El6631 El6632en

Documentation | EN
EL6631, EL6632
PROFINET CONTROLLER Supplement
2024-02-13 | Version: 2.7

Table of contents
Table of contents
1 Foreword .................................................................................................................................................... 5
1.1 Notes on the documentation ............................................................................................................. 5
1.2 Guide through documentation ........................................................................................................... 6
1.3 Notes on information security............................................................................................................ 7
1.4 Safety instructions ............................................................................................................................. 8
1.5 Documentation issue status .............................................................................................................. 9
1.6 Version identification of EtherCAT devices ..................................................................................... 10
1.6.1 General notes on marking................................................................................................ 10
1.6.2 Version identification of EL terminals ............................................................................... 11
1.6.3 Beckhoff Identification Code (BIC) ................................................................................... 12
1.6.4 Electronic access to the BIC (eBIC)................................................................................. 14
2 Product description ................................................................................................................................ 16

2.1 Introduction ..................................................................................................................................... 16
2.2 Technical data ................................................................................................................................. 17
2.3 Activation of the PROFINET Controller Supplement....................................................................... 17
2.4 EL6631 - PROFINET-RT-Controller................................................................................................ 21
2.5 EL6631 - Technical data ................................................................................................................. 22
2.6 EL6631 - LEDs ................................................................................................................................ 23
2.7 EL6632 - PROFINET-IRT-Controller............................................................................................... 25
2.8 EL6632 - Technical data ................................................................................................................. 26
3 Mounting and wiring ............................................................................................................................... 28

3.1 Instructions for ESD protection ....................................................................................................... 28
3.2 Explosion protection ........................................................................................................................ 29
3.2.1 ATEX - Special conditions (standard temperature range)................................................ 29
3.2.2 IECEx - Special conditions............................................................................................... 30
3.2.3 Continuative documentation for ATEX and IECEx........................................................... 31
3.3 UL notice ......................................................................................................................................... 32
3.4 Note - Power supply ........................................................................................................................ 33
3.5 Installation positions ........................................................................................................................ 34
3.6 Mounting and demounting - traction lever unlocking....................................................................... 36
3.7 Mounting and demounting - top front unlocking .............................................................................. 38
3.8 Disposal .......................................................................................................................................... 40
4 PN controller protocol ............................................................................................................................ 41

4.1 Integration of the TwinCAT PROFINET controller protocol via a RealTimeEthernet interface ....... 41
4.2 Integration of the TwinCAT PROFINET controller protocol via an EL663x interface ...................... 42
4.3 Settings / diagnostics ...................................................................................................................... 43
4.3.1 PROFINET ....................................................................................................................... 43
4.3.2 Task configuration............................................................................................................ 49
4.3.3 PROFINET controller-specific settings............................................................................. 50
4.3.4 Analysis of the box states ................................................................................................ 51
4.3.5 Diagnosis history on the controller protocol ..................................................................... 54
4.3.6 Cyclic data........................................................................................................................ 55
4.3.7 Acyclic data ...................................................................................................................... 56
EL6631, EL6632 Version: 2.7 3

Table of contents
5 Devices at protocol ................................................................................................................................. 58

5.1 Appending PROFINET devices....................................................................................................... 58
5.2 Comparison of nominal and actual configuration ............................................................................ 59
5.3 Settings ........................................................................................................................................... 63
5.3.1 Project planning of the PROFINET device....................................................................... 63
5.3.2 BK9xx3............................................................................................................................. 64
5.3.3 EL663x ............................................................................................................................. 65
5.3.4 IRT Controller................................................................................................................... 65
5.3.5 Shared Device.................................................................................................................. 66
5.4 Modules........................................................................................................................................... 68
5.4.1 Diagnosis at module level ................................................................................................ 68
5.4.2 Diagnosis at submodule level ......................................................................................... 68
5.4.3 Interface Submodule ....................................................................................................... 68
5.4.4 Port Submodule ............................................................................................................... 69
5.4.5 Real / virtual submodules................................................................................................. 71
6 TwinCAT library and programming ....................................................................................................... 72

6.1 Overview ......................................................................................................................................... 72
6.2 Functions......................................................................................................................................... 73
6.2.1 I&M................................................................................................................................... 73
6.2.2 Port................................................................................................................................... 82
6.2.3 AlarmDiag ........................................................................................................................ 84
6.3 Data Structures ............................................................................................................................... 86
6.3.1 I&M................................................................................................................................... 86
6.3.2 Port................................................................................................................................... 88
6.3.3 AlarmDiag ........................................................................................................................ 89
6.3.4 Enumeration types for PROFINET alarms ....................................................................... 90
7 Appendix .................................................................................................................................................. 91
7.1 FAQ ................................................................................................................................................. 91
7.1.1 Device description file (GSDML) / DAP (DeviceAccessPoint) ......................................... 91
7.1.2 Task configuration............................................................................................................ 92
7.1.3 EL663x-00x0 EtherCAT Terminals .................................................................................. 93
7.1.4 BoxStates of the PROFINET devices .............................................................................. 95
7.2 EtherCAT AL Status Codes ............................................................................................................ 95
7.3 Firmware compatibility .................................................................................................................... 96
7.4 Firmware Update EL/ES/EM/ELM/EP/EPP/ERPxxxx ..................................................................... 97
7.4.1 Device description ESI file/XML ....................................................................................... 98
7.4.2 Firmware explanation..................................................................................................... 101
7.4.3 Updating controller firmware *.efw ................................................................................. 102
7.4.4 FPGA firmware *.rbf ....................................................................................................... 104
7.4.5 Simultaneous updating of several EtherCAT devices .................................................... 108
7.5 Support and Service...................................................................................................................... 109
4 Version: 2.7 EL6631, EL6632

Foreword
1 Foreword
1.1 Notes on the documentation

Intended audience
This description is only intended for the use of trained specialists in control and automation engineering who
are familiar with the applicable national standards.
It is essential that the documentation and the following notes and explanations are followed when installing
and commissioning these components.
The qualified personnel is obliged to always use the currently valid documentation.
The responsible staff must ensure that the application or use of the products described satisfy all the
requirements for safety, including all the relevant laws, regulations, guidelines and standards.
Disclaimer
The documentation has been prepared with care. The products described are, however, constantly under
development.
We reserve the right to revise and change the documentation at any time and without prior announcement.
No claims for the modification of products that have already been supplied may be made on the basis of the
data, diagrams and descriptions in this documentation.
Trademarks
Beckhoff®, TwinCAT®, TwinCAT/BSD®, TC/BSD®, EtherCAT®, EtherCAT G®, EtherCAT G10®, EtherCAT P®,
Safety over EtherCAT®, TwinSAFE®, XFC®, XTS® and XPlanar® are registered trademarks of and licensed by
Beckhoff Automation GmbH. Other designations used in this publication may be trademarks whose use by
third parties for their own purposes could violate the rights of the owners.
Patent Pending
The EtherCAT Technology is covered, including but not limited to the following patent applications and
patents: EP1590927, EP1789857, EP1456722, EP2137893, DE102015105702 with corresponding
applications or registrations in various other countries.
EtherCAT® is registered trademark and patented technology, licensed by Beckhoff Automation GmbH,
Germany.
Copyright
© Beckhoff Automation GmbH & Co. KG, Germany.

The reproduction, distribution and utilization of this document as well as the communication of its contents to
others without express authorization are prohibited.
Offenders will be held liable for the payment of damages. All rights reserved in the event of the grant of a
patent, utility model or design.
EL6631, EL6632 Version: 2.7 5

Foreword
1.2 Guide through documentation

NOTICE
Further components of documentation
This documentation describes device-specific content. It is part of the modular
documentation concept for Beckhoff I/O components. For the use and safe operation of the
device / devices described in this documentation, additional cross-product descriptions are
required, which can be found in the following table.
Title Description
EtherCAT System Documentation (PDF) • System overview
• EtherCAT basics
• Cable redundancy
• Hot Connect
• EtherCAT devices configuration
Explosion Protection for Terminal Notes on the use of the Beckhoff terminal systems in
Systems (PDF) hazardous areas according to ATEX and IECEx
Infrastructure for EtherCAT/Ethernet (PDF) Technical recommendations and notes for design,
implementation and testing
Software Declarations I/O (PDF) Open source software declarations for
Beckhoff I/O components
The documentations can be viewed at and downloaded from the Beckhoff website (www.beckhoff.com) via:
• the “Documentation and Download” area of the respective product page,
• the Download finder,
• the Beckhoff Information System.
6 Version: 2.7 EL6631, EL6632

Foreword
1.3 Notes on information security

The products of Beckhoff Automation GmbH & Co. KG (Beckhoff), insofar as they can be accessed online,
are equipped with security functions that support the secure operation of plants, systems, machines and
networks. Despite the security functions, the creation, implementation and constant updating of a holistic
security concept for the operation are necessary to protect the respective plant, system, machine and
networks against cyber threats. The products sold by Beckhoff are only part of the overall security concept.
The customer is responsible for preventing unauthorized access by third parties to its equipment, systems,
machines and networks. The latter should be connected to the corporate network or the Internet only if
appropriate protective measures have been set up.
In addition, the recommendations from Beckhoff regarding appropriate protective measures should be
observed. Further information regarding information security and industrial security can be found in our
https://www.beckhoff.com/secguide.
Beckhoff products and solutions undergo continuous further development. This also applies to security
functions. In light of this continuous further development, Beckhoff expressly recommends that the products
are kept up to date at all times and that updates are installed for the products once they have been made
available. Using outdated or unsupported product versions can increase the risk of cyber threats.
To stay informed about information security for Beckhoff products, subscribe to the RSS feed at https://
www.beckhoff.com/secinfo.
EL6631, EL6632 Version: 2.7 7

Foreword
1.4 Safety instructions

Safety regulations
Please note the following safety instructions and explanations!

