Table of contents
Table of contents
1 Overview EtherCAT System and Function terminals............................................................................. 5
2 Foreword .................................................................................................................................................... 6
2.1
Notes on the documentation............................................................................................................. 6
2.2
Safety instructions ............................................................................................................................ 7
2.3
Documentation issue status.............................................................................................................. 8
2.4
Version identification of EtherCAT devices....................................................................................... 9
3 Product overview..................................................................................................................................... 13
3.1
EL9011, EL9080 ............................................................................................................................. 13
3.1.1
EL9011, EL9080 Introduction and Technical Data ........................................................... 13
3.2
EL9070 ........................................................................................................................................... 15
3.2.1
EL9070 Introduction and Technical Data.......................................................................... 15
3.3
EL9100, EL9110, EL9190............................................................................................................... 17
3.3.1
EL9100, EL9110, EL9190 Introduction and Technical Data ............................................ 17
3.4
EL9150, EL9160 ............................................................................................................................. 21
3.4.1
EL9150, EL9160 Introduction and Technical Data .......................................................... 21
3.5
EL9181, EL9182, EL9183............................................................................................................... 24
3.5.1
EL9181, EL9182, EL9183 Introduction and Technical Data............................................. 24
3.6
EL9184, EL9186, EL9187, EL9188, EL9189.................................................................................. 27
3.6.1
EL9184, EL9186, EL9187, EL9188, EL9189 Introduction and Technical Data ................ 27
3.7
EL9195 ........................................................................................................................................... 33
3.7.1
EL9195 Introduction and Technical Data.......................................................................... 33
3.8
EL9200, EL9210, EL9290............................................................................................................... 35
3.8.1
EL9200, EL9210, EL9290 Introduction and Technical Data............................................. 35
3.9
EL9250, EL9260 ............................................................................................................................. 39
3.9.1
EL9250, EL9260 Introduction and Technical Data ........................................................... 39
3.10 EL9400, EL9410 ............................................................................................................................. 42
3.10.1 EL9400, EL9410 Introduction and Technical Data ........................................................... 42
3.11 EL9540, EL9550 ............................................................................................................................. 45
3.11.1 EL9540, EL9550 Introduction and Technical Data ........................................................... 45
3.12 EL9570 ........................................................................................................................................... 49
3.12.1 EL9570 Introduction and Technical Data.......................................................................... 49
3.12.2 Application example ............................................................................................................ 51
4 Basics communication ........................................................................................................................... 53
4.1
EtherCAT basics............................................................................................................................. 53
4.2
EtherCAT cabling – wirebound...................................................................................................... 53
4.3
EtherCAT State Machine ................................................................................................................ 54
4.4
CoE Interface.................................................................................................................................. 55
5 Mounting and wiring ............................................................................................................................... 60
5.1
Installation on mounting rails .......................................................................................................... 60
5.2
Installation instructions for enhanced mechanical load capacity .................................................... 63
5.3
Connection system ......................................................................................................................... 64
5.4
Installation positions ....................................................................................................................... 68
5.5
Mounting of Passive Terminals....................................................................................................... 70
5.6
ATEX Special conditions .............................................................................................................. 71
6 TwinCAT System Manager ..................................................................................................................... 73
6.1
Configuration with TwinCAT System Manager passive terminals ................................................ 73
EL9xxx
3
Version 3.1