Sign In
Upload
Manuals
Brands
Beckhoff Manuals
Touch terminals
EL6751
Beckhoff EL6751 CANopen Terminal Manuals
Manuals and User Guides for Beckhoff EL6751 CANopen Terminal. We have
1
Beckhoff EL6751 CANopen Terminal manual available for free PDF download: Documentation
Beckhoff EL6751 Documentation (210 pages)
Master/Slave Terminal for CANopen
Brand:
Beckhoff
| Category:
Touch terminals
| Size: 5.62 MB
Table of Contents
Table of Contents
3
1 Foreword
5
Notes on the Documentation
5
Safety Instructions
6
Documentation Issue Status
7
Version Identification of Ethercat Devices
7
Fig. 1 EL5021 el Terminal, Standard IP20 IO Device with Serial/ Batch Number and Revision ID (Since 2014/01)
9
Fig. 2 EK1100 Ethercat Coupler, Standard IP20 IO Device with Serial/ Batch Number
9
Fig. 3 CU2016 Switch with Serial/ Batch Number
10
Fig. 4 EL3202-0020 with Serial/ Batch Number 26131006 and Unique ID-Number 204418
10
Fig. 5 EP1258-00001 IP67 Ethercat Box with Batch Number/ Date Code 22090101 and Unique Se- Rial Number 158102
10
Fig. 6 EP1908-0002 IP67 Ethercat Safety Box with Batch Number/ Date Code 071201FF and Unique Serial Number 00346070
10
Fig. 7 EL2904 IP20 Safety Terminal with Batch Number/ Date Code 50110302 and Unique Serial Num- Ber 00331701
11
Fig. 8 ELM3604-0002 Terminal with Unique ID Number (QR Code) 100001051 and Serial/ Batch Num- Ber 44160201
11
Beckhoff Identification Code (BIC)
12
Fig. 9 BIC as Data Matrix Code (DMC, Code Scheme ECC200)
12
Fig. 10 Structure of the BIC
13
2 Product Overview
14
Introduction
14
Fig. 11 EL6751
14
Technical Data
15
Canopen Introduction
16
Fig. 12 Canopenlogo
16
Fig. 13 Canopen Device Model
16
3 Mounting and Wiring
18
Recommended Mounting Rails
18
Mounting and Demounting - Terminals with Traction Lever Unlocking
18
Mounting and Demounting - Terminals with Front Unlocking
20
Installation Positions
22
Fig. 14 Recommended Distances for Standard Installation Position
22
Positioning of Passive Terminals
23
Fig. 15 Other Installation Positions
23
Fig. 16 Correct Positioning
24
Fig. 17 Incorrect Positioning
24
ATEX - Special Conditions (Extended Temperature Range)
25
ATEX Documentation
26
UL Notice
26
Canopen Cabling
27
CAN Topology
27
Bus Length
27
Fig. 18 Termination of the Bus with a 120 Ohm Termination Resistor
27
Fig. 19 Insensitivity to Incoming Interference
27
Drop Lines
28
Star Hub (Multiport Tap)
28
CAN Cable
28
Fig. 20 Sample Topology of Drop Lines
28
Fig. 21 Structure of CAN Cable ZB5100
29
Shielding
30
Cable Colors
30
Fig. 22 Structure of Can/Devicenet Cable ZB5200
30
BK5151, Fc51Xx, CX with CAN Interface and EL6751: D-Sub, 9 Pin
31
Fig. 23 BK5151, EL6751 Pin Assignment
31
Fig. 24 Fc51X2
31
Bk51X0/Bx5100: 5-Pin Open Style Connector
32
LC5100: Bus Connection Via Spring-Loaded Terminals
32
Fig. 25 Bk51X0/Bx5100 Socket Assignment
32
Fieldbus Box: M12 CAN Socket
33
Fig. 26 LC5100
33
Fig. 27 Pin Assignment: M12 Plug, Fieldbus Box
33
4 Basics Communication
34
Ethercat Basics
34
Ethercat State Machine
34
Fig. 28 States of the Ethercat State Machine
34
General Notes for Setting the Watchdog
35
Fig. 29 Ethercat Tab -> Advanced Settings -> Behavior -> Watchdog
36
Coe Interface
37
Fig. 30 "Coe Online " Tab
38
Fig. 31 Startup List in the Twincat System Manager
39
Fig. 32 Offline List
40
Fig. 33 Online List
41
5 Parameterization and Commissioning
42
Twincat Development Environment
42
Installation of the Twincat Real-Time Driver
42
Fig. 34 System Manager "Options" (Twincat 2)
43
Fig. 35 Call up under VS Shell (Twincat 3)
43
Fig. 36 Overview of Network Interfaces
43
Fig. 37 Ethercat Device Properties(Twincat 2): Click on „Compatible Devices
44
Fig. 38 Windows Properties of the Network Interface
44
Fig. 39 Exemplary Correct Driver Setting for the Ethernet Port
45
Fig. 40 Incorrect Driver Settings for the Ethernet Port
46
Fig. 41 TCP/IP Setting for the Ethernet Port
47
Notes Regarding ESI Device Description
48
OFFLINE Configuration Creation
52
ONLINE Configuration Creation
57
Ethercat Slave Process Data Settings
65
General Notes - Ethercat Slave Application
66
Twincat (2.1X) System Manager
75
Configuration by Means of the Twincat System Manager
75
BECKHOFF Canopen Bus Coupler
86
Canopen Devices
88
Canopen Communication
93
Network Management
93
Canopen Master Network Management
98
Process Data Objects (PDO)
101
PDO Parameterization
109
Service Data Objects (SDO)
111
EL6751- SDO Communication
114
Canopen Baud Rate and Bit Timing
119
Identifier Allocation
119
Firmware Versions
120
Sending and Receiving of CAN Messages (STD Frame Format) Via ADS
121
Ethercat Communication EL6751
122
Canopen Master
122
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
Ethercat al Status Codes
176
Firmware Compatibility
176
Firmware Update El/Es/Em/Elm/Epxxxx
177
Device Description ESI File/Xml
178
Firmware Explanation
181
Updating Controller Firmware *.Efw
182
FPGA Firmware *.Rbf
183
Simultaneous Updating of Several Ethercat Devices
187
CAN Identifier List
188
Abbreviations
204
Bibliography
204
Support and Service
206
Table of Figures
207
Advertisement
Advertisement
Related Products
Beckhoff EtherCAT EL6752
Beckhoff EL6731
Beckhoff TwinSAFE EL6910
Beckhoff EL6201
Beckhoff EL6601
Beckhoff EL6614
Beckhoff EL6652-0000
Beckhoff EL6692
Beckhoff EL6900
Beckhoff EL6900Z
Beckhoff Categories
Touch terminals
Industrial PC
Control Unit
Touch Panel
Industrial Equipment
More Beckhoff Manuals
Login
Sign In
OR
Sign in with Facebook
Sign in with Google
Upload manual
Upload from disk
Upload from URL