Product-specific safety instructions can be found on following pages or in the areas mounting, wiring,
commissioning etc.
Exclusion of liability
All the components are supplied in particular hardware and software configurations appropriate for the
application. Modifications to hardware or software configurations other than those described in the
documentation are not permitted, and nullify the liability of Beckhoff Automation GmbH & Co. KG.
Personnel qualification
This description is only intended for trained specialists in control, automation and drive engineering who are
familiar with the applicable national standards.
Signal words
The signal words used in the documentation are classified below. In order to prevent injury and damage to
persons and property, read and follow the safety and warning notices.
Personal injury warnings
DANGER
Hazard with high risk of death or serious injury.
WARNING
Hazard with medium risk of death or serious injury.
CAUTION
There is a low-risk hazard that could result in medium or minor injury.
Warning of damage to property or environment
NOTICE
The environment, equipment, or data may be damaged.
Information on handling the product
This information includes, for example:

recommendations for action, assistance or further information on the product.
8 Version: 2.7 EL6631, EL6632

Foreword
1.5 Documentation issue status

Version Comment
2.7 • Update chapter “Technical data”
• Update structure
• Chapter “IECEx - Special conditions” added
2.5 • Chapter “Recommended mounting rails” removed
• Update chapter “Technical data”
• Addenda chapter “Notes on information security”
• Update revision status
2.3 • Update revision status
• Update chapter “Settings/Diagnostics”
• Update chapter “Devices at protocol
2.2 • Update revision status
• Update chapter “Version identification of EtherCAT devices”
2.1 • Update chapter “Acyclic data”
• Update chapter “Technical data”
2.0 • Migration
1.0 • Addenda and 1st public issue
0.4 • Amendments
0.3 • Revised controller documentation
0.2 • Revised controller documentation
0.1 • First version
EL6631, EL6632 Version: 2.7 9

Foreword
1.6 Version identification of EtherCAT devices
1.6.1 General notes on marking

Designation
A Beckhoff EtherCAT device has a 14-digit designation, made up of

• family key
• type
• version
• revision
Example Family Type Version Revision
EL3314-0000-0016 EL terminal 3314 0000 0016
12 mm, non-pluggable connection level 4-channel thermocouple terminal basic type
ES3602-0010-0017 ES terminal 3602 0010 0017
12 mm, pluggable connection level 2-channel voltage measurement high-precision version
CU2008-0000-0000 CU device 2008 0000 0000
8-port fast ethernet switch basic type
Notes
• The elements mentioned above result in the technical designation. EL3314-0000-0016 is used in the
example below.
• EL3314-0000 is the order identifier, in the case of “-0000” usually abbreviated to EL3314. “-0016” is the
EtherCAT revision.
• The order identifier is made up of
- family key (EL, EP, CU, ES, KL, CX, etc.)
- type (3314)
- version (-0000)
• The revision -0016 shows the technical progress, such as the extension of features with regard to the
EtherCAT communication, and is managed by Beckhoff.
In principle, a device with a higher revision can replace a device with a lower revision, unless specified
otherwise, e.g. in the documentation.
Associated and synonymous with each revision there is usually a description (ESI, EtherCAT Slave
Information) in the form of an XML file, which is available for download from the Beckhoff web site.
From 2014/01 the revision is shown on the outside of the IP20 terminals, see Fig. “EL5021 EL terminal,
standard IP20 IO device with batch number and revision ID (since 2014/01)”.
• The type, version and revision are read as decimal numbers, even if they are technically saved in
hexadecimal.
10 Version: 2.7 EL6631, EL6632

Foreword
1.6.2 Version identification of EL terminals

The serial number/ data code for Beckhoff IO devices is usually the 8-digit number printed on the device or
on a sticker. The serial number indicates the configuration in delivery state and therefore refers to a whole
production batch, without distinguishing the individual modules of a batch.
Structure of the serial number: KK YY FF HH Example with serial number 12 06 3A 02:
KK - week of production (CW, calendar week) 12 - production week 12
YY - year of production 06 - production year 2006
FF - firmware version 3A - firmware version 3A
HH - hardware version 02 - hardware version 02
Fig. 1: EL2872 with revision 0022 and serial number 01200815
EL6631, EL6632 Version: 2.7 11

Foreword
1.6.3 Beckhoff Identification Code (BIC)

The Beckhoff Identification Code (BIC) is increasingly being applied to Beckhoff products to uniquely identify
the product. The BIC is represented as a Data Matrix Code (DMC, code scheme ECC200), the content is
based on the ANSI standard MH10.8.2-2016.
Fig. 2: BIC as data matrix code (DMC, code scheme ECC200)
The BIC will be introduced step by step across all product groups.
Depending on the product, it can be found in the following places:

• on the packaging unit
• directly on the product (if space suffices)
• on the packaging unit and the product
The BIC is machine-readable and contains information that can also be used by the customer for handling
and product management.
Each piece of information can be uniquely identified using the so-called data identifier
(ANSI MH10.8.2-2016). The data identifier is followed by a character string. Both together have a maximum
length according to the table below. If the information is shorter, spaces are added to it.
Following information is possible, positions 1 to 4 are always present, the other according to need of
production:
12 Version: 2.7 EL6631, EL6632

Foreword
Posi- Type of Explanation Data Number of digits Example

tion information identifier incl. data identifier
1 Beckhoff order Beckhoff order number 1P 8 1P072222
number
2 Beckhoff Traceability Unique serial number, SBTN 12 SBTNk4p562d7
Number (BTN) see note below
3 Article description Beckhoff article 1K 32 1KEL1809
description, e.g.
EL1008
4 Quantity Quantity in packaging Q 6 Q1
unit, e.g. 1, 10, etc.
5 Batch number Optional: Year and week 2P 14 2P401503180016
of production
6 ID/serial number Optional: Present-day 51S 12 51S678294
serial number system,
e.g. with safety products
7 Variant number Optional: Product variant 30P 32 30PF971, 2*K183
number on the basis of
standard products
...
Further types of information and data identifiers are used by Beckhoff and serve internal processes.
Structure of the BIC
Example of composite information from positions 1 to 4 and with the above given example value on position
6. The data identifiers are highlighted in bold font:
1P072222SBTNk4p562d71KEL1809 Q1 51S678294
Accordingly as DMC:
Fig. 3: Example DMC 1P072222SBTNk4p562d71KEL1809 Q1 51S678294
BTN
An important component of the BIC is the Beckhoff Traceability Number (BTN, position 2). The BTN is a
unique serial number consisting of eight characters that will replace all other serial number systems at
Beckhoff in the long term (e.g. batch designations on IO components, previous serial number range for
safety products, etc.). The BTN will also be introduced step by step, so it may happen that the BTN is not yet
coded in the BIC.
NOTICE
This information has been carefully prepared. However, the procedure described is constantly being further
developed. We reserve the right to revise and change procedures and documentation at any time and
without prior notice. No claims for changes can be made from the information, illustrations and descriptions
in this information.
EL6631, EL6632 Version: 2.7 13

Foreword
1.6.4 Electronic access to the BIC (eBIC)

Electronic BIC (eBIC)
The Beckhoff Identification Code (BIC) is applied to the outside of Beckhoff products in a visible place. If
possible, it should also be electronically readable.
The interface that the product can be electronically addressed by is crucial for the electronic readout.
K-bus devices (IP20, IP67)
Currently, no electronic storage or readout is planned for these devices.
EtherCAT devices (IP20, IP67)
All Beckhoff EtherCAT devices have an ESI-EEPROM which contains the EtherCAT identity with the revision
number. The EtherCAT slave information, also colloquially known as the ESI/XML configuration file for the
EtherCAT master, is stored in it. See the corresponding chapter in the EtherCAT system manual (Link) for
the relationships.
Beckhoff also stores the eBIC in the ESI‑EEPROM. The eBIC was introduced into Beckhoff IO production
(terminals, box modules) in 2020; as of 2023, implementation is largely complete.
The user can electronically access the eBIC (if present) as follows:
• With all EtherCAT devices, the EtherCAT master (TwinCAT) can read the eBIC from the ESI‑EEPROM
◦ From TwinCAT 3.1 build 4024.11, the eBIC can be displayed in the online view.
◦ To do this, check the "Show Beckhoff Identification Code (BIC)" checkbox under
EtherCAT → Advanced Settings → Diagnostics:
◦ The BTN and its contents are then displayed:
◦ Note: As shown in the figure, the production data HW version, FW version, and production date,
which have been programmed since 2012, can also be displayed with "Show production info".
◦ Access from the PLC: From TwinCAT 3.1. build 4024.24, the functions FB_EcReadBIC and
FB_EcReadBTN for reading into the PLC are available in the Tc2_EtherCAT library from
v3.3.19.0.
• EtherCAT devices with a CoE directory may also have the object 0x10E2:01 to display their own eBIC,
which can also be easily accessed by the PLC:
14 Version: 2.7 EL6631, EL6632

Foreword
◦ The device must be in PREOP/SAFEOP/OP for access:
◦ The object 0x10E2 will be preferentially introduced into stock products in the course of necessary
firmware revision.
◦ From TwinCAT 3.1. build 4024.24, the functions FB_EcCoEReadBIC and FB_EcCoEReadBTN for
reading into the PLC are available in the Tc2_EtherCAT library from v3.3.19.0
• The following auxiliary functions are available for processing the BIC/BTN data in the PLC in
Tc2_Utilities as of TwinCAT 3.1 build 4024.24
◦ F_SplitBIC: The function splits the Beckhoff Identification Code (BIC) sBICValue into its
components using known identifiers and returns the recognized substrings in the ST_SplittedBIC
structure as a return value
◦ BIC_TO_BTN: The function extracts the BTN from the BIC and returns it as a return value
• Note: If there is further electronic processing, the BTN is to be handled as a string(8); the identifier
"SBTN" is not part of the BTN.
• Technical background
The new BIC information is written as an additional category in the ESI‑EEPROM during device
production. The structure of the ESI content is largely dictated by the ETG specifications, therefore the
additional vendor-specific content is stored using a category in accordance with the ETG.2010. ID 03
tells all EtherCAT masters that they may not overwrite these data in the event of an update or restore
the data after an ESI update.
The structure follows the content of the BIC, see here. The EEPROM therefore requires approx.
50..200 bytes of memory.
• Special cases
◦ If multiple hierarchically arranged ESCs are installed in a device, only the top-level ESC carries the
eBIC information.
◦ If multiple non-hierarchically arranged ESCs are installed in a device, all ESCs carry the eBIC
information.
◦ If the device consists of several sub-devices which each have their own identity, but only the top-
level device is accessible via EtherCAT, the eBIC of the top-level device is located in the CoE
object directory 0x10E2:01 and the eBICs of the sub-devices follow in 0x10E2:nn.
PROFIBUS; PROFINET, and DeviceNet devices
Currently, no electronic storage or readout is planned for these devices.
EL6631, EL6632 Version: 2.7 15

Product description
2 Product description
2.1 Introduction
The PROFINET IO controller (master) is a TwinCAT supplement that turns every Beckhoff PC-based control
system into a PROFINET IO controller. By installing the supplement, a standard Ethernet interface becomes
a PROFINET master. This supplement can be used on PCs and Embedded PCs.
PROFINET can be simply coupled with EtherCAT in connection with the EL663x PROFINET terminal for the
EtherCAT I/O system, wherein the terminal represents a slave on the EtherCAT side but acts as a controller
towards PROFINET. In this way any EtherCAT network can also exchange data with PROFINET IO devices.
Fig. 4: PROFINET topology example
There are two kinds of PROFINET: PROFINET I/O and PROFINET CBA. TwinCAT supports PROFINET I/O.
In turn, 4 kinds of cyclic communication are defined within PROFINET I/O: RTClass1 to 3 and RToverUDP.
The TwinCAT PROFINET I/O controller and the EL6631 presently support RTClass1, while the EL6632 can
communicate over RTClass1 and RTClass3. All cycle times defined for RTClass1 are supported, from 1 ms
in power-of-2 steps (1, 2, 4, 8,… ms).
The smallest cycle time presently supported by the EL6632 is 500 µs (for RTClass3).
16 Version: 2.7 EL6631, EL6632

Product description
2.2 Technical data

Technical data PROFINET via RT Eth- PROFINET via Ether- PROFINET via EtherCAT
ernet CAT (EL6632) (EL6631)
Ethernet Hardware Real-Time Ethernet EL6632 PROFINET EL6631 PROFINET terminal
Hardware terminal
Operating system Windows XP, XP Embedded (CE under preparation)
Software TwinCAT I/O, PLC, NC, NC I, CNC
Target systems PC (x86), Windows CE PC (x86), Windows CE PC (x86), Windows CE
devices devices with EtherCAT devices with EtherCAT
interface interface
Cycle time min. 1 ms min. 500 us min. 1 ms
Number of possible IO limited by CPU for IRT up to 5 devices, Up to 15 devices
devices performance and for RT up to 15 devices
memory
2.3 Activation of the PROFINET Controller Supplement

