Documentation | EN

EL28xx
8- / 16-Channel Digital HD Output Terminals

2023-03-15 | Version: 2.6

 Table of contents

Table of contents
1 Foreword .................................................................................................................................................... 7
1.1 Product overview: EtherCAT digital HD output terminals.................................................................. 7
1.2 Notes on the documentation ............................................................................................................. 8
1.3 Safety instructions ............................................................................................................................. 9
1.4 Documentation issue status ............................................................................................................ 10
1.5 Version identification of EtherCAT devices ..................................................................................... 11
1.5.1 General notes on marking................................................................................................ 11
1.5.2 Version identification of EL terminals ............................................................................... 12
1.5.3 Beckhoff Identification Code (BIC) ................................................................................... 13
1.5.4 Electronic access to the BIC (eBIC)................................................................................. 15
1.6 Interference-free Bus Terminals...................................................................................................... 17

2 EL2808 - Product description ................................................................................................................ 23

2.1 Introduction ..................................................................................................................................... 23
2.2 Technical data ................................................................................................................................. 24
2.3 Pin assignment and LEDs ............................................................................................................... 25

3 EL2828 - Product description ................................................................................................................ 26

3.1 Introduction ..................................................................................................................................... 26
3.2 Technical data ................................................................................................................................. 27
3.3 Pin assignment and LEDs ............................................................................................................... 28

4 EL2809, EL2889 - Product description .................................................................................................. 29

4.1 Introduction ..................................................................................................................................... 29
4.2 Technical data ................................................................................................................................. 30
4.3 Pin assignment and LEDs ............................................................................................................... 32

5 EL2819 - Product description ................................................................................................................ 33

5.1 Introduction ..................................................................................................................................... 33
5.2 Technical data ................................................................................................................................. 34
5.3 Pin assignment and LEDs ............................................................................................................... 36
5.4 Overload protection ......................................................................................................................... 37
5.5 Operating modes and settings ........................................................................................................ 39
5.5.1 Process data .................................................................................................................... 39
5.5.2 Diagnostics per channel................................................................................................... 42
5.5.3 Device diagnostics ........................................................................................................... 42
5.5.4 Settings via the CoE directory.......................................................................................... 43
5.6 Object description and parameterization......................................................................................... 46
5.6.1 Restore object ................................................................................................................. 46
5.6.2 Configuration data............................................................................................................ 46
5.6.3 Command object .............................................................................................................. 47
5.6.4 Input data ......................................................................................................................... 48
5.6.5 Output data ...................................................................................................................... 48
5.6.6 Standard objects .............................................................................................................. 48

6 EL2872, EL2872-0010 - Product description......................................................................................... 58

6.1 Introduction ..................................................................................................................................... 58
6.2 Technical data ................................................................................................................................. 59

EL28xx Version: 2.6 3

Table of contents

6.3 Pin assignment and LEDs ............................................................................................................... 60

7 EL2878-0005 - Product description ....................................................................................................... 61

7.1 Introduction ..................................................................................................................................... 61
7.2 Technical data ................................................................................................................................. 62
7.3 Pin assignment and LEDs ............................................................................................................... 63

8 Basics communication ........................................................................................................................... 64

8.1 EtherCAT basics ............................................................................................................................. 64
8.2 EtherCAT cabling – wire-bound ...................................................................................................... 64
8.3 General notes for setting the watchdog .......................................................................................... 65
8.4 EtherCAT State Machine ................................................................................................................ 67
8.5 CoE Interface .................................................................................................................................. 69
8.6 Distributed Clock ............................................................................................................................. 74

9 Mounting and wiring ............................................................................................................................... 75

9.1 Instructions for ESD protection ....................................................................................................... 75
9.2 Explosion protection ........................................................................................................................ 76
9.2.1 ATEX - Special conditions (standard temperature range)................................................ 76
9.2.2 ATEX - Special conditions (extended temperature range)............................................... 77
9.2.3 IECEx - Special conditions............................................................................................... 78
9.2.4 Continuative documentation for ATEX and IECEx........................................................... 79
9.2.5 cFMus - Special conditions .............................................................................................. 80
9.2.6 Continuative documentation for cFMus............................................................................ 81
9.3 UL notice ......................................................................................................................................... 82
9.4 Installation on mounting rails........................................................................................................... 83
9.5 Installation instructions for enhanced mechanical load capacity..................................................... 86
9.6 Connection ...................................................................................................................................... 87
9.6.1 Connection system........................................................................................................... 87
9.6.2 Wiring ............................................................................................................................... 89
9.6.3 Shielding .......................................................................................................................... 90
9.7 Note - Power supply ........................................................................................................................ 91
9.8 Installation positions ........................................................................................................................ 92
9.9 Positioning of passive Terminals..................................................................................................... 94
9.10 Disposal .......................................................................................................................................... 95

10 Commissioning ....................................................................................................................................... 96
10.1 TwinCAT Quick Start....................................................................................................................... 96
10.1.1 TwinCAT 2 ....................................................................................................................... 99
10.1.2 TwinCAT 3 ..................................................................................................................... 109
10.2 TwinCAT Development Environment ............................................................................................ 122
10.2.1 Installation of the TwinCAT real-time driver ................................................................... 123
10.2.2 Notes regarding ESI device description ......................................................................... 129
10.2.3 TwinCAT ESI Updater.................................................................................................... 133
10.2.4 Distinction between Online and Offline .......................................................................... 133
10.2.5 OFFLINE configuration creation..................................................................................... 134
10.2.6 ONLINE configuration creation ...................................................................................... 139
10.2.7 EtherCAT subscriber configuration ................................................................................ 147
10.2.8 Import/Export of EtherCAT devices with SCI and XTI.................................................... 156

4 Version: 2.6 EL28xx

 Table of contents

10.3 General Commissioning Instructions for an EtherCAT Slave ....................................................... 162

11 Appendix ................................................................................................................................................ 170

11.1 EtherCAT AL Status Codes .......................................................................................................... 170
11.2 Firmware compatibility .................................................................................................................. 171
11.3 Firmware Update EL/ES/EM/ELM/EPxxxx.................................................................................... 172
11.3.1 Device description ESI file/XML ..................................................................................... 173
11.3.2 Firmware explanation..................................................................................................... 176
11.3.3 Updating controller firmware *.efw ................................................................................. 176
11.3.4 FPGA firmware *.rbf ....................................................................................................... 178
11.3.5 Simultaneous updating of several EtherCAT devices .................................................... 182
11.4 Firmware compatibility - passive terminals ................................................................................... 183
11.5 Restoring the delivery state........................................................................................................... 184
11.6 Support and Service...................................................................................................................... 185

EL28xx Version: 2.6 5

Table of contents

6 Version: 2.6 EL28xx

 Foreword

1 Foreword

1.1 Product overview: EtherCAT digital HD output

terminals
EL2808 [} 23] 8 digital outputs; 24 VDC, 0.5 A
EL2828 [} 26] 8 digital outputs; 24 VDC, 2 A
EL2809 [} 29] 16 digital outputs; 24 VDC, 0.5 A
EL2889 [} 29] 16 digital outputs; 24 VDC, 0.5 A, ground switching
EL2872 [} 58] 16 digital outputs; 24 VDC, 0.5 A; flat-ribbon cable connection
EL2872-0010 [} 58] 16 digital outputs; 24 VDC, 0.5 A; flat-ribbon cable connection, ground switching
EL2878-0005 [} 61] 8 digital outputs; 24 VDC, 0.5 A, flat-ribbon cable connection, integrated diagnosis of supply voltage
EL2819 [} 33] 16 digital outputs; 24 VDC, 0.5 A, with diagnostics

EL28xx Version: 2.6 7

Foreword

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.
It is the duty of the technical personnel to use the documentation published at the respective time of each
installation and commissioning.

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.

8 Version: 2.6 EL28xx

 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.

Description of instructions

In this documentation the following instructions are used.

These instructions must be read carefully and followed without fail!

DANGER
Serious risk of injury!
Failure to follow this safety instruction directly endangers the life and health of persons.

WARNING
Risk of injury!
Failure to follow this safety instruction endangers the life and health of persons.

CAUTION
Personal injuries!
Failure to follow this safety instruction can lead to injuries to persons.

NOTE
Damage to environment/equipment or data loss
Failure to follow this instruction can lead to environmental damage, equipment damage or data loss.

Tip or pointer
This symbol indicates information that contributes to better understanding.

EL28xx Version: 2.6 9

Foreword

1.4 Documentation issue status

Version Comment
2.6 • Update "Technical data"
• Update structure
2.5 • New title page
• EL2878-0005 aded
• Addenda chapter "IECEX - Special conditions" and "cFMus - Special conditions"
• Update "Technical data"
• Update structure
2.4 • Update chapter "Technical data"
2.3 • Update chapter "UL notice"
• Update chapter "Technical data"
• Update chapter "Firmware compatibility"
• Update structure
2.2 • Update chapter "Notes on the documentation"
• Amendments in chapter "Non-reactive Bus Terminals"
• Update chapter "Technical data"
• Update EL2819 / chapter "Basic function principles" -> "Overload protection"
• Addenda chapter "Instructions for ESD protection"
• Chapter "ATEX - Special conditions" replaced with chapter "ATEX - Special conditions
(extended temperature range)"
• Addenda chapter "ATEX - Special conditions (extended temperature range)"
• Addenda chapter "TwinCAT Quickstart"
• Update chapter "TwinCAT 2.1x" -> "TwinCAT Development Environment"
• Update structure
• Update revision status
2.1 • Chapter “Non-reactive Bus Terminals” added
• Update structure
2.0 • EL2819 added
• First publication in PDF format
1.8 • “Technical data” chapter updated
• chapter “Assembly instructions with increased mechanical load capacity” supplemented
• Structural update
1.7 • Structural update
• “Technical data” chapter updated: notes on ET
1.6 • “Technical data” chapter updated
1.5 • EL2872-0010 added
• “Technical data” chapter updated
1.4 • EL2828 added
1.3 • Additions to technical data
1.2 • Additions to technical notes
1.1 • EL2872, EL2889 added
• Additions to technical notes
1.0 • First publication
0.1 • Provisional documentation for EL28xx

10 Version: 2.6 EL28xx

 Foreword

1.5 Version identification of EtherCAT devices

1.5.1 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 (4-channel thermocouple 0000 (basic type) 0016
(12 mm, non- terminal)
pluggable connection
level)
ES3602-0010-0017 ES terminal 3602 (2-channel voltage 0010 (high- 0017
(12 mm, pluggable measurement) precision version)
connection level)
CU2008-0000-0000 CU device 2008 (8-port fast ethernet switch) 0000 (basic type) 0000

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.

EL28xx Version: 2.6 11

Foreword

1.5.2 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

12 Version: 2.6 EL28xx

 Foreword

1.5.3 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.

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:

EL28xx Version: 2.6 13

Foreword

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.

NOTE
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.

14 Version: 2.6 EL28xx

 Foreword

1.5.4 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.

Decisive for the electronic readout is the interface via which the product can be electronically addressed.

K-bus devices (IP20, IP67)

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

EtherCAT devices (IP20, IP67)

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

The eBIC is also stored in the ESI‑EEPROM. The eBIC was introduced into the Beckhoff I/O production
(terminals, box modules) from 2020; widespread implementation is expected in 2021.

The user can electronically access the eBIC (if existent) as follows:
• With all EtherCAT devices, the EtherCAT master (TwinCAT) can read the eBIC from the ESI‑EEPROM
◦ From TwinCAT 3.1 build 4024.11, the eBIC can be displayed in the online view.
◦ To do this,
check the checkbox "Show Beckhoff Identification Code (BIC)" under
EtherCAT → Advanced Settings → Diagnostics:

◦ The BTN and its contents are then displayed:

◦ Note: as can be seen in the illustration, the production data HW version, FW version and
production date, which have been programmed since 2012, can also be displayed with "Show
Production Info".
◦ From TwinCAT 3.1. build 4024.24 the functions FB_EcReadBIC and FB_EcReadBTN for reading
into the PLC and further eBIC auxiliary functions are available in the Tc2_EtherCAT Library from
v3.3.19.0.
• In the case of EtherCAT devices with CoE directory, the object 0x10E2:01 can additionally by used to
display the device's own eBIC; the PLC can also simply access the information here:

EL28xx Version: 2.6 15

Foreword

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

◦ the object 0x10E2 will be introduced into stock products in the course of a necessary firmware
revision.
◦ From TwinCAT 3.1. build 4024.24 the functions FB_EcCoEReadBIC and FB_EcCoEReadBTN for
reading into the PLC and further eBIC auxiliary functions are available in the Tc2_EtherCAT
Library from v3.3.19.0.
• Note: in the case of electronic further processing, the BTN is to be handled as a string(8); the identifier
"SBTN" is not part of the BTN.
• Technical background
The new BIC information is additionally written as a category in the ESI‑EEPROM during the device
production. The structure of the ESI content is largely dictated by the ETG specifications, therefore the
additional vendor-specific content is stored with the help of a category according to ETG.2010. ID 03
indicates to all EtherCAT masters that they must not overwrite these data in case of an update or
restore the data after an ESI update.
The structure follows the content of the BIC, see there. This results in a memory requirement of
approx. 50..200 bytes in the EEPROM.
• Special cases
◦ If multiple, hierarchically arranged ESCs are installed in a device, only the top-level ESC carries
the eBIC Information.
◦ If multiple, non-hierarchically arranged ESCs are installed in a device, all ESCs carry the eBIC
Information.
◦ If the device consists of several sub-devices with their own identity, but only the top-level device is
accessible via EtherCAT, the eBIC of the top-level device is located in the CoE object directory
0x10E2:01 and the eBICs of the sub-devices follow in 0x10E2:nn.

Profibus/Profinet/DeviceNet… Devices

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

16 Version: 2.6 EL28xx

 Foreword

1.6 Interference-free Bus Terminals

Use of interference-free Bus or EtherCAT Terminals in safety applications
If a Bus or EtherCAT Terminal is described as interference-free, this means that the consecutive
terminal behaves passively in a safety application (e.g. in the case of the all-pole switch-off of a
potential group).
In this case the terminals do not represent an active part of the safety controller and do not affect
the Safety Integrity Level (SIL) or Performance Level (PL) attained in the safety application.
For details, please refer chapter “All-pole disconnection of a potential group with downstream
interference-free standard terminals (Category 4, PL e)” and following in the TwinSAFE application
manual.

NOTE
Pay attention to the hardware version
Please pay attention to the information about the hardware version and non-reactivity of the respective Bus
Terminal in the chapters "Technical Data" or "Firmware Compatibility"!
Only terminals with the appropriate hardware version may be used without the attained SIL/PL being
affected!

