Status word
The status information for each channel of the EL32xx and EL33xx is transmitted cyclically from the terminal to the EtherCAT Master as process data (PDO). Two versions of the device description are available for the EL32xx and EL33xx, representing the process image in individual and extended forms.
The difference can be seen in the revision number EL3xxx-xxxx-XXXX.
The EL32xx or EL33xx transmit the following process data:
- Underrange: value below measuring range
- Overrange: value above measuring range ("Wire break" together with "Error")
- Limit 1 (depending on terminal type): Limit value monitoring 0: ok, 1: limit range exceeded, 2: limit range undershot
- Limit 2 (depending on terminal type): Limit value monitoring 0: ok, 1: limit range exceeded, 2: limit range undershot
- Error: the error bit is set if the process data is invalid (wire break, overrange, underrange)
- TxPDO State: validity of the data of the associated TxPDO (0=valid, 1=invalid).
- TxPDO Toggle: the TxPDO toggle is toggled by the slave when the data of the associated TxPDO is updated. This allows the currently required conversion time to be derived.
The limit evaluation is set in the "8000" objects in the CoE directory.
 | Differences in the versions of the EL32xx and EL33xx series The revision differences are illustrated below, using the EL32xx series as an example. The principles of the description apply equally to the EL33xx series. |
Revision -0016 (EL32xx-xxxx-0016)
These terminal revisions have the single process image, see “EL32xx-0000-0016 process image in the TwinCAT 2.11 representation”.
Each item of status information is transmitted as a single, linkable process data.
Revisions -0017 (EL32xx-xxxx-0017) and higher
These terminal revisions also have the summarized process image, see “EL32xx-0000-0017 process image in the TwinCAT 2.11 representation”.
The individual units of information are assembled here in the usual Beckhoff representation as a 16-bit status word, and can be linked into the controller in this way.
Status word
Bit | SW.15 | SW.14 | SW.13 | SW.12 | SW.11 | SW.10 | SW.9 | SW.8 | SW.7 | SW.6 | SW.5 | SW.4 | SW.3 | SW.2 | SW.1 | SW.0 |
Name | TxPDO Toggle | TxPDO State | - | - | - | - | - | - | - | Error | Limit 2 | Limit 1 | Overrange | Underrange | ||
In addition to this, the consolidated "status" can be folded out through the "+" symbol, and the items of process data linked individually.
The individual items of information can also be displayed in the overview window (A) on the right. By clicking on the button
in the menu bar the information can also be displayed there.
Notes
- The consolidated representation is only visible from TwinCAT 2.11 and above. For reasons of compatibility, if a EL32xx-xxxx-0017 (or later) is operated in earlier TwinCAT configurations, the individual process image is displayed, prepended with the identifier "Status__".
- Revisions -0016 and -0017 do not depend on the revision of the firmware installed in the terminal. This means that terminals that were supplied as EL32xx-xxxx-0016 can also be operated with a "newer" -0017 configuration, and therefore can be addressed using the consolidated process image.
This case of "upwards compatibility" is permitted for the EL32xx-xxxx-0016 and -0017. - The easiest way to determine the revision that is installed in the terminal is through a scan of the EtherCAT system. The comparison report shows the differences.
Explanation about fig. “Typical result after scanning an EtherCAT system”: According to the overview on the right, an EL3201-0000-0016 was found in the configuration (*.tsm file), whereas the overview on the left shows revision -0017. The general downward compatibility of the EL terminals ensures that this kind of application is possible.