Requirement:
TwinCAT 2.11 Build 1545

Hardware: Ethernet card with Intel chipset
An Ethernet card with Intel chipset is required in order to use the PROFINET controller Supplement. Install
the RT-Ethernet driver for this card (TwinCAT Ethernet driver - Installation). Once the installation of the driver
has been completed you can create the PROFINET controller in the system manager and connect it to the
hardware (Ethernet card).
The PROFINET controller can be scanned in Config mode (TwinCAT icon is blue) and values can be written
in Freerun mode. The appropriate key must be entered in order to operate TwinCAT in Run mode.
In order to obtain the registration key, send the MAC address of the Ethernet card you are using with the
order. You will then receive the activation code.
MAC address
You can read the MAC address via the System Manager. To do this, append the PROFINET controller
device.
Fig. 5: "Append Device" context menu
Select the PROFINET I/O controller under PROFINET.
EL6631, EL6632 Version: 2.7 17

Product description
Fig. 6: PROFINET Controller/Device selection
Switch to Adapter and press the search button.
Fig. 7: "Adapter" tab, Search button
If the real-time driver has been installed correctly, you will be shown the corresponding cards. If no cards are
available for selection, this means that the driver has not been correctly installed.
Select the card to which your PROFINET devices are connected.
18 Version: 2.7 EL6631, EL6632

Product description
Fig. 8: TWINCAT network adapter selection
The MAC address of the card will be displayed under Adapter -> MAC address. This is now required for the
key.
Fig. 9: Display of the MAC address
Switch to the PROFINET tab and press ‘Insert key…’. Now enter the key.
Fig. 10: Entry of the MAC address as the key via "Insert Key"
If the key is accepted the following appears in the Key field: valid pn-controller key.
EL6631, EL6632 Version: 2.7 19

Product description
Fig. 11: "PROFINET" tab, confirmation of the key
20 Version: 2.7 EL6631, EL6632

Product description
2.4 EL6631 - PROFINET-RT-Controller
Fig. 12: EL6631 - PROFINET-RT-Controller
The EL6631 PROFINET IO Controller (Master) terminal supports the complete real-time function (RT) as
well as extensive diagnostic possibilities. All services in accordance with Conformance Class B are
supported.
Up to 15 PROFINET IO devices can be projected on the EL6631.
Supplement
The TwinCAT Supplement is not required for the EL6631 and EL6632.
TwinCAT Version
The released TwinCAT version is TwinCAT 2.11 R3.
It must be ensured that the target system also corresponds to the TwinCAT version.
Older TwinCAT versions cannot be used!
EL6631, EL6632 Version: 2.7 21

Product description
2.5 EL6631 - Technical data

Technical data EL6631
Technology PROFINET IO
Number of ports/channels 2
Ethernet interface 100BASE-TX Ethernet with 2 x RJ 45
Fieldbus PROFINET RT controller
Cable length up to 100 m twisted pair
Hardware diagnostics Status LEDs
Power supply via the E-bus
Electrical isolation 500 V (E-Bus/Ethernet)
Max. number of RT-capable devices 15 (depending on the cycle time and number of data)
Minimum RT cycle 1 ms
Conformity class B
Protocol RT
Drivers TwinCAT 2.11 R3
Maximum number of process data 1 kbyte input data and 1 kbyte output data
Configuration via the EtherCAT master
Current consumption via E-bus 400 mA typ.
Special features LLDP, SNMP,
conformance class B,
max. 15 RT users,
min. 1 ms RT cycle
Mounting on 35 mm mounting rail conforms to EN 60715
housing with traction lever unlocking [} 36]
housing with front release [} 38]
Weight approx. 75 g
Permissible ambient temperature at 0…+55 °C
operation**)
Permissible ambient temperature for storage -25…+85 °C
Permissible relative humidity 95 % no condensation
Vibration / shock resistance conforms to EN 60068-2-6 / EN 60068-2-27
EMC immunity / emission conforms to EN 61000-6-2 / EN 61000-6-4
Protection class IP20
Installation position Standard installation position (an operating temperature of
45°C applies to other installation positions), see also notice
[} 34]
Approvals / markings*) CE, EAC, UKCA
cULus [} 32], ATEX [} 29], IECEx [} 30]
*) Real applicable approvals/markings see type plate on the side (product marking).
**) If there is another terminal with high power loss (e.g. E-bus current >250 mA) next to the terminal, an
EL9xx0 power feed or separation terminal must be connected in between (recommendation: terminal with E-
bus ASIC).
Ex markings
Standard Marking
ATEX II 3 G Ex nA IIC T4 Gc
IECEx Ex nA IIC T4 Gc
22 Version: 2.7 EL6631, EL6632

Product description
2.6 EL6631 - LEDs
Fig. 13: EL6631 - LEDs
LEDs for EtherCAT diagnosis
LED Display Description

RUN green off State of the EtherCAT State Machine:
INIT = initialization of the terminal;
BOOTSTRAP = function for firmware updates of the terminal
flashing State of the EtherCAT State Machine:
200 ms PREOP = function for mailbox communication and different standard-
settings set
off (1 s) State of the EtherCAT State Machine:
on (200 ms) SAFEOP = verification of the sync manager channels and the distributed
clocks.
Outputs remain in safe state
on State of the EtherCAT State Machine:
OP = normal operating state; mailbox and process data communication is
possible
LED diagnosis PROFINET RUN/Err
Color green Color red Meaning

off flashing Terminal starts
200 ms
flashing off No name
200 ms
1 s off, 200 ms on off No IP address
on off EL terminal is parameterized
EL6631, EL6632 Version: 2.7 23

Product description
LED diagnosis PROFINET Err
Colours green Colours red Meaning

off flashing no AR established with any device
500 ms
off 1 s off, 200 ms on At least one device has not established an AR
1 s off, 200 ms on off At least one device has signaled an error, e.g. that there is
a module difference or that the error bit for an IO-CR is set
(Problem Indicator)
flashing off At least one device is signaling that its status is ‘Stop’
200 ms (Provider State Stop)
on off All PROFINET devices are in data exchange mode
If there are several different errors, then the error that is located at the top of (or higher in) the table is always
displayed.
LEDs starting up
Run PN Run/Err PN Err Meaning

off off off No electrical voltage connected to E-bus. The EL6631 must be
exchanged if EtherCAT terminals behind it function.
off off red on EL terminal is starting up; after approx. 10 seconds, the LED should go
out. If this does not happen, the EL6631 module must be exchanged.
24 Version: 2.7 EL6631, EL6632

Product description
2.7 EL6632 - PROFINET-IRT-Controller
Fig. 14: EL6632 - PROFINET-IRT-Controller
The EL6632 PROFINET-IRT controller terminal offers the complete RT (real time) or IRT (isochronous real-
time) functionality and a wide range of diagnostic options. All services in accordance with Conformance
Class C are supported.
Depending on the cycle time, up to five PROFINET-IRT or up to 15 PROFINET RT devices can be operated
at the EL6632 in a line topology.
Supplement
The TwinCAT Supplement is not required for the EL6631 and EL6632.
TwinCAT Version
The released TwinCAT version is TwinCAT 2.11 R3.
It must be ensured that the target system also corresponds to the TwinCAT version.
Older TwinCAT versions cannot be used!
EL6631, EL6632 Version: 2.7 25

Product description
2.8 EL6632 - Technical data

Technical data EL6632
Technology PROFINET IO
Number of ports/channels 2
Ethernet interface 100BASE-TX Ethernet with 2 x RJ 45
Fieldbus PROFINET RT / IRT controller
Cable length up to 100 m twisted pair
Hardware diagnostics Status LEDs
Power supply via the E-bus
Electrical isolation 500 V (E-Bus/Ethernet)
Max. number of IRT-capable devices 5 (depending on the cycle time and number of data)
Max. number of RT-capable devices 15 (depending on the cycle time and number of data)
Minimum IRT cycle 500 µs
Minimum RT cycle 1 ms
Conformity class C
Protocol RT or IRT
Drivers TwinCAT 2.11 R3
Maximum number of process data 1 kbyte input data and 1 kbyte output data
Configuration via the EtherCAT master
Current consumption via E-bus 400 mA typ.
Special features Conformity class C,
max. 5 IRT devices in series,
max. 15 RT devices,
min. 500 μs IRT cycle,
min. 1 ms RT cycle
Dimensions (W x H x D) approx. 26 mm x 100 mm x 52 mm (width aligned: 23 mm)
Mounting on 35 mm mounting rail conforms to EN 60715
housing with traction lever unlocking [} 36]
housing with front release [} 38]
Weight approx. 75 g
Permissible ambient temperature at 0…+55 °C
operation**)
Permissible ambient temperature for storage -25…+85 °C
Permissible relative humidity 95 % no condensation
Vibration / shock resistance conforms to EN 60068-2-6 / EN 60068-2-27
EMC immunity / emission conforms to EN 61000-6-2 / EN 61000-6-4
Protection class IP20
Installation position Standard installation position (an operating temperature of
45°C applies to other installation positions), see also notice
[} 34]
Approvals / markings*) CE, UKCA, EAC
cULus [} 32], ATEX [} 29], IECEx [} 30]
*) Real applicable approvals/markings see type plate on the side (product marking).
**) If there is another terminal with high power loss (e.g. E-bus current >250 mA) next to the terminal, an
EL9xx0 power feed or separation terminal must be connected in between (recommendation: terminal with E-
bus ASIC).
26 Version: 2.7 EL6631, EL6632

Product description
Ex markings
Standard Marking
ATEX II 3 G Ex nA IIC T4 Gc
IECEx Ex nA IIC T4 Gc
EL6631, EL6632 Version: 2.7 27

Mounting and wiring
3 Mounting and wiring
3.1 Instructions for ESD protection

NOTICE
Destruction of the devices by electrostatic discharge possible!
The devices contain components at risk from electrostatic discharge caused by improper handling.
• Please ensure you are electrostatically discharged and avoid touching the contacts of the device directly.
• Avoid contact with highly insulating materials (synthetic fibers, plastic film etc.).
• Surroundings (working place, packaging and personnel) should by grounded probably, when handling
with the devices.
• Each assembly must be terminated at the right hand end with an EL9011 or EL9012 bus end cap, to
ensure the protection class and ESD protection.
Fig. 15: Spring contacts of the Beckhoff I/O components
28 Version: 2.7 EL6631, EL6632

Mounting and wiring
3.2 Explosion protection
3.2.1 ATEX - Special conditions (standard temperature range)

