Documentation | EN

EL5032, EL5032-0090
2 channel EnDat2.2-Interface

2024-02-21 | Version: 2.9

 Table of contents

Table of contents
1 Foreword .................................................................................................................................................... 7
1.1 Two-channel ENDAT 2.2 interface - product overview ..................................................................... 7
1.2 Notes on the documentation ............................................................................................................. 7
1.3 Safety instructions ............................................................................................................................. 8
1.4 Guide through documentation ........................................................................................................... 9
1.5 Documentation issue status ............................................................................................................ 10
1.6 Version identification of EtherCAT devices ..................................................................................... 11
1.6.1 General notes on marking................................................................................................ 11
1.6.2 Version identification of EL terminals ............................................................................... 12
1.6.3 Beckhoff Identification Code (BIC) ................................................................................... 12
1.6.4 Electronic access to the BIC (eBIC)................................................................................. 14

2 EL5032 - Product description ................................................................................................................ 16

2.1 Introduction ..................................................................................................................................... 16
2.2 Technical data ................................................................................................................................. 17
2.3 Start................................................................................................................................................. 18

3 EL5032-0090 - Product description ....................................................................................................... 19

3.1 Introduction ..................................................................................................................................... 19
3.2 Technical data ................................................................................................................................. 20
3.3 Start................................................................................................................................................. 21

4 Basics communication ........................................................................................................................... 22

4.1 EtherCAT basics ............................................................................................................................. 22
4.2 EtherCAT cabling – wire-bound ...................................................................................................... 22
4.3 General notes for setting the watchdog .......................................................................................... 23
4.4 EtherCAT State Machine ................................................................................................................ 25
4.5 CoE Interface .................................................................................................................................. 27
4.6 Distributed Clock ............................................................................................................................. 32

5 Basics of EnDat 2.2 technology............................................................................................................. 33

5.1 EnDat 2.2 - Bidirectional interface for position measuring devices ................................................. 33
5.2 Connection technology.................................................................................................................... 35
5.3 Compatibility.................................................................................................................................... 36
5.4 Functional description ..................................................................................................................... 37
5.5 Data transfer ................................................................................................................................... 38

6 Mounting and wiring ............................................................................................................................... 39

6.1 Instructions for ESD protection ....................................................................................................... 39
6.2 Installation on mounting rails........................................................................................................... 40
6.3 Installation instructions for enhanced mechanical load capacity..................................................... 43
6.4 Connection ...................................................................................................................................... 43
6.4.1 Connection system........................................................................................................... 43
6.4.2 Wiring ............................................................................................................................... 46
6.4.3 Shielding .......................................................................................................................... 47
6.5 Note - Power supply ........................................................................................................................ 47
6.6 Installation positions ........................................................................................................................ 48
6.7 Positioning of passive Terminals..................................................................................................... 50

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6.8 UL notice ......................................................................................................................................... 51

6.9 LEDs and connection ...................................................................................................................... 52
6.10 Disposal .......................................................................................................................................... 54

7 Commissioning ....................................................................................................................................... 55
7.1 TwinCAT Quick Start....................................................................................................................... 55
7.1.1 TwinCAT 2 ....................................................................................................................... 58
7.1.2 TwinCAT 3 ....................................................................................................................... 68
7.2 TwinCAT Development Environment .............................................................................................. 81
7.2.1 Installation of the TwinCAT real-time driver ..................................................................... 82
7.2.2 Notes regarding ESI device description ........................................................................... 88
7.2.3 TwinCAT ESI Updater...................................................................................................... 92
7.2.4 Distinction between Online and Offline ............................................................................ 92
7.2.5 OFFLINE configuration creation....................................................................................... 93
7.2.6 ONLINE configuration creation ........................................................................................ 98
7.2.7 EtherCAT subscriber configuration ................................................................................ 106
7.2.8 Import/Export of EtherCAT devices with SCI and XTI.................................................... 115
7.3 General Commissioning Instructions for an EtherCAT Slave ....................................................... 121

8 EL5032-00x0 - Commissioning ............................................................................................................ 129

8.1 Quick start ..................................................................................................................................... 129
8.2 Process data ................................................................................................................................. 130
8.2.1 Sync Manager (SM) ....................................................................................................... 130
8.2.2 PDO Assignment............................................................................................................ 130
8.2.3 Predefined PDO Assignment ......................................................................................... 132
8.3 Velocity measurement................................................................................................................... 133
8.4 Filter operation .............................................................................................................................. 134
8.5 Overview of commands and samples ........................................................................................... 135
8.5.1 Command 0x1000 - Delete Diag History........................................................................ 136
8.5.2 Command 0x1001 - Diag History Test ........................................................................... 136
8.5.3 Command 0x8001 - EnDat Reset .................................................................................. 137
8.5.4 Command 0x8006 - EnDat read Pos2 ........................................................................... 137
8.5.5 Command 0x8008 - Suppress TxPDO State (EL5032) ................................................. 138
8.5.6 Command 0x9000 - Read EnDat Word ......................................................................... 139
8.5.7 Command 0x9001 - Write EnDat Word.......................................................................... 140
8.6 EL5032-00x0 - Object description and parameterization .............................................................. 141
8.6.1 Restore object ................................................................................................................ 141
8.6.2 Configuration data.......................................................................................................... 141
8.6.3 Command object ............................................................................................................ 143
8.6.4 Input data ....................................................................................................................... 143
8.6.5 Information data ............................................................................................................. 144
8.6.6 Diagnostic data .............................................................................................................. 145
8.6.7 Standard objects ............................................................................................................ 147
8.7 EL5032-0090 - TwinSAFE SC ...................................................................................................... 155
8.7.1 TwinSAFE SC ................................................................................................................ 155
8.7.2 EL5032-0090 - TwinSAFE SC process data.................................................................. 160
8.7.3 EL5032-0090 - TwinSAFE Single Channel objects........................................................ 161

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9 Diagnostics ............................................................................................................................................ 163

9.1 Diagnostics - basic principles of diag messages........................................................................... 163

10 Appendix ................................................................................................................................................ 173

10.1 Firmware compatibility .................................................................................................................. 173
10.2 Firmware Update EL/ES/EM/ELM/EP/EPP/ERPxxxx ................................................................... 173
10.2.1 Device description ESI file/XML ..................................................................................... 175
10.2.2 Firmware explanation..................................................................................................... 178
10.2.3 Updating controller firmware *.efw ................................................................................. 178
10.2.4 FPGA firmware *.rbf ....................................................................................................... 180
10.2.5 Simultaneous updating of several EtherCAT devices .................................................... 184
10.3 Restoring the delivery state........................................................................................................... 185
10.4 Support and Service...................................................................................................................... 187

EL5032, EL5032-0090 Version: 2.9 5

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6 Version: 2.9 EL5032, EL5032-0090

 Foreword

1 Foreword

1.1 Two-channel ENDAT 2.2 interface - product overview

EL5032 [} 16] 2-channel ENDAT 2.2 interface
EL5032-0090 [} 19] 2-channel ENDAT 2.2 interface (TwinSAFE Single Channel)

1.2 Notes on the documentation

Intended audience

This description is only intended for the use of trained specialists in control and automation engineering who
are familiar with the applicable national standards.
It is essential that the documentation and the following notes and explanations are followed when installing
and commissioning these components.
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

© Beckhoff Automation GmbH & Co. KG, Germany.

The reproduction, distribution and utilization of this document as well as the communication of its contents to
others without express authorization are prohibited.
Offenders will be held liable for the payment of damages. All rights reserved in the event of the grant of a
patent, utility model or design.

EL5032, EL5032-0090 Version: 2.9 7

Foreword

1.3 Safety instructions

Safety regulations

Please note the following safety instructions and explanations!

Product-specific safety instructions can be found on following pages or in the areas mounting, wiring,
commissioning etc.

Exclusion of liability

All the components are supplied in particular hardware and software configurations appropriate for the
application. Modifications to hardware or software configurations other than those described in the
documentation are not permitted, and nullify the liability of Beckhoff Automation GmbH & Co. KG.

Personnel qualification

This description is only intended for trained specialists in control, automation and drive engineering who are
familiar with the applicable national standards.

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.

Personal injury warnings

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.

Warning of damage to property or environment

NOTICE
The environment, equipment, or data may be damaged.

Information on handling the product

This information includes, for example:

recommendations for action, assistance or further information on the product.

8 Version: 2.9 EL5032, EL5032-0090

 Foreword

1.4 Guide through documentation

NOTICE
Further components of documentation
This documentation describes device-specific content. It is part of the modular
documentation concept for Beckhoff I/O components. For the use and safe operation of the
device / devices described in this documentation, additional cross-product descriptions are
required, which can be found in the following table.

Title Description
EtherCAT System Documentation (PDF) • System overview
• EtherCAT basics
• Cable redundancy
• Hot Connect
• EtherCAT devices configuration
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.

EL5032, EL5032-0090 Version: 2.9 9

Foreword

1.5 Documentation issue status

Version Comment
2.9 • Update Technical data
• Chapter "Note on power supply" added
• Update chapter "Process data"
• Chapter "Filter operation" and "Velocity measurement" added
• Update chapter "Overview of the commands and samples"
• Update chapter "EL5032-00x0 – Object description and parameterization"
• Update chapter "EL5032-0090 – TwinSAFE SC"
• Update revision status
• Structural update
2.8 • Update chapter "Product description
• • Chapter "Disposal" added
• • Chapter "TwinCAT Quick-Start" added
• • Structural update
2.7 • Update chapter "Basics of EnDat 2.2 technology"
• Update chapter "Object description and parameterization"
• Structural update
2.6 • Update chapter "Technical data"
• Update chapter "LEDs and connection"
• Structural update
2.5 • Update chapter "Technical data"
• Update revision status
• Structural update
2.4 • Update chapter "Basics of EnDat 2.2 technology"
• Structural update
2.3 • EL5032-0090 added
• Structural update
• Update revision status
2.2 • Update chapter "Basics of EnDat 2.2 technology"
• Update revision status
• Structural update
2.1 • Update chapter "Notes on the documentation"
• Update chapter "Technical data"
• Note on ESD protection added
• Chapter "Installation instructions for enhanced mechanical load capacity" added
• Chapter "ATEX - special conditions" replaced by chapter "ATEX - special conditions (standard
temperature range)"
• Update chapter "TwinCAT 2.1x" -> "TwinCAT Development Environment"
• Update chapter "Diagnosis"
• Update revision status
2.0 • Migration
1.2 • Structural update
• Update chapter "Technical data"
• Revision status updated
1.0.1 • Complements, corrections
1.0 • Complements, corrections, 1st public issue
0.3 • Complements, corrections
0.2 • Complements, corrections
0.1 • Provisional documentation for EL5032

10 Version: 2.9 EL5032, EL5032-0090

 Foreword

1.6 Version identification of EtherCAT devices

1.6.1 General notes on marking

Designation

A Beckhoff EtherCAT device has a 14-digit designation, made up of

• family key
• type
• version
• revision
Example Family Type Version Revision
EL3314-0000-0016 EL terminal 3314 0000 0016
12 mm, non-pluggable connection level 4-channel thermocouple terminal basic type
ES3602-0010-0017 ES terminal 3602 0010 0017
12 mm, pluggable connection level 2-channel voltage measurement high-precision version
CU2008-0000-0000 CU device 2008 0000 0000
8-port fast ethernet switch basic type

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.

EL5032, EL5032-0090 Version: 2.9 11

Foreword

1.6.2 Version identification of EL terminals

The serial number/ data code for Beckhoff IO devices is usually the 8-digit number printed on the device or
on a sticker. The serial number indicates the configuration in delivery state and therefore refers to a whole
production batch, without distinguishing the individual modules of a batch.
Structure of the serial number: KK YY FF HH Example with serial number 12 06 3A 02:
KK - week of production (CW, calendar week) 12 - production week 12
YY - year of production 06 - production year 2006
FF - firmware version 3A - firmware version 3A
HH - hardware version 02 - hardware version 02

Fig. 1: EL2872 with revision 0022 and serial number 01200815

1.6.3 Beckhoff Identification Code (BIC)

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

Fig. 2: BIC as data matrix code (DMC, code scheme ECC200)

The BIC will be introduced step by step across all product groups.

Depending on the product, it can be found in the following places:

• on the packaging unit
• directly on the product (if space suffices)
• on the packaging unit and the product

The BIC is machine-readable and contains information that can also be used by the customer for handling
and product management.

12 Version: 2.9 EL5032, EL5032-0090

 Foreword

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:
Posi- Type of Explanation Data Number of digits Example
tion information identifier incl. data identifier
1 Beckhoff order Beckhoff order number 1P 8 1P072222
number
2 Beckhoff Traceability Unique serial number, SBTN 12 SBTNk4p562d7
Number (BTN) see note below
3 Article description Beckhoff article 1K 32 1KEL1809
description, e.g.
EL1008
4 Quantity Quantity in packaging Q 6 Q1
unit, e.g. 1, 10, etc.
5 Batch number Optional: Year and week 2P 14 2P401503180016
of production
6 ID/serial number Optional: Present-day 51S 12 51S678294
serial number system,
e.g. with safety products
7 Variant number Optional: Product variant 30P 32 30PF971, 2*K183
number on the basis of
standard products
...

Further types of information and data identifiers are used by Beckhoff and serve internal processes.

Structure of the BIC

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:

Fig. 3: Example DMC 1P072222SBTNk4p562d71KEL1809 Q1 51S678294

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.

EL5032, EL5032-0090 Version: 2.9 13

Foreword

1.6.4 Electronic access to the BIC (eBIC)

Electronic BIC (eBIC)

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.

The interface that the product can be electronically addressed by is crucial for the electronic readout.

K-bus devices (IP20, IP67)

Currently, no electronic storage or readout is planned for these devices.

EtherCAT devices (IP20, IP67)

All Beckhoff EtherCAT devices have an ESI-EEPROM which contains the EtherCAT identity with the revision
number. The EtherCAT slave information, also colloquially known as the ESI/XML configuration file for the
EtherCAT master, is stored in it. See the corresponding chapter in the EtherCAT system manual (Link) for
the relationships.

Beckhoff also stores the eBIC in the ESI‑EEPROM. The eBIC was introduced into Beckhoff IO production
(terminals, box modules) in 2020; as of 2023, implementation is largely complete.

The user can electronically access the eBIC (if present) 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 "Show Beckhoff Identification Code (BIC)" checkbox under
EtherCAT → Advanced Settings → Diagnostics:

◦ The BTN and its contents are then displayed:

◦ Note: As shown in the figure, 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 for reading into the PLC are available in the Tc2_EtherCAT library from
v3.3.19.0.
• EtherCAT devices with a CoE directory may also have the object 0x10E2:01 to display their own eBIC,
which can also be easily accessed by the PLC:

14 Version: 2.9 EL5032, EL5032-0090

 Foreword

◦ The device must be in PREOP/SAFEOP/OP for access:

◦ The object 0x10E2 will be preferentially introduced into stock products in the course of necessary
firmware revision.
◦ From TwinCAT 3.1. build 4024.24, the functions FB_EcCoEReadBIC and FB_EcCoEReadBTN for
reading into the PLC are available in the Tc2_EtherCAT library from v3.3.19.0
• The following auxiliary functions are available for processing the BIC/BTN data in the PLC in
Tc2_Utilities as of TwinCAT 3.1 build 4024.24
◦ F_SplitBIC: The function splits the Beckhoff Identification Code (BIC) sBICValue into its
components using known identifiers and returns the recognized substrings in the ST_SplittedBIC
structure as a return value
◦ BIC_TO_BTN: The function extracts the BTN from the BIC and returns it as a return value
• Note: If there is further electronic 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 written as an additional category in the ESI‑EEPROM during device
production. The structure of the ESI content is largely dictated by the ETG specifications, therefore the
additional vendor-specific content is stored using a category in accordance with the ETG.2010. ID 03
tells all EtherCAT masters that they may not overwrite these data in the event of an update or restore
the data after an ESI update.
The structure follows the content of the BIC, see here. The EEPROM therefore requires approx.
50..200 bytes of memory.
• 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 which each have 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.

PROFIBUS; PROFINET, and DeviceNet devices

Currently, no electronic storage or readout is planned for these devices.

EL5032, EL5032-0090 Version: 2.9 15

EL5032 - Product description

2 EL5032 - Product description

2.1 Introduction

Fig. 4: EL5032

Two-channel EnDat2.2 interface

The EL5032 EnDat 2.2 EtherCAT Terminal is used for direct connection of two encoders with EnDat2.2
interface.
The EL5032 enables reading of position values, diagnosis encoder data, internal and external temperature
values and the electronic type plate. With the electronic type plate all measuring device-specific information
is directly available. In addition, the EL5032 provides an encoder supply of 5 V or optionally 9 V.

In addition, user-defined data can be stored in the encoder. This enables cost-effective and quicker
commissioning. The position value is output with up to 48 bits, depending on the resolution of the connected
measuring device. In addition to the position value, further information such as status information, addresses
and data can be transferred.
A list of additional information supported by the encoder is stored in the parameters.

The EL5032 features distributed clocks, which means that the position value can be read in exact synchrony
with the system. If the distributed clock function is deactivated, the EL5032 cycles synchronous with the
EtherCAT cycle.

Quick links
• Basic Function Principles [} 33]
• Quick start [} 129]
• EL5032-00x0 - object description and parameterization [} 141]

16 Version: 2.9 EL5032, EL5032-0090

 EL5032 - Product description

2.2 Technical data

EnDat-2.2 interface EL5032
Technology EnDat 2.2 interface (order designation EnDat22)
Number of channels 2
Encoder connection, encoder clock frequency D+, D-, C+, C-; 8 MHz
Commands • Read position values incl. additional information
selectable via MRS code (Memory Range Select),
• Read and write parameters,
• Reset functions
Resolution max. 48 bit for position value

Function and communication EL5032

Distributed Clocks • yes
Special features • Storage of the zero offset shift
• Electronic nameplate
• Diagnosis
• Warning, incl. cable length compensation up to 100 m
• Reading the encoder temperature values
• Integrated velocity calculation (from firmware 16,
revision 28)
Configuration via EtherCAT master/CoE

Supply and potentials EL5032

Power supply 24 V via power contacts
Nominal voltage 24 V at power contact, encoder supply included in the
installation, sum current max. 0.5 A for both channels
Current consumption power contacts typ. 150 mA
Encoder operating voltage/ optionally 5 VDC or 9 VDC
Encoder supply (generated from the 24 VDC power contacts)
Electrical isolation 500 V (E-bus/field voltage)
Current consumption via E-bus 120 mA typ.

Environmental conditions EL5032

Permissible ambient temperature range during 0°C... +55°C
operation
Permissible ambient temperature range during -25°C... +85°C
storage
Permissible relative air humidity 95%, no condensation

General data EL5032

Weight app. 50 g
Dimensions (W x H x D) approx. 15 mm x 100 mm x 70 mm (width aligned: 12 mm)
Installation on 35 mm mounting rail, conforms to EN 60715
Installation position variable

EL5032, EL5032-0090 Version: 2.9 17

EL5032 - Product description

Standards and approvals EL5032

Enhanced mechanical load capacity yes, see also Installation instructions for enhanced
mechanical load capacity [} 43]
Vibration / shock resistance conforms to EN 60068-2-6 / EN 60068-2-27
EMC immunity / emission conforms to EN 61000-6-2 / EN 61000-6-4
Protection rating IP20
Approvals/markings CE, EAC, UKCA
cULus [} 51]

*) Real applicable approvals/markings see type plate on the side (product marking).

2.3 Start
For commissioning:
• mount the EL5032 as explained in the chapter Mounting and wiring [} 39]
• configure the EL5032 in TwinCAT as described in the chapters Commissioning [} 129] and
EL5032-00x0 - Commissioning [} 129].

For fast commissioning please refer to chapter Commissioning -> Quick start [} 129].

18 Version: 2.9 EL5032, EL5032-0090

 EL5032-0090 - Product description

3 EL5032-0090 - Product description

3.1 Introduction

Fig. 5: EL5032-0090

Two-channel EnDat2.2 interface, TwinSAFE SC

The EL5032-0090 EnDat 2.2 EtherCAT Terminal is used for direct connection of two encoders with EnDat2.2
interface.
The EL5032-0090 enables reading of position values, diagnosis encoder data, internal and external
temperature values and the electronic type plate. With the electronic type plate all measuring device-specific
information is directly available. In addition, the EL5032-0090 provides an encoder supply of 5 V or optionally
9 V.

In addition, user-defined data can be stored in the encoder. This enables cost-effective and quicker
commissioning. The position value is output with up to 48 bits, depending on the resolution of the connected
measuring device. In addition to the position value, further information such as status information, addresses
and data can be transferred.
A list of additional information supported by the encoder is stored in the parameters.

The EL5032-0090 features distributed clocks, which means that the position value can be read in exact
synchrony with the system. If the distributed clock function is deactivated, the EL5032-0090 cycles
synchronous with the EtherCAT cycle.

In addition to the full functionality of the EL5032, the EL5032-0090 supports TwinSAFE SC (Single Channel)
technology. This enables the use of standard signals for safety tasks in any networks of fieldbuses.

