Beckhoff EL9xxx User Manual

DocumentationEL9xxxEtherCATSystemTerminals3.106.04.2015VersionDate

ForewordExceptionscanoccurintheIP67area,wherethefollowingsyntaxcanbeused(seerespectivedevicedocumentation):Syntax:DwwyyxyzuD

TableoffiguresFig.43 "CoEOnline"tab...

ForewordFig.3:CU2016switchwithbatchnumberFig.4:EL32020020withbatchnumbers26131006anduniqueDnumber204418Fig.5:EP125800001IP67Eth

ForewordFig.7:EL2904IP20safetyterminalwithbatchnumber/datecode50110302andserialnumber00331701EL9xxx12 Version3.1

Productoverview3 Productoverview3.1 EL9011,EL90803.1.1 EL9011,EL9080IntroductionandTechnicalDataFig.8:EL9011EachEtherCATterminalblockm

ProductoverviewTheEL9080separationterminalinterruptsthepowercontactswithinabusterminalblock.Theterminalenablesoperationwithdifferent

Productoverview3.2 EL90703.2.1 EL9070IntroductionandTechnicalDataFig.10:EL9070TheEL9070shieldterminalprovideseightterminalpointswith

ProductoverviewTechnicaldataTechnicalData EL9070Technology shieldterminalCurrentload ≤10APowerLED ErrorLED CurrentconsumptionEbus Nomin

Productoverview3.3 EL9100,EL9110,EL91903.3.1 EL9100,EL9110,EL9190IntroductionandTechnicalDataFig.11:EL9100Fig.12:EL9110EL9xxx 17Version

ProductoverviewFig.13:EL9190TheEL9100/EL9110/EL9190feedterminalcanbepositionedatanylocationbetweentheinputandoutputterminalsfor

ProductoverviewTechnicaldataTechnicaldata EL9100 EL9110 EL9190Nominalvoltage 24VDCvariable,upto230VAC/DCPowercontactcurrentload max.10A

ProductoverviewTerminalpoint DescriptionIndication No.1 notused+24V*/230VAC** 2 Supplyinput+24V[EL9100,EL9110]Supplyinput230VAC[EL9

Productoverview3.4 EL9150,EL91603.4.1 EL9150,EL9160IntroductionandTechnicalDataFig.15:EL9150TheEL9150feedterminalcanbepositionedata

ProductoverviewTechnicaldataTechnicaldata EL9150 EL9160Nominalvoltage 230VAC(120VAC)Powercontactcurrentload max.10AElectricalisolation y

ProductoverviewTerminalpoint DescriptionIndication No.1 notused230VAC(120VAC) 2 Supplyinput230VAC(120VAC),connectedinternallywithterm

Productoverview3.5 EL9181,EL9182,EL91833.5.1 EL9181,EL9182,EL9183IntroductionandTechnicalDataFig.18:EL9181Fig.19:EL9182EL9xxx24 Version

ProductoverviewFig.20:EL9183ThepotentialdistributionterminalsEL9181,EL9182andEL9183provide16terminalpointsforpotentialdistributionand

ProductoverviewTechnicaldataTechnicalData EL9181 EL9182 EL9183Technology PotentialdistributionterminalNumberofseparatepotentials 2 8 1Terminal

ProductoverviewConnectionEL9182Terminalpoint MeaningIndication No.1,9 1+9 Terminalpoints1+9areconnectedinternally2,10 2+10 Terminalpo

ProductoverviewFig.22:EL9187ThepotentialdistributionterminalsEL9186andEL9187provide8terminalpointswithapotentialandenablethevoltage

ProductoverviewTechnicalDataTechnicalData EL9186 EL9187Nominalvoltage ≤60VDCCurrentload ≤10ADiagnosis MessagetoEBus PEcontact noShield

TableofcontentsTableofcontents1 OverviewEtherCATSystemandFunctionterminals...

