El 30 Xxen
El 30 Xxen
El 30 Xxen
EL30xx
Analog Input Terminals (12 Bit)
Table of contents
1 Product overview Analog Input Terminals ............................................................................................. 7
2 Foreword .................................................................................................................................................... 8
2.1 Notes on the documentation ............................................................................................................. 8
2.2 Guide through documentation ........................................................................................................... 9
2.3 Safety instructions ........................................................................................................................... 10
2.4 Documentation issue status ............................................................................................................ 11
2.5 Version identification of EtherCAT devices ..................................................................................... 13
2.5.1 General notes on marking................................................................................................ 13
2.5.2 Version identification of EL terminals ............................................................................... 14
2.5.3 Beckhoff Identification Code (BIC) ................................................................................... 15
2.5.4 Electronic access to the BIC (eBIC)................................................................................. 17
3.8 Continuative documentation for I/O components with analog in and outputs ............................... 121
3.9 Start up.......................................................................................................................................... 122
EL3054 [} 83]
4 channel, 4 to 20 mA; 12 bits, single-ended, supply for current-loop-fed sensors
EL3062-0030 [} 99]
2 channel, 0 to 30 V; 12 bits, single-ended
EL3072 [} 111]
2 channel, 12 bits, multifunction, 10/0...+10 V or -20/0/+4...+20 mA, single-ended inputs
EL3074 [} 116]
4 channel, 12 bits, multifunction, 10/0...+10 V or -20/0/+4...+20 mA, single-ended inputs
2 Foreword
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.
The qualified personnel is obliged to always use the currently valid documentation.
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®, TwinCAT/BSD®, TC/BSD®, 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.
Copyright
Title Description
EtherCAT System Documentation (PDF) • System overview
• EtherCAT basics
• Cable redundancy
• Hot Connect
• EtherCAT devices configuration
I/O Analog Manual (PDF) Notes on I/O components with analog in and outputs
Explosion Protection for Terminal Notes on the use of the Beckhoff terminal systems in
Systems (PDF) hazardous areas according to ATEX and IECEx
Control Drawing I/O, CX, CPX (PDF) Connection diagrams and Ex markings (conform to cFMus)
EtherCAT Terminals in the Marine Sector Notes for operation of the Beckhoff EtherCAT Terminal
(PDF) System in the Marine Sector (DNV GL)
Infrastructure for EtherCAT/Ethernet (PDF) Technical recommendations and notes for design,
implementation and testing
Software Declarations I/O (PDF) Open source software declarations for
Beckhoff I/O components
The documentations can be viewed at and downloaded from the Beckhoff website (www.beckhoff.com) via:
• the “Documentation and Download” area of the respective product page,
• the Download finder,
• the Beckhoff Information System.
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.
Signal words
The signal words used in the documentation are classified below. In order to prevent injury and damage to
persons and property, read and follow the safety and warning notices.
DANGER
Hazard with high risk of death or serious injury.
WARNING
Hazard with medium risk of death or serious injury.
CAUTION
There is a low-risk hazard that could result in medium or minor injury.
NOTICE
The environment, equipment, or data may be damaged.
Version Comment
4.2 • Addition chapter "Limit, Swap Limit
• Addition chapter "Configuration data", index 0x80n0:0E added
• Chapter "TwinCAT 2.1x" -> "TwinCAT Development Environment" updated
• "TwinCAT Quickstart" added
4.1 • Update connection diagrams
• Update chapter "Notes on analog specifications"
• Corrections to chapter "Data stream and correction calculation"
• Update revision status
4.0 • First release in PDF format
• Structure update
• Corrections to chapter "Calculation of process data"
3.1 • Update chapter "Technical data"
• Addenda chapter "Installation instructions for enhanced mechanical load capacity"
• Structure update
• Update revision status
3.0 • Update chapter "Technical data"
• Update chapter "Analog specifications"
• Update Firmware revision status
2.9 • Update chapter "Technical data"
• Update chapter "Analog specifications"
• Update Firmware revision status
2.8 • Update chapter "Technical data"
• Update Firmware revision status
2.7 • Update chapter "Technical data"
• Update chapter "Process data"
• Update Firmware revision status
2.6 • Structure update
• Update chapter "LEDs and connection"
• Update Firmware revision status
2.5 • Update chapter "Configuration of 0/4..20 mA differential inputs"
2.4 • Structure update, Technical notes
2.3 • Update connection diagrams
2.2 • Addenda chapter "Configuration of 0/4..20 mA differential inputs"
2.1 • Update chapter "Introduction"
• Update chapter "LEDs and connection"
• EL301x, EL302x added
2.0 • Update connection diagrams
• Structure update
1.9 • Update connection diagrams
1.8 • Expanded note on filter settings added
1.7 • Note on filter settings added
1.6 • Complements and corrections
1.5 • LED amended
1.4 • Process image, trademark notes amended, firmware chapter amended
1.3 • Technical notes added
1.2 • Technical notes added
1.1 • Technical data added
1.0 • First release
0.1 • Provisional documentation for EL30xx
Notes
• The elements mentioned above result in the technical designation. EL3314-0000-0016 is used in the
example below.
• EL3314-0000 is the order identifier, in the case of “-0000” usually abbreviated to EL3314. “-0016” is the
EtherCAT revision.
• The order identifier is made up of
- family key (EL, EP, CU, ES, KL, CX, etc.)
- type (3314)
- version (-0000)
• The revision -0016 shows the technical progress, such as the extension of features with regard to the
EtherCAT communication, and is managed by Beckhoff.
In principle, a device with a higher revision can replace a device with a lower revision, unless specified
otherwise, e.g. in the documentation.
Associated and synonymous with each revision there is usually a description (ESI, EtherCAT Slave
Information) in the form of an XML file, which is available for download from the Beckhoff web site.
From 2014/01 the revision is shown on the outside of the IP20 terminals, see Fig. “EL5021 EL terminal,
standard IP20 IO device with batch number and revision ID (since 2014/01)”.
• The type, version and revision are read as decimal numbers, even if they are technically saved in
hexadecimal.
The BIC will be introduced step by step across all product groups.
The BIC is machine-readable and contains information that can also be used by the customer for handling
and product management.
Each piece of information can be uniquely identified using the so-called data identifier
(ANSI MH10.8.2-2016). The data identifier is followed by a character string. Both together have a maximum
length according to the table below. If the information is shorter, spaces are added to it.
Following information is possible, positions 1 to 4 are always present, the other according to need of
production:
Further types of information and data identifiers are used by Beckhoff and serve internal processes.
Example of composite information from positions 1 to 4 and with the above given example value on position
6. The data identifiers are highlighted in bold font:
1P072222SBTNk4p562d71KEL1809 Q1 51S678294
Accordingly as DMC:
BTN
An important component of the BIC is the Beckhoff Traceability Number (BTN, position 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. batch designations on IO components, previous serial number range for
safety products, etc.). The BTN will also be introduced step by step, so it may happen that the BTN is not yet
coded in the BIC.
NOTICE
This information has been carefully prepared. However, the procedure described is constantly being further
developed. We reserve the right to revise and change procedures and documentation at any time and
without prior notice. No claims for changes can be made from the information, illustrations and descriptions
in this information.
The Beckhoff Identification Code (BIC) is applied to the outside of Beckhoff products in a visible place. If
possible, it should also be electronically readable.
Decisive for the electronic readout is the interface via which the product can be electronically addressed.
All Beckhoff EtherCAT devices have a so-called ESI-EEPROM, which contains the EtherCAT identity with
the revision number. Stored in it is the EtherCAT slave information, also colloquially known as ESI/XML
configuration file for the EtherCAT master. See the corresponding chapter in the EtherCAT system manual
(Link) for the relationships.
The eBIC is also stored in the ESI‑EEPROM. The eBIC was introduced into the Beckhoff I/O production
(terminals, box modules) from 2020; widespread implementation is expected in 2021.
The user can electronically access the eBIC (if existent) as follows:
• With all EtherCAT devices, the EtherCAT master (TwinCAT) can read the eBIC from the ESI‑EEPROM
◦ From TwinCAT 3.1 build 4024.11, the eBIC can be displayed in the online view.
◦ To do this,
check the checkbox "Show Beckhoff Identification Code (BIC)" under
EtherCAT → Advanced Settings → Diagnostics:
◦ Note: as can be seen in the illustration, the production data HW version, FW version and
production date, which have been programmed since 2012, can also be displayed with "Show
Production Info".
◦ Access from the PLC: From TwinCAT 3.1. build 4024.24 the functions FB_EcReadBIC and
FB_EcReadBTN are available in the Tc2_EtherCAT Library from v3.3.19.0 for reading into the
PLC..
• In the case of EtherCAT devices with CoE directory, the object 0x10E2:01 can additionally by used to
display the device's own eBIC; the PLC can also simply access the information here:
◦ The object 0x10E2 will be introduced into stock products in the course of a necessary firmware
revision.
◦ From TwinCAT 3.1. build 4024.24 the functions FB_EcCoEReadBIC and FB_EcCoEReadBTN are
available in the Tc2_EtherCAT Library from v3.3.19.0 for reading into the PLC.
• For processing the BIC/BTN data in the PLC, the following auxiliary functions are available in
Tc2_Utilities from TwinCAT 3.1 build 4024.24 onwards
◦ F_SplitBIC: The function splits the Beckhoff Identification Code (BIC) sBICValue into its
components based on known identifiers and returns the recognized partial strings in a structure
ST_SplitBIC as return value.
◦ BIC_TO_BTN: The function extracts the BTN from the BIC and returns it as a value.
• Note: in the case of electronic further processing, the BTN is to be handled as a string(8); the identifier
"SBTN" is not part of the BTN.
• Technical background
The new BIC information is additionally written as a category in the ESI‑EEPROM during the device
production. The structure of the ESI content is largely dictated by the ETG specifications, therefore the
additional vendor-specific content is stored with the help of a category according to ETG.2010. ID 03
indicates to all EtherCAT masters that they must not overwrite these data in case of an update or
restore the data after an ESI update.
The structure follows the content of the BIC, see there. This results in a memory requirement of
approx. 50..200 bytes in the EEPROM.
• Special cases
◦ If multiple, hierarchically arranged ESCs are installed in a device, only the top-level ESC carries
the eBIC Information.
◦ If multiple, non-hierarchically arranged ESCs are installed in a device, all ESCs carry the eBIC
Information.
◦ If the device consists of several sub-devices with their own identity, but only the top-level device is
accessible via EtherCAT, the eBIC of the top-level device is located in the CoE object directory
0x10E2:01 and the eBICs of the sub-devices follow in 0x10E2:nn.
3 Product description
3.1 EL300x
3.1.1 EL3001
Fig. 4: EL3001
Analog Input Terminal; 1 channel, 12 bits, -10 V ... +10 V, single-ended input
The EL3001 analog input terminal processes signals in the range from -10 to +10 V. The voltage is digitized
to a resolution of 12 bits and transmitted, electrically isolated, to the higher-level automation device.
The input channel of the EL3001 EtherCAT Terminal is a single-ended input and has an internal ground
potential that is not connected to the power contacts.
The EL3001 is the 1-channel version and is characterized by its fine granularity and electrical isolation.
Quick links
• EtherCAT basics
• Process data and operation modes [} 223]
• Object description and parameterization [} 249]
*) Real applicable approvals/markings see type plate on the side (product marking).
Ex markings
Standard Marking
ATEX II 3 G Ex nA IIC T4 Gc
IECEx Ex nA IIC T4 Gc
RUN - LEDs
*) If several RUN LEDs are present, all of them have the same function.
EL3001 - Connection
Terminal point Description Internally connected Max. current carrying ca-
Name No. with connection pacity *)
Input 1 1 Input 1 - not applicable (voltage
input)
0V 2 0V negative power contact 1A
GND 3 Signal ground for input 1 7 40 mA
Shield 4 Shield (FE) 8; DIN rail 100 mA **)
n. c. 5 not connected - -
24 V 6 24 V positive power contact 1A
GND 7 Signal ground for input 1 3 40 mA
Shield 8 Shield (FE) 4; DIN rail 100 mA **)
3.1.2 EL3002
Fig. 6: EL3002
Analog Input Terminal; 2 channels, 12 bits, -10 V ... +10 V, single-ended inputs
The EL3002 analog input terminal processes signals in the range from -10 to +10 V. The voltage is digitized
to a resolution of 12 bits and transmitted, electrically isolated, to the higher-level automation device.
The input channels of the EL3002 EtherCAT Terminal are single-ended inputs and have a common internal
ground potential, which is not connected to the power contacts.
The EL3001 is the 1-channel version and is characterized by its fine granularity and electrical isolation.
Quick links
• EtherCAT basics
• Process data and operation modes [} 223]
• Object description and parameterization [} 256]
*) Real applicable approvals/markings see type plate on the side (product marking).
Ex markings
Standard Marking
ATEX II 3 G Ex nA IIC T4 Gc
IECEx Ex nA IIC T4 Gc
RUN - LEDs
*) If several RUN LEDs are present, all of them have the same function.
EL3002 - Connection
Terminal point Description Internally connected Max. current carrying ca-
Name No. with connection pacity *)
Input 1 1 Input 1 - not applicable (voltage input)
0V 2 0V negative power contact 1A
GND 3 Signal ground for input 1 7 40 mA
Shield 4 Shield (FE) 8; DIN rail 100 mA **)
Input 2 5 Input 2 - not applicable (voltage input)
24 V 6 24 V positive power contact 1A
GND 7 Signal ground for input 2 3 40 mA
Shield 8 Shield (FE) 4; DIN rail 100 mA **)
3.1.3 EL3004
Fig. 8: EL3004
Analog Input Terminal; 4 channels, 12 bits, -10 V ... +10 V, single-ended inputs
The EL3004 analog input terminal processes signals in the range from -10 to +10 V. With a resolution of
12 bits, the voltage is digitized and transported, electrically isolated, to the higher-level automation device.
The power contacts are connected through.
In the EL3004 EtherCAT Terminal the four single-ended inputs are configured as 2-wire versions and have a
common internal ground potential, which is not connected to the power contacts.
Quick links
• EtherCAT basics
• Process data and operation modes [} 223]
• Object description and parameterization [} 263]
*) Real applicable approvals/markings see type plate on the side (product marking).
Ex markings
Standard Marking
ATEX II 3 G Ex nA IIC T4 Gc
IECEx Ex nA IIC T4 Gc
RUN - LEDs
*) If several RUN LEDs are present, all of them have the same function.
EL3004 - Connection
Terminal point Description Internally connected Max. current carrying ca-
Name No. with connection pacity *)
Input 1 1 Input 1 - not applicable (voltage input)
GND 2 Signal ground for input 1 4,6,8 40 mA
Input 3 3 Input 3 - not applicable (voltage input)
GND 4 Signal ground for input 3 2,6,8 40 mA
Input 2 5 Input 2 - not applicable (voltage input)
GND 6 Signal ground for input 2 2,4,8 40 mA
Input 4 7 Input 4 - not applicable (voltage input)
GND 8 Signal ground for input 4 2,4,6 40 mA
3.1.4 EL3008
Analog Input Terminal; 8 channels, 12 bits, -10 V ... +10 V, single-ended inputs
The EL3008 analog input terminal processes signals in the range from -10 to +10 V. With a resolution of
12 bits, the voltage is digitized and transported, electrically isolated, to the higher-level automation device.
The power contacts are connected through.
The EL3008 combines eight channels in one housing. The reference ground for the inputs is the 0 V power
contact.
Quick links
• EtherCAT basics
• Process data and operation modes [} 223]
• Object description and parameterization [} 271]
*) Real applicable approvals/markings see type plate on the side (product marking).
Ex markings
Standard Marking
ATEX II 3 G Ex nA IIC T4 Gc
IECEx Ex nA IIC T4 Gc
RUN - LEDs
*) If several RUN LEDs are present, all of them have the same function.
EL3008 - Connection
Terminal point Description Internally connected Max. current carrying ca-
Name No. with connection pacity *)
Input 1 1 Input 1 - not applicable (voltage input)
Input 3 2 Input 3 - not applicable (voltage input)
Input 5 3 Input 5 - not applicable (voltage input)
Input 7 4 Input 7 - not applicable (voltage input)
Input 2 5 Input 2 - not applicable (voltage input)
Input 4 6 Input 4 - not applicable (voltage input)
Input 6 7 Input 6 - not applicable (voltage input)
Input 8 8 Input 8 - not applicable (voltage input)
3.2 EL301x
3.2.1 EL3011
The EL3011 analog input terminal processes signals in the range from 0 to 20 mA. The current is digitized to
a resolution of 12 bits and transported, electrically isolated, to the higher-level automation device. The input
channel of the EL3011 EtherCAT Terminal is a differential input and has an internal ground potential that is
not connected to the power contacts.
Overcurrent is displayed not only in the process image, but also by an error LED.
The EL3011 is the 1-channel version and is characterized by its fine granularity and electrical isolation.
Quick links
• EtherCAT basics
• Process data and operation modes [} 223]
• Object description and parameterization [} 283]
*) Real applicable approvals/markings see type plate on the side (product marking).
Ex markings
Standard Marking
ATEX II 3 G Ex nA IIC T4 Gc
IECEx Ex nA IIC T4 Gc
*) If several RUN LEDs are present, all of them have the same function.
**) The error display shows the signal processing state for each channel.
EL3011 - Connection
Terminal point Description Internally connected Max. current carrying ca-
Name No. with connection pacity *)
+ Input 1 1 + Input 1 - 40 mA
- Input 1 2 - Input 1 - 40 mA
GND 3 Signal ground for input 1 7 40 mA
Shield 4 Shield (FE) 8; DIN rail 100 mA **)
n.c. 5 not connected - -
n.c. 6 not connected - -
GND 7 Signal ground for input 1 3 40 mA
Shield 8 Shield (FE) 4; DIN rail 100 mA **)
3.2.2 EL3012
Analog Input Terminals; 1 and 2 channel, 12 bit, 0 ... 20 mA, differential inputs
The EL3011 and EL3012 analog input terminals process signals in the range between 0 and 20 mA. The
current is digitized to a resolution of 12 bits, and is transmitted, in an electrically isolated form, to the higher-
level automation device. The input channels of the EL3011/EL3012 EtherCAT Terminals are differential
inputs and have a common internal ground potential, which is not connected to the power contacts.
Overcurrent is displayed not only in the process image, but also by an error LED for each channel.
The EL3011 is the single-channel version and is characterized by its fine granularity and electrical isolation.
The EL3012 combines two channels in one housing
Quick links
• EtherCAT basics
• Process data and operation modes [} 223]
• Object description and parameterization [} 290]
*) Real applicable approvals/markings see type plate on the side (product marking).
Ex markings
Standard Marking
ATEX II 3 G Ex nA IIC T4 Gc
IECEx Ex nA IIC T4 Gc
*) If several RUN LEDs are present, all of them have the same function.
**) The error display shows the signal processing state for each channel.
EL3012 - Connection
Terminal point Description Internally connected Max. current carrying ca-
Name No. with connection pacity *)
+ Input 1 1 + Input 1 - 40 mA
- Input 1 2 - Input 1 - 40 mA
GND 3 Signal ground for input 1 7 40 mA
Shield 4 Shield (FE) 8; DIN rail 100 mA **)
+ Input 2 5 + Input 2 - 40 mA
- Input 2 6 - Input 2 - 40 mA
GND 7 Signal ground for input 2 3 40 mA
Shield 8 Shield (FE) 4; DIN rail 100 mA **)
3.2.3 EL3014
The EL3014 analog input terminal handles signals in the range from 0 to 20 mA. The current is digitized to a
resolution of 12 bits, and is transmitted, in an electrically isolated form, to the higher-level automation device.
The input channels of the EtherCAT Terminal are differential inputs and have a common reference ground,
which is connected to the 0 V power contact.
Overcurrent is displayed not only in the process image, but also by an error LED for each channel.
Quick links
• EtherCAT basics
• Process data and operation modes [} 223]
• Object description and parameterization [} 297]
*) Real applicable approvals/markings see type plate on the side (product marking).
Ex markings
Standard Marking
ATEX II 3 G Ex nA IIC T4 Gc
IECEx Ex nA IIC T4 Gc
*) If several RUN LEDs are present, all of them have the same function.
**) The error display shows the signal processing state for each channel.
EL3014 - Connection
Terminal point Description Internally connected Max. current carrying ca-
Name No. with connection pacity *)
+ Input 1 1 + Input 1 - 40 mA
- Input 1 2 - Input 1 - 40 mA
+ Input 3 3 + Input 3 - 40 mA
- Input 3 4 - Input 3 - 40 mA
+ Input 2 5 + Input 2 - 40 mA
- Input 2 6 - Input 2 - 40 mA
+ Input 4 7 + Input 4 - 40 mA
- Input 4 8 - Input 4 - 40 mA
3.3 EL302x
3.3.1 EL3021
The EL3021 analog input terminal processes signals in the range from 4 to 20 mA. The current is digitized to
a resolution of 12 bits and transported, electrically isolated, to the higher-level automation device. The input
channel of the EtherCAT Terminals is a differential input and has an internal ground potential that is not
connected to the power contacts.
Overcurrent and wire break are displayed not only in the process image, but also by an error LED.
The EL3021 is the 1-channel version and is characterized by its fine granularity and electrical isolation.
Quick links
• EtherCAT basics
• Process data and operation modes [} 223]
• Object description and parameterization [} 305]
*) Real applicable approvals/markings see type plate on the side (product marking).
Ex markings
Standard Marking
ATEX II 3 G Ex nA IIC T4 Gc
IECEx Ex nA IIC T4 Gc
*) If several RUN LEDs are present, all of them have the same function.
**) The error display shows the signal processing state for each channel.
EL3021 - Connection
Terminal point Description Internally connected Max. current carrying ca-
Name No. with connection pacity *)
+ Input 1 1 + Input 1 - 40 mA
- Input 1 2 - Input 1 - 40 mA
GND 3 Signal ground for input 1 7 40 mA
Shield 4 Shield (FE) 8; DIN rail 100 mA **)
n.c. 5 not connected - -
n.c. 6 not connected - -
GND 7 Signal ground for input 1 3 40 mA
Shield 8 Shield (FE) 4; DIN rail 100 mA **)
3.3.2 EL3022
The EL3022 analog input terminal processes signals in the range from 4 to 20 mA. The current is digitized to
a resolution of 12 bits and transported, electrically isolated, to the higher-level automation device. The input
channels of the EtherCAT Terminal are differential inputs and have a common internal ground potential,
which is not connected to the power contacts.
Overcurrent and wire break are displayed not only in the process image, but also by an error LED for each
channel.
Quick links
• EtherCAT basics
• Process data and operation modes [} 223]
• Object description and parameterization [} 312]
*) Real applicable approvals/markings see type plate on the side (product marking).
Ex markings
Standard Marking
ATEX II 3 G Ex nA IIC T4 Gc
IECEx Ex nA IIC T4 Gc
*) If several RUN LEDs are present, all of them have the same function.
**) The error display shows the signal processing state for each channel.
EL3022 - Connection
Terminal point Description Internally connected Max. current carrying ca-
Name No. with connection pacity *)
+ Input 1 1 + Input 1 - 40 mA
- Input 1 2 - Input 1 - 40 mA
GND 3 Signal ground for input 1 7 40 mA
Shield 4 Shield (FE) 8; DIN rail 100 mA **)
+ Input 2 5 + Input 2 - 40 mA
- Input 2 6 - Input 2 - 40 mA
GND 7 Signal ground for input 2 3 40 mA
Shield 8 Shield (FE) 4; DIN rail 100 mA **)
3.3.3 EL3024
The EL3024 analog input terminal handles signals in the range from 4 to 20 mA. The current is digitized to a
resolution of 12 bits, and is transmitted, in an electrically isolated form, to the higher-level automation device.
The input channels of the EtherCAT Terminal are differential inputs and have a common reference ground,
which is connected to the 0 V power contact.
Overcurrent and open circuit are displayed not only in the process image, but also by an error LED for each
channel.
Quick links
• EtherCAT basics
• Process data and operation modes [} 223]
• Object description and parameterization [} 319]
*) Real applicable approvals/markings see type plate on the side (product marking).
Ex markings
Standard Marking
ATEX II 3 G Ex nA IIC T4 Gc
IECEx Ex nA IIC T4 Gc
*) If several RUN LEDs are present, all of them have the same function.
**) The error display shows the signal processing state for each channel.
EL3024 - Connection
Terminal point Description Internally connected Max. current carrying ca-
Name No. with connection pacity *)
+ Input 1 1 + Input 1 - 40 mA
- Input 1 2 - Input 1 - 40 mA
+ Input 3 3 + Input 3 - 40 mA
- Input 3 4 - Input 3 - 40 mA
+ Input 2 5 + Input 2 - 40 mA
- Input 2 6 - Input 2 - 40 mA
+ Input 4 7 + Input 4 - 40 mA
- Input 4 8 - Input 4 - 40 mA
3.4 EL304x
3.4.1 EL3041
The job of the EL3041 analog input terminal is to supply power to measuring transducers located in the field,
and to transmit analog measuring signals, electrically isolated, to the automation device. The voltage for the
sensors is supplied to the terminals via the power contacts. The EtherCAT Terminal indicates overload via
error LEDs.
The power contacts can optionally be supplied with operating voltage in the standard way or via a power
supply terminal (EL9xxx) with electrical isolation. The input electronics is independent of the supply voltage
of the power contacts.
The 0 V power contact is the reference potential for the input.
Quick links
• EtherCAT basics
• Process data and operation modes [} 223]
• Object description and parameterization [} 327]
*) Real applicable approvals/markings see type plate on the side (product marking).
Ex markings
Standard Marking
ATEX II 3 G Ex nA IIC T4 Gc
IECEx Ex nA IIC T4 Gc
*) If several RUN LEDs are present, all of them have the same function.