Quick links
• Basic Function Principles [} 33] • EL5032-0090 - TwinSAFE Single Channel objects [} 161]
• Quick start [} 129] • EL5032-0090 - TwinSAFE process data [} 160]
• EL5032-00x0 - object description and parameterization [} 141]

EL5032, EL5032-0090 Version: 2.9 19

EL5032-0090 - Product description

3.2 Technical data

EnDat-2.2 interface EL5032‑0090
Technology EnDat 2.2 interface (order designation EnDat22)
Number of channels 2
Encoder connection, encoder clock frequency D+, D-, C+, C-; 8 MHz
Commands • Read position values incl. additional information
selectable via MRS code (Memory Range Select),
• Read and write parameters,
• Reset functions
Resolution max. 48 bit for position value

Function and communication EL5032-0090

Distributed Clocks yes
Special features • Storage of the zero offset shift
• Electronic nameplate
• Diagnosis, Warning, incl. cable length compensation up
to 100 m
• Reading the encoder temperature values
• Integrated velocity calculation (from firmware 16,
revision 17)
• TwinSAFE SC
Configuration via EtherCAT master/CoE

Supply and potentials EL5032‑0090

Power supply 24 V via power contacts
Nominal voltage 24 V at power contact, encoder supply included in the
installation, sum current max. 0.5 A for both channels
Current consumption power contacts typ. 150 mA
Encoder operating voltage/ optionally 5 VDC or 9 VDC
Encoder supply (generated from the 24 VDC power contacts)
Electrical isolation 500 V (E-bus/field voltage)
Current consumption via E-bus 120 mA typ.

Environmental conditions EL5032‑0090

Permissible ambient temperature range during 0°C... +55°C
operation
Permissible ambient temperature range during -25°C... +85°C
storage
Permissible relative air humidity 95%, no condensation

General data EL5032-0090

MTBF (+55 °C) > 790,000 h
Weight app. 50 g
Dimensions (W x H x D) approx. 15 mm x 100 mm x 70 mm (width aligned: 12 mm)
Installation on 35 mm mounting rail, conforms to EN 60715
Installation position variable

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 EL5032-0090 - Product description

Standards and approvals EL5032-0090

Enhanced mechanical load capacity yes, see also Installation instructions for enhanced
mechanical load capacity [} 43]
Vibration / shock resistance conforms to EN 60068-2-6 / EN 60068-2-27
EMC immunity / emission conforms to EN 61000-6-2 / EN 61000-6-4
Protection rating IP20
Approvals/markings* CE, EAC, UKCA
cULus [} 51]

*) Real applicable approvals/markings see type plate on the side (product marking).

3.3 Start
For commissioning:
• mount the EL5032 as explained in the chapter Mounting and wiring [} 39]
• configure the EL5032 in TwinCAT as described in the chapters Commissioning [} 129] and
EL5032-00x0 - Commissioning [} 129].

For fast commissioning please refer to chapter Commissioning -> Quick start [} 129].

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4 Basics communication

4.1 EtherCAT basics

Please refer to the EtherCAT System Documentation for the EtherCAT fieldbus basics.

4.2 EtherCAT cabling – wire-bound

The cable length between two EtherCAT devices must not exceed 100 m. This results from the FastEthernet
technology, which, above all for reasons of signal attenuation over the length of the cable, allows a maximum
link length of 5 + 90 + 5 m if cables with appropriate properties are used. See also the Design
recommendations for the infrastructure for EtherCAT/Ethernet.

Cables and connectors

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.

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 Basics communication

Fig. 6: System manager current calculation

NOTICE
Malfunction possible!
The same ground potential must be used for the E-Bus supply of all EtherCAT terminals in a terminal block!

4.3 General notes for setting the watchdog

The EtherCAT terminals are equipped with a safety device (watchdog) which, e. g. in the event of interrupted
process data traffic, switches the outputs (if present) to a presettable state after a presettable time,
depending on the device and setting, e. g. to FALSE (off) or an output value.

The EtherCAT slave controller (ESC) features two watchdogs:

• SM watchdog (default: 100 ms)
• PDI watchdog (default: 100 ms)

Their times are individually parameterized in TwinCAT as follows:

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Basics communication

Fig. 7: 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

SM watchdog (SyncManager Watchdog)

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.

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 Basics communication

PDI watchdog (Process Data Watchdog)

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

Watchdog time = [1/25 MHz * (Watchdog multiplier + 2)] * PDI/SM watchdog

Example: default setting Multiplier=2498, SM watchdog=1000 -> 100 ms

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.

4.4 EtherCAT State Machine

The state of the EtherCAT slave is controlled via the EtherCAT State Machine (ESM). Depending upon the
state, different functions are accessible or executable in the EtherCAT slave. Specific commands must be
sent by the EtherCAT master to the device in each state, particularly during the bootup of the slave.

A distinction is made between the following states:

• Init
• Pre-Operational
• Safe-Operational and
• Operational
• Boot

The regular state of each EtherCAT slave after bootup is the OP state.

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Fig. 8: States of the EtherCAT State Machine

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.

Outputs in SAFEOP state

The default set watchdog monitoring sets the outputs of the module in a safe state - depending on
the settings in SAFEOP and OP - e.g. in OFF state. If this is prevented by deactivation of the
watchdog monitoring in the module, the outputs can be switched or set also in the SAFEOP state.

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.

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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.

4.5 CoE Interface

General description

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.

The relevant ranges for EtherCAT fieldbus users are:

• 0x1000: This is where fixed identity information for the device is stored, including name, manufacturer,
serial number etc., plus information about the current and available process data configurations.
• 0x8000: This is where the operational and functional parameters for all channels are stored, such as
filter settings or output frequency.

Other important ranges are:

• 0x4000: here are the channel parameters for some EtherCAT devices. Historically, this was the first
parameter area before the 0x8000 area was introduced. EtherCAT devices that were previously
equipped with parameters in 0x4000 and changed to 0x8000 support both ranges for compatibility
reasons and mirror internally.
• 0x6000: Input PDOs (“input” from the perspective of the EtherCAT master)
• 0x7000: Output PDOs (“output” from the perspective of the EtherCAT master)

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:

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Basics communication

Fig. 9: “CoE Online” tab

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)

Data management and function “NoCoeStorage”

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.

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 Basics communication

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.

Recommended approach for manual modification of CoE parameters

• Make the required change in the System Manager
The values are stored locally in the EtherCAT slave
• If the value is to be stored permanently, enter it in the Startup list.
The order of the Startup entries is usually irrelevant.

Fig. 10: Startup list in the TwinCAT System Manager

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.

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Basics communication

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.

Fig. 11: Offline list

• If the slave is online

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

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 Basics communication

Fig. 12: Online list

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
• ...

This is generally written as 0x80n0.

Detailed information on the CoE interface can be found in the EtherCAT system documentation on the
Beckhoff website.

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Basics communication

4.6 Distributed Clock

The distributed clock represents a local clock in the EtherCAT slave controller (ESC) with the following
characteristics:
• Unit 1 ns
• Zero point 1.1.2000 00:00
• Size 64 bit (sufficient for the next 584 years; however, some EtherCAT slaves only offer 32-bit support,
i.e. the variable overflows after approx. 4.2 seconds)
• The EtherCAT master automatically synchronizes the local clock with the master clock in the EtherCAT
bus with a precision of < 100 ns.

For detailed information please refer to the EtherCAT system description.

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 Basics of EnDat 2.2 technology

5 Basics of EnDat 2.2 technology

Basic information on the technological field of "EnDat interface" is to be given below. It is up to users to
check to what extent this information refers to their application.

5.1 EnDat 2.2 - Bidirectional interface for position

measuring devices
Digital drive systems and position control loops with position measuring devices for data sampling require
measuring equipment offering fast data transfer with high transmission integrity.
In addition, further data such as drive-specific characteristic values, correction tables etc. should be
provided. To ensure high system reliability, the measuring devices should be integrated in error detection
routines and offer diagnostic capabilities.

The EnDat 2.2 interface is a digital, bidirectional interface for measuring devices. It is able to output position
values of incremental and absolute measuring devices and read and update information stored in the
measuring device, as well as store new information. 4 signal cables are sufficient, due to the fact that the
data transfer is serial. The data is transferred synchronous with the clock signal specified by the downstream
electronics. The transmission type (position values, parameters, diagnostics ...) is selected via mode
commands, received by the measuring device from the downstream electronics. As a purely serial interface,
EnDat 2.2 is also suitable for safety applications.

Fig. 13: Signal cables and power supply for the EnDat 2.2 interface**

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Basics of EnDat 2.2 technology

Incremental signals and ordering designation (HEIDENHAIN EnDat interfaces)**

Some encoders also provide incremental signals. These are usually used to increase the resolution of the
position value, or to serve a second subsequent electronics unit.
Current generations of encoders have a high internal resolution, and therefore no longer need to provide
incremental signals.

The order designation indicates whether an encoder outputs incremental signals:

• EnDat 01 with 1 VPP incremental signals
• EnDat H with HTL incremental signals
• EnDat T with TTL incremental signals
• EnDat 21 without incremental signals
• EnDat 02 with 1 VPP incremental signals
• EnDat 22 without incremental signals

**) Source: Dr. Johannes HEIDENHAIN GmbH

Connection of HEIDENHAIN EnDat-interfaces to terminals of the EL503x series

Terminals of the EL503x series can only be connected to measuring instruments that support a
clock frequency of 8 MHz. This corresponds to the order designation EnDat22.
Encoders with the ordering designation EnDat02 can be operated at 8 MHz on terminals of the
EL503x series without incremental signals using an appropriate adapter cable.

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 Basics of EnDat 2.2 technology

5.2 Connection technology

EnDat-02 encoder connection**
EnDat-02 encoders can have a plug-in cable module (e.g. LC 415 [Heidenhain]). The customer
decides on the design of the adapter cable whether the device is operated with incremental signals
[} 34] or without incremental signals.**
If an adapter cable without incremental signals is selected for the EnDat-02 encoder, the clock
frequency of 8 MHz can be realized and the terminals of the EL503x series can be used.
**) Source: Dr. Johannes HEIDENHAIN GmbH

Data transmission from incremental or absolute measuring transducers to terminals of the EL503x series can
be carried out with a single shielded 8-wire cable (see following figure).

Fig. 14: Connection of measuring transducer and e.g. EL5032

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Basics of EnDat 2.2 technology

5.3 Compatibility
The extended interface version EnDat 2.2 is compatible with the previous version 2.1 in terms of
communication, command sets and time conditions, but offers significant advantages. For example, it is
possible to send additional information with the position value without having to start a separate query. To
this end the interface protocol has been extended and the time conditions optimized as follows:
• Increased clock frequency (CLOCK)
• Optimized computing time (determination of position value within 5 µs)
• Minimize recovery time (1.25 to 3.75 μs)
• Extended voltage supply range (UP = 3.6 to 5.25 V or 3.6 to 14 V at the encoder)

The following figure shows the command set of the extended interface version EnDat 2.2:

Fig. 15: Representation of command set EnDat 2.2 and 2.1**

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 Basics of EnDat 2.2 technology

5.4 Functional description

The EnDat interface transmits position values or physical additional variables in a temporally unambiguous
order and is used for reading from, and writing to the internal memory of the measuring device.

Position values

These can be transmitted with or without additional information. The additional information itself can be
selected via the MRS code (Memory Range Select). Together with the position value, other functions can be
called after a previous memory area selection, e.g. Read and write parameters. Simultaneous transmission
with the position value means that additional information can also be requested from axes in the control loop
and functions executed.

Read and write parameters

Read and write parameters is possible both as a separate function and also in conjunction with the position
value. Parameters can be read or written after selection of the memory area.

Reading or writing values of the EndDat encoder

If the configuration and information data access specific memory areas of the Endat encoder, make
sure that the encoder is connected and supplied with voltage to read or write to these memory
areas.
If no communication can be established with the EnDat encoder, an error message "Data cannot be
transferred or stored to the application" is displayed.

Reset functions

The reset functions serve to reset the measuring device in case of a malfunction. A reset is possible in place
of or during the transmission of the position value.

Extended diagnosis from FW15

From FW15, the EL5032 offers extended diagnosis for the EnDat error message with multi-turn
rotary encoders with battery buffer. The battery operating state error sources are not automatically
reset; special error handling may be necessary here.

Special error handling with multi-turn rotary encoders with battery buffer

The absolute position value loses its validity if the battery of a battery-buffered multi-turn rotary encoder is
replaced. EnDat 2.2 allows error and warning messages to be read and temporarily stored.

After the battery is replaced, the following objects in the EL5032 are set to TRUE:
• 0x9008:23 [} 144] "Position error supported" and
• 0x9008:34 [} 144] "Battery warning supported".

This activates the following diagnosis messages:

• 0xA008:01 [} 146] "Warning",
• 0xA008:02 [} 146] "Error" 1,
• 0xA008:23 [} 146] "Position error" and
• 0xA008:23 [} 146] "Battery warning".

These errors can be reset using the command 0x8001 "EnDat Reset". An overview of the commands and
samples of their use can be found in the chapter "Overview of commands and samples [} 135]".

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Basics of EnDat 2.2 technology

5.5 Data transfer

A clock is provided by the subsequent electronics for the synchronization of the data transmission. In the idle
state the clock line is at the HIGH level.

Clock frequency – cable length

With the runtime compensation used in the terminals of the EL503x series, a maximum cable length of
100 m is possible at a clock frequency of 8 MHz. Appropriate cables and connectors must be used to ensure
proper operation.

Further information on EnDat technology

Further notes and information on EnDat technology from HEIDENHAIN can be found at http://
www.heidenhain.de
**) Source: Dr. Johannes HEIDENHAIN GmbH

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 Mounting and wiring

6 Mounting and wiring

6.1 Instructions for ESD protection

NOTICE
Destruction of the devices by electrostatic discharge possible!
The devices contain components at risk from electrostatic discharge caused by improper handling.
• Please ensure you are electrostatically discharged and avoid touching the contacts of the device directly.
• Avoid contact with highly insulating materials (synthetic fibers, plastic film etc.).
• Surroundings (working place, packaging and personnel) should by grounded probably, when handling
with the devices.
• Each assembly must be terminated at the right hand end with an EL9011 or EL9012 bus end cap, to
ensure the protection class and ESD protection.

Fig. 16: Spring contacts of the Beckhoff I/O components

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Mounting and wiring

6.2 Installation on mounting rails

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!

The Bus Terminal system and is designed for mounting in a control cabinet or terminal box.

Assembly

Fig. 17: Attaching on mounting rail

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:

1. First attach the fieldbus coupler to the mounting rail.

2. The bus terminals are now attached on the right-hand side of the fieldbus coupler. Join the
components with tongue and groove and push the terminals against the mounting rail, until the lock
clicks onto the mounting rail.
If the terminals are clipped onto the mounting rail first and then pushed together without tongue and
groove, the connection will not be operational! When correctly assembled, no significant gap should
be visible between the housings.

Fixing of mounting rails

The locking mechanism of the terminals and couplers extends to the profile of the mounting rail. At
the installation, the locking mechanism of the components must not come into conflict with the fixing
bolts of the mounting rail. To mount the mounting rails with a height of 7.5 mm under the terminals
and couplers, you should use flat mounting connections (e.g. countersunk screws or blind rivets).

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 Mounting and wiring

Disassembly

Fig. 18: Disassembling of terminal

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.

Connections within a 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.

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Mounting and wiring

Fig. 19: Power contact on left side

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!

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6.3 Installation instructions for enhanced mechanical load

capacity
WARNING
Risk of injury through electric shock and damage to the device!
Bring the Bus Terminal system into a safe, de-energized state before starting mounting, disassembly or
wiring of the Bus Terminals!

Additional checks

The terminals have undergone the following additional tests:

Verification Explanation
Vibration 10 frequency runs in 3 axes
6 Hz < f < 60 Hz displacement 0.35 mm, constant amplitude
60.1 Hz < f < 500 Hz acceleration 5 g, constant amplitude
Shocks 1000 shocks in each direction, in 3 axes
25 g, 6 ms

Additional installation instructions

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.

6.4 Connection

6.4.1 Connection system

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!

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.

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• The High Density Terminals (HD Terminals) include electronics and connection level in a single
enclosure and have advanced packaging density.

Standard wiring (ELxxxx / KLxxxx)

Fig. 20: Standard wiring

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.

Pluggable wiring (ESxxxx / KSxxxx)

Fig. 21: Pluggable wiring

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.

High Density Terminals (HD Terminals)

Fig. 22: High Density Terminals

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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.

Ultrasonically “bonded” (ultrasonically welded) conductors

Ultrasonically “bonded” conductors

It is also possible to connect the Standard and High Density Terminals with ultrasonically “bonded”
(ultrasonically welded) conductors. In this case, please note the tables concerning the wire-size
width [} 46]!

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6.4.2 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

Fig. 23: Connecting a cable on a terminal point

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

High Density Terminals (HD Terminals [} 44]) with 16 terminal points

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.

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Terminal housing High Density Housing

Wire size width (single core wires) 0.08 ... 1.5 mm2
Wire size width (fine-wire conductors) 0.25 ... 1.5 mm2
Wire size width (conductors with a wire end sleeve) 0.14 ... 0.75 mm2
Wire size width (ultrasonically “bonded" conductors) only 1.5 mm2 (see notice [} 45])
Wire stripping length 8 ... 9 mm

6.4.3 Shielding
Shielding
Encoder, analog sensors and actuators should always be connected with shielded, twisted paired
wires.

6.5 Note - Power supply

WARNING
Power supply from SELV/PELV power supply unit!
SELV/PELV circuits (Safety Extra Low Voltage, Protective Extra Low Voltage) according to
IEC 61010-2-201 must be used to supply this device.
Notes:
• SELV/PELV circuits may give rise to further requirements from standards such as IEC 60204-1 et al, for
example with regard to cable spacing and insulation.
• A SELV (Safety Extra Low Voltage) supply provides safe electrical isolation and limitation of the voltage
without a connection to the protective conductor,
a PELV (Protective Extra Low Voltage) supply also requires a safe connection to the protective
conductor.

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6.6 Installation positions

NOTICE
Constraints regarding installation position and operating temperature range
Please refer to the technical data for a terminal to ascertain whether any restrictions regarding the
installation position and/or the operating temperature range have been specified. When installing high
power dissipation terminals ensure that an adequate spacing is maintained between other components
above and below the terminal in order to guarantee adequate ventilation!

Optimum installation position (standard)

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.

Fig. 24: Recommended distances for standard installation position

Compliance with the distances shown in Fig. Recommended distances for standard installation position is
recommended.

Other installation positions

All other installation positions are characterized by different spatial arrangement of the mounting rail - see
Fig Other installation positions.

The minimum distances to ambient specified above also apply to these installation positions.

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Fig. 25: Other installation positions

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6.7 Positioning of passive Terminals

Hint for positioning of passive terminals in the bus terminal block
EtherCAT Terminals (ELxxxx / ESxxxx), which do not take an active part in data transfer within the
bus terminal block are so called passive terminals. The passive terminals have no current
consumption out of the E-Bus.
To ensure an optimal data transfer, you must not directly string together more than two passive
terminals!

Examples for positioning of passive terminals (highlighted)

Fig. 26: Correct positioning

Fig. 27: Incorrect positioning

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6.8 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:

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6.9 LEDs and connection

Fig. 28: LEDs

NOTICE
Otherwise components may be damaged: Note encoder supply voltage!
Note the limit values for the supply voltage specified in the data sheets of the encoder manufacturers. The
encoder supply voltage may have to be adjusted in object 0x80p8:13 [} 142] (5 V or 9 V)!

LEDs
LED Color Meaning
RUN (1) green This LED indicates the terminal's operating state:
off State of the EtherCAT State Machine: INIT = initialization of the
terminal
flashing State of the EtherCAT State Machine: PREOP = function for mailbox
communication and different standard-settings set
single flash State of the EtherCAT State Machine: SAFEOP = verification of the
sync manager channels and the distributed clocks. Outputs remain
in safe state
on State of the EtherCAT State Machine: OP = normal operating state;
mailbox and process data communication is possible
flickering State of the EtherCAT State Machine: BOOTSTRAP = function for
terminal firmware updates
ENABLED 1 (2) green ON Connected encoder for the corresponding channel initialized and
ENABLED 2 (4) ready for operation
OFF Connected encoder for the corresponding channel not ready for
operation
ERROR 1 (3) red ON No encoder connected to the corresponding channel, or position
ERROR 2 (5) values invalid (CRC error, not referenced, EnDat error bit set)
FLASHES Error during initialization (see diag history [} 163])
OFF No error
ENC SUPPLY green ON Encoder voltage available
(9) OFF 24 V field voltage missing or encoder voltage overload
RX 1 (10) green FLASHES Terminal receives position values at the corresponding channel
RX 2 (12)

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Connection

Fig. 29: Connection

NOTICE
Encoder supply via the terminal
The encoder supply voltage (5 V or 9 V), which can be set in object 0x80p8:13 [} 142], can be taken from
the terminal points 3 (channel 1) and 7 (channel 2).

Terminal point Description

Name No.
Data 1+ 1 Data + input (channel 1)
Clock 1+ 2 Clock + input (channel 1)
ENC supply 3 Supply voltage for encoder (+5 V / +9 V)
Shield 4 Shield
Data 2+ 5 Data + input (channel 2)
Clock 2+ 6 Clock + input (channel 2)
ENC supply 7 Supply voltage for encoder (+5 V / +9 V)
Shield 8 Shield
Data 1- 9 Data - input (channel 1)
Clock 1- 10 Clock - input (channel 1)
GND 11 Ground
Shield 12 Shield
Data 2- 13 Data - input (channel 2)
Clock 2- 14 Clock - input (channel 2)
GND 15 Ground
Shield 16 Shield

Further connection information

Further connection information can be found in the chapter "Technology [} 33]".

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6.10 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.

