Identifier List

    The list provided here should assist in identifying and assigning CANopen messages. All the identifiers allocated by the CANopen default identifier allocation are listed, as well as the manufacturer-specific default identifiers issued by BECKHOFF via object 0x5500 (only to be used in networks with node addresses less than 64).
  • Page 189 TxPDO1, DI, Nd.60 0x193 TxPDO1, DI, Nd.19 0x1A8 TxPDO1, DI, Nd.40 0x1BD TxPDO1, DI, Nd.61 0x194 TxPDO1, DI, Nd.20 0x1A9 TxPDO1, DI, Nd.41 0x1BE TxPDO1, DI, Nd.62 0x195 TxPDO1, DI, Nd.21 0x1AA TxPDO1, DI, Nd.42 0x1BF TxPDO1, DI, Nd.63 EL6751 Version: 3.5...
  • Page 190 Nd.60 0x213 RxPDO1, DO, Nd.19 0x228 RxPDO1, DO, Nd.40 0x23D RxPDO1, DO, Nd.61 0x214 RxPDO1, DO, Nd.20 0x229 RxPDO1, DO, Nd.41 0x23E RxPDO1, DO, Nd.62 0x215 RxPDO1, DO, Nd.21 0x22A RxPDO1, DO, Nd.42 0x23F RxPDO1, DO, Nd.63 Version: 3.5 EL6751...
  • Page 191 TxPDO2, AI, Nd.60 0x293 TxPDO2, AI, Nd.19 0x2A8 TxPDO2, AI, Nd.40 0x2BD TxPDO2, AI, Nd.61 0x294 TxPDO2, AI, Nd.20 0x2A9 TxPDO2, AI, Nd.41 0x2BE TxPDO2, AI, Nd.62 0x295 TxPDO2, AI, Nd.21 0x2AA TxPDO2, AI, Nd.42 0x2BF TxPDO2, AI, Nd.63 EL6751 Version: 3.5...
  • Page 192 Nd.60 0x313 RxPDO2, AO, Nd.19 0x328 RxPDO2, AO, Nd.40 0x33D RxPDO2, AO, Nd.61 0x314 RxPDO2, AO, Nd.20 0x329 RxPDO2, AO, Nd.41 0x33E RxPDO2, AO, Nd.62 0x315 RxPDO2, AO, Nd.21 0x32A RxPDO2, AO, Nd.42 0x33F RxPDO2, AO, Nd.63 Version: 3.5 EL6751...
  • Page 193 RxPDO3*, Nd.60 1043 0x413 RxPDO3*, Nd.19 1064 0x428 RxPDO3*, Nd.40 1085 0x43D RxPDO3*, Nd.61 1044 0x414 RxPDO3*, Nd.20 1065 0x429 RxPDO3*, Nd.41 1086 0x43E RxPDO3*, Nd.62 1045 0x415 RxPDO3*, Nd.21 1066 0x42A RxPDO3*, Nd.42 1087 0x43F RxPDO3*, Nd.63 EL6751 Version: 3.5...
  • Page 194 RxPDO4*, Nd.60 1299 0x513 RxPDO4*, Nd.19 1320 0x528 RxPDO4*, Nd.40 1341 0x53D RxPDO4*, Nd.61 1300 0x514 RxPDO4*, Nd.20 1321 0x529 RxPDO4*, Nd.41 1342 0x53E RxPDO4*, Nd.62 1301 0x515 RxPDO4*, Nd.21 1322 0x52A RxPDO4*, Nd.42 1343 0x53F RxPDO4*, Nd.63 Version: 3.5 EL6751...
  • Page 195 RxPDO5*, Nd.60 1939 0x793 RxPDO5*, Nd.19 1960 0x7A8 RxPDO5*, Nd.40 1981 0x7BD RxPDO5*, Nd.61 1940 0x794 RxPDO5*, Nd.20 1961 0x7A9 RxPDO5*, Nd.41 1982 0x7BE RxPDO5*, Nd.62 1941 0x795 RxPDO5*, Nd.21 1962 0x7AA RxPDO5*, Nd.42 1983 0x7BF RxPDO5*, Nd.63 EL6751 Version: 3.5...
  • Page 196 RxPDO6*, Nd.59 0x252 RxPDO6*, Nd.18 0x267 RxPDO6*, Nd39 0x27C RxPDO6*, Nd.60 0x253 RxPDO6*, Nd.19 0x268 RxPDO6*, N.40 0x27D RxPDO6*, Nd.61 0x254 RxPDO6*, Nd.20 0x269 RxPDO6*, d.41 0x27E RxPDO6*, Nd.62 0x255 RxPDO6*, Nd.21 0x26A RxPDO6*,Nd.42 0x27F RxPDO6*, Nd.63 Version: 3.5 EL6751...
  • Page 197 RxPDO7*, Nd.59 0x352 RxPDO7*, Nd.18 0x367 RxPDO7*, Nd.39 0x37C RxPDO7*, Nd.60 0x353 RxPDO7*, Nd.19 0x368 RxPDO7*, Nd.40 0x37D RxPDO7*, Nd.61 0x354 RxPDO7*, Nd.20 0x369 RxPDO7*, Nd.41 0x37E RxPDO7*, Nd.62 0x355 RxPDO7*, Nd.21 0x36A RxPDO7*, Nd.42 0x37F RxPDO7*, Nd.63 EL6751 Version: 3.5...
  • Page 198 RxPDO8*, Nd.60 1107 0x453 RxPDO8*, Nd.19 1128 0x468 RxPDO8*, Nd.40 1149 0x47D RxPDO8*, Nd.61 1108 0x454 RxPDO8*, Nd.20 1129 0x469 RxPDO8*, Nd.41 1150 0x47E RxPDO8*, Nd.62 1109 0x455 RxPDO8*, Nd.21 1130 0x46A RxPDO8*, Nd.42 1151 0x47F RxPDO8*, Nd.63 Version: 3.5 EL6751...
  • Page 199 RxPDO9*, Nd.60 1363 0x553 RxPDO9*, Nd.19 1384 0x568 RxPDO9*, Nd.40 1405 0x57D RxPDO9*, Nd.61 1364 0x554 RxPDO9*, Nd.20 1385 0x569 RxPDO9*, Nd.41 1406 0x57E RxPDO9*, Nd.62 1365 0x555 RxPDO9*, Nd.21 1386 0x56A RxPDO9*, Nd.42 1407 0x57F RxPDO9*, Nd.63 EL6751 Version: 3.5...
  • Page 200 RxPDO10*, Nd.60 1619 0x653 RxPDO10*, Nd.19 1640 0x668 RxPDO10*, Nd.40 1661 0x67D RxPDO10*, Nd.61 1620 0x654 RxPDO10*, Nd.20 1641 0x669 RxPDO10*, Nd.41 1662 0x67E RxPDO10*, Nd.62 1621 0x655 RxPDO10*, Nd.21 1642 0x66A RxPDO10*, Nd.42 1663 0x67F RxPDO10*, Nd.63 Version: 3.5 EL6751...
  • Page 201 RxPDO11*, Nd.60 1875 0x753 RxPDO11*, Nd.19 1896 0x768 RxPDO11*, Nd.40 1917 0x77D RxPDO11*, Nd.61 1876 0x754 RxPDO11*, Nd.20 1897 0x769 RxPDO11*, Nd.41 1918 0x77E RxPDO11*, Nd.62 1877 0x755 RxPDO11*, Nd.21 1898 0x76A RxPDO11*, Nd.42 1919 0x77F RxPDO11*, Nd.63 EL6751 Version: 3.5...
  • Page 202 SDO Rx Nd.40 1597 0x63D SDO Rx Nd.61 1556 0x614 SDO Rx Nd.20 1577 0x629 SDO Rx Nd.41 1598 0x63E SDO Rx Nd.62 1557 0x615 SDO Rx Nd.21 1578 0x62A SDO Rx Nd.42 1599 0x63F SDO Rx Nd.63 Version: 3.5 EL6751...
  • Page 203 Guarding Nd.60 1811 0x713 Guarding Nd.19 1832 0x728 Guarding Nd.40 1853 0x73D Guarding Nd.61 1812 0x714 Guarding Nd.20 1833 0x729 Guarding Nd.41 1854 0x73E Guarding Nd.62 1813 0x715 Guarding Nd.21 1834 0x72A Guarding Nd.42 1855 0x73F Guarding Nd.63 EL6751 Version: 3.5...