**) The error display shows the signal processing state for each channel.
EL3041 - Connection
Terminal point Description Internally connected Max. current carrying ca-
Name No. with connection pacity *)
Input 1 1 Input 1 - 40 mA
24 V 2 24 V 6; positive power contact 1A
0V 3 0V 7; negative power contact 1A
Shield 4 Shield (FE) 8, DIN rail 100 mA **)
n. c. 5 not connected -
24 V 6 24 V 2; positive power contact 1A
0V 7 0V 3; negative power contact 1A
Shield 8 Shield (FE) 4, DIN rail 100 mA **)
3.4.2 EL3042
The job of the EL3042 analog input terminal is to supply power to measuring transducers located in the field,
and to transmit analog measuring signals, electrically isolated, to the automation device. The voltage for the
sensors is supplied to the terminals via the power contacts. The EtherCAT Terminals indicate overload via
error LEDs.
The power contacts can optionally be supplied with operating voltage in the standard way or via a power
supply terminal (EL9xxx) with electrical isolation. The input electronics are independent of the supply voltage
of the power contacts.
The 0 V power contact is the reference potential for the inputs.
Quick links
• EtherCAT basics
• Process data and operation modes [} 223]
• Object description and parameterization [} 334]
*) Real applicable approvals/markings see type plate on the side (product marking).
Ex markings
Standard Marking
ATEX II 3 G Ex nA IIC T4 Gc
IECEx Ex nA IIC T4 Gc
*) If several RUN LEDs are present, all of them have the same function.
**) The error display shows the signal processing state for each channel.
EL3042 - Connection
Terminal point Description Internally connected Max. current carrying ca-
Name No. with connection pacity *)
Input 1 1 Input 1 - 40 mA
24 V 2 24 V 6; positive power contact 1A
0V 3 0V 7; negative power contact 1A
Shield 4 Shield (FE) 8; DIN rail 100 mA **)
Input 2 5 Input 2 - 40 mA
24 V 6 24 V 2; positive power contact 1A
0V 7 0V 3; negative power contact 1A
Shield 8 Shield (FE) 4; DIN rail 100 mA **)
3.4.3 EL3044
The EL3044 analog input terminal processes signals in the range from 0 to 20 mA. The current is digitized to
a resolution of 12 bits and transported, electrically isolated, to the higher-level automation device.
The power contacts are connected through. The EtherCAT Terminals indicate overload via error LEDs.
In the EL3044 EtherCAT Terminal the four single-ended inputs are configured as 2-wire versions and have a
common internal ground potential, which is not connected to the power contacts.
Quick links
• EtherCAT basics
• Process data and operation modes [} 223]
• Object description and parameterization [} 341]
*) Real applicable approvals/markings see type plate on the side (product marking).
Ex markings
Standard Marking
ATEX II 3 G Ex nA IIC T4 Gc
IECEx Ex nA IIC T4 Gc
cFMus Class I, Division 2, Groups A, B, C, D
Class I, Zone 2, AEx/Ex ec IIC T4 Gc
*) If several RUN LEDs are present, all of them have the same function.
**) The error display shows the signal processing state for each channel.
EL3044 - Connection
Terminal point Description Internally connected Max. current carrying ca-
Name No. with connection pacity *)
Input 1 1 Input 1 - 40 mA
GND 2 Signal ground for input 1 4, 6, 8 40 mA
Input 3 3 Input 3 - 40 mA
GND 4 Signal ground for input 3 2, 6, 8 40 mA
Input 2 5 Input 2 - 40 mA
GND 6 Signal ground for input 2 2, 4, 8 40 mA
Input 4 7 Input 4 - 40 mA
GND 8 Signal ground for input 4 2, 4, 6 40 mA
3.4.4 EL3048
The EL3048 analog input terminal processes signals in the range from 0 to 20 mA. The current is digitized to
a resolution of 12 bits and transported, electrically isolated, to the higher-level automation device.
The power contacts are connected through. The EtherCAT Terminals indicate overload via error LEDs.
The EL3048 combines eight channels in one housing. The reference ground for the inputs is the 0 V power
contact.
Quick links
• EtherCAT basics
• Process data and operation modes [} 223]
• Object description and parameterization [} 349]
*) Real applicable approvals/markings see type plate on the side (product marking).
Ex markings
Standard Marking
ATEX II 3 G Ex nA IIC T4 Gc
IECEx Ex nA IIC T4 Gc
**) The error display shows the signal processing state for each channel
EL3048 - Connection
Terminal point Description Internally connected Max. current carrying ca-
Name No. with connection pacity *)
Input 1 1 Input 1 - 40 mA
Input 3 2 Input 3 - 40 mA
Input 5 3 Input 5 - 40 mA
Input 7 4 Input 7 - 40 mA
Input 2 5 Input 2 - 40 mA
Input 4 6 Input 4 - 40 mA
Input 6 7 Input 6 - 40 mA
Input 8 8 Input 8 - 40 mA
3.5 EL305x
3.5.1 EL3051
The job of the EL3051 analog input terminal is to supply power to measuring transducers located in the field,
and to transmit analog measuring signals, electrically isolated, to the automation device.
The voltage for the sensors is supplied to the terminals via the power contacts. The power contacts can
optionally be supplied with operating voltage in the standard way or via a power supply terminal (EL9xxx)
with electrical isolation.
The input electronics is independent of the supply voltage of the power contacts. The reference potential for
the inputs is the 0 V power contact.
Overload and wire break are indicated by the error LEDs.
Quick links
• EtherCAT basics
• Process data and operation modes [} 223]
• Object description and parameterization [} 361]
*) Real applicable approvals/markings see type plate on the side (product marking).
Ex markings
Standard Marking
ATEX II 3 G Ex nA IIC T4 Gc
IECEx Ex nA IIC T4 Gc
*) If several RUN LEDs are present, all of them have the same function.
**) The error display shows the signal processing state for each channel.
EL3051 - Connection
Terminal point Description Internally connected Max. current carrying ca-
Name No. with connection pacity *)
Input 1 1 Input 1 - 40 mA
24 V 2 24 V 6; positive power contact 1A
0V 3 0V 7; negative power contact 1A
Shield 4 Shield 8; DIN rail 100 mA **)
n. c. 5 not connected - -
24 V 6 24 V 2; positive power contact 1A
0V 7 0V 3; negative power contact 1A
Shield 8 Shield 4; DIN rail 100 mA **)
3.5.2 EL3052
The job of the EL3052 analog input terminal is to supply power to measuring transducers located in the field,
and to transmit analog measuring signals, electrically isolated, to the automation device.
The voltage for the sensors is supplied to the terminals via the power contacts. The power contacts can
optionally be supplied with operating voltage in the standard way or via a power supply terminal (EL9xxx)
with electrical isolation.
The input electronics is independent of the supply voltage of the power contacts. The reference potential for
the inputs is the 0 V power contact.
Overload and wire break are indicated by the error LEDs.
Quick links
• EtherCAT basics
• Process data and operation modes [} 223]
• Object description and parameterization [} 368]
*) Real applicable approvals/markings see type plate on the side (product marking).
Ex markings
Standard Marking
ATEX II 3 G Ex nA IIC T4 Gc
IECEx Ex nA IIC T4 Gc
*) If several RUN LEDs are present, all of them have the same function.
**) The error display shows the signal processing state for each channel.
EL3052 Connection
Terminal point Description Internally connected Max. current carrying ca-
Name No. with connection pacity *)
Input 1 1 Input 1 - 40 mA
24 V 2 24 V 6; positive power contact 1A
0V 3 0V 7; negative power contact 1A
Shield 4 Shield (FE) 8; DIN rail 100 mA **)
Input 2 5 Input 2 - 40 mA
24 V 6 24 V 2; positive power contact 1A
0V 7 0V 3; negative power contact 1A
Shield 8 Shield (FE) 4; DIN rail 100 mA **)
3.5.3 EL3054
The EL3054 analog input terminal processes signals in the range from 4 to 20 mA. The current is digitized to
a resolution of 12 bits and transported, electrically isolated, to the higher-level automation device. The input
electronics is independent of the supply voltage of the power contacts. The power contacts are connected
through; the reference ground of the inputs is the 0 V power contact.
The error LEDs signal overload and wire break.
In the EL3054 with four inputs the 24 V power contact is connected to the terminal, in order to enable
connection of 2-wire sensors without external supply.
Quick links
• EtherCAT basics
• Process data and operation modes [} 223]
• Object description and parameterization [} 375]
*) Real applicable approvals/markings see type plate on the side (product marking).
Ex markings
Standard Marking
ATEX II 3 G Ex nA IIC T4 Gc
IECEx Ex nA IIC T4 Gc
*) If several RUN LEDs are present, all of them have the same function.
**) The error display shows the signal processing state for each channel.
EL3054 - Connection
Terminal point Description Internally connected Max. current carrying ca-
Name No. with connection pacity *)
Input 1 1 Input 1 - 40 mA
+24 V 2 +24 V 4, 6, 8; positive power 1A
contact
Input 3 3 Input 3 - 40 mA
+24 V 4 +24 V 2, 6, 8; positive power 1A
contact
Input 2 5 Input 2 - 40 mA
+24 V 6 +24 V 2, 4, 8; positive power 1A
contact
Input 4 7 Input 4 - 40 mA
+24 V 8 +24 V 2, 4, 6; positive power 1A
contact
3.5.4 EL3058
The EL3058 analog input terminal processes signals in the range from 4 to 20 mA. The current is digitized to
a resolution of 12 bits and transported, electrically isolated, to the higher-level automation device. The input
electronics is independent of the supply voltage of the power contacts. The power contacts are connected
through; the reference ground of the inputs is the 0 V power contact.
The error LEDs signal overload and wire break.
Quick links
• EtherCAT basics
• Process data and operation modes [} 223]
• Object description and parameterization [} 383]
*) Real applicable approvals/markings see type plate on the side (product marking).
Ex markings
Standard Marking
ATEX II 3 G Ex nA IIC T4 Gc
IECEx Ex nA IIC T4 Gc
**) The error display shows the signal processing state for each channel
EL3058 - Connection
Terminal point Description Internally connected Max. current carrying ca-
Name No. with connection pacity *)
Input 1 1 Input 1 - 40 mA
Input 3 2 Input 3 - 40 mA
Input 5 3 Input 5 - 40 mA
Input 7 4 Input 7 - 40 mA
Input 2 5 Input 2 - 40 mA
Input 4 6 Input 4 - 40 mA
Input 6 7 Input 6 - 40 mA
Input 8 8 Input 8 - 40 mA
3.6 EL306x
3.6.1 EL3061
The EL3061 analog input terminal processes signals in the range from 0 to 10 V.
The voltage is digitized to a resolution of 12 bits, and is transmitted, electrically isolated, to the higher-level
automation device. The input channel of the EtherCAT Terminal has a reference ground that is not
connected to the power contacts.
Quick links
• EtherCAT basics
• Process data and operation modes [} 223]
• Object description and parameterization [} 395]
*) Real applicable approvals/markings see type plate on the side (product marking).
Ex markings
Standard Marking
ATEX II 3 G Ex nA IIC T4 Gc
IECEx Ex nA IIC T4 Gc
RUN - LEDs
*) If several RUN LEDs are present, all of them have the same function.
EL3061 - Connection
Terminal point Description Internally connected Max. current carrying ca-
Name No. with connection pacity *)
Input 1 1 Input 1 - not applicable (voltage input)
0V 2 0V negative power contact 1A
GND 3 Signal ground for input 1 7 40 mA
Shield 4 Shield (FE) 8; DIN rail 100 mA **)
n. c. 5 not connected - -
24 V 6 24 V positive power contact 1A
GND 7 Signal ground for input 1 3 40 mA
Shield 8 Shield (FE) 4; DIN rail 100 mA **)
3.6.2 EL3062
The EL3062 analog input terminal processes signals in the range from 0 to 10 V.
The voltage is digitized to a resolution of 12 bits, and is transmitted, electrically isolated, to the higher-level
automation device. The input channels of the EtherCAT Terminals have a common ground potential – the
reference ground, which is not connected to the power contacts.
Quick links
• EtherCAT basics
• Process data and operation modes [} 223]
• Object description and parameterization [} 402]
*) Real applicable approvals/markings see type plate on the side (product marking).
Ex markings
Standard Marking
ATEX II 3 G Ex nA IIC T4 Gc
IECEx Ex nA IIC T4 Gc
RUN - LEDs
*) If several RUN LEDs are present, all of them have the same function.
EL3062 - Connection
Terminal point Description Internally connected Max. current carrying ca-
Name No. with connection pacity *)
Input 1 1 Input 1 - not applicable (voltage input)
0V 2 0V negative power contact 1A
GND 3 Signal ground for input 1 7 40 mA
Shield 4 Shield (FE) 8; DIN rail 100 mA **)
Input 2 5 Input 2 - not applicable (voltage input)
24 V 6 24 V positive power contact 1A
GND 7 Signal ground for input 2 3 40 mA
Shield 8 Shield (FE) 4; DIN rail 100 mA **)
3.6.3 EL3062-0030
The EL3062-0030 analog input terminal processes signals in the range from 0 to +30 V as a special variant.
The voltage is digitized to a resolution of 12 bits, and is transmitted, electrically isolated, to the higher-level
automation device. The input channels of the EtherCAT Terminals have a common ground potential – the
reference ground, which is not connected to the power contacts.
Quick links
• EtherCAT basics
• Process data and operation modes [} 223]
• Object description and parameterization [} 409]
*) Real applicable approvals/markings see type plate on the side (product marking).
Ex markings
Standard Marking
ATEX II 3 G Ex nA IIC T4 Gc
IECEx Ex nA IIC T4 Gc
RUN - LEDs
*) If several RUN LEDs are present, all of them have the same function.
EL3062-0030 - Connection
Terminal point Description Internally connected Max. current carrying ca-
Name No. with connection pacity *)
Input 1 1 Input 1 - not applicable (voltage input)
0V 2 0V negative power contact 1A
GND 3 Signal ground for input 1 7 40 mA
Shield 4 Shield (FE) 8; DIN rail 100 mA **)
Input 2 5 Input 2 - not applicable (voltage input)
24 V 6 24 V positive power contact 1A
GND 7 Signal ground for input 2 3 40 mA
Shield 8 Shield (FE) 4; DIN rail 100 mA **)
3.6.4 EL3064
The EL3064 analog input terminal processes signals in the range from 0 to 10 V. The voltage is digitized to a
resolution of 12 bits and transmitted, electrically isolated, to the higher-level automation device. The power
contacts are connected through.
In the EL3064 EtherCAT Terminal the four single-ended inputs are configured as 2-wire versions and have a
common internal ground potential, which is not connected to the power contacts.
Quick links
• EtherCAT basics
• Process data and operation modes [} 223]
• Object description and parameterization [} 416]
*) Real applicable approvals/markings see type plate on the side (product marking).
Ex markings
Standard Marking
ATEX II 3 G Ex nA IIC T4 Gc
IECEx Ex nA IIC T4 Gc
RUN - LEDs
*) If several RUN LEDs are present, all of them have the same function.
EL3064 - Connection
Terminal point Description Internally connected Max. current carrying ca-
Name No. with connection pacity *)
Input 1 1 Input 1 - not applicable (voltage input)
GND 2 Signal ground for input 1 4, 6, 8 40 mA
Input 3 3 Input 3 - not applicable (voltage input)
GND 4 Signal ground for input 2 2, 6, 8 40 mA
Input 2 5 Input 2 - not applicable (voltage input)
GND 6 Signal ground for input 3 2, 4, 8 40 mA
Input 4 7 Input 4 - not applicable (voltage input)
GND 8 Signal ground for input 4 2, 4, 6 40 mA
3.6.5 EL3068
The EL3068 analog input terminal processes signals in the range from 0 to 10 V. The voltage is digitized to a
resolution of 12 bits and transmitted, electrically isolated, to the higher-level automation device. The power
contacts are connected through.
The EL3068 EtherCAT Terminal combines eight channels in one housing. The reference ground for the
inputs is the 0 V power contact.
Quick links
• EtherCAT basics
• Process data and operation modes [} 223]
• Object description and parameterization [} 424]
*) Real applicable approvals/markings see type plate on the side (product marking).
Ex markings
Standard Marking
ATEX II 3 G Ex nA IIC T4 Gc
IECEx Ex nA IIC T4 Gc
RUN - LEDs
*) If several RUN LEDs are present, all of them have the same function.
EL3068 - Connection
Terminal point Description Internally connected Max. current carrying ca-
Name No. with connection pacity *)
Input 1 1 Input 1 - not applicable (voltage input)
Input 3 2 Input 3 - not applicable (voltage input)
Input 5 3 Input 5 - not applicable (voltage input)
Input 7 4 Input 7 - not applicable (voltage input)
Input 2 5 Input 2 - not applicable (voltage input)
Input 4 6 Input 4 - not applicable (voltage input)
Input 6 7 Input 6 - not applicable (voltage input)
Input 8 8 Input 8 - not applicable (voltage input)
3.7 EL307x
3.7.1 EL3072
Analog input terminal; 2 channels, multifunction, 12 bits, 10/0...+10 V or -20/0/+4...+20 mA, single-
ended inputs
The EL3072 and EL3074 analog input terminals are the 10 V/20 mA universal inputs of the 12-bit class.
The EL3072 has two single parameterizable inputs. Signals either in the range -10/0…+10 V or in the range
-20/0/+4…+20 mA can be processed by each channel. Physically, the voltage and current signals should be
connected to different terminal points. Each channel should then be set by the controller/TwinCAT to U or I
mode via CoE.
The voltage and current inputs are single-ended, which means that one connection point of each channel is
connected in the terminal to +24 V or GND. All inputs are digitized with a resolution of 12 bits and transmitted
electrically isolated to the higher-level automation device.
With a technical measuring range of ±107 % of the nominal range, the terminal also supports commissioning
with sensor values in the limit range and the evaluation according to NAMUR NE43.
Quick links
• EtherCAT basics
• Process data and operation modes [} 223]
• Object description and parameterization [} 436]
*) Real applicable approvals/markings see type plate on the side (product marking).
LEDs
*) If several RUN LEDs are present, all of them have the same function.
NOTICE
Overcurrent protection of the 20 mA inputs
The current inputs are protected against damage due to overcurrent by an internal
electronic overcurrent detection with self-resetting current path separation.
The overcurrent is caused by an occasionally excessive sensor voltage. Depending on the
duration and level of the applied voltage, currents > 200 mA can also occur for a short time
(tripping time: µs range) until the current path disconnection becomes effective.
Approx. 1 second after overcurrent detection and the resulting current path separation, the
current path is closed again. If the excessive sensor voltage is still present, an overcurrent
is detected again and the current path is opened. This process is repeated as long as the
excessive voltage is present (auto-retry).
To ensure that the current path separation is not overloaded, the dielectric strength in the
current measuring range must be observed (see Technical data).
Overcurrent is indicated in the process image as "Overrange".
After it occurs, the error condition must be eliminated immediately.
EL3072 - Connection
Terminal point Description Internally connected Max. current carrying ca-
Name No. with connection pacity *)
Ch 1 U+ 1 Channel 1, voltage - not applicable (voltage input)
measurement, positive
input
Ch 2 U+ 2 Channel 2, voltage - not applicable (voltage input)
measurement, positive
input
+24 V 3 +24 V 4, 5, 6, 7, 8; positive power 1A
contact
+24 V 4 +24 V 3, 5, 6, 7, 8; positive power 1A
contact
+24 V 5 +24 V 3, 4, 6, 7, 8; positive power 1A
contact
+24 V 6 +24 V 3, 4, 5, 7, 8; positive power 1A
contact
+24 V 7 +24 V 3, 4, 5, 6, 8; positive power 1A
contact
+24 V 8 +24 V 3, 4, 5, 6, 7; positive power 1A
contact
GND 9 Signal ground, channel 1 negative power contact 100 mA
( please note current
carrying capacity)
GND 10 Signal ground, channel 2 negative power contact 100 mA
( please note current
carrying capacity)
0V 11 0V 12, 15, 16; positive power 1A
contact
0V 12 0V 11, 15, 16; negative power 1A
contact
Input Ch1 13 Channel 1, current - 50 mA (see note
measurement, input "Overcurrent protection of
the 20 mA inputs [} 114]")
Input Ch2 14 Channel 2, current - 50 mA (see note
measurement, input "Overcurrent protection of
the 20 mA inputs [} 114]")
0V 15 0V 11, 12, 16; positive power 1A
contact
0V 16 0V 11, 12, 15; positive power 1A
contact
*) Constant current; short-time higher currents are to be avoided and can cause thermal overload (damage)
3.7.2 EL3074
Analog input terminal; 4 channels, multifunction, 12 bits, 10/0...+10 V or -20/0/+4...+20 mA, single-
ended inputs
The EL3072 and EL3074 analog input terminals are the 10 V/20 mA universal inputs of the 12-bit class.
The EL3074 has four single parameterizable inputs. Signals either in the range -10/0…+10 V or in the range
-20/0/+4…+20 mA can be processed by each channel. Physically, the voltage and current signals should be
connected to different terminal points. Each channel should then be set by the controller/TwinCAT to U or I
mode via CoE.
The voltage and current inputs are single-ended, which means that one connection point of each channel is
connected in the terminal to +24 V or GND. All inputs are digitized with a resolution of 12 bits and transmitted
electrically isolated to the higher-level automation device.
With a technical measuring range of ±107 % of the nominal range, the terminal also supports commissioning
with sensor values in the limit range and the evaluation according to NAMUR NE43.
Quick links
• EtherCAT basics
• Process data and operation modes [} 223]
• Object description and parameterization [} 444]
*) Real applicable approvals/markings see type plate on the side (product marking).
LEDs
*) If several RUN LEDs are present, all of them have the same function.
NOTICE
Overcurrent protection of the 20 mA inputs
The current inputs are protected against damage due to overcurrent by an internal
electronic overcurrent detection with self-resetting current path separation.
The overcurrent is caused by an occasionally excessive sensor voltage. Depending on the
duration and level of the applied voltage, currents > 200 mA can also occur for a short time
(tripping time: µs range) until the current path disconnection becomes effective.
Approx. 1 second after overcurrent detection and the resulting current path separation, the
current path is closed again. If the excessive sensor voltage is still present, an overcurrent
is detected again and the current path is opened. This process is repeated as long as the
excessive voltage is present (auto-retry).
To ensure that the current path separation is not overloaded, the dielectric strength in the
current measuring range must be observed (see Technical data).
Overcurrent is indicated in the process image as "Overrange".
After it occurs, the error condition must be eliminated immediately.
EL3074 - Connection
Terminal point Description Internally connected Max. current carrying ca-
Name No. with connection pacity *)
Ch 1 U+ 1 Channel 1, voltage - not applicable (voltage input)
measurement, positive
input
Ch 2 U+ 2 Channel 2, voltage - not applicable (voltage input)
measurement, positive
input
Ch 3 U+ 3 Channel 3, voltage - not applicable (voltage input)
measurement, positive
input
Ch 4 U+ 4 Channel 4, voltage - not applicable (voltage input)
measurement, positive
input
+24 V 5 +24 V 5,6,7,8; positive power 1A
contact
+24 V 6 +24 V 5,6,7,8; positive power 1A
contact
+24 V 7 +24 V 5,6,7,8; positive power 1A
contact
+24 V 8 +24 V 5,6,7,8; positive power 1A
contact
GND 9 Signal ground, channel 1 negative power contact 100 mA
( please note current
carrying capacity)
GND 10 Signal ground, channel 2 negative power contact 100 mA
( please note current
carrying capacity)
GND 11 Signal ground, channel 3 negative power contact 100 mA
( please note current
carrying capacity)
GND 12 Signal ground, channel 4 negative power contact 100 mA
( please note current
carrying capacity)
Input Ch1 13 Channel 1, current - 50 mA (see note
measurement, input "Overcurrent protection of
the 20 mA inputs [} 119]")
Input Ch2 14 Channel 2, current - 50 mA (see note
measurement, input "Overcurrent protection of
the 20 mA inputs [} 119]")
Input Ch3 15 Channel 3, current - 50 mA (see note
measurement, input "Overcurrent protection of
the 20 mA inputs [} 119]")
Input Ch4 16 Channel 4, current - 50 mA (see note
measurement, input "Overcurrent protection of
the 20 mA inputs [} 119]")
*) Constant current; short-time higher currents are to be avoided and can cause thermal overload (damage)
3.9 Start up
For commissioning:
• mount the EL30xx as described in the chapter Mounting and wiring [} 134]
• configure the EL30xx in TwinCAT as described in the chapter Commissioning [} 206].
4 Basics communication
For connecting EtherCAT devices only Ethernet connections (cables + plugs) that meet the requirements of
at least category 5 (CAt5) according to EN 50173 or ISO/IEC 11801 should be used. EtherCAT uses 4 wires
for signal transfer.
EtherCAT uses RJ45 plug connectors, for example. The pin assignment is compatible with the Ethernet
standard (ISO/IEC 8802-3).
Pin Color of conductor Signal Description
1 yellow TD + Transmission Data +
2 orange TD - Transmission Data -
3 white RD + Receiver Data +
6 blue RD - Receiver Data -
Due to automatic cable detection (auto-crossing) symmetric (1:1) or cross-over cables can be used between
EtherCAT devices from Beckhoff.
Recommended cables
It is recommended to use the appropriate Beckhoff components e.g.
- cable sets ZK1090-9191-xxxx respectively
- RJ45 connector, field assembly ZS1090-0005
- EtherCAT cable, field assembly ZB9010, ZB9020
Suitable cables for the connection of EtherCAT devices can be found on the Beckhoff website!