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7 Commissioning

7.1 TwinCAT Quick Start

TwinCAT is a development environment for real-time control including a multi PLC system, NC axis control,
programming and operation. The whole system is mapped through this environment and enables access to a
programming environment (including compilation) for the controller. Individual digital or analog inputs or
outputs can also be read or written directly, in order to verify their functionality, for example.

For further information, please refer to http://infosys.beckhoff.com:

• EtherCAT System Manual:
Fieldbus Components → EtherCAT Terminals → EtherCAT System Documentation → Setup in the
TwinCAT System Manager
• TwinCAT 2 → TwinCAT System Manager → I/O Configuration
• In particular, for TwinCAT – driver installation:
Fieldbus components → Fieldbus Cards and Switches → FC900x – PCI Cards for Ethernet →
Installation

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:

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Fig. 30: Relationship between user side (commissioning) and installation

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.

Example configuration (actual configuration)

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)

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Fig. 31: 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.

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7.1.1 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:

Fig. 32: Initial TwinCAT 2 user interface

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 [} 60]”.

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:

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Fig. 33: Selection of the target system

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. 34: 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.

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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).

Fig. 35: Select “Scan Devices...”

Confirm the warning message, which follows, and select the “EtherCAT” devices in the dialog:

Fig. 36: 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 [} 56] described at the beginning of this section, the result is as follows:

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Fig. 37: Mapping of the configuration in the TwinCAT 2 System Manager

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:

Fig. 38: Reading of individual terminals connected to a device

This functionality is useful if the actual configuration is modified at short notice.

Programming and integrating the PLC

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)

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• Graphical languages
◦ Function Block Diagram (FBD)
◦ Ladder Diagram (LD)
◦ The Continuous Function Chart Editor (CFC)
◦ Sequential Function Chart (SFC)

The following section refers solely to Structured Text (ST).

After starting TwinCAT PLC Control, the following user interface is shown for an initial project:

Fig. 39: TwinCAT PLC Control after startup

Example variables and an example program have been created and stored under the name
“PLC_example.pro”:

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Fig. 40: 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…”:

Fig. 41: Appending the TwinCAT PLC Control project

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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. 42: 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. 43: 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:

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Fig. 44: Selecting BOOL-type PDO

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. 45: 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:

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Fig. 46: Application of a “Goto Link Variable”, using “MAIN.bEL1004_Ch4” as an example

The process of assigning variables to the PDO is completed via the menu option “Actions” → “Create

assignment”, or via .

This can be visualized in the configuration:

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.

Activation of the configuration

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 the controller

Starting from a remote system, the PLC control has to be linked with the embedded PC over the Ethernet via
“Online” → “Choose Runtime System…”:

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Fig. 47: Choose target system (remote)

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:

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Fig. 48: PLC Control logged in, ready for program startup

The PLC can now be started via “Online” → “Run”, F5 key or .

7.1.2 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:

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Fig. 49: Initial TwinCAT 3 user interface

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):

Fig. 50: Create new TwinCAT 3 project

The new project is then available in the project folder explorer:

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Fig. 51: New TwinCAT 3 project in the project folder explorer

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 [} 71]”.

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:

expand the pull-down menu:

and open the following window:

Fig. 52: Selection dialog: Choose the target system

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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. 53: 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)”.

Fig. 54: Select “Scan”

Confirm the warning message, which follows, and select the “EtherCAT” devices in the dialog:

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Fig. 55: 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 [} 56] described at the beginning of this section, the result is as follows:

Fig. 56: Mapping of the configuration in VS shell of the TwinCAT 3 environment

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:

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Fig. 57: Reading of individual terminals connected to a device

This functionality is useful if the actual configuration is modified at short notice.

Programming the PLC

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)

The following section refers solely to Structured Text (ST).

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….”:

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Fig. 58: Adding the programming environment in “PLC”

In the dialog that opens, select “Standard PLC project” and enter “PLC_example” as project name, for
example, and select a corresponding directory:

Fig. 59: 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:

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Fig. 60: 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:

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Fig. 61: 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:

Fig. 62: Start program compilation

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:

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Fig. 63: 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:

Fig. 64: Selecting BOOL-type PDO

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:

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Fig. 65: 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:

Fig. 66: Application of a “Goto Link Variable”, using “MAIN.bEL1004_Ch4” as an example

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,

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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.

Note on type of variable assignment

The following type of variable assignment can only be used from TwinCAT version V3.1.4024.4
onwards and is only available for terminals with a microcontroller.

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.

Fig. 67: Creating a PLC data type

4. An instance of the data structure of the copied data type must then be created in the PLC.

Fig. 68: Instance_of_struct

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.

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Fig. 69: Linking the structure

7. In the PLC, the process data can then be read or written via the structure in the program code.

Fig. 70: Reading a variable from the structure of the process data

Activation of the configuration

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.

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Starting the controller

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. 71: 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).

7.2 TwinCAT Development Environment

The Software for automation TwinCAT (The Windows Control and Automation Technology) will be
distinguished into:
• TwinCAT 2: System Manager (Configuration) & PLC Control (Programming)
• TwinCAT 3: Enhancement of TwinCAT 2 (Programming and Configuration takes place via a common
Development Environment)

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

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◦ 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.

Please see further information to TwinCAT 2 and TwinCAT 3 at http://infosys.beckhoff.com.

7.2.1 Installation of the TwinCAT real-time driver

In order to assign real-time capability to a standard Ethernet port of an IPC controller, the Beckhoff real-time
driver has to be installed on this port under Windows.

This can be done in several ways.

A: Via the TwinCAT Adapter dialog

In the System Manager call up the TwinCAT overview of the local network interfaces via Options → Show
Real Time Ethernet Compatible Devices.

Fig. 72: System Manager “Options” (TwinCAT 2)

This have to be called up by the menu “TwinCAT” within the TwinCAT 3 environment:

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Fig. 73: Call up under VS Shell (TwinCAT 3)

B: Via TcRteInstall.exe in the TwinCAT directory

Fig. 74: TcRteInstall in the TwinCAT directory

In both cases, the following dialog appears:

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Fig. 75: Overview of network interfaces

Interfaces listed under “Compatible devices” can be assigned a driver via the “Install” button. A driver should
only be installed on compatible devices.

A Windows warning regarding the unsigned driver can be ignored.

Alternatively an EtherCAT-device can be inserted first of all as described in chapter Offline configuration
creation, section “Creating the EtherCAT device” [} 93] in order to view the compatible ethernet ports via its
EtherCAT properties (tab “Adapter”, button “Compatible Devices…”):

Fig. 76: 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)

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Fig. 77: Windows properties of the network interface

A correct setting of the driver could be:

Fig. 78: Exemplary correct driver setting for the Ethernet port

Other possible settings have to be avoided:

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Fig. 79: Incorrect driver settings for the Ethernet port

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IP address of the port used

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.

Fig. 80: TCP/IP setting for the Ethernet port

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7.2.2 Notes regarding ESI device description

Installation of the latest ESI device description

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.

The ESI files should be stored in the TwinCAT installation directory.

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)…”

The TwinCAT ESI Updater [} 92] is available for this purpose.

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”

Fig. 81: Identifier structure

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 [} 11].

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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.

Fig. 82: OnlineDescription information window (TwinCAT 2)

In TwinCAT 3 a similar window appears, which also offers the Web update:

Fig. 83: Information window OnlineDescription (TwinCAT 3)

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 [} 93]”.

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.

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Fig. 84: File OnlineDescription.xml created by the System Manager

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).

Fig. 85: 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

OnlineDescription for TwinCAT 3.x

In addition to the file described above “OnlineDescription0000...xml”, a so called EtherCAT cache
with new discovered devices is created by TwinCAT 3.x, e.g. under Windows 7:

(Please note the language settings of the OS!)

You have to delete this file, too.

Faulty ESI file

If an ESI file is faulty and the System Manager is unable to read it, the System Manager brings up an
information window.

Fig. 86: Information window for faulty ESI file (left: TwinCAT 2; right: TwinCAT 3)

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Reasons may include:

• Structure of the *.xml does not correspond to the associated *.xsd file → check your schematics
• Contents cannot be translated into a device description → contact the file manufacturer

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7.2.3 TwinCAT ESI Updater

For TwinCAT 2.11 and higher, the System Manager can search for current Beckhoff ESI files automatically, if
an online connection is available:

Fig. 87: Using the ESI Updater (>= TwinCAT 2.11)

The call up takes place under:

“Options” → “Update EtherCAT Device Descriptions”

Selection under TwinCAT 3:

Fig. 88: Using the ESI Updater (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.

The call up takes place under:

“TwinCAT” → “EtherCAT Devices” → “Update Device Description (via ETG Website)…”.

7.2.4 Distinction between Online and Offline

The distinction between online and offline refers to the presence of the actual I/O environment (drives,
terminals, EJ-modules). If the configuration is to be prepared in advance of the system configuration as a
programming system, e.g. on a laptop, this is only possible in “Offline configuration” mode. In this case all
components have to be entered manually in the configuration, e.g. based on the electrical design.

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” [} 88].

For preparation of a configuration:

• the real EtherCAT hardware (devices, couplers, drives) must be present and installed
• the devices/modules must be connected via EtherCAT cables or in the terminal/ module strand in the
same way as they are intended to be used later
• the devices/modules be connected to the power supply and ready for communication

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• TwinCAT must be in CONFIG mode on the target system.

The online scan process consists of:

• detecting the EtherCAT device [} 98] (Ethernet port at the IPC)
• detecting the connected EtherCAT devices [} 99]. This step can be carried out independent of the
preceding step
• troubleshooting [} 102]

The scan with existing configuration [} 103] can also be carried out for comparison.

7.2.5 OFFLINE configuration creation

Creating the EtherCAT device

Create an EtherCAT device in an empty System Manager window.

Fig. 89: Append EtherCAT device (left: TwinCAT 2; right: TwinCAT 3)

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”.

Fig. 90: Selecting the EtherCAT connection (TwinCAT 2.11, TwinCAT 3)

Then assign a real Ethernet port to this virtual device in the runtime system.

Fig. 91: Selecting the Ethernet port

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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)”.

Fig. 92: 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”:

Selecting the Ethernet port

Ethernet ports can only be selected for EtherCAT devices for which the TwinCAT real-time driver is
installed. This has to be done separately for each port. Please refer to the respective installation
page [} 82].

Defining EtherCAT slaves

Further devices can be appended by right-clicking on a device in the configuration tree.

Fig. 93: Appending EtherCAT devices (left: TwinCAT 2; right: TwinCAT 3)

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).

Overview of physical layer

• “Ethernet”: cable-based 100BASE-TX: couplers, box modules, devices with RJ45/M8/M12 connector

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• “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).

Fig. 94: Selection dialog for new EtherCAT device

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”.

Fig. 95: Display of device revision

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”.

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Fig. 96: Display of previous revisions

Device selection based on revision, compatibility

The ESI description also defines the process image, the communication type between master and
slave/device and the device functions, if applicable. The physical device (firmware, if available) has
to support the communication queries/settings of the master. This is backward compatible, i.e.
newer devices (higher revision) should be supported if the EtherCAT master addresses them as an
older revision. The following compatibility rule of thumb is to be assumed for Beckhoff EtherCAT
Terminals/ Boxes/ EJ-modules:
device revision in the system >= device revision in the configuration
This also enables subsequent replacement of devices without changing the configuration (different
specifications are possible for drives).

Example

If an EL2521-0025-1018 is specified in the configuration, an EL2521-0025-1018 or higher (-1019, -1020) can

be used in practice.

Fig. 97: Name/revision of the terminal

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, ...

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Fig. 98: EtherCAT terminal in the TwinCAT tree (left: TwinCAT 2; right: TwinCAT 3)

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7.2.6 ONLINE configuration creation

Detecting/scanning of the EtherCAT device

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: .

• on TwinCAT 3 within the user interface of the development environment by a symbol .

TwinCAT can be set into this mode:

• TwinCAT 2: by selection of in the Menubar or by “Actions” → “Set/Reset TwinCAT to Config

Mode…”

• TwinCAT 3: by selection of in the Menubar or by “TwinCAT” → “Restart TwinCAT (Config Mode)”

Online scanning in Config mode

The online search is not available in RUN mode (production operation). Note the differentiation
between TwinCAT programming system and TwinCAT target system.

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.

Fig. 99: Differentiation local/target system (left: TwinCAT 2; right: TwinCAT 3)

Right-clicking on “I/O Devices” in the configuration tree opens the search dialog.

Fig. 100: Scan Devices (left: TwinCAT 2; right: TwinCAT 3)

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. 101: Note for automatic device scan (left: TwinCAT 2; right: TwinCAT 3)

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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” .

Fig. 102: Detected Ethernet devices

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”.

Selecting the Ethernet port

Ethernet ports can only be selected for EtherCAT devices for which the TwinCAT real-time driver is
installed. This has to be done separately for each port. Please refer to the respective installation
page [} 82].

Detecting/Scanning the EtherCAT devices

Online scan functionality

During a scan the master queries the identity information of the EtherCAT slaves from the slave
EEPROM. The name and revision are used for determining the type. The respective devices are
located in the stored ESI data and integrated in the configuration tree in the default state defined
there.

Fig. 103: Example default state

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 [} 103] 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:

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Fig. 104: Installing EthetCAT terminal with revision -1018

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 [} 103] 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:

Fig. 105: Detection of EtherCAT terminal with revision -1019

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. 106: Scan query after automatic creation of an EtherCAT device (left: TwinCAT 2; right: TwinCAT 3)

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Fig. 107: 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.

Fig. 108: Scan progressexemplary by TwinCAT 2

The configuration is established and can then be switched to online state (OPERATIONAL).

Fig. 109: Config/FreeRun query (left: TwinCAT 2; right: TwinCAT 3)

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. 110: Displaying of “Free Run” and “Config Mode” toggling right below in the status bar

Fig. 111: 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.

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Fig. 112: 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 [} 93].

Troubleshooting

Various effects may occur during scanning.

• An unknown device is detected, i.e. an EtherCAT slave for which no ESI XML description is available.
In this case the System Manager offers to read any ESI that may be stored in the device. This case is
described in the chapter “Notes regarding ESI device description”.
• Device are not detected properly
Possible reasons include:
◦ faulty data links, resulting in data loss during the scan
◦ slave has invalid device description
The connections and devices should be checked in a targeted manner, e.g. via the emergency scan.
Then re-run the scan.

Fig. 113: Faulty identification

In the System Manager such devices may be set up as EK0000 or unknown devices. Operation is not
possible or meaningful.

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Scan over existing Configuration

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.

Fig. 114: Identical configuration (left: TwinCAT 2; right: TwinCAT 3)

If differences are detected, they are shown in the correction dialog, so that the user can modify the
configuration as required.

Fig. 115: Correction dialog

It is advisable to tick the “Extended Information” check box to reveal differences in the revision.

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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.

Device selection based on revision, compatibility

The ESI description also defines the process image, the communication type between master and
slave/device and the device functions, if applicable. The physical device (firmware, if available) has
to support the communication queries/settings of the master. This is backward compatible, i.e.
newer devices (higher revision) should be supported if the EtherCAT master addresses them as an
older revision. The following compatibility rule of thumb is to be assumed for Beckhoff EtherCAT
Terminals/ Boxes/ EJ-modules:
device revision in the system >= device revision in the configuration
This also enables subsequent replacement of devices without changing the configuration (different
specifications are possible for drives).

Example

If an EL2521-0025-1018 is specified in the configuration, an EL2521-0025-1018 or higher (-1019, -1020) can

be used in practice.

Fig. 116: Name/revision of the terminal

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, ...

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Fig. 117: Correction dialog with modifications

Once all modifications have been saved or accepted, click “OK” to transfer them to the real *.tsm
configuration.

Change to Compatible Type

TwinCAT offers a function Change to Compatible Type… for the exchange of a device whilst retaining the
links in the task.

Fig. 118: 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":

- Physics (e.g. RJ45, Ebus...)

- FMMU (additional ones are allowed)

- SyncManager (SM, additional ones are allowed)

- EoE (attributes MAC, IP)

- CoE (attributes SdoInfo, PdoAssign, PdoConfig, PdoUpload, CompleteAccess)

- FoE

- PDO (process data: Sequence, SyncUnit SU, SyncManager SM, EntryCount, Ent-ry.Datatype)

This function is preferably to be used on AX5000 devices.

Change to Alternative Type

The TwinCAT System Manager offers a function for the exchange of a device: Change to Alternative Type

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Fig. 119: TwinCAT 2 Dialog 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).

7.2.7 EtherCAT subscriber configuration

In the left-hand window of the TwinCAT 2 System Manager or the Solution Explorer of the TwinCAT 3
Development Environment respectively, click on the element of the terminal within the tree you wish to
configure (in the example: EL3751 Terminal 3).

Fig. 120: Branch element as terminal EL3751

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

Fig. 121: “General” tab

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Name Name of the EtherCAT device

Id Number of the EtherCAT device
Type EtherCAT device type
Comment Here you can add a comment (e.g. regarding the system).
Disabled Here you can deactivate the EtherCAT device.
Create symbols Access to this EtherCAT slave via ADS is only available if this control box is
activated.

“EtherCAT” tab

Fig. 122: “EtherCAT” tab

Type EtherCAT device type

Product/Revision Product and revision number of the EtherCAT device
Auto Inc Addr. Auto increment address of the EtherCAT device. The auto increment address can
be used for addressing each EtherCAT device in the communication ring through
its physical position. Auto increment addressing is used during the start-up phase
when the EtherCAT master allocates addresses to the EtherCAT devices. With
auto increment addressing the first EtherCAT slave in the ring has the address
0000hex. For each further slave the address is decremented by 1 (FFFFhex, FFFEhex
etc.).
EtherCAT Addr. Fixed address of an EtherCAT slave. This address is allocated by the EtherCAT
master during the start-up phase. Tick the control box to the left of the input field in
order to modify the default value.
Previous Port Name and port of the EtherCAT device to which this device is connected. If it is
possible to connect this device with another one without changing the order of the
EtherCAT devices in the communication ring, then this combination field is
activated and the EtherCAT device to which this device is to be connected can be
selected.
Advanced Settings This button opens the dialogs for advanced settings.

The link at the bottom of the tab points to the product page for this EtherCAT device on the web.

“Process Data” tab

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.

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Fig. 123: “Process Data” tab

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”).

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Fig. 124: Configuring the process data

Manual modification of the process data

According to the ESI description, a PDO can be identified as “fixed” with the flag “F” in the PDO
overview (Fig. Configuring the process data, J). The configuration of such PDOs cannot be
changed, even if TwinCAT offers the associated dialog (“Edit”). In particular, CoE content cannot be
displayed as cyclic process data. This generally also applies in cases where a device supports
download of the PDO configuration, “G”. In case of incorrect configuration the EtherCAT slave
usually refuses to start and change to OP state. The System Manager displays an “invalid SM cfg”
logger message: This error message (“invalid SM IN cfg” or “invalid SM OUT cfg”) also indicates the
reason for the failed start.

A detailed description [} 114] can be found at the end of this section.

“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.

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Fig. 125: “Startup” tab

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.

“CoE - Online” tab

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.

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Fig. 126: “CoE - Online” tab

Object list display

Column Description
Index Index and sub-index of the object
Name Name of the object
Flags RW The object can be read, and data can be written to the object (read/write)
RO The object can be read, but no data can be written to the object (read only)
P An additional P identifies the object as a process data object.
Value Value of the object

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.

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Fig. 127: Dialog “Advanced settings”

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

Fig. 128: “Online” tab

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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.

File Access over EtherCAT

Download With this button a file can be written to the EtherCAT device.
Upload With this button a file can be read from the EtherCAT device.

“DC” tab (Distributed Clocks)

Fig. 129: “DC” tab (Distributed Clocks)

Operation Mode Options (optional):

• FreeRun
• SM-Synchron
• DC-Synchron (Input based)
• DC-Synchron
Advanced Settings… Advanced settings for readjustment of the real time determinant TwinCAT-clock

Detailed information to Distributed Clocks is specified on http://infosys.beckhoff.com:

Fieldbus Components → EtherCAT Terminals → EtherCAT System documentation → EtherCAT basics →

Distributed Clocks

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7.2.7.1 Detailed description of Process Data tab

Sync Manager

Lists the configuration of the Sync Manager (SM).

If the EtherCAT device has a mailbox, SM0 is used for the mailbox output (MbxOut) and SM1 for the mailbox
input (MbxIn).
SM2 is used for the output process data (outputs) and SM3 (inputs) for the input process data.

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.

Activation of PDO assignment

ü If you have changed the PDO assignment, in order to activate the new PDO assignment,
a) the EtherCAT slave has to run through the PS status transition cycle (from pre-operational to
safe-operational) once (see Online tab [} 112]),
b) and the System Manager has to reload the EtherCAT slaves

( button for TwinCAT 2 or button for TwinCAT 3)

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.

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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 [} 109] 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.

7.2.8 Import/Export of EtherCAT devices with SCI and XTI

SCI and XTI Export/Import – Handling of user-defined modified EtherCAT slaves

7.2.8.1 Basic principles

An EtherCAT slave is basically parameterized through the following elements:
• Cyclic process data (PDO)
• Synchronization (Distributed Clocks, FreeRun, SM-Synchron)
• CoE parameters (acyclic object dictionary)

Note: Not all three elements may be present, depending on the slave.

For a better understanding of the export/import function, let's consider the usual procedure for IO
configuration:
• The user/programmer processes the IO configuration in the TwinCAT system environment. This
involves all input/output devices such as drives that are connected to the fieldbuses used.
Note: In the following sections, only EtherCAT configurations in the TwinCAT system environment are
considered.
• For example, the user manually adds devices to a configuration or performs a scan on the online
system.
• This results in the IO system configuration.
• On insertion, the slave appears in the system configuration in the default configuration provided by the
vendor, consisting of default PDO, default synchronization method and CoE StartUp parameter as
defined in the ESI (XML device description).
• If necessary, elements of the slave configuration can be changed, e.g. the PDO configuration or the
synchronization method, based on the respective device documentation.