WARNING
Observe the special conditions for the intended use of Beckhoff fieldbus components with
standard temperature range in potentially explosive areas (directive 2014/34/EU)!
• The certified components are to be installed in a suitable housing that guarantees a protection class of at
least IP54 in accordance with EN 60079-15! The environmental conditions during use are thereby to be
taken into account!
• For dust (only the fieldbus components of certificate no. KEMA 10ATEX0075 X Issue 9): The equipment
shall be installed in a suitable enclosure providing a degree of protection of IP54 according to
EN 60079-31 for group IIIA or IIIB and IP6X for group IIIC, taking into account the environmental
conditions under which the equipment is used!
• If the temperatures during rated operation are higher than 70°C at the feed-in points of cables, lines or
pipes, or higher than 80°C at the wire branching points, then cables must be selected whose
temperature data correspond to the actual measured temperature values!
• Observe the permissible ambient temperature range of 0 to 55°C for the use of Beckhoff fieldbus
components standard temperature range in potentially explosive areas!
• Measures must be taken to protect against the rated operating voltage being exceeded by more than
40% due to short-term interference voltages!
• The individual terminals may only be unplugged or removed from the Bus Terminal system if the supply
voltage has been switched off or if a non-explosive atmosphere is ensured!
• The connections of the certified components may only be connected or disconnected if the supply
• The fuses of the KL92xx/EL92xx power feed terminals may only be exchanged if the supply voltage has
been switched off or if a non-explosive atmosphere is ensured!
• Address selectors and ID switches may only be adjusted if the supply voltage has been switched off or if
a non-explosive atmosphere is ensured!
Standards
The fundamental health and safety requirements are fulfilled by compliance with the following standards:
• EN 60079-0:2012+A11:2013
• EN 60079-15:2010
• EN 60079-31:2013 (only for certificate no. KEMA 10ATEX0075 X Issue 9)
Marking
The Beckhoff fieldbus components with standard temperature range certified according to the ATEX directive
for potentially explosive areas bear one of the following markings:
II 3G KEMA 10ATEX0075 X Ex nA IIC T4 Gc Ta: 0 … +55°C

II 3D KEMA 10ATEX0075 X Ex tc IIIC T135°C Dc Ta: 0 ... +55°C
(only for fieldbus components of certificate no. KEMA 10ATEX0075 X Issue 9)
or
II 3G KEMA 10ATEX0075 X Ex nA nC IIC T4 Gc Ta: 0 … +55°C

II 3D KEMA 10ATEX0075 X Ex tc IIIC T135°C Dc Ta: 0 ... +55°C
(only for fieldbus components of certificate no. KEMA 10ATEX0075 X Issue 9)
EL6631, EL6632 Version: 2.7 29

Mounting and wiring
3.2.2 IECEx - Special conditions

WARNING
Observe the special conditions for the intended use of Beckhoff fieldbus components in
potentially explosive areas!
• For gas: The equipment shall be installed in a suitable enclosure providing a degree of protection of IP54
according to IEC 60079-15, taking into account the environmental conditions under which the equipment
is used!
• For dust (only the fieldbus components of certificate no. IECEx DEK 16.0078X Issue 3):
The equipment shall be installed in a suitable enclosure providing a degree of protection of IP54
according to EN 60079-31 for group IIIA or IIIB and IP6X for group IIIC, taking into account the
environmental conditions under which the equipment is used!
• The equipment shall only be used in an area of at least pollution degree 2, as defined in IEC 60664-1!
• Provisions shall be made to prevent the rated voltage from being exceeded by transient disturbances of
more than 119 V!
• If the temperatures during rated operation are higher than 70°C at the feed-in points of cables, lines or
pipes, or higher than 80°C at the wire branching points, then cables must be selected whose
temperature data correspond to the actual measured temperature values!
• Observe the permissible ambient temperature range for the use of Beckhoff fieldbus components in
potentially explosive areas!
• The individual terminals may only be unplugged or removed from the Bus Terminal system if the supply
• The connections of the certified components may only be connected or disconnected if the supply
• Address selectors and ID switches may only be adjusted if the supply voltage has been switched off or if
a non-explosive atmosphere is ensured!
• The front hatch of certified units may only be opened if the supply voltage has been switched off or a
non-explosive atmosphere is ensured!
Standards
The fundamental health and safety requirements are fulfilled by compliance with the following standards:
• EN 60079-0:2011
• EN 60079-15:2010
• EN 60079-31:2013 (only for certificate no. IECEx DEK 16.0078X Issue 3)
Marking
Beckhoff fieldbus components that are certified in accordance with IECEx for use in areas subject to an
explosion hazard bear the following markings:
Marking for fieldbus components of certificate IECEx DEK 16.0078 X
no. IECEx DEK 16.0078X Issue 3: Ex nA IIC T4 Gc
Ex tc IIIC T135°C Dc
Marking for fieldbus components of IECEx DEK 16.0078 X

certficates with later issues: Ex nA IIC T4 Gc
30 Version: 2.7 EL6631, EL6632

Mounting and wiring
3.2.3 Continuative documentation for ATEX and IECEx

NOTICE
Continuative documentation about explosion protection according to ATEX
and IECEx
Pay also attention to the continuative documentation
Ex. Protection for Terminal Systems
Notes on the use of the Beckhoff terminal systems in hazardous areas according to ATEX
and IECEx,
that is available for download within the download area of your product on the Beckhoff
homepage www.beckhoff.com!
EL6631, EL6632 Version: 2.7 31

Mounting and wiring
3.3 UL notice
CAUTION
Application
Beckhoff EtherCAT modules are intended for use with Beckhoff’s UL Listed EtherCAT
System only.
CAUTION
Examination
For cULus examination, the Beckhoff I/O System has only been investigated for risk of fire
and electrical shock (in accordance with UL508 and CSA C22.2 No. 142).
CAUTION
For devices with Ethernet connectors
Not for connection to telecommunication circuits.
Basic principles
UL certification according to UL508. Devices with this kind of certification are marked by this sign:
32 Version: 2.7 EL6631, EL6632

Mounting and wiring
3.4 Note - Power supply

WARNING
Power supply from SELV/PELV power supply unit!
SELV/PELV circuits (Safety Extra Low Voltage, Protective Extra Low Voltage) according to
IEC 61010-2-201 must be used to supply this device.
Notes:
• SELV/PELV circuits may give rise to further requirements from standards such as IEC 60204-1 et al, for
example with regard to cable spacing and insulation.
• A SELV (Safety Extra Low Voltage) supply provides safe electrical isolation and limitation of the voltage
without a connection to the protective conductor,
a PELV (Protective Extra Low Voltage) supply also requires a safe connection to the protective
conductor.
EL6631, EL6632 Version: 2.7 33

Mounting and wiring
3.5 Installation positions

NOTICE
Constraints regarding installation position and operating temperature range
Please refer to the technical data for a terminal to ascertain whether any restrictions regarding the
installation position and/or the operating temperature range have been specified. When installing high
power dissipation terminals ensure that an adequate spacing is maintained between other components
above and below the terminal in order to guarantee adequate ventilation!
Optimum installation position (standard)
The optimum installation position requires the mounting rail to be installed horizontally and the connection
surfaces of the EL/KL terminals to face forward (see Fig. Recommended distances for standard installation
position). The terminals are ventilated from below, which enables optimum cooling of the electronics through
convection. “From below” is relative to the acceleration of gravity.
Fig. 16: Recommended distances for standard installation position
Compliance with the distances shown in Fig. Recommended distances for standard installation position is
recommended.
Other installation positions
All other installation positions are characterized by different spatial arrangement of the mounting rail - see
Fig Other installation positions.
The minimum distances to ambient specified above also apply to these installation positions.
34 Version: 2.7 EL6631, EL6632

Mounting and wiring
Fig. 17: Other installation positions
EL6631, EL6632 Version: 2.7 35

Mounting and wiring
3.6 Mounting and demounting - traction lever unlocking

The terminal modules are fastened to the assembly surface with the aid of a 35 mm mounting rail (e. g.
mounting rail TH 35-15).
Fixing of mounting rails

The locking mechanism of the terminals and couplers extends to the profile of the mounting rail. At
the installation, the locking mechanism of the components must not come into conflict with the fixing
bolts of the mounting rail. To mount the recommended mounting rails under the terminals and
couplers, you should use flat mounting connections (e.g. countersunk screws or blind rivets).
WARNING
Risk of electric shock and damage of device!
Bring the bus terminal system into a safe, powered down state before starting installation, disassembly or
wiring of the Bus Terminals!
Mounting
• Fit the mounting rail to the planned assembly location.
and press (1) the terminal module against the mounting rail until it latches in place on the mounting rail
(2).
• Attach the cables.
Demounting
• Remove all the cables. Thanks to the KM/EM connector, it is not necessary to remove all the cables
separately for this, but for each KM/EM connector simply undo 2 screws so that you can pull them off
(fixed wiring)!
• Lever the unlatching hook on the left-hand side of the terminal module upwards with a screwdriver (3).
As you do this
◦ an internal mechanism pulls the two latching lugs (3a) from the top hat rail back into the terminal
module,
◦ the unlatching hook moves forwards (3b) and engages
36 Version: 2.7 EL6631, EL6632

Mounting and wiring
• In the case 32 and 64 channel terminal modules (KMxxx4 and KMxxx8 or EMxxx4 and EMxxx8) you
now lever the second unlatching hook on the right-hand side of the terminal module upwards in the
same way.
• Pull (4) the terminal module away from the mounting surface.
EL6631, EL6632 Version: 2.7 37

Mounting and wiring
3.7 Mounting and demounting - top front unlocking

The terminal modules are fastened to the assembly surface with the aid of a 35 mm mounting rail (e. g.
mounting rail TH 35-15).
Fixing of mounting rails

The locking mechanism of the terminals and couplers extends to the profile of the mounting rail. At
the installation, the locking mechanism of the components must not come into conflict with the fixing
bolts of the mounting rail. To mount the recommended mounting rails under the terminals and
couplers, you should use flat mounting connections (e.g. countersunk screws or blind rivets).
WARNING
Risk of electric shock and damage of device!
Bring the bus terminal system into a safe, powered down state before starting installation, disassembly or
wiring of the Bus Terminals!
Mounting
• Fit the mounting rail to the planned assembly location.
and press (1) the terminal module against the mounting rail until it latches in place on the mounting rail
(2).
• Attach the cables.
Demounting
• Remove all the cables.
• Lever the unlatching hook back with thumb and forefinger (3). An internal mechanism pulls the two
latching lugs (3a) from the top hat rail back into the terminal module.
38 Version: 2.7 EL6631, EL6632

Mounting and wiring
• Pull (4) the terminal module away from the mounting surface.
Avoid canting of the module; you should stabilize the module with the other hand, if required.
EL6631, EL6632 Version: 2.7 39

Mounting and wiring
3.8 Disposal
Products marked with a crossed-out wheeled bin shall not be discarded
with the normal waste stream. The device is considered as waste
electrical and electronic equipment. The national regulations for the
disposal of waste electrical and electronic equipment must be observed.
40 Version: 2.7 EL6631, EL6632

PN controller protocol
4 PN controller protocol
4.1 Integration of the TwinCAT PROFINET controller

protocol via a RealTimeEthernet interface
The controller protocol is appended directly to the I/O device. The available network interfaces are directly
displayed when appending and are now available for selection.
If these are to be modified or checked afterwards, this can take place on the ‘Adapter’ tab.
Fig. 18: "Adapter" tab
EL6631, EL6632 Version: 2.7 41

4.2 Integration of the TwinCAT PROFINET controller

protocol via an EL663x interface
The controller protocol is appended directly to the I/O device. The respective protocol must be selected
according to the terminal that is to be used (EL6631 or EL6632). If such a terminal is present in the projected
EtherCAT strand, the associated adaptor is directly displayed when appending the protocol. If there are
several terminals the corresponding one can be selected.
Fig. 19: Selection of the terminal for integrating the protocol
For the operation of several EL663x terminals the corresponding PROFINET protocol must be appended
several times. If the terminal assignment is to be modified or checked afterwards, this can take place on the
"Adapter" tab.
Fig. 20: "Adapter" tab, changing the terminal assignment
42 Version: 2.7 EL6631, EL6632