E-Bus supply
A bus coupler can supply the EL terminals added to it with the E-bus system voltage of 5 V; a coupler is
thereby loadable up to 2 A as a rule (see details in respective device documentation).
Information on how much current each EL terminal requires from the E-bus supply is available online and in
the catalogue. If the added terminals require more current than the coupler can supply, then power feed
terminals (e.g. EL9410) must be inserted at appropriate places in the terminal strand.
The pre-calculated theoretical maximum E-Bus current is displayed in the TwinCAT System Manager. 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.
NOTICE
Malfunction possible!
The same ground potential must be used for the E-Bus supply of all EtherCAT terminals in a terminal block!
Fig. 55: eEtherCAT tab -> Advanced Settings -> Behavior -> Watchdog
Notes:
• the Multiplier Register 400h (hexadecimal, i. e. x0400) is valid for both watchdogs.
• each watchdog has its own timer setting 410h or 420h, which together with the Multiplier results in a
resulting time.
• important: the Multiplier/Timer setting is only loaded into the slave at EtherCAT startup if the checkbox
in front of it is activated.
• if it is not checked, nothing is downloaded and the setting located in the ESC remains unchanged.
• the downloaded values can be seen in the ESC registers x0400/0410/0420: ESC Access -> Memory
The SyncManager watchdog is reset with each successful EtherCAT process data communication with the
terminal. If, for example, no EtherCAT process data communication with the terminal takes place for longer
than the set and activated SM watchdog time due to a line interruption, the watchdog is triggered. The status
of the terminal (usually OP) remains unaffected. The watchdog is only reset again by a successful EtherCAT
process data access.
The SyncManager watchdog is therefore a monitoring for correct and timely process data communication
with the ESC from the EtherCAT side.
The maximum possible watchdog time depends on the device. For example, for "simple" EtherCAT slaves
(without firmware) with watchdog execution in the ESC it is usually up to 170 seconds. For complex
EtherCAT slaves (with firmware) the SM watchdog function is usually parameterized via Reg. 400/420 but
executed by the µC and can be significantly lower. In addition, the execution may then be subject to a certain
time uncertainty. Since the TwinCAT dialog may allow inputs up to 65535, a test of the desired watchdog
time is recommended.
If there is no PDI communication with the EtherCAT slave controller (ESC) for longer than the set and
activated PDI watchdog time, this watchdog is triggered.
PDI (Process Data Interface) is the internal interface of the ESC, e.g. to local processors in the EtherCAT
slave. With the PDI watchdog this communication can be monitored for failure.
The PDI watchdog is therefore a monitoring for correct and timely process data communication with the
ESC, but viewed from the application side.
Calculation
The value in Multiplier + 2 corresponds to the number of 40ns base ticks representing one watchdog tick.
CAUTION
Undefined state possible!
The function for switching off the SM watchdog via SM watchdog = 0 is only implemented in terminals from
version -0016. In previous versions this operating mode should not be used.
CAUTION
Damage of devices and undefined state possible!
If the SM watchdog is activated and a value of 0 is entered the watchdog switches off completely. This is
the deactivation of the watchdog! Set outputs are NOT set in a safe state if the communication is
interrupted.
The regular state of each EtherCAT slave after bootup is the OP state.
Init
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.
In Pre-Op state mailbox communication is possible, but not process data communication. The EtherCAT
master initializes the sync manager channels for process data (from sync manager channel 2), the FMMU
channels and, if the slave supports configurable mapping, PDO mapping or the sync manager PDO
assignment. In this state the settings for the process data transfer and perhaps terminal-specific parameters
that may differ from the default settings are also transferred.
Safe-Operational (Safe-Op)
During transition between Pre-Op and Safe-Op the EtherCAT slave checks whether the sync manager
channels for process data communication and, if required, the distributed clocks settings are correct. Before
it acknowledges the change of state, the EtherCAT slave copies current input data into the associated DP-
RAM areas of the EtherCAT slave controller (ECSC).
In Safe-Op state mailbox and process data communication is possible, although the slave keeps its outputs
in a safe state, while the input data are updated cyclically.
Operational (Op)
Before the EtherCAT master switches the EtherCAT slave from Safe-Op to Op it must transfer valid output
data.
In the Op state the slave copies the output data of the masters to its outputs. Process data and mailbox
communication is possible.
Boot
In the Boot state the slave firmware can be updated. The Boot state can only be reached via the Init state.
In the Boot state mailbox communication via the file access over EtherCAT (FoE) protocol is possible, but no
other mailbox communication and no process data communication.
The CoE interface (CAN application protocol over EtherCAT)) is used for parameter management of
EtherCAT devices. EtherCAT slaves or the EtherCAT master manage fixed (read only) or variable
parameters which they require for operation, diagnostics or commissioning.
CoE parameters are arranged in a table hierarchy. In principle, the user has read access via the fieldbus.
The EtherCAT master (TwinCAT System Manager) can access the local CoE lists of the slaves via
EtherCAT in read or write mode, depending on the attributes.
Different CoE parameter types are possible, including string (text), integer numbers, Boolean values or larger
byte fields. They can be used to describe a wide range of features. Examples of such parameters include
manufacturer ID, serial number, process data settings, device name, calibration values for analog
measurement or passwords.
The order is specified in two levels via hexadecimal numbering: (main)index, followed by subindex. The
value ranges are
• Index: 0x0000 …0xFFFF (0...65535dec)
• SubIndex: 0x00…0xFF (0...255dec)
A parameter localized in this way is normally written as 0x8010:07, with preceding “0x” to identify the
hexadecimal numerical range and a colon between index and subindex.
Availability
Not every EtherCAT device must have a CoE list. Simple I/O modules without dedicated processor
usually have no variable parameters and therefore no CoE list.
If a device has a CoE list, it is shown in the TwinCAT System Manager as a separate tab with a listing of the
elements:
The figure above shows the CoE objects available in device “EL2502”, ranging from 0x1000 to 0x1600. The
subindices for 0x1018 are expanded.
NOTICE
Changes in the CoE directory (CAN over EtherCAT), program access
When using/manipulating the CoE parameters observe the general CoE notes in chapter "CoE interface" of
the EtherCAT system documentation:
• Keep a startup list if components have to be replaced,
• Distinction between online/offline dictionary,
• Existence of current XML description (download from the Beckhoff website),
• "CoE-Reload" for resetting the changes
• Program access during operation via PLC (see TwinCAT3 | PLC Library: Tc2_EtherCAT and Example
program R/W CoE)
Some parameters, particularly the setting parameters of the slave, are configurable and writeable. This can
be done in write or read mode
• via the System Manager (Fig. “CoE Online” tab) by clicking
This is useful for commissioning of the system/slaves. Click on the row of the index to be
parameterized and enter a value in the “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.
Data management
If slave CoE parameters are modified online, Beckhoff devices store any changes in a fail-safe
manner in the EEPROM, i.e. the modified CoE parameters are still available after a restart.
The situation may be different with other manufacturers.
An EEPROM is subject to a limited lifetime with respect to write operations. From typically 100,000
write operations onwards it can no longer be guaranteed that new (changed) data are reliably saved
or are still readable. This is irrelevant for normal commissioning. However, if CoE parameters are
continuously changed via ADS at machine runtime, it is quite possible for the lifetime limit to be
reached. Support for the NoCoeStorage function, which suppresses the saving of changed CoE
values, depends on the firmware version.
Please refer to the technical data in this documentation as to whether this applies to the respective
device.
• If the function is supported: the function is activated by entering the code word 0x12345678 once
in CoE 0xF008 and remains active as long as the code word is not changed. After switching the
device on it is then inactive. Changed CoE values are not saved in the EEPROM and can thus
be changed any number of times.
• Function is not supported: continuous changing of CoE values is not permissible in view of the
lifetime limit.
Startup list
Changes in the local CoE list of the terminal are lost if the terminal is replaced. If a terminal is
replaced 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
processed whenever the EtherCAT fieldbus is started. In this way a replacement EtherCAT slave
can automatically be parameterized with the specifications of the user.
If EtherCAT slaves are used which are unable to store local CoE values permanently, the Startup
list must be used.
The Startup list may already contain values that were configured by the System Manager based on the ESI
specifications. Additional application-specific entries can be created.
Online/offline list
While working with the TwinCAT System Manager, a distinction has to be made whether the EtherCAT
device is “available”, i.e. switched on and linked via EtherCAT and therefore online, or whether a
configuration is created offline without connected slaves.
In both cases a CoE list as shown in Fig. “CoE online tab” is displayed. The connectivity is shown as offline/
online.
• If the slave is offline
◦ The offline list from the ESI file is displayed. In this case modifications are not meaningful or
possible.
◦ The configured status is shown under Identity.
◦ No firmware or hardware version is displayed, since these are features of the physical device.
◦ Offline is shown in red.
Channel-based order
The CoE list is available in EtherCAT devices that usually feature several functionally equivalent channels.
For example, a 4-channel analog 0...10 V input terminal also has four logical channels and therefore four
identical sets of parameter data for the channels. In order to avoid having to list each channel in the
documentation, the placeholder “n” tends to be used for the individual channel numbers.
In the CoE system 16 indices, each with 255 subindices, are generally sufficient for representing all channel
parameters. The channel-based order is therefore arranged in 16dec/10hex steps. The parameter range
0x8000 exemplifies this:
• Channel 0: parameter range 0x8000:00 ... 0x800F:255
• Channel 1: parameter range 0x8010:00 ... 0x801F:255
• Channel 2: parameter range 0x8020:00 ... 0x802F:255
• ...
Detailed information on the CoE interface can be found in the EtherCAT system documentation on the
Beckhoff website.
5 Installation
Standards
The fundamental health and safety requirements are fulfilled by compliance with the following standards:
• EN 60079-0:2012+A11:2013
• EN 60079-15:2010
• EN 60079-31:2013 (only for certificate no. KEMA 10ATEX0075 X Issue 9)
Marking
The Beckhoff fieldbus components with standard temperature range certified according to the ATEX directive
for potentially explosive areas bear one of the following markings:
Standards
The fundamental health and safety requirements are fulfilled by compliance with the following standards:
• EN 60079-0:2012+A11:2013
• EN 60079-15:2010
• EN 60079-31:2013 (only for certificate no. KEMA 10ATEX0075 X Issue 9)
Marking
The Beckhoff fieldbus components with extended temperature range (ET) certified according to the ATEX
directive for potentially explosive areas bear the following marking:
Standards
The fundamental health and safety requirements are fulfilled by compliance with the following standards:
• EN 60079-0:2011
• EN 60079-15:2010
• EN 60079-31:2013 (only for certificate no. IECEx DEK 16.0078X Issue 3)
Marking
Beckhoff fieldbus components that are certified in accordance with IECEx for use in areas subject to an
explosion hazard bear the following markings:
Marking for fieldbus components of certificate IECEx DEK 16.0078 X
no. IECEx DEK 16.0078X Issue 3: Ex nA IIC T4 Gc
Ex tc IIIC T135°C Dc
Standards
The fundamental health and safety requirements are fulfilled by compliance with the following standards:
M20US0111X (US):
• FM Class 3600:2018
• FM Class 3611:2018
• FM Class 3810:2018
• ANSI/UL 121201:2019
• ANSI/ISA 61010-1:2012
• ANSI/UL 60079-0:2020
• ANSI/UL 60079-7:2017
FM20CA0053X (Canada):
• CAN/CSA C22.2 No. 213-17:2017
• CSA C22.2 No. 60079-0:2019
• CAN/CSA C22.2 No. 60079-7:2016
• CAN/CSA C22.2 No.61010-1:2012
Marking
Beckhoff fieldbus components that are certified in accordance with cFMus for use in areas subject to an
explosion hazard bear the following markings:
FM20US0111X (US): Class I, Division 2, Groups A, B, C, D
Class I, Zone 2, AEx ec IIC T4 Gc
5.3 UL notice
CAUTION
Application
Beckhoff EtherCAT modules are intended for use with Beckhoff’s UL Listed EtherCAT
System only.
CAUTION
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).
CAUTION
For devices with Ethernet connectors
Not for connection to telecommunication circuits.
Basic principles
UL certification according to UL508. Devices with this kind of certification are marked by this sign:
The Bus Terminal system and is designed for mounting in a control cabinet or terminal box.
Assembly
The bus coupler and bus terminals are attached to commercially available 35 mm mounting rails (DIN rails
according to EN 60715) by applying slight pressure:
Disassembly
Each terminal is secured by a lock on the mounting rail, which must be released for disassembly:
1. Pull the terminal by its orange-colored lugs approximately 1 cm away from the mounting rail. In doing
so for this terminal the mounting rail lock is released automatically and you can pull the terminal out of
the bus terminal block easily without excessive force.
2. Grasp the released terminal with thumb and index finger simultaneous at the upper and lower grooved
housing surfaces and pull the terminal out of the bus terminal block.
The electric connections between the Bus Coupler and the Bus Terminals are automatically realized by
joining the components:
• The six spring contacts of the K-Bus/E-Bus deal with the transfer of the data and the supply of the Bus
Terminal electronics.
• The power contacts deal with the supply for the field electronics and thus represent a supply rail within
the bus terminal block. The power contacts are supplied via terminals on the Bus Coupler (up to 24 V)
or for higher voltages via power feed terminals.
Power Contacts
During the design of a bus terminal block, the pin assignment of the individual Bus Terminals must
be taken account of, since some types (e.g. analog Bus Terminals or digital 4-channel Bus
Terminals) do not or not fully loop through the power contacts. Power Feed Terminals (KL91xx,
KL92xx or EL91xx, EL92xx) interrupt the power contacts and thus represent the start of a new
supply rail.
PE power contact
The power contact labeled PE can be used as a protective earth. For safety reasons this contact mates first
when plugging together, and can ground short-circuit currents of up to 125 A.
NOTICE
Possible damage of the device
Note that, for reasons of electromagnetic compatibility, the PE contacts are capacitatively coupled to the
mounting rail. This may lead to incorrect results during insulation testing or to damage on the terminal (e.g.
disruptive discharge to the PE line during insulation testing of a consumer with a nominal voltage of 230 V).
For insulation testing, disconnect the PE supply line at the Bus Coupler or the Power Feed Terminal! In
order to decouple further feed points for testing, these Power Feed Terminals can be released and pulled at
least 10 mm from the group of terminals.
WARNING
Risk of electric shock!
The PE power contact must not be used for other potentials!
Additional checks
For terminals with enhanced mechanical load capacity, the following additional installation instructions apply:
• The enhanced mechanical load capacity is valid for all permissible installation positions
• Use a mounting rail according to EN 60715 TH35-15
• Fix the terminal segment on both sides of the mounting rail with a mechanical fixture, e.g. an earth
terminal or reinforced end clamp
• The maximum total extension of the terminal segment (without coupler) is:
64 terminals (12 mm mounting with) or 32 terminals (24 mm mounting with)
• Avoid deformation, twisting, crushing and bending of the mounting rail during edging and installation of
the rail
• The mounting points of the mounting rail must be set at 5 cm intervals
• Use countersunk head screws to fasten the mounting rail
• The free length between the strain relief and the wire connection should be kept as short as possible. A
distance of approx. 10 cm should be maintained to the cable duct.
5.6 Connection
Overview
The bus terminal system offers different connection options for optimum adaptation to the respective
application:
• The terminals of ELxxxx and KLxxxx series with standard wiring include electronics and connection
level in a single enclosure.
• The terminals of ESxxxx and KSxxxx series feature a pluggable connection level and enable steady
wiring while replacing.
• The High Density Terminals (HD Terminals) include electronics and connection level in a single
enclosure and have advanced packaging density.
The terminals of ELxxxx and KLxxxx series have been tried and tested for years.
They feature integrated screwless spring force technology for fast and simple assembly.
The terminals of ESxxxx and KSxxxx series feature a pluggable connection level.
The assembly and wiring procedure is the same as for the ELxxxx and KLxxxx series.
The pluggable connection level enables the complete wiring to be removed as a plug connector from the top
of the housing for servicing.
The lower section can be removed from the terminal block by pulling the unlocking tab.
Insert the new component and plug in the connector with the wiring. This reduces the installation time and
eliminates the risk of wires being mixed up.
The familiar dimensions of the terminal only had to be changed slightly. The new connector adds about 3
mm. The maximum height of the terminal remains unchanged.
A tab for strain relief of the cable simplifies assembly in many applications and prevents tangling of individual
connection wires when the connector is removed.
Conductor cross sections between 0.08 mm2 and 2.5 mm2 can continue to be used with the proven spring
force technology.
The overview and nomenclature of the product names for ESxxxx and KSxxxx series has been retained as
known from ELxxxx and KLxxxx series.
The terminals from these series with 16 terminal points are distinguished by a particularly compact design,
as the packaging density is twice as large as that of the standard 12 mm bus terminals. Massive conductors
and conductors with a wire end sleeve can be inserted directly into the spring loaded terminal point without
tools.
Wiring HD Terminals
The High Density Terminals of the ELx8xx and KLx8xx series doesn't support pluggable wiring.
5.6.2 Wiring
WARNING
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!
Terminals for standard wiring ELxxxx/KLxxxx and for pluggable wiring ESxxxx/KSxxxx
Up to eight terminal points enable the connection of solid or finely stranded cables to the bus terminal. The
terminal points are implemented in spring force technology. Connect the cables as follows:
1. Open a terminal point by pushing a screwdriver straight against the stop into the square opening
above the terminal point. Do not turn the screwdriver or move it alternately (don't toggle).
2. The wire can now be inserted into the round terminal opening without any force.
3. The terminal point closes automatically when the pressure is released, holding the wire securely and
permanently.
See the following table for the suitable wire size width.
Terminal housing ELxxxx, KLxxxx ESxxxx, KSxxxx
Wire size width (single core wires) 0.08 ... 2.5 mm2 0.08 ... 2.5 mm2
Wire size width (fine-wire conductors) 0.08 ... 2.5 mm2 0.08 ... 2.5 mm2
Wire size width (conductors with a wire end sleeve) 0.14 ... 1.5 mm2 0.14 ... 1.5 mm2
Wire stripping length 8 ... 9 mm 9 ... 10 mm
The conductors of the HD Terminals are connected without tools for single-wire conductors using the direct
plug-in technique, i.e. after stripping the wire is simply plugged into the terminal point. The cables are
released, as usual, using the contact release with the aid of a screwdriver. See the following table for the
suitable wire size width.
5.6.3 Shielding
Shielding
Encoder, analog sensors and actuators should always be connected with shielded, twisted paired
wires.
The optimum installation position requires the mounting rail to be installed horizontally and the connection
surfaces of the EL/KL terminals to face forward (see Fig. Recommended distances for standard installation
position). The terminals are ventilated from below, which enables optimum cooling of the electronics through
convection. “From below” is relative to the acceleration of gravity.
Compliance with the distances shown in Fig. Recommended distances for standard installation position is
recommended.
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.
5.10 Disposal
Products marked with a crossed-out wheeled bin shall not be discarded
with the normal waste stream. The device is considered as waste
electrical and electronic equipment. The national regulations for the
disposal of waste electrical and electronic equipment must be observed.
6 Commissioning
Devices contain the relevant terminals for the actual configuration. All configuration data can be entered
directly via editor functions (offline) or via the `scan function (online):
• “offline”: The configuration can be customized by adding and positioning individual components.
These can be selected from a directory and configured.
◦ The procedure for the offline mode can be found under http://infosys.beckhoff.com:
TwinCAT 2 → TwinCAT System Manager → IO Configuration → Add an I/O device
• “online”: The existing hardware configuration is read
◦ See also http://infosys.beckhoff.com:
Fieldbus components → Fieldbus Cards and Switches → FC900x – PCI Cards for Ethernet →
Installation → Searching for devices
The following relationship is envisaged between the user PC and individual control elements:
Insertion of certain components (I/O device, terminal, box...) by users functions the same way as in
TwinCAT 2 and TwinCAT 3. The descriptions below relate solely to the online procedure.
Based on the following example configuration, the subsequent subsections describe the procedure for
TwinCAT 2 and TwinCAT 3:
• CX2040 control system (PLC) including CX2100-0004 power supply unit
• Connected to CX2040 on the right (E-bus):
EL1004 (4-channel digital input terminal 24 VDC)
• Linked via the X001 port (RJ-45): EK1100 EtherCAT Coupler
• Connected to the EK1100 EtherCAT Coupler on the right (E-bus):
EL2008 (8-channel digital output terminal 24 VDC; 0.5 A)
• (Optional via X000: a link to an external PC for the user interface)
Fig. 74: Control configuration with Embedded PC, input (EL1004) and output (EL2008)
Note that all combinations of a configuration are possible; for example, the EL1004 terminal could also be
connected after the coupler, or the EL2008 terminal could additionally be connected to the CX2040 on the
right, in which case the EK1100 coupler wouldn’t be necessary.
6.1.1 TwinCAT 2
Startup
TwinCAT 2 basically uses two user interfaces: the TwinCAT System Manager for communication with the
electromechanical components and TwinCAT PLC Control for the development and compilation of a
controller. The starting point is the TwinCAT System Manager.
After successful installation of the TwinCAT system on the PC to be used for development, the TwinCAT 2
System Manager displays the following user interface after startup:
Generally, TwinCAT can be used in local or remote mode. Once the TwinCAT system, including the user
interface (standard) is installed on the respective PLC, TwinCAT can be used in local mode and thus the
next step is “Insert Device [} 160]”.
If the intention is to address the TwinCAT runtime environment installed on a PLC remotely from another
system used as a development environment, the target system must be made known first. In the menu under
“Actions” → “Choose Target System...”, the following window is opened for this via the symbol “ ” or the
“F8” key:
Use “Search (Ethernet)...” to enter the target system. Thus another dialog opens to either:
• enter the known computer name after “Enter Host Name / IP:” (as shown in red)
• perform a “Broadcast Search” (if the exact computer name is not known)
• enter the known computer – IP or AmsNetID
Fig. 77: specify the PLC for access by the TwinCAT System Manager: selection of the target system
Once the target system has been entered, it is available for selection as follows (a correct password may
have to be entered before this):
After confirmation with “OK”, the target system can be accessed via the System Manager.
Adding devices
In the configuration tree of the TwinCAT 2 System Manager user interface on the left, select “I/O Devices”
and then right-click to open a context menu and select “Scan Devices…”, or start the action in the menu bar
via . The TwinCAT System Manager may first have to be set to “Config Mode” via or via the
menu
“Actions” → “Set/Reset TwinCAT to Config Mode…” (Shift + F4).
Confirm the warning message, which follows, and select the “EtherCAT” devices in the dialog:
Fig. 79: Automatic detection of I/O devices: selection of the devices to be integrated
Confirm the message “Find new boxes”, in order to determine the terminals connected to the devices. “Free
Run” enables manipulation of input and output values in “Config Mode” and should also be acknowledged.
Based on the example configuration [} 156] described at the beginning of this section, the result is as
follows:
The whole process consists of two stages, which can also be performed separately (first determine the
devices, then determine the connected elements such as boxes, terminals, etc.). A scan (search function)
can also be initiated by selecting “Device ...” from the context menu, which then only reads the elements
below which are present in the configuration:
TwinCAT PLC Control is the development environment for generating the controller in different program
environments: TwinCAT PLC Control supports all languages described in IEC 61131-3. There are two text-
based languages and three graphical languages.
• Text-based languages
◦ Instruction List (IL)
◦ Structured Text (ST)
• Graphical languages
◦ Function Block Diagram (FBD)
◦ Ladder Diagram (LD)
◦ The Continuous Function Chart Editor (CFC)
◦ Sequential Function Chart (SFC)
After starting TwinCAT PLC Control, the following user interface is shown for an initial project:
Example variables and an example program have been created and stored under the name
“PLC_example.pro”:
Fig. 83: Example program with variables after a compile process (without variable integration)
Warning 1990 (missing “VAR_CONFIG”) after a compile process indicates that the variables defined as
external (with the ID “AT%I*” or “AT%Q*”) have not been assigned. After successful compilation, TwinCAT
PLC Control creates a “*.tpy” file in the directory in which the project was stored. This file (“*.tpy”) contains
variable assignments and is not known to the System Manager, hence the warning. Once the System
Manager has been notified, the warning no longer appears.
First, integrate the TwinCAT PLC Control project in the System Manager. This is performed via the context
menu of the PLC configuration (right-click) and selecting “Append PLC Project…”:
Select the PLC configuration “PLC_example.tpy” in the browser window that opens. The project including the
two variables identified with “AT” are then integrated in the configuration tree of the System Manager:
Fig. 85: PLC project integrated in the PLC configuration of the System Manager
The two variables “bEL1004_Ch4” and “nEL2008_value” can now be assigned to certain process objects of
the I/O configuration.
Assigning variables
Open a window for selecting a suitable process object (PDO) via the context menu of a variable of the
integrated project “PLC_example” and via “Modify Link...” “Standard”:
Fig. 86: Creating the links between PLC variables and process objects
In the window that opens, the process object for the “bEL1004_Ch4” BOOL-type variable can be selected
from the PLC configuration tree:
According to the default setting, only certain PDO objects are now available for selection. In this example,
the input of channel 4 of the EL1004 terminal is selected for linking. In contrast, the checkbox “All types”
must be ticked to create the link for the output variables, in order to allocate a set of eight separate output
bits to a byte variable in this case. The following diagram shows the whole process:
Fig. 88: Selecting several PDOs simultaneously: activate “Continuous” and “All types”
Note that the “Continuous” checkbox was also activated. This is designed to allocate the bits contained in the
byte of the “nEL2008_value” variable sequentially to all eight selected output bits of the EL2008 Terminal. It
is thus possible to subsequently address all eight outputs of the terminal in the program with a byte
corresponding to bit 0 for channel 1 to bit 7 for channel 8 of the PLC. A special symbol ( ) on the yellow or
red object of the variable indicates that a link exists. The links can also be checked by selecting “Goto Link
Variable” from the context menu of a variable. The opposite linked object, in this case the PDO, is
automatically selected:
The process of assigning variables to the PDO is completed via the menu option “Actions” → “Create
assignment”, or via .