It may become necessary to reuse the modified slave in other projects in this way, without having to make
equivalent configuration changes to the slave again. To accomplish this, proceed as follows:
• Export the slave configuration from the project,
• Store and transport as a file,
• Import into another EtherCAT project.

TwinCAT offers two methods for this purpose:

• within the TwinCAT environment: Export/Import as xti file or
• outside, i.e. beyond the TwinCAT limits: Export/Import as sci file.

An example is provided below for illustration purposes: an EL3702 terminal with standard setting is switched
to 2-fold oversampling (blue) and the optional PDO "StartTimeNextLatch" is added (red):

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The two methods for exporting and importing the modified terminal referred to above are demonstrated
below.

7.2.8.2 Procedure within TwinCAT with xti files

Each IO device can be exported/saved individually:

The xti file can be stored:

and imported again in another TwinCAT system via "Insert Existing item":

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7.2.8.3 Procedure within and outside TwinCAT with sci file

Note regarding availability (2021/01)

The SCI method is available from TwinCAT 3.1 build 4024.14.

The Slave Configuration Information (SCI) describes a specific complete configuration for an EtherCAT slave
(terminal, box, drive...) based on the setting options of the device description file (ESI, EtherCAT Slave
Information). That is, it includes PDO, CoE, synchronization.

Export:
• select a single device via the menu (multiple selection is also possible):
TwinCAT → EtherCAT Devices → Export SCI.

• If TwinCAT is offline (i.e. if there is no connection to an actual running controller) a warning message
may appear, because after executing the function the system attempts to reload the EtherCAT
segment. However, in this case this is not relevant for the result and can be acknowledged by clicking
OK:

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• A description may also be provided:

• Explanation of the dialog box:

Name Name of the SCI, assigned by the user.
Description Description of the slave configuration for the use case, assigned by the user.
Options Keep modules If a slave supports modules/slots, the user can decide whether these are to be exported or
whether the module and device data are to be combined during export.
AoE | Set AmsNetId The configured AmsNetId is exported. Usually this is network-dependent and cannot
always be determined in advance.
EoE | Set MAC and IP The configured virtual MAC and IP addresses are stored in the SCI. Usually these are
network-dependent and cannot always be determined in advance.
CoE | Set cycle The configured cycle time is exported. Usually this is network-dependent and cannot
time(0x1C3x.2) always be determined in advance.
ESI Reference to the original ESI file.
Export Save SCI file.

• A list view is available for multiple selections (Export multiple SCI files):

• Selection of the slaves to be exported:

◦ All:
All slaves are selected for export.

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◦ None:
All slaves are deselected.
• The sci file can be saved locally:

• The export takes place:

Import
• An sci description can be inserted manually into the TwinCAT configuration like any normal Beckhoff
device description.
• The sci file must be located in the TwinCAT ESI path, usually under:
C:\TwinCAT\3.1\Config\Io\EtherCAT

• Open the selection dialog:

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• Display SCI devices and select and insert the desired device:

Additional Notes
• Settings for the SCI function can be made via the general Options dialog
(Tools → Options → TwinCAT → Export SCI):

Explanation of the settings:

Default export AoE | Set AmsNetId Default setting whether the configured AmsNetId is exported.
options CoE | Set cycle time(0x1C3x.2) Default setting whether the configured cycle time is exported.
EoE | Set MAC and IP Default setting whether the configured MAC and IP addresses are exported.
Keep modules Default setting whether the modules persist.
Generic Reload Devices Setting whether the Reload Devices command is executed before the SCI
export.
This is strongly recommended to ensure a consistent slave configuration.

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SCI error messages are displayed in the TwinCAT logger output window if required:

7.3 General Commissioning Instructions for an EtherCAT

Slave
This summary briefly deals with a number of aspects of EtherCAT Slave operation under TwinCAT. More
detailed information on this may be found in the corresponding sections of, for instance, the EtherCAT
System Documentation.

Diagnosis in real time: WorkingCounter, EtherCAT State and Status

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.

Fig. 130: Selection of the diagnostic information of an EtherCAT Slave

In general, an EtherCAT Slave offers

• 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.

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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.

Fig. 131: Basic EtherCAT Slave Diagnosis in the PLC

The following aspects are covered here:

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Code Function Implementation Application/evaluation

A The EtherCAT Master's diagnostic At least the DevState is to be evaluated for
information the most recent cycle in the PLC.
updated acyclically (yellow) or provided The EtherCAT Master's diagnostic
acyclically (green). information offers many more possibilities
than are treated in the EtherCAT System
Documentation. A few keywords:
• CoE in the Master for communication
with/through the Slaves
• Functions from TcEtherCAT.lib
• Perform an OnlineScan
B In the example chosen (EL3102) the Status In order for the higher-level PLC task (or
EL3102 comprises two analogue input corresponding control applications) to be
• the bit significations may be
channels that transmit a single function able to rely on correct data, the function
found in the device
status for the most recent cycle. status must be evaluated there. Such
documentation
information is therefore provided with the
• other devices may supply process data for the most recent cycle.
more information, or none that
is typical of a slave
C For every EtherCAT Slave that has cyclic WcState (Working Counter) In order for the higher-level PLC task (or
process data, the Master displays, using corresponding control applications) to be
0: valid real-time communication in
what is known as a WorkingCounter, able to rely on correct data, the
the last cycle
whether the slave is participating communication status of the EtherCAT Slave
successfully and without error in the cyclic 1: invalid real-time communication must be evaluated there. Such information is
exchange of process data. This important, This may possibly have effects on therefore provided with the process data for
elementary information is therefore the process data of other Slaves the most recent cycle.
provided for the most recent cycle in the that are located in the same
System Manager SyncUnit
1. at the EtherCAT Slave, and, with
identical contents
2. as a collective variable at the
EtherCAT Master (see Point A)
for linking.
D Diagnostic information of the EtherCAT State Information variables for the EtherCAT
Master which, while it is represented at the Master that are updated acyclically. This
current Status (INIT..OP) of the
slave for linking, is actually determined by means that it is possible that in any particular
Slave. The Slave must be in OP
the Master for the Slave concerned and cycle they do not represent the latest
(=8) when operating normally.
represented there. This information cannot possible status. It is therefore possible to
be characterized as real-time, because it AdsAddr read such variables through ADS.
• is only rarely/never changed, except The ADS address is useful for
when the system starts up communicating from the PLC/task
via ADS with the EtherCAT Slave,
• is itself determined acyclically (e.g.
e.g. for reading/writing to the CoE.
EtherCAT Status)
The AMS-NetID of a slave
corresponds to the AMS-NetID of
the EtherCAT Master;
communication with the individual
Slave is possible via the port (=
EtherCAT address).

NOTICE
Diagnostic information
It is strongly recommended that the diagnostic information made available is evaluated so that the
application can react accordingly.

CoE Parameter Directory

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:

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Fig. 132: EL3102, CoE directory

EtherCAT System Documentation

The comprehensive description in the EtherCAT System Documentation (EtherCAT Basics --> CoE
Interface) must be observed!

A few brief extracts:

• Whether changes in the online directory are saved locally in the slave depends on the device. EL
terminals (except the EL66xx) are able to save in this way.
• The user must manage the changes to the StartUp list.

Commissioning aid in the TwinCAT System Manager

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.

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Fig. 133: Example of commissioning aid for a EL3204

This commissioning process simultaneously manages

• CoE Parameter Directory
• DC/FreeRun mode
• the available process data records (PDO)

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 [} 25]" 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.

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Standard setting

The advanced settings of the EtherCAT Master are set as standard:

• EtherCAT Master: OP
• Slaves: OP
This setting applies equally to all Slaves.

Fig. 134: Default behaviour of the System Manager

In addition, the target state of any particular Slave can be set in the “Advanced Settings” dialogue; the
standard setting is again OP.

Fig. 135: Default target state in the Slave

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

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• because a change in the times involved in starting is desirable

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.

Fig. 136: PLC function blocks

Note regarding E-Bus current

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.

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Fig. 137: Illegally exceeding the E-Bus current

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:

Fig. 138: Warning message for exceeding E-Bus current

NOTICE
Caution! Malfunction possible!
The same ground potential must be used for the E-Bus supply of all EtherCAT terminals in a terminal block!

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8 EL5032-00x0 - Commissioning

8.1 Quick start

Proceed as follows for standard commissioning of the EL5032 with EnDat 2.2 encoders.

1. Install the EL5032 in the E-bus terminal strand on an EtherCAT coupler, e.g. EK1100 or EK1501.
2. Connect the EnDat 2.2 encoder(s) according to the connection diagram (Data(+/-), Clock(+/-) and
supply voltage).
The encoders must support EnDat 2.2 and a clock frequency >= 8 MHz.
3. Set up a correct EtherCAT configuration with the terminal.
Since the device is present and is electrically reachable, the simplest way of accomplishing this is by
scanning the devices [} 98].
4. Activate the EtherCAT master and start the terminal in OP state.
In the input variables the EL5032 must deliver State=8 and WC=0.
5. Parameterize the CoE settings of the EL5032 according to the EnDat2.2 encoder data sheet.
◦ Reverse any previous parameter changes by means of a CoE reset: enter 0x64616F6C in object
0x1011:01 [} 141].
◦ If an encoder voltage of, for sample, 9 V is set in object 0x8008:13 [} 142], ensure before
connecting that this is supported by both encoders.
6. The data can now be read via the process data [} 141].

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8.2 Process data

8.2.1 Sync Manager (SM)

The scope of process data offered can be modified via the "Process Data" tab (see Fig. Process Data tab
SM3, EL5032 (default) below).

Fig. 139: Process data tab SM3, EL5032-0000-0028 (default)

8.2.2 PDO Assignment

To configure the process data, proceed as follows:
• Select the required Sync Manager (SM2 + SM3 can be edited here) in the "Sync Manager" box at the
top left (see fig. Process Data tab SM3, EL5032-0000-0028 (default)).
• The process data assigned to this Sync Manager can then be switched on or off in the "PDO
Assignment" box underneath.
• Restarting the EtherCAT system, or reloading the configuration in Config mode (F4), causes the
EtherCAT communication to restart, and the process data is transferred from the terminal.

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PDO assignment of Sync Managers, EL5032

SM3, PDO Assignment 0x1C13
Index Size (byte.bit) Name PDO content Size (byte.bit)
0x1A00 (default) 10.0 Status_Warning Index 0x6000:01 [} 143] 0.1
FB Inputs Channel 1
Status_Error Index 0x6000:02 [} 143] 0.1
Status_Ready Index 0x6000:03 [} 143] 0.1
[Offset] - 0.5
[Offset] - 0.4
Status_Diag Index 0x6000:0D [} 143] 0.1
Status_TxPDO State Index 0x6000:0E [} 143] 0.1
Status_Input Cycle counter Index 0x6000:0F [} 143] 0.2
Position Index 0x6000:11 [} 143] 8.0
0x1A01 (default) 10.0 Status_Warning Index 0x6010:01 [} 143] 0.1
FB Inputs Channel 2
Status_Error Index 0x6010:02 [} 143] 0.1
Status_Ready Index 0x6010:03 [} 143] 0.1
[Offset] - 0.5
[Offset] - 0.4
Status_Diag Index 0x6010:0D [} 143] 0.1
Status_TxPDO State Index 0x6010:0E [} 143] 0.1
Status_Input Cycle counter Index 0x6010:0F [} 143] 0.2
Position Index 0x6010:11 [} 143] 8.0
0x1A02 6.0 Status_Warning Index 0x6000:01 [} 143] 0.1
FB Inputs Channel 1
Status_Error Index 0x6000:02 [} 143] 0.1
compact
Status_Ready Index 0x6000:03 [} 143] 0.1
[Offset] - 0.5
[Offset] - 0.4
Status_Diag Index 0x6000:0D [} 143] 0.1
Status_TxPDO State Index 0x6000:0E [} 143] 0.1
Status_Input Cycle counter Index 0x6000:0F [} 143] 0.2
Position Index 0x6000:11 [} 143] 4.0
0x1A03 6.0 Status_Warning Index 0x6010:01 [} 143] 0.1
FB Inputs Channel 2
Status_Error Index 0x6010:02 [} 143] 0.1
compact
Status_Ready Index 0x6010:03 [} 143] 0.1
[Offset] - 0.5
[Offset] - 0.4
Status_Diag Index 0x6010:0D [} 143] 0.1
Status_TxPDO State Index 0x6010:0E [} 143] 4.0
Status_Input Cycle counter Index 0x6010:0F [} 143] 4.0
Position Index 0x6010:11 [} 143] 4.0
0x1A04*) 4.0 Velocity Index 0x6008:12 [} 143] 4.0
FB Velocity Inputs
Channel 1
0x1A05*) 4.0 Velocity Index 0x6018:12 [} 143] 4.0
FB Velocity Inputs
Channel 2
*)
EL5032 from Firmware 16, Revision 28 /EL5032-0090 from Revision 17

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8.2.3 Predefined PDO Assignment

The "Predefined PDO Assignment" enables a simplified selection of the process data. The desired function is
selected on the lower part of the Process Data tab. As a result, all necessary PDOs are automatically
enabled and the unnecessary PDOs are disabled.

Depending on the firmware/revision status, the following PDO assignments are available for selection:

Name SM3, PDO assignment

1 Ch. Standard 0x1A00 [} 149] (FB Inputs Channel 1)
1 Ch. Compact 0x1A02 [} 150] (FB Inputs Channel 1 compact)
2 Ch. Standard 0x1A00 [} 149] (FB Inputs Channel 1)
0x1A01 [} 149] (FB Inputs Channel 2)
2 Ch. Compact 0x1A02 [} 150] (FB Inputs Channel 1 compact)
0x1A03 [} 150] (FB Inputs Channel 2 compact)
*)
1 Ch. Standard, Velocity 0x1A00 [} 149] (FB Inputs Channel 1)
0x1A04 [} 150] (FB Inputs Velocity Channel 1)
*)
1 Ch. Compact, Velocity 0x1A02 [} 150] (FB Inputs Channel 1 compact)
0x1A04 [} 150] (FB Inputs Velocity Channel 1)
*)
2 Ch. Standard, Velocity 0x1A00 [} 149] (FB Inputs Channel 1)
0x1A01 [} 149] (FB Inputs Channel 2)
0x1A04 [} 150] (FB Inputs Velocity Channel 1)
0x1A05 [} 150] (FB Inputs Velocity Channel 2)
2 Ch. Compact, Velocity*) 0x1A02 [} 150] (FB Inputs Channel 1 compact)
0x1A03 [} 150] (FB Inputs Channel 2 compact)
0x1A04 [} 150] (FB Inputs Velocity Channel 1)
0x1A05 [} 150] (FB Inputs Velocity Channel 2)
*)
EL5032 from Firmware 16 , Revision 28 / EL5032-0090 from Revision 17

Fig. 140: Process data tab Predefined PDO Assignment, EL5032-0000-0028

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8.3 Velocity measurement

In addition to the pure position value, a velocity value can also be calculated and output (EL5032: from
firmware 16, Revision 28 /EL5032-0090: from Revision 17).

Procedure of velocity measurement

The velocity is calculated from the change of the position value in a defined time interval.
The result is output via the process data either in index 0x60n8:12 "Velocity" or in index 0x60n8:13 "Velocity
(int16)" (n = 0 for channel 1, n = 1 for channel 2).
• Selection of the velocity window in index 0x80n8:17 "Velocity window"
◦ Default: 10 ms
◦ Follow the instructions below to select the correct timeframe.
• The velocity value can be normalized over the two indices:
◦ 0x80n8:15 "Velocity numerator"
◦ 0x80n8:16 "Velocity denominator".
• Additionally, a digital filter can be set (see chapter "Filter operation [} 134]")
• The calculated velocity value is output:
◦ either via 0x60n8:12 "Velocity"
◦ or via 0x60n8:13 "Velocity (int16)"
• The calculation is carried out acyclically and without reference to the distributed clock system and is
therefore independent of the operation mode.

Correct selection of the timeframe

The timeframe for measuring the velocity is set to 10 ms in the delivery state. It is always a multiple of the
cycle time, and is rounded up to the next larger value. This is due to technical reasons, because the position
value is internally available only once per PLC cycle.

The accuracy of the determined velocity depends on the size of the timeframe (0x80n8:17 "Velocity
window"). This must be selected according to the application.
• At constant velocities, select a larger timeframe so that the best possible averaging can take place.
• In situations where frequent positive or negative accelerations are encountered, select a smaller
timeframe in order to be able to respond more quickly to changing position values.

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8.4 Filter operation

Velocity Filter (index 0x80p8:18 [} 141])

The EL5032 (from FW16 [} 173]) and EL5032-0090 terminals are equipped with a digital filter that can
assume the characteristics of an Infinite Impulse Response filter (IIR filter). The filter is disabled by default
(value: "0" (None)).

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 as a sliding average value calculation after a low-pass filter.
Here, the IIR filters work cycle-synchronously and are thus updated depending on the cycle time.

IIR filter
Difference equation: Yn = Xn * a0 + Yn-1 * b1
with a0 + b1 = 1
a0 = (see table)
b1 = 1 - a0

Velocity Filter Value PDO update time Filter property Comment Rise time
0x80p8:18 10-90%
[samples] (typ.)
0 None - - Filter disabled -
1 IIR 1 Cycle-synchronous Low-pass filter a0 = 1/21 = 0.5 3
2 IIR 2 (up to min. 100 µs) a0 = 1/22 = 0.25 8
3 IIR 3 a0 = 1/23 = 0.125 17
4 IIR 4 a0 = 1/24 = 0.0625 34
5 IIR 5 a0 = 1/25 = 0.03125 69
6 IIR 6 a0 = 1/26 = 0.015625 140
7 IIR 7 a0 = 1/27 = 0.0078125 280
8 IIR 8 a0 = 1/28 = 0.00390625 562

Fig. 141: Rise time T 10 – 90% (typ.)

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8.5 Overview of commands and samples

The FB EnDat Command object, index 0xB0n8:01 [} 143] "Request" can be used to trigger various actions
such as reading or writing to a specific memory area of the EnDat encoder (depending on the number of
channels with n = 0 for channel 1 and n = 1 for channel 2).
The command is entered via the System Manager or the PLC (see following note)

Command entry via the System Manager

• If the command input is written via the System Manager, the value must be entered in the
"Binary" field.

ð LOBYTE first, (see following fig.).

ð Space between all bytes of the request

If entered without a space, the command is not accepted correctly.
• If the command is initiated via the PLC, then this takes place automatically.

Fig. 142: Input using the example of command 0x8001 in the Set Value Dialog in the System Manager

Overview of commands

The following table provides an overview of the available commands, with detailed descriptions and
examples in the following chapters.
Command Description
0x1000 [} 136] Clearing the Diag History (see note above)
0x1001 [} 136] Diag History Test
All implemented Diag messages are sent channel-dependent with this command.
0x8001 [} 137] EnDat Reset
(sends the mode command “measuring device send position values and receive error
reset”)
0x8006 [} 137] EnDat read Pos2,
calculate and write offset (only for incremental encoders with reference mark).
0x8008 [} 138] Suppress TxPDOState (only for EL5032 from FW 17)
(suppresses the "TxPDO State", e.g. for encoders with distance-coded reference marks)
0x9000 [} 139] Read EnDat Word
0x9001 [} 140] Write EnDat Word

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8.5.1 Command 0x1000 - Delete Diag History

To delete the Diag History, proceed as follows:
1. Enter the command 0x1000 via the FB EnDat Command object, index 0xB0p8:01 [} 143] "Request".
(dependent on the number of channels with p = 0 for channel 1 and p = 1 for channel 2).
ð Please observe the note on Command Entry via the System Manager [} 135].

CoE Entry / Example for command 0x1000

Fig. 143: Example command 0x1000, delete Diag History for channel 1

8.5.2 Command 0x1001 - Diag History Test

All implemented Diag messages are sent channel-dependent with this message.

Proceed as follows:
1. Enter the command 0x1001 via the FB EnDat Command object, index 0xB0p8:01 [} 143] "Request".
(dependent on the number of channels with p = 0 for channel 1 and p = 1 for channel 2).
ð Please observe the note on Command Entry via the System Manager [} 135].

CoE Entry / Example for command 0x1001

Fig. 144: Example command 0x1001, Diag History test for channel 1

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8.5.3 Command 0x8001 - EnDat Reset

The command 0x8001 "EnDat Reset" sends the mode command "Encoder sends position values and
receives error reset".

With this command the words 0 and 1 (error messages and warnings) in the operating state memory area
are also reset.

With battery-buffered multi-turn rotary encoders the battery operating state error must be reset with this
command after replacing the battery.

Proceed as follows:
1. Enter the command 0x1001 via the FB EnDat Command object, index 0xB0p8:01 [} 143] "Request".
(dependent on the number of channels with p = 0 for channel 1 and p = 1 for channel 2).
ð Please observe the note on Command Entry via the System Manager [} 135].

CoE Entry / Example for command 0x8001

Fig. 145: Example command 0x8001, EnDat reset for channel 1

8.5.4 Command 0x8006 - EnDat read Pos2

The command 0x8006 "EnDat read Pos2",
calculate and write offset (only for incremental encoders with reference mark).

The command calculates the difference between Position1 and Position2.