The Bus or EtherCAT Terminals regarded as interference-free at the time of preparing this document are
listed in the following tables together with their respective hardware versions.
Terminal name from hardware version
Bus Terminal
KL2408 05
KL2809 02
KL2134 09
KL2424 05
KL9110 07

EL28xx Version: 2.6 17

Foreword

Terminal name from hardware version

EL/ELX terminal
EL2004 15
EL2008 07
EL2022 09
EL2024 06
EL2034 06
EL2068 00
EL2809 01
EL2828 00
EL2869 00
EL2872 01
EL2878-0005 00
EL9110 13
EL9184 00
EL9185 00
EL9186 00
EL9187 00
EL9410 16
ELX1052 00
ELX1054 00
ELX1058 00
ELX2002 00
ELX2008 00
ELX3152 00
ELX3181 00
ELX3202 00
ELX3204 00
ELX3252 00
ELX3312 00
ELX3314 00
ELX3351 00
ELX4181 00
ELX5151 00
ELX9560 03

External wiring

The following requirements are to be ensured by the system manufacturer and must be incorporated into the
user documentation.
• Protection class IP54
The terminals must be installed in IP54 control cabinets to ensure the necessary protection class IP54.
• Power supply unit
The standard terminals must be supplied with 24 V by an SELV/PELV power supply unit with an output
voltage limit Umax of 60 V in the event of a fault.
• Prevention of feedback
Feedback can be prevented through different measures. These are described below. In addition to
mandatory requirements there are also optional requirements, of which only one needs to be selected.
◦ No switching of loads with a separate power supply
Loads that have their own power supply must not be switched by standard terminals, since in this
case feedback via the load cannot be ruled out.

18 Version: 2.6 EL28xx

 Foreword

Fig. 4: Negative example – active load

◦ The control of an STO input of a frequency converter could serve here as a negative example.
Exceptions to the general requirement are allowed only if the manufacturer of the connected load
guarantees that feedback to the control input cannot occur. This can be achieved, for example,
through adherence to load-specific standards.
◦ Option 1: Ground feedback and all-pole disconnection
The ground connection of the connected load must be fed back to the safely switched ground.

EL28xx Version: 2.6 19

Foreword

Fig. 5: Ground connection of the load: correct (K1) and incorrect (K2)

◦ If either
a) the ground of the load is not fed back to the terminal or
b) the ground is not safely switched but connected permanently

then fault exclusions are necessary with regard to a short-circuit with external potential in order to
be able to achieve Cat. 4 PLe according to EN ISO 13849-1:2007 or SIL3 according to IEC
61508:2010 (refer here to the overview in the chapter "Effect of options on the safety level").
◦ Option 2: Cable short-circuit fault exclusion
If solution option 1 is not feasible, the ground feedback and all-pole disconnection can be
dispensed with if the danger of feedback due to a cable short-circuit can be excluded by other
measures. These measures, which can be implemented alternatively, are described in the
following sections.

20 Version: 2.6 EL28xx

 Foreword

Fig. 6: Short circuit fault exclusion through protected cable laying

◦ a) Possibility 1: Load connection via separate sheathed cables

The non-safely switched potential of the standard terminal may not be conducted together with
other potential-conducting cores inside the same sheathed cable. (Fault exclusion, see EN ISO
13849-2:2013, Table D.4)
◦ b) Possibility 2: Wiring only inside the control cabinet
All loads connected to the non-safe standard terminals must be located in the same control
cabinet as the terminals. The cables are routed entirely inside the control cabinet. (Fault exclusion,
see EN ISO 13849-2:2013, Table D.4)
◦ c) Possibility 3: Dedicated earth connection per conductor
All conductors connected to the non-safe standard terminals are protected by their own earth
connection. (Fault exclusion, see EN ISO 13849-2:2013, Table D.4)
◦ d) Possibility 4: Cable permanently (fixed) installed and protected against external damage
All conductors connected to the non-safe standard terminals are permanently fixed and, e.g.
protected against external damage by a cable duct or armored pipe.
• Effect of the options on the safety level
In principle, standard terminals in safely switched potential groups are not an active part of the safety
controller. Accordingly, the safety level attained is defined only by the higher-level safety
controller, i.e. the standard terminals are not included in the calculation! However, the wiring of the
standard terminals can lead to limitations in the maximum attainable safety level.
Depending on the solution selected for the avoidance of feedback and the safety standard considered
(see Option 1 and Option 2), different maximum attainable safety levels result, which are summarized
in the following table:

EL28xx Version: 2.6 21

Foreword

Summary of safety classifications

Feedback avoidance measures DIN EN ISO 13849-1 IEC 61508 EN 62061
Fault exclusion max. max. SIL3 max. SIL2 *
Cable short-circuit Cat. 4
Ground feedback and all-pole PLe max. SIL3
disconnection

Note: All terminals in a potential group must be interference-free and it must be ensured that no energy is fed
back by external circuitry, even in the event of a fault.

22 Version: 2.6 EL28xx

 EL2808 - Product description

2 EL2808 - Product description

2.1 Introduction

Fig. 7: EL2808

HD EtherCAT Terminals, 8 digital output channels, 24 VDC, 0.5 A

The EL2808 digital output terminal connects the binary control signals from the automation device on to the
actuators at the process level with electrical isolation. The EL2808 is protected against polarity reversal and
processes load currents with outputs protected against overload and short-circuit. The EtherCAT Terminal
contains eight channels, consisting of a signal output and 0 V, whose signal states are displayed by LEDs.
The power contacts are connected through.

The outputs are fed via the 24 V power contact in the EL2808. The conductors can be connected without
tools in the case of single-wire conductors using a direct plug-in technique.

The HD EtherCAT Terminals (High Density) with increased packing density are equipped with 16 connection
points in the housing of a 12-mm terminal block.

NOTE
Watchdog settings
Please refer to section "Notes for setting the watchdog [} 65]".

EL28xx Version: 2.6 23

EL2808 - Product description

2.2 Technical data

Technical data EL2808
digital outputs 8
Rated load voltage 24 VDC (-15% / +20%)
Load type ohmic, inductive, lamp load
Max. output current 0.5 A (short-circuit-proof) per channel
Short circuit current 0.6 ... 2.0 A
Breaking energy < 150 mJ/channel
Switching times TON: 60 µs typ., TOFF: 300 µs typ.
Power supply for the electronics via the power contacts
Current consumption from the E- typ. 110 mA
bus
Electrical isolation 500 V (E-bus/field voltage)
Bit width in the process image 8 output bits
Configuration no address or configuration settings required
Conductor types solid wire, stranded wire and ferrule
Conductor connection solid wire conductors: direct plug-in technique; stranded wire
conductors and ferrules: spring actuation by screwdriver
Rated cross-section solid wire: 0.08…1.5 mm²; stranded wire: 0.25...1.5 mm²; ferrule: 0.14…
0.75 mm²
Weight approx. 65 g
Permissible ambient temperature -25 °C to +60 °C (extended temperature range)
range during operation
Permissible ambient temperature -40 °C ... +85 °C
range during storage
Permissible relative humidity 95%, no condensation
Dimensions (W x H x D) approx. 15 mm x 100 mm x 70 mm (connected width: 12 mm)
Installation [} 75] on 35 mm mounting rail according to EN 60715
Vibration / shock resistance conforms to EN 60068-2-6 / EN 60068-2-27,
see also installation instructions for enhanced mechanical load capacity
[} 86]
EMC immunity/emission conforms to EN 61000-6-2 / EN 61000-6-4
Protection class IP20
Installation position variable
Marking / Approval*) CE, UKCA
cULus [} 82], ATEX [} 77]

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

Ex marking
Standard Marking
ATEX II 3 G Ex nA IIC T4 Gc

24 Version: 2.6 EL28xx

 EL2808 - Product description

2.3 Pin assignment and LEDs

Fig. 8: EL2808

EL2808 - LEDs
LED Color Meaning
OUTPUT 1- 8 green off No output signal
on 24 VDC output signal at the respective output

EL2808 - pin assignment

Terminal point Description
Name No.
Output 1 1 Output 1
Output 2 2 Output 2
Output 3 3 Output 3
Output 4 4 Output 4
Output 5 5 Output 5
Output 6 6 Output 6
Output 7 7 Output 7
Output 8 8 Output 8
0V 9 0 V (internally connected to terminal point 10, 11, 12, 13, 14, 15, 16 and negative power contact)
0V 10 0 V (internally connected to terminal point 9, 11, 12, 13, 14, 15, 16 and negative power contact)
0V 11 0 V (internally connected to terminal point 9, 10, 12, 13, 14, 15, 16 and negative power contact)
0V 12 0 V (internally connected to terminal point 9, 10, 11, 13, 14, 15, 16 and negative power contact)
0V 13 0 V (internally connected to terminal point 9, 10, 11, 12, 14, 15, 16 and negative power contact)
0V 14 0 V (internally connected to terminal point 9, 10, 11, 12, 13, 15, 16 and negative power contact)
0V 15 0 V (internally connected to terminal point 9, 10, 11, 12, 13, 14, 16 and negative power contact)
0V 16 0 V (internally connected to terminal point 9, 10, 11, 12, 13, 14, 15 and negative power contact)

EL28xx Version: 2.6 25

EL2828 - Product description

3 EL2828 - Product description

3.1 Introduction

Fig. 9: EL2828

HD EtherCAT Terminals, 8 digital output channels, 24 VDC, 2 A

The EL2828 digital output terminal connects the binary control signals from the automation device on to the
actuators at the process level with electrical isolation. The EL2828 is protected against polarity reversal and
processes load currents with outputs protected against overload and short-circuit. The EtherCAT Terminal
contains eight channels, consisting of a signal output and 0 V, whose signal states are displayed by LEDs.
The power contacts are connected through.

The outputs are fed via the 24 V power contact in the EL2828. The conductors can be connected without
tools in the case of single-wire conductors using a direct plug-in technique. The maximum total output
current of the terminal is 10 A.

The HD EtherCAT Terminals (High Density) with increased packing density are equipped with 16 connection
points in the housing of a 12-mm terminal block.

NOTE
Watchdog settings
Please refer to section "Notes for setting the watchdog [} 65]".

26 Version: 2.6 EL28xx

 EL2828 - Product description

3.2 Technical data

Technical data EL2828
Connection technology 2 wire
digital outputs 8
Rated load voltage 24 VDC (-15% / +20%)
Load type ohmic, inductive, lamp load
Max. output current 2 A ( ∑ 10 A)
Short circuit current < 40 A typ.
Reverse voltage protection yes
Breaking energy < 1.2 J/channel
Switching times TON: 60 µs typ., TOFF: 250 µs typ.
Current consumption of power contacts typ. 15 mA + load
Current consumption from the E-bus typ. 110 mA
Electrical isolation 500 V (E-bus/field voltage)
Bit width in process image 8 output bits
Configuration no address or configuration settings required
Conductor types solid wire, stranded wire and ferrule
Conductor connection solid wire conductors: direct plug-in technique; stranded wire
conductors and ferrules: spring actuation by screwdriver
Rated cross-section solid wire: 0.08…1.5 mm²; stranded wire: 0.25...1.5 mm²; ferrule:
0.14…0.75 mm²
Weight approx. 65 g
Permissible ambient temperature range -25 °C to +60 °C (extended temperature range)
during operation
Permissible ambient temperature range -40 °C ... +85 °C
during storage
Permissible relative humidity 95%, no condensation
Dimensions (W x H x D) approx. 15 mm x 100 mm x 70 mm (connected width: 12 mm)
Installation [} 75] on 35 mm mounting rail according to EN 60715
Vibration / shock resistance conforms to EN 60068-2-6 / EN 60068-2-27,
see also installation instructions for enhanced mechanical load
capacity [} 86]
EMC immunity/emission conforms to EN 61000-6-2 / EN 61000-6-4
Protection class IP20
Installation position variable
Marking / Approval*) CE, UKCA
cULus [} 82]

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

EL28xx Version: 2.6 27

EL2828 - Product description

3.3 Pin assignment and LEDs

Fig. 10: EL2828

EL2828 - LEDs
LED Color Meaning
OUTPUT 1- 8 green off No output signal
on 24 VDC output signal at the respective output

EL2828 - pin assignment

Terminal point Description
Name No.
Output 1 1 Output 1
Output 2 2 Output 2
Output 3 3 Output 3
Output 4 4 Output 4
Output 5 5 Output 5
Output 6 6 Output 6
Output 7 7 Output 7
Output 8 8 Output 8
0V 9 0 V (internally connected to terminal point 10, 11, 12, 13, 14, 15, 16 and negative power contact)
0V 10 0 V (internally connected to terminal point 9, 11, 12, 13, 14, 15, 16 and negative power contact)
0V 11 0 V (internally connected to terminal point 9, 10, 12, 13, 14, 15, 16 and negative power contact)
0V 12 0 V (internally connected to terminal point 9, 10, 11, 13, 14, 15, 16 and negative power contact)
0V 13 0 V (internally connected to terminal point 9, 10, 11, 12, 14, 15, 16 and negative power contact)
0V 14 0 V (internally connected to terminal point 9, 10, 11, 12, 13, 15, 16 and negative power contact)
0V 15 0 V (internally connected to terminal point 9, 10, 11, 12, 13, 14, 16 and negative power contact)
0V 16 0 V (internally connected to terminal point 9, 10, 11, 12, 13, 14, 15 and negative power contact)

28 Version: 2.6 EL28xx

 EL2809, EL2889 - Product description

4 EL2809, EL2889 - Product description

4.1 Introduction

Fig. 11: EL2809, EL2889

HD EtherCAT Terminals, 16 digital output channels, 24 VDC

The EL2809 digital output terminal connects the binary control signals from the automation device on to the
actuators at the process level with electrical isolation. The EL2809 is protected against polarity reversal and
processes load currents with outputs protected against overload and short-circuit. The EtherCAT Terminal
contains 16 channels whose signal state is indicated by LEDs. The power contacts are connected through.

The outputs of the EL2809 are fed via the 24 V power contact and the outputs of the EL2889 via the 0 V
power contact. The conductors can be connected without tools in the case of single-wire conductors using a
direct plug-in technique.

The HD EtherCAT Terminals (High Density) with increased packing density are equipped with 16 connection
points in the housing of a 12-mm terminal block. They are particularly suitable for space-saving use in control
cabinets.

NOTE
Watchdog settings
Please refer to section "Notes for setting the watchdog [} 65]".