The process of creating links can also be performed in the opposite direction, i.e. starting with individual
PDOs to a variable. However, in this example, it would not be possible to select all output bits for the
EL2008, since the terminal only makes individual digital outputs available. If a terminal has a byte, word,
integer or similar PDO, it is also possible to allocate this to a set of bit-standardized variables. Here, too, a
“Goto Link Variable” can be executed in the other direction, so that the respective PLC instance can then be
selected.
The allocation of PDO to PLC variables has now established the connection from the controller to the inputs
and outputs of the terminals. The configuration can now be activated. First, the configuration can be verified
via (or via “Actions” → “Check Configuration”). If no error is present, the configuration can be
activated via (or via “Actions” → “Activate Configuration…”) to transfer the System Manager settings
to the runtime system. Confirm the messages “Old configurations will be overwritten!” and “Restart TwinCAT
system in Run mode” with “OK”.
A few seconds later, the real-time status is displayed at the bottom right in the System Manager.
The PLC system can then be started as described below.
Starting from a remote system, the PLC control has to be linked with the embedded PC over the Ethernet via
“Online” → “Choose Runtime System…”:
In this example, “Runtime system 1 (port 801)” is selected and confirmed. Link the PLC with the real-time
system via the menu option “Online” → “Login”, the F11 key or by clicking on the symbol . The control
program can then be loaded for execution. This results in the message “No program on the controller!
Should the new program be loaded?”, which should be confirmed with “Yes”. The runtime environment is
ready for the program start:
Fig. 91: PLC Control logged in, ready for program startup
6.1.2 TwinCAT 3
Startup
TwinCAT 3 makes the development environment areas available all together, with Microsoft Visual Studio:
after startup, the project folder explorer appears on the left in the general window area (see “TwinCAT
System Manager” of TwinCAT 2) for communication with the electromechanical components.
After successful installation of the TwinCAT system on the PC to be used for development, TwinCAT 3
(shell) displays the following user interface after startup:
First create a new project via (or under “File”→“New”→ “Project…”). In the
following dialog, make the corresponding entries as required (as shown in the diagram):
Generally, TwinCAT can be used in local or remote mode. Once the TwinCAT system including the user
interface (standard) is installed on the respective PLC (locally), TwinCAT can be used in local mode and the
process can be continued with the next step, “Insert Device [} 171]”.
If the intention is to address the TwinCAT runtime environment installed on a PLC remotely from another
system used as a development environment, the target system must be made known first. Via the symbol in
the menu bar:
Use “Search (Ethernet)...” to enter the target system. Thus another dialog opens to either:
• enter the known computer name after “Enter Host Name / IP:” (as shown in red)
• perform a “Broadcast Search” (if the exact computer name is not known)
• enter the known computer – IP or AmsNetID
Fig. 96: specify the PLC for access by the TwinCAT System Manager: selection of the target system
Once the target system has been entered, it is available for selection as follows (the correct password may
have to be entered beforehand):
After confirmation with “OK” the target system can be accessed via the Visual Studio shell.
Adding devices
In the project folder explorer on the left of the Visual Studio shell user interface, select “Devices” within the
element “I/O”, then right-click to open a context menu and select “Scan” or start the action via in the
menu bar. The TwinCAT System Manager may first have to be set to “Config mode” via or via the
menu “TwinCAT” → “Restart TwinCAT (Config Mode)”.
Confirm the warning message, which follows, and select the “EtherCAT” devices in the dialog:
Fig. 98: Automatic detection of I/O devices: selection of the devices to be integrated
Confirm the message “Find new boxes”, in order to determine the terminals connected to the devices. “Free
Run” enables manipulation of input and output values in “Config Mode” and should also be acknowledged.
Based on the example configuration [} 156] described at the beginning of this section, the result is as
follows:
The whole process consists of two stages, which can also be performed separately (first determine the
devices, then determine the connected elements such as boxes, terminals, etc.). A scan (search function)
can also be initiated by selecting “Device ...” from the context menu, which then only reads the elements
below which are present in the configuration:
TwinCAT PLC Control is the development environment for generating the controller in different program
environments: TwinCAT PLC Control supports all languages described in IEC 61131-3. There are two text-
based languages and three graphical languages.
• Text-based languages
◦ Instruction List (IL)
◦ Structured Text (ST)
• Graphical languages
◦ Function Block Diagram (FBD)
◦ Ladder Diagram (LD)
◦ The Continuous Function Chart Editor (CFC)
◦ Sequential Function Chart (SFC)
In order to create a programming environment, a PLC subproject is added to the example project via the
context menu of the “PLC” in the project folder explorer by selecting “Add New Item….”:
In the dialog that opens, select “Standard PLC project” and enter “PLC_example” as project name, for
example, and select a corresponding directory:
Fig. 102: Specifying the name and directory for the PLC programming environment
The “Main” program, which already exists due to selecting “Standard PLC project”, can be opened by
double-clicking on “PLC_example_project” in “POUs”. The following user interface is shown for an initial
project:
Fig. 103: Initial “Main” program for the standard PLC project
Now example variables and an example program have been created for the next stage of the process:
Fig. 104: Example program with variables after a compile process (without variable integration)
The control program is now created as a project folder, followed by the compile process:
The following variables, identified in the ST/PLC program with “AT%”, are then available under
“Assignments” in the project folder explorer:
Assigning variables
Via the menu of an instance – variables in the “PLC” context, use the “Modify Link…” option to open a
window to select a suitable process object (PDO) for linking:
Fig. 106: Creating the links between PLC variables and process objects
In the window that opens, the process object for the “bEL1004_Ch4” BOOL-type variable can be selected
from the PLC configuration tree:
According to the default setting, only certain PDO objects are now available for selection. In this example,
the input of channel 4 of the EL1004 terminal is selected for linking. In contrast, the checkbox “All types”
must be ticked to create the link for the output variables, in order to allocate a set of eight separate output
bits to a byte variable in this case. The following diagram shows the whole process:
Fig. 108: Selecting several PDOs simultaneously: activate “Continuous” and “All types”
Note that the “Continuous” checkbox was also activated. This is designed to allocate the bits contained in the
byte of the “nEL2008_value” variable sequentially to all eight selected output bits of the EL2008 Terminal. It
is thus possible to subsequently address all eight outputs of the terminal in the program with a byte
corresponding to bit 0 for channel 1 to bit 7 for channel 8 of the PLC. A special symbol ( ) on the yellow or
red object of the variable indicates that a link exists. The links can also be checked by selecting “Goto Link
Variable” from the context menu of a variable. The opposite linked object, in this case the PDO, is
automatically selected:
The process of creating links can also be performed in the opposite direction, i.e. starting with individual
PDOs to a variable. However, in this example, it would not be possible to select all output bits for the
EL2008, since the terminal only makes individual digital outputs available. If a terminal has a byte, word,
integer or similar PDO, it is also possible to allocate this to a set of bit-standardized variables. Here, too, a
“Goto Link Variable” can be executed in the other direction, so that the respective PLC instance can then be
selected.
In TwinCAT, a structure can be created from the mapped process data of a terminal. An instance of this
structure can then be created in the PLC, so it is possible to access the process data directly from the PLC
without having to declare own variables.
The procedure for the EL3001 1-channel analog input terminal -10...+10 V is shown as an example.
1. First, the required process data must be selected in the “Process data” tab in TwinCAT.
2. After that, the PLC data type must be generated in the “PLC” tab via the check box.
3. The data type in the “Data Type” field can then be copied using the “Copy” button.
4. An instance of the data structure of the copied data type must then be created in the PLC.
5. Then the project folder must be created. This can be done either via the key combination “CTRL +
Shift + B” or via the “Build” tab in TwinCAT.
6. The structure in the “PLC” tab of the terminal must then be linked to the created instance.
7. In the PLC, the process data can then be read or written via the structure in the program code.
Fig. 113: Reading a variable from the structure of the process data
The allocation of PDO to PLC variables has now established the connection from the controller to the inputs
and outputs of the terminals. The configuration can now be activated with or via the menu under
“TwinCAT” in order to transfer the settings of the development environment to the runtime system. Confirm
the messages “Old configurations will be overwritten!” and “Restart TwinCAT system in Run mode” with
“OK”. The corresponding assignments can be seen in the project folder explorer:
A few seconds later, the corresponding status of the Run mode is displayed in the form of a rotating symbol
at the bottom right of the VS shell development environment. The PLC system can then be started as
described below.
Select the menu option “PLC” → “Login” or click on to link the PLC with the real-time system and load
the control program for execution. This results in the message ”No program on the controller! Should the
new program be loaded?”, which should be acknowledged with “Yes”. The runtime environment is ready for
the program to be started by clicking on symbol , the “F5” key or via “PLC” in the menu, by selecting
“Start”. The started programming environment shows the runtime values of individual variables:
Fig. 114: TwinCAT 3 development environment (VS shell): logged-in, after program startup
The two operator control elements for stopping and logout result in the required action (also,
“Shift + F5” can be used for stop, or both actions can be selected via the PLC menu).
Details:
• TwinCAT 2:
◦ Connects I/O devices to tasks in a variable-oriented manner
◦ Connects tasks to tasks in a variable-oriented manner
◦ Supports units at the bit level
◦ Supports synchronous or asynchronous relationships
◦ Exchange of consistent data areas and process images
◦ Datalink on NT - Programs by open Microsoft Standards (OLE, OCX, ActiveX, DCOM+, etc.)
◦ Integration of IEC 61131-3-Software-SPS, Software- NC and Software-CNC within Windows NT/
2000/XP/Vista, Windows 7, NT/XP Embedded, CE
◦ Interconnection to all common fieldbusses
◦ More…
Additional features:
• TwinCAT 3 (eXtended Automation):
◦ Visual Studio® integration
◦ Choice of the programming language
◦ Supports object orientated extension of IEC 61131-3
◦ Usage of C/C++ as programming language for real time applications
◦ Connection to MATLAB®/Simulink®
◦ Open interface for expandability
◦ Flexible run-time environment
◦ Active support of multi-core- and 64 bit operating system
◦ Automatic code generation and project creation with the TwinCAT Automation Interface
◦ More…
Within the following sections commissioning of the TwinCAT Development Environment on a PC System for
the control and also the basically functions of unique control elements will be explained.
In the System Manager call up the TwinCAT overview of the local network interfaces via Options → Show
Real Time Ethernet Compatible Devices.
This have to be called up by the menu “TwinCAT” within the TwinCAT 3 environment:
Interfaces listed under “Compatible devices” can be assigned a driver via the “Install” button. A driver should
only be installed on compatible devices.
Alternatively an EtherCAT-device can be inserted first of all as described in chapter Offline configuration
creation, section “Creating the EtherCAT device” [} 193] in order to view the compatible ethernet ports via its
EtherCAT properties (tab “Adapter”, button “Compatible Devices…”):
Fig. 119: EtherCAT device properties (TwinCAT 2): click on “Compatible Devices…” of tab “Adapter”
TwinCAT 3: the properties of the EtherCAT device can be opened by double click on “Device .. (EtherCAT)”
within the Solution Explorer under “I/O”:
After the installation the driver appears activated in the Windows overview for the network interface
(Windows Start → System Properties → Network)
Fig. 121: Exemplary correct driver setting for the Ethernet port
IP address/DHCP
In most cases an Ethernet port that is configured as an EtherCAT device will not transport general
IP packets. For this reason and in cases where an EL6601 or similar devices are used it is useful to
specify a fixed IP address for this port via the “Internet Protocol TCP/IP” driver setting and to disable
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.
The TwinCAT EtherCAT master/System Manager needs the device description files for the devices to be
used in order 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 manufacturer and are made available for download. An *.xml file may contain several device
descriptions.
The ESI files for Beckhoff EtherCAT devices are available on the Beckhoff website.
Default settings:
• TwinCAT 2: C:\TwinCAT\IO\EtherCAT
• TwinCAT 3: C:\TwinCAT\3.1\Config\Io\EtherCAT
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.
For TwinCAT 2.11/TwinCAT 3 and higher, the ESI directory can be updated from the System Manager, if the
programming PC is connected to the Internet; by
• TwinCAT 2: Option → “Update EtherCAT Device Descriptions”
• TwinCAT 3: TwinCAT → EtherCAT Devices → “Update Device Descriptions (via ETG Website)…”
ESI
The *.xml files are associated with *.xsd files, which describe the structure of the ESI XML files. To
update the ESI device descriptions, both file types should therefore be updated.
Device differentiation
EtherCAT devices/slaves are distinguished by four properties, which determine the full device identifier. For
example, the device identifier EL2521-0025-1018 consists of:
• family key “EL”
• name “2521”
• type “0025”
• and revision “1018”
The order identifier consisting of name + type (here: EL2521-0025) describes the device function. The
revision indicates the technical progress and is managed by Beckhoff. In principle, a device with a higher
revision can replace a device with a lower revision, unless specified otherwise, e.g. in the documentation.
Each revision has its own ESI description. See further notes [} 13].
Online description
If the EtherCAT configuration is created online through scanning of real devices (see section Online setup)
and no ESI descriptions are available for a slave (specified by name and revision) that was found, the
System Manager asks whether the description stored in the device should be used. In any case, the System
Manager needs this information for setting up the cyclic and acyclic communication with the slave correctly.
In TwinCAT 3 a similar window appears, which also offers the Web update:
If possible, the Yes is to be rejected and the required ESI is to be requested from the device manufacturer.
After installation of the XML/XSD file the configuration process should be repeated.
NOTICE
Changing the “usual” configuration through a scan
ü If a scan discovers a device that is not yet known to TwinCAT, distinction has to be made between two
cases. Taking the example here of the EL2521-0000 in the revision 1019
a) no ESI is present for the EL2521-0000 device at all, either for the revision 1019 or for an older revision.
The ESI must then be requested from the manufacturer (in this case Beckhoff).
b) an ESI is present for the EL2521-0000 device, but only in an older revision, e.g. 1018 or 1017.
In this case an in-house check should first be performed to determine whether the spare parts stock
allows the integration of the increased revision into the configuration at all. A new/higher revision usually
also brings along new features. If these are not to be used, work can continue without reservations with
the previous revision 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 [} 193]”.
If the OnlineDescription is used regardless, the System Manager reads a copy of the device description from
the EEPROM in the EtherCAT slave. In complex slaves the size of the EEPROM may not be sufficient for the
complete ESI, in which case the ESI would be incomplete in the configurator. Therefore it’s recommended
using an offline ESI file with priority in such a case.
The System Manager creates for online recorded device descriptions a new file
“OnlineDescription0000...xml” in its ESI directory, which contains all ESI descriptions that were read online.
Is a slave desired to be added manually to the configuration at a later stage, online created slaves are
indicated by a prepended symbol “>” in the selection list (see Figure Indication of an online recorded ESI of
EL2521 as an example).
If such ESI files are used and the manufacturer's files become available later, the file OnlineDescription.xml
should be deleted as follows:
• close all System Manager windows
• restart TwinCAT in Config mode
• delete “OnlineDescription0000...xml”
• restart TwinCAT System Manager
This file should not be visible after this procedure, if necessary press <F5> to update
If an ESI file is faulty and the System Manager is unable to read it, the System Manager brings up an
information window.
Fig. 129: Information window for faulty ESI file (left: TwinCAT 2; right: TwinCAT 3)
The ESI Updater (TwinCAT 3) is a convenient option for automatic downloading of ESI data provided by
EtherCAT manufacturers via the Internet into the TwinCAT directory (ESI = EtherCAT slave information).
TwinCAT accesses the central ESI ULR directory list stored at ETG; the entries can then be viewed in the
Updater dialog, although they cannot be changed there.
If the designed control system is already connected to the EtherCAT system and all components are
energised 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 slaves it finds match the
configuration. This test can be parameterised in the extended slave settings. Refer to note “Installation of
the latest ESI-XML device description” [} 188].
The scan with existing configuration [} 203] can also be carried out for comparison.
Select type “EtherCAT” for an EtherCAT I/O application with EtherCAT slaves. For the present publisher/
subscriber service in combination with an EL6601/EL6614 terminal select “EtherCAT Automation Protocol
via EL6601”.
Then assign a real Ethernet port to this virtual device in the runtime system.
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)”.
TwinCAT 3: the properties of the EtherCAT device can be opened by double click on “Device .. (EtherCAT)”
within the Solution Explorer under “I/O”:
The dialog for selecting a new device opens. Only devices for which ESI files are available are displayed.
Only devices are offered for selection that can be appended to the previously selected device. Therefore, the
physical layer available for this port is also displayed (Fig. “Selection dialog for new EtherCAT device”, A). In
the case of cable-based Fast-Ethernet physical layer with PHY transfer, then also only cable-based devices
are available, as shown in Fig. “Selection dialog for new EtherCAT device”. If the preceding device has
several free ports (e.g. EK1122 or EK1100), the required port can be selected on the right-hand side (A).
• “E-Bus”: LVDS “terminal bus”, EtherCAT plug-in modules (EJ), EtherCAT terminals (EL/ES), various
modular modules
The search field facilitates finding specific devices (since TwinCAT 2.11 or TwinCAT 3).
By default, only the name/device type is used as selection criterion. For selecting a specific revision of the
device, the revision can be displayed as “Extended Information”.
In many cases several device revisions were created for historic or functional reasons, e.g. through
technological advancement. For simplification purposes (see Fig. “Selection dialog for new EtherCAT
device”) only the last (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”.
Example
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.
In this case the process image of the device is shown in the configuration tree and can be parameterized as
follows: linking with the task, CoE/DC settings, plug-in definition, startup settings, ...
Fig. 141: EtherCAT terminal in the TwinCAT tree (left: TwinCAT 2; right: TwinCAT 3)
The online device search can be used if the TwinCAT system is in CONFIG mode. This can be indicated by
a symbol right below in the information bar:
• on TwinCAT 2 by a blue display “Config Mode” within the System Manager window: .
The TwinCAT 2 icon ( ) or TwinCAT 3 icon ( ) within the Windows-Taskbar always shows the
TwinCAT mode of the local IPC. Compared to that, the System Manager window of TwinCAT 2 or the user
interface of TwinCAT 3 indicates the state of the target system.
Right-clicking on “I/O Devices” in the configuration tree opens the search dialog.
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. 144: Note for automatic device scan (left: TwinCAT 2; right: TwinCAT 3)
Ethernet ports with installed TwinCAT real-time driver are shown as “RT Ethernet” devices. An EtherCAT
frame is sent to these ports for testing purposes. If the scan agent detects from the response that an
EtherCAT slave is connected, the port is immediately shown as an “EtherCAT Device” .
Via respective checkboxes devices can be selected (as illustrated in Fig. “Detected Ethernet devices” e.g.
Device 3 and Device 4 were chosen). After confirmation with “OK” a device scan is suggested for all selected
devices, see Fig.: “Scan query after automatic creation of an EtherCAT device”.
NOTICE
Slave scanning in practice in series machine production
The scanning function should be used with care. It is a practical and fast tool for creating an initial
configuration as a basis for commissioning. In series machine production or reproduction of the plant,
however, the function should no longer be used for the creation of the configuration, but if necessary for
comparison [} 203] 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; however, the respective device revision may differ from the initial configuration.
Example:
Company A builds the prototype of a machine B, which is to be produced in series later on. To do this the
prototype is built, a scan of the IO devices is performed in TwinCAT and the initial configuration “B.tsm” is
created. The EL2521-0025 EtherCAT terminal with the revision 1018 is located somewhere. It is thus built
into the TwinCAT configuration in this way:
Likewise, during the prototype test phase, the functions and properties of this terminal are tested by the
programmers/commissioning engineers and used if necessary, i.e. addressed from the PLC “B.pro” or the
NC. (the same applies correspondingly to the TwinCAT 3 solution files).
The prototype development is now completed and series production of machine B starts, for which Beckhoff
continues to supply the EL2521-0025-0018. If the commissioning engineers of the series machine production
department always carry out a scan, a B configuration with the identical contents results again for each
machine. 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); an adaptation of “B.tsm” or even
“B.pro” is therefore unnecessary. The series-produced machines can continue to be built with “B.tsm” and
“B.pro”; it makes sense to perform a comparative scan [} 203] against the initial configuration “B.tsm” in order
to check the built machine.
However, if the series machine production department now doesn’t use “B.tsm”, but instead carries out a
scan to create the productive configuration, the revision -1019 is automatically detected and built into the
configuration:
This is usually not noticed by the commissioning engineers. TwinCAT cannot signal anything either, since a
new configuration is essentially created. According to the compatibility rule, however, this means that no
EL2521-0025-1018 should be built into this machine as a spare part (even if this nevertheless works in the
vast majority of cases).
In addition, it could be the case that, due to the development accompanying production in company A, the
new feature C of the EL2521-0025-1019 (for example, an improved analog filter or an additional process
data for the diagnosis) is discovered and used without in-house consultation. The previous stock of spare
part devices are then no longer to be used for the new configuration “B2.tsm” created in this way. Þ if series
machine production is established, the scan should only be performed for informative purposes for
comparison with a defined initial configuration. Changes are to be made with care!
If an EtherCAT device was created in the configuration (manually or through a scan), the I/O field can be
scanned for devices/slaves.
Fig. 149: Scan query after automatic creation of an EtherCAT device (left: TwinCAT 2; right: TwinCAT 3)
Fig. 150: Manual scanning for devices on a specified EtherCAT device (left: TwinCAT 2; right: TwinCAT 3)
In the System Manager (TwinCAT 2) or the User Interface (TwinCAT 3) the scan process can be monitored
via the progress bar at the bottom in the status bar.
The configuration is established and can then be switched to online state (OPERATIONAL).
In Config/FreeRun mode the System Manager display alternates between blue and red, and the EtherCAT
device continues to operate with the idling cycle time of 4 ms (default setting), even without active task (NC,
PLC).
Fig. 153: Displaying of “Free Run” and “Config Mode” toggling right below in the status bar
Fig. 154: 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.
Please note:
• all slaves should be in OP state
• the EtherCAT master should be in “Actual State” OP
• “frames/sec” should match the cycle time taking into account the sent number of frames
• no excessive “LostFrames” or CRC errors should occur
The configuration is now complete. It can be modified as described under manual procedure [} 193].
Troubleshooting
In the System Manager such devices may be set up as EK0000 or unknown devices. Operation is not
possible or meaningful.
NOTICE
Change of the configuration after comparison
With this scan (TwinCAT 2.11 or 3.1) only the device properties vendor (manufacturer), device name and
revision are compared at present! 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.
If a scan is initiated for an existing configuration, the actual I/O environment may match the configuration
exactly or it may differ. This enables the configuration to be compared.
If differences are detected, they are shown in the correction dialog, so that the user can modify the
configuration as required.
It is advisable to tick the “Extended Information” check box to reveal differences in the revision.
Color Explanation
green This EtherCAT slave matches the entry on the other side. Both type and revision match.
blue This EtherCAT slave is present on the other side, but in a different revision. This other revision can
have other default values for the process data as well as other/additional functions.
If the found revision is higher than the configured revision, the slave may be used provided
compatibility issues are taken into account.
If the found revision is lower than the configured revision, it is likely that the slave cannot be used.
The found device may not support all functions that the master expects based on the higher
revision number.
light This EtherCAT slave is ignored (“Ignore” button)
blue
red • This EtherCAT slave is not present on the other side.
• It is present, but in a different revision, which also differs in its properties from the one specified.
The compatibility principle then also applies here: if the found revision is higher than the
configured revision, use is possible provided compatibility issues are taken into account, since
the successor devices should support the functions of the predecessor devices.
If the found revision is lower than the configured revision, it is likely that the slave cannot be
used. The found device may not support all functions that the master expects based on the
higher revision number.
Example
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.
In this case the process image of the device is shown in the configuration tree and can be parameterized as
follows: linking with the task, CoE/DC settings, plug-in definition, startup settings, ...
Once all modifications have been saved or accepted, click “OK” to transfer them to the real *.tsm
configuration.
TwinCAT offers a function Change to Compatible Type… for the exchange of a device whilst retaining the
links in the task.
Fig. 161: Dialog “Change to Compatible Type…” (left: TwinCAT 2; right: TwinCAT 3)
The following elements in the ESI of an EtherCAT device are compared by TwinCAT and assumed to be the
same in order to decide whether a device is indicated as "compatible":
- FoE
- PDO (process data: Sequence, SyncUnit SU, SyncManager SM, EntryCount, Ent-ry.Datatype)
The TwinCAT System Manager offers a function for the exchange of a device: Change to Alternative Type
If called, the System Manager searches in the procured device ESI (in this example: EL1202-0000) for
details of compatible devices contained there. The configuration is changed and the ESI-EEPROM is
overwritten at the same time – therefore this process is possible only in the online state (ConfigMode).
In the right-hand window of the TwinCAT System Manager (TwinCAT 2) or the Development Environment
(TwinCAT 3), various tabs are now available for configuring the terminal. And yet the dimension of
complexity of a subscriber determines which tabs are provided. Thus as illustrated in the example above the
terminal EL3751 provides many setup options and also a respective number of tabs are available. On the
contrary by the terminal EL1004 for example the tabs “General”, “EtherCAT”, “Process Data” and “Online“
are available only. Several terminals, as for instance the EL6695 provide special functions by a tab with its
own terminal name, so “EL6695” in this case. A specific tab “Settings” by terminals with a wide range of
setup options will be provided also (e.g. EL3751).
“General” tab
“EtherCAT” tab
The link at the bottom of the tab points to the product page for this EtherCAT device on the web.