ü A prerequisite is that the RM bit (Reference Mark) (0xA0p8:04 [} 146]) is set.
1. Enter the command 0x8006 via the FB EnDat Command object, index 0xB0p8:01 [} 143] "Request".
(dependent on the number of channels with p = 0 for channel 1 and p = 1 for channel 2).
ð Please observe the note on Command Entry via the System Manager [} 135].

The offset is then automatically written to 0x80p8:12 [} 142] “Offset value”. The “Position raw value”
(0xA0p8:43 [} 146]) is then absolute.

CoE Entry / Example for command 0x8006

Fig. 146: Example command 0x8006, EnDat read Pos2 for channel 1

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8.5.5 Command 0x8008 - Suppress TxPDO State (EL5032)

The command 0x8008 "Suppress TxPDO State" suppresses the "TxPDOState" (only EL5032 from FW 17).

This command suppresses the "TxPDO State" until the reference marks have been reached, e.g. for
encoders with distance-coded reference marks, and the bit in 0xA0p8:04 "Reference Mark" = TRUE.
The output position is then absolute.
1. Enter the command 0x8008 via the FB EnDat Command object, index 0xB0p8:01 [} 143] "Request".
(dependent on the number of channels with p = 0 for channel 1 and p = 1 for channel 2).
ð Please observe the note on Command Entry via the System Manager [} 135].

CoE Entry / Example for command 0x8008

Example of commissioning encoders with distance-coded reference marks

E.g. HEIDENHAIN encoders from the EIB 1500 series External interface box, signal converter for high-
accuracy angular measurement do not initially provide an absolute position value after switch-on. An
absolute position value is only available after passing the distance-coded reference marks.
1. Initial state:
No absolute position value is available.
ð The following is therefore reported back via the process data:
0x60p0:01 [} 143] "Warning" = TRUE and
0x60p0:0E [} 143] "TxPDO State" = TRUE
The axis cannot be moved via the NC as the position data is invalid.
2. Set command 0x8008 "Suppress TxPDO State".
The TxPDO State is suppressed until the distance-coded reference marks have been passed. If the axis
is released, it can now be moved with the NC.
ð If "Reference mark" = TRUE is reported in the "FB EnDat Diag data Ch. p" object index 0xA0p8:04
[} 146], homing is complete.
3. Command 0x8001 [} 137] "Encoder reset" is used to reset the encoder. The "Warning flag" in the
process data 0x60xp0:01 "Warning" is also reset.
4. Command 0x8006 [} 137] "EnDat read Pos2, calculate and write offset" is used to write the calculated
offset to object "EnDat Settings Ch. p" Index 0x80p8:12 [} 142] "Offset value".
ð As soon as the status of the currently executed command object in index 0xB0p:02 [} 143]
"Status" = 1, the command has been accepted without errors.
ð The position value in index 0x60p:11 "Position" is now absolute.

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8.5.6 Command 0x9000 - Read EnDat Word

Proceed as follows for the command 0x9000 "Read EnDat Word":
1. Write request
Enter the 5 byte header via the FB EnDat Command object, index 0xB0p8:01 [} 143] "Request" as
follows. (dependent on the number of channels with p = 0 for channel 1 and p = 1 for channel 2).
0: LOBYTE command
1: HIBYTE command
2: MRS code
3: Offset
4: Length in Words
2. Read status 0xB0p8:02:
A valid response is present if this is 0x01.
3. Read response:
(5 byte Header + 1 to 32 Word data)
0: Acknowledgement LOBYTE command
1: Acknowledgement HIBYTE command
2: Acknowledgement MRS code
3: Acknowledgement offset
4: Acknowledgement length in Words
5: LOBYTE Word 0
6: HIBYTE Word 0
....
5+(n*2) LOBYTE Word n
5+(n*2) HIBYTE Word n

CoE Entry / Example for command 0x9000

Example read encoder designation

Command read: 0x9000

MRS code: "Parameter of the encoder manufacturer for EnDat2.2": 0xBD
Offset Word 17: 0x11
Length: 0x04
1. Write request 0xB008:01: "00 90 BD 11 04"

Fig. 147: Example command 0x9000 Read encoder designation

2. Read status 0xB008:02: A valid response is present if this is 0x01.

3. Read Response
5 byte acknowledgement Header + 4 Word data
0x45 = ASCII "E"
0x43 = ASCII "C"
0x4E = ASCII "N"
0x20 = ASCII " "
0x31 = ASCII "1"
0x31 = ASCII "1"
0x32 = ASCII "2"
0x33 = ASCII "3"
ð The encoder designation is "ECN 1123"

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8.5.7 Command 0x9001 - Write EnDat Word

Proceed as follows for the command 0x9001 "Write EnDat Word":
1. Write request
Enter the 5 byte Header and 1 to 32 Word data via the FB EnDat Command object, index 0xB0p8:01
[} 143] "Request" as follows. (dependent on the number of channels with p = 0 for channel 1 and p = 1
for channel 2).
0: LOBYTE Command
1: HIBYTE Command
2: MRS Code
3: Offset
4: Length in Words
5: LOBYTE Word 0
6: HIBYTE Word 0
...
5+(n*2) LOBYTE Word n
5+(n*2) HIBYTE Word n
2. Read status 0xB0p8:02:
The data have been successfully written if this is 0x01.
3. Read response:
(5 byte Header + 1 to 32 Word data)
0: Acknowledgement LOBYTE command
1: Acknowledgement HIBYTE command
2: Acknowledgement MRS code
3: Acknowledgement Offset
4: Acknowledgement Length in Words

CoE Entry / Example for command 0x9001

Example: Write encoder address

Write command: 0x9001

MRS code: "Operating parameters": 0xA7
Offset Word 04: 0x04
Length: 0x01
New encoder address: 0x1234
1. Write request 0xB008:01: "01 90 A7 04 01 34 12"

Fig. 148: Example command 0x9001 Write encoder address

2. Read status 0xB008:02: If this is 0x01, the data was written successfully.
3. Read response
5 byte acknowledgement Header + 1 Word data
0x34 = LOBYTE of "0x1234"
0x12 = HIBYTE of "0x1234"

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8.6 EL5032-00x0 - Object description and parameterization

EtherCAT XML Device Description
The display matches that of the CoE objects from the EtherCAT XML Device Description. We
recommend downloading the latest XML file from the download area of the Beckhoff website and
installing it according to installation instructions.

Parameterization via the CoE list (CAN over EtherCAT)

The EtherCAT device is parameterized via the CoE-Online tab [} 110] (double-click on the
respective object) or via the Process Data tab [} 107](allocation of PDOs). Please note the following
general CoE notes [} 27] when using/manipulating the CoE parameters:
• Keep a startup list if components have to be replaced
• Differentiation between online/offline dictionary, existence of current XML description
• use “CoE reload [} 185]” for resetting changes

8.6.1 Restore object

Index 1011 Restore default parameters
Index Name Meaning Data type Flags Default
(hex)
1011:0 Restore default Restore default parameters UINT8 RO 0x01 (1dec)
parameters [} 185]
1011:01 SubIndex 001 If this object is set to “0x64616F6C” in the set value UINT32 RW 0x00000000 (0dec)
dialog, all backup objects are reset to their delivery state.

8.6.2 Configuration data

Index 80p0 FB Settings (dependent on the number of channels for Ch.1, p = 0; Ch.2, p = 1)
Index (hex) Name Meaning Data type Flags Default
80p0:0 FB Settings Max. subindex UINT8 RO > 17 <
80p0:01 Invert feedback TRUE: Negates the 64-bit position value BOOLEAN RW FALSE
direction
80p0:11 Device type 02: EnDat UINT32 RW 0x00000002
(2dec)

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Index 80p8 FB EnDat settings (dependent on the number of channels for Ch.1, p = 0; Ch.2, p = 1)
Index (hex) Name Meaning Data type Flags Default
80p8:0 FB EnDat settings Max. subindex UINT8 RO > 24 <
80p8:01 Invert feedback TRUE: Negates the 64-bit position value BOOLEAN RW FALSE
direction
80p8:12 Offset value Value that will be added to the EnDat position value INT64 RW 00 00 00 00
00 00 00 00
80p8:13 Supply voltage Encoder supply voltage: UINT8 RW 5.0 V (50)
50: 5.0 V
90: 9.0 V (see note below)
80p8:15*) Velocity numerator Velocity numerator value UINT32 RW 0x00000064
Velocity scaling (100dec)
80p8:16*) Velocity denominator Velocity denominator value UINT32 RW 0x00000001
Velocity scaling (1dec)
80p8:17*) Velocity window Minimum time over which the velocity is determined. UINT32 RW 0x00002710
Default value: 10 ms [resolution 1 µs]. (10000dec)
Multiples of the cycle time are rounded up to the next
larger value
80p8:18*) Velocity filter 0: None
1: IIR1
2: IIR2
3: IIR3
4: IIR4
5: IIR5
6: IIR6
7: IIR7
8: IIR8
*)
EL5032: from Firmware 16, Revision 28 / EL5032-0090 from Revision 17

Reading or writing values of the EndDat encoder

If the configuration and information data access specific memory areas of the Endat encoder, make
sure that the encoder is connected and supplied with voltage to read or write to these memory
areas.
If no communication can be established with the EnDat encoder, an error message "Data cannot be
transferred or stored to the application" is displayed.

Setting the encoder supply voltage

To write 0x8008:13 "Supply Voltage", the value 0x72657375 (ASCII:"user") must be set in 0xF008
[} 147] "Code word". Specification in 0.1 V.
Only the values 50 (5.0 V) and 90 (9.0 V) are permissible. This setting applies to both channels;
therefore, before switching to 9.0 V, it must be ensured that both EnDat encoders support the
extended voltage range! The setting is only adopted in the "INIT" state.
The encoder supply voltage is set for both channels in object 0x80p8!

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8.6.3 Command object

Index B0p8 FB ENDat Command (dependent on the number of channels for Ch.1, p = 0; Ch.2, p = 1)
Index (hex) Name Meaning Data type Flags Default
B0p8:0 FB ENDat Command Max. subindex UINT8 RO >3<
B0p8:01 Request The Object command can be used to initiate various OCTET- RW
actions, such as the reading or writing of a particular STRING[69]
memory area of the EnDat encoder.
Request: up to 69 bytes
see Commands [} 130]
B0p8:02 Status Status of the command currently being executed UINT8 RO 0x00 (0dec)
0: Command executed without error and without
response
1: Command executed without error and with response
2: Command executed with error and without response
3: Command executed with error and with response
255: Command is being executed
B0p8:03 Response Optional return value of the command OCTET- RO
Response: up to 69 bytes STRING[69]

8.6.4 Input data

Index 60p0 FB Inputs (dependent on the number of channels for Ch.1, p = 0; Ch.2, p = 1)
Index (hex) Name Meaning Data type Flags Default
60p0:0 FB Inputs Max. subindex UINT8 RO > 18 <
60p0:01 STATUS_Warning Warning bit of the EnDat protocol BOOLEAN RO FALSE
60p0:02 STATUS_Error Error collecting bit of the EnDat protocol (error message BOOLEAN RO FALSE
1/ error message 2)
60p0:03 STATUS_Ready Ready for use (initialization of the encoder completed) BOOLEAN RO FALSE
60p0:0D STATUS_Diag Indicates that a new message is available in the "Diag BOOLEAN RO TRUE
History"
60p0:0E STATUS_TxPDO Validity of the data of the associated TxPDO (0 = valid, 1 BOOLEAN RO TRUE
State = invalid)
60p0:0F STATUS_Input cycle 2-bit counter for synchronization (incremented only if a BIT2 RO 0
counter new value is present)
60p0:11 Position EnDat position value UINT64 RO 00 00 00 00
00 00 00 00
EL5032:0090:
ULINT values cannot be processed in the TwinSAFE
logic, therefore there is no possibility to transmit the
position value 0x60n0:11 [} 143] "Position" to the
TwinSAFE logic. In this case the process data must be
parameterized under 0x8021 [} 162] "TSC Process Data
settings".
60p0:12 Position (uint32) EnDat position value (unit32) UINT32 RO 00 00 00 00

Index 60p8 FB Inputs (dependent on the number of channels for Ch.1, p = 0; Ch.2, p = 1) (EL5032
from FW 16, Rev.28 / EL5032-0090 from Revision 17)
Index (hex) Name Meaning Data type Flags Default
60p8:0 FB ENDat Inputs Max. subindex UINT8 RO > 19 <
Ch(n+1)
60p8:12 Velocity Velocity DINT32 RO 0x00000000
(0dec)
60p8:13 Velocity (int 16) Velocity DINT16 RO 0x0000 (0dec)

Also see about this

2 EL5032-0090 - TwinSAFE Single Channel objects [} 161]

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8.6.5 Information data

(Electronic type plate and list of the supported errors and warnings)

Index 90p8 FB EnDat Info data (dependent on the number of channels for Ch.1, p = 0; Ch.2, p = 1)
Index (hex) Name Meaning Data type Flags Default
90p8:0 FB ENDat Info data Max. subindex UINT8 RO > 81 <
90p8:01 Encoder type 0: "Linear encoder" BIT2 RO Linear
1: "Rotary/angle encoder" encoder (0dec)
2: "EIB" (External interface Box)
90p8:03 Reference system 0: "Incremental" BIT1 RO Incremental
1: "Absolute" (0dec)
90p8:11 Encoder designation Encoder designation, e.g.: LC181 STRING RO
90p8:12 Encoder ident number Encoder ident number STRING RO
90p8:13 Encoder serial number Encoder serial number STRING RO
90p8:14 Multiturn resolution Number of distinguishable revolutions e.g: 4096 UINT32 RO 0x00000000
(corresponds to 12 bit) (0dec)
90p8:15 Singleturn resolution “Rotary/angle encoder” only: number of measuring UINT32 RO 0x00000000
steps per revolution (0dec)
90p8:16 Measuring step “Linear encoder” only: step size in nm UINT32 RO 0x00000000
(0dec)
90p8:21 Light source error supported Corresponding diagnostic entry in 0xA0p8 [} 146] BOOLEAN RO FALSE
90p8:22 Signal amplitude error FALSE: not supported
supported TRUE: supported
90p8:23 Position error supported
90p8:24 Overvoltage error supported
90p8:25 Undervoltage error supported
90p8:26 Overcurrent error supported
90p8:27 Battery error supported
90p8:31 Frequency warning
supported
90p8:32 Temperature warning
supported
90p8:33 Light source warning
supported
90p8:34 Battery warning supported
90p8:35 Reference Mark warning
supported
90p8:36 Acyclic mode warning
supported
90p8:37 Limit position warning
supported
90p8:38 Not ready warning supported
90p8:39 Diagnostic warning supported
90p8:43 Temperature 1 (extern)
supported
90p8:44 Temperature 2 (intern)
supported
90p8:51 Clock pulse periods Number of position bits UINT16 RO 0x0000 (0dec)

Reading or writing values of the EndDat encoder

If the configuration and information data access specific memory areas of the Endat encoder, make
sure that the encoder is connected and supplied with voltage to read or write to these memory
areas.
If no communication can be established with the EnDat encoder, an error message "Data cannot be
transferred or stored to the application" is displayed.

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8.6.6 Diagnostic data

Index 10F3 Diagnosis History
Index (hex) Name Meaning Data type Flags Default
10F3:0 Diagnosis History Maximum subindex UINT8 RO > 55 <
10F3:01 Maximum Messages Maximum number of stored messages UINT8 RO 0x32 (50dec)
A maximum of 50 messages can be stored
10F3:02 Newest Message Subindex of the latest message UINT8 RO 0x00 (0dec)
10F3:03 Newest Subindex of the last confirmed message UINT8 RW 0x00 (0dec)
Acknowledged
Message
10F3:04 New Messages Indicates that a new message is available BOOLEAN RO FALSE
Available
10F3:05 Flags not used UINT16 RW 0x0000 (0dec)
10F3:06 Diagnosis Message Message 1 OCTET- RO
001 STRING[28]
... ... ...
10F3:37 Diagnosis Message Message 50 OCTET- RO
050 STRING[28]

Index 10F8 Actual Time Stamp

Index (hex) Name Meaning Data type Flags Default
10F8:0 Actual Time Stamp Time stamp UINT64 RO

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Index A0p8 FB EnDat Diag data (dependent on the number of channels for Ch.1, p = 0; Ch.2, p = 1)
Index (hex) Name Meaning Data type Flags Default
A0p8:0 FB EnDat Diag data Max. subindex UINT8 RO > 67 <
A0p8:01 Warning Warning bit of the EnDat protocol BOOLEAN RO FALSE
• FALSE: no warning
• TRUE: indicates that a warning has occurred
(collective message)
A0p8:02 Error 1 Error 2 bit of the EnDat protocol BOOLEAN RO FALSE
• FALSE: no error message 1
• TRUE: indicates that an error message 1 has
occurred (collective message)
A0p8:03 Error 2 (active low) Error 2 bit of the EnDat protocol BOOLEAN RO FALSE
• FALSE: no error message 2
• TRUE: indicates that an error message 2 has
occurred (collective message)
A0p8:04 Reference Mark • FALSE: homing not completed BOOLEAN RO FALSE
• TRUE: homing completed. Already set when
switching on in case of absolute encoders
A0p8:11 CRC Error Position Incremented with each "CRC Error Position" UINT16 RW 0x0000 (0dec)
counter Reset on reinitialization
A0p8:12 CRC Error Z1 counter Incremented with each "CRC error additional information UINT16 RW 0x0000 (0dec)
1"
Reset on reinitialization
A0p8:13 CRC Error Z2 counter Incremented with each "CRC error additional information UINT16 RW 0x0000 (0dec)
2"
Reset on reinitialization
A0p8:21 Light source error Lighting BOOLEAN RO FALSE
• FALSE: OK
• TRUE: failure
A0p8:22 Signal amplitude error Signal amplitude BOOLEAN RO FALSE
• FALSE: OK
• TRUE: error
A0p8:23 Position error Position BOOLEAN RO FALSE
• FALSE: OK
• TRUE: error
A0p8:24 Overvoltage error Overvoltage BOOLEAN RO FALSE
• FALSE: none
• TRUE: yes
A0p8:25 Undervoltage error Undervoltage BOOLEAN RO FALSE
• FALSE: none
• TRUE: supply undervoltage
A0p8:26 Overcurrent error Overcurrent BOOLEAN RO FALSE
• FALSE: no
• TRUE: yes
A0p8:27 Battery error Battery BOOLEAN RO FALSE
• FALSE: OK
• TRUE: change required
A0p8:31 Frequency warning Frequency collision BOOLEAN RO FALSE
• FALSE: none
• TRUE: yes
A0p8:32 Temperature warning Overtemperature BOOLEAN RO FALSE
• FALSE: none
• TRUE: yes
A0p8:33 Light source warning Lighting control reserve BOOLEAN RO FALSE
• FALSE: not achieved
• TRUE: achieved

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Index (hex) Name Meaning Data type Flags Default

A0p8:34 Battery warning Battery charge level BOOLEAN RO FALSE
• FALSE: OK
• TRUE: too low
A0p8:35 Reference mark Reference point BOOLEAN RO FALSE
warning
• FALSE: not achieved
• TRUE: achieved
A0p8:36 Acyclic mode warning Cyclic operation BOOLEAN RO FALSE
• FALSE: cyclic
• TRUE: acyclic
A0p8:37 Limit position warning Limit position BOOLEAN RO FALSE
• FALSE: not achieved
• TRUE: achieved
A0p8:38 Not ready warning Readiness BOOLEAN RO FALSE
• FALSE: yes
• TRUE: none
A0p8:39 Diagnostic warning Diagnosis BOOLEAN RO FALSE
• FALSE: OK
• TRUE: threshold value exceeded
A0p8:41 Temperature sensor 1 Temperature sensor 1 (0x8000 is output if not supported) INT16 RO 0x8000
(extern) Unit: 0.1 °C (-32768dec)
A0p8:42 Temperature sensor 2 Temperature sensor 1 (0x8000 is output if not supported) INT16 RO 0x8000
(extern) Unit: 0.1 °C (-32768dec)
A0p8:43 Position raw value Position value without inversion and offset UINT64 RO 00 00 00 00
00 00 00 00

8.6.7 Standard objects

Index 1000 Device type
Index (hex) Name Meaning Data type Flags Default
1000:0 Device type Device type of the EtherCAT slave: The Lo-Word UINT32 RO EL5032:
contains the CoE profile used (5001). The Hi-Word 0x02011389
contains the module profile according to the modular (5001dec)
device profile.
EL5032-0090:
0x00001389
(33624969dec)

Index 1008 Device name

Index (hex) Name Meaning Data type Flags Default
1008:0 Device name Device name of the EtherCAT slave STRING RO EL5032
EL5032-0090

Index 1009 Hardware version

Index (hex) Name Meaning Data type Flags Default
1009:0 Hardware version Hardware version of the EtherCAT slave STRING RO 01

Index 100A Software version

Index (hex) Name Meaning Data type Flags Default
100A:0 Software version Firmware version of the EtherCAT slave STRING RO 09

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Index 1018 Identity

Index (hex) Name Meaning Data type Flags Default
1018:0 Identity Information for identifying the slave UINT8 RO >4<
1018:01 Vendor ID Vendor ID of the EtherCAT slave UINT32 RO 0x00000002
(2dec)
1018:02 Product code Product code of the EtherCAT slave UINT32 RO 0x13A83052
(329789522dec
)
1018:03 Revision Revision number of the EtherCAT slave; the Low Word UINT32 RO 0x00130000
(bit 0-15) indicates the special terminal number, the High (1245184dec)
Word (bit 16-31) refers to the device description
1018:04 Serial number Serial number of the EtherCAT slave; the Low Byte (bit UINT32 RO 0x00000000
0-7) of the Low Word contains the year of production, the (0dec)
High Byte (bit 8-15) of the Low Word contains the week
of production, the High Word (bit 16-31) is 0

