BECKHOFF EL7037 - Manual (Page 3)

Table of contents
Table of contents
1 Foreword .................................................................................................................................................... 5
1.1 Notes on the documentation............................................................................................................. 5
1.2 Safety instructions ............................................................................................................................ 6
1.3 Documentation issue staus............................................................................................................... 7
1.4 Version identification of EtherCAT devices....................................................................................... 8
2 Product overview..................................................................................................................................... 12
2.1 EL7037 ........................................................................................................................................... 12
2.1.1
EL7037 - Introduction.......................................................................................................... 12
2.1.2 EL7037 - Technical data ..................................................................................................... 14
2.2 EL7047 ........................................................................................................................................... 15
2.2.1
EL7047 - Introduction.......................................................................................................... 15
2.2.2 EL7047 - Technical data ..................................................................................................... 17
2.3 Technology ..................................................................................................................................... 18
2.3.1
Stepper motor ..................................................................................................................... 18
2.3.2 Standard mode ................................................................................................................... 22
2.3.3 Field-oriented control .......................................................................................................... 23
2.3.4 Sensorless operation .......................................................................................................... 25
2.4 Start-up ........................................................................................................................................... 26
3 Basics communication ........................................................................................................................... 27
3.1 EtherCAT basics............................................................................................................................. 27
3.2 EtherCAT cabling – wire-bound...................................................................................................... 27
3.3 General notes for setting the watchdog .......................................................................................... 28
3.4 EtherCAT State Machine ................................................................................................................ 30
3.5 CoE Interface.................................................................................................................................. 32
3.6 Distributed Clock............................................................................................................................. 37
4 Installation................................................................................................................................................ 38
4.1 Installation on mounting rails .......................................................................................................... 38
4.2 Connection system ......................................................................................................................... 41
4.3 Installation position ......................................................................................................................... 45
4.4 Mounting of Passive Terminals....................................................................................................... 46
4.5 Shielding concept ........................................................................................................................... 47
4.6 EL7037 ........................................................................................................................................... 48
4.6.1
EL7037 - LEDs and connection .......................................................................................... 48
4.6.2 EL7037 - General connection examples............................................................................. 50
4.7 EL7047 ........................................................................................................................................... 53
4.7.1
EL7047 - LEDs and connection .......................................................................................... 53
4.7.2 EL7047 - General connection examples............................................................................. 55
5 Commissioning........................................................................................................................................ 58
5.1 TwinCAT 2.1x ................................................................................................................................. 58
5.1.1
Installation of the TwinCAT real-time driver ........................................................................ 58
5.1.2 Notes regarding ESI device description.............................................................................. 62
5.1.3 Offline configuration creation (master: TwinCAT 2.x) ......................................................... 66
5.1.4 Online configuration creation ‘scanning’ (master: TwinCAT 2.x) ........................................ 72
5.1.5 EtherCAT slave process data settings................................................................................ 81
5.1.6 Configuration by means of the TwinCAT System Manager ................................................ 82
5.2 General Notes - EtherCAT Slave Application ................................................................................. 90
5.3 Start-up and parameter configuration ............................................................................................. 99
5.3.1
Process data ....................................................................................................................... 99
EL70x7 3 Version 1.0