  • Page 204: Abbreviations

    A CAN telegram with a protocol for communication with data in the object directory (typically parameter data). Subindex SyncManager Servo Profile over EtherCAT TxPDO Transmit PDO (named from the point of view of the CAN node). Bibliography German books • Holger Zeltwander (Pub.): CANopen, VDE Verlag, 2001. 197 pages,  ISBN 3-800-72448-0 Version: 3.5 EL6751...
  • Page 205 Road Vehicles - Interchange of digital information - Controller Area Network (CAN) for high speed communication. • CiA DS 301: CANopen Application Layer and Communication Profile. Available from the CAN in Automation Association. • CiA DS 401: CANopen Device Profile for Generic I/O Modules. Available from the CAN in Automation Association. EL6751 Version: 3.5...

  • Page 206: Support And Service

    Beckhoff's branch offices and representatives Please contact your Beckhoff branch office or representative for local support and service on Beckhoff products! The addresses of Beckhoff's branch offices and representatives round the world can be found on her internet pages: http://www.beckhoff.com You will also find further documentation for Beckhoff components there.
  • Page 207 Sample topology of drop lines ..................... Fig. 21 Structure of CAN cable ZB5100 ....................Fig. 22 Structure of CAN/DeviceNet cable ZB5200................. Fig. 23 BK5151, EL6751 pin assignment ....................Fig. 24 FC51x2 ............................Fig. 25 BK51x0/BX5100 socket assignment.................... Fig. 26 LC5100 ............................
  • Page 208 Basic EtherCAT Slave Diagnosis in the PLC................Fig. 82 EL3102, CoE directory ........................ Fig. 83 Example of commissioning aid for a EL3204 ................Fig. 84 Default behaviour of the System Manager .................. Fig. 85 Default target state in the Slave ....................Version: 3.5 EL6751...
  • Page 209 Fig. 125 Advanced Settings tab......................... 121 Fig. 126 Flow chart for the EL6751 with Start SDOs ................. 123 Fig. 127 Flow chart for EL6751 with scanning of the CAN bus ..............125 Fig. 128 Flow chart for EL6751 with Backup Parameter Storage.............. 126 Fig.
  • Page 210 Fig. 135 Diagnosis of inputs in the TwinCAT tree..................164 Fig. 136 "Variable" tab ..........................164 Fig. 137 TwinCAT tree: Diagnostic variables of the EL6751 ..............167 Fig. 138 TwinCAT tree: Diagnostic Inputs ....................168 Fig. 139 Wiring diagram for test setup....................... 174 Fig.

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