Index 10F0 Backup parameter handling

Index (hex) Name Meaning Data type Flags Default
10F0:0 Backup parameter Information for standardized loading and saving of UINT8 RO >1<
handling backup entries
10F0:01 Checksum Checksum across all backup entries of the EtherCAT UINT32 RO 0x00000D06
slave (3334dec)

Index 1800 FB TxPDO-Par Inputs Ch.1

Index (hex) Name Meaning Data type Flags Default
1800:0 FB TxPDO-Par Inputs PDO parameter TxPDO 1 UINT8 RO >6<
Ch.1
1800:06 Exclude TxPDOs Specifies the TxPDOs (index of TxPDO mapping objects) OCTET- RO 02 1A
that must not be transferred together with TxPDO 1 STRING[2]

Index 1801 FB TxPDO-Par Inputs Ch.2

Index (hex) Name Meaning Data type Flags Default
1801:0 FB TxPDO-Par Inputs PDO parameter TxPDO 2 UINT8 RO >6<
Ch.2
1801:06 Exclude TxPDOs Specifies the TxPDOs (index of TxPDO mapping objects) OCTET- RO 03 1A
that must not be transferred together with TxPDO 2 STRING[2]

Index 1802 FB TxPDO-Par Inputs Ch.1 compact

Index (hex) Name Meaning Data type Flags Default
1802:0 FB TxPDO-Par Inputs PDO parameter TxPDO 3 UINT8 RO >6<
Ch.1 compact
1802:06 Exclude TxPDOs Specifies the TxPDOs (index of TxPDO mapping objects) OCTET- RO 00 1A
that must not be transferred together with TxPDO 3 STRING[2]

Index 1803 FB TxPDO-Par Inputs Ch.2 compact

Index (hex) Name Meaning Data type Flags Default
1803:0 FB TxPDO-Par Inputs PDO parameter TxPDO 4 UINT8 RO >6<
Ch.2 compact
1803:06 Exclude TxPDOs Specifies the TxPDOs (index of TxPDO mapping objects) OCTET- RO 01 1A
that must not be transferred together with TxPDO 4 STRING[2]

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Index 1A00 FB TxPDO-Map Inputs Ch.1

Index (hex) Name Meaning Data type Flags Default
1A00:0 FB TxPDO-Map PDO Mapping TxPDO 1 UINT8 RO >9<
Inputs Ch.1
1A00:01 SubIndex 001 1. PDO Mapping entry (object 0x6000 (FB Inputs Ch.1), UINT32 RO 0x6000:01
entry 0x01 (Warning)) [} 143], 1
1A00:02 SubIndex 002 2. PDO Mapping entry (object 0x6000 (FB Inputs Ch.1), UINT32 RO 0x6000:02
entry 0x02 (Error)) [} 143], 1
1A00:03 SubIndex 003 3. PDO Mapping entry (object 0x6000 (FB Inputs Ch.1), UINT32 RO 0x6000:03
entry 0x03 (Ready)) [} 143], 1
1A00:04 SubIndex 004 4. PDO Mapping entry (5 bits align) UINT32 RO 0x0000:00, 5
1A00:05 SubIndex 005 5. PDO Mapping entry (4 bits align) UINT32 RO 0x0000:00, 4
1A00:06 SubIndex 006 6. PDO Mapping entry (object 0x6000 (FB Inputs Ch.1), UINT32 RO 0x6000:0D
entry 0x0D (Diag)) [} 143], 1
1A00:07 SubIndex 007 7. PDO Mapping entry (object 0x6000 (FB Inputs Ch.1), UINT32 RO 0x6000:0E
entry 0x0E (TxPDO State)) [} 143], 1
1A00:08 SubIndex 008 8. PDO Mapping entry (object 0x6000 (FB Inputs Ch.1), UINT32 RO 0x6000:0F
entry 0x0F (Input cycle counter)) [} 143], 2
1A00:09 SubIndex 009 9. PDO Mapping entry (object 0x6000 (FB Inputs Ch.1), UINT32 RO 0x6000:11
entry 0x11 (Position)) [} 143], 64

Index 1A01 FB TxPDO-Map Inputs Ch.2

Index (hex) Name Meaning Data type Flags Default
1A01:0 FB TxPDO-Map PDO Mapping TxPDO 2 UINT8 RO >9<
Inputs Ch.2
1A01:01 SubIndex 001 1. PDO Mapping entry (object 0x6000 (FB Inputs Ch.1), UINT32 RO 0x6010:01
entry 0x01 (Warning)) [} 143], 1
1A01:02 SubIndex 002 2. PDO Mapping entry (object 0x6000 (FB Inputs Ch.1), UINT32 RO 0x6010:02
entry 0x02 (Error)) [} 143], 1
1A01:03 SubIndex 003 3. PDO Mapping entry (object 0x6000 (FB Inputs Ch.1), UINT32 RO 0x6010:03
entry 0x03 (Ready)) [} 143], 1
1A01:04 SubIndex 004 4. PDO Mapping entry (5 bits align) UINT32 RO 0x0000:00, 5
1A01:05 SubIndex 005 5. PDO Mapping entry (4 bits align) UINT32 RO 0x0000:00, 4
1A01:06 SubIndex 006 6. PDO Mapping entry (object 0x6000 (FB Inputs Ch.1), UINT32 RO 0x6010:0D
entry 0x0D (Diag)) [} 143], 1
1A01:07 SubIndex 007 7. PDO Mapping entry (object 0x6000 (FB Inputs Ch.1), UINT32 RO 0x6010:0E
entry 0x0E (TxPDO State)) [} 143], 1
1A01:08 SubIndex 008 8. PDO Mapping entry (object 0x6000 (FB Inputs Ch.1), UINT32 RO 0x6010:0F
entry 0x0F (Input cycle counter)) [} 143], 2
1A01:09 SubIndex 009 9. PDO Mapping entry (object 0x6000 (FB Inputs Ch.1), UINT32 RO 0x6010:11
entry 0x11 (Position)) [} 143], 64

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Index 1A02 FB TxPDO-Map Inputs Ch.1 compact

Index (hex) Name Meaning Data type Flags Default
1A02:0 FB TxPDO-Map PDO Mapping TxPDO 3 UINT8 RO >9<
Inputs Ch.1 compact
1A02:01 SubIndex 001 1. PDO Mapping entry (object 0x6010 (FB Inputs Ch.2), UINT32 RO 0x6000:01
entry 0x01 (Warning)) [} 143], 1
1A02:02 SubIndex 002 2. PDO Mapping entry (object 0x6010 (FB Inputs Ch.2), UINT32 RO 0x6000:02
entry 0x02 (Error)) [} 143], 1
1A02:03 SubIndex 003 3. PDO Mapping entry (object 0x6010 (FB Inputs Ch.2), UINT32 RO 0x6000:03
entry 0x03 (Ready)) [} 143], 1
1A02:04 SubIndex 004 4. PDO Mapping entry (5 bits align) UINT32 RO 0x0000:00, 5
1A02:05 SubIndex 005 5. PDO Mapping entry (4 bits align) UINT32 RO 0x0000:00, 4
1A02:06 SubIndex 006 6. PDO Mapping entry (object 0x6010 (FB Inputs Ch.2), UINT32 RO 0x6000:0D
entry 0x0D (Diag)) [} 143], 1
1A02:07 SubIndex 007 7. PDO Mapping entry (object 0x6010 (FB Inputs Ch.2), UINT32 RO 0x6000:0E
entry 0x0E (TxPDO State)) [} 143], 1
1A02:08 SubIndex 008 8. PDO Mapping entry (object 0x6010 (FB Inputs Ch.2), UINT32 RO 0x6000:0F
entry 0x0F (Input cycle counter)) [} 143], 2
1A02:09 SubIndex 009 9. PDO Mapping entry (object 0x6010 (FB Inputs Ch.2), UINT32 RO 0x6000:11
entry 0x11 (Position)) [} 143], 32

Index 1A03 FB TxPDO-Map Inputs Ch.2 compact

Index (hex) Name Meaning Data type Flags Default
1A03:0 FB TxPDO-Map PDO Mapping TxPDO 4 UINT8 RO >9<
Inputs Ch.2 compact
1A03:01 SubIndex 001 1. PDO Mapping entry (object 0x6010 (FB Inputs Ch.2), UINT32 RO 0x6010:01
entry 0x01 (Warning)) [} 143], 1
1A03:02 SubIndex 002 2. PDO Mapping entry (object 0x6010 (FB Inputs Ch.2), UINT32 RO 0x6010:02
entry 0x02 (Error)) [} 143], 1
1A03:03 SubIndex 003 3. PDO Mapping entry (object 0x6010 (FB Inputs Ch.2), UINT32 RO 0x6010:03
entry 0x03 (Ready)) [} 143], 1
1A03:04 SubIndex 004 4. PDO Mapping entry (5 bits align) UINT32 RO 0x0000:00, 5
1A03:05 SubIndex 005 5. PDO Mapping entry (4 bits align) UINT32 RO 0x0000:00, 4
1A03:06 SubIndex 006 6. PDO Mapping entry (object 0x6010 (FB Inputs Ch.2), UINT32 RO 0x6010:0D
entry 0x0D (Diag)) [} 143], 1
1A03:07 SubIndex 007 7. PDO Mapping entry (object 0x6010 (FB Inputs Ch.2), UINT32 RO 0x6010:0E
entry 0x0E (TxPDO State)) [} 143], 1
1A03:08 SubIndex 008 8. PDO Mapping entry (object 0x6010 (FB Inputs Ch.2), UINT32 RO 0x6010:0F
entry 0x0F (Input cycle counter)) [} 143], 2
1A03:09 SubIndex 009 9. PDO Mapping entry (object 0x6010 (FB Inputs Ch.2), UINT32 RO 0x6010:11
entry 0x11 (Position)) [} 143], 32

Index 1A04 FB TxPDO-Map Velocity Ch.1

Index (hex) Name Meaning Data type Flags Default
1A04:0 FB TxPDO-Map PDO Mapping TxPDO 5 UINT8 RO >1<
Velocity Ch.1
1A04:01 SubIndex 001 1. PDO Mapping entry (object 0x6008 (FB EnDat Inputs UINT32 RO 0x6008:12, 32
Ch.1), entry 0x12 (Velocity))

Index 1A05 FB TxPDO-Map Velocity Ch.2

Index (hex) Name Meaning Data type Flags Default
1A05:0 FB TxPDO-Map PDO Mapping TxPDO 6 UINT8 RO >1<
Velocity Ch.2
1A05:01 SubIndex 001 1. PDO Mapping entry (object 0x6018 (FB EnDat Inputs UINT32 RO 0x6018:12, 32
Ch.2), entry 0x12 (Velocity))

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Index 1C00 Sync manager type

Index (hex) Name Meaning Data type Flags Default
1C00:0 Sync manager type Using the sync managers UINT8 RO >4<
1C00:01 SubIndex 001 Sync-Manager Type Channel 1: Mailbox Write UINT8 RO 0x01 (1dec)
1C00:02 SubIndex 002 Sync-Manager Type Channel 2: Mailbox Read UINT8 RO 0x02 (2dec)
1C00:03 SubIndex 003 Sync-Manager Type Channel 3: Process Data Write UINT8 RO 0x03 (3dec)
(Outputs)
1C00:04 SubIndex 004 Sync-Manager Type Channel 4: Process Data Read UINT8 RO 0x04 (4dec)
(Inputs)

Index 1C12 RxPDO assign

Index (hex) Name Meaning Data type Flags Default
1C12:0 RxPDO assign PDO Assign Outputs UINT8 RW >0<

Index 1C12 RxPDO assign (EL5032-0090)

Index (hex) Name Meaning Data type Flags Default
1C12:0 RxPDO assign PDO Assign Outputs UINT8 RW >1<
1C12:1 SubIndex 001 1. allocated RxPDO (contains the index of the associated UINT16 RW 0x1610 (5648)
RxPDO mapping object)

Index 1C13 TxPDO assign

Index (hex) Name Meaning Data type Flags Default
1C13:0 TxPDO assign PDO Assign Inputs UINT8 RW >2<
1C13:01 Subindex 001 1. allocated TxPDO (contains the index of the associated UINT16 RW 0x1A00
TxPDO mapping object) (6656dec)
1C13:02 Subindex 002 2. allocated TxPDO (contains the index of the associated UINT16 RW 0x1A01
TxPDO mapping object) (6657dec)
1C13:03* Subindex 003 3. allocated TxPDO (contains the index of the associated UINT16 RW 0x1A10
TxPDO mapping object) (6672dec)

*) EL5032-0090 only

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Index 1C32 SM output parameter (EL5032-0090 only)

Index (hex) Name Meaning Data type Flags Default
1C32:0 SM output parameter Synchronization parameters for the outputs UINT8 RO > 32 <
1C32:01 Sync mode Current synchronization mode: UINT16 RW 0x0001 (1dec)
• 0: Free Run
• 1: Synchron with SM 3 Event (no outputs available)
• 2: DC - Synchron with SYNC0 Event
• 3: DC - Synchron with SYNC1 Event
• 34: Synchron with SM 2 Event (outputs available)
1C32:02 Cycle time Cycle time (in ns): UINT32 RW 0x000F4240
(1000000dec)
• Free Run: Cycle time of the local timer
• Synchron with SM 2 Event: Master cycle time
• DC mode: SYNC0/SYNC1 Cycle Time
1C32:03 Shift time Time between SYNC0 event and reading of the inputs (in UINT32 RO 0x00000000
ns, only DC mode) (0dec)
1C32:04 Sync modes Supported synchronization modes: UINT16 RO 0x0807
supported (2055dec)
• Bit 0: free run is supported
• Bit 1: Synchron with SM 2 Event is supported
(outputs available)
• Bit 1: Synchron with SM 3 Event is supported (no
outputs available)
• Bit 2-3 = 01: DC mode is supported
• Bit 4-5 = 01: Input shift through local event (outputs
available)
• Bit 4-5 = 10: Input shift with SYNC1 event (no
outputs available)
• Bit 14 = 1: dynamic times (measurement through
writing of 0x1C32:08 [} 152])
1C32:05 Minimum cycle time Minimum cycle time (in ns) UINT32 RO 0x000186A0
(100000dec)
1C32:06 Calc and copy time Time between reading of the inputs and availability of the UINT32 RO 0x00000000
inputs for the master (in ns, only DC mode) (0dec)
1C32:07 Minimum delay time UINT32 RO 0x00000000
(0dec)
1C32:08 Command • 0: Measurement of the local cycle time is stopped UINT16 RW 0x0000 (0dec)
• 1: Measurement of the local cycle time is started
The entries 0x1C32:03, 0x1C33:06, 0x1C33:09 are
updated with the maximum measured values.
For a subsequent measurement the measured values
are reset
1C32:09 Maximum delay time Time between SYNC1 event and reading of the inputs (in UINT32 RO 0x00000000
ns, only DC mode) (0dec)
1C32:0B SM event missed Number of missed SM events in OPERATIONAL (DC UINT16 RO 0x0000 (0dec)
counter mode only)
1C32:0C Cycle exceeded Number of occasions the cycle time was exceeded in UINT16 RO 0x0000 (0dec)
counter OPERATIONAL (cycle was not completed in time or the
next cycle began too early)
1C32:0D Shift too short counter Number of occasions that the interval between SYNC0 UINT16 RO 0x0000 (0dec)
and SYNC1 event was too short (DC mode only)
1C32:20 Sync error The synchronization was not correct in the last cycle BOOLEAN RO 0x00 (0dec)
(outputs were output too late; DC mode only)

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Index 1C33 SM input parameter

Index (hex) Name Meaning Data type Flags Default
1C33:0 SM input parameter Synchronization parameters for the inputs UINT8 RO > 32 <
1C33:01 Sync mode Current synchronization mode: UINT16 RW 0x0022 (34dec)
• 0: Free Run
• 1: Synchron with SM 3 Event (no outputs available)
• 2: DC - Synchron with SYNC0 Event
• 3: DC - Synchron with SYNC1 Event
• 34: Synchron with SM 2 Event (outputs available)
1C33:02 Cycle time Cycle time (in ns): UINT32 RW 0x000F4240
(1000000dec)
• Free Run: Cycle time of the local timer
• Synchron with SM 2 Event: Master cycle time
• DC mode: SYNC0/SYNC1 Cycle Time
1C33:03 Shift time Time between SYNC0 event and reading of the inputs (in UINT32 RO 0x00000000
ns, only DC mode) (0dec)
1C33:04 Sync modes Supported synchronization modes: UINT16 RO 0x0807
supported (2055dec)
• Bit 0: free run is supported
• Bit 1: Synchron with SM 2 Event is supported
(outputs available)
• Bit 1: Synchron with SM 3 Event is supported (no
outputs available)
• Bit 2-3 = 01: DC mode is supported
• Bit 4-5 = 01: Input shift through local event (outputs
available)
• Bit 4-5 = 10: Input shift with SYNC1 event (no
outputs available)
• Bit 14 = 1: dynamic times (measurement through
writing of 0x1C33:08 [} 153])
1C33:05 Minimum cycle time Minimum cycle time (in ns) UINT32 RO 0x000186A0
(100000dec)
1C33:06 Calc and copy time Time between reading of the inputs and availability of the UINT32 RO 0x00000000
inputs for the master (in ns, only DC mode) (0dec)
1C33:07 Minimum delay time UINT32 RO 0x00000000
(0dec)
1C33:08 Command • 0: Measurement of the local cycle time is stopped UINT16 RW 0x0000 (0dec)
• 1: Measurement of the local cycle time is started
The entries 0x1C33:03, 0x1C33:06, 0x1C33:09 are
updated with the maximum measured values.
For a subsequent measurement the measured values
are reset
1C33:09 Maximum delay time Time between SYNC1 event and reading of the inputs (in UINT32 RO 0x00000000
ns, only DC mode) (0dec)
1C33:0B SM event missed Number of missed SM events in OPERATIONAL (DC UINT16 RO 0x0000 (0dec)
counter mode only)
1C33:0C Cycle exceeded Number of occasions the cycle time was exceeded in UINT16 RO 0x0000 (0dec)
counter OPERATIONAL (cycle was not completed in time or the
next cycle began too early)
1C33:0D Shift too short counter Number of occasions that the interval between SYNC0 UINT16 RO 0x0000 (0dec)
and SYNC1 event was too short (DC mode only)
1C33:20 Sync error The synchronization was not correct in the last cycle BOOLEAN RO 0x00 (0dec)
(outputs were output too late; DC mode only)

Index F000 Modular device profile

Index (hex) Name Meaning Data type Flags Default
F000:0 Modular device profile General information for the modular device profile UINT8 RO >2<
F000:01 Module index Index distance of the objects of the individual channels UINT16 RO 0x0010 (16dec)
distance
F000:02 Maximum number of Number of channels UINT16 RO EL5032:
modules 0x0002 (2dec)
EL5032-0090:
0x0003 (3dec)

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Index F008 Code word

Index (hex) Name Meaning Data type Flags Default
F008:0 Code word see object 0x80p8:13 [} 142] UINT32 RW 0x00000000
(0dec)

Index F010 Module list

Index (hex) Name Meaning Data type Flags Default
F010:0 Module list Max. subindex UINT8 RW >3<
F010:01 SubIndex 001 MDP FB profiles 513 UINT32 RW 0x00000201
(513dec)
F010:02 SubIndex 002 MDP FB profiles 513 UINT32 RW 0x00000201
(513dec)
F010:03* SubIndex 003 MDP FB profiles 950 UINT32 RW 0x000003B6
(950dec)

*) EL5032-0090 only

Index FB40 Memory interface

Index (hex) Name Meaning Data type Flags Default
FB40:0 Memory interface Max. subindex UINT8 RO >3<
FB40:01 Address reserved UINT32 RW 0x00000000
(0dec)
FB40:02 Length reserved UINT16 RW 0x0000 (0dec)
FB40:03 Data reserved OCTET- RW {0}
STRING[8]

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 EL5032-00x0 - Commissioning

8.7 EL5032-0090 - TwinSAFE SC

The EL5032-0090 supports the full functionality of the EL5032 (please refer to chapter EL5032-00x0 -
Commissioning [} 129]).

In addition, the EL5032-0090 supports TwinSAFE SC technology (TwinSAFE Single Channel)

8.7.1 TwinSAFE SC

8.7.1.1 TwinSAFE SC - operating principle

The TwinSAFE SC (Single Channel) technology enables the use of standard signals for safety tasks in any
networks of fieldbuses. To do this, EtherCAT Terminals from the areas of analog input, angle/displacement
measurement or communication (4…20 mA, incremental encoder, IO-Link, etc.) are extended by the
TwinSAFE SC function. The typical signal characteristics and standard functionalities of the I/O components
are retained. TwinSAFE SC I/Os have a yellow strip at the front of the housing to distinguish them from
standard I/Os.

The TwinSAFE SC technology enables communication via a TwinSAFE protocol. These connections can be
distinguished from the usual safe communication via Safety over EtherCAT.

The data of the TwinSAFE SC components are transferred via a TwinSAFE protocol to the TwinSAFE logic,
where they can be used in the context of safety-relevant applications. Detailed examples for the correct
application of the TwinSAFE SC components and the respective normative classification, which were
confirmed/calculated by TÜV SÜD, can be found in the TwinSAFE application manual.