4.3 Settings / diagnostics
4.3.1 PROFINET
4.3.1.1 AMS Settings
Protocol AMS NetID text field
This is the NetID via which the PROFINET controller protocol can be reached via AMS.
Protocol AMS PortNo text field
This is the PortNo via which the PROFINET controller protocol can be reached via AMS. This is always fixed
to 0xFFFF.
Server AMS NetID text field
This is the NetID to which certain AMS messages (e.g. PN records within the index range 0x1000 - 0x1FFF)
are forwarded by the PROFINET driver. Currently this is always the SystemNetId.
Server AMS PortNo text field
This is the PortNo to which certain AMS messages (e.g. PN records within the index range 0x1000 -
0x1FFF) are forwarded by the PROFINET driver. By default this is the PLC Port 802 of runtime system 1.
4.3.1.2 PROFINET Key
Key text field
The key to enable the PROFINET controller protocol can be entered here. If a valid key has already been
entered, a corresponding message appears in the window and no further entry can be made.
Button Insert Key...
The entered key is confirmed here. The key is thereby checked to ascertain whether or not it is valid. If not, a
corresponding message appears. This button is inactive if a valid key has already been entered.
4.3.1.3 Button Port settings

This feature is presently only enabled for the real-time Ethernet protocol (no EL663x). With this a second
PROFINET port and an intelligent switch can thus be realized with a second network card (Intel chipset) . It
is intended to repeat this feature x times; however, it is presently limited to one additional port.
EL6631, EL6632 Version: 2.7 43

Fig. 21: "PROFINET Port configuration" dialog
In future it will be possible to enable the MRP (Media Redundancy Protocol) function via this menu; various
settings can be made for this.
44 Version: 2.7 EL6631, EL6632

4.3.1.4 Button Scan PNIO Devices

This feature is comparable with the ‘ScanBoxes’ feature which, however, is available only in CONFIG mode .
After successful scanning the following dialogue opens (if devices were found).
Fig. 22: Dialog „Scan Devices“
Various settings or project planning can be carried out for the devices here. These are adopted only when
the corresponding button is explicitly pressed. When setting the name, care must be taken that only
PROFINET-compliant characters are used. This also applies to the IP address; only valid combinations of IP
and subnet are to be used. Name and IP are checked for correctness when setting PROFINET devices.
DCP_SET is acknowledged with an error If this is not the case. Changes that have been made can be read
back by pressing the Rescan button.
In addition the selected device can be signaled. This functionality is PROFINET-specific, but the method by
which the signaling takes place is vendor-specific. As standard, however, the signal must arrive with a
frequency of 2 Hz.
For example, the Beckhoff BK9103 Bus Coupler signals itself by the alternate flashing of two LEDs at a rate
of 2 Hz. This function is very helpful for identifying the devices in this list. The flashing is stopped again by
pressing the button once more. The flashing is stopped by closing the ‘Scan Devices’ window.
Subsequently, one or more devices can be marked with the Ctrl button. The selected device is adopted into
the project by pressing ‘Add Devices’.
GSDML devices
The associated GSDML devices must be located in the ‘..\TwinCAT\Io\ProfiNet’ (TC2) or ’..
\TwinCAT\3.1\Config\Io\Profinet‘ (TC3) folder!
Upon pressing ‘Add Devices’, the following question box opens:
EL6631, EL6632 Version: 2.7 45

Fig. 23: Confirmation "Add Devices"
‘Yes’ button:
An attempt is initially made to determine the ModuleIdentNumber of the DAP (Device Access Point) by an
implicit read access. If this fails a corresponding dialog opens containing the possible DAPs, which must
then be selected manually.
If all boxes have been appended, a ‘Reload Devices’ automatically takes place, i.e. the devices (adaptors)
created are transmitted to the PROFINET driver. Subsequently, a distinction is made as to whether the box
is a normal device or a drive with Profidrive support.
If the device is a normal device, the real module equipment (RealIdentificationData) is read out again by an
implicit read access. If it is a Profidrive device, conversely, the required information is read out by a Profidrive
access. A supervisor AR is established for this, within which the required write accesses can take place. The
Submodule interface on the DAP is taken here as the Parameter Access Point. The parameter access takes
place via data record 47, much like the case of the Profibus beforehand. When using Sinamics, however, it
must be noted that such an access is only permitted from version 4.3 SP2. If an older version is used, a
corresponding error message appears and the paramétrisation must take place manually.
Once the automatic module paramétrisation has been completed, a question box appears asking whether
the port data should be read in automatically. Here again, the port connection for the individual devices is
read out via an implicit read access.
The real port connection must be known for the various services. These may be simply diagnostic services,
but the port connection is also required for the automatic device start (via alias) or for the creation of the IRT
planning.
If this dialogue is acknowledged with ‘no’ or if the read access has failed, such a connection can also be
made manually at the individual ports in the TwinCAT project.
If the port connection has been successfully generated, a query also appears in the case of an IRT controller
(e.g. project planning on an EL6632) asking whether all devices are to be automatically connected in IRT
Mode (RTClass3) (provided they support it).
If this is affirmed the cable length is additionally set to 10 m copper cable on all projected ports. The IRT
algorithm requires this information for the calculation of the signal propagation delays. The precise cable
length is not so important here (approx. +/-10 m), because the propagation delays tend to be small at 100
Mbit/s (5 ns/m). If the automatic switchover is not to take place immediately, these points can also be
modified later either on the protocol or on the individual devices (on the interface or port submodule).
‘No’ button:
For each device a check is performed to ascertain whether the GSDML is present in the respective folder (‘..
\TwinCAT\Io\ProfiNet’). If this is the case, the list of possible DAPs is read in. Subsequently a selection
dialogue is opened so that the corresponding DAP can be selected.
Once the devices have been appended in the project, the API below the Box can be accessed and the
modules and submodules can be manually appended via it.
46 Version: 2.7 EL6631, EL6632

4.3.1.5 Button Topology

The offline topology can be compared with the online topology via this dialogue.
Fig. 24: "PROFINET Topology" dialog
It is quite possible for a device to have several partners on a port in the online view. This is the case, for
example, if a switch is used in PROFINET that does not support LLDP (protocol for neighborhood ID).
In the offline view, on the other hand, partners may have been assigned that don’t exist in the project. This
takes place if the reading of the port properties was activated during automatic scanning and appending. In
this case the device has a ‘neighbor’ that is adopted into the project, but the associated device box is
missing from the *.tsm file. On activating this project the ‘neighbor’ which does not exist in the .tsm file is
ignored in the driver.
EL6631, EL6632 Version: 2.7 47

4.3.1.6 Button IRT Config

This menu is enabled only for an IRT-capable controller (at present only EL6632). A global setting can be
made for all projected devices via this menu.
Fig. 25: "PROFINET Port configuration" dialog
On the one hand the type of communication can be specified here. At present only RTClass1 (RT) and
RTClass3 (IRT Top) are supported.
In addition there is an option in this dialogue to specify a general cable length (for IRT only). An approximate
value or the max. cable length is sufficient here, because for the calculation of IRT communication this value
tends to be lower (at 100 Mbaud and copper cable 5 ns/m). For optimization this feature can also be
deactivated again later and the exact cable length can then be entered for each individual device (on the port
submodules).
Furthermore there is an option here to activate an ‘automatic port assignment’. As a result of this the port
connection set in the TwinCAT project is irrelevant. Before each restart of the PN communication the
topology is read out and the IRT communication is calculated on the basis of this. The advantage of this is
that possible cabling errors are minimized. In addition to that the ports can be simply replugged without
having to change and reload the TwinCAT project. Only a restart of the PN communication is required (e.g.
switch terminal to PREOP or disconnect the cable). As a result of this the bootup of the PROFINET
communication can take up to 30 seconds longer. The reason for this is the TTL (TimeToLive) factor in the
LLDP MIB. These are set by default to 20 seconds, i.e. only after this time can it be guaranteed that the port
connection read is also the current one.
Also, an additional offset for all Ti / To values can be specified in this menu.
48 Version: 2.7 EL6631, EL6632

4.3.2 Task configuration

The PROFINET controller protocol must always be linked with a task. The protocol is also processed with the
set task time. Theoretically the controller can also be jointly processed, for example, via a PLC or NC task.
However, if a PLC project, for example, is stopped (e.g. by restart or debugging), this results in the
PROFINET part also being stopped. In order to avoid such a side effect is it advisable to always create a
free-running SyncTask.
Fig. 26: "Sync Task" tab
It must be ensured that the task cycle lies in a PROFINET cycle, i.e. for PROFINET the basic cycle is 31.25
µs. This cycle is then always multiplied by the SendClockFactor (SCF) to obtain the basic cycle. The
SendClockFactor is usually set to 32 for RTClass1. This is also the minimum PN cycle for RTClass1 for the
Beckhoff PROFINET controller and results in the smallest cycle time of 1 ms. Further reductions take place
using a ReductionRatioFactor. This always corresponds to a multiple of the minimum PN cycle. For
RTClass1 the smallest cycle must always be doubled (permissible cycle times (for RTC1) with an SCF of 32
are 1, 2, 4, 8,…, 512).
The SCF can and must be reduced in order to achieve faster cycle times for RTClass3 as well. This is
presently at least 16 for a Beckhoff IRT controller (EL6632), which corresponds in turn to a basic cycle of
500 µs. In the case of such a decrease of the PROFINET cycle, it must be noted that the time of the
triggering task must also be adapted accordingly.
EL6631, EL6632 Version: 2.7 49

4.3.3 PROFINET controller-specific settings

Settings that directly concern the controller can made on the ‘Settings’ tab.
Fig. 27: "Settings" tab
An IP setting can take place here. The selection of the address range need not correspond to the network
card settings. The PROFINET communication spreads its own net, which can be selected here. The IP
settings shown in the above illustration are the default settings, i.e. if nothing is changed the controller uses
these settings. The same applies to the controller name (system name). The corresponding button must be
pressed to change either of these two settings. A check is made to ascertain that the input is correct (e.g. the
format of the controller name must correspond to the PN spec.). These data are then permanently adopted.
If the subnet or gateway is changed, the settings will also be adopted by possible projected devices. There
is also a possibility to modify these settings via a supervisor tool.
In addition the VendorID and DeviceID of the controller can be read out in this dialogue. The server and
client UDP port employed can also be set here. The default settings should, however, be adequate in most
cases.
Furthermore there is a possibility in this dialogue to enable an automatic PROFINET start-up following a
device exchange (including devices without removable media). For correct functioning the nominal topology
must be specified once. On the basis of this information the controller can query the alias names of the
individual devices. Every device that supports alias names generates such a name for each of its ports. This
is composed of the neighborhood IDs (PortId.ChassisId). If this name is queried, the ‘new’ device answers. If
VendorId and DeviceId are correct the device is named with the actual name and a normal PROFINET start-
up can subsequently take place. With this mechanism a complete PROFINET system could also start up
without having named an individual device beforehand.
50 Version: 2.7 EL6631, EL6632