Indicates the configuration of the process data. The input and output data of the EtherCAT slave are
represented as CANopen process data objects (Process Data Objects, PDOs). The user can select a PDO
via PDO assignment and modify the content of the individual PDO via this dialog, if the EtherCAT slave
supports this function.
The process data (PDOs) transferred by an EtherCAT slave during each cycle are user data which the
application expects to be updated cyclically or which are sent to the slave. 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. Incorrect
configuration can prevent successful start-up of the slave.
For Beckhoff EtherCAT EL, ES, EM, EJ and EP slaves the following applies in general:
• The input/output process data supported by the device are defined by the manufacturer in the ESI/XML
description. The TwinCAT EtherCAT Master uses the ESI description to configure the slave correctly.
• The process data can be modified in the System Manager. See the device documentation.
Examples of modifications include: mask out a channel, displaying additional cyclic information, 16-bit
display instead of 8-bit data size, etc.
• In so-called “intelligent” EtherCAT devices the process data information is also stored in the CoE
directory. Any changes in the CoE directory that lead to different PDO settings prevent successful
startup of the slave. It is not advisable to deviate from the designated process data, because the
device firmware (if available) is adapted to these PDO combinations.
If the device documentation allows modification of process data, proceed as follows (see Figure Configuring
the process data).
• A: select the device to configure
• B: in the “Process Data” tab select Input or Output under SyncManager (C)
• D: the PDOs can be selected or deselected
• H: the new process data are visible as linkable variables in the System Manager
The new process data are active once the configuration has been activated and TwinCAT has been
restarted (or the EtherCAT master has been restarted)
• E: if a slave supports this, Input and Output PDO can be modified simultaneously by selecting a so-
called PDO record (“predefined PDO settings”).
“Startup” tab
The Startup tab is displayed if the EtherCAT slave has a mailbox and supports the CANopen over EtherCAT
(CoE) or Servo drive over EtherCAT protocol. This tab indicates which download requests are sent to the
mailbox during startup. It is also possible to add new mailbox requests to the list display. The download
requests are sent to the slave in the same order as they are shown in the list.
Column Description
Transition Transition to which the request is sent. This can either be
• the transition from pre-operational to safe-operational (PS), or
• the transition from safe-operational to operational (SO).
If the transition is enclosed in “<>” (e.g. <PS>), the mailbox request is fixed and cannot be
modified or deleted by the user.
Protocol Type of mailbox protocol
Index Index of the object
Data Date on which this object is to be downloaded.
Comment Description of the request to be sent to the mailbox
Move Up This button moves the selected request up by one position in the list.
Move Down This button moves the selected request down by one position in the list.
New This button adds a new mailbox download request to be sent during startup.
Delete This button deletes the selected entry.
Edit This button edits an existing request.
The additional CoE - Online tab is displayed if the EtherCAT slave supports the CANopen over EtherCAT
(CoE) protocol. This dialog lists the content of the object list of the slave (SDO upload) and enables the user
to modify the content of an object from this list. Details for the objects of the individual EtherCAT devices can
be found in the device-specific object descriptions.
Update List The Update list button updates all objects in the displayed list
Auto Update If this check box is selected, the content of the objects is updated automatically.
Advanced The Advanced button opens the Advanced Settings dialog. Here you can specify which
objects are displayed in the list.
Online - via SDO Information If this option button is selected, the list of the objects included in the object
list of the slave is uploaded from the slave via SDO information. The list
below can be used to specify which object types are to be uploaded.
Offline - via EDS File If this option button is selected, the list of the objects included in the object
list is read from an EDS file provided by the user.
“Online” tab
State Machine
Init This button attempts to set the EtherCAT device to the Init state.
Pre-Op This button attempts to set the EtherCAT device to the pre-operational state.
Op This button attempts to set the EtherCAT device to the operational state.
Bootstrap This button attempts to set the EtherCAT device to the Bootstrap state.
Safe-Op This button attempts to set the EtherCAT device to the safe-operational state.
Clear Error This button attempts to delete the fault display. If an EtherCAT slave fails during
change of state it sets an error flag.
Example: An EtherCAT slave is in PREOP state (pre-operational). The master now
requests the SAFEOP state (safe-operational). If the slave fails during change of
state it sets the error flag. The current state is now displayed as ERR PREOP.
When the Clear Error button is pressed the error flag is cleared, and the current
state is displayed as PREOP again.
Current State Indicates the current state of the EtherCAT device.
Requested State Indicates the state requested for the EtherCAT device.
DLL Status
Indicates the DLL status (data link layer status) of the individual ports of the EtherCAT slave. The DLL status
can have four different states:
Status Description
No Carrier / Open No carrier signal is available at the port, but the port is open.
No Carrier / Closed No carrier signal is available at the port, and the port is closed.
Carrier / Open A carrier signal is available at the port, and the port is open.
Carrier / Closed A carrier signal is available at the port, but the port is closed.
Sync Manager
If an input is selected, the corresponding PDO assignment is displayed in the PDO Assignment list below.
PDO Assignment
PDO assignment of the selected Sync Manager. All PDOs defined for this Sync Manager type are listed
here:
• If the output Sync Manager (outputs) is selected in the Sync Manager list, all RxPDOs are displayed.
• If the input Sync Manager (inputs) is selected in the Sync Manager list, all TxPDOs are displayed.
The selected entries are the PDOs involved in the process data transfer. In the tree diagram of the System
Manager these PDOs are displayed as variables of the EtherCAT device. The name of the variable is
identical to the Name parameter of the PDO, as displayed in the PDO list. If an entry in the PDO assignment
list is deactivated (not selected and greyed out), this indicates that the input is excluded from the PDO
assignment. In order to be able to select a greyed out PDO, the currently selected PDO has to be deselected
first.
PDO list
List of all PDOs supported by this EtherCAT device. The content of the selected PDOs is displayed in the
PDO Content list. The PDO configuration can be modified by double-clicking on an entry.
Column Description
Index PDO index.
Size Size of the PDO in bytes.
Name Name of the PDO.
If this PDO is assigned to a Sync Manager, it appears as a variable of the slave with this
parameter as the name.
Flags F Fixed content: The content of this PDO is fixed and cannot be changed by the
System Manager.
M Mandatory PDO. This PDO is mandatory and must therefore be assigned to a
Sync Manager! Consequently, this PDO cannot be deleted from the PDO
Assignment list
SM Sync Manager to which this PDO is assigned. If this entry is empty, this PDO does not take
part in the process data traffic.
SU Sync unit to which this PDO is assigned.
PDO Content
Indicates the content of the PDO. If flag F (fixed content) of the PDO is not set the content can be modified.
Download
If the device is intelligent and has a mailbox, the configuration of the PDO and the PDO assignments can be
downloaded to the device. This is an optional feature that is not supported by all EtherCAT slaves.
PDO Assignment
If this check box is selected, the PDO assignment that is configured in the PDO Assignment list is
downloaded to the device on startup. The required commands to be sent to the device can be viewed in the
Startup [} 209] tab.
PDO Configuration
If this check box is selected, the configuration of the respective PDOs (as shown in the PDO list and the
PDO Content display) is downloaded to the EtherCAT slave.
Generally speaking an EtherCAT Slave provides a variety of diagnostic information that can be used by the
controlling task.
This diagnostic information relates to differing levels of communication. It therefore has a variety of sources,
and is also updated at various times.
Any application that relies on I/O data from a fieldbus being correct and up to date must make diagnostic
access to the corresponding underlying layers. 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.
• communication diagnosis typical for a slave (diagnosis of successful participation in the exchange of
process data, and correct operating mode)
This diagnosis is the same for all slaves.
as well as
• function diagnosis typical for a channel (device-dependent)
See the corresponding device documentation
The colors in Fig. Selection of the diagnostic information of an EtherCAT Slave also correspond to the
variable colors in the System Manager, see Fig. Basic EtherCAT Slave Diagnosis in the PLC.
Colour Meaning
yellow Input variables from the Slave to the EtherCAT Master, updated in every cycle
red Output variables from the Slave to the EtherCAT Master, updated in every cycle
green Information variables for the EtherCAT Master that are updated acyclically. This means that
it is possible that in any particular cycle they do not represent the latest possible status. It is
therefore useful to read such variables through ADS.
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.
Structures are created as input variables in the PLC, each corresponding to the process image.
NOTICE
Diagnostic information
It is strongly recommended that the diagnostic information made available is evaluated so that the
application can react accordingly.
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:
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.
Although the “Process Data”, “DC”, “Startup” and “CoE-Online” that used to be necessary for this are still
displayed, it is recommended that, if the commissioning aid is used, the automatically generated settings are
not changed by it.
The commissioning tool does not cover every possible application of an EL/EP device. If the available setting
options are not adequate, the user can make the DC, PDO and CoE settings manually, as in the past.
EtherCAT State: automatic default behaviour of the TwinCAT System Manager and manual operation
After the operating power is switched on, an EtherCAT Slave must go through the following statuses
• INIT
• PREOP
• SAFEOP
• OP
to ensure sound operation. The EtherCAT Master directs these statuses in accordance with the initialization
routines that are defined for commissioning the device by the ES/XML and user settings (Distributed Clocks
(DC), PDO, CoE). See also the section on "Principles of Communication, EtherCAT State Machine [} 126]" in
this connection. Depending how much configuration has to be done, and on the overall communication,
booting can take up to a few seconds.
The EtherCAT Master itself must go through these routines when starting, until it has reached at least the
OP target state.
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.
Standard setting
In addition, the target state of any particular Slave can be set in the “Advanced Settings” dialogue; the
standard setting is again OP.
Manual Control
There are particular reasons why it may be appropriate to control the states from the application/task/PLC.
For instance:
• for diagnostic reasons
• to induce a controlled restart of axes
In that case it is appropriate in the PLC application to use the PLC function blocks from the TcEtherCAT.lib,
which is available as standard, and to work through the states in a controlled manner using, for instance,
FB_EcSetMasterState.
It is then useful to put the settings in the EtherCAT Master to INIT for master and slave.
EL/ES terminals are placed on the DIN rail at a coupler on the terminal strand. A Bus Coupler can supply the
EL terminals added to it with the E-bus system voltage of 5 V; a coupler is thereby loadable up to 2 A as a
rule. Information on how much current each EL terminal requires from the E-bus supply is available online
and in the catalogue. If the added terminals require more current than the coupler can supply, then power
feed terminals (e.g. EL9410) must be inserted at appropriate places in the terminal strand.
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.
From TwinCAT 2.11 and above, a warning message “E-Bus Power of Terminal...” is output in the logger
window when such a configuration is activated:
NOTICE
Caution! Malfunction possible!
The same ground potential must be used for the E-Bus supply of all EtherCAT terminals in a terminal block!
• Changes to the process data-specific settings are generally only effective after a restart of the
EtherCAT master:
Restart TwinCAT in RUN or CONFIG mode; RELOAD in CONFIG mode
• Changes to the online CoE directory
◦ are in general immediately effective.
◦ are in general stored non-volatile only in the terminal/in the slave and should therefore be entered
in the CoE StartUp list. This list is processed at each EtherCAT start and the settings are loaded
into the slave.
The settings are described below, taking the EL3002 (two channels, +/-10 V) as an example. The data apply
to TwinCAT 2.11 from build 1544 onward and XML revision from EL30xx-0000-0017 onward.
The plain text display of the bit meanings of the Status word is particularly helpful not only in commissioning
but also for linking to the PLC program.
By right-clicking on the Status variable in the configuration tree (A), the structure can be opened for linking
(B).
In order to be able to read the bit meanings in plain text in the online display (C), use the button Show Sub
Variables
to display all subvariables and the structure contents of the status word, see Fig. Display of the subvariables
of the EL3002-0000-0017 from TwinCAT 2.11 build 1544 onwards.
Fig. 185: Display of the subvariables of the EL3002-0000-0017 from TwinCAT 2.11 build 1544 onwards
Status word
The status word (SW) is located in the input process image, and is transmitted from terminal to the controller.
Bit SW.15 SW.14 SW.13 SW.12 SW.11 SW.10 SW.9 SW.8
Name TxPDO Toggle TxPDO State - - - - - -
Key
Bit Name Description
SW.15 TxPDO Toggle 1bin Toggles with each new analog process value
SW.14 TxPDO State 1bin TRUE in the case of an internal error
SW.6 ERROR 1bin General error bit, is set together with overrange and underrange
SW.5 Limit 2 1bin See Limit [} 243]
SW.4 1bin
SW.3 Limit 1 1bin See Limit [} 243]
SW.2 1bin
SW.1 Overrange 1bin Analog input signal lies above the upper permissible threshold for this terminal
SW.0 Underrange 1bin Analog input signal lies under the lower permissible threshold for this terminal
• selectively for individual PDOs, taking into account the excluded elements.
“Predefined PDO Assignment” selection dialog (from TwinCAT 2.11 build 1544 onwards)
Defined PDO sets can be preselected if they exist in the XML description.
As a result, all channels of the EL30xx are set at the same time to standard or compact process image.
All TwinCAT versions support the selective selection of individual PDOs, as defined in the XML description.
Exclusion criteria prevent irregular combinations.
Explanatory notes for Fig. Selective PDO selection: In the “Process Data” tab, it can be seen under (A) that
this EL3002 offers several different PDOs for the transmission, and in fact for each channel
• “AI Standard” from the CoE index 0x1A00/0x1A02: Measured value and status of the channel ,
therefore 4 bytes
and
• “AI Compact” under CoE index 0x1A01/0x1A03: only the measured value of the channel, therefore 2
bytes
By selecting the necessary Input SyncManager in (B), the PDO assignment under (C) can be carried out
manually. The process data can then be linked in the TwinCAT tree (D).
EtherCAT Terminals of version EL30xx-0000-0016 (FW < 04) only offer element-wise linking according to
Fig. Element-orientated process data in EL30xx-0000-0016.
Previous analog input terminals from Beckhoff (e.g. EL31x2) had a Status byte instead of the Status word
that is now implemented and therefore a 3-byte interface. 8 additional bits now offer extended diagnostic
options, wherein the default process image of the EL30xx and EL31xx now encompasses 4 bytes, Status
word and Value word. The bit meanings of the LowByte are retained; Limit1 and Limit2 as 2-bit types are
shown in the case of the EL30xx.
If the 3-byte interface for linking to the analogue input channel is implemented in existing PLC projects, the
TwinCAT System Manager nevertheless offers the possibility to link the EL30xx/EL31xx with a 4-byte
interface.
To do this, open the link dialog as usual by double-clicking on the variable and activate the AllTypes
checkbox. As a result, variables with differing sizes are also offered for linking. Select the corresponding 1-
byte input variable for your application. In the following SizeMismatch dialog the cover of 8 bits is confirmed.
Fig. Connecting 4-byte interface of the EL31xx/EL30xx to a 3-byte interface existing in the project.
Fig. 190: Connecting the 4-byte interface of the EL31xx/EL30xx to a 3-byte interface existing in the project
The structured representation of the EL30xx from revision EL30xx-0000-0017 onwards as shown in figure
(B) below is due to a corresponding interpretation of the designations of the variables. This function does not
exist in TwinCAT 2.10 (A) yet, which is why only element-wise linking is possible there.
Fig. 191: Element-orientated process image under TwinCAT 2.10 – structured representation TwinCAT 2.11
The terminal switches between the Freerun (filter on) and Synchron modes by activating/deactivating the
filter via the index. The terminal remains in OP mode during this process. The changeover may result in
longer sampling times and step changes in the process data until the filters have assumed a steady state.
DC mode can only be used when the filters are switched off. Likewise, it is not possible to switch the filters
on in DC mode. The DC mode is parameterized via the DC tab in the TwinCAT System Manager.
The operating modes recommended for the EL30xx are defined via the terminal settings. Setting parameters
are:
Parameter Explanation
Analog value of filter Filters can be switched on and parameterized for all channels at the same
(index:0x8000:06 ) time via the CoE directory.
FastOp-Mode "CoE" (Index: Deactivation of the processing of the CoE directory results in a higher
0x1C33:01 [} 255], bit 15) possible update frequency.
Synchronization mode Selection of the basic operating mode: free running or frame triggered.
(index:0x1C33:01 [} 255], bit 0) The EL30xx has no Distributed Clocks mode
Certain analog input and output terminals from Beckhoff feature the so-called fast mode in the filter off mode
– by reducing the transmitted channel data via the PDO selection, it was possible to achieve faster analog
value processing, since a shorter processing time was required for the retrieval and processing of analog
values. This is the case with the EL31xx and EL41xx, for example. The EL30xx does not have this mode.
Filter
The filters of the EL30xx/EL31xx are activated or deactivated via the CoE index 0x8000:15.
The synchronization and the standard/fast mode are set via a 16-bit StartUp entry on the CoE index
0x1C33:01 [} 255] in the transition PREOP --> SAFEOP. They can thus be changed only by activation and
an EtherCAT restart.
The success of parameter changes on the IO update time can be monitored by checking “TxPDO Toggle”.
Synchronization FreeRun (default) FrameTriggered SM2: synchronous
mode with SM2 Event
Setting Delete the LSB (least significant bit) in Set the LSB (least significant bit) in the
the 16-bit entry index 0x1C33:01 16-bit entry index 0x1C33:01
Index 0x1C33:01 [} 255], bit 0 = 0 Index 0x1C33:01 [} 255], bit 0 = 1
e.g. 0x1C33:01 = 0000hex e.g. 0x1C33:01 = 0001hex
Don’t forget the entry in the StartUp list!
Effect The sequence of the internal terminal The sequence of the internal terminal
calculations and CoE processing is calculations and CoE processing is
automatically restarted after a run – started after a run by the next
operation is free-running. communication event of the
The IO update frequency is independent SyncManager2 (Inputs), i.e. by the next
of the EtherCAT cycle time. EtherCAT cycle.
This mode of operation is necessary in The EL30xx operates in fast mode with
conjunction with filters that require filter- the cycle time of the application and
dependent computing times. returns the current reading in each cycle,
as long as the typical data update time
[} 231] does not fall below the minimum
value.
If the EL30xx is operated faster,
• object 0x1C33:0C [} 255] in the CoE
increments.
• the process data “TxPDO Toggle” no
longer toggles in each IO cycle
Filters are not possible in this operating
mode.
Example:
The SM2 mode is activated by the following entry in the transition P-->S in the StartUp list:
NOTICE
FastOp mode and CoE
If the FastOp mode is turned on, the CoE interface is deactivated starting from the slave state SAFEOP.
CoE parameterization of the EL30xx is no longer possible during the operating period/online, neither via the
control nor via the System Manager. The EL30xx then works with the CoE settings that it had stored last.
Therefore, if further CoE settings (e.g. filters or limits) are to be made, these must likewise be entered in the
transition P-->S in the StartUp list. The FastOp mode must be deactivated by an entry “00” on the index
0x1C33:01 [} 255] in the StartUp list – this change is only active after the next EtherCAT restart (wherein
the StartUp list is executed).
The correction calculation for the raw values in relation to the output values when the limit ranges are
exceeded is shown in figures:
EL300x
+/- 10 V
EL301x, EL304x
0...20 mA
EL302x, EL305x
4...20 mA
EL306x
0...10 V/0...30 V
Measurement ranges
The diagrams at the bottom show the output values of the measurement ranges and the behavior if the limit
ranges are exceeded.
The EL3072 or the EL3074 has preset the scaling (Scaler, AI Advanced settings Object 0x80nD:12)
"Extended Range". This type of scaling allows the actual measuring range to be exceeded or undershot by
c.a. 7%. The technically usable range is therefore -107% to +107% of the respective full scale value.
Example: full scale value = ±10 V then the technical measuring range is c.a. -10.7 V...+10.7 V. The Legacy
Range, on the other hand, represents the conventional range from -100% to 100% (e.g. usable range -10 to
+10 V) and +100% corresponds to +32767 (-100% -32768).
For the Extended Range the PDO value ±30518 (0x7736) has been defined as 100% for 16 bits. As a result,
the bit meaning with the (user-selected measuring range) full scale value (FSV) is as follows:
The diagrams associated with all measuring ranges are shown below:
Overshoot:
Index 0x60n0:02 and index 0x60n0:07 (over-range and error bit) are set.
Indicates that the output value is above 32767 (7FFFhex). The output value is limited to 32767. Overrange is
also set if the ADC outputs the upper limit value.
The concept “calibration”, which has historical roots at Beckhoff, is used here even if it has nothing to do with
the deviation statements of a calibration certificate. Actually, this is a description of the vendor or customer
calibration data/adjustment data used by the device during operation in order to maintain the assured
measuring accuracy.
The terminal constantly records measured values and saves the raw values from its A/D converter in the
ADC raw value object 0x80nE:01 [} 251]. After each recording of the analog signal, the correction calculation
takes place with the vendor and user calibration data as well as the user scaling, if these are activated (see
following picture).
Calculation Designation
XADC Output of the A/D converter
XF Output value after the filter
YH = (XADC – BH) x AH x 2-14 Measured value after vendor calibration,
YA = (YH – BA) x AA x 2 -14 Measured value after vendor and user calibration
Table 1: Legend
Measurement result
The accuracy of the result may be reduced if the measured value is smaller than 32767 / 4 due to
one or more multiplications.
6.4.8 Settings
Filter
The EL 30xx terminals incorporate a digital filter which, depending on its settings, can adopt the
characteristics of a Finite Impulse Response filter (an FIR filter), or an Infinite Impulse Response filter (an
IIR filter). The filter can also be deactivated.
FIR filter
The filter performs a notch filter function and determines the conversion time of the terminal. It is
parameterized via the index 0x8000:15. The higher the filter frequency, the faster the conversion time. A 50
Hz and a 60 Hz filter are available.
Notch filter means that the filter has zeros (notches) in the frequency response at the filter frequency and
multiples thereof, i.e. it attenuates the amplitude at these frequencies.
The FIR filter functions as a non-recursive filter, which can be adjusted by the parameterization of the object
0x8000:15.
IIR filter
The filter with IIR characteristics is a discrete time, linear, time invariant filter that can be set to eight levels
(level 1 = weak recursive filter, up to level 8 = strong recursive filter).
The IIR can be understood to be a moving average value calculation after a low-pass filter.
By means of the synchronization mode FreeRun, the IIR filter works with an internal cycle time of 500 µs (1,
2 or 4 channels) or 1 ms (8 channels).
IIR filter Limit frequency for an internal terminal cycle time of 1 ms (-3 dB)
IIR 1 168 Hz
IIR 2 88 Hz
IIR 3 43 Hz
IIR 4 21 Hz
IIR 5 10.5 Hz
IIR 6 5.2 Hz
IIR 7 2.5 Hz
IIR 8 1.2 Hz
The conversion time is the time interval in which the EL30xx makes a new measured value available. A new
measured value is displayed by toggling “TxPDO Toggle” (index 0x60n0:10).
6.4.8.2 Calibration
The user scaling is enabled via index 0x80n0:01. Parameterization takes place via the indices
• 0x80n0:11
User scaling offset
• 0x80n0:12
User scaling gain
The vendor calibration is enabled via index 0x80n0:0B. Parameterization takes place via the indices
• 0x80nF:01
Offset (vendor calibration)
• 0x80nF:02
Gain (vendor calibration)
Vendor calibration
The vendor reserves the authority for the basic calibration of the terminals. Therefore, the vendor
calibration cannot be changed.
The user calibration is enabled via index 0x80n0:0A. Parameterization takes place via the indices
• 0x80n0:17
User offset compensation
• 0x80n0:18
User gain compensation
If the value exceeds or falls below these values, which can be entered in the indices 0x80n0:13 and
0x80n0:14 , then the bits in the indices 0x60n0:03 and 0x60n0:05 are set accordingly (see example below).
The indices 0x80n0:07 or 0x80n0:08 respectively serve to activate the limit value monitoring.
Limit evaluation
The limit evaluation assumes a signed representation. The conversion to the desired representation
(index 0x80n0:02) only takes place after the limit evaluation.
The Swap limit function („Swap limit bits“, CoE object 0x80n0:0E) is available according to the table below
Channel 1; Limit 1 and Limit 2 enabled, Limit 1 = 2.8 V, Limit 2 = 7.4 V, representation: signed integer
Output:
• PLC:
IEC61131-PLC contains no 2-bit data type that can be linked with this process data directly. For
transferring the limit information, define an input byte (e.g. see Fig. Input byte definition) and link the
limit to the VariableSizeMismatch dialog, as described in section Note about the 1-byte status of earlier
EtherCAT Terminals.
• Additional task
2-bit variables can be created in the System Manager.
6.4.8.4 Presentation
The measured value output is set in factory to two's complement representation (signed integer).
Index 0x80n0:02 offers the possibility to change the method of representation of the measured value.
The output value is represented with 15-bit resolution without sign, therefore polarity detection is no longer
possible.
Maximum representation range for 16 bits = 0 to +32767dec
The output value is displayed in magnitude-sign format: MSB=1 (highest bit) in the case of negative values.
Maximum representation range for 16 bits = -32767 to +32767dec
Input signal Value
EL300x EL304x EL305x EL306x EL3062-0030 Decimal Hexadecimal
10 V 20 mA 20 mA 10 V 30 V 32767 0x7FFF
5V 10 mA 12 mA 5V 15 V 16383 0x3FFF
0x0001
0V 0 mA 4 mA 0V 0V 0 0x0000
0x8001
-5 V [-16383] 0xBFFF
-10 V [-32767] 0xFFFF
Presentation types
The presentation types "Unsigned Integer" and "Absolute value with MSB as sign" have no function
for unipolar terminals. There is no change in the presentation in the positive range.
If this bit is set, status displays are superimposed on the lowest three bits. In the error case "overrange" or
"underrange", bit 0 is set.