8.7.1.2 TwinSAFE SC - configuration

The TwinSAFE SC technology enables communication with standard EtherCAT terminals via the Safety over
EtherCAT protocol. These connections use another checksum, in order to be able to distinguish between
TwinSAFE SC and TwinSAFE. Eight fixed CRCs can be selected, or a free CRC can be entered by the user.

By default the TwinSAFE SC communication channel of the respective TwinSAFE SC component is not
enabled. In order to be able to use the data transfer, the corresponding TwinSAFE SC module must first be
added under the Slots tab. Only then is it possible to link to a corresponding alias device.

Fig. 149: Adding the TwinSAFE SC process data under the component, e.g. EL5021-0090

Additional process data with the ID TSC Inputs, TSC Outputs are generated (TSC -
TwinSAFE Single Channel).

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Fig. 150: TwinSAFE SC component process data, example EL5021-0090

A TwinSAFE SC connection is added by adding an alias devices in the safety project and selecting TSC
(TwinSAFE Single Channel)

Fig. 151: Adding a TwinSAFE SC connection

After opening the alias device by double-clicking, select the Link button next to Physical Device, in
order to create the link to a TwinSAFE SC terminal. Only suitable TwinSAFE SC terminals are offered in the
selection dialog.

Fig. 152: Creating a link to TwinSAFE SC terminal

The CRC to be used can be selected or a free CRC can be entered under the Connection tab of the alias
device.

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 EL5032-00x0 - Commissioning

Entry Mode Used CRCs

TwinSAFE SC CRC 1 master 0x17B0F
TwinSAFE SC CRC 2 master 0x1571F
TwinSAFE SC CRC 3 master 0x11F95
TwinSAFE SC CRC 4 master 0x153F1
TwinSAFE SC CRC 5 master 0x1F1D5
TwinSAFE SC CRC 6 master 0x1663B
TwinSAFE SC CRC 7 master 0x1B8CD
TwinSAFE SC CRC 8 master 0x1E1BD

Fig. 153: Selecting a free CRC

These settings must match the settings in the CoE objects of the TwinSAFE SC component.
The TwinSAFE SC component initially makes all available process data available. The Safety Parameters
tab typically contains no parameters. The process data size and the process data themselves can be
selected under the Process Image tab.

Fig. 154: Selecting the process data size and the process data

The process data (defined in the ESI file) can be adjusted to user requirements by selecting the Edit button
in the dialog Configure I/O element(s).

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Fig. 155: Selection of the process data

The safety address together with the CRC must be entered on the TwinSAFE SC slave side. This is done via
the CoE objects under TSC settings of the corresponding TwinSAFE SC component (here, for example,
EL5021-0090, 0x8010: 01 and 0x8010: 02). The address set here must also be set in the alias device as
FSoE address under the Linking tab.

Under the object 0x80n0:02 Connection Mode the CRC to be used is selected or a free CRC is entered. A
total of 8 CRCs are available. A free CRC must start with 0x00ff in the high word.

Fig. 156: CoE objects 0x8010:01 and 0x8010:02

Object TSC Settings

Depending on the terminal, the index designation of the configuration object TSC Settings can vary.
Example:
- EL3214-0090 and EL3314-0090, TSC Settings, Index 8040
- EL5021-0090, TSC Settings, Index 8010
- EL6224-0090, TSC Settings, Index 800F

Fig. 157: Entering the safety address and the CRC

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TwinSAFE SC connections
If several TwinSAFE SC connections are used within a configuration, a different CRC must be
selected for each TwinSAFE SC connection.

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8.7.2 EL5032-0090 - TwinSAFE SC process data

The EL5032-0090 transmits the following process data to the TwinSAFE logic:
ModuleIdent Index (hex) Name Type Size
0x000013A8 "2Ch. EnDat Encoder, TSC" 6000:12 Position (uint32) UDINT 4.0
6010:12 Position (uint32) UDINT 4.0
0x010013A8 "2Ch. EnDat Veloctiy, TSC" 6000:12 Position (uint32) UDINT 4.0
(from Firmware 16, Revision 17) 6010:12 Position (uint32) UDINT 4.0
6008:12 Velocity UDINT 4.0
6008:13 Velocity (int16) INT 2.0
6018:12 Velocity UDINT 4.0
6018:13 Velocity (int16) INT 2.0

The position value "Position (uint32)" (0x60n0:12) of channels 1 and 2 is thereby transmitted by default.

The process data for the individual channels can be deselected on the "Process Image" tab in the Safety
Editor.

If the ModuleIdent 0x010013A8 is selected, the "Velocity" can additionally be selected in the Safety Editor in
the required data type.

Use of EnDat 2.2 encoders with position values >32 bits

ULINT values cannot be processed in the TwinSAFE logic, therefore there is no possibility to
transmit the position value 0x60n0:11 [} 143] "Position" to the TwinSAFE logic.
• In this case the process data must be parameterized under 0x8021 [} 162] "TSC Process Data
settings".

Parameterization of the TSC process data

Since ULINT values cannot be processed in the TwinSAFE logic, it may be necessary to parameterize the
TwinSAFE SC process data when using EnDat 2.2 encoders that transmit a position value of > 32 bits. The
parameterization of the process data and their effect must be taken into account accordingly in the safety
application, especially with regard to counter/position value overflow.

The parameterization is done under 0x8021 [} 162] "TSC Process Data Settings". In the process, the number
of position bits is automatically read from the EnDat protocol and can be taken from the object 0x90n8:51
[} 144] "Clock pulse periods".
• 0x8021:0n [} 162]: Auto align to MSB Ch.n
◦ Default: the bit is not set.
The position value is shifted to the right by the number of bits in 0x8021:1n "Shift right data Ch.n".
◦ If the bit is set the position value is automatically shifted to the right to the max. MSB.
• 0x8021:1n [} 162]: Shift right data Ch.n
◦ Default: 0
The position value is shifted by 0 bits to the right.
◦ An individual number of bits can be specified by which the process data is to be shifted to the right.

TwinSAFE SC objects
The overview of the TwinSAFE SC objects of the EL5032-0090 can be found in the chapter
EL5032-0090 - TwinSAFE Single Channel objects [} 161].

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 EL5032-00x0 - Commissioning

8.7.3 EL5032-0090 - TwinSAFE Single Channel objects

Index 1610 TSC Master Message
Index (hex) Name Meaning Data type Flags Default
1610:0 TSC RxPDO-Map PDO Mapping RxPDO UINT8 RO 0x04 (4dec)
Master Message
1610:01 SubIndex 001 1. PDO Mapping entry (object 0x7020 (TSC Master UINT32 RO 0x7020:01, 8
Frame Elements), entry 0x01 (TSC__Master Cmd))
1610:02 SubIndex 002 2. PDO Mapping entry (8 bits align) UINT32 RO 0x0000:00, 8
1610:03 SubIndex 003 3. PDO Mapping entry (object 0x7020 (TSC Master UINT32 RO 0x7020:03, 16
Frame Elements), entry 0x03 (TSC__Master CRC_0))
1610:04 SubIndex 004 4. PDO Mapping entry (object 0x7020 (TSC Master UINT32 RO 0x7020:02, 16
Frame Elements), entry 0x02 (TSC__Master ConnID))

Index 1A10 TSC Slave Message

Index (hex) Name Meaning Data type Flags Default
1A10:0 TSC TxPDO-Map PDO Mapping TxPDO UINT8 RW 0x0A (10dec)
Slave Message
1A10:01 SubIndex 001 1. PDO Mapping entry (object 0x6020 (TSC Slave UINT32 RW 0x6020:01, 8
Frame Elements), entry 0x01 (TSC__Slave Cmd))
1A10:02 SubIndex 002 2. PDO Mapping entry (object 0x6000 (FB Inputs UINT32 RW 0x6000:12, 16
Ch.1), entry 0x12 (Position (uint32)))
1A10:03 SubIndex 003 3. PDO Mapping entry (object 0x6020 (TSC Slave UINT32 RW 0x6020:03, 16
Frame Elements), entry 0x03 (TSC__Slave CRC_0))
1A10:04 SubIndex 004 4. PDO Mapping entry (16 bits align) UINT32 RW 0x0000:00, 16
1A10:05 SubIndex 005 5. PDO Mapping entry (object 0x6020 (TSC Slave UINT32 RW 0x6020:04, 16
Frame Elements), entry 0x04 (TSC__Slave CRC_1))
1A10:06 SubIndex 006 6. PDO Mapping entry (object 0x6010 (FB Inputs UINT32 RW 0x6010:12, 16
Ch.1), entry 0x12 (Position (uint32)))
1A10:07 SubIndex 007 7. PDO Mapping entry (object 0x6020 (TSC Slave UINT32 RW 0x6020:05, 16
Frame Elements), entry 0x05 (TSC__Slave CRC_2))
1A10:08 SubIndex 008 8. PDO Mapping entry (16 bits align) UINT32 RW 0x0000:00, 16
1A10:09 SubIndex 009 9. PDO Mapping entry (object 0x6020 (TSC Slave UINT32 RW 0x6020:06, 16
Frame Elements), entry 0x06 (TSC__Slave CRC_3))
1A10:0A SubIndex 010 10. PDO Mapping entry (object 0x6010 (TSC Slave UINT32 RW 0x6020:02, 16
Frame Elements), entry 0x02 (TSC__Slave ConnID))

Index 6020 TSC Slave Frame Elements

Index (hex) Name Meaning Data type Flags Default
6020:0 TSC Slave Frame Max. Subindex UINT8 RO 0x06 (6dec)
Elements
6020:01 TSC__Slave Cmd reserved UINT8 RO 0x00 (0dec)
6020:02 TSC__Slave ConnID reserved UINT16 RO 0x0000 (0dec)
6020:03 TSC__Slave CRC_0 reserved UINT16 RO 0x0000 (0dec)
6020:04 TSC__Slave CRC_1 reserved UINT16 RO 0x0000 (0dec)
6020:05 TSC__Slave CRC_2 reserved UINT16 RO 0x0000 (0dec)
6020:06 TSC__Slave CRC_3 reserved UINT16 RO 0x0000 (0dec)
6020:07*) TSC__Slave CRC_4 reserved UINT16 RO 0x0000 (0dec)
*)
6020:08 TSC__Slave CRC_5 reserved UINT16 RO 0x0000 (0dec)
6020:09*) TSC__Slave CRC_6 reserved UINT16 RO 0x0000 (0dec)
6020:0A*) TSC__Slave CRC_7 reserved UINT16 RO 0x0000 (0dec)
6020:0B*) TSC__Slave CRC_8 reserved UINT16 RO 0x0000 (0dec)
6020:0C*) TSC__Slave CRC_9 reserved UINT16 RO 0x0000 (0dec)
*)
from Revision 17

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Index 7020 TSC Master Frame Elements

Index (hex) Name Meaning Data type Flags Default
7020:0 TSC Master Frame Maximum subindex UINT8 RO 0x03 (3dec)
Elements
7020:01 TSC__Master Cmd reserved UINT8 RO 0x00 (0dec)
7020:02 TSC__Master ConnID reserved UINT16 RO 0x0000 (0dec)
7020:03 TSC__Master CRC_0 reserved UINT16 RO 0x0000 (0dec)

Index 8020 TSC Settings

Index (hex) Name Meaning Data type Flags Default
8020:0 TSC Settings Maximum subindex UINT8 RO 0x02 (2dec)
8020:01 Address TwinSAFE SC address UINT16 RO 0x0000 (0dec)
8020:02 Connection Mode Selection of TwinSAFE SC CRC UINT32 RO 0x00000000
(0dec)

Index 8021 TSC Process Data Settings

Index (hex) Name Meaning Data type Flags Default
8021:0 TSC Process Data Maximum subindex UINT8 RO 0x12 (18dec)
Settings
8021:01 Auto align to MSB 0x8021:0n: Auto align to MSB Ch.n BOOLEAN RO 0x00 (0dec)
Ch.1
• Default: the bit is not set.
8021:02 Auto align to MSB The position value is shifted to the right by the BOOLEAN RO 0x00 (0dec)
Ch.2 number of bits in 0x8021:1n "Shift right data
Ch.n".
• If the bit is set the position value is automatically
shifted to the right to the max. MSB.
8021:11 Shift right data Ch.1 0x8021:1n: Shift right data Ch.n UINT8 RO 0x00 (0dec)
8021:12 Shift right data Ch.2 • Default: 0 UINT8 RO 0x00 (0dec)
The position value is shifted by 0 bits to the right.
• An individual number of bits can be specified by
which the process data is to be shifted to the right.

162 Version: 2.9 EL5032, EL5032-0090

 Diagnostics

9 Diagnostics

9.1 Diagnostics - basic principles of diag messages

DiagMessages designates a system for the transmission of messages from the EtherCAT Slave to the
EtherCAT Master/TwinCAT. The messages are stored by the device in its own CoE under 0x10F3 and can
be read by the application or the System Manager. An error message referenced via a code is output for
each event stored in the device (warning, error, status change).

Definition

The DiagMessages system is defined in the ETG (EtherCAT Technology Group) in the guideline ETG.1020,
chapter 13 “Diagnosis handling”. It is used so that pre-defined or flexible diagnostic messages can be
conveyed from the EtherCAT Slave to the Master. In accordance with the ETG, the process can therefore be
implemented supplier-independently. Support is optional. The firmware can store up to 250 DiagMessages in
its own CoE.

Each DiagMessage consists of

• Diag Code (4-byte)
• Flags (2-byte; info, warning or error)
• Text ID (2-byte; reference to explanatory text from the ESI/XML)
• Timestamp (8-byte, local slave time or 64-bit Distributed Clock time, if available)
• Dynamic parameters added by the firmware

The DiagMessages are explained in text form in the ESI/XML file belonging to the EtherCAT device: on the
basis of the Text ID contained in the DiagMessage, the corresponding plain text message can be found in
the languages contained in the ESI/XML. In the case of Beckhoff products these are usually German and
English.

Via the entry NewMessagesAvailable the user receives information that new messages are available.

DiagMessages can be confirmed in the device: the last/latest unconfirmed message can be confirmed by the
user.

In the CoE both the control entries and the history itself can be found in the CoE object 0x10F3:

Fig. 158: DiagMessages in the CoE

The subindex of the latest DiagMessage can be read under 0x10F3:02.

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Diagnostics

Support for commissioning

The DiagMessages system is to be used above all during the commissioning of the plant. The
diagnostic values e.g. in the StatusWord of the device (if available) are helpful for online diagnosis
during the subsequent continuous operation.

TwinCAT System Manager implementation

From TwinCAT 2.11 DiagMessages, if available, are displayed in the device’s own interface. Operation
(collection, confirmation) also takes place via this interface.

Fig. 159: Implementation of the DiagMessage system in the TwinCAT System Manager

The operating buttons (B) and the history read out (C) can be seen on the Diag History tab (A). The
components of the message:
• Info/Warning/Error
• Acknowledge flag (N = unconfirmed, Q = confirmed)
• Time stamp
• Text ID
• Plain text message according to ESI/XML data

The meanings of the buttons are self-explanatory.

DiagMessages within the ADS Logger/Eventlogger

From TwinCAT 3.1 build 4022 onwards, DiagMessages sent by the terminal are shown by the TwinCAT ADS
Logger. Given that DiagMessages are represented IO- comprehensive at one place, commissioning will be
simplified. In addition, the logger output could be stored into a data file – hence DiagMessages are available
long-term for analysis.

DiagMessages are actually only available locally in CoE 0x10F3 in the terminal and can be read out
manually if required, e.g. via the DiagHistory mentioned above.

In the latest developments, the EtherCAT Terminals are set by default to report the presence of a
DiagMessage as emergency via EtherCAT; the event logger can then retrieve the DiagMessage. The
function is activated in the terminal via 0x10F3:05, so such terminals have the following entry in the StartUp
list by default:

Fig. 160: Startup List

164 Version: 2.9 EL5032, EL5032-0090

 Diagnostics

If the function is to be deactivated because, for example, many messages come in or the EventLogger is not
used, the StartUp entry can be deleted or set to 0. The value can then be set back to 1 later from the PLC
via CoE access if required.

Reading messages into the PLC

- In preparation -

Interpretation

Time stamp

The time stamp is obtained from the local clock of the terminal at the time of the event. The time is usually
the distributed clock time (DC) from register x910.

Please note: When EtherCAT is started, the DC time in the reference clock is set to the same time as the
local IPC/TwinCAT time. From this moment the DC time may differ from the IPC time, since the IPC time is
not adjusted. Significant time differences may develop after several weeks of operation without a EtherCAT
restart. As a remedy, external synchronization of the DC time can be used, or a manual correction
calculation can be applied, as required: The current DC time can be determined via the EtherCAT master or
from register x901 of the DC slave.

Structure of the Text ID

The structure of the MessageID is not subject to any standardization and can be supplier-specifically
defined. In the case of Beckhoff EtherCAT devices (EL, EP) it usually reads according to xyzz:
x y zz
0: Systeminfo 0: System Error number
2: reserved 1: General
1: Info 2: Communication
4: Warning 3: Encoder
8: Error 4: Drive
5: Inputs
6: I/O general
7: reserved

Example: Message 0x4413 --> Drive Warning Number 0x13

Overview of text IDs

Specific text IDs are listed in the device documentation.

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Diagnostics

Text ID Type Place Text Message Additional comment

0x0001 Information System No error No error
0x0002 Information System Communication established Connection established
0x0003 Information System Initialization: 0x%X, 0x%X, 0x%X General information; parameters depend on event. See
device documentation for interpretation.
0x1000 Information System Information: 0x%X, 0x%X, 0x%X General information; parameters depend on event. See
device documentation for interpretation.
0x1012 Information System EtherCAT state change Init -
PreOp
0x1021 Information System EtherCAT state change PreOp -
Init
0x1024 Information System EtherCAT state change PreOp -
Safe-Op
0x1042 Information System EtherCAT state change SafeOp -
PreOp
0x1048 Information System EtherCAT state change SafeOp -
Op
0x1084 Information System EtherCAT state change Op -
SafeOp
0x1100 Information General Detection of operation mode Detection of the mode of operation ended
completed: 0x%X, %d
0x1135 Information General Cycle time o.k.: %d Cycle time OK
0x1157 Information General Data manually saved (Idx: 0x%X, Data saved manually
SubIdx: 0x%X)
0x1158 Information General Data automatically saved (Idx: Data saved automatically
0x%X, SubIdx: 0x%X)
0x1159 Information General Data deleted (Idx: 0x%X, SubIdx: Data deleted
0x%X)
0x117F Information General Information: 0x%X, 0x%X, 0x%X Information
0x1201 Information Communication Communication re-established Communication to the field side restored
This message appears, for example, if the voltage was
removed from the power contacts and re-applied during
operation.
0x1300 Information Encoder Position set: %d, %d Position set - StartInputhandler
0x1303 Information Encoder Encoder Supply ok Encoder power supply unit OK
0x1304 Information Encoder Encoder initialization Encoder initialization successfully completed
successfully, channel: %X
0x1305 Information Encoder Sent command encoder reset, Send encoder reset command
channel: %X
0x1400 Information Drive Drive is calibrated: %d, %d Drive is calibrated
0x1401 Information Drive Actual drive state: 0x%X, %d Current drive status
0x1705 Information CPU usage returns in normal Processor load is back in the normal range
range (< 85%%)
0x1706 Information Channel is not in saturation Channel is no longer in saturation
anymore
0x1707 Information Channel is not in overload Channel is no longer overloaded
anymore
0x170A Information No channel range error anymore A measuring range error is no longer active
0x170C Information Calibration data saved Calibration data were saved
0x170D Information Calibration data will be applied Calibration data are not applied and saved until the
and saved after sending the command "0x5AFE" is sent.
command “0x5AFE”

166 Version: 2.9 EL5032, EL5032-0090

 Diagnostics

Text ID Type Place Text Message Additional comment

0x2000 Information System %s: %s
0x2001 Information System %s: Network link lost Network connection lost
0x2002 Information System %s: Network link detected Network connection found
0x2003 Information System %s: no valid IP Configuration - Invalid IP configuration
Dhcp client started
0x2004 Information System %s: valid IP Configuration (IP: Valid IP configuration, assigned by the DHCP server
%d.%d.%d.%d) assigned by
Dhcp server %d.%d.%d.%d
0x2005 Information System %s: Dhcp client timed out DHCP client timeout
0x2006 Information System %s: Duplicate IP Address Duplicate IP address found
detected (%d.%d.%d.%d)
0x2007 Information System %s: UDP handler initialized UDP handler initialized
0x2008 Information System %s: TCP handler initialized TCP handler initialized
0x2009 Information System %s: No more free TCP sockets No free TCP sockets available.
available

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Diagnostics

Text ID Type Place Text Message Additional comment

0x4000 Warning Warning: 0x%X, 0x%X, 0x%X General warning; parameters depend on event. See
device documentation for interpretation.
0x4001 Warning System Warning: 0x%X, 0x%X, 0x%X
0x4002 Warning System %s: %s Connection Open (IN:%d
OUT:%d API:%dms) from %d.
%d.%d.%d successful
0x4003 Warning System %s: %s Connection Close (IN:%d
OUT:%d) from %d.%d.%d.%d
successful
0x4004 Warning System %s: %s Connection (IN:%d OUT:
%d) with %d.%d.%d.%d timed
out
0x4005 Warning System %s: %s Connection Open (IN:%d
OUT:%d) from %d.%d.%d.%d
denied (Error: %u)
0x4006 Warning System %s: %s Connection Open (IN:%d
OUT:%d) from %d.%d.%d.%d
denied (Input Data Size expected:
%d Byte(s) received: %d Byte(s))
0x4007 Warning System %s: %s Connection Open (IN:%d
OUT:%d) from %d.%d.%d.%d
denied (Output Data Size
expected: %d Byte(s) received:
%d Byte(s))
0x4008 Warning System %s: %s Connection Open (IN:%d
OUT:%d) from %d.%d.%d.%d
denied (RPI:%dms not supported
-> API:%dms)
0x4101 Warning General Terminal-Overtemperature Overtemperature. The internal temperature of the
terminal exceeds the parameterized warning threshold.
0x4102 Warning General Discrepancy in the PDO- The selected PDOs do not match the set operating
Configuration mode.
Sample: Drive operates in velocity mode, but the
velocity PDO is but not mapped in the PDOs.
0x417F Warning General Warning: 0x%X, 0x%X, 0x%X
0x428D Warning General Challenge is not Random
0x4300 Warning Encoder Subincrements deactivated: %d, Sub-increments deactivated (despite activated
%d configuration)
0x4301 Warning Encoder Encoder-Warning General encoder error
0x4302 Warning Encoder Maximum frequency of the input
signal is nearly reached (channel
%d)
0x4303 Warning Encoder Limit counter value was reduced
because of the PDO configuration
(channel %d)
0x4304 Warning Encoder Reset counter value was reduced
because of the PDO configuration
(channel %d)
0x4400 Warning Drive Drive is not calibrated: %d, %d Drive is not calibrated
0x4401 Warning Drive Starttype not supported: 0x%X, Start type is not supported
%d
0x4402 Warning Drive Command rejected: %d, %d Command rejected
0x4405 Warning Drive Invalid modulo subtype: %d, %d Modulo sub-type invalid
0x4410 Warning Drive Target overrun: %d, %d Target position exceeded
0x4411 Warning Drive DC-Link undervoltage (Warning) The DC link voltage of the terminal is lower than the
parameterized minimum voltage. Activation of the
output stage is prevented.
0x4412 Warning Drive DC-Link overvoltage (Warning) The DC link voltage of the terminal is higher than the
parameterized maximum voltage. Activation of the
output stage is prevented.
0x4413 Warning Drive I2T-Model Amplifier overload • The amplifier is being operated outside the
(Warning) specification.
• The I2T-model of the amplifier is incorrectly
parameterized.
0x4414 Warning Drive I2T-Model Motor overload • The motor is being operated outside the
(Warning) parameterized rated values.