EL28xx Version: 2.6 29

EL2809, EL2889 - Product description

4.2 Technical data

Technical data EL2809 EL2889
digital outputs 16
Rated load voltage 24 VDC (-15% / +20%)
Non-reactive outputs yes (see notice [} 17]) -
Load type ohmic, inductive, lamp load
Max. output current 0.5 A (short-circuit-proof) per channel
Short circuit current 0.6 ... 2.0 A -
Breaking energy < 150 mJ/channel
Reverse voltage protection yes -
Switching times TON: 60 µs typ., TOFF: 300 µs typ. TON: 50 µs typ., TOFF: 200 µs typ.
Power supply for the electronics via the power contacts
Current consumption from the typ. 140 mA
E-bus
Current consumption of typ. 35 mA + load typ. 15 mA + load
power contacts
Electrical isolation 500 V (E-bus/field voltage)
Bit width in process image 16 output bits
Configuration no address or configuration settings required
Conductor types solid wire, stranded wire and ferrule
Conductor connection solid wire conductors: direct plug-in technique; stranded wire conductors
and ferrules: spring actuation by screwdriver
Rated cross-section solid wire: 0.08 mm²..1.5 mm²; stranded wire: 0.25 mm²..1.5 mm²;
ferrule: 0.14 mm² .. 0.75 mm²
Weight approx. 70 g
Permissible ambient temperature -25 °C to +60 °C (extended temperature range)
range during operation
Permissible ambient temperature -40 °C .. +85 °C
range during storage
Permissible relative humidity 95%, no condensation
Dimensions (W x H x D) approx. 15 mm x 100 mm x 70 mm (connected width: 12 mm)
Installation [} 75] on 35 mm mounting rail according to EN 60715
Vibration / shock resistance conforms to EN 60068-2-6 / EN 60068-2-27,
see also installation instructions for terminals with increased mechanical
load capacity [} 86]
EMC immunity/emission conforms to EN 61000-6-2 / EN 61000-6-4
Protection class IP20
Installation position variable
Marking / Approval*) CE, UKCA CE, UKCA
cULus [} 82], ATEX [} 77], IECEx cULus [} 82], ATEX [} 77]
[} 78], cFMus [} 80], DNV GL

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

30 Version: 2.6 EL28xx

 EL2809, EL2889 - Product description

Ex markings
Standard Marking
ATEX II 3 G Ex nA IIC T4 Gc
II 3 D Ex tc IIIC T135 °C Dc
IECEx Ex nA IIC T4 Gc
Ex tc IIIC T135 °C Dc
cFMus Class I, Division 2, Groups A, B, C, D
Class I, Zone 2, AEx/Ex ec IIC T4 Gc

EL28xx Version: 2.6 31

EL2809, EL2889 - Product description

4.3 Pin assignment and LEDs

Fig. 12: EL2809, EL2889

EL2809, EL2889 LEDs

LED Color Meaning
OUTPUT 1- 16 green off No output signal
on • Output signal 24 VDC (EL2809)
• Output signal 0 V (EL2889)

EL2809, EL2889 pin assignment

Terminal point Description
Name No.
Output 1 1 Output 1
Output 2 2 Output 2
Output 3 3 Output 3
Output 4 4 Output 4
Output 5 5 Output 5
Output 6 6 Output 6
Output 7 7 Output 7
Output 8 8 Output 8
Output 9 9 Output 9
Output 10 10 Output 10
Output 11 11 Output 11
Output 12 12 Output 12
Output 13 13 Output 13
Output 14 14 Output 14
Output 15 15 Output 15
Output 16 16 Output 16

32 Version: 2.6 EL28xx

 EL2819 - Product description

5 EL2819 - Product description

5.1 Introduction

Fig. 13: EL2819

HD EtherCAT terminals, 16 digital output channels, 24 VDC, 0.5 A, with diagnostics

The EL2819 digital output terminal connects the binary control signals from the automation device on to the
actuators at the process level with electrical isolation. The EL2819 is protected against polarity reversal and
processes load currents with outputs protected against overload and short-circuit. The integrated diagnosis
can be evaluated in the controller and is indicated by the LEDs. Overtemperature and the lack of a voltage
supply to the terminal are supplied as diagnostic information. Beyond that each channel can among other
things signal a short circuit individually. The output behavior of the channels in the case of a bus error can be
parameterized. The switching state and any error of the output are indicated by the LED. Maintenance of the
application is simplified by the diagnosis. The power contacts are connected through.

The outputs are fed via the 24 V power contact in the EL2819. The conductors can be connected without
tools in the case of single-wire conductors using a direct plug-in technique.

The HD EtherCAT Terminal (High Density) with increased packing density is equipped with 16 connection
points in the housing of a 12-mm terminal block. The terminal is particularly suitable for space-saving use in
the control cabinets.

NOTE
Watchdog settings
Please refer to section "Notes for setting the watchdog [} 65]".

EL28xx Version: 2.6 33

EL2819 - Product description

5.2 Technical data

Technical data EL2819
digital outputs 16
Rated load voltage 24 VDC (-15% / +20%)
Load type ohmic, inductive, lamp load
Distributed Clocks No
Max. output current 0.5 A (short-circuit-proof) per channel
Short circuit current < 1 A typ.
Breaking energy < 150 mJ/channel
Output stage push (high-side switch)
Reverse voltage protection Yes
Switching times TON: 50 µs typ., TOFF: 100 µs typ.
Power supply for the electronics via the power contacts
Current consumption from the typ. 90 mA
E-bus
Recommended cycle time ≥ 500 µs; with cycle times < 500 µs the process data is not updated in
each cycle.
Current consumption of typ. 30 mA + load
power contacts
Electrical isolation 500 V (E-bus/field voltage)
Bit width in the process image 16-bit output and 68-bit diagnostics
Supports NoCoeStorage [} 70] Yes
function
Configuration via System Manager
Conductor types solid wire, stranded wire and ferrule
Conductor connection solid wire conductors: direct plug-in technique;
stranded wire conductors and ferrules: spring actuation by screwdriver
Rated cross-section solid wire: 0.08…1.5 mm²;
fine-wire: 0.25…1.5 mm²;
wire end sleeve: 0.14…0.75 mm²
Special features diagnostics via process data and LED: overtemperature, PowerFail,
short circuit (per channel)
Weight approx. 70 g
Permissible ambient temperature 0 °C ... +55 °C
range during operation
Permissible ambient temperature -25 °C ... +85 °C
range during storage
Permissible relative humidity 95%, no condensation
Dimensions (W x H x D) approx. 15 mm x 100 mm x 70 mm (connected width: 12 mm)
Installation [} 75] on 35 mm mounting rail according to EN 60715
Vibration / shock resistance conforms to EN 60068-2-6 / EN 60068-2-27, see also installation
instructions for enhanced mechanical load capacity [} 86]
EMC immunity/emission conforms to EN 61000-6-2 / EN 61000-6-4
Protection class IP20
Installation position variable
Marking / Approval*) CE, UKCA
cULus [} 82], ATEX [} 76], DNV GL

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

34 Version: 2.6 EL28xx

 EL2819 - Product description

Ex marking
Standard Marking
ATEX II 3 G Ex nA IIC T4 Gc

EL28xx Version: 2.6 35

EL2819 - Product description

5.3 Pin assignment and LEDs

Fig. 14: EL2819

EL2819 - LEDs
LED Color Meaning
OUTPUT 1- 16 green off No output signal
on Output signal 24 V
red on ERROR: Overcurrent / Overtemperature
Flashing red ERROR: Short circuit to 24 V
red / green alternating ERROR: Open Load

EL2819 - Pin assignment

Terminal point Description
Name No.
Output 1 1 Output 1
Output 2 2 Output 2
Output 3 3 Output 3
Output 4 4 Output 4
Output 5 5 Output 5
Output 6 6 Output 6
Output 7 7 Output 7
Output 8 8 Output 8
Output 9 9 Output 9
Output 10 10 Output 10
Output 11 11 Output 11
Output 12 12 Output 12
Output 13 13 Output 13
Output 14 14 Output 14
Output 15 15 Output 15
Output 16 16 Output 16

36 Version: 2.6 EL28xx

 EL2819 - Product description

5.4 Overload protection

Technical data
Please note the information in the technical data regarding load type, max. output current and short
circuit current.

When switching on lamp loads, high starting currents occur that are limited by the output circuit of the
terminals (see fig. Overload current limitation).

Fig. 15: Overload current limitation

Fig. 16: Schematic illustration of the thermal switch-off in case of overload

In case of a long-term overload and/or short-circuit, the output is protected by the thermal switch-off of the
channel.
The output circuit of the terminal limits the current. The terminal maintains this current until important self-
heating of the channel occurs.
On exceeding the upper temperature limit, the terminal switches the channel off.
The channel is switched on again after it has cooled down to below the lower temperature limit.
The output signal is clocked until the output is switched off by the controller or the short-circuit is eliminated
(see fig. Schematic illustration of the thermal switch-off in case of overload). The clock frequency depends
on the ambient temperature and the load of the other terminal channels.

EL28xx Version: 2.6 37

EL2819 - Product description

Short-circuit or prolonged overload on a channel leads to an increase in the device temperature. If several
channels are overloaded, this leads to a rapid increase in the device temperature. The overloaded channels
are switched off when the upper limit for the device temperature is exceeded. The channels are only
switched on again if the temperature falls below the lower limit values for both the device and the channel.
The non-overloaded channels continue operating properly.

When switching off inductive loads, high induction voltages result from interrupting the current too quickly.
These are limited by an integrated free-wheeling diode (switch-off energy [inductive] see Technical data).
Since the current reduces only slowly, a delayed switch-off can occur in many control applications. For
example, a valve remains open for many milliseconds. Switch-off times are realized that correspond, for
instance, to the switch-on time of the coil.

Protection against high induction voltages

To protect against voltage peaks such as can occur when switching inductive loads, we recommend
to provide suitable protective circuits (e.g. with the free-wheeling diode, RC combination or varistor)
directly at the actuator.

Fig. 17: Switch-off of inductive loads

38 Version: 2.6 EL28xx

 EL2819 - Product description

5.5 Operating modes and settings

5.5.1 Process data

Parameterization

An EL2819 is parameterized via 2 tabs in the TwinCAT System Manager: the Process Data tab (A) for the
communication-specific settings and the CoE directory (B) for the settings in the slave.

Fig. 18: EL2819 “Process Data” tab

• Changes to the process data-specific settings are generally only effective after a restart of the
EtherCAT master:
Restart TwinCAT in RUN or CONFIG mode; RELOAD in CONFIG mode
• Changes to the online CoE directory
◦ are in general immediately effective
◦ are generally stored in non-volatile memory in the terminal/slave. They should be entered in the
CoE StartUp list so that the settings are accepted after a replacement of the terminal. The CoE
StartUp list is processed at each EtherCAT start and the settings are loaded into the slave.

Illustration of the process data and structural contents

The EL2819 provides three different process data for transmission:

• the diagnostics per channel “DIG Diag Inputs” (64-bit),
• the device diagnostics “DIG Inputs Device” (4-bit),
• The switching state of the outputs “DIG output” (16-bit)

EL28xx Version: 2.6 39

EL2819 - Product description

Fig. 19: EL2819 Online illustration of the process data and structural contents in the System Manager

The plain text display of the bit meanings is particularly helpful not only in commissioning but also for linking
to the PLC program.
By right-clicking on the Status variable in the configuration tree (A), the structure can be opened for linking
(B).
Activation of the “Show Sub Variables” button (C) displays all subvariables and links to the PLC (D) in the
online view.

“Predefined PDO Assignment” selection dialog (from TwinCAT 2.11 build 1544 onwards)

The process data to be transmitted (PDO, ProcessDataObjects) can be selected by the user
• for all TwinCAT versions via the “Predefined PDO Assignment” selection dialog (see fig. “EL2819
Process Data tab” A) or
• selectively for individual PDOs (see fig. “EL2819 Process Data tab” B)

These changes become effective after activation and an EtherCAT restart or a reload.

40 Version: 2.6 EL28xx

 EL2819 - Product description

Fig. 20: EL2819 “Process Data” tab

A Selection of the diagnostic scope via the selection dialog “Predefined PDO Assignment”
B Display of (optional) PDOs (process data objects)
C Selection of the required Sync Manager
D Display of the PDOs available for selection

Three pre-defined PDO assignments can be selected:

• Full Diagnostics:
Inputs: Selection of the PDOs 0x1A00 (diagnostics per channel) and 0x1A02 (device diagnostics). Both
the diagnostic data for each channel and the data for the device diagnostics are displayed and
transmitted.
Outputs: PDO 0x1600 (switching state of the outputs) is displayed and transmitted.
• Compact Diagnostics:
Inputs: Selection of the PDO 0x1A02 (device diagnostics). Only the diagnostic data for the device are
displayed in the System Manager and transmitted to the control system.
Outputs: PDO 0x1600 (switching state of the outputs) is displayed and transmitted.
• No Diagnostics: Neither 0x1A00 nor 0x1A02 is selected. No diagnostic data are displayed in the
System Manager and none are transmitted to the control system.
Outputs: PDO 0x1600 (switching state of the outputs) is displayed and transmitted.

Compact Diagnostics, No Diagnostics

When converting from “Full Diagnostics” to “Compact Diagnostics” or “No Diagnostics”, or when
deactivating the PDO 0x1600, links already established to the deactivated objects are deleted.

EL28xx Version: 2.6 41

EL2819 - Product description

5.5.2 Diagnostics per channel

Open Load (Index 0x60n1:02 [} 48])

The open load detection shows that no load is connected when the output is switched on.

The “open load” bit (index 0x60n1:02) is set to TRUE if the output is TRUE and the output current is less
than typ. 0.2 mA.

Short Circuit to 24V (Index 0x60n1:04 [} 48])

A short circuit to 24 V is detected if the output is FALSE, but nevertheless a voltage of more than typ. 10 V is
present. The “Short Circuit to 24V” bit (index 0x60n1:04) is set to TRUE. The corresponding LED flashes red.

Overtemperature (index: 0x60n1:01 [} 48]) – overcurrent (index:0x60n1:03 [} 48])

The “Overcurrent” bit (index: 0x60n1:03) is set in case of an overload. The LED lights up red. The channel
heats up, so that the “Overtemperature” bit (index: 0x60n1:01) is set on reaching an upper limit temperature
(see fig. Overload current limitation [} 38]).

In the case of a short-circuit the channel overheats very quickly, leading to it being switched off. Once the
temperature has cooled down to below a lower limit value following the switch-off, the output is switched on
again. The temperature, however, is then still so high that the “Overtemperature” bit (index: 0x60n1:01)
remains set. Thus the LED remains red as long as the short-circuit is present.
Overcurrent diagnostics is no longer possible once the output is switched off. The “Overcurrent” bit (index:
0x60n1:03) is only set to TRUE when the output is switched on again (see fig. Schematic illustration of the
thermal switch-off in case of overload [} 38]).

5.5.3 Device diagnostics

General error (index 0xF600:11 [} 48])

If the “Common Fault” bit (index 0xF600:11) is set, there is an error on one or more channels.

It is thus possible in the “Compact Diagnostics” process mode to determine that errors have occurred on one
or more channels.

Device overtemperature (index 0xF600:12 [} 48])

The device temperature rises due to an overload, a short-circuit or excessively high ambient temperature. If
the device temperature exceeds the upper limit value, the overloaded channels are switched off. The
“Overtemperature Device” bit (index 0xF600:12) is set. All other channels continue to operate properly.

