Beckhoff EL6731 User Manual

Table of contents
EL6731 3Version: 2.8
Table of contents
1 Foreword ....................................................................................................................................................5
1.1 Notes on the documentation..............................................................................................................5
1.2 Safety instructions .............................................................................................................................6
1.3 Documentation issue status ..............................................................................................................7
1.4 Version identification of EtherCAT devices .......................................................................................7
1.4.1 Beckhoff Identification Code (BIC)................................................................................... 12
2 Product overview.....................................................................................................................................14
2.1 Introduction......................................................................................................................................14
2.2 Technical data .................................................................................................................................15
3 Mounting and wiring................................................................................................................................16
3.1 Instructions for ESD protection........................................................................................................16
3.2 Recommended mounting rails.........................................................................................................16
3.3 Installation positions ........................................................................................................................17
3.4 Mounting and demounting - terminals with traction lever unlocking ................................................18
3.5 Mounting and demounting - terminals with front unlocking .............................................................20
3.6 Positioning of passive Terminals .....................................................................................................22
3.7 PROFIBUS cabling..........................................................................................................................22
3.8 PROFIBUS Connection ...................................................................................................................24
3.9 ATEX - Special conditions (extended temperature range) ..............................................................26
3.10 ATEX Documentation ......................................................................................................................27
3.11 UL notice .........................................................................................................................................27
4 Basics communication ...........................................................................................................................28
4.1 EtherCAT basics..............................................................................................................................28
4.2 General notes for setting the watchdog...........................................................................................28
4.3 EtherCAT State Machine.................................................................................................................30
4.4 CoE Interface...................................................................................................................................32
5 Parameterization and commissioning...................................................................................................37
5.1 EL6731 - PROFIBUS master terminal.............................................................................................37
5.1.1 PROFIBUS protocols....................................................................................................... 37
5.1.2 PROFIBUS DP ................................................................................................................ 38
5.1.3 PROFIBUS MC................................................................................................................ 40
5.1.4 Synchronization ............................................................................................................... 41
5.1.5 ADS (acyclic services) ..................................................................................................... 42
5.1.6 TwinCAT (2.1x) System Manager.................................................................................... 53
5.1.7 Operation of PROFIdrive MC drives .............................................................................. 101
5.1.8 Diagnostics and error description .................................................................................. 114
5.1.9 Slave Prioritization/Multiple DP Cycles.......................................................................... 129
5.2 EL6731-0010 - PROFIBUS slave terminal ....................................................................................130
6 EtherCAT communication EL6731-00x0..............................................................................................134
6.1 PROFIBUS master ........................................................................................................................134
6.1.1 State machine................................................................................................................ 134
6.1.2 Synchronization ............................................................................................................. 138
6.1.3 Object description and parameterization ....................................................................... 142

Beckhoff EL6731 Specifications

General

Brand	Beckhoff
Model	EL6731
Category	Touch terminals
Language	English