4.3.4 Analysis of the box states

Directly below the PROFINET controller protocol there is a collective PROFINET error and a collective
PROFINET status. Both indicate the number of devices in which a problem has occurred or in which a
diagnosis is available, i.e. the error indicates possible problems with the establishment of a connection or
reasons for an abort. The diagnosis provides status information about an existing connection.
Fig. 28: TwinCAT tree, inputs for analysis
PnIoError - number of PROFINET IO devices that have an error

PnIoDiag - number of PROFINET IO devices where a diagnosis is available
It is possible to check at a glance which device or box has a problem in the protocol under Box States.
Fig. 29: "Box states" tab
Presently the following error messages are displayed under the “PnIoState”.
EL6631, EL6632 Version: 2.7 51

Number Text Description Remedial action / reason

0 No error No error No error
1 PROFINETDevice state PROFINET Device State Not an error, wait
machine is in boot Machine is still in the start-up
mode phase
2 Device not found Device does not reply to the Check connection, device connected,
Identify Request was the device called by its correct
name?
3 The stationname is not The station name is not There are two or more devices in the
unique unique network with the same PROFINET
name.
A correct identification cannot take place.
4 IP could not set IP address could not be set The PROFINET device has rejected the
IP settings for some reason.
Check whether the IP settings are
correct.
5 IP conflict An IP conflict has occurred in A possible cause is that several devices
the network have the same IP address.
6 DCP set was not There was no reply or an Check connection, device connected,
successful erroneous reply to a DCP Set was the device called by its correct
name?
7 Watchdog error The connection was broken Check the cycle time, check the
off with a Watchdog error connection, if necessary increase the
Watchdog factor.
8 Datahold error The connection was broken Frame Data status was invalid for the
off with a Datahold error length of the DataHoldTimer. Restart the
device if necessary.
9 RTC3: Sync signal For IRT only: the Sync signal Is EtherCAT Sync signal correct or has
could not started could not be started. Sync0 started?
10 PROFINET Controller The PROFINET controller has Check cable and connection.
has a link error no link
11 The aliasname is not The alias name is not unique There are two or more devices in the
unique network with the same alias name. This
is made up of the neighbourhood
information (PortId.ChassisId). A correct
identification cannot take place.
12 The automatic name The automatic name The expected PROFINET device is not
assignment isn't assignment is not possible in the projected position (VendorId or
possible - wrong device DeviceId does not correspond). Hence,
type no automatic naming and thus no device
start is possible.
31 Only for EtherCAT For EL6631 only: EtherCAT Check the mode on the EtherCAT
gateways: WC-State of WC State is 1 master & slave (OP?).
cyclic EtherCAT frame
is 1
52 Version: 2.7 EL6631, EL6632

As opposed to the state, more than one status can be displayed in the “BoxPnIoDiag”, i.e. the whole thing is
bit-coded and up to 16 pieces of information can be displayed. The following statuses are currently
displayed.
0x0000 = No diagnosis
0xXXX1 = IOC-AR is not established
0xXXX2 = IOC-AR is established
0xXXX4 = IOC-AR is established but no ApplReady
0xXXX8 = IOC-AR is established but module difference
0xXX1X = At least one AlarmCR get diagnosis alarm
0xX1XX = At least one InputCR is invalid
0xX2XX = At least one InputCR Provider is in stop
0xX4XX = At least one InputCR Problemindicator is set
0x1XXX = At least one OutputCR is invalid
0x2XXX = At least one OutputCR Provider is in stop
0x4XXX = At least one OutputCR Problemindicator is set
On the one hand information about the status of the IO Controller Single AR is displayed here. In addition,
collective statuses are formed from the Frame Data statuses of the individual CRs. This applies to the input
and output CRs (currently only one CR is possible, in future several). Furthermore a PROFINET alarm is
also displayed in “PnIoDiag”
Readout via ADS
The Box Status can be read out via an ADS Read.
ADS Read:
NetId = AMSNETID des PROFINET Controllers
Port = BoxPort (0x1000 + BoxId)
Indexgroup = 0xF829
IndexOffset = 0
Length = sizeof(TPnIoDeviceDiagData);
where:
typedef struct
{
WORD pnioState;
WORD pnioDiag;
WORD NrOfInputCRs;
WORD NrOfOutputCRs;
WORD reserved[8];
} TPnIoDeviceDiagData, *PTPnIoDeviceDiagData;
Readout via CoE (for EL663x)
The Box Status can also be read out via CoE for the EL663x. The index 0xAyy0 (where yy is the Adaptor /
Device number) and the subindex 0x001 must be taken for this.
EL6631, EL6632 Version: 2.7 53

4.3.5 Diagnosis history on the controller protocol

Logged diagnosis messages from the controller protocol can be read out on the “Diag History” tab. The
diagnosis buffer operates as a ring buffer with a current maximum size of 1000 entries.
Fig. 30: "Diag History" tab
The possible errors are grouped into three types:

• Info: e.g. information on the connection establishment
• Warning: e.g. PROFINET diagnostic alarms
• Error: e.g. Loss of connection
“AddInfo” indicates whether additional information about the event is available. If this is marked by “Yes”, the
additional information can be fetched and displayed by clicking on the respective message. In the case of a
diagnosis alarm (“Diagnosis” appears), the precise diagnosis information can be fetched at the
corresponding level (device, API or module).
The complete diagnosis buffer is cleared by pressing the “Clear Diag History” button.
The displayed messages can be saved in a .TXT file by pressing the “Export Diag History” button.
54 Version: 2.7 EL6631, EL6632

4.3.6 Cyclic data

There are several cyclic process data directly below the PROFINET controller protocol. These data are only
exchanged between the PROFINET driver and the system manager. They provide general information about
the status of the PROFINET communication.
Fig. 31: TwinCAT tree, inputs for info
The ‘DevState’ variable contains information about the physical communication status of the controller, such
as the link status or whether the transmission resources are still sufficient.
The other variables are the collective PROFINET error and the collective PROFINET status. Both indicate
the number of devices in which a problem has occurred or in which a diagnosis is available, i.e. the error
variable indicates possible problems with the establishment of a connection or reasons for an abort. The
diagnostic variable provides status information about an existing connection.
The ‘DevCtrl’ output variable currently has no function.
For further information, please also read the chapter entitled ‘Box States [} 51]'.
EL6631, EL6632 Version: 2.7 55

4.3.7 Acyclic data

The ADS blocks are used to send acyclic data. These then access the PROFINET record data. So that
acyclic data can be read or written, the PROFINET device must be in data exchange mode.
An ADSReadWrite is set.
ADS settings
AMSNetID: The AMSNetID of the PROFINET controller
PORT: Port number of the device (take this from the system manager)
Index GROUP: 0x0000_F823
Index OFFSET: 0x0000_0000
DATA
typedef struct {
WORD RW;
#define PN_READ 0
#define PN_WRITE 1
WORD NrOfAR;
DWORD API;
WORD Slot;
WORD SubSlot;
PNIO_RECORD RecordData;
} PNIO_CONFIGRECORD
Table 1: Structure of the record data frame

nRW nNr nAPI nSlot nSub- nIndex nLen nTrans nRe- Data (only write)
Slot served
2 bytes 2 bytes 4 bytes 2 bytes 2 bytes 2 bytes 2 bytes 2 bytes 2 bytes n bytes
56 Version: 2.7 EL6631, EL6632

Table 2: Meaning of data from the record data frame
Designation Values Description

nRW 0 – READ read- or write-access
1 - WRITE
nNr normally „0“dec it is possible to put multiple ARs (application
releations) to one device (Controller, Supervisor,
DeviceAccess).
This indicates in which AR the data is exchanged ->
normally there is only one AR, in this case zero.
nAPI normally „0“dec -> otherwise, the corresponding application profile
should be placed here
nSlot variable Slot number
nSubSlot variable SubSlot number
nIndex variable Index number
nLen variable READ if nRW = 0:
if the value „0“ is used when reading, the request is
sent with the maximum buffer size, if nLen ≠ 0, the
corresponding length is used.
WRITE if nRW = 1:
when writing: number of bytes, which follow from or
after the “nReserved” word
nTrans starts with „1“dec If multiple records are downloaded at once, this
transfer sequence number determines the order in
which the data is processed.
nReserved „0“dec 2 byte alignment
Data variable Data
(from here the „nLen“ for the data length counts
(writing only))
Sample:
Send a read request for I&M function 0

nRW nNr nAPI InSlot SubSlot nIndex nLen nTrans nRe-
served
00 00 00 00 00 00 00 00 00 00 01 00 F0 AF 00 00 01 00 00 00
Make sure that the receive data memory is large enough!
EL6631, EL6632 Version: 2.7 57

Devices at protocol
5 Devices at protocol
5.1 Appending PROFINET devices

Select “Append Box” by right-clicking on the protocol. The following dialogue then opens:
Fig. 32: "Insert Box" dialog
There is a possibility here to select various PROFINET devices. In Beckhoff devices a search is carried out
via a defined path for the GSDML “..\TwinCAT\Io\ProfiNet" (TC2) or “..\TwinCAT\3.1\Config\Io\Profinet“
(TC3). These should be already present with the TwinCAT installation. If there are several GSDMLs for the
same device here, the one with the latest date is taken. If no device description is found, a corresponding
error message appears. Either the GSDML is copied into the folder and the menu is opened again, or the
same procedure is selected as for the third-party devices. If you click on “PROFINET IO Device”, an option is
offered to navigate to the corresponding GSDML in Windows Explorer. This is then integrated into the
project.
The DNS name from the GSDML is taken as the default name. When appending several devices
simultaneously, the default name is always supplemented by “-No.” (where No. = 1 to n). The name that was
assigned (and with which the device also appears in the tree), is at the same time also the “PROFINET
Station Name”, i.e. the name that must correspond to the name in the device. The device name can be
checked by scanning.
The modules can be attached to the API (Application Profile Interface). The DAP (Device Access Point),
which already brings along fixed properties from the GSDML (e.g. process data, interface and port
submodules, etc.), is always on Slot 0.
This module is always there and cannot be deleted or shifted. Each further module is assigned to a certain
API. The information regarding its identity comes from the GSDML. As standard this is always the API 0.
Alternatively, an API e.g. for the PROFIDRIVE profile or a fieldbus API is also conceivable. By clicking in the
API on “Append PROFINET modules…” a device catalogue is opened from which the corresponding
modules can be selected and appended. If the modules support it (described in GSDML), the submodules
can in turn be appended to them in the same way.
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Devices at protocol
5.2 Comparison of nominal and actual configuration

If a connection exists, the project planning can be checked on the “Diagnosis” tab. At this level “Real
Identification Data” returns the actually existing modules in an AR, “Expected Identification Data” indicates
the expected modules (i.e. those projected in the controller) and “Module Difference” shows the differences
to the device found in the nominal-actual comparison.
Fig. 33: "Diagnosis" tab, checking the project planning
If you are on the “Diagnosis” tab within the API, you can select the corresponding API about which
information is to be obtained. If, for example, the PROFINET device is a drive, then this usually supports the
Profidrive profile, which is identified in turn via API 0x3A00. If the Real Identification Data is to be read from
this API, for example, then this access takes place via the Profidrive profile.
Fig. 34: "Diagnosis" tab, API selection
In addition, the “Get Real Configuration” button becomes active within an API (except for drives). It is
possible via this to adopt the read-in data record into the current project. Note that modules that have
already been created will be overwritten when doing this. This means that the links are lost, even in the case
of previously correctly created modules.
When displaying the module differences, additional information is displayed by marking the message.
EL6631, EL6632 Version: 2.7 59