If the device temperature falls below the lower limit value the “Overtemperature Device” bit (index
0xF600:12) is reset. If the channel temperature also falls below the lower limit value, the respective channels
are switched on again.

Undervoltage (index 0xF600:13 [} 48])

If the “Undervoltage” bit (index 0xF600:13) is set, the supply voltage of the terminal has fallen below typically
17 V.

Voltage loss (index 0xF600:14 [} 48])

If the error bit in “Missing Voltage” (index 0xF600:14) is set, the supply voltage of the terminal has fallen
below typically 14 V.

42 Version: 2.6 EL28xx

 EL2819 - Product description

5.5.4 Settings via the CoE directory

CoE online directory

Fig. 21: EL2819 CoE directory

The online data are accessible (A) if the terminal is online, i.e. connected to the EtherCAT Master TwinCAT
and in an error-free RUN state (WorkingCounter = 0). The entries “DIG Safe State Active Ch.n (index
0x80n0) (D) and “DIG Safe State Value Ch.n” (index 0x80n1) (E) can be changed online; please also
observe the Notes on the CoE interface [} 69] and on the StartUp-List [} 70].

The diagnostic data of the channels can be read under “DIG Diag Inputs Ch.n” (index 0x60n1) (B).
The diagnostic data of the terminal can be read under “DIG Inputs Device” (index 0xF600).
The state of the outputs can be read under “DIG Outputs Ch.n” (index 0x70n0) (C).
The display in TwinCAT is continuously updated if (F) has been activated.

EL28xx Version: 2.6 43

EL2819 - Product description

DIG Safe State Active (index 0x80n0:01 [} 46]) / DIG Safe State Value (index 0x80n1:01 [} 46])

The setting in “DIG Safe State Active” (index 0x80n0:01) defines whether the outputs should assume a safe
state in the case of a bus error. The safe state of the output in the case of a bus error is defined with “DIG
Safe State Value” (index 0x80n1:01).

1. “DIG Safe State Active“ = TRUE and

◦ “DIG Safe State Value“ = TRUE: the output is switched on.
2. “DIG Safe State Active“ = TRUE and
◦ “DIG Safe State Value“ = FALSE: the output is switched off
3. “DIG Safe State Active“ = FALSE
◦ The state of the output is retained. Entries in “DIG Safe State Value” (index 0x80n1:01) have no
effect.

Flow-chart illustration of the sequence in case of a bus error

Fig. 22: Change of state of the outputs in the case of a bus error

44 Version: 2.6 EL28xx

 EL2819 - Product description

Tabular example:
DIG Safe State Active DIG Safe State Value Output before Output during Output after bus
Index 0x80n0:01 Index 0x80n1:01 bus error bus error error
TRUE TRUE FALSE TRUE FALSE
TRUE TRUE TRUE
TRUE FALSE FALSE FALSE FALSE
TRUE FALSE TRUE
FALSE FALSE / TRUE FALSE FALSE FALSE
TRUE TRUE TRUE

Graphical example:

Fig. 23: Graphical illustration of the channel state during a bus error

EL28xx Version: 2.6 45

EL2819 - Product description

5.6 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
The terminal is parameterized via the CoE Online [} 43] tab (double-click on the respective object),
or the PDOs are allocated via the Process Data [} 39] tab.

Introduction

The CoE overview contains objects for different intended applications:

5.6.1 Restore object

Index 1011 Restore default parameters

Index (hex) Name Meaning Data type Flags Default value
1011:0 Restore default Restore default parameters UINT8 RO 0x01 (1dec)
parameters [} 184]
1011:01 SubIndex 001 If this object is set to "0x64616F6C" in the set value UINT32 RW 0x00000000
dialog, all backup objects are reset to their delivery (0dec)
state.

5.6.2 Configuration data

Index 80n0 DIG Safe State Active Ch.n

(n=0 for Ch.1…n=9 for Ch.10; n=A for Ch.11…n=F for Ch.16)
Index (hex) Name Meaning Data type Flags Default value
80n0:0 DIG Safe State Active Maximum subindex UINT8 RO 0x01 (1dec)
Ch.n
80n0:01 Active Enabling of the output state defined in index 0x80n1:01 BOOLEAN RW 0x01 (1dec)
in case of a bus error
0: output retains its current state.
1: output is switched to the state defined in index
0x80n1.

Index 80n1 DIG Safe State Value Ch.n

(n=0 for Ch.1…n=9 for Ch.10; n=A for Ch.11…n=F for Ch.16)
Index (hex) Name Meaning Data type Flags Default value
80n1:0 DIG Safe State Value Maximum subindex UINT8 RO 0x01 (1dec)
Ch.n
80n1:01 Value Defines the state of the output in case of a bus error: BOOLEAN RW 0x00 (0dec)
0: output off
1: output on

46 Version: 2.6 EL28xx

 EL2819 - Product description

5.6.3 Command object

Index FB00 DIG Command

Index (hex) Name Meaning Data type Flags Default value
FB00:0 DIG Command Maximum subindex UINT8 RO 0x03 (3dec)
FB00:01 Request reserved OCTET - RW {0}
STRING[2]
FB00:02 Status reserved UINT8 RO 0x00 (0dec)
FB00:03 Response reserved OCTET - RO {0}
STRING[4]

EL28xx Version: 2.6 47

EL2819 - Product description

5.6.4 Input data

Index 60n1 DIG Diag Inputs

(n=0 for Ch.1…n=9 for Ch.10; n=A for Ch.11…n=F for Ch.16)
Index (hex) Name Meaning Data type Flags Default value
60n1:0 DIG Diag Inputs Ch.n Maximum subindex UINT8 RO 0x04 (4dec)
60n1:01 Overtemperature The overtemperature bit is set if the max. permissible BOOLEAN RO 0x00 (0dec)
[} 42] temperature of the channel is exceeded.
60n1:02 Open Load [} 42] Wire break detection BOOLEAN RO 0x00 (0dec)
The Open Load bit is set if the channel is switched on
and the load current is ≤ typically 0.2 mA.
60n1:03 Overcurrent [} 42] Overcurrent and short-circuit detection BOOLEAN RO 0x00 (0dec)
The overcurrent bit is set if an overload is detected
when the channel is switched on.
No overload can be detected if the channel is switched
off (e.g. thermal switch-off).
Short-circuit current detection: typ. 1 A
60n1:04 Short Circuit to 24V The Short Circuit to 24V bit is set if voltage is present BOOLEAN RO 0x00 (0dec)
[} 42] when the channel is switched off.

Index F600 DIG Inputs Device

Index (hex) Name Meaning Data type Flags Default value
F600:0 DIG Inputs Device Maximum subindex UINT8 RO 0x14 (20dec)
F600:11 Common Fault [} 42] The Common Fault bit is set if an error occurs on one BOOLEAN RO 0x00 (0dec)
or more channels of the terminal.
F600:12 Overtemperature The Overtemperature Device bit is set if the max. BOOLEAN RO 0x00 (0dec)
Device [} 42] permissible device temperature is exceeded.
The overloaded channels are switched off until the
device temperature cools down below the lower limit
value again.
F600:13 Undervoltage [} 42] The Undervoltage bit is set if the terminal supply BOOLEAN RO 0x00 (0dec)
voltage falls below typically 17 V.
F600:14 Missing Voltage [} 42] The Missing Voltage bit is set if the supply voltage is BOOLEAN RO 0x00 (0dec)
lower than typically 14 V.

5.6.5 Output data

Index 70n0 DIG Outputs

(n=0 for Ch.1…n=9 for Ch.10; n=A for Ch.11…n=F for Ch.16)
Index (hex) Name Meaning Data type Flags Default value
70n0:0 DIG Outputs Ch.n Maximum subindex UINT8 RO 0x01 (1dec)
70n0:01 Output Status Output BOOLEAN RO 0x00 (0dec)
0: Output off
1: Output on

5.6.6 Standard objects

Standard objects (1000-1FFF)

Index 1000 Device type

Index (hex) Name Meaning Data type Flags Default value
1000:0 Device type Device type of the EtherCAT slave: the Lo-Word UINT32 RO 0x01181389
contains the CoE profile used (5001). The Hi-Word (18355081dec)
contains the module profile according to the modular
device profile.

48 Version: 2.6 EL28xx

 EL2819 - Product description

Index 1008 Device name

Index (hex) Name Meaning Data type Flags Default value
1008:0 Device name Device name of the EtherCAT slave STRING RO EL2819

Index 1009 Hardware version

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

Index 100A Software version

Index (hex) Name Meaning Data type Flags Default value
100A:0 Software version Firmware version of the EtherCAT slave STRING RO 01

Index 1018 Identity

Index (hex) Name Meaning Data type Flags Default
1018:0 Identity Information for identifying the slave UINT8 RO 0x04 (4dec)
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 0x07FC3052
(133967954dec)
1018:03 Revision Revision number of the EtherCAT slave; the Low Word UINT32 RO 0x00000000
(bit 0-15) indicates the special terminal number, the (0dec)
High 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, (0dec)
the 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 value
10F0:0 Backup parameter Information for standardized loading and saving of UINT8 RO 0x01 (1dec)
handling backup entries
10F0:01 Checksum Checksum across all backup entries of the EtherCAT UINT32 RO 0x00000000
slave (0dec)

EL28xx Version: 2.6 49

EL2819 - Product description

Index 1600 DIG RxPDO-Map Outputs

Index (hex) Name Meaning Data type Flags Default value
1600:0 DIG RxPDO-Map PDO Mapping RxPDO 1 UINT8 RO 0x10 (16dec)
Oputputs
1600:01 SubIndex 001 1. PDO Mapping entry (object 0x7000 (DIG Outputs UINT32 RO 0x7000:01, 1
Ch.01), entry 0x01 (Output))
1600:02 SubIndex 002 2. PDO Mapping entry (object 0x7010 (DIG Outputs UINT32 RO 0x7010:01, 1
Ch.02), entry 0x01 (Output))
1600:03 SubIndex 003 3. PDO Mapping entry (object 0x7020 (DIG Outputs UINT32 RO 0x7020:01, 1
Ch.03), entry 0x01 (Output))
1600:04 SubIndex 004 4. PDO Mapping entry (object 0x7030 (DIG Outputs UINT32 RO 0x7030:01, 1
Ch.04), entry 0x01 (Output))
1600:05 SubIndex 005 5. PDO Mapping entry (object 0x7040 (DIG Outputs UINT32 RO 0x7040:01, 1
Ch.05), entry 0x01 (Output))
1600:06 SubIndex 006 6. PDO Mapping entry (object 0x7050 (DIG Outputs UINT32 RO 0x7050:01, 1
Ch.06), entry 0x01 (Output))
1600:07 SubIndex 007 7. PDO Mapping entry (object 0x7060 (DIG Outputs UINT32 RO 0x7060:01, 1
Ch.07), entry 0x01 (Output))
1600:08 SubIndex 008 8. PDO Mapping entry (object 0x7070 (DIG Outputs UINT32 RO 0x7070:01, 1
Ch.08), entry 0x01 (Output))
1600:09 SubIndex 009 9. PDO Mapping entry (object 0x7080 (DIG Outputs UINT32 RO 0x7080:01, 1
Ch.09), entry 0x01 (Output))
1600:0A SubIndex 010 10. PDO Mapping entry (object 0x7090 (DIG Outputs UINT32 RO 0x7090:01, 1
Ch.10), entry 0x01 (Output))
1600:0B SubIndex 011 11. PDO Mapping entry (object 0x70A0 (DIG Outputs UINT32 RO 0x70A0:01, 1
Ch.11), entry 0x01 (Output))
1600:0C SubIndex 012 12. PDO Mapping entry (object 0x70B0 (DIG Outputs UINT32 RO 0x70B0:01, 1
Ch.12), entry 0x01 (Output))
1600:0D SubIndex 013 13. PDO Mapping entry (object 0x70C0 (DIG Outputs UINT32 RO 0x70C0:01, 1
Ch.13), entry 0x01 (Output))
1600:0E SubIndex 014 14. PDO Mapping entry (object 0x70D0 (DIG Outputs UINT32 RO 0x70D0:01, 1
Ch.14), entry 0x01 (Output))
1600:0F SubIndex 015 15. PDO Mapping entry (object 0x70E0 (DIG Outputs UINT32 RO 0x70E0:01, 1
Ch.15), entry 0x01 (Output))
1600:10 SubIndex 016 16. PDO Mapping entry (object 0x70F0 (DIG Outputs UINT32 RO 0x70F0:01, 1
Ch.16), entry 0x01 (Output))

Index 1A00 DIG TxPDO-Map Diag Inputs

Index (hex) Name Meaning Data type Flags Default value
1A00:0 DIG TxPDO-Map Diag PDO Mapping TxPDO 1 UINT8 RO 0x40 (64dec)
Inputs
1A00:01 SubIndex 001 1. PDO Mapping entry (object 0x6001 (DIG Inputs UINT32 RO 0x6001:01, 1
Ch.01), entry 0x01 (Overtemperature))
1A00:02 SubIndex 002 2. PDO Mapping entry (object 0x6001 (DIG Inputs UINT32 RO 0x6001:02, 1
Ch.01), entry 0x02 (Wire Break))
1A00:03 SubIndex 003 3. PDO Mapping entry (object 0x6001 (DIG Inputs UINT32 RO 0x6001:03, 1
Ch.01), entry 0x03 (Overcurrent))
1A00:04 SubIndex 004 4. PDO Mapping entry (object 0x6001 (DIG Inputs UINT32 RO 0x6001:04, 1
Ch.01), entry 0x04 (Short Circuit))
1A00:05 SubIndex 005 5. PDO Mapping entry (object 0x6011 (DIG Inputs UINT32 RO 0x6011:01, 1
Ch.02), entry 0x01 (Overtemperature))
1A00:06 SubIndex 006 6. PDO Mapping entry (object 0x6011 (DIG Inputs UINT32 RO 0x6011:02, 1
Ch.02), entry 0x02 (Wire Break))
1A00:07 SubIndex 007 7. PDO Mapping entry (object 0x6011 (DIG Inputs UINT32 RO 0x6011:03, 1
Ch.02), entry 0x03 (Overcurrent))
1A00:08 SubIndex 008 8. PDO Mapping entry (object 0x6011 (DIG Inputs UINT32 RO 0x6011:04, 1
Ch.02), entry 0x04 (Short Circuit))

