Adding an EtherCAT Terminal
Please note the order of the EtherCAT Terminals in TwinCAT. The EtherCAT Terminals have to be added to TwinCAT in the same order as they are plugged or addressed by the EtherCAT master (EK3100 Bus Coupler).
Some EtherCAT Terminals do not have to be added in TwinCAT.
- EtherCAT Terminals, which are not visible in the EtherCAT master (EK3100 Bus Coupler) do not have to be entered.
- All other EtherCAT Terminals, which are visible in the EtherCAT master (EK3100 Bus Coupler), always have to be entered. This includes EtherCAT Terminals without process data.
EtherCAT Terminals, which are visible but have no process data:
Example: EK1100, EK1110, …
EtherCAT Terminals, which are not visible and have no process data. These terminals are identified in the technical data with a “-” under “Message to E-bus”:
Example: EL9011, EL9080, …
Requirements:
- The Bus Coupler was added in TwinCAT together with the corresponding GSD file
Add EtherCAT Terminals as follows:
- 1. Always add the first EtherCAT Terminal after the CtrlStatus DWORD module.
- 2. Right-click on Box 1 (GSD) (EK3100) on the left in the tree view.
- 3. Click on Add New Item in the context menu.
The Insert Module window appears. - 4. Select the corresponding EtherCAT Terminal in the right order.
Please note that some EtherCAT Terminals are listed several times, depending on the available mapping.
Example: For the analog EL3062 EtherCAT Terminal you can choose between Standard mapping and Compact mapping. The choice affects the size and therefore the type of data that is available as process data (see GSD file).
- Add further EtherCAT Terminals in TwinCAT, until your hardware configuration with all EtherCAT devices is fully mapped in TwinCAT.