ProductoverviewConnectionEL9187Terminalpoint DescriptionIndication No.Output18 18 Output18(internallyconnectedwithnegativepowercont

ProductoverviewFig.24:EL9188Fig.25:EL9189ThepotentialdistributionterminalsEL9188andEL9189provide16terminalpointswithapotentialanden

ProductoverviewTheHDEtherCATTerminals(HighDensity)withincreasedpackingdensityfeature16connectionpointsinthehousingofa12mmterminal

ProductoverviewConnectionEL9184Terminalpoint DescriptionIndication No.+24V 18 +24Voutput(internallyconnectedwithpositivepowercontact)0

ProductoverviewTechnicaldataTechnicaldata EL9195Technology shieldterminal,fordissipationofEMCinterferencePowercontactcurrentload max.10A

ProductoverviewTerminalpointDescriptionNo.1 connectedinternallywithterminal52 Supplyinput:variablevoltage,upto230VAC/DCconnectedinternal

ProductoverviewFig.28:EL9210Fig.29:EL9290TheEL9200/EL9210/EL9290feedterminalcanbepositionedatanylocationbetweentheinputandoutpu

ProductoverviewTechnicaldataTechnicaldata EL9200 EL9210 EL9290Nominalvoltage 24VDCvariable,upto230VACPowercontactcurrentload max.10AEle

ProductoverviewTerminalpoint DescriptionIndication No.+24V*/230VAC** 1 Supplyinput+24V[EL9200,EL9210]Supplyinput230VAC[EL9290:varia

Productoverview3.9 EL9250,EL92603.9.1 EL9250,EL9260IntroductionandTechnicalDataFig.31:EL9250Fig.32:EL9260TheEL9250/EL9260feedtermina

Tableofcontents7 Appendix ...

ProductoverviewTechnicaldataTechnicaldata EL9250 EL9260Nominalvoltage 230VACPowercontactcurrentload max.10AElectricalisolation yesIntegrat

ProductoverviewTerminalpoint DescriptionIndication No.230VAC 1 Supplyinput230VAC;connectedinternallywithterminal4and230VACpowerconta

Productoverview3.10 EL9400,EL94103.10.1 EL9400,EL9410IntroductionandTechnicalDataFig.34:EL9400Fig.35:EL9410TheEL9400andEL9410powersu

ProductoverviewTechnicalDataTechnicalData EL9400 EL9410Inputvoltage 24VDCOutputcurrentforEbussupply2APowercontactvoltage 24VDCPowerconta

ProductoverviewConnectionEL9400,EL9410Terminalpoint DescriptionIndication No.+24VforEBus 1 Supplyinput+24VfortheEBus+24V 2 Supplyinp

ProductoverviewFig.36:EL9110intheTwinCATtreeIftheUporUsvoltageisbelow17V,thecorrespondingdiagnosisbit'Undervoltage'has

ProductoverviewFig.38:EL9550TheEL9540systemterminalcontainsanovervoltagefilterforthe24Vfieldsupply,theEL9550forthe24Vfieldands

ProductoverviewTechnicaldataTechnicaldata EL9540 EL9550Function surgefilterfieldsupply surgefiltersystemandfieldsupplyNominalvoltage 24V

ProductoverviewTerminalpoint MeaningIndication No.n.c. 1 notconnected+24V 2 +24V(internallyconnectedwithterminalpoint6andpositivepowerco

Productoverview3.12 EL95703.12.1 EL9570IntroductionandTechnicalDataFig.39:EL9570TheEL9570BusTerminalcontainshighperformancecapacitors

OverviewEtherCATSystemandFunctionterminals1 OverviewEtherCATSystemandFunctionterminalsEL9011 [}13](Endcap)EL9070 [}15](Shieldterminal)E

ProductoverviewTechnicaldataTechnicaldata EL9570Technology buffercapacitorNominalvoltage 50VCapacity 500µFRipplecurrent 10Aincontinuousope

ProductoverviewTerminalpoint MeaningIndication No.Rexternal1 Connectionforballastresistor+UIN2 Positiveinputforbuffervoltage(internallyconn

ProductoverviewFig.40:ApplicationexampleEL9570NoteMoremotorsAcapacitorEL9570terminalisabletoconditionthepowersupplyofseveralmotors.

