General information on commissioning the ED407x/EL407x

• The ED407x/EL407x terminals ED4072/EL4072, ED4074/EL4074, ED4078/EL4078 are functionally identical except for the number of channels; the EL4072 is used as an example below.
• The output channels are set by default to Interface ±10 V, Floating Point, Extended Range.

Fig.26: TwinCAT tree /EL4072, online values as an example

• Time-based operating behavior of the ED/
  The terminals support the following EtherCAT operation modes
• FreeRun: no
• SM-synchron (frame triggered): yes
• DistributedClocks: no

The terminals support EtherCAT cycle times of up to 50 µs, but the following minimum cycle times are recommended for precise value output:
- ED4072/EL4072: >= 150 µs
- ED4074/EL4074: >= 250 µs
- ED4078/EL4078: >= 500 µs
If these values are not reached, it is not guaranteed that the analog value output will start in the corresponding output cycle. There may be a delay in output in the order of a few cycles. The fact that the internal analog value output can no longer follow the cycle can be seen from the incrementing of the local "SM Output" error counter CoE 0x1C32:0C.

Example EL4078:

Fig.27: EL4078 with 500 µs EtherCAT cycle time, output jitter according to theory ±0.5 cycle

Fig.28: EL4078 with 100 µs EtherCAT cycle time, output jitter > 1 ms

If such precise analog value output timing is required, the EL41xx or EL47xx series should be used.

• The terminal contains several functions that are controlled
• by enabling/disabling cyclic process data (PDO) at commissioning time in the EtherCAT master
• by setting/changing so-called CoE settings in the device, this can be done during runtime
• The functions of this terminal are explained in the following commissioning chapter.
• for CoE parameterization:
• CoE registers are named below, the "n" in the index stands for the channel number in the terminal:
  Channel 1: n=0, channel 2: n=1,…
• The CoE values cannot be read in real-time; they are updated in the online display in TwinCAT approx. every second, or can be get (or written, depending on the type) from the controller via ADS with an update rate of up to a few ms (depending on the EtherCAT cycle time).

Fig.29: CoE online tab

• Before initial commissioning, it may be useful to reset the CoE parameters of the terminal using CoE reset by entering the value after 0x1011:01; this covers all channels
  (see chapter "Restoring the delivery state")
• "Default" or "Default setting" means that the setting named in this way is the basic setting ex factory or CoE reset.