50 Version: 2.6 EL28xx

 EL2819 - Product description

Index (hex) Name Meaning Data type Flags Default

1A00:09 SubIndex 009 9. PDO Mapping entry (object 0x6021 (DIG Inputs UINT32 RO 0x6021:01, 1
Ch.03), entry 0x01 (Overtemperature))
1A00:0A SubIndex 010 10. PDO Mapping entry (object 0x6021 (DIG Inputs UINT32 RO 0x6021:02, 1
Ch.03), entry 0x02 (Wire Break))
1A00:0B SubIndex 011 11. PDO Mapping entry (object 0x6021 (DIG Inputs UINT32 RO 0x6021:03, 1
Ch.03), entry 0x03 (Overcurrent))
1A00:0C SubIndex 012 12. PDO Mapping entry (object 0x6021 (DIG Inputs UINT32 RO 0x6021:04, 1
Ch.03), entry 0x04 (Short Circuit))
1A00:0D SubIndex 013 13. PDO Mapping entry (object 0x6031 (DIG Inputs UINT32 RO 0x6031:01, 1
Ch.04), entry 0x01 (Overtemperature))
1A00:0E SubIndex 014 14. PDO Mapping entry (object 0x6031 (DIG Inputs UINT32 RO 0x6031:02, 1
Ch.04), entry 0x02 (Wire Break))
1A00:0F SubIndex 015 15. PDO Mapping entry (object 0x6031 (DIG Inputs UINT32 RO 0x6031:03, 1
Ch.04), entry 0x03 (Overcurrent))
1A00:10 Subindex 016 16. PDO Mapping entry (object 0x6031 (DIG Inputs UINT32 RO 0x6031:04, 1
Ch.04), entry 0x04 (Short Circuit))
1A00:11 Subindex 017 17. PDO Mapping entry (object 0x6041 (DIG Inputs UINT32 RO 0x6041:01, 1
Ch.05), entry 0x01 (Overtemperature))
1A00:12 Subindex 018 18. PDO Mapping entry (object 0x6041 (DIG Inputs UINT32 RO 0x6041:02, 1
Ch.05), entry 0x02 (Wire Break))
1A00:13 Subindex 019 19. PDO Mapping entry (object 0x6041 (DIG Inputs UINT32 RO 0x6041:03, 1
Ch.05), entry 0x03 (Overcurrent))
1A00:14 Subindex 020 20. PDO Mapping entry (object 0x6041 (DIG Inputs UINT32 RO 0x6041:04, 1
Ch.05), entry 0x04 (Short Circuit))
1A00:15 Subindex 021 21. PDO Mapping entry (object 0x6051 (DIG Inputs UINT32 RO 0x6051:01, 1
Ch.06), entry 0x01 (Overtemperature))
1A00:16 Subindex 022 22. PDO Mapping entry (object 0x6051 (DIG Inputs UINT32 RO 0x6051:02, 1
Ch.06), entry 0x02 (Wire Break))
1A00:17 Subindex 023 23. PDO Mapping entry (object 0x6051 (DIG Inputs UINT32 RO 0x6051:03, 1
Ch.06), entry 0x03 (Overcurrent))
1A00:18 Subindex 024 24. PDO Mapping entry (object 0x6051 (DIG Inputs UINT32 RO 0x6061:04, 1
Ch.06), entry 0x04 (Short Circuit))
1A00:19 Subindex 025 25. PDO Mapping entry (object 0x6061 (DIG Inputs UINT32 RO 0x6061:01, 1
Ch.07), entry 0x01 (Overtemperature))
1A00:1A Subindex 026 26. PDO Mapping entry (object 0x6061 (DIG Inputs UINT32 RO 0x6061:02, 1
Ch.07), entry 0x02 (Wire Break))
1A00:1B Subindex 027 27. PDO Mapping entry (object 0x6061 (DIG Inputs UINT32 RO 0x6061:03, 1
Ch.07), entry 0x03 (Overcurrent))
1A00:1C Subindex 028 28. PDO Mapping entry (object 0x6061 (DIG Inputs UINT32 RO 0x6061:04, 1
Ch.07), entry 0x04 (Short Circuit))
1A00:1D Subindex 029 29. PDO Mapping entry (object 0x6071 (DIG Inputs UINT32 RO 0x6071:01, 1
Ch.08), entry 0x01 (Overtemperature))
1A00:1E Subindex 030 30. PDO Mapping entry (object 0x6071 (DIG Inputs UINT32 RO 0x6071:02, 1
Ch.08), entry 0x02 (Wire Break))
1A00:1F Subindex 031 31. PDO Mapping entry (object 0x6071 (DIG Inputs UINT32 RO 0x6071:03, 1
Ch.08), entry 0x03 (Overcurrent))
1A00:20 Subindex 032 32. PDO Mapping entry (object 0x6071 (DIG Inputs UINT32 RO 0x6071:04, 1
Ch.08), entry 0x04 (Short Circuit))
1A00:21 Subindex 033 33. PDO Mapping entry (object 0x6081 (DIG Inputs UINT32 RO 0x6081:01, 1
Ch.09), entry 0x01 (Overtemperature))
1A00:22 Subindex 034 34. PDO Mapping entry (object 0x6081 (DIG Inputs UINT32 RO 0x6081:02, 1
Ch.09), entry 0x02 (Wire Break))
1A00:23 Subindex 035 35. PDO Mapping entry (object 0x6081 (DIG Inputs UINT32 RO 0x6081:03, 1
Ch.09), entry 0x03 (Overcurrent))
1A00:24 Subindex 036 36. PDO Mapping entry (object 0x6081 (DIG Inputs UINT32 RO 0x6081:04, 1
Ch.09), entry 0x04 (Short Circuit))
1A00:25 Subindex 037 37. PDO Mapping entry (object 0x6091 (DIG Inputs UINT32 RO 0x6091:01, 1
Ch.10), entry 0x01 (Overtemperature))
1A00:26 Subindex 038 38. PDO Mapping entry (object 0x6091 (DIG Inputs UINT32 RO 0x6091:02, 1
Ch.10), entry 0x02 (Wire Break))
1A00:27 Subindex 039 39. PDO Mapping entry (object 0x6091 (DIG Inputs UINT32 RO 0x6091:03, 1
Ch.10), entry 0x03 (Overcurrent))
1A00:28 Subindex 040 40. PDO Mapping entry (object 0x6091 (DIG Inputs UINT32 RO 0x6091:04, 1
Ch.10), entry 0x04 (Short Circuit))
1A00:29 Subindex 041 41. PDO Mapping entry (object 0x60A1 (DIG Inputs UINT32 RO 0x60A1:01, 1
Ch.11), entry 0x01 (Overtemperature))

EL28xx Version: 2.6 51

EL2819 - Product description

Index (hex) Name Meaning Data type Flags Default

1A00:2A Subindex 042 42. PDO Mapping entry (object 0x60A1 (DIG Inputs UINT32 RO 0x60A1:02, 1
Ch.11), entry 0x02 (Wire Break))
1A00:2B Subindex 043 43. PDO Mapping entry (object 0x60A1 (DIG Inputs UINT32 RO 0x60A1:03, 1
Ch.11), entry 0x03 (Overcurrent))
1A00:2C Subindex 044 44. PDO Mapping entry (object 0x60A1 (DIG Inputs UINT32 RO 0x60A1:04, 1
Ch.11), entry 0x04 (Short Circuit))
1A00:2D Subindex 045 45. PDO Mapping entry (object 0x60B1 (DIG Inputs UINT32 RO 0x60B1:01, 1
Ch.12), entry 0x01 (Overtemperature))
1A00:2E Subindex 046 46. PDO Mapping entry (object 0x60B1 (DIG Inputs UINT32 RO 0x60B1:02, 1
Ch.12), entry 0x02 (Wire Break))
1A00:2F Subindex 047 47. PDO Mapping entry (object 0x60B1 (DIG Inputs UINT32 RO 0x60B1:03, 1
Ch.12), entry 0x03 (Overcurrent))
1A00:30 Subindex 048 48. PDO Mapping entry (object 0x60B1 (DIG Inputs UINT32 RO 0x60B1:04, 1
Ch.12), entry 0x04 (Short Circuit))
1A00:31 Subindex 049 49. PDO Mapping entry (object 0x60C1 (DIG Inputs UINT32 RO 0x60C1:01, 1
Ch.13), entry 0x01 (Overtemperature))
1A00:32 Subindex 050 50. PDO Mapping entry (object 0x60C1 (DIG Inputs UINT32 RO 0x60C1:02, 1
Ch.13), entry 0x02 (Wire Break))
1A00:33 Subindex 051 51. PDO Mapping entry (object 0x60C1 (DIG Inputs UINT32 RO 0x60C1:03, 1
Ch.13), entry 0x03 (Overcurrent))
1A00:34 Subindex 052 52. PDO Mapping entry (object 0x60C1 (DIG Inputs UINT32 RO 0x60C1:04, 1
Ch.13), entry 0x04 (Short Circuit))
1A00:35 Subindex 053 53. PDO Mapping entry (object 0x60D1 (DIG Inputs UINT32 RO 0x60D1:01, 1
Ch.14), entry 0x01 (Overtemperature))
1A00:36 Subindex 054 54. PDO Mapping entry (object 0x60D1 (DIG Inputs UINT32 RO 0x60D1:02, 1
Ch.14), entry 0x02 (Wire Break))
1A00:37 Subindex 055 55. PDO Mapping entry (object 0x60D1 (DIG Inputs UINT32 RO 0x60D1:03, 1
Ch.14), entry 0x03 (Overcurrent))
1A00:38 Subindex 056 56. PDO Mapping entry (object 0x60D1 (DIG Inputs UINT32 RO 0x60D1:04, 1
Ch.14), entry 0x04 (Short Circuit))
1A00:39 Subindex 057 57. PDO Mapping entry (object 0x60E1 (DIG Inputs UINT32 RO 0x60E1:01, 1
Ch.15), entry 0x01 (Overtemperature))
1A00:3A Subindex 058 58. PDO Mapping entry (object 0x60E1 (DIG Inputs UINT32 RO 0x60E1:02, 1
Ch.15), entry 0x02 (Wire Break))
1A00:3B Subindex 059 59. PDO Mapping entry (object 0x60E1 (DIG Inputs UINT32 RO 0x60E1:03, 1
Ch.15), entry 0x03 (Overcurrent))
1A00:3C Subindex 060 60. PDO Mapping entry (object 0x60E1 (DIG Inputs UINT32 RO 0x60E1:04, 1
Ch.15), entry 0x04 (Short Circuit))
1A00:3D Subindex 061 61. PDO Mapping entry (object 0x60F1 (DIG Inputs UINT32 RO 0x60F1:01, 1
Ch.16), entry 0x01 (Overtemperature))
1A00:3E Subindex 062 62. PDO Mapping entry (object 0x60F1 (DIG Inputs UINT32 RO 0x60F1:02, 1
Ch.16), entry 0x02 (Wire Break))
1A00:3F Subindex 063 63. PDO Mapping entry (object 0x60F1 (DIG Inputs UINT32 RO 0x60F1:03, 1
Ch.16), entry 0x03 (Overcurrent))
1A00:40 Subindex 064 64. PDO Mapping entry (object 0x60F1 (DIG Inputs UINT32 RO 0x60F1:04, 1
Ch.16), entry 0x04 (Short Circuit))

Index 1A02 DIG TxPDO-Map Inputs Device

Index (hex) Name Meaning Data type Flags Default value
1A02:0 DIG TxPDO-Map PDO Mapping TxPDO UINT8 RO 0x05 (5dec)
Inputs Device
1A02:01 SubIndex 001 1. PDO Mapping entry (object 0xF600 (DIG Inputs UINT32 RO 0xF600:11, 1
Device), entry 0x11 (Common Fault))
1A02:02 SubIndex 002 2. PDO Mapping entry (object 0xF600 (DIG Inputs UINT32 RO 0xF600:12, 1
Device), entry 0x12 (Overtemperature Device))
1A02:03 SubIndex 003 3. PDO Mapping entry (object 0xF600 (DIG Inputs UINT32 RO 0xF600:13, 1
Device), entry 0x13 (Undervoltage))
1A02:04 SubIndex 004 4. PDO Mapping entry (object 0xF600 (DIG Inputs UINT32 RO 0xF600:14, 1
Device), entry 0x14 (Missing Voltage))
1A02:05 SubIndex 005 5. PDO Mapping entry (4 bits align) UINT32 RO 0x0000:00, 4

52 Version: 2.6 EL28xx

 EL2819 - Product description

Index 1C00 Sync manager type

Index (hex) Name Meaning Data type Flags Default
1C00:0 Sync manager type Using the sync managers UINT8 RO 0x04 (4dec)
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 0x10 (16dec)
1C12:01 SubIndex 001 1. allocated RxPDO (contains the index of the UINT16 RW 0x1600
associated RxPDO mapping object) (5632dec)
1C12:02 Subindex 002 2. allocated RxPDO (contains the index of the UINT16 RW 0x1610
associated RxPDO mapping object) (5648dec)
1C12:03 Subindex 003 3. allocated RxPDO (contains the index of the UINT16 RW 0x1620
associated RxPDO mapping object) (5664dec)
1C12:04 Subindex 004 4. allocated RxPDO (contains the index of the UINT16 RW 0x1630
associated RxPDO mapping object) (5680dec)
1C12:05 Subindex 005 5. allocated RxPDO (contains the index of the UINT16 RW 0x1640
associated RxPDO mapping object) (5696dec)
1C12:06 Subindex 006 6. allocated RxPDO (contains the index of the UINT16 RW 0x1650
associated RxPDO mapping object) (5712dec)
1C12:07 Subindex 007 7. allocated RxPDO (contains the index of the UINT16 RW 0x1660
associated RxPDO mapping object) (5728dec)
1C12:08 Subindex 008 8. allocated RxPDO (contains the index of the UINT16 RW 0x16700
associated RxPDO mapping object) (5744dec)
1C12:09 Subindex 009 9. allocated RxPDO (contains the index of the UINT16 RW 0x16800
associated RxPDO mapping object) (5760dec)
1C12:0A Subindex 010 10. allocated RxPDO (contains the index of the UINT16 RW 0x16900
associated RxPDO mapping object) (5776dec)
1C12:0B Subindex 011 11. allocated RxPDO (contains the index of the UINT16 RW 0x16A00
associated RxPDO mapping object) (5792dec)
1C12:0C Subindex 012 12. allocated RxPDO (contains the index of the UINT16 RW 0x16B00
associated RxPDO mapping object) (5808dec)
1C12:0D Subindex 013 13. allocated RxPDO (contains the index of the UINT16 RW 0x16C00
associated RxPDO mapping object) (5824dec)
1C12:0E Subindex 014 14. allocated RxPDO (contains the index of the UINT16 RW 0x16D00
associated RxPDO mapping object) (5840dec)
1C12:0F Subindex 015 15. allocated RxPDO (contains the index of the UINT16 RW 0x16E00
associated RxPDO mapping object) (5856dec)
1C12:10 Subindex 016 16. allocated RxPDO (contains the index of the UINT16 RW 0x16F00
associated RxPDO mapping object) (5872dec)