Basicscommunication4 Basicscommunication4.1 EtherCATbasicsPleaserefertothechapter EtherCAT System DocumentationfortheEtherCATfieldbusbasi

BasicscommunicationFig.41:SystemmanagercurrentcalculationAttentionCaution!Malfunctionpossible!ThesamegroundpotentialmustbeusedfortheE

BasicscommunicationInitAfterswitchontheEtherCATslaveintheInitstate.Nomailboxorprocessdatacommunicationispossible.TheEtherCATmaster

BasicscommunicationDifferentCoEparametertypesarepossible,includingstring(text),integernumbers,Booleanvaluesorlargerbytefields.Theyca

BasicscommunicationThefigureaboveshowstheCoEobjectsavailableindevice"EL2502",rangingfromx1000tox1600.Thesubindicesforx101

BasicscommunicationFig.44:StartuplistintheTwinCATSystemManagerTheStartuplistmayalreadycontainvaluesthatwereconfiguredbytheSystem

Basicscommunication•IftheslaveisonlineTheactualcurrentslavelistisread.Thismaytakeseveralseconds,dependingonthesizeandcycleti

Foreword2 Foreword2.1 NotesonthedocumentationThisdescriptionisonlyintendedfortheuseoftrainedspecialistsincontrolandautomationenginee

Mountingandwiring5 Mountingandwiring5.1 InstallationonmountingrailsWARNINGRiskofelectricshockanddamageofdevice!Bringthebusterminalsy

MountingandwiringDisassemblyFig.48:DisassemblingofterminalEachterminalissecuredbyalockonthemountingrail,whichmustbereleasedfordi

MountingandwiringFig.49:PowercontactonleftsideAttentionPossibledamageofthedeviceNotethat,forreasonsofelectromagneticcompatibility,t

Mountingandwiring5.2 InstallationinstructionsforenhancedmechanicalloadcapacityWARNINGRiskofinjurythroughelectricshockanddamagetothede

Mountingandwiring5.3 ConnectionsystemWARNINGRiskofelectricshockanddamageofdevice!Bringthebusterminalsystemintoasafe,powereddownsta

MountingandwiringConductorcrosssectionsbetween0.08mm2and2.5mm2cancontinuetobeusedwiththeprovenspringforcetechnology.Theoverviewa

MountingandwiringWiringTerminalsforstandardwiringELxxxx/KLxxxxandterminalsforsteadywiringESxxxx/KSxxxxFig.53:Mountingacableonate

MountingandwiringShieldingNoteShieldingAnalogsensorsandactorsshouldalwaysbeconnectedwithshielded,twistedpairedwires.EL9xxx 67Version3.1

Mountingandwiring5.4 InstallationpositionsAttentionConstraintsregardinginstallationpositionandoperatingtemperaturerangePleaserefertothet

MountingandwiringFig.55:OtherinstallationpositionsEL9xxx 69Version3.1

Foreword2.2 SafetyinstructionsSafetyregulationsPleasenotethefollowingsafetyinstructionsandexplanations!Productspecificsafetyinstructionsc

Mountingandwiring5.5 MountingofPassiveTerminalsNoteHintformountingpassiveterminalsEtherCATBusTerminals(ELxxxx/ESxxxx),whichdonottake

Mountingandwiring5.6 ATEXSpecialconditionsWARNINGObservethespecialconditionsfortheintendeduseofBeckhofffieldbuscomponentsinpotential

MountingandwiringMarkingTheBeckhofffieldbuscomponentscertifiedforpotentiallyexplosiveareasbearoneofthefollowingmarkings:II3GExnAII

TwinCATSystemManager6 TwinCATSystemManager6.1 ConfigurationwithTwinCATSystemManagerpassiveterminalsEL9011,EL9070,EL9080;EL9100,EL9150,E

Appendix7 Appendix7.1 ULnoticeApplicationBeckhoffEtherCATmodulesareintendedforusewithBeckhoff’sULListedEtherCATSystemonly.ExaminationFo

Appendix• fromanisolatedsourceprotectedbyafuseofmax.4A(accordingtoUL248)or• fromavoltagesupplycomplyingwithNECclass2.Avoltages

Appendix7.2 FirmwarecompatibilitypassiveterminalsTheEL9xxxterminalserieshasnofirmwaretoupdate.7.3 ATEXDocumentationNoteNotesaboutopera

AppendixResultingstateAny+ESolutionReadusermanualorcontactdevicemanufacturer7.4.3 ErrorCode0x0002MeaningNoMemoryDescriptionLesshardwarem

AppendixSolutionGostepbystepfromtheoriginalstatetothedesiredstate.7.4.5 ErrorCode0x0012MeaningUnknownrequestedstatechangeDescriptionTh