168 Version: 2.9 EL5032, EL5032-0090

 Diagnostics

Text ID Type Place Text Message Additional comment

• The I2T-model of the motor is incorrectly
parameterized.
0x4415 Warning Drive Speed limitation active The maximum speed is limited by the parameterized
objects (e.g. velocity limitation, motor speed limitation).
This warning is output if the set velocity is higher than
one of the parameterized limits.
0x4416 Warning Drive Step lost detected at position: Step loss detected
0x%X%X
0x4417 Warning Drive Motor overtemperature The internal temperature of the motor exceeds the
parameterized warning threshold
0x4418 Warning Drive Limit: Current Limit: current is limited
0x4419 Warning Drive Limit: Amplifier I2T-model The threshold values for the maximum current were
exceeds 100%% exceeded.
0x441A Warning Drive Limit: Motor I2T-model exceeds Limit: Motor I2T-model exceeds 100%
100%%
0x441B Warning Drive Limit: Velocity limitation The threshold values for the maximum speed were
exceeded.
0x441C Warning Drive STO while the axis was enabled An attempt was made to activate the axis, despite the
fact that no voltage is present at the STO input.
0x4600 Warning General IO Wrong supply voltage range Supply voltage not in the correct range
0x4610 Warning General IO Wrong output voltage range Output voltage not in the correct range
0x4705 Warning Processor usage at %d %% Processor load at %d %%
0x470A Warning EtherCAT Frame missed (change EtherCAT frame missed (change DC Operation Mode
Settings or DC Operation Mode or Sync0 Shift Time under Settings)
or Sync0 Shift Time)

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Diagnostics

Text ID Type Place Text Message Additional comment

0x8000 Error System %s: %s
0x8001 Error System Error: 0x%X, 0x%X, 0x%X General error; parameters depend on event. See
device documentation for interpretation.
0x8002 Error System Communication aborted Communication aborted
0x8003 Error System Configuration error: 0x%X, 0x%X, General; parameters depend on event.
0x%X
See device documentation for interpretation.
0x8004 Error System %s: Unsuccessful FwdOpen-
Response received from %d.%d.
%d.%d (%s) (Error: %u)
0x8005 Error System %s: FwdClose-Request sent to
%d.%d.%d.%d (%s)
0x8006 Error System %s: Unsuccessful FwdClose-
Response received from %d.%d.
%d.%d (%s) (Error: %u)
0x8007 Error System %s: Connection with %d.%d.%d.
%d (%s) closed
0x8100 Error General Status word set: 0x%X, %d Error bit set in the status word
0x8101 Error General Operation mode incompatible to Mode of operation incompatible with the PDO interface
PDO interface: 0x%X, %d
0x8102 Error General Invalid combination of Inputs and Invalid combination of input and output PDOs
Outputs PDOs
0x8103 Error General No variable linkage No variables linked
0x8104 Error General Terminal-Overtemperature The internal temperature of the terminal exceeds the
parameterized error threshold. Activation of the
terminal is prevented
0x8105 Error General PD-Watchdog Communication between the fieldbus and the output
stage is secured by a Watchdog. The axis is stopped
automatically if the fieldbus communication is
interrupted.
• The EtherCAT connection was interrupted during
operation.
• The Master was switched to Config mode during
operation.
0x8135 Error General Cycle time has to be a multiple of The IO or NC cycle time divided by 125 µs does not
125 µs produce a whole number.
0x8136 Error General Configuration error: invalid Configuration error: Invalid sampling rate
sampling rate
0x8137 Error General Electronic type plate: CRC error Content of the external name plate memory invalid.
0x8140 Error General Sync Error Real-time violation
0x8141 Error General Sync%X Interrupt lost Sync%X Interrupt lost
0x8142 Error General Sync Interrupt asynchronous Sync Interrupt asynchronous
0x8143 Error General Jitter too big Jitter limit violation
0x817F Error General Error: 0x%X, 0x%X, 0x%X
0x8200 Error Communication Write access error: %d, %d Error while writing
0x8201 Error Communication No communication to field-side • There is no voltage applied to the power contacts.
(Auxiliary voltage missing)
• A firmware update has failed.
0x8281 Error Communication Ownership failed: %X
0x8282 Error Communication To many Keys founded
0x8283 Error Communication Key Creation failed: %X
0x8284 Error Communication Key loading failed
0x8285 Error Communication Reading Public Key failed: %X
0x8286 Error Communication Reading Public EK failed: %X
0x8287 Error Communication Reading PCR Value failed: %X
0x8288 Error Communication Reading Certificate EK failed: %X
0x8289 Error Communication Challenge could not be hashed:
%X
0x828A Error Communication Tickstamp Process failed
0x828B Error Communication PCR Process failed: %X
0x828C Error Communication Quote Process failed: %X
0x82FF Error Communication Bootmode not activated Boot mode not activated
0x8300 Error Encoder Set position error: 0x%X, %d Error while setting the position

170 Version: 2.9 EL5032, EL5032-0090

 Diagnostics

Text ID Type Place Text Message Additional comment

0x8301 Error Encoder Encoder increments not Encoder increments not configured
configured: 0x%X, %d
0x8302 Error Encoder Encoder error The amplitude of the resolver is too small
0x8303 Error Encoder Encoder power missing (channel
%d)
0x8304 Error Encoder Encoder communication error, Encoder communication error
channel: %X
0x8305 Error Encoder EnDat2.2 is not supported, EnDat2.2 is not supported
channel: %X
0x8306 Error Encoder Delay time, tolerance limit Runtime measurement, tolerance exceeded
exceeded, 0x%X, channel: %X
0x8307 Error Encoder Delay time, maximum value Runtime measurement, maximum value exceeded
exceeded, 0x%X, channel: %X
0x8308 Error Encoder Unsupported ordering Wrong EnDat order ID
designation, 0x%X, channel: %X
(only 02 and 22 is supported)
0x8309 Error Encoder Encoder CRC error, channel: %X Encoder CRC error
0x830A Error Encoder Temperature %X could not be Temperature cannot be read
read, channel: %X
0x830C Error Encoder Encoder Single-Cycle-Data Error, CRC error detected. Check the transmission path and
channel. %X the CRC polynomial
0x830D Error Encoder Encoder Watchdog Error, The sensor has not responded within a predefined time
channel. %X period
0x8310 Error Encoder Initialisation error
0x8311 Error Encoder Maximum frequency of the input
signal is exceeded (channel %d)
0x8312 Error Encoder Encoder plausibility error
(channel %d)
0x8313 Error Encoder Configuration error (channel %d)
0x8314 Error Encoder Synchronisation error
0x8315 Error Encoder Error status input (channel %d)
0x8400 Error Drive Incorrect drive configuration: Drive incorrectly configured
0x%X, %d
0x8401 Error Drive Limiting of calibration velocity: Limitation of the calibration velocity
%d, %d
0x8402 Error Drive Emergency stop activated: 0x%X, Emergency stop activated
%d
0x8403 Error Drive ADC Error Error during current measurement in the ADC
0x8404 Error Drive Overcurrent Overcurrent in phase U, V or W
0x8405 Error Drive Invalid modulo position: %d Modulo position invalid
0x8406 Error Drive DC-Link undervoltage (Error) The DC link voltage of the terminal is lower than the
parameterized minimum voltage. Activation of the
output stage is prevented.
0x8407 Error Drive DC-Link overvoltage (Error) The DC link voltage of the terminal is higher than the
parameterized maximum voltage. Activation of the
output stage is prevented.
0x8408 Error Drive I2T-Model Amplifier overload • The amplifier is being operated outside the
(Error) specification.
• The I2T-model of the amplifier is incorrectly
parameterized.
0x8409 Error Drive I2T-Model motor overload (Error) • The motor is being operated outside the
parameterized rated values.
• The I2T-model of the motor is incorrectly
parameterized.
0x840A Error Drive Overall current threshold Total current exceeded
exceeded
0x8415 Error Drive Invalid modulo factor: %d Modulo factor invalid
0x8416 Error Drive Motor overtemperature The internal temperature of the motor exceeds the
parameterized error threshold. The motor stops
immediately. Activation of the output stage is
prevented.
0x8417 Error Drive Maximum rotating field velocity Rotary field speed exceeds the value specified for dual
exceeded use (EU 1382/2014).
0x841C Error Drive STO while the axis was enabled An attempt was made to activate the axis, despite the
fact that no voltage is present at the STO input.

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Diagnostics

Text ID Type Place Text Message Additional comment

0x8550 Error Inputs Zero crossing phase %X missing Zero crossing phase %X missing
0x8551 Error Inputs Phase sequence Error Wrong direction of rotation
0x8552 Error Inputs Overcurrent phase %X Overcurrent phase %X
0x8553 Error Inputs Overcurrent neutral wire Overcurrent neutral wire
0x8581 Error Inputs Wire broken Ch %D Wire broken Ch %d
0x8600 Error General IO Wrong supply voltage range Supply voltage not in the correct range
0x8601 Error General IO Supply voltage to low Supply voltage too low
0x8602 Error General IO Supply voltage to high Supply voltage too high
0x8603 Error General IO Over current of supply voltage Overcurrent of supply voltage
0x8610 Error General IO Wrong output voltage range Output voltage not in the correct range
0x8611 Error General IO Output voltage to low Output voltage too low
0x8612 Error General IO Output voltage to high Output voltage too high
0x8613 Error General IO Over current of output voltage Overcurrent of output voltage
0x8700 Error Channel/Interface not calibrated Channel/interface not synchronized
0x8701 Error Operating time was manipulated Operating time was manipulated
0x8702 Error Oversampling setting is not Oversampling setting not possible
possible
0x8703 Error No slave controller found No slave controller found
0x8704 Error Slave controller is not in Slave controller is not in bootstrap
Bootstrap
0x8705 Error Processor usage to high (>= Processor load too high (>= 100%%)
100%%)
0x8706 Error Channel in saturation Channel in saturation
0x8707 Error Channel overload Channel overload
0x8708 Error Overloadtime was manipulated Overload time was manipulated
0x8709 Error Saturationtime was manipulated Saturation time was manipulated
0x870A Error Channel range error Measuring range error for the channel
0x870B Error no ADC clock No ADC clock available
0xFFFF Information Debug: 0x%X, 0x%X, 0x%X Debug: 0x%X, 0x%X, 0x%X

172 Version: 2.9 EL5032, EL5032-0090

 Appendix

10 Appendix

10.1 Firmware compatibility

Beckhoff EtherCAT devices are delivered with the latest available firmware version. Compatibility of firmware
and hardware is mandatory; not every combination ensures compatibility. The overview below shows the
hardware versions on which a firmware can be operated.

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 [} 173].
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!

EL5032
Hardware (HW) Firmware Revision no. Release date
01 - 10* 06 EL5032-0000-0021 2012/11
07 2013/01
EL5032-0000/0023 2012/08
08 2013/01
09 2013/02
11 2014/04
12 2014/07
13 EL5032-0000/0024 2015/06
14 EL5032-0000/0025 2015/06
EL5032-0000/0026 2016/04
15 EL5032-0000/0027 2018/07
16* EL5032-0000/0028 2023/08

EL5032‑0090
Hardware (HW) Firmware Revision no. Release date
07 - 10* 15 EL5032-0090/0016 2018/07
16* EL5032-0090/0017 2023/08

*) 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.

10.2 Firmware Update EL/ES/EM/ELM/EP/EPP/ERPxxxx

This section describes the device update for Beckhoff EtherCAT slaves from the EL/ES, ELM, EM, EK, EP,
EPP and ERP series. A firmware update should only be carried out after consultation with Beckhoff support.

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Appendix

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

An EtherCAT slave stores operating data in up to three locations:

• Each EtherCAT slave has a device description, consisting of identity (name, product code), timing
specifications, communication settings, etc.
This device description (ESI; EtherCAT Slave Information) can be downloaded from the Beckhoff
website in the download area as a zip file and used in EtherCAT masters for offline configuration, e.g.
in TwinCAT.
Above all, each EtherCAT slave carries its device description (ESI) electronically readable in a local
memory chip, the so-called ESI EEPROM. When the slave is switched on, this description is loaded
locally in the slave and informs it of its communication configuration; on the other hand, the EtherCAT
master can identify the slave in this way and, among other things, set up the EtherCAT communication
accordingly.

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.

Simplified update by bundle firmware

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.

174 Version: 2.9 EL5032, EL5032-0090

 Appendix

Following the update, its success should be verified

• ESI/Revision: e.g. by means of an online scan in TwinCAT ConfigMode/FreeRun – this is a convenient
way to determine the revision
• Firmware: e.g. by looking in the online CoE of the device

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.

10.2.1 Device description ESI file/XML

NOTICE
Attention regarding update of the ESI description/EEPROM
Some slaves have stored calibration and configuration data from the production in the EEPROM. These are
irretrievably overwritten during an update.

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. 161: 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.

Update of XML/ESI description

The device revision is closely linked to the firmware and hardware used. Incompatible combinations
lead to malfunctions or even final shutdown of the device. Corresponding updates should only be
carried out in consultation with Beckhoff support.

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Appendix

Display of ESI slave identifier

The simplest way to ascertain compliance of configured and actual device description is to scan the
EtherCAT boxes in TwinCAT mode Config/FreeRun:

Fig. 162: Scan the subordinate field by right-clicking on the EtherCAT device

If the found field matches the configured field, the display shows

Fig. 163: Configuration is identical

otherwise a change dialog appears for entering the actual data in the configuration.

Fig. 164: Change dialog

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 Appendix

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.

Changing the ESI slave identifier

The ESI/EEPROM identifier can be updated as follows under TwinCAT:

• Trouble-free EtherCAT communication must be established with the slave.
• The state of the slave is irrelevant.
• Right-clicking on the slave in the online display opens the EEPROM Update dialog, Fig. EEPROM
Update

Fig. 165: EEPROM Update

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.

Fig. 166: Selecting the new ESI

A progress bar in the System Manager shows the progress. Data are first written, then verified.

The change only takes effect after a restart.

Most EtherCAT devices read a modified ESI description immediately or after startup from the INIT.
Some communication settings such as distributed clocks are only read during power-on. The
EtherCAT slave therefore has to be switched off briefly in order for the change to take effect.

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Appendix

10.2.2 Firmware explanation

Determining the firmware version

Determining the version via the System Manager

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).

CoE Online and Offline CoE

Two CoE directories are available:
• online: This is offered in the EtherCAT slave by the controller, if the EtherCAT slave supports this.
This CoE directory can only be displayed if a slave is connected and operational.
• offline: The EtherCAT Slave Information ESI/XML may contain the default content of the CoE.
This CoE directory can only be displayed if it is included in the ESI (e.g. “Beckhoff EL5xxx.xml”).
The Advanced button must be used for switching between the two views.

In Fig. Display of EL3204 firmware version the firmware version of the selected EL3204 is shown as 03 in
CoE entry 0x100A.

Fig. 167: Display of EL3204 firmware version

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.

10.2.3 Updating controller firmware *.efw

CoE directory
The Online CoE directory is managed by the controller and stored in a dedicated EEPROM, which
is generally not changed during a firmware update.

Switch to the Online tab to update the controller firmware of a slave, see Fig. Firmware Update.

178 Version: 2.9 EL5032, EL5032-0090

 Appendix

Fig. 168: 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.

• Switch EtherCAT Master to PreOP

• Switch slave to INIT (A)

• Switch slave to BOOTSTRAP

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Appendix

• Check the current status (B, C)

• Download the new *efw file (wait until it ends). A password will not be necessary usually.

• After the download switch to INIT, then PreOP

• Switch off the slave briefly (don't pull under voltage!)
• Check within CoE 0x100A, if the FW status was correctly overtaken.

10.2.4 FPGA firmware *.rbf

If an FPGA chip deals with the EtherCAT communication an update may be accomplished via an *.rbf file.
• Controller firmware for processing I/O signals
• FPGA firmware for EtherCAT communication (only for terminals with FPGA)

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.

Determining the version via the System Manager

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.

180 Version: 2.9 EL5032, EL5032-0090

 Appendix

Fig. 169: FPGA firmware version definition

If the column Reg:0002 is not displayed, right-click the table header and select Properties in the context
menu.

Fig. 170: Context menu Properties

The Advanced Settings dialog appears where the columns to be displayed can be selected. Under
Diagnosis/Online View select the '0002 ETxxxx Build' check box in order to activate the FPGA firmware
version display.

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Appendix

Fig. 171: Dialog Advanced Settings

Update

For updating the FPGA firmware

• of an EtherCAT coupler the coupler must have FPGA firmware version 11 or higher;
• of an E-Bus Terminal the terminal must have FPGA firmware version 10 or higher.

Older firmware versions can only be updated by the manufacturer!

Updating an EtherCAT device

The following sequence order have to be met if no other specifications are given (e.g. by the Beckhoff
support):
• Switch TwinCAT system to ConfigMode/FreeRun with cycle time >= 1 ms (default in ConfigMode is
4 ms). A FW-Update during real time operation is not recommended.

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 Appendix

• 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:

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Appendix

• Select the file (*.rbf) with the new FPGA firmware, and transfer it to the EtherCAT device:

• Wait until download ends

• Switch slave current less for a short time (don't pull under voltage!). In order to activate the new FPGA
firmware a restart (switching the power supply off and on again) of the EtherCAT device is required.
• Check the new FPGA status

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!

10.2.5 Simultaneous updating of several EtherCAT devices

The firmware and ESI descriptions of several devices can be updated simultaneously, provided the devices
have the same firmware file/ESI.

Fig. 172: Multiple selection and firmware update

Select the required slaves and carry out the firmware update in BOOTSTRAP mode as described above.

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 Appendix

10.3 Restoring the delivery state

To restore the delivery state (factory settings) of CoE objects for EtherCAT devices (“slaves”), the CoE object
Restore default parameters, SubIndex 001 can be used via EtherCAT master (e.g. TwinCAT) (see Fig.
Selecting the Restore default parameters PDO).

Fig. 173: Selecting the Restore default parameters PDO

Fig. 174: Entering a restore value in the Set Value dialog

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.

All backup objects are reset to the delivery state.

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Appendix

Alternative restore value

In some older terminals (FW creation approx. before 2007) the backup objects can be switched with
an alternative restore value: Decimal value: 1819238756, Hexadecimal value: 0x6C6F6164.
An incorrect entry for the restore value has no effect.

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 Appendix

10.4 Support and Service

Beckhoff and their partners around the world offer comprehensive support and service, making available fast
and competent assistance with all questions related to Beckhoff products and system solutions.

Beckhoff's branch offices and representatives

Please contact your Beckhoff branch office or representative for local support and service on Beckhoff
products!

The addresses of Beckhoff's branch offices and representatives round the world can be found on her internet
pages: 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: [email protected]
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: [email protected]
web: www.beckhoff.com/service

Headquarters Germany

Beckhoff Automation GmbH & Co. KG

Hülshorstweg 20
33415 Verl
Germany
Phone: +49 5246 963 0
e-mail: [email protected]
web: www.beckhoff.com

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More Information:
www.beckhoff.com/EL5032/

Beckhoff Automation GmbH & Co. KG

Hülshorstweg 20
33415 Verl
Germany
Phone: +49 5246 9630
[email protected]
www.beckhoff.com