EL28xx Version: 2.6 53

EL2819 - Product description

Index 1C13 TxPDO assign

Index (hex) Name Meaning Data type Flags Default
1C13:0 TxPDO assign PDO Assign Inputs UINT8 RW 0x02 (2dec)
1C13:01 SubIndex 001 1. allocated TxPDO (contains the index of the UINT16 RW 0x1A00
associated TxPDO mapping object) (6656dec)
1C13:02 Subindex 002 UINT16 RW
1C13:03 Subindex 003 UINT16 RW
1C13:04 Subindex 004 UINT16 RW
1C13:05 Subindex 005 UINT16 RW
1C13:06 Subindex 006 UINT16 RW
1C13:07 Subindex 007 UINT16 RW
1C13:08 Subindex 008 UINT16 RW
1C13:09 Subindex 009 UINT16 RW
1C13:0A Subindex 010 UINT16 RW
1C13:0B Subindex 011 UINT16 RW
1C13:0C Subindex 012 UINT16 RW
1C13:0D Subindex 013 UINT16 RW
1C13:0E Subindex 014 UINT16 RW
1C13:0F Subindex 015 UINT16 RW
1C13:10 Subindex 016 UINT16 RW
1C13:11 Subindex 017 UINT16 RW
1C13:12 Subindex 018 UINT16 RW
1C13:13 Subindex 019 UINT16 RW
1C13:14 Subindex 020 UINT16 RW
1C13:15 Subindex 021 UINT16 RW
1C13:16 Subindex 022 UINT16 RW
1C13:17 Subindex 023 UINT16 RW
1C13:18 Subindex 024 UINT16 RW
1C13:19 Subindex 025 UINT16 RW
1C13:1A Subindex 026 UINT16 RW
1C13:1B Subindex 027 UINT16 RW
1C13:1C Subindex 028 UINT16 RW
1C13:1D Subindex 029 UINT16 RW
1C13:1E Subindex 030 UINT16 RW
1C13:1F Subindex 031 UINT16 RW
1C13:20 Subindex 032 UINT16 RW
1C13:21 Subindex 033 UINT16 RW
1C13:22 Subindex 034 UINT16 RW

54 Version: 2.6 EL28xx

 EL2819 - Product description

Index 1C32 SM output parameter

Index (hex) Name Meaning Data type Flags Default value
1C32:0 SM output parameter Synchronization parameters for the outputs UINT8 RO 0x20 (32dec)
1C32:01 Sync mode Current synchronization mode: UINT16 RW 0x0001 (1dec)
• 0: Free Run
• 1: Synchronous with SM 2 event
1C32:02 Cycle time Cycle time (in ns): UINT32 RW 0x000F4240
(1000000dec)
• Free Run: Cycle time of the local timer
• Synchronous with SM 2 event: Master cycle time
• DC-Mode: SYNC0/SYNC1 Cycle Time
1C32:03 Shift time Time between SYNC0 event and output of the outputs UINT32 RO 0x00000384
(in ns, DC mode only) (900dec)
1C32:04 Sync modes supported Supported synchronization modes: UINT16 RO 0x8002
(32770dec)
• Bit 0 = 1: free run is supported
• Bit 1 = 1: Synchronous with SM 2 event is
supported
• Bit 2-3 = 01: DC mode is supported
• Bit 4-5=10: Output shift with SYNC1 event (only
DC mode)
• Bit 14 = 1: dynamic times (measurement by
writing 0x1C32:08 [} 55]) (for revision no.: 17 –
25)
1C32:05 Minimum cycle time Minimum cycle time (in ns) UINT32 RO 0x00002710
Default: 10 ms (10000dec)
1C32:06 Calc and copy time Minimum time between SYNC0 and SYNC1 event (in UINT32 RO 0x00000000
ns, DC mode only) (0dec)
1C32:07 Minimum delay time UINT32 RO 0x00000384
(900dec)
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 [} 55], 0x1C32:05 [} 55],
0x1C32:06 [} 55], 0x1C32:09 [} 55], 0x1C33:03
[} 56], 0x1C33:06 [} 55], 0x1C33:09 [} 56] 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 output of the outputs UINT32 RO 0x00000384
(in ns, DC mode only) (900dec)
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)

EL28xx Version: 2.6 55

EL2819 - Product description

Index 1C33 SM input parameter

Index (hex) Name Meaning Data type Flags Default value
1C33:0 SM input parameter Synchronization parameters for the inputs UINT8 RO 0x20 (32dec)
1C33:01 Sync mode Current synchronization mode: UINT16 RW 0x0022 (34dec)
• 0: Free Run
• 1: Synchronous with SM 3 event (no outputs
available)
• 2: DC - Synchronous with SYNC0 Event
• 3: DC - Synchronous with SYNC1 Event
• 34: Synchronous with SM 2 event (outputs
available)
1C33:02 Cycle time as 0x1C32:02 [} 55] UINT32 RW 0x000F4240
(1000000dec)
1C33:03 Shift time Time between SYNC0 event and reading of the inputs UINT32 RO 0x00000384
(in ns, only DC mode) (900dec)
1C33:04 Sync modes supported Supported synchronization modes: UINT16 RO 0x8002
(32770dec)
• Bit 0 = 1: free run is supported
• Bit 1 = 1: synchronous with SM 2 event is
supported (outputs available)
• Bit 1 = 1: synchronous 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 by
writing 0x1C32:08 [} 55]) (for revision no.: 17 – 25)
1C33:05 Minimum cycle time as 0x1C32:05 [} 55] UINT32 RO 0x00002710
(10000dec)
1C33:06 Calc and copy time Time between reading of the inputs and availability of UINT32 RO 0x00000000
the inputs for the master (in ns, only DC mode) (0dec)
1C33:07 Minimum delay time UINT32 RO 0x00000384
(900dec)
1C33:08 Command as 0x1C32:08 [} 55] UINT16 RW 0x0000 (0dec)
1C33:09 Maximum Delay time Time between SYNC1 event and reading of the inputs UINT32 RO 0x00000384
(in ns, only DC mode) (900dec)
1C33:0B SM event missed as 0x1C32:11 [} 55] UINT16 RO 0x0000 (0dec)
counter
1C33:0C Cycle exceeded as 0x1C32:12 [} 55] UINT16 RO 0x0000 (0dec)
counter
1C33:0D Shift too short counter as 0x1C32:13 [} 55] UINT16 RO 0x0000 (0dec)
1C33:20 Sync error as 0x1C32:32 [} 55] BOOLEAN RO 0x00 (0dec)

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 0x02 (2dec)
F000:01 Module index distance Index spacing of the objects of the individual channels UINT16 RO 0x0010 (16dec)
F000:02 Maximum number of Number of channels UINT16 RO 0x0010 (16dec)
modules

Index F008 Code word

Index (hex) Name Meaning Data type Flags Default value
F008:0 Code word NoCoeStorage [} 70] function: UINT32 RW 0x00000000
(0dec)
The input code of the code word 0x12345678 activates
the NoCoeStorage [} 70] function:
Changes to the CoE directory are not saved if the
function is active. The function is deactivated by:
1.) changing the code word or
2.) restarting the terminal.

56 Version: 2.6 EL28xx

 EL2819 - Product description

Index F010 Module list

Index (hex) Name Meaning Data type Flags Default value
F010:0 Module list Maximum subindex UINT8 RW 0x10 (16dec)
F010:01 SubIndex 001 Profil 280 (Extended Digital Input and Output with UINT32 RW 0x00000118
Diagnostics) (280dec)
F010:02 SubIndex 002 Profil 280 (Extended Digital Input and Output with UINT32 RW 0x00000118
Diagnostics) (280dec)
F010:03 SubIndex 003 Profil 280 (Extended Digital Input and Output with UINT32 RW 0x00000118
Diagnostics) (280dec)
F010:04 SubIndex 004 Profil 280 (Extended Digital Input and Output with UINT32 RW 0x00000118
Diagnostics) (280dec)
F010:05 SubIndex 005 Profil 280 (Extended Digital Input and Output with UINT32 RW 0x00000118
Diagnostics) (280dec)
F010:06 SubIndex 006 Profil 280 (Extended Digital Input and Output with UINT32 RW 0x00000118
Diagnostics) (280dec)
F010:07 SubIndex 007 Profil 280 (Extended Digital Input and Output with UINT32 RW 0x00000118
Diagnostics) (280dec)
F010:08 SubIndex 008 Profil 280 (Extended Digital Input and Output with UINT32 RW 0x00000118
Diagnostics) (280dec)
F010:09 SubIndex 009 Profil 280 (Extended Digital Input and Output with UINT32 RW 0x00000118
Diagnostics) (280dec)
F010:0A SubIndex 010 Profil 280 (Extended Digital Input and Output with UINT32 RW 0x00000118
Diagnostics) (280dec)
F010:0B SubIndex 011 Profil 280 (Extended Digital Input and Output with UINT32 RW 0x00000118
Diagnostics) (280dec)
F010:0C SubIndex 012 Profil 280 (Extended Digital Input and Output with UINT32 RW 0x00000118
Diagnostics) (280dec)
F010:0D SubIndex 013 Profil 280 (Extended Digital Input and Output with UINT32 RW 0x00000118
Diagnostics) (280dec)
F010:0E SubIndex 014 Profil 280 (Extended Digital Input and Output with UINT32 RW 0x00000118
Diagnostics) (280dec)
F010:0F SubIndex 015 Profil 280 (Extended Digital Input and Output with UINT32 RW 0x00000118
Diagnostics) (280dec)
F010:10 SubIndex 016 Profil 280 (Extended Digital Input and Output with UINT32 RW 0x00000118
Diagnostics) (280dec)

EL28xx Version: 2.6 57

EL2872, EL2872-0010 - Product description

6 EL2872, EL2872-0010 - Product description

6.1 Introduction

Fig. 24: EL2872, EL2872-0010

HD EtherCAT Terminals, 16 digital output channels, 24 VDC, 0.5 A

The EL2872-00x0 digital output terminal offers a very compact design with its 16 channels. A 20-pin
connector enables the secure connection of plug connectors using insulation displacement contact, as is
usual for ribbon cables and special round cables. This significantly simplifies the wiring of many channels.
State-of-the-art output drivers guarantee minimum power dissipation. 16 LEDs display the logical signal
states of the outputs.

Supply voltage for the operation of the terminal

The 24 VDC supply voltage must be connected to terminal points 1 and 2 for the operation of the
terminal!

NOTE
Watchdog settings
Please refer to section "Notes for setting the watchdog [} 65]".

58 Version: 2.6 EL28xx

 EL2872, EL2872-0010 - Product description

6.2 Technical data

Technical data EL2872 EL2872-0010
digital outputs 16
Rated load voltage 24 VDC (-15% / +20%), max. 1 A per connection pin
Load type ohmic, inductive, lamp load
Non-reactive outputs yes (see notice [} 17]) -
Max. output current 0.5 A (short-circuit-proof) per channel
Short circuit current 0.6 ... 2.0 A
Breaking energy < 150 mJ/channel
Switching times TON: 60 µs typ., TOFF: 300 µs typ. TON: 50 µs typ., TOFF: 200 µs typ.
Current consumption from the E-bus typ. 130 mA
Electrical isolation 500 V (E-bus/field voltage)
Bit width in the process image 16 output bits
Configuration no address or configuration settings required
Conductor connection 20-pin contact strip
Weight approx. 55 g
Permissible ambient temperature 0 °C ... +55 °C
range during operation
Permissible ambient temperature -25 °C ... +85 °C
range during storage
Permissible relative humidity 95%, no condensation
Dimensions (W x H x D) approx. 15 mm x 100 mm x 70 mm (connected width: 12 mm)
Installation [} 75] on 35 mm mounting rail according to EN 60715
Vibration / shock resistance conforms to EN 60068-2-6 / EN 60068-2-27,
see also installation instructions for terminals with increased
mechanical load capacity [} 86]
EMC immunity/emission conforms to EN 61000-6-2 / EN 61000-6-4
Protection class IP20
Installation position variable
Marking / Approval*) CE, UKCA
cULus [} 82], ATEX [} 76]

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

Ex marking
Standard Marking
ATEX II 3 G Ex nA IIC T4 Gc

EL28xx Version: 2.6 59

EL2872, EL2872-0010 - Product description

6.3 Pin assignment and LEDs

Fig. 25: EL2872, EL2872-0010

EL2872, EL2872-0010 - LEDs

LED Color Meaning
OUTPUT 1- 16 green off No output signal
on • 24 VDC output signal at the respective output (EL2872-0000)
• 0 V output signal at the respective output (EL2872-0010)

EL2872, EL2872-0010 - Pin assignment

Terminal point Description
Name No.
+24 V 1 + 24 VDC
0V 2 0V

Contact pin strip

Fig. 26: Dimensions of the 20-pin contact strip of the terminal and the matching spring contact strip; for
connections see Contact assignment

60 Version: 2.6 EL28xx

 EL2878-0005 - Product description

7 EL2878-0005 - Product description

7.1 Introduction

Fig. 27: EL2878-0005

8 digital output channels, 24 VDC, 0.5 A, flat-ribbon cable connection, with diagnosis of supply voltage

The EL2878-0005 digital output terminal offers a very compact design with its 8 channels and is suitable e.g.
for valve terminals with multi-pin plug connection. A 20-pin contact strip enables the secure connection of
plug connectors using insulation displacement contact, as is usual for ribbon cables and special round
cables. This significantly simplifies the wiring of many channels.

The signal states of the channels are indicated by LEDs. The terminal also monitors the supply voltage and
reports the status via process image and LED.

NOTE
Watchdog settings
Please refer to section "Notes for setting the watchdog [} 65]".

EL28xx Version: 2.6 61

EL2878-0005 - Product description

7.2 Technical data

Technical data EL2878-0005
Connection technology Flat-ribbon cable
Number of digital outputs 8
Rated load voltage 24 VDC (-15% / +20%)
Load type ohmic, inductive, lamp load
Distributed Clocks No
Max. output current 0.5 A (short-circuit-proof) per channel
Short circuit current < 2 A typ.
Reverse voltage protection yes
Breaking energy < 150 mJ/channel
Switching times TON: 60 µs typ., TOFF: 300 µs typ.
Current consumption of typ. 20 mA + load from the 24 V supply (no power contacts)
power contacts
Current consumption from the typ. 100 mA
E-bus
Electrical isolation 500 V (E-bus/field voltage)
Special features Diagnostics of supply voltage
Bit width in the process image 8-bit output and 1-bit diagnosis
Configuration no address or configuration settings required
Connection standard ribbon cable connector (standardized according to IEC
60603-13).
2 x 10 pole male connector with 1/10 inch grid dimension and
interlocking, for connecting a 2 x 10 pin plug connector (post socket
with insulation displacement contact for ribbon cable)
Weight approx. 55 g
Permissible ambient temperature 0 °C ... +55 °C
range during operation
Permissible ambient temperature -25 °C ... +85 °C
range during storage
Permissible relative humidity 95%, no condensation
Dimensions (W x H x D) approx. 15 mm x 100 mm x 68 mm (connected width: 12 mm)
Installation [} 75] on 35 mm mounting rail according to EN 60715
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 class IP20
Installation position variable
Marking / Approval*) CE, UKCA
cULus [} 82]

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

62 Version: 2.6 EL28xx

 EL2878-0005 - Product description

7.3 Pin assignment and LEDs

Fig. 28: EL2878-0005

EL2878-0005 - LEDs
LED Color Meaning
Signal LED green off Output 1 - 8, No output signal
OUTPUT 1- 8 on Output 1 - 8, Output signal 24 VDC
Power LED green off No supply voltage
on 24 V supply voltage present

EL2878-0005 - Pin assignment

Terminal point Description
Name No.
+24 V 1 + 24 VDC
0V 2 0V

EL28xx Version: 2.6 63

Basics communication

8 Basics communication

8.1 EtherCAT basics

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

8.2 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.