The Beckhoff TwinCAT EtherCAT master outputs the slave error message according to the ETG
specification in plain text in the logger window:
Fig. 210: TwinCAT logger window, example of incorrect StartUp entry under TwinCAT 2.11
These data are also overwritten by a RestoreDefaultParameter (CoE 0x1011:01) or CompleteAccess access
to 0x80n0.
From the FW revision specified above these two values are protected by an additional password in CoE
0xF009
Use
• 0x12345678 activates the password protection --> object indicates ‘1’ (switched on)
User Calibration gain and offset can no longer be changed; there is no error message with a write
access!
• 0x11223344 deactivates the password protection --> object indicates ‘0’ (switched off)
Terminal from FW
EL300x FW07
EL301x, EL302x FW03
EL304x, EL305x, El306x FW08
Parameterization
The terminal is parameterized via the CoE - Online tab [} 210] (double-click on the respective
object) or via the Process Data tab [} 207](allocation of PDOs).
Introduction
The following section first describes the objects required for normal operation, followed by a complete
overview of missing objects.
6.5.1 EL300x
6.5.1.1 EL3001
0: 50 Hz FIR
1: 60 Hz FIR
2: IIR 1
3: IIR 2
4: IIR 3
5: IIR 4
6: IIR 5
7: IIR 6
8: IIR 7
9: IIR 8
Refer to the Note on setting the filter characteristics
[} 250]
8000:17 User calibration offset User calibration offset INT16 RW 0x0000 (0dec)
[} 243]
8000:18 User calibration gain User calibration gain INT16 RW 0x4000
[} 243] (16384dec)
Filter
The filters of the EL30xx/EL31xx are activated or deactivated via the CoE index 0x8000:15.
0: not active
1: value is smaller than limit value 1
2: value is greater than limit value 1
3: value is equal to limit value 1
6000:05 Limit 2 Limit value monitoring Limit 2 BIT2 RO 0x00 (0dec)
0: not active
1: value is smaller than limit value 2
2: value is greater than limit value 2
3: value is equal to limit value 2
6000:07 Error The error bit is set if the data is invalid (over-range, BOOLEAN RO 0x00 (0dec)
under-range)
6000:0F TxPDO State Validity of the data of the associated TxPDO (0 = valid, BOOLEAN RO 0x00 (0dec)
1 = invalid).
6000:10 TxPDO Toggle The TxPDO toggle is toggled by the slave when the BOOLEAN RO 0x00 (0dec)
data of the associated TxPDO is updated.
6000:11 Value Analog input date INT16 RO 0x0000 (0dec)
The standard objects have the same meaning for all EtherCAT slaves.
For operation on masters other than TwinCAT it must be ensured that the channels are entered in the PDO
assignment (“TxPDO assign”, object 0x1C13) successively.
Index (hex) Name Meaning Data type Flags Default
1C13:0 TxPDO assign PDO Assign Inputs UINT8 RW 0x01 (8dec)
1C13:01 SubIndex 001 1. allocated TxPDO (contains the index of the UINT16 RW 0x1A00
associated TxPDO mapping object) (6656dec)
6.5.1.2 EL3002
0: 50 Hz FIR
1: 60 Hz FIR
2: IIR 1
3: IIR 2
4: IIR 3
5: IIR 4
6: IIR 5
7: IIR 6
8: IIR 7
9: IIR 8
Refer to the Note on setting the filter characteristics
[} 257]
80n0:17 User calibration offset User calibration offset INT16 RW 0x0000 (0dec)
[} 243]
80n0:18 User calibration gain User calibration gain INT16 RW 0x4000
[} 243] (16384dec)
Filter
The filters of the EL30xx/EL31xx are activated or deactivated via the CoE index 0x8000:15.
0: not active
1: value is smaller than limit value 1
2: value is greater than limit value 1
3: value is equal to limit value 1
60n0:05 Limit 2 Limit value monitoring Limit 2 BIT2 RO 0x00 (0dec)
0: not active
1: value is smaller than limit value 2
2: value is greater than limit value 2
3: value is equal to limit value 2
60n0:07 Error The error bit is set if the data is invalid (over-range, BOOLEAN RO 0x00 (0dec)
under-range)
60n0:0F TxPDO State Validity of the data of the associated TxPDO (0 = valid, BOOLEAN RO 0x00 (0dec)
1 = invalid).
60n0:10 TxPDO Toggle The TxPDO toggle is toggled by the slave when the BOOLEAN RO 0x00 (0dec)
data of the associated TxPDO is updated.
60n0:11 Value Analog input date INT16 RO 0x0000 (0dec)
The standard objects have the same meaning for all EtherCAT slaves.
For operation on masters other than TwinCAT it must be ensured that the channels are entered in the PDO
assignment (“TxPDO assign”, object 0x1C13) successively.
Index (hex) Name Meaning Data type Flags Default
1C13:0 TxPDO assign PDO Assign Inputs UINT8 RW 0x02 (2dec)
1C13:01 SubIndex 001 1. allocated TxPDO (contains the index of the UINT16 RW 0x1A00
associated TxPDO mapping object) (6656dec)
1C13:02 SubIndex 002 2. allocated TxPDO (contains the index of the UINT16 RW 0x1A02
associated TxPDO mapping object) (6658dec)
6.5.1.3 EL3004
0: 50 Hz FIR
1: 60 Hz FIR
2: IIR 1
3: IIR 2
4: IIR 3
5: IIR 4
6: IIR 5
7: IIR 6
8: IIR 7
9: IIR 8
Refer to the Note on setting the filter characteristics
[} 264]
80n0:17 User calibration offset User calibration offset INT16 RW 0x0000 (0dec)
[} 243]
80n0:18 User calibration gain User calibration gain INT16 RW 0x4000
[} 243] (16384dec)
Filter
The filters of the EL30xx/EL31xx are activated or deactivated via the CoE index 0x8000:15.
0: not active
1: value is smaller than limit value 1
2: value is greater than limit value 1
3: value is equal to limit value 1
60n0:05 Limit 2 Limit value monitoring Limit 2 BIT2 RO 0x00 (0dec)
0: not active
1: value is smaller than limit value 2
2: value is greater than limit value 2
3: value is equal to limit value 2
60n0:07 Error The error bit is set if the data is invalid (over-range, BOOLEAN RO 0x00 (0dec)
under-range)
60n0:0F TxPDO State Validity of the data of the associated TxPDO (0 = valid, BOOLEAN RO 0x00 (0dec)
1 = invalid).
60n0:10 TxPDO Toggle The TxPDO toggle is toggled by the slave when the BOOLEAN RO 0x00 (0dec)
data of the associated TxPDO is updated.
60n0:11 Value Analog input date INT16 RO 0x0000 (0dec)
The standard objects have the same meaning for all EtherCAT slaves.
For operation on masters other than TwinCAT it must be ensured that the channels are entered in the PDO
assignment (“TxPDO assign”, object 0x1C13) successively.
Index (hex) Name Meaning Data type Flags Default
1C13:0 TxPDO assign PDO Assign Inputs UINT8 RW 0x04 (4dec)
1C13:01 SubIndex 001 1. allocated TxPDO (contains the index of the UINT16 RW 0x1A00
associated TxPDO mapping object) (6656dec)
1C13:02 SubIndex 002 2. allocated TxPDO (contains the index of the UINT16 RW 0x1A02
associated TxPDO mapping object) (6658dec)
1C13:03 SubIndex 003 3. allocated TxPDO (contains the index of the UINT16 RW 0x1A04
associated TxPDO mapping object) (6660dec)
1C13:04 SubIndex 004 4. allocated TxPDO (contains the index of the UINT16 RW 0x1A06
associated TxPDO mapping object) (6662dec)
6.5.1.4 EL3008
0: 50 Hz FIR
1: 60 Hz FIR
2: IIR 1
3: IIR 2
4: IIR 3
5: IIR 4
6: IIR 5
7: IIR 6
8: IIR 7
9: IIR 8
Refer to the Note on setting the filter characteristics
[} 272]
80n0:17 User calibration offset User calibration offset INT16 RW 0x0000 (0dec)
[} 243]
80n0:18 User calibration gain User calibration gain INT16 RW 0x4000
[} 243] (16384dec)
Filter
The filters of the EL30xx/EL31xx are activated or deactivated via the CoE index 0x8000:15.
0: not active
1: value is smaller than limit value 1
2: value is greater than limit value 1
3: value is equal to limit value 1
60n0:05 Limit 2 Limit value monitoring Limit 2 BIT2 RO 0x00 (0dec)
0: not active
1: value is smaller than limit value 2
2: value is greater than limit value 2
3: value is equal to limit value 2
60n0:07 Error The error bit is set if the data is invalid (over-range, BOOLEAN RO 0x00 (0dec)
under-range)
60n0:0F TxPDO State Validity of the data of the associated TxPDO (0 = valid, BOOLEAN RO 0x00 (0dec)
1 = invalid).
60n0:10 TxPDO Toggle The TxPDO toggle is toggled by the slave when the BOOLEAN RO 0x00 (0dec)
data of the associated TxPDO is updated.
60n0:11 Value Analog input date INT16 RO 0x0000 (0dec)
The standard objects have the same meaning for all EtherCAT slaves.
For operation on masters other than TwinCAT it must be ensured that the channels are entered in the PDO
assignment (“TxPDO assign”, object 0x1C13) successively.
Index (hex) Name Meaning Data type Flags Default
1C13:0 TxPDO assign PDO Assign Inputs UINT8 RW 0x08 (8dec)
1C13:01 SubIndex 001 1st allocated TxPDO (contains the index of the UINT16 RW 0x1A00
associated TxPDO mapping object) (6656dec)
1C13:02 SubIndex 002 2nd allocated TxPDO (contains the index of the UINT16 RW 0x1A02
associated TxPDO mapping object) (6658dec)
1C13:03 SubIndex 003 3rd allocated TxPDO (contains the index of the UINT16 RW 0x1A04
associated TxPDO mapping object) (6660dec)
1C13:04 SubIndex 004 4th allocated TxPDO (contains the index of the UINT16 RW 0x1A06
associated TxPDO mapping object) (6662dec)
1C13:05 SubIndex 005 5th allocated TxPDO (contains the index of the UINT16 RW 0x1A08
associated TxPDO mapping object) (6664dec)
1C13:06 SubIndex 006 6th allocated TxPDO (contains the index of the UINT16 RW 0x1A0A
associated TxPDO mapping object) (6666dec)
1C13:07 SubIndex 007 7th allocated TxPDO (contains the index of the UINT16 RW 0x1A0C
associated TxPDO mapping object) (6668dec)
1C13:08 SubIndex 008 8th allocated TxPDO (contains the index of the UINT16 RW 0x1A0E
associated TxPDO mapping object) (6670dec)
6.5.2 EL301x
6.5.2.1 EL3011
0: 50 Hz FIR
1: 60 Hz FIR
2: IIR 1
3: IIR 2
4: IIR 3
5: IIR 4
6: IIR 5
7: IIR 6
8: IIR 7
9: IIR 8
Refer to the Note on setting the filter characteristics
[} 284]
8000:17 User calibration offset User calibration offset INT16 RW 0x0000 (0dec)
[} 243]
8000:18 User calibration gain User calibration gain INT16 RW 0x4000
[} 243] (16384dec)
Filter
The filters of the EL30xx/EL31xx are activated or deactivated via the CoE index 0x8000:15.
0: not active
1: value is smaller than limit value 1
2: value is greater than limit value 1
3: value is equal to limit value 1
6000:05 Limit 2 Limit value monitoring Limit 2 BIT2 RO 0x00 (0dec)
0: not active
1: value is smaller than limit value 2
2: value is greater than limit value 2
3: value is equal to limit value 2
6000:07 Error The error bit is set if the data is invalid (over-range, BOOLEAN RO 0x00 (0dec)
under-range)
6000:0F TxPDO State Validity of the data of the associated TxPDO (0 = valid, BOOLEAN RO 0x00 (0dec)
1 = invalid).
6000:10 TxPDO Toggle The TxPDO toggle is toggled by the slave when the BOOLEAN RO 0x00 (0dec)
data of the associated TxPDO is updated.
6000:11 Value Analog input date INT16 RO 0x0000 (0dec)
The standard objects have the same meaning for all EtherCAT slaves.
For operation on masters other than TwinCAT it must be ensured that the channels are entered in the PDO
assignment (“TxPDO assign”, object 0x1C13) successively.
Index (hex) Name Meaning Data type Flags Default
1C13:0 TxPDO assign PDO Assign Inputs UINT8 RW 0x01 (8dec)
1C13:01 SubIndex 001 1. allocated TxPDO (contains the index of the UINT16 RW 0x1A00
associated TxPDO mapping object) (6656dec)
6.5.2.2 EL3012
0: 50 Hz FIR
1: 60 Hz FIR
2: IIR 1
3: IIR 2
4: IIR 3
5: IIR 4
6: IIR 5
7: IIR 6
8: IIR 7
9: IIR 8
Refer to the Note on setting the filter characteristics
[} 291]
80n0:17 User calibration offset User calibration offset INT16 RW 0x0000 (0dec)
[} 243]
80n0:18 User calibration gain User calibration gain INT16 RW 0x4000
[} 243] (16384dec)
Filter
The filters of the EL30xx/EL31xx are activated or deactivated via the CoE index 0x8000:15.
0: not active
1: value is smaller than limit value 1
2: value is greater than limit value 1
3: value is equal to limit value 1
60n0:05 Limit 2 Limit value monitoring Limit 2 BIT2 RO 0x00 (0dec)
0: not active
1: value is smaller than limit value 2
2: value is greater than limit value 2
3: value is equal to limit value 2
60n0:07 Error The error bit is set if the data is invalid (over-range, BOOLEAN RO 0x00 (0dec)
under-range)
60n0:0F TxPDO State Validity of the data of the associated TxPDO (0 = valid, BOOLEAN RO 0x00 (0dec)
1 = invalid).
60n0:10 TxPDO Toggle The TxPDO toggle is toggled by the slave when the BOOLEAN RO 0x00 (0dec)
data of the associated TxPDO is updated.
60n0:11 Value Analog input date INT16 RO 0x0000 (0dec)
The standard objects have the same meaning for all EtherCAT slaves.
For operation on masters other than TwinCAT it must be ensured that the channels are entered in the PDO
assignment (“TxPDO assign”, object 0x1C13) successively.
Index (hex) Name Meaning Data type Flags Default
1C13:0 TxPDO assign PDO Assign Inputs UINT8 RW 0x02 (2dec)
1C13:01 SubIndex 001 1. allocated TxPDO (contains the index of the UINT16 RW 0x1A00
associated TxPDO mapping object) (6656dec)
1C13:02 SubIndex 002 2. allocated TxPDO (contains the index of the UINT16 RW 0x1A02
associated TxPDO mapping object) (6658dec)
6.5.2.3 EL3014
0: 50 Hz FIR
1: 60 Hz FIR
2: IIR 1
3: IIR 2
4: IIR 3
5: IIR 4
6: IIR 5
7: IIR 6
8: IIR 7
9: IIR 8
Refer to the Note on setting the filter characteristics
[} 298]
80n0:17 User calibration offset User calibration offset INT16 RW 0x0000 (0dec)
[} 243]
80n0:18 User calibration gain User calibration gain INT16 RW 0x4000
[} 243] (16384dec)
Filter
The filters of the EL30xx/EL31xx are activated or deactivated via the CoE index 0x8000:15.
0: not active
1: value is smaller than limit value 1
2: value is greater than limit value 1
3: value is equal to limit value 1
60n0:05 Limit 2 Limit value monitoring Limit 2 BIT2 RO 0x00 (0dec)
0: not active
1: value is smaller than limit value 2
2: value is greater than limit value 2
3: value is equal to limit value 2
60n0:07 Error The error bit is set if the data is invalid (over-range, BOOLEAN RO 0x00 (0dec)
under-range)
60n0:0F TxPDO State Validity of the data of the associated TxPDO (0 = valid, BOOLEAN RO 0x00 (0dec)
1 = invalid).
60n0:10 TxPDO Toggle The TxPDO toggle is toggled by the slave when the BOOLEAN RO 0x00 (0dec)
data of the associated TxPDO is updated.
60n0:11 Value Analog input date INT16 RO 0x0000 (0dec)
The standard objects have the same meaning for all EtherCAT slaves.
For operation on masters other than TwinCAT it must be ensured that the channels are entered in the PDO
assignment (“TxPDO assign”, object 0x1C13) successively.
Index (hex) Name Meaning Data type Flags Default
1C13:0 TxPDO assign PDO Assign Inputs UINT8 RW 0x04 (4dec)
1C13:01 SubIndex 001 1. allocated TxPDO (contains the index of the UINT16 RW 0x1A00
associated TxPDO mapping object) (6656dec)
1C13:02 SubIndex 002 2. allocated TxPDO (contains the index of the UINT16 RW 0x1A02
associated TxPDO mapping object) (6658dec)
1C13:03 SubIndex 003 3. allocated TxPDO (contains the index of the UINT16 RW 0x1A04
associated TxPDO mapping object) (6660dec)
1C13:04 SubIndex 004 4. allocated TxPDO (contains the index of the UINT16 RW 0x1A06
associated TxPDO mapping object) (6662dec)
6.5.3 EL302x
6.5.3.1 EL3021
0: 50 Hz FIR
1: 60 Hz FIR
2: IIR 1
3: IIR 2
4: IIR 3
5: IIR 4
6: IIR 5
7: IIR 6
8: IIR 7
9: IIR 8
Refer to the Note on setting the filter characteristics
[} 306]
8000:17 User calibration offset User calibration offset INT16 RW 0x0000 (0dec)
[} 243]
8000:18 User calibration gain User calibration gain INT16 RW 0x4000
[} 243] (16384dec)
Filter
The filters of the EL30xx/EL31xx are activated or deactivated via the CoE index 0x8000:15.
0: not active
1: value is smaller than limit value 1
2: value is greater than limit value 1
3: value is equal to limit value 1
6000:05 Limit 2 Limit value monitoring Limit 2 BIT2 RO 0x00 (0dec)
0: not active
1: value is smaller than limit value 2
2: value is greater than limit value 2
3: value is equal to limit value 2
6000:07 Error The error bit is set if the data is invalid (over-range, BOOLEAN RO 0x00 (0dec)
under-range)
6000:0F TxPDO State Validity of the data of the associated TxPDO (0 = valid, BOOLEAN RO 0x00 (0dec)
1 = invalid).
6000:10 TxPDO Toggle The TxPDO toggle is toggled by the slave when the BOOLEAN RO 0x00 (0dec)
data of the associated TxPDO is updated.
6000:11 Value Analog input date INT16 RO 0x0000 (0dec)
The standard objects have the same meaning for all EtherCAT slaves.
For operation on masters other than TwinCAT it must be ensured that the channels are entered in the PDO
assignment (“TxPDO assign”, object 0x1C13) successively.
Index (hex) Name Meaning Data type Flags Default
1C13:0 TxPDO assign PDO Assign Inputs UINT8 RW 0x01 (8dec)
1C13:01 SubIndex 001 1. allocated TxPDO (contains the index of the UINT16 RW 0x1A00
associated TxPDO mapping object) (6656dec)
6.5.3.2 EL3022
0: 50 Hz FIR
1: 60 Hz FIR
2: IIR 1
3: IIR 2
4: IIR 3
5: IIR 4
6: IIR 5
7: IIR 6
8: IIR 7
9: IIR 8
Refer to the Note on setting the filter characteristics
[} 313]
80n0:17 User calibration offset User calibration offset INT16 RW 0x0000 (0dec)
[} 243]
80n0:18 User calibration gain User calibration gain INT16 RW 0x4000
[} 243] (16384dec)
Filter
The filters of the EL30xx/EL31xx are activated or deactivated via the CoE index 0x8000:15.
0: not active
1: value is smaller than limit value 1
2: value is greater than limit value 1
3: value is equal to limit value 1
60n0:05 Limit 2 Limit value monitoring Limit 2 BIT2 RO 0x00 (0dec)
0: not active
1: value is smaller than limit value 2
2: value is greater than limit value 2
3: value is equal to limit value 2
60n0:07 Error The error bit is set if the data is invalid (over-range, BOOLEAN RO 0x00 (0dec)
under-range)
60n0:0F TxPDO State Validity of the data of the associated TxPDO (0 = valid, BOOLEAN RO 0x00 (0dec)
1 = invalid).
60n0:10 TxPDO Toggle The TxPDO toggle is toggled by the slave when the BOOLEAN RO 0x00 (0dec)
data of the associated TxPDO is updated.
60n0:11 Value Analog input date INT16 RO 0x0000 (0dec)
The standard objects have the same meaning for all EtherCAT slaves.
For operation on masters other than TwinCAT it must be ensured that the channels are entered in the PDO
assignment (“TxPDO assign”, object 0x1C13) successively.
Index (hex) Name Meaning Data type Flags Default
1C13:0 TxPDO assign PDO Assign Inputs UINT8 RW 0x02 (2dec)
1C13:01 SubIndex 001 1. allocated TxPDO (contains the index of the UINT16 RW 0x1A00
associated TxPDO mapping object) (6656dec)
1C13:02 SubIndex 002 2. allocated TxPDO (contains the index of the UINT16 RW 0x1A02
associated TxPDO mapping object) (6658dec)
6.5.3.3 EL3024
0: 50 Hz FIR
1: 60 Hz FIR
2: IIR 1
3: IIR 2
4: IIR 3
5: IIR 4
6: IIR 5
7: IIR 6
8: IIR 7
9: IIR 8
Refer to the Note on setting the filter characteristics
[} 320]
80n0:17 User calibration offset User calibration offset INT16 RW 0x0000 (0dec)
[} 243]
80n0:18 User calibration gain User calibration gain INT16 RW 0x4000
[} 243] (16384dec)
Filter
The filters of the EL30xx/EL31xx are activated or deactivated via the CoE index 0x8000:15.
0: not active
1: value is smaller than limit value 1
2: value is greater than limit value 1
3: value is equal to limit value 1
60n0:05 Limit 2 Limit value monitoring Limit 2 BIT2 RO 0x00 (0dec)
0: not active
1: value is smaller than limit value 2
2: value is greater than limit value 2
3: value is equal to limit value 2
60n0:07 Error The error bit is set if the data is invalid (over-range, BOOLEAN RO 0x00 (0dec)
under-range)
60n0:0F TxPDO State Validity of the data of the associated TxPDO (0 = valid, BOOLEAN RO 0x00 (0dec)
1 = invalid).
60n0:10 TxPDO Toggle The TxPDO toggle is toggled by the slave when the BOOLEAN RO 0x00 (0dec)
data of the associated TxPDO is updated.
60n0:11 Value Analog input date INT16 RO 0x0000 (0dec)
The standard objects have the same meaning for all EtherCAT slaves.
For operation on masters other than TwinCAT it must be ensured that the channels are entered in the PDO
assignment (“TxPDO assign”, object 0x1C13) successively.
Index (hex) Name Meaning Data type Flags Default
1C13:0 TxPDO assign PDO Assign Inputs UINT8 RW 0x04 (4dec)
1C13:01 SubIndex 001 1. allocated TxPDO (contains the index of the UINT16 RW 0x1A00
associated TxPDO mapping object) (6656dec)
1C13:02 SubIndex 002 2. allocated TxPDO (contains the index of the UINT16 RW 0x1A02
associated TxPDO mapping object) (6658dec)
1C13:03 SubIndex 003 3. allocated TxPDO (contains the index of the UINT16 RW 0x1A04
associated TxPDO mapping object) (6660dec)
1C13:04 SubIndex 004 4. allocated TxPDO (contains the index of the UINT16 RW 0x1A06
associated TxPDO mapping object) (6662dec)
6.5.4 EL304x
6.5.4.1 EL3041
0: 50 Hz FIR
1: 60 Hz FIR
2: IIR 1
3: IIR 2
4: IIR 3
5: IIR 4
6: IIR 5
7: IIR 6
8: IIR 7
9: IIR 8
Refer to the Note on setting the filter characteristics
[} 328]
8000:17 User calibration offset User calibration offset INT16 RW 0x0000 (0dec)
[} 243]
8000:18 User calibration gain User calibration gain INT16 RW 0x4000
[} 243] (16384dec)
Filter
The filters of the EL30xx/EL31xx are activated or deactivated via the CoE index 0x8000:15.
0: not active
1: value is smaller than limit value 1
2: value is greater than limit value 1
3: value is equal to limit value 1
6000:05 Limit 2 Limit value monitoring Limit 2 BIT2 RO 0x00 (0dec)
0: not active
1: value is smaller than limit value 2
2: value is greater than limit value 2
3: value is equal to limit value 2
6000:07 Error The error bit is set if the data is invalid (over-range, BOOLEAN RO 0x00 (0dec)
under-range)
6000:0F TxPDO State Validity of the data of the associated TxPDO (0 = valid, BOOLEAN RO 0x00 (0dec)
1 = invalid).
6000:10 TxPDO Toggle The TxPDO toggle is toggled by the slave when the BOOLEAN RO 0x00 (0dec)
data of the associated TxPDO is updated.
6000:11 Value Analog input date INT16 RO 0x0000 (0dec)
The standard objects have the same meaning for all EtherCAT slaves.
For operation on masters other than TwinCAT it must be ensured that the channels are entered in the PDO
assignment (“TxPDO assign”, object 0x1C13) successively.