AppendixSolutionn/a7.4.7 ErrorCode0x0014MeaningNovalidfirmwareDescriptionThiserrorcodemaybereturnedafterafirmwaredownload,ifthedownloa

Foreword2.3 DocumentationissuestatusVersion Comment3.1 Updatechapter"Technicaldata"Addendachapter"Installationinstructions

Appendix7.4.9 ErrorCode0x0016MeaningInvalidmailboxconfigurationDescriptionExample:Theslavehardwarewasreplacedwhilethenetworkconfiguration

AppendixDescriptionTheslaveapplicationcannotprovidevalidinputvaluesExample:Acertainhardwarewhichneedstobeconnectedtotheslavewasdis

AppendixDescriptionIftoomanyRxPDOToggleerroroccur,i.e.theRxPDOToggleFailedCounterincreasestheinternallimittheslavereturnstoSAFEPER

AppendixCurrentState(orstatechange)O,S,O,P→SResultingstateS+ESolutionn/a7.4.16 ErrorCode0x001DMeaningInvalidOutputConfigurationDescripti

Appendix7.4.18 ErrorCode0x001FMeaningInvalidWatchdogConfigurationDescriptionTheWatchdogisconfiguredintheESCregister0x0400and0x0420.Ethe

AppendixCurrentState(orstatechange)B,P,S,OResultingstateCurrentState+ESolutionn/a7.4.21 ErrorCode0x0022MeaningSlaveneedsPREOPDescriptio

Appendix7.4.23 ErrorCode0x0024MeaningInvalidInputMappingDescriptionTheprocessdataaredescribedbytheconfiguration(PdoConfig)andPDOassignm

Appendix7.4.25 ErrorCode0x0026MeaningInconsistentSettingsDescriptionGeneralsettingsmismatchCurrentState(orstatechange)P→SResultingstateP+E

AppendixResultingstateP+ESolutionn/a7.4.28 ErrorCode0x0029MeaningFreerunneeds3BufferModeDescriptionFreeRunmode,SMhastorunin3buffermo

Appendix7.4.30 ErrorCode0x002BMeaningNoValidInputsandOutputsDescriptionn/aCurrentState(orstatechange)O,S→OResultingstateS+ESolutionn/a7.

Foreword2.4 VersionidentificationofEtherCATdevicesDesignationABeckhoffEtherCATdevicehasa14digitdesignation,madeupof• familykey• type•

AppendixDescriptionSyncSignalnotreceived:InSAFEOPtheslavewaitsforthefirstSync0/Sync1eventsbeforeswitchingtoOP,iftheseeventswerenot

AppendixSolutionn/a7.4.35 ErrorCode0x0032MeaningPLLErrorDescriptionMasternotsynchronized,atleastoneDCeventrecievedCurrentState(orstatec

Appendix7.4.37 ErrorCode0x0034MeaningDCSyncTimeoutErrorDescriptionMultipleSynchronizationErrors,toomuchSMeventsmissedCurrentState(orsta

AppendixResultingstateP+ESolutionn/a7.4.40 ErrorCode0x0037MeaningDCSync1CycleTimeDescriptionDCSync1cycletimedoesnotfittotheapplicatio

Appendix7.4.42 ErrorCode0x0042MeaningMBX_EOEDescriptionn/aCurrentState(orstatechange)B,P,S,OResultingstateCurrentState+ESolutionn/a7.4.43

AppendixResultingstateCurrentState+ESolutionn/a7.4.45 ErrorCode0x0045MeaningMBX_SOEDescriptionn/aCurrentState(orstatechange)B,P,S,OResult

Appendix7.4.47 ErrorCode0x0050MeaningEEPROMNoAccessDescriptionEEPROMnotassignedtoPDICurrentState(orstatechange)AnyResultingstateAny+ESo

AppendixResultingstateISolutionn/a7.4.50 ErrorCode0x0061MeaningDeviceIdentificationValueupdatedDescriptionn/aCurrentState(orstatechange)PRes

Appendix7.5 SupportandServiceBeckhoffandtheirpartnersaroundtheworldoffercomprehensivesupportandservice,makingavailablefastandcompeten

TableoffiguresTableoffiguresFig.1 EL5021ELterminal,standardIP20IOdevicewithbatchnumberandrevisionID(since2014/01)......