64 Version: 2.6 EL28xx

 Basics communication

Fig. 29: System manager current calculation

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

8.3 General notes for setting the watchdog

The ELxxxx 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:

EL28xx Version: 2.6 65

Basics communication

Fig. 30: 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.

66 Version: 2.6 EL28xx

 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 of 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.

8.4 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.

EL28xx Version: 2.6 67

Basics communication

Fig. 31: 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 [} 65] 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.

68 Version: 2.6 EL28xx

 Basics communication

In the Op state the slave copies the output data of the masters to its outputs. Process data and mailbox
communication is possible.

Boot

In the Boot state the slave firmware can be updated. The Boot state can only be reached via the Init state.

In the Boot state mailbox communication via the file access over EtherCAT (FoE) protocol is possible, but no
other mailbox communication and no process data communication.

8.5 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:

EL28xx Version: 2.6 69

Basics communication

Fig. 32: “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.

NOTE
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.

70 Version: 2.6 EL28xx

 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. 33: 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.

EL28xx Version: 2.6 71

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. 34: 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.

72 Version: 2.6 EL28xx

 Basics communication

Fig. 35: 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.

EL28xx Version: 2.6 73

Basics communication

8.6 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.

74 Version: 2.6 EL28xx

 Mounting and wiring

9 Mounting and wiring

9.1 Instructions for ESD protection

NOTE
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. 36: Spring contacts of the Beckhoff I/O components

EL28xx Version: 2.6 75

Mounting and wiring

9.2 Explosion protection

9.2.1 ATEX - Special conditions (standard temperature range)

WARNING
Observe the special conditions for the intended use of Beckhoff fieldbus components with
standard temperature range in potentially explosive areas (directive 2014/34/EU)!
• The certified components are to be installed in a suitable housing that guarantees a protection class of at
least IP54 in accordance with EN 60079-15! The environmental conditions during use are thereby to be
taken into account!
• For dust (only the fieldbus components of certificate no. KEMA 10ATEX0075 X Issue 9): The equipment
shall be installed in a suitable enclosure providing a degree of protection of IP54 according to
EN 60079-31 for group IIIA or IIIB and IP6X for group IIIC, taking into account the environmental
conditions under which the equipment is used!
• If the temperatures during rated operation are higher than 70°C at the feed-in points of cables, lines or
pipes, or higher than 80°C at the wire branching points, then cables must be selected whose
temperature data correspond to the actual measured temperature values!
• Observe the permissible ambient temperature range of 0 to 55°C for the use of Beckhoff fieldbus
components standard temperature range in potentially explosive areas!
• Measures must be taken to protect against the rated operating voltage being exceeded by more than
40% due to short-term interference voltages!
• The individual terminals may only be unplugged or removed from the Bus Terminal system if the supply
voltage has been switched off or if a non-explosive atmosphere is ensured!
• The connections of the certified components may only be connected or disconnected if the supply
voltage has been switched off or if a non-explosive atmosphere is ensured!
• The fuses of the KL92xx/EL92xx power feed terminals may only be exchanged if the supply voltage has
been switched off or if a non-explosive atmosphere is ensured!
• Address selectors and ID switches may only be adjusted if the supply voltage has been switched off or if
a non-explosive atmosphere is ensured!

Standards

The fundamental health and safety requirements are fulfilled by compliance with the following standards:
• EN 60079-0:2012+A11:2013
• EN 60079-15:2010
• EN 60079-31:2013 (only for certificate no. KEMA 10ATEX0075 X Issue 9)

Marking

The Beckhoff fieldbus components with standard temperature range certified according to the ATEX directive
for potentially explosive areas bear one of the following markings:

II 3G KEMA 10ATEX0075 X Ex nA IIC T4 Gc Ta: 0 … +55°C

II 3D KEMA 10ATEX0075 X Ex tc IIIC T135°C Dc Ta: 0 ... +55°C
(only for fieldbus components of certificate no. KEMA 10ATEX0075 X Issue 9)
or

II 3G KEMA 10ATEX0075 X Ex nA nC IIC T4 Gc Ta: 0 … +55°C

II 3D KEMA 10ATEX0075 X Ex tc IIIC T135°C Dc Ta: 0 ... +55°C
(only for fieldbus components of certificate no. KEMA 10ATEX0075 X Issue 9)

76 Version: 2.6 EL28xx

 Mounting and wiring

9.2.2 ATEX - Special conditions (extended temperature range)

WARNING
Observe the special conditions for the intended use of Beckhoff fieldbus components with
extended temperature range (ET) in potentially explosive areas (directive 2014/34/EU)!
• The certified components are to be installed in a suitable housing that guarantees a protection class of at
least IP54 in accordance with EN 60079-15! The environmental conditions during use are thereby to be
taken into account!
• For dust (only the fieldbus components of certificate no. KEMA 10ATEX0075 X Issue 9): The equipment
shall be installed in a suitable enclosure providing a degree of protection of IP54 according to
EN 60079-31 for group IIIA or IIIB and IP6X for group IIIC, taking into account the environmental
conditions under which the equipment is used!
• If the temperatures during rated operation are higher than 70°C at the feed-in points of cables, lines or
pipes, or higher than 80°C at the wire branching points, then cables must be selected whose
temperature data correspond to the actual measured temperature values!
• Observe the permissible ambient temperature range of -25 to 60°C for the use of Beckhoff fieldbus
components with extended temperature range (ET) in potentially explosive areas!
• Measures must be taken to protect against the rated operating voltage being exceeded by more than
40% due to short-term interference voltages!
• The individual terminals may only be unplugged or removed from the Bus Terminal system if the supply
voltage has been switched off or if a non-explosive atmosphere is ensured!
• The connections of the certified components may only be connected or disconnected if the supply
voltage has been switched off or if a non-explosive atmosphere is ensured!
• The fuses of the KL92xx/EL92xx power feed terminals may only be exchanged if the supply voltage has
been switched off or if a non-explosive atmosphere is ensured!
• Address selectors and ID switches may only be adjusted if the supply voltage has been switched off or if
a non-explosive atmosphere is ensured!

Standards

The fundamental health and safety requirements are fulfilled by compliance with the following standards:
• EN 60079-0:2012+A11:2013
• EN 60079-15:2010
• EN 60079-31:2013 (only for certificate no. KEMA 10ATEX0075 X Issue 9)

Marking

The Beckhoff fieldbus components with extended temperature range (ET) certified according to the ATEX
directive for potentially explosive areas bear the following marking:

II 3G KEMA 10ATEX0075 X Ex nA IIC T4 Gc Ta: -25 … +60°C

II 3D KEMA 10ATEX0075 X Ex tc IIIC T135°C Dc Ta: -25 ... +60°C
(only for fieldbus components of certificate no. KEMA 10ATEX0075 X Issue 9)
or

II 3G KEMA 10ATEX0075 X Ex nA nC IIC T4 Gc Ta: -25 … +60°C

II 3D KEMA 10ATEX0075 X Ex tc IIIC T135°C Dc Ta: -25 ... +60°C
(only for fieldbus components of certificate no. KEMA 10ATEX0075 X Issue 9)

EL28xx Version: 2.6 77

Mounting and wiring

9.2.3 IECEx - Special conditions

WARNING
Observe the special conditions for the intended use of Beckhoff fieldbus components in
potentially explosive areas!
• For gas: The equipment shall be installed in a suitable enclosure providing a degree of protection of IP54
according to IEC 60079-15, taking into account the environmental conditions under which the equipment
is used!
• For dust (only the fieldbus components of certificate no. IECEx DEK 16.0078X Issue 3):
The equipment shall be installed in a suitable enclosure providing a degree of protection of IP54
according to EN 60079-31 for group IIIA or IIIB and IP6X for group IIIC, taking into account the
environmental conditions under which the equipment is used!
• The equipment shall only be used in an area of at least pollution degree 2, as defined in IEC 60664-1!
• Provisions shall be made to prevent the rated voltage from being exceeded by transient disturbances of
more than 119 V!
• If the temperatures during rated operation are higher than 70°C at the feed-in points of cables, lines or
pipes, or higher than 80°C at the wire branching points, then cables must be selected whose
temperature data correspond to the actual measured temperature values!
• Observe the permissible ambient temperature range for the use of Beckhoff fieldbus components in
potentially explosive areas!
• The individual terminals may only be unplugged or removed from the Bus Terminal system if the supply
voltage has been switched off or if a non-explosive atmosphere is ensured!
• The connections of the certified components may only be connected or disconnected if the supply
voltage has been switched off or if a non-explosive atmosphere is ensured!
• Address selectors and ID switches may only be adjusted if the supply voltage has been switched off or if
a non-explosive atmosphere is ensured!
• The front hatch of certified units may only be opened if the supply voltage has been switched off or a
non-explosive atmosphere is ensured!

Standards

The fundamental health and safety requirements are fulfilled by compliance with the following standards:
• EN 60079-0:2011
• EN 60079-15:2010
• EN 60079-31:2013 (only for certificate no. IECEx DEK 16.0078X Issue 3)

Marking

Beckhoff fieldbus components that are certified in accordance with IECEx for use in areas subject to an
explosion hazard bear the following markings:
Marking for fieldbus components of certificate IECEx DEK 16.0078 X
no. IECEx DEK 16.0078X Issue 3: Ex nA IIC T4 Gc
Ex tc IIIC T135°C Dc

Marking for fieldbus components of IECEx DEK 16.0078 X

certficates with later issues: Ex nA IIC T4 Gc

78 Version: 2.6 EL28xx

 Mounting and wiring

9.2.4 Continuative documentation for ATEX and IECEx

NOTE
Continuative documentation about explosion protection according to ATEX
and IECEx
Pay also attention to the continuative documentation
Ex. Protection for Terminal Systems
Notes on the use of the Beckhoff terminal systems in hazardous areas according to ATEX
and IECEx,
that is available for download within the download area of your product on the Beckhoff
homepage www.beckhoff.com!

EL28xx Version: 2.6 79

Mounting and wiring

9.2.5 cFMus - Special conditions

WARNING
Observe the special conditions for the intended use of Beckhoff fieldbus components in
potentially explosive areas!
• The equipment shall be installed within an enclosure that provides a minimum ingress protection of IP54
in accordance with ANSI/UL 60079-0 (US) or CSA C22.2 No. 60079-0 (Canada).
• The equipment shall only be used in an area of at least pollution degree 2, as defined in IEC 60664-1.
• Transient protection shall be provided that is set at a level not exceeding 140% of the peak rated voltage
value at the supply terminals to the equipment.
• The circuits shall be limited to overvoltage Category II as defined in IEC 60664-1.
• The Fieldbus Components may only be removed or inserted when the system supply and the field
supply are switched off, or when the location is known to be non-hazardous.
• The Fieldbus Components may only be disconnected or connected when the system supply is switched
off, or when the location is known to be non-hazardous.

Standards

The fundamental health and safety requirements are fulfilled by compliance with the following standards:

M20US0111X (US):
• FM Class 3600:2018
• FM Class 3611:2018
• FM Class 3810:2018
• ANSI/UL 121201:2019
• ANSI/ISA 61010-1:2012
• ANSI/UL 60079-0:2020
• ANSI/UL 60079-7:2017

FM20CA0053X (Canada):
• CAN/CSA C22.2 No. 213-17:2017
• CSA C22.2 No. 60079-0:2019
• CAN/CSA C22.2 No. 60079-7:2016
• CAN/CSA C22.2 No.61010-1:2012

Marking

Beckhoff fieldbus components that are certified in accordance with cFMus for use in areas subject to an
explosion hazard bear the following markings:
FM20US0111X (US): Class I, Division 2, Groups A, B, C, D
Class I, Zone 2, AEx ec IIC T4 Gc

FM20CA0053X (Canada): Class I, Division 2, Groups A, B, C, D

Ex ec T4 Gc

80 Version: 2.6 EL28xx

 Mounting and wiring

9.2.6 Continuative documentation for cFMus

NOTE
Continuative documentation about explosion protection according to cFMus
Pay also attention to the continuative documentation
Control Drawing I/O, CX, CPX
Connection diagrams and Ex markings,
that is available for download within the download area of your product on the Beckhoff
homepage www.beckhoff.com!

EL28xx Version: 2.6 81

Mounting and wiring

9.3 UL notice
CAUTION
Application
Beckhoff EtherCAT modules are intended for use with Beckhoff’s UL Listed EtherCAT
System only.

CAUTION
Examination
For cULus examination, the Beckhoff I/O System has only been investigated for risk of fire
and electrical shock (in accordance with UL508 and CSA C22.2 No. 142).

CAUTION
For devices with Ethernet connectors
Not for connection to telecommunication circuits.

Basic principles

UL certification according to UL508. Devices with this kind of certification are marked by this sign:

82 Version: 2.6 EL28xx

 Mounting and wiring

9.4 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. 37: 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).

EL28xx Version: 2.6 83

Mounting and wiring

Disassembly

Fig. 38: 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.

84 Version: 2.6 EL28xx

 Mounting and wiring

Fig. 39: Power contact on left side

NOTE
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!

EL28xx Version: 2.6 85

Mounting and wiring

9.5 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.

86 Version: 2.6 EL28xx

 Mounting and wiring

9.6 Connection

9.6.1 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.
• 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. 40: 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. 41: 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.

EL28xx Version: 2.6 87

Mounting and wiring

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. 42: High Density Terminals

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 [} 89]!

88 Version: 2.6 EL28xx

 Mounting and wiring

9.6.2 Wiring
WARNING
Risk of electric shock and damage of device!
Bring the bus terminal system into a safe, powered down state before starting installation, disassembly or
wiring of the bus terminals!

Terminals for standard wiring ELxxxx/KLxxxx and for pluggable wiring ESxxxx/KSxxxx

Fig. 43: 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 [} 88]) 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.

EL28xx Version: 2.6 89

Mounting and wiring

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 [} 88])
Wire stripping length 8 ... 9 mm

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

90 Version: 2.6 EL28xx

 Mounting and wiring

9.7 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.

EL28xx Version: 2.6 91

Mounting and wiring

9.8 Installation positions

NOTE
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. 44: 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.

