Inhaltsverzeichnis
3.2
3.3
3.4
EtherCAT State Machine ................................................................................................................. 69
3.5
CoE-Interface .................................................................................................................................. 72
3.6
Distributed Clock ............................................................................................................................. 76
4 Montage und Verdrahtung ...................................................................................................................... 77
4.1
Tragschienenmontage ..................................................................................................................... 77
4.2
4.3
4.4
Einbaulagen..................................................................................................................................... 81
4.5
Anschluss ........................................................................................................................................ 83
4.5.1
Anschlusstechnik ............................................................................................................. 83
4.5.2
Verdrahtung ..................................................................................................................... 85
4.5.3
Schirmung........................................................................................................................ 86
4.6
4.7
4.8
ATEX-Dokumentation ...................................................................................................................... 88
5 Inbetriebnahme ........................................................................................................................................ 89
5.1
TwinCAT Quickstart......................................................................................................................... 89
5.1.1
5.1.2
TwinCAT 3 ..................................................................................................................... 102
5.2
5.2.1
5.2.2
5.2.3
TwinCAT ESI Updater ................................................................................................... 123
5.2.4
5.2.5
5.2.6
5.2.7
5.3
6 Anhang ................................................................................................................................................... 155
6.1
EtherCAT AL Status Codes ........................................................................................................... 155
6.2
UL-Hinweise .................................................................................................................................. 155
6.3
Firmware Kompatibilität ................................................................................................................. 156
6.4
6.4.1
6.4.2
6.4.3
6.4.4
FPGA-Firmware *.rbf ..................................................................................................... 163
6.4.5
6.5
6.6
Support und Service ...................................................................................................................... 169
4
Version: 5.4
EL20xx, EL2124