Devices at protocol
Fig. 35: "Diagnosis" tab, adopt data set into project
Diagnosis Data
The available diagnosis can be read out by pressing the “Diagnosis Data” button. At device level all available
diagnosis data for the existing AR is read out here.
Fig. 36: "Diagnosis", Button Diagnosis Data
A maximum of two diagnosis parameters are displayed in the list; others are marked by “…”. If the individual
message is clicked, all available diagnosis information is displayed in the window below.
Cyclic diagnosis via “PnIoBoxState” and “PnIoBoxDiag”
These variables are cyclically exchanged with the process image between the PROFINET driver and the
System Manager.
Presently the following error messages are displayed under the PnIoBoxState.
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Devices at protocol
Number Text Description Remedial action / reason

0 No error No error No error
1 PROFINET Device state PROFINET Device State Not an error, wait
machine is in boot mode Machine is still in the start-
up phase
2 Device not found Device does not reply to the Check connection, device connected,
Identify Request was the device called by its correct
name?
3 The stationname is not The station name is not There are two or more devices in the
unique unique network with the same PROFINET
name. A correct identification cannot
take place.
4 IP could not set IP address could not be set. The PROFINET device has rejected
the IP settings for some reason. Check
whether the IP settings are correct.
5 IP conflict An IP conflict has occurred A possible cause is that several
in the network. devices have the same IP address.
6 DCP set was not There was no reply or an Check connection, device connected,
successful erroneous reply to a DCP was the device called by its correct
Set. name?
7 Watchdog error The connection was broken Check the cycle time, check the
off with a Watchdog error. connection, if necessary increase the
Watchdog factor.
8 Datahold error The connection was broken Frame Data status was invalid for the
off with a Datahold error. length of the DataHoldTimer. Restart
the device if necessary.
9 RTC3: Sync signal could For IRT only: the Sync Is EtherCAT Sync signal correct or has
not started signal could not be started. Sync0 started?
10 PROFINET Controller has The PROFINET controller Check cable and connection.
a link error has no link.
11 The aliasname is not The alias name is not There are two or more devices in the
unique unique network with the same alias name. This
is made up of the neighbourhood
information (PortId.ChassisId). A
correct identification cannot take place.
12 The automatic name The automatic name The expected PROFINET device is not
assignment isn't possible - assignment is not possible. in the projected position (VendorId or
wrong device type DeviceId does not correspond). Hence,
no automatic naming and thus no
device start is possible.
31 only for EtherCAT For EL6631 only: EtherCAT Check the mode on the EtherCAT
gateways: WC-State of WC State is 1 master & slave (OP?).
cyclic EtherCAT frame is 1
As opposed to the state, more than one status can be displayed in the “PnIoBoxDiag”, i.e. the whole thing is
bit-coded and up to 16 pieces of information can be displayed. The following statuses are currently
displayed.
0x0000 = No diagnosis
0xXXX1 = IOC-AR is not established
0xXXX2 = IOC-AR is established
0xXXX4 = IOC-AR is established but no ApplReady
0xXXX8 = IOC-AR is established but module difference
0xXX1X = At least one AlarmCR get diagnosis alarm
0xX1XX = At least one InputCR is invalid
0xX2XX = At least one InputCR Provider is in stop
0xX4XX = At least one InputCR Problemindicator is set
EL6631, EL6632 Version: 2.7 61

Devices at protocol
0x1XXX = At least one OutputCR is invalid

0x2XXX = At least one OutputCR Provider is in stop
0x4XXX = At least one OutputCR Problemindicator is set
On the one hand information about the status of the IO Controller Single AR is displayed here. In addition,
collective statuses are formed from the Frame Data statuses of the individual CRs. The whole thing happens
for the input and the output CRs (currently only one is possible; in future the controller will support several
CRs). In addition a PROFINET alarm is also displayed in the “PnIoBoxDiag”
62 Version: 2.7 EL6631, EL6632

Devices at protocol
5.3 Settings
5.3.1 Project planning of the PROFINET device

When establishing a PROFINET connection the controller always assigns an IP address to the device from
its own address space (if the device does not yet have one or if it has a different one). In TwinCAT the next
higher address is taken for a device by default (starting from the controller adaptor class); the subnet and
gateway are the same as those of the controller. Before the actual assignment of the IP address to the
device by the controller, an ARP is used to test for a possible address conflict or to check whether the device
already has this IP address. If there is a conflict, e.g. that the IP address is already assigned in the network,
the IO driver determines this and outputs a corresponding message in the logger window. If there is no reply
to the ARP, this means that no device (the projected device included) is using this IP configuration, which in
turn results in the controller assigning the IP settings to the device via a DCP_SET. Setting is skipped if it is
determined via the ARP that the device sought already has the projected IP address.
Fig. 37: "Device" tab
In addition the "InstanceID" and the "FrameID" can be changed in this window. However, the default settings
are sufficient for most applications. The Instance ID is incorporated into the formation of the UUID object. A
change should therefore be made only in exceptional cases. When changing the Frame ID the employed
RTClass must be taken into account (e.g. for RTClass1 unicast 0xC000 - 0xFAFF). If the device is on an IRT
controller and all devices have been switched automatically to RTClass3, the FrameID is managed
automatically and there is no input option (marked by “Fast Config”).
In addition the current process data length can be checked in this menu, i.e. the MaxLengths indicate which
process data size is supported by the respective device, while the ActLengths indicate the current process
data length (incl. IOPS and IOCS). The corresponding error message appears if the maximum lengths are
exceeded on appending further modules/submodules.
Various settings for the cycle time can be made on the “Features” tab. The controller cycle time for
RTCLass1 must always correspond to a power of two, starting from 1 ms ( 1, 2, 4, 8…). If an incorrect base
time has been selected, this is indicated by a corresponding message. For RTClass3 the 1 ms base time can
EL6631, EL6632 Version: 2.7 63

Devices at protocol
be divided again and again by two (down to min. 31.25 µs). The device cycle time can be changed via the
exponents. The minimum is always the Controller Cycle Time, unless a larger minimum cycle time than that
of the controller is defined in the GSDML. The maximum for RTClass1 is 512 ms. The “SendClockFactor” is
fixed here as the time base with the value 32 (31.25 µs * 32 = 1 ms). The “ReductionRatioFactor” is also
referenced to this, i.e. an RRFactor of 4 means a cycle time of 4 ms. The transmission point can be shifted
again within a cycle via the phase; i.e. where RR = 4 the phase can be 1 - 4. However, this value is only of
importance in the case of a synchronized transmission.
Fig. 38: "Features" tab
In addition there is an option here to adjust the PROFINET Watchdog factor, i.e. each device monitors the
input of the cyclic data on the basis of this factor. If the factor is set to the default value (3) this means that,
with an RR of 4, three cycles require 12 ms. Hence, a device reacts after 12 ms to missing telegrams (e.g.
with an alarm and/or disconnection of the AR). The limits and values are recalculated each time when
adjusting the individual factors.
5.3.2 BK9xx3
In the case of the Beckhoff K-Bus Coupler (at present BK9103 or BK9053) that is not connected to an
EL663x, an additional menu appears here.
64 Version: 2.7 EL6631, EL6632

Devices at protocol
Fig. 39: "BK9xx3" tab
The cyclic process data in the DAP of the Bus Coupler can be accessed easily via this menu.
In addition, a firmware update from the System Manager to the Bus Coupler can be carried out via this
menu. If the update takes place by IP it is important to ensure that the IP address is obtained via the DIP
switches. If this is not the case the connection breaks off during the update, since the memory area of the IP
settings is also formatted and rewritten.
5.3.3 EL663x
If the controller protocol is operated via an EL663x, then an additional menu appears on the devices.
Fig. 40: "EL663x" tab
At present only the choice of the PDO mapping is selectable for the controller; i.e. the form in which the
PROFINET process data are mapped to the PDOs on the EtherCAT side is set here.
5.3.4 IRT Controller

If the device is operated on an IRT-capable controller, then an additional menu appears.
EL6631, EL6632 Version: 2.7 65

Devices at protocol
Fig. 41: "Synchronization" tab
It is possible to specify the Ti and To factors for IRT-capable devices via this menu. This means the time
during which the data in the device are valid within a cycle, or should be set to valid. The prerequisite is that
this feature is also supported. The GSMDL supplies the information about this. There is always a basic cycle
here (base time). A statement about the minimum possible time comes via the GSDML on the basis of a
minimum factor. The upper limit of the factor is limited by the cycle time employed. The shortest possible
time in which the data could be valid over PROFINET (always in reference to the cycle) is displayed via the
“Time Input Valid” or “Time Output Valid” parameter.
5.3.5 Shared Device

The SharedDevice feature is available from TwinCAT 2 build 22.50 or TwinCAT 3 build 4019.
The dialogue appears if the device supports "SharedDevice". The information for this comes from the
GSDML.
Fig. 42: "Shared Device" tab
There is an option here to allow or forbid the controller to access the individual sub-modules. By default the
controller may access all sub-modules; if SharedInput is supported it is switched off.
The text messages for SharedInput have the following meanings:

• "not supported" - SharedInput is not supported by the device (info from the GSDML)
66 Version: 2.7 EL6631, EL6632

Devices at protocol
• "has output data" - the sub-module has outputs - activation of SharedInput not possible
• "no input data" - the sub-module has no inputs (and also no outputs)
• "no access" - access is blocked
• "true" or "false" - set value for SharedInput
The settings can be changed by double-clicking on the individual sub-modules. If the access to a port or
interface sub-module is changed, then it is changed for all ports or interfaces.
EL6631, EL6632 Version: 2.7 67

Devices at protocol
5.4 Modules
5.4.1 Diagnosis at module level

The slot number of the modules always corresponds to the position in the tree, i.e. the DAP module always
starts with slot number 0 and so on in order. At module level there is an option on the Diagnostic tab to
compare the nominal and actual data for the respective module. In addition the existing diagnosis for the
module can be read out.
5.4.2 Diagnosis at submodule level

PROFINET currently distinguishes between 4 types of submodule.
• Virtual submodules:
The virtual submodules are always permanently connected to a module, i.e. when inserting a module
the virtual submodules defined with it are also always inserted in the specified subslot. This kind of
submodule is presently the commonest method.
• Real submodule:
Here there is a possibility to select the pluggable submodules from a submodule list and to append
them to the module. The necessary information is procured from the GSDML. In TwinCAT a module
can be selected from such a list with the right mouse button (provided this is supported by the device).
• Port submodule:
The physical properties of a network port are reproduced in such a submodule.
• Interface submodule:
Device-specific properties are defined in the interfaces submodules. These can be, for example,
additionally supported protocols, timing properties, supported MIBs etc.
In general the submodules have the same diagnostic properties as the modules, i.e. in this case also it is
currently only possible to read out the nominal and actual configuration in TwinCAT. The order of the subslot
numbers is not necessarily the same as the order in the TwinCAT project. Hence, for example, the order in
DAP always starts with the interface submodule (ISM); however, the subslot number of the ISM is defined in
the GSDML and starts at 0x8000. There are 16 possible interfaces (0x8x00), each with up to 256 ports
(0x80xx). An ISM is followed by the Port submodule with the aforementioned subslot number.
5.4.3 Interface Submodule