92 Version: 2.6 EL28xx

 Mounting and wiring

Fig. 45: Other installation positions

EL28xx Version: 2.6 93

Mounting and wiring

9.9 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. 46: Correct positioning

Fig. 47: Incorrect positioning

94 Version: 2.6 EL28xx

 Mounting and wiring

9.10 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.

EL28xx Version: 2.6 95

Commissioning

10 Commissioning

10.1 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:

96 Version: 2.6 EL28xx

 Commissioning

Fig. 48: 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)

EL28xx Version: 2.6 97

Commissioning

Fig. 49: 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.

98 Version: 2.6 EL28xx

 Commissioning

10.1.1 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. 50: 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 [} 101]”.

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:

EL28xx Version: 2.6 99

Commissioning

Fig. 51: 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. 52: 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.

100 Version: 2.6 EL28xx

 Commissioning

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. 53: Select “Scan Devices...”

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

Fig. 54: 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 [} 97] described at the beginning of this section, the result is as follows:

EL28xx Version: 2.6 101

Commissioning

Fig. 55: 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. 56: 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)

102 Version: 2.6 EL28xx

 Commissioning

◦ 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).

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

Fig. 57: TwinCAT PLC Control after startup

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

EL28xx Version: 2.6 103

Commissioning

Fig. 58: 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. 59: Appending the TwinCAT PLC Control project

104 Version: 2.6 EL28xx

 Commissioning

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. 60: 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. 61: 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:

EL28xx Version: 2.6 105

Commissioning

Fig. 62: 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. 63: 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:

106 Version: 2.6 EL28xx

 Commissioning

Fig. 64: 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…”:

EL28xx Version: 2.6 107

Commissioning

Fig. 65: 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:

108 Version: 2.6 EL28xx

 Commissioning

Fig. 66: PLC Control logged in, ready for program startup

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

10.1.2 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:

EL28xx Version: 2.6 109

Commissioning

Fig. 67: 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. 68: Create new TwinCAT 3 project

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

110 Version: 2.6 EL28xx

 Commissioning

Fig. 69: 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 [} 112]”.

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. 70: Selection dialog: Choose the target system

EL28xx Version: 2.6 111

Commissioning

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. 71: 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. 72: Select “Scan”

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

112 Version: 2.6 EL28xx

 Commissioning

Fig. 73: 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 [} 97] described at the beginning of this section, the result is as follows:

Fig. 74: 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:

EL28xx Version: 2.6 113

Commissioning

Fig. 75: 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….”:

114 Version: 2.6 EL28xx

 Commissioning

Fig. 76: 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. 77: 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:

EL28xx Version: 2.6 115

Commissioning

Fig. 78: 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:

116 Version: 2.6 EL28xx

 Commissioning

Fig. 79: 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. 80: 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:

EL28xx Version: 2.6 117

Commissioning

Fig. 81: 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. 82: 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:

118 Version: 2.6 EL28xx

 Commissioning

Fig. 83: 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. 84: 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,

EL28xx Version: 2.6 119

Commissioning

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. 85: 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. 86: 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.

120 Version: 2.6 EL28xx

 Commissioning

Fig. 87: Linking the structure

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

Fig. 88: 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.

EL28xx Version: 2.6 121

Commissioning

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. 89: 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).

10.2 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
◦ Datalink on NT - Programs by open Microsoft Standards (OLE, OCX, ActiveX, DCOM+, etc.)

122 Version: 2.6 EL28xx

 Commissioning

◦ 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.

10.2.1 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. 90: System Manager “Options” (TwinCAT 2)

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

EL28xx Version: 2.6 123

Commissioning

Fig. 91: Call up under VS Shell (TwinCAT 3)

B: Via TcRteInstall.exe in the TwinCAT directory

Fig. 92: TcRteInstall in the TwinCAT directory

In both cases, the following dialog appears:

124 Version: 2.6 EL28xx

 Commissioning

Fig. 93: 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” [} 134] in order to view the compatible ethernet ports via its
EtherCAT properties (tab “Adapter”, button “Compatible Devices…”):

Fig. 94: 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)

EL28xx Version: 2.6 125

Commissioning

Fig. 95: Windows properties of the network interface

A correct setting of the driver could be:

Fig. 96: Exemplary correct driver setting for the Ethernet port

Other possible settings have to be avoided:

126 Version: 2.6 EL28xx

 Commissioning

Fig. 97: Incorrect driver settings for the Ethernet port

EL28xx Version: 2.6 127

Commissioning

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. 98: TCP/IP setting for the Ethernet port

128 Version: 2.6 EL28xx

 Commissioning

10.2.2 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 [} 133] 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. 99: Identifier structure

The order identifier consisting of name + type (here: EL2521-0010) 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].

EL28xx Version: 2.6 129

Commissioning

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. 100: OnlineDescription information window (TwinCAT 2)

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

Fig. 101: 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.

NOTE
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 [} 134]”.

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.

130 Version: 2.6 EL28xx

 Commissioning

Fig. 102: 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. 103: 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. 104: Information window for faulty ESI file (left: TwinCAT 2; right: TwinCAT 3)

EL28xx Version: 2.6 131

Commissioning

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

132 Version: 2.6 EL28xx

 Commissioning

10.2.3 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. 105: Using the ESI Updater (>= TwinCAT 2.11)

The call up takes place under:

“Options” → “Update EtherCAT Device Descriptions”

Selection under TwinCAT 3:

Fig. 106: 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)…”.

10.2.4 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” [} 129].

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

EL28xx Version: 2.6 133

Commissioning

• the devices/modules be connected to the power supply and ready for communication
• TwinCAT must be in CONFIG mode on the target system.

The online scan process consists of:

• detecting the EtherCAT device [} 139] (Ethernet port at the IPC)
• detecting the connected EtherCAT devices [} 140]. This step can be carried out independent of the
preceding step
• troubleshooting [} 143]

The scan with existing configuration [} 144] can also be carried out for comparison.

10.2.5 OFFLINE configuration creation

Creating the EtherCAT device

Create an EtherCAT device in an empty System Manager window.

Fig. 107: 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. 108: Selecting the EtherCAT connection (TwinCAT 2.11, TwinCAT 3)

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

Fig. 109: Selecting the Ethernet port

134 Version: 2.6 EL28xx

 Commissioning

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. 110: 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 [} 123].

Defining EtherCAT slaves

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

Fig. 111: 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

EL28xx Version: 2.6 135

Commissioning

• “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. 112: 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. 113: 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”.

136 Version: 2.6 EL28xx

 Commissioning

Fig. 114: 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. 115: 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, ...

EL28xx Version: 2.6 137

Commissioning

Fig. 116: EtherCAT terminal in the TwinCAT tree (left: TwinCAT 2; right: TwinCAT 3)

138 Version: 2.6 EL28xx

 Commissioning

10.2.6 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. 117: 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. 118: 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. 119: Note for automatic device scan (left: TwinCAT 2; right: TwinCAT 3)

EL28xx Version: 2.6 139

Commissioning

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. 120: 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 [} 123].

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. 121: Example default state

NOTE
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 [} 144] 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:

140 Version: 2.6 EL28xx

 Commissioning

Fig. 122: 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 [} 144] 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. 123: Detection of EtherCAT terminal with revision -1019

This is usually not noticed by the commissioning engineers. TwinCAT cannot signal anything either, since
virtually a new configuration is 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. 124: Scan query after automatic creation of an EtherCAT device (left: TwinCAT 2; right: TwinCAT 3)

EL28xx Version: 2.6 141

Commissioning

Fig. 125: Manual triggering of a device scan 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. 126: Scan progressexemplary by TwinCAT 2

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

Fig. 127: 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. 128: Displaying of “Free Run” and “Config Mode” toggling right below in the status bar

Fig. 129: 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.

142 Version: 2.6 EL28xx

 Commissioning

Fig. 130: 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 [} 134].

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. 131: Faulty identification

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

EL28xx Version: 2.6 143

Commissioning

Scan over existing Configuration

NOTE
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. 132: 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. 133: Correction dialog

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

144 Version: 2.6 EL28xx

 Commissioning

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. 134: 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, ...

EL28xx Version: 2.6 145

Commissioning

Fig. 135: 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. 136: 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

146 Version: 2.6 EL28xx

 Commissioning

Fig. 137: 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).

10.2.7 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. 138: 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. 139: “General” tab

EL28xx Version: 2.6 147

Commissioning

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. 140: “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.

148 Version: 2.6 EL28xx

 Commissioning

Fig. 141: “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”).

EL28xx Version: 2.6 149

Commissioning

Fig. 142: 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 [} 155] 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.

150 Version: 2.6 EL28xx

 Commissioning

Fig. 143: “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.

EL28xx Version: 2.6 151

Commissioning

Fig. 144: “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.

152 Version: 2.6 EL28xx

 Commissioning

Fig. 145: 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. 146: “Online” tab

EL28xx Version: 2.6 153

Commissioning

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. 147: “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

154 Version: 2.6 EL28xx

 Commissioning

10.2.7.1 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 [} 153]),
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.

EL28xx Version: 2.6 155

Commissioning

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 [} 150] 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.

10.2.8 Import/Export of EtherCAT devices with SCI and XTI

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

10.2.8.1 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.

156 Version: 2.6 EL28xx

 Commissioning

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):

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

10.2.8.2 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":

EL28xx Version: 2.6 157

Commissioning

10.2.8.3 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:

158 Version: 2.6 EL28xx

 Commissioning

• 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.

EL28xx Version: 2.6 159

Commissioning

◦ 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:

160 Version: 2.6 EL28xx

 Commissioning

• 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.

EL28xx Version: 2.6 161

Commissioning

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

10.3 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. 148: 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

162 Version: 2.6 EL28xx

 Commissioning

The colors in Fig. Selection of the diagnostic information of an EtherCAT Slave also correspond to the
variable colors in the System Manager, see Fig. Basic EtherCAT Slave Diagnosis in the PLC.

Colour Meaning
yellow Input variables from the Slave to the EtherCAT Master, updated in every cycle
red Output variables from the Slave to the EtherCAT Master, updated in every cycle
green Information variables for the EtherCAT Master that are updated acyclically. This means that
it is possible that in any particular cycle they do not represent the latest possible status. It is
therefore useful to read such variables through ADS.

Fig. Basic EtherCAT Slave Diagnosis in the PLC shows an example of an implementation of basic EtherCAT
Slave Diagnosis. A Beckhoff EL3102 (2-channel analogue input terminal) is used here, as it offers both the
communication diagnosis typical of a slave and the functional diagnosis that is specific to a channel.
Structures are created as input variables in the PLC, each corresponding to the process image.

Fig. 149: Basic EtherCAT Slave Diagnosis in the PLC

The following aspects are covered here:

EL28xx Version: 2.6 163

Commissioning

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).

NOTE
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:

164 Version: 2.6 EL28xx

 Commissioning

Fig. 150: 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.

EL28xx Version: 2.6 165

Commissioning

Fig. 151: 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 [} 67]" 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.

166 Version: 2.6 EL28xx

 Commissioning

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. 152: 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. 153: 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:

EL28xx Version: 2.6 167

Commissioning

• for diagnostic reasons

• to induce a controlled restart of axes
• 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. 154: 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.

168 Version: 2.6 EL28xx

 Commissioning

Fig. 155: 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. 156: Warning message for exceeding E-Bus current

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

EL28xx Version: 2.6 169

Appendix

11 Appendix

11.1 EtherCAT AL Status Codes

For detailed information please refer to the EtherCAT system description.

170 Version: 2.6 EL28xx

 Appendix

11.2 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.

NOTE
Risk of damage to the device!
Pay attention to the instructions for firmware updates on the separate page [} 172]. 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!

EL2819
Hardware (HW) Firmware (FW) Revision no. Release date
01-02* 01 EL2819-0000-0016 2015/04
02 2015/07
EL2819-0000-0017 2015/07
03* EL2819-0000-0018 2016/03

There are no further terminals from the EL28xx series that have firmware.

*) 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.

EL28xx Version: 2.6 171

Appendix

11.3 Firmware Update EL/ES/EM/ELM/EPxxxx

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

NOTE
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
https://www.beckhoff.com/en-us/.
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:

• 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.
• In addition, each EtherCAT slave has a memory chip, a so-called ESI-EEPROM, for storing its own
device description (ESI: EtherCAT Slave Information). On power-up this description is loaded and the
EtherCAT communication is set up accordingly. The device description is available from the download
area of the Beckhoff website at (https://www.beckhoff.com). All ESI files are accessible there as zip
files.

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.

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

172 Version: 2.6 EL28xx

 Appendix

NOTE
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.

11.3.1 Device description ESI file/XML

NOTE
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. 157: 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.

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:

EL28xx Version: 2.6 173

Appendix

Fig. 158: Scan the subordinate field by right-clicking on the EtherCAT device

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

Fig. 159: Configuration is identical

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

Fig. 160: Change dialog

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.

174 Version: 2.6 EL28xx

 Appendix

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. 161: 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. 162: 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.

EL28xx Version: 2.6 175

Appendix

11.3.2 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. 163: 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.

11.3.3 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.

176 Version: 2.6 EL28xx

 Appendix

Fig. 164: 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

EL28xx Version: 2.6 177

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.

11.3.4 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.

178 Version: 2.6 EL28xx

 Appendix

Fig. 165: 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. 166: 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.

EL28xx Version: 2.6 179

Appendix

Fig. 167: 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.

180 Version: 2.6 EL28xx

 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:

EL28xx Version: 2.6 181

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

NOTE
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!

11.3.5 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. 168: Multiple selection and firmware update

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

182 Version: 2.6 EL28xx

 Appendix

11.4 Firmware compatibility - passive terminals

The passive terminals [} 94] ELxxxx terminal series have no firmware to update.

EL28xx Version: 2.6 183

Appendix

11.5 Restoring the delivery state

To restore the delivery state (factory settings) for backup objects in ELxxxx terminals, the CoE object
Restore default parameters, SubIndex 001 can be selected in the TwinCAT System Manager (Config mode)
(see Fig. Selecting the Restore default parameters PDO)

Fig. 169: Selecting the Restore default parameters PDO

Double-click on SubIndex 001 to enter the Set Value dialog. Enter the value 1684107116 in field Dec or the
value 0x64616F6C in field Hex and confirm with OK (Fig. Entering a restore value in the Set Value dialog).
All backup objects are reset to the delivery state.

Fig. 170: Entering a restore value in the Set Value dialog

Alternative restore value

In some older terminals the backup objects can be switched with an alternative restore value:
Decimal value: 1819238756, Hexadecimal value: 0x6C6F6164An incorrect entry for the restore
value has no effect.

184 Version: 2.6 EL28xx

 Appendix

11.6 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

EL28xx Version: 2.6 185

More Information:
www.beckhoff.com/el2xxx

Beckhoff Automation GmbH & Co. KG

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