Index (hex) Name Meaning Data type Flags Default
1C13:0 TxPDO assign PDO Assign Inputs UINT8 RW 0x01 (8dec)
1C13:01 SubIndex 001 1. allocated TxPDO (contains the index of the UINT16 RW 0x1A00
associated TxPDO mapping object) (6656dec)
6.5.4.2 EL3042
0: 50 Hz FIR
1: 60 Hz FIR
2: IIR 1
3: IIR 2
4: IIR 3
5: IIR 4
6: IIR 5
7: IIR 6
8: IIR 7
9: IIR 8
Refer to the Note on setting the filter characteristics
[} 335]
80n0:17 User calibration offset User calibration offset INT16 RW 0x0000 (0dec)
[} 243]
80n0:18 User calibration gain User calibration gain INT16 RW 0x4000
[} 243] (16384dec)
Filter
The filters of the EL30xx/EL31xx are activated or deactivated via the CoE index 0x8000:15.
0: not active
1: value is smaller than limit value 1
2: value is greater than limit value 1
3: value is equal to limit value 1
60n0:05 Limit 2 Limit value monitoring Limit 2 BIT2 RO 0x00 (0dec)
0: not active
1: value is smaller than limit value 2
2: value is greater than limit value 2
3: value is equal to limit value 2
60n0:07 Error The error bit is set if the data is invalid (over-range, BOOLEAN RO 0x00 (0dec)
under-range)
60n0:0F TxPDO State Validity of the data of the associated TxPDO (0 = valid, BOOLEAN RO 0x00 (0dec)
1 = invalid).
60n0:10 TxPDO Toggle The TxPDO toggle is toggled by the slave when the BOOLEAN RO 0x00 (0dec)
data of the associated TxPDO is updated.
60n0:11 Value Analog input date INT16 RO 0x0000 (0dec)
The standard objects have the same meaning for all EtherCAT slaves.
For operation on masters other than TwinCAT it must be ensured that the channels are entered in the PDO
assignment (“TxPDO assign”, object 0x1C13) successively.
Index (hex) Name Meaning Data type Flags Default
1C13:0 TxPDO assign PDO Assign Inputs UINT8 RW 0x02 (2dec)
1C13:01 SubIndex 001 1. allocated TxPDO (contains the index of the UINT16 RW 0x1A00
associated TxPDO mapping object) (6656dec)
1C13:02 SubIndex 002 2. allocated TxPDO (contains the index of the UINT16 RW 0x1A02
associated TxPDO mapping object) (6658dec)
6.5.4.3 EL3044
0: 50 Hz FIR
1: 60 Hz FIR
2: IIR 1
3: IIR 2
4: IIR 3
5: IIR 4
6: IIR 5
7: IIR 6
8: IIR 7
9: IIR 8
Refer to the Note on setting the filter characteristics
[} 342]
80n0:17 User calibration offset User calibration offset INT16 RW 0x0000 (0dec)
[} 243]
80n0:18 User calibration gain User calibration gain INT16 RW 0x4000
[} 243] (16384dec)
Filter
The filters of the EL30xx/EL31xx are activated or deactivated via the CoE index 0x8000:15.
0: not active
1: value is smaller than limit value 1
2: value is greater than limit value 1
3: value is equal to limit value 1
60n0:05 Limit 2 Limit value monitoring Limit 2 BIT2 RO 0x00 (0dec)
0: not active
1: value is smaller than limit value 2
2: value is greater than limit value 2
3: value is equal to limit value 2
60n0:07 Error The error bit is set if the data is invalid (over-range, BOOLEAN RO 0x00 (0dec)
under-range)
60n0:0F TxPDO State Validity of the data of the associated TxPDO (0 = valid, BOOLEAN RO 0x00 (0dec)
1 = invalid).
60n0:10 TxPDO Toggle The TxPDO toggle is toggled by the slave when the BOOLEAN RO 0x00 (0dec)
data of the associated TxPDO is updated.
60n0:11 Value Analog input date INT16 RO 0x0000 (0dec)
The standard objects have the same meaning for all EtherCAT slaves.
For operation on masters other than TwinCAT it must be ensured that the channels are entered in the PDO
assignment (“TxPDO assign”, object 0x1C13) successively.
Index (hex) Name Meaning Data type Flags Default
1C13:0 TxPDO assign PDO Assign Inputs UINT8 RW 0x04 (4dec)
1C13:01 SubIndex 001 1. allocated TxPDO (contains the index of the UINT16 RW 0x1A00
associated TxPDO mapping object) (6656dec)
1C13:02 SubIndex 002 2. allocated TxPDO (contains the index of the UINT16 RW 0x1A02
associated TxPDO mapping object) (6658dec)
1C13:03 SubIndex 003 3. allocated TxPDO (contains the index of the UINT16 RW 0x1A04
associated TxPDO mapping object) (6660dec)
1C13:04 SubIndex 004 4. allocated TxPDO (contains the index of the UINT16 RW 0x1A06
associated TxPDO mapping object) (6662dec)
6.5.4.4 EL3048
0: 50 Hz FIR
1: 60 Hz FIR
2: IIR 1
3: IIR 2
4: IIR 3
5: IIR 4
6: IIR 5
7: IIR 6
8: IIR 7
9: IIR 8
Refer to the Note on setting the filter characteristics
[} 350]
80n0:17 User calibration offset User calibration offset INT16 RW 0x0000 (0dec)
[} 243]
80n0:18 User calibration gain User calibration gain INT16 RW 0x4000
[} 243] (16384dec)
Filter
The filters of the EL30xx/EL31xx are activated or deactivated via the CoE index 0x8000:15.
0: not active
1: value is smaller than limit value 1
2: value is greater than limit value 1
3: value is equal to limit value 1
60n0:05 Limit 2 Limit value monitoring Limit 2 BIT2 RO 0x00 (0dec)
0: not active
1: value is smaller than limit value 2
2: value is greater than limit value 2
3: value is equal to limit value 2
60n0:07 Error The error bit is set if the data is invalid (over-range, BOOLEAN RO 0x00 (0dec)
under-range)
60n0:0F TxPDO State Validity of the data of the associated TxPDO (0 = valid, BOOLEAN RO 0x00 (0dec)
1 = invalid).
60n0:10 TxPDO Toggle The TxPDO toggle is toggled by the slave when the BOOLEAN RO 0x00 (0dec)
data of the associated TxPDO is updated.
60n0:11 Value Analog input date INT16 RO 0x0000 (0dec)
The standard objects have the same meaning for all EtherCAT slaves.
For operation on masters other than TwinCAT it must be ensured that the channels are entered in the PDO
assignment (“TxPDO assign”, object 0x1C13) successively.
Index (hex) Name Meaning Data type Flags Default
1C13:0 TxPDO assign PDO Assign Inputs UINT8 RW 0x08 (8dec)
1C13:01 SubIndex 001 1st allocated TxPDO (contains the index of the UINT16 RW 0x1A00
associated TxPDO mapping object) (6656dec)
1C13:02 SubIndex 002 2nd allocated TxPDO (contains the index of the UINT16 RW 0x1A02
associated TxPDO mapping object) (6658dec)
1C13:03 SubIndex 003 3rd allocated TxPDO (contains the index of the UINT16 RW 0x1A04
associated TxPDO mapping object) (6660dec)
1C13:04 SubIndex 004 4th allocated TxPDO (contains the index of the UINT16 RW 0x1A06
associated TxPDO mapping object) (6662dec)
1C13:05 SubIndex 005 5th allocated TxPDO (contains the index of the UINT16 RW 0x1A08
associated TxPDO mapping object) (6664dec)
1C13:06 SubIndex 006 6th allocated TxPDO (contains the index of the UINT16 RW 0x1A0A
associated TxPDO mapping object) (6666dec)
1C13:07 SubIndex 007 7th allocated TxPDO (contains the index of the UINT16 RW 0x1A0C
associated TxPDO mapping object) (6668dec)
1C13:08 SubIndex 008 8th allocated TxPDO (contains the index of the UINT16 RW 0x1A0E
associated TxPDO mapping object) (6670dec)
6.5.5 EL305x
6.5.5.1 EL3051
0: 50 Hz FIR
1: 60 Hz FIR
2: IIR 1
3: IIR 2
4: IIR 3
5: IIR 4
6: IIR 5
7: IIR 6
8: IIR 7
9: IIR 8
Refer to the Note on setting the filter characteristics
[} 362]
8000:17 User calibration offset User calibration offset INT16 RW 0x0000 (0dec)
[} 243]
8000:18 User calibration gain User calibration gain INT16 RW 0x4000
[} 243] (16384dec)
Filter
The filters of the EL30xx/EL31xx are activated or deactivated via the CoE index 0x8000:15.
0: not active
1: value is smaller than limit value 1
2: value is greater than limit value 1
3: value is equal to limit value 1
6000:05 Limit 2 Limit value monitoring Limit 2 BIT2 RO 0x00 (0dec)
0: not active
1: value is smaller than limit value 2
2: value is greater than limit value 2
3: value is equal to limit value 2
6000:07 Error The error bit is set if the data is invalid (over-range, BOOLEAN RO 0x00 (0dec)
under-range)
6000:0F TxPDO State Validity of the data of the associated TxPDO (0 = valid, BOOLEAN RO 0x00 (0dec)
1 = invalid).
6000:10 TxPDO Toggle The TxPDO toggle is toggled by the slave when the BOOLEAN RO 0x00 (0dec)
data of the associated TxPDO is updated.
6000:11 Value Analog input date INT16 RO 0x0000 (0dec)
The standard objects have the same meaning for all EtherCAT slaves.
For operation on masters other than TwinCAT it must be ensured that the channels are entered in the PDO
assignment (“TxPDO assign”, object 0x1C13) successively.
Index (hex) Name Meaning Data type Flags Default
1C13:0 TxPDO assign PDO Assign Inputs UINT8 RW 0x01 (8dec)
1C13:01 SubIndex 001 1. allocated TxPDO (contains the index of the UINT16 RW 0x1A00
associated TxPDO mapping object) (6656dec)
6.5.5.2 EL3052
0: 50 Hz FIR
1: 60 Hz FIR
2: IIR 1
3: IIR 2
4: IIR 3
5: IIR 4
6: IIR 5
7: IIR 6
8: IIR 7
9: IIR 8
Refer to the Note on setting the filter characteristics
[} 369]
80n0:17 User calibration offset User calibration offset INT16 RW 0x0000 (0dec)
[} 243]
80n0:18 User calibration gain User calibration gain INT16 RW 0x4000
[} 243] (16384dec)
Filter
The filters of the EL30xx/EL31xx are activated or deactivated via the CoE index 0x8000:15.
0: not active
1: value is smaller than limit value 1
2: value is greater than limit value 1
3: value is equal to limit value 1
60n0:05 Limit 2 Limit value monitoring Limit 2 BIT2 RO 0x00 (0dec)
0: not active
1: value is smaller than limit value 2
2: value is greater than limit value 2
3: value is equal to limit value 2
60n0:07 Error The error bit is set if the data is invalid (over-range, BOOLEAN RO 0x00 (0dec)
under-range)
60n0:0F TxPDO State Validity of the data of the associated TxPDO (0 = valid, BOOLEAN RO 0x00 (0dec)
1 = invalid).
60n0:10 TxPDO Toggle The TxPDO toggle is toggled by the slave when the BOOLEAN RO 0x00 (0dec)
data of the associated TxPDO is updated.
60n0:11 Value Analog input date INT16 RO 0x0000 (0dec)
The standard objects have the same meaning for all EtherCAT slaves.
For operation on masters other than TwinCAT it must be ensured that the channels are entered in the PDO
assignment (“TxPDO assign”, object 0x1C13) successively.
Index (hex) Name Meaning Data type Flags Default
1C13:0 TxPDO assign PDO Assign Inputs UINT8 RW 0x02 (2dec)
1C13:01 SubIndex 001 1. allocated TxPDO (contains the index of the UINT16 RW 0x1A00
associated TxPDO mapping object) (6656dec)
1C13:02 SubIndex 002 2. allocated TxPDO (contains the index of the UINT16 RW 0x1A02
associated TxPDO mapping object) (6658dec)
6.5.5.3 EL3054
0: 50 Hz FIR
1: 60 Hz FIR
2: IIR 1
3: IIR 2
4: IIR 3
5: IIR 4
6: IIR 5
7: IIR 6
8: IIR 7
9: IIR 8
Refer to the Note on setting the filter characteristics
[} 376]
80n0:17 User calibration offset User calibration offset INT16 RW 0x0000 (0dec)
[} 243]
80n0:18 User calibration gain User calibration gain INT16 RW 0x4000
[} 243] (16384dec)
Filter
The filters of the EL30xx/EL31xx are activated or deactivated via the CoE index 0x8000:15.
0: not active
1: value is smaller than limit value 1
2: value is greater than limit value 1
3: value is equal to limit value 1
60n0:05 Limit 2 Limit value monitoring Limit 2 BIT2 RO 0x00 (0dec)
0: not active
1: value is smaller than limit value 2
2: value is greater than limit value 2
3: value is equal to limit value 2
60n0:07 Error The error bit is set if the data is invalid (over-range, BOOLEAN RO 0x00 (0dec)
under-range)
60n0:0F TxPDO State Validity of the data of the associated TxPDO (0 = valid, BOOLEAN RO 0x00 (0dec)
1 = invalid).
60n0:10 TxPDO Toggle The TxPDO toggle is toggled by the slave when the BOOLEAN RO 0x00 (0dec)
data of the associated TxPDO is updated.
60n0:11 Value Analog input date INT16 RO 0x0000 (0dec)
The standard objects have the same meaning for all EtherCAT slaves.
For operation on masters other than TwinCAT it must be ensured that the channels are entered in the PDO
assignment (“TxPDO assign”, object 0x1C13) successively.
Index (hex) Name Meaning Data type Flags Default
1C13:0 TxPDO assign PDO Assign Inputs UINT8 RW 0x04 (4dec)
1C13:01 SubIndex 001 1. allocated TxPDO (contains the index of the UINT16 RW 0x1A00
associated TxPDO mapping object) (6656dec)
1C13:02 SubIndex 002 2. allocated TxPDO (contains the index of the UINT16 RW 0x1A02
associated TxPDO mapping object) (6658dec)
1C13:03 SubIndex 003 3. allocated TxPDO (contains the index of the UINT16 RW 0x1A04
associated TxPDO mapping object) (6660dec)
1C13:04 SubIndex 004 4. allocated TxPDO (contains the index of the UINT16 RW 0x1A06
associated TxPDO mapping object) (6662dec)
6.5.5.4 EL3058
0: 50 Hz FIR
1: 60 Hz FIR
2: IIR 1
3: IIR 2
4: IIR 3
5: IIR 4
6: IIR 5
7: IIR 6
8: IIR 7
9: IIR 8
Refer to the Note on setting the filter characteristics
[} 384]
80n0:17 User calibration offset User calibration offset INT16 RW 0x0000 (0dec)
[} 243]
80n0:18 User calibration gain User calibration gain INT16 RW 0x4000
[} 243] (16384dec)
Filter
The filters of the EL30xx/EL31xx are activated or deactivated via the CoE index 0x8000:15.
0: not active
1: value is smaller than limit value 1
2: value is greater than limit value 1
3: value is equal to limit value 1
60n0:05 Limit 2 Limit value monitoring Limit 2 BIT2 RO 0x00 (0dec)
0: not active
1: value is smaller than limit value 2
2: value is greater than limit value 2
3: value is equal to limit value 2
60n0:07 Error The error bit is set if the data is invalid (over-range, BOOLEAN RO 0x00 (0dec)
under-range)
60n0:0F TxPDO State Validity of the data of the associated TxPDO (0 = valid, BOOLEAN RO 0x00 (0dec)
1 = invalid).
60n0:10 TxPDO Toggle The TxPDO toggle is toggled by the slave when the BOOLEAN RO 0x00 (0dec)
data of the associated TxPDO is updated.
60n0:11 Value Analog input date INT16 RO 0x0000 (0dec)
The standard objects have the same meaning for all EtherCAT slaves.
For operation on masters other than TwinCAT it must be ensured that the channels are entered in the PDO
assignment (“TxPDO assign”, object 0x1C13) successively.
Index (hex) Name Meaning Data type Flags Default
1C13:0 TxPDO assign PDO Assign Inputs UINT8 RW 0x08 (8dec)
1C13:01 SubIndex 001 1st allocated TxPDO (contains the index of the UINT16 RW 0x1A00
associated TxPDO mapping object) (6656dec)
1C13:02 SubIndex 002 2nd allocated TxPDO (contains the index of the UINT16 RW 0x1A02
associated TxPDO mapping object) (6658dec)
1C13:03 SubIndex 003 3rd allocated TxPDO (contains the index of the UINT16 RW 0x1A04
associated TxPDO mapping object) (6660dec)
1C13:04 SubIndex 004 4th allocated TxPDO (contains the index of the UINT16 RW 0x1A06
associated TxPDO mapping object) (6662dec)
1C13:05 SubIndex 005 5th allocated TxPDO (contains the index of the UINT16 RW 0x1A08
associated TxPDO mapping object) (6664dec)
1C13:06 SubIndex 006 6th allocated TxPDO (contains the index of the UINT16 RW 0x1A0A
associated TxPDO mapping object) (6666dec)
1C13:07 SubIndex 007 7th allocated TxPDO (contains the index of the UINT16 RW 0x1A0C
associated TxPDO mapping object) (6668dec)
1C13:08 SubIndex 008 8th allocated TxPDO (contains the index of the UINT16 RW 0x1A0E
associated TxPDO mapping object) (6670dec)
6.5.6 EL306x
6.5.6.1 EL3061
0: 50 Hz FIR
1: 60 Hz FIR
2: IIR 1
3: IIR 2
4: IIR 3
5: IIR 4
6: IIR 5
7: IIR 6
8: IIR 7
9: IIR 8
Refer to the Note on setting the filter characteristics
[} 396]
8000:17 User calibration offset User calibration offset INT16 RW 0x0000 (0dec)
[} 243]
8000:18 User calibration gain User calibration gain INT16 RW 0x4000
[} 243] (16384dec)
Filter
The filters of the EL30xx/EL31xx are activated or deactivated via the CoE index 0x8000:15.
0: not active
1: value is smaller than limit value 1
2: value is greater than limit value 1
3: value is equal to limit value 1
6000:05 Limit 2 Limit value monitoring Limit 2 BIT2 RO 0x00 (0dec)
0: not active
1: value is smaller than limit value 2
2: value is greater than limit value 2
3: value is equal to limit value 2
6000:07 Error The error bit is set if the data is invalid (over-range, BOOLEAN RO 0x00 (0dec)
under-range)
6000:0F TxPDO State Validity of the data of the associated TxPDO (0 = valid, BOOLEAN RO 0x00 (0dec)
1 = invalid).
6000:10 TxPDO Toggle The TxPDO toggle is toggled by the slave when the BOOLEAN RO 0x00 (0dec)
data of the associated TxPDO is updated.
6000:11 Value Analog input date INT16 RO 0x0000 (0dec)
The standard objects have the same meaning for all EtherCAT slaves.
For operation on masters other than TwinCAT it must be ensured that the channels are entered in the PDO
assignment (“TxPDO assign”, object 0x1C13) successively.
Index (hex) Name Meaning Data type Flags Default
1C13:0 TxPDO assign PDO Assign Inputs UINT8 RW 0x01 (8dec)
1C13:01 SubIndex 001 1. allocated TxPDO (contains the index of the UINT16 RW 0x1A00
associated TxPDO mapping object) (6656dec)
6.5.6.2 EL3062
0: 50 Hz FIR
1: 60 Hz FIR
2: IIR 1
3: IIR 2
4: IIR 3
5: IIR 4
6: IIR 5
7: IIR 6
8: IIR 7
9: IIR 8
Refer to the Note on setting the filter characteristics
[} 403]
80n0:17 User calibration offset User calibration offset INT16 RW 0x0000 (0dec)
[} 243]
80n0:18 User calibration gain User calibration gain INT16 RW 0x4000
[} 243] (16384dec)
Filter
The filters of the EL30xx/EL31xx are activated or deactivated via the CoE index 0x8000:15.
0: not active
1: value is smaller than limit value 1
2: value is greater than limit value 1
3: value is equal to limit value 1
60n0:05 Limit 2 Limit value monitoring Limit 2 BIT2 RO 0x00 (0dec)
0: not active
1: value is smaller than limit value 2
2: value is greater than limit value 2
3: value is equal to limit value 2
60n0:07 Error The error bit is set if the data is invalid (over-range, BOOLEAN RO 0x00 (0dec)
under-range)
60n0:0F TxPDO State Validity of the data of the associated TxPDO (0 = valid, BOOLEAN RO 0x00 (0dec)
1 = invalid).
60n0:10 TxPDO Toggle The TxPDO toggle is toggled by the slave when the BOOLEAN RO 0x00 (0dec)
data of the associated TxPDO is updated.
60n0:11 Value Analog input date INT16 RO 0x0000 (0dec)
The standard objects have the same meaning for all EtherCAT slaves.
For operation on masters other than TwinCAT it must be ensured that the channels are entered in the PDO
assignment (“TxPDO assign”, object 0x1C13) successively.
Index (hex) Name Meaning Data type Flags Default
1C13:0 TxPDO assign PDO Assign Inputs UINT8 RW 0x02 (2dec)
1C13:01 SubIndex 001 1. allocated TxPDO (contains the index of the UINT16 RW 0x1A00
associated TxPDO mapping object) (6656dec)
1C13:02 SubIndex 002 2. allocated TxPDO (contains the index of the UINT16 RW 0x1A02
associated TxPDO mapping object) (6658dec)
6.5.6.3 EL3062-0030
0: 50 Hz FIR
1: 60 Hz FIR
2: IIR 1
3: IIR 2
4: IIR 3
5: IIR 4
6: IIR 5
7: IIR 6
8: IIR 7
9: IIR 8
Refer to the Note on setting the filter characteristics
[} 410]
80n0:17 User calibration offset User calibration offset INT16 RW 0x0000 (0dec)
[} 243]
80n0:18 User calibration gain User calibration gain INT16 RW 0x4000
[} 243] (16384dec)
Filter
The filters of the EL30xx/EL31xx are activated or deactivated via the CoE index 0x8000:15.
0: not active
1: value is smaller than limit value 1
2: value is greater than limit value 1
3: value is equal to limit value 1
60n0:05 Limit 2 Limit value monitoring Limit 2 BIT2 RO 0x00 (0dec)
0: not active
1: value is smaller than limit value 2
2: value is greater than limit value 2
3: value is equal to limit value 2
60n0:07 Error The error bit is set if the data is invalid (over-range, BOOLEAN RO 0x00 (0dec)
under-range)
60n0:0F TxPDO State Validity of the data of the associated TxPDO (0 = valid, BOOLEAN RO 0x00 (0dec)
1 = invalid).
60n0:10 TxPDO Toggle The TxPDO toggle is toggled by the slave when the BOOLEAN RO 0x00 (0dec)
data of the associated TxPDO is updated.
60n0:11 Value Analog input date INT16 RO 0x0000 (0dec)
The standard objects have the same meaning for all EtherCAT slaves.
For operation on masters other than TwinCAT it must be ensured that the channels are entered in the PDO
assignment (“TxPDO assign”, object 0x1C13) successively.
Index (hex) Name Meaning Data type Flags Default
1C13:0 TxPDO assign PDO Assign Inputs UINT8 RW 0x02 (2dec)
1C13:01 SubIndex 001 1. allocated TxPDO (contains the index of the UINT16 RW 0x1A00
associated TxPDO mapping object) (6656dec)
1C13:02 SubIndex 002 2. allocated TxPDO (contains the index of the UINT16 RW 0x1A02
associated TxPDO mapping object) (6658dec)
6.5.6.4 EL3064
0: 50 Hz FIR
1: 60 Hz FIR
2: IIR 1
3: IIR 2
4: IIR 3
5: IIR 4
6: IIR 5
7: IIR 6
8: IIR 7
9: IIR 8
Refer to the Note on setting the filter characteristics
[} 417]
80n0:17 User calibration offset User calibration offset INT16 RW 0x0000 (0dec)
[} 243]
80n0:18 User calibration gain User calibration gain INT16 RW 0x4000
[} 243] (16384dec)
Filter
The filters of the EL30xx/EL31xx are activated or deactivated via the CoE index 0x8000:15.
0: not active
1: value is smaller than limit value 1
2: value is greater than limit value 1
3: value is equal to limit value 1
60n0:05 Limit 2 Limit value monitoring Limit 2 BIT2 RO 0x00 (0dec)
0: not active
1: value is smaller than limit value 2
2: value is greater than limit value 2
3: value is equal to limit value 2
60n0:07 Error The error bit is set if the data is invalid (over-range, BOOLEAN RO 0x00 (0dec)
under-range)
60n0:0F TxPDO State Validity of the data of the associated TxPDO (0 = valid, BOOLEAN RO 0x00 (0dec)
1 = invalid).
60n0:10 TxPDO Toggle The TxPDO toggle is toggled by the slave when the BOOLEAN RO 0x00 (0dec)
data of the associated TxPDO is updated.
60n0:11 Value Analog input date INT16 RO 0x0000 (0dec)
The standard objects have the same meaning for all EtherCAT slaves.
For operation on masters other than TwinCAT it must be ensured that the channels are entered in the PDO
assignment (“TxPDO assign”, object 0x1C13) successively.
Index (hex) Name Meaning Data type Flags Default
1C13:0 TxPDO assign PDO Assign Inputs UINT8 RW 0x04 (4dec)
1C13:01 SubIndex 001 1. allocated TxPDO (contains the index of the UINT16 RW 0x1A00
associated TxPDO mapping object) (6656dec)
1C13:02 SubIndex 002 2. allocated TxPDO (contains the index of the UINT16 RW 0x1A02
associated TxPDO mapping object) (6658dec)
1C13:03 SubIndex 003 3. allocated TxPDO (contains the index of the UINT16 RW 0x1A04
associated TxPDO mapping object) (6660dec)
1C13:04 SubIndex 004 4. allocated TxPDO (contains the index of the UINT16 RW 0x1A06
associated TxPDO mapping object) (6662dec)
6.5.6.5 EL3068
0: 50 Hz FIR
1: 60 Hz FIR
2: IIR 1
3: IIR 2
4: IIR 3
5: IIR 4
6: IIR 5
7: IIR 6
8: IIR 7
9: IIR 8
Refer to the Note on setting the filter characteristics
[} 425]
80n0:17 User calibration offset User calibration offset INT16 RW 0x0000 (0dec)
[} 243]
80n0:18 User calibration gain User calibration gain INT16 RW 0x4000
[} 243] (16384dec)
Filter
The filters of the EL30xx/EL31xx are activated or deactivated via the CoE index 0x8000:15.