The type of communication can always be set on the interface submodel (at present RTClass1 or RTClass3).
The only exception is in the case that a generally valid RTClass was set via the ‘Auto Config...’ menu.
If communication takes place over RTClass3, then the PLL window can additionally be set at the interface.
Fig. 43: "Properties" tab, "PLL Window" setting
68 Version: 2.7 EL6631, EL6632

Devices at protocol
5.4.4 Port Submodule

Port-specific settings can be made on the ‘Properties’ tab. The menu of possible settings always depends on
the RTClass employed.
Fig. 44: "Properties" tab
In addition some port properties can be read out.
Fig. 45: "Port Diagnosis" tab
The information here is subdivided into local port information and remote port properties. I.e. the LLDP
protocol (IEEE Std 802.1AB) is prescribed in PROFINET from Conformance Class A (CCA). The devices
exchange neighbourhood IDs via this protocol, so that each port is known to its neighbor. Furthermore, the
Simple Network Management Protocol (SNMP) can be used as an aid at this point. On opening the ‘Port
EL6631, EL6632 Version: 2.7 69

Devices at protocol
Diagnosis’ tab, TwinCAT acts as a Network Management Station (NMS) and collects the required device
information via SNMP. In the above illustration, for example, it can be seen that the local Port 1 of the
BK9053 is connected to Port 2 of the BK9103. For correct topology recognition it is important that only
devices are present in the strand that also support the LLDP protocol (this is also applies to switches!).
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Devices at protocol
5.4.5 Real / virtual submodules

If these submodules have paramétrisation data they will be displayed as shown in the illustration below.
Fig. 46: "Parameterize Module" tab, parameter display
Selection can be made here between the individual indices. The data can be read and/or written depending
on the access method. The online values are updated when reading back. If an individual index is marked,
then all values within an index will be set to default; if individual values are marked, only these will be reset.
Writable values are changed by double-clicking on the respective line.
EL6631, EL6632 Version: 2.7 71

TwinCAT library and programming
6 TwinCAT library and programming
6.1 Overview
There are ready-to-use function blocks for the use of the PROFINET controller. The library contains further
function blocks for the EL6631-0010 PROFINET Device Terminal, but these are not part of this
documentation.
(https://infosys.beckhoff.com/content/1033/el6631_el6632/Resources/2595517963/.zip)
I&M functions
Block I&M functions Meaning Description

FB_PN_IM0_READ [} 73] Read the I&M function 0 Supplement and EL663x
FB_PN_IM1_WRITE [} 75] Write the I&M function 1 Supplement and EL663x
Statistics and diagnostic information
Block I&M functions Meaning Description

FB_PN_GET_PORT_STATISTIC Read the port statistics Supplement and EL663x
[} 82]
FB_PN_READ_PORT_DIAG [} 83] Read the port diagnosis Supplement and EL663x
Development environment Target platform PLC libraries to include

TwinCAT v2.11.0 R3 PC or CX (x86, ARM) TcEtherCAT.lib
TcPlcIoFunction.lib
TcUtilities.lib
TcSystem.lib
TcBase.lib
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6.2 Functions
6.2.1 I&M
6.2.1.1 FUNCTION_BLOCK FB_PN_IM0_READ
Fig. 47: FUNCTION_BLOCK FB_PN_IM0_READ
Using this function block the PROFINET controller reads all I&M 0 data (Identification & Maintenance) from a
device referenced via the Port input.
The frame structure of the I&M0 function corresponds to the index 0xAFF0 [} 86] according to PROFINET
standard.
VAR_INPUT
VAR_INPUT
bStart : BOOL;
NETID : T_AmsNetId;(* AMS Net ID from Controller *)
PORT : T_AmsPort; (* Port used by Controller to communicate with Device *)
END_VAR
bStart: The block is activated by a rising edge on this input
NETID: AMS Net ID des Controllers
PORT: Port via which the controller communicates with the device (port = Device ID + 1000 hex)
VAR_OUTPUT
VAR_OUTPUT
bBusy : BOOL;
IM_AFF0 : str_IM_0xAFF0;
bError : BOOL;
iErrorID : UDINT;
END_VAR
bBusy: When the function block is activated this output is set. It remains set until a feedback is received.
While Busy = TRUE, no new command will be accepted at the inputs.
IM_AFF0: Output of the I&M0 frame supplied by the device in a structure. str_IM_0xAFF0.
bError: In the event of an error during the command transfer, this output is set once the bBusy output has
been reset.
iErrorID: Supplies an ADS error number when the output bError is set.
Development environment Target platform PLC libraries to be linked

TwinCAT v2.11.0 R3 PC or CX (x86, ARM) TcProfinetDiag.Lib
EL6631, EL6632 Version: 2.7 73

Using this function block the PROFINET controller reads all I&M1 data (Information & Maintenance) from a
standard.
VAR_INPUT
VAR_INPUT
bStart : BOOL;
END_VAR
bStart: The block is activated by a rising edge on this input
NETID: AMS Net ID of the controller
VAR_OUTPUT
VAR_OUTPUT
bBusy : BOOL;
st_IM_TagFunction : STRING(32);
st_IM_TagLocation : STRING(22);
bError : BOOL;
iErrorID : UDINT;
END_VAR
st_IM_TagFunction: label read out for the function of the device.
st_IM_TagLocation: label read out for the installation site of the device.
been reset.

74 Version: 2.7 EL6631, EL6632

6.2.1.3 FUNCTION_BLOCK FB_PN_IM1_WRITE
Fig. 49: FUNCTION_BLOCK FB_PN_IM1_WRITE
Using this function block the PROFINET controller writes all I&M1 data (Identification & Maintenance) data to
a device referenced via the Port input.
standard.
VAR_INPUT
VAR_INPUT
bStart : BOOL;
END_VAR
bStart: The function block is activated by a positive edge at this input
st_IM_TagFunction: With this string the functional description is saved to the device.
st_IM_TagLocation: With this string the installation site is saved to the device.
VAR_OUTPUT
VAR_OUTPUT
bBusy : BOOL;
bError : BOOL;
iErrorID : UDINT;
END_VAR
been reset.
iErrorID: Supplies an ADS error number when the output bError is set..

EL6631, EL6632 Version: 2.7 75

Using this function block the PROFINET controller reads all I&M 2 data (Identification & Maintenance) from a
standard.
VAR_INPUT
VAR_INPUT
bStart : BOOL;
END_VAR
VAR_OUTPUT
VAR_OUTPUT
bBusy : BOOL;
str_Date : TIMESTRUCT; (*YYYY-MM-DD HH:MM*)
bError : BOOL;
iErrorID : UDINT;
END_VAR
str_Date: Returns the date of installation of the device in the format < YYYY-MM-DD HH:MM >.
been reset.

76 Version: 2.7 EL6631, EL6632

Using this function block the PROFINET controller writes all I&M 2 data (Identification & Maintenance) data
to a device referenced via the Port input.
standard.
VAR_INPUT
VAR_INPUT
bStart : BOOL;
str_Date : TIMESTRUCT;(*YYYY-MM-DD HH:MM*)
END_VAR
PORT: Port via which the controller communicates with the device (port = Device ID + 1000hex)
str_Date : Writes a date (e.g. date of installation of the device) to the device in the format < YYYY-MM-DD
HH:MM >.
VAR_OUTPUT
VAR_OUTPUT
bBusy : BOOL;
bError : BOOL;
iErrorID : UDINT;
END_VAR
bError: If an error should occur during the transmission of the command, this output is set after the bBusy
output has been reset.

EL6631, EL6632 Version: 2.7 77

Using this function block the PROFINET controller reads all I&M3 data (Identification & Maintenance) from a
standard.
VAR_INPUT
VAR_INPUT
bStart :
BOOL; NETID : T_AmsNetId;(* AMS Net ID from Controller *)
END_VAR
VAR_OUTPUT
VAR_OUTPUT
bBusy : BOOL;
st_IM_Descriptor : STRING(54);
bError : BOOL;
iErrorID : UDINT;
END_VAR
st_IM_Descriptor: Returns the manufacturer description stored for the device.
been reset.

78 Version: 2.7 EL6631, EL6632

standard.
VAR_INPUT
VAR_INPUT
bStart : BOOL;
st_IM_Descriptor : STRING(54);
END_VAR
st_IM_Descriptor: Returns the manufacturer description stored for the device.
VAR_OUTPUT
VAR_OUTPUT
bBusy : BOOL;
bError : BOOL;
iErrorID : UDINT;
END_VAR
been reset.

EL6631, EL6632 Version: 2.7 79

Using this function block the PROFINET controller reads all I&M4 data (Identification & Maintenance) from a
standard.
VAR_INPUT
VAR_INPUT
bStart : BOOL;
END_VAR
VAR_OUTPUT
VAR_OUTPUT
bBusy : BOOL;
st_IM_Signatur : STRING(54);
bError : BOOL;
iErrorID : UDINT;
END_VAR
st_IM_Signatur: Returns the manufacturer signature stored for the device.
been reset.

80 Version: 2.7 EL6631, EL6632

standard.
VAR_INPUT
VAR_INPUT
bStart : BOOL;
st_IM_Signatur : STRING(54);
END_VAR
st_IM_Signatur: Signature of the manufacturer is written to the device.
VAR_OUTPUT
VAR_OUTPUT
bBusy : BOOL;
bError : BOOL;
iErrorID : UDINT;
END_VAR
been reset.

EL6631, EL6632 Version: 2.7 81

6.2.2 Port
6.2.2.1 FUNCTION_BLOCK FB_PN_GET_PORT_STATISTIC
Fig. 56: FUNCTION_BLOCK FB_PN_GET_PORT_STATISTIC
When called, this module supplies the statistical data for the ports of a PROFINET device.
VAR_INPUT
VAR_INPUT
bStart : BOOL;
END_VAR
VAR_OUTPUT
VAR_OUTPUT
bBusy : BOOL;
str_RemotePort_1 : str_GetPortStatistic [} 88];
str_RemotePort_2 : str_GetPortStatistic [} 88];
bPort1 : BOOL;
bPort2 : BOOL;
END_VAR
str_RemotePort_1: This structure contains the statistical data for Port 1.
str_RemotePort_2: This structure contains the statistical data for Port 2.
bPort1: Is TRUE if the port has a link.
bPort2: Is TRUE if the port has a link.

82 Version: 2.7 EL6631, EL6632

6.2.2.2 FUNCTION_BLOCK FB_PN_READ_PORT_DIAG
Fig. 57: FUNCTION_BLOCK FB_PN_READ_PORT_DIAG
This block calls the port diagnostic information of a PROFINET device.
VAR_INPUT
VAR_INPUT
bStart : BOOL;
END_VAR
VAR_OUTPUT
VAR_OUTPUT
bBusy : BOOL;
str_RemotePort_1 : str_PortDiag [} 89];
str_RemotePort_2 : str_PortDiag [} 89];
END_VAR
str_RemotePort_1: This structure contains the diagnostic information for Port 1.
str_RemotePort_2: This structure contains the diagnostic information for Port 2.

TwinCAT v2.11.0 R3 PC or CX (x86, ARM) TcPROFINETDiag.Lib
EL6631, EL6632