0: not active
1: value is smaller than limit value 1
2: value is greater than limit value 1
3: value is equal to limit value 1
60n0:05 Limit 2 Limit value monitoring Limit 2 BIT2 RO 0x00 (0dec)
0: not active
1: value is smaller than limit value 2
2: value is greater than limit value 2
3: value is equal to limit value 2
60n0:07 Error The error bit is set if the data is invalid (over-range, BOOLEAN RO 0x00 (0dec)
under-range)
60n0:0F TxPDO State Validity of the data of the associated TxPDO (0 = valid, BOOLEAN RO 0x00 (0dec)
1 = invalid).
60n0:10 TxPDO Toggle The TxPDO toggle is toggled by the slave when the BOOLEAN RO 0x00 (0dec)
data of the associated TxPDO is updated.
60n0:11 Value Analog input date INT16 RO 0x0000 (0dec)
The standard objects have the same meaning for all EtherCAT slaves.
For operation on masters other than TwinCAT it must be ensured that the channels are entered in the PDO
assignment (“TxPDO assign”, object 0x1C13) successively.
Index (hex) Name Meaning Data type Flags Default
1C13:0 TxPDO assign PDO Assign Inputs UINT8 RW 0x08 (8dec)
1C13:01 SubIndex 001 1st allocated TxPDO (contains the index of the UINT16 RW 0x1A00
associated TxPDO mapping object) (6656dec)
1C13:02 SubIndex 002 2nd allocated TxPDO (contains the index of the UINT16 RW 0x1A02
associated TxPDO mapping object) (6658dec)
1C13:03 SubIndex 003 3rd allocated TxPDO (contains the index of the UINT16 RW 0x1A04
associated TxPDO mapping object) (6660dec)
1C13:04 SubIndex 004 4th allocated TxPDO (contains the index of the UINT16 RW 0x1A06
associated TxPDO mapping object) (6662dec)
1C13:05 SubIndex 005 5th allocated TxPDO (contains the index of the UINT16 RW 0x1A08
associated TxPDO mapping object) (6664dec)
1C13:06 SubIndex 006 6th allocated TxPDO (contains the index of the UINT16 RW 0x1A0A
associated TxPDO mapping object) (6666dec)
1C13:07 SubIndex 007 7th allocated TxPDO (contains the index of the UINT16 RW 0x1A0C
associated TxPDO mapping object) (6668dec)
1C13:08 SubIndex 008 8th allocated TxPDO (contains the index of the UINT16 RW 0x1A0E
associated TxPDO mapping object) (6670dec)
6.5.7 EL307x
6.5.7.1 EL3072
0: 50 Hz FIR
1: 60 Hz FIR
2: IIR 1
3: IIR 2
4: IIR 3
5: IIR 4
6: IIR 5
7: IIR 6
8: IIR 7
9: IIR 8
Refer to the Note on setting the filter characteristics
[} 437]
80n0:17 User calibration offset User calibration offset INT16 RW 0x0000 (0dec)
[} 243]
80n0:18 User calibration gain User calibration gain INT16 RW 0x4000
[} 243] (16384dec)
Filter
The filters of the EL30xx/EL31xx are activated or deactivated via the CoE index 0x8000:15.
0: not active
1: value is smaller than limit value 1
2: value is greater than limit value 1
3: value is equal to limit value 1
60n0:05 Limit 2 Limit value monitoring Limit 2 BIT2 RO 0x00 (0dec)
0: not active
1: value is smaller than limit value 2
2: value is greater than limit value 2
3: value is equal to limit value 2
60n0:07 Error The error bit is set if the data is invalid (over-range, BOOLEAN RO 0x00 (0dec)
under-range)
60n0:0F TxPDO State Validity of the data of the associated TxPDO (0 = valid, BOOLEAN RO 0x00 (0dec)
1 = invalid).
60n0:10 TxPDO Toggle The TxPDO toggle is toggled by the slave when the BOOLEAN RO 0x00 (0dec)
data of the associated TxPDO is updated.
60n0:11 Value Analog input date INT16 RO 0x0000 (0dec)
The standard objects have the same meaning for all EtherCAT slaves.
For operation on masters other than TwinCAT it must be ensured that the channels are entered in the PDO
assignment (“TxPDO assign”, object 0x1C13) successively.
Index (hex) Name Meaning Data type Flags Default
1C13:0 TxPDO assign PDO Assign Inputs UINT8 RW 0x02 (2dec)
1C13:01 SubIndex 001 1. allocated TxPDO (contains the index of the UINT16 RW 0x1A00
associated TxPDO mapping object) (6656dec)
1C13:02 SubIndex 002 2. allocated TxPDO (contains the index of the UINT16 RW 0x1A02
associated TxPDO mapping object) (6658dec)
6.5.7.2 EL3074
0: 50 Hz FIR
1: 60 Hz FIR
2: IIR 1
3: IIR 2
4: IIR 3
5: IIR 4
6: IIR 5
7: IIR 6
8: IIR 7
9: IIR 8
Refer to the Note on setting the filter characteristics
[} 445]
80n0:17 User calibration offset User calibration offset INT16 RW 0x0000 (0dec)
[} 243]
80n0:18 User calibration gain User calibration gain INT16 RW 0x4000
[} 243] (16384dec)
Filter
The filters of the EL30xx/EL31xx are activated or deactivated via the CoE index 0x8000:15.
0: not active
1: value is smaller than limit value 1
2: value is greater than limit value 1
3: value is equal to limit value 1
60n0:05 Limit 2 Limit value monitoring Limit 2 BIT2 RO 0x00 (0dec)
0: not active
1: value is smaller than limit value 2
2: value is greater than limit value 2
3: value is equal to limit value 2
60n0:07 Error The error bit is set if the data is invalid (over-range, BOOLEAN RO 0x00 (0dec)
under-range)
60n0:0F TxPDO State Validity of the data of the associated TxPDO (0 = valid, BOOLEAN RO 0x00 (0dec)
1 = invalid).
60n0:10 TxPDO Toggle The TxPDO toggle is toggled by the slave when the BOOLEAN RO 0x00 (0dec)
data of the associated TxPDO is updated.
60n0:11 Value Analog input date INT16 RO 0x0000 (0dec)
The standard objects have the same meaning for all EtherCAT slaves.
For operation on masters other than TwinCAT it must be ensured that the channels are entered in the PDO
assignment (“TxPDO assign”, object 0x1C13) successively.
Index (hex) Name Meaning Data type Flags Default
1C13:0 TxPDO assign PDO Assign Inputs UINT8 RW 0x04 (4dec)
1C13:01 SubIndex 001 1. allocated TxPDO (contains the index of the UINT16 RW 0x1A00
associated TxPDO mapping object) (6656dec)
1C13:02 SubIndex 002 2. allocated TxPDO (contains the index of the UINT16 RW 0x1A02
associated TxPDO mapping object) (6658dec)
1C13:03 SubIndex 003 3. allocated TxPDO (contains the index of the UINT16 RW 0x1A04
associated TxPDO mapping object) (6660dec)
1C13:04 SubIndex 004 4. allocated TxPDO (contains the index of the UINT16 RW 0x1A06
associated TxPDO mapping object) (6662dec)
7 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.
NOTICE
Risk of damage to the device!
Pay attention to the instructions for firmware updates on the separate page [} 461]. If a device is placed in
BOOTSTRAP mode for a firmware update, it does not check when downloading whether the new firmware
is suitable. This can result in damage to the device! Therefore, always make sure that the firmware is
suitable for the hardware version!
EL3001
Hardware (HW) Firmware (FW) Revision no. Release date
02 - 12 01 EL3001-0000-0016 2009/05
02 2009/06
03 2009/09
04 EL3001-0000-0017 2010/03
05 EL3001-0000-0018 2011/06
EL3001-0000-0019 2012/08
06 2013/05
07 EL3001-0000-0020 2013/10
08 2014/05
EL3001-0000-0021 2016/08
)
13 - 14 * 20 EL3001-0000-0022 2022/04
21 *) 2022/08
EL3002
Hardware (HW) Firmware (FW) Revision no. Release date
02 - 14 01 EL3002-0000-0016 2009/05
02 2009/06
03 2009/09
04 EL3002-0000-0017 2010/03
05 EL3002-0000-0018 2011/06
EL3002-0000-0019 2012/08
06 2013/05
07 EL3002-0000-0020 2013/10
08 2014/05
EL3002-0000-0021 2016/08
)
15 - 16 * 20 EL3002-0000-0022 2022/04
21 *) 2022/08
EL3004
Hardware (HW) Firmware (FW) Revision no. Release date
02 - 14 01 EL3004-0000-0016 2009/05
02 2009/06
03 2009/09
04 EL3004-0000-0017 010/03
05 EL3004-0000-0018 2011/06
EL3004-0000-0019 2012/08
06 2013/05
07 EL3004-0000-0020 2013/10
08 2014/05
EL3004-0000-0021 2016/08
)
15 - 16 * 20 EL3004-0000-0022 2022/04
21 *) 2022/08
EL3008
Hardware (HW) Firmware (FW) Revision no. Release date
02 - 13 01 EL3008-0000-0016 2009/05
02 2009/06
03 2009/09
04 EL3008-0000-0017 2010/03
05 EL3008-0000-0018 2011/06
EL3008-0000-0019 2012/08
06 2013/05
07 EL3008-0000-0020 2013/10
08 2014/05
EL3008-0000-0021 2016/08
14 - 15 *) 20 EL3008-0000-0022 2022/04
21 *) 2022/08
EL3011
Hardware (HW) Firmware (FW) Revision no. Release date
00 - 09 *) 01 EL3011-0000-0016 2011/04
EL3011-0000-0017 2012/08
02 2013/05
03 EL3011-0000-0018 2013/10
04 *) 2014/05
EL3011-0000-0019 2016/06
EL3011-0000-0020 2018/01
EL3012
Hardware (HW) Firmware (FW) Revision no. Release date
00 - 13 *) 01 EL3012-0000-0016 2011/04
EL3012-0000-0017 2012/07
02 2013/05
03 EL3012-0000-0018 2013/10
04 *) 2014/05
EL3012-0000-0019 2016/06
EL3012-0000-0020 2018/01
EL3014
Hardware (HW) Firmware (FW) Revision no. Release date
00 - 11 *) 01 EL3014-0000-0016 2011/04
EL3014-0000-0017 2012/08
02 2013/05
03 EL3014-0000-0018 2013/10
04 *) 2014/05
EL3014-0000-0019 2016/06
EL3021
Hardware (HW) Firmware (FW) Revision no. Release date
00 - 09 *) 01 EL3021-0000-0016 2011/04
EL3021-0000-0017 2012/08
02 2013/05
03 EL3021-0000-0018 2013/10
04 *) 2014/05
EL3021-0000-0019 2016/06
EL3021-0000-0020 2018/01
EL3022
Hardware (HW) Firmware (FW) Revision no. Release date
00 - 12 *) 01 EL3022-0000-0016 2011/04
EL3022-0000-0017 2012/07
02 2013/05
03 EL3022-0000-0018 2013/10
04 *) 2014/05
EL3022-0000-0019 2016/06
EL3022-0000-0020 2018/01
EL3024
Hardware (HW) Firmware (FW) Revision no. Release date
00 - 11 *) 01 EL3024-0000-0016 2011/04
EL3024-0000-0017 2012/08
02 2013/05
03 EL3024-0000-0018 2013/10
04 *) 2014/05
EL3024-0000-0019 2016/06
EL3041
Hardware (HW) Firmware (FW) Revision no. Release date
02 - 08 01 EL3041-0000-0016 2009/05
02 2009/06
03 2009/09
04 2009/10
05 EL3041-0000-0017 2011/06
EL3041-0000-0018 2012/08
06 2013/05
07 2013/10
08 EL3041-0000-0019 2013/10
09 2014/05
EL3041-0000-0020 2018/02
09 *) 20 EL3041-0000-0021 2022/04
21 *) 2022/08
EL3042
Hardware (HW) Firmware (FW) Revision no. Release date
02 - 13 01 EL3042-0000-0016 2009/05
02 2009/06
03 2009/09
04 2009/10
05 EL3042-0000-0017 2011/06
EL3042-0000-0018 2012/08
06 2013/05
07 2013/10
08 EL3042-0000-0019 2013/10
09 2014/05
EL3042-0000-0020 2016/08
)
14 * 20 EL3042-0000-0021 2022/04
21 *) 2022/08
EL3044
Hardware (HW) Firmware (FW) Revision no. Release date
02 - 13 01 EL3044-0000-0016 2009/05
02 2009/06
03 2009/09
04 2009/10
05 2010/02
06 EL3044-0000-0017 2011/06
EL3044-0000-0018 2012/07
07 2013/05
08 EL3044-0000-0019 2013/10
09 2014/05
EL3044-0000-0020 2016/08
)
14 - 15 * 20 EL3044-0000-0021 2022/04
21 *) 2022/08
EL3048
Hardware (HW) Firmware (FW) Revision no. Release date
02 - 12 01 EL3048-0000-0016 2009/05
02 2009/06
03 2009/09
04 2009/10
05 2010/02
06 EL3048-0000-0017 2011/06
EL3048-0000-0018 2012/08
07 2013/05
08 EL3048-0000-0019 2013/10
09 2014/05
EL3048-0000-0020 2016/08
)
13 - 14 * 20 EL3048-0000-0021 2022/04
21 *) 2022/08
EL3051
Hardware (HW) Firmware (FW) Revision no. Release date
02 - 13 01 EL3051-0000-0016 2009/05
02 2009/06
03 2009/09
04 2009/10
05 EL3051-0000-0017 2011/06
EL3051-0000-0018 2012/08
06 2013/05
07 2013/10
08 EL3051-0000-0019 2013/10
09 2014/05
EL3051-0000-0020 2016/08
14 - 15 *) 20 EL3051-0000-0021 2022/04
21 *) 2022/08
EL3052
Hardware (HW) Firmware (FW) Revision no. Release date
02 - 14 01 EL3052-0000-0016 2009/05
02 2009/06
03 2009/09
04 2009/10
05 EL3052-0000-0017 2011/06
EL3052-0000-0018 2012/08
06 2013/05
07 2013/10
08 EL3052-0000-0019 2013/10
09 2014/05
EL3052-0000-0020 2016/08
)
15 - 16 * 20 EL3052-0000-0021 2022/04
21 *) 2022/08
EL3054
Hardware (HW) Firmware (FW) Revision no. Release date
02 - 14 01 EL3054-0000-0016 2009/05
02 2009/06
03 2009/09
04 2009/10
05 2010/01
06 EL3054-0000-0017 2011/06
EL3054-0000-0018 2012/07
07 2013/01
08 EL3054-0000-0019 2013/10
09 2014/05
EL3054-0000-0020 2016/08
)
15 * 20 EL3054-0000-0021 2022/04
21 *) 2022/08
EL3058
Hardware (HW) Firmware (FW) Revision no. Release date
02 - 14 01 EL3058-0000-0016 2009/05
02 2009/06
03 2009/09
04 2009/10
05 2010/01
06 EL3058-0000-0017 2011/06
EL3058-0000-0018 2012/08
07 2013/05
08 EL3058-0000-0019 2013/10
09 2014/05
EL3058-0000-0020 2016/09
15 - 16 *) 20 EL3058-0000-0021 2022/04
21 *) 2022/08
EL3061
Hardware (HW) Firmware (FW) Revision no. Release date
02 - 14 01 EL3061-0000-0016 2009/05
02 2009/06
03 2009/09
04 EL3061-0000-0017 2011/06
EL3061-0000-0018 2012/07
05 2013/05
06 2013/10
07 2013/10
08 EL3061-0000-0019 2013/10
09 2014/05
EL3061-0000-0020 2016/09
)
15 * 20 EL3061-0000-0021 2022/04
21 *) 2022/08
EL3062
Hardware (HW) Firmware (FW) Revision no. Release date
02 - 15 01 EL3062-0000-0016 2009/05
02 2009/06
03 2009/09
04 EL3062-0000-0017 2011/06
EL3062-0000-0018 2012/08
05 2013/05
06 2013/10
07 2013/10
08 EL3062-0000-0019 2013/10
09 2014/05
EL3062-0000-0020 2016/09
)
16 - 17 * 20 EL3062-0000-0021 2022/04
21 *) 2022/08
EL3062-0030
Hardware (HW) Firmware (FW) Revision no. Release date
02 - 14 01 EL3062-0030-0016 2009/05
02 2009/06
03 2009/09
04 EL3062-0030-0017 2011/06
EL3062-0030-0018 2012/08
05 EL3062-0030-0019 2013/05
06 2013/10
07 2013/10
08 EL3062-0030-0020 2013/10
09 2014/05
EL3062-0030-0021 2016/09
15 *) 20 EL3062-0030-0023 2022/04
21 *) 2022/08
EL3064
Hardware (HW) Firmware (FW) Revision no. Release date
02 - 16 01 EL3064-0000-0016 2009/05
02 2009/06
03 2009/09
05 2010/02
06 EL3064-0000-0017 2011/06
EL3064-0000-0018 2012/07
07 2013/05
08 EL3064-0000-0019 2013/10
09 EL3064-0000-0020 2014/05
10 EL3064-0000-0020 2021/06
17 - 18 *) 20 EL3064-0000-0021 2022/04
21 *) 2022/08
EL3068
Hardware (HW) Firmware (FW) Revision no. Release date
02 - 14 01 EL3068-0000-0016 2009/05
02 2009/06
03 2009/09
05 2010/02
06 EL3068-0000-0017 2011/06
EL3068-0000-0018 2012/08
07 2013/05
08 EL3068-0000-0019 2013/10
09 2014/05
EL3068-0000-0020 2016/09
)
15 - 16 * 20 EL3068-0000-0021 2022/04
21 *) 2022/08
EL3072
Hardware (HW) Firmware (FW) Revision no. Release date
00 *) 01 *) EL3072-0000-0016 2021/11
EL3072
Hardware (HW) Firmware (FW) Revision no. Release date
00 *) 01 *) EL3074-0000-0016 2021/11
*) This is the current compatible firmware/hardware version at the time of the preparing this documentation.
Check on the Beckhoff web page whether more up-to-date documentation is available.
NOTICE
Only use TwinCAT 3 software!
A firmware update of Beckhoff IO devices must only be performed with a TwinCAT 3 installation. It is
recommended to build as up-to-date as possible, available for free download on the Beckhoff website.
To update the firmware, TwinCAT can be operated in the so-called FreeRun mode, a paid license is not
required.
The device to be updated can usually remain in the installation location, but TwinCAT has to be operated in
the FreeRun. Please make sure that EtherCAT communication is trouble-free (no LostFrames etc.).
Other EtherCAT master software, such as the EtherCAT Configurator, should not be used, as they may not
support the complexities of updating firmware, EEPROM and other device components.
Storage locations
NOTICE
Application-specific writing of the ESI-EEPROM
The ESI is developed by the device manufacturer according to ETG standard and released for the
corresponding product.
- Meaning for the ESI file: Modification on the application side (i.e. by the user) is not permitted.
- Meaning for the ESI EEPROM: Even if a writeability is technically given, the ESI parts in the EEPROM
and possibly still existing free memory areas must not be changed beyond the normal update process.
Especially for cyclic memory processes (operating hours counter etc.), dedicated memory products such as
EL6080 or IPC's own NOVRAM must be used.
• Depending on functionality and performance EtherCAT slaves have one or several local controllers for
processing I/O data. The corresponding program is the so-called firmware in *.efw format.
• In some EtherCAT slaves the EtherCAT communication may also be integrated in these controllers. In
this case the controller is usually a so-called FPGA chip with *.rbf firmware.
Customers can access the data via the EtherCAT fieldbus and its communication mechanisms. Acyclic
mailbox communication or register access to the ESC is used for updating or reading of these data.
The TwinCAT System Manager offers mechanisms for programming all three parts with new data, if the
slave is set up for this purpose. Generally the slave does not check whether the new data are suitable, i.e. it
may no longer be able to operate if the data are unsuitable.
The update using so-called bundle firmware is more convenient: in this case the controller firmware and the
ESI description are combined in a *.efw file; during the update both the firmware and the ESI are changed in
the terminal. For this to happen it is necessary
• for the firmware to be in a packed format: recognizable by the file name, which also contains the
revision number, e.g. ELxxxx-xxxx_REV0016_SW01.efw
• for password=1 to be entered in the download dialog. If password=0 (default setting) only the firmware
update is carried out, without an ESI update.
• for the device to support this function. The function usually cannot be retrofitted; it is a component of
many new developments from year of manufacture 2016.
NOTICE
Risk of damage to the device!
ü Note the following when downloading new device files
a) Firmware downloads to an EtherCAT device must not be interrupted
b) Flawless EtherCAT communication must be ensured. CRC errors or LostFrames must be avoided.
c) The power supply must adequately dimensioned. The signal level must meet the specification.
ð In the event of malfunctions during the update process the EtherCAT device may become unusable and
require re-commissioning by the manufacturer.
The ESI device description is stored locally on the slave and loaded on start-up. Each device description has
a unique identifier consisting of slave name (9 characters/digits) and a revision number (4 digits). Each slave
configured in the System Manager shows its identifier in the EtherCAT tab:
Fig. 213: Device identifier consisting of name EL3204-0000 and revision -0016
The configured identifier must be compatible with the actual device description used as hardware, i.e. the
description which the slave has loaded on start-up (in this case EL3204). Normally the configured revision
must be the same or lower than that actually present in the terminal network.
For further information on this, please refer to the EtherCAT system documentation.
The simplest way to ascertain compliance of configured and actual device description is to scan the
EtherCAT boxes in TwinCAT mode Config/FreeRun:
Fig. 214: Scan the subordinate field by right-clicking on the EtherCAT device
If the found field matches the configured field, the display shows
otherwise a change dialog appears for entering the actual data in the configuration.
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.
The new ESI description is selected in the following dialog, see Fig. Selecting the new ESI. The checkbox
Show Hidden Devices also displays older, normally hidden versions of a slave.
A progress bar in the System Manager shows the progress. Data are first written, then verified.
The TwinCAT System Manager shows the version of the controller firmware if the master can access the
slave online. Click on the E-Bus Terminal whose controller firmware you want to check (in the example
terminal 2 (EL3204)) and select the tab CoE Online (CAN over EtherCAT).
In Fig. Display of EL3204 firmware version the firmware version of the selected EL3204 is shown as 03 in
CoE entry 0x100A.
In (A) TwinCAT 2.11 shows that the Online CoE directory is currently displayed. If this is not the case, the
Online directory can be loaded via the Online option in Advanced Settings (B) and double-clicking on
AllObjects.
Switch to the Online tab to update the controller firmware of a slave, see Fig. 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). A FW-Update during real time operation is not recommended.
The firmware version number included in the terminal serial number contains both firmware components. If
one of these firmware components is modified this version number is updated.
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.
If the column Reg:0002 is not displayed, right-click the table header and select Properties in the context
menu.
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.
Update
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). A FW-Update during real time operation is not recommended.
• 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:
• Select the file (*.rbf) with the new FPGA firmware, and transfer it to the EtherCAT device:
NOTICE
Risk of damage to the device!
A download of firmware to an EtherCAT device must not be interrupted in any case! If you interrupt this
process by switching off power supply or disconnecting the Ethernet link, the EtherCAT device can only be
recommissioned by the manufacturer!
Select the required slaves and carry out the firmware update in BOOTSTRAP mode as described above.
Double-click on SubIndex 001 to enter the Set Value dialog. Enter the reset value 1684107116 in field Dec
or the value 0x64616F6C in field Hex (ASCII: “load”) and confirm with OK (Fig. Entering a restore value in
the Set Value dialog).
• All changeable entries in the slave are reset to the default values.
• The values can only be successfully restored if the reset is directly applied to the online CoE, i.e. to the
slave. No values can be changed in the offline CoE.
• TwinCAT must be in the RUN or CONFIG/Freerun state for this; that means EtherCAT data exchange
takes place. Ensure error-free EtherCAT transmission.
• No separate confirmation takes place due to the reset. A changeable object can be manipulated
beforehand for the purposes of checking.
• This reset procedure can also be adopted as the first entry in the startup list of the slave, e.g. in the
state transition PREOP->SAFEOP or, as in Fig. CoE reset as a startup entry, in SAFEOP->OP.
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: www.beckhoff.com
You will also find further documentation for Beckhoff components there.
Support
The Beckhoff Support offers you comprehensive technical assistance, helping you not only with the
application of individual Beckhoff products, but also with other, wide-ranging services:
• support
• design, programming and commissioning of complex automation systems
• and extensive training program for Beckhoff system components
Hotline: +49 5246 963 157
e-mail: support@beckhoff.com
web: www.beckhoff.com/support
Service
The Beckhoff Service Center supports you in all matters of after-sales service:
• on-site service
• repair service
• spare parts service
• hotline service
Hotline: +49 5246 963 460
e-mail: service@beckhoff.com
web: www.beckhoff.com/service
Headquarters Germany
Hülshorstweg 20
33415 Verl
Germany
Phone: +49 5246 963 0
e-mail: info@beckhoff.com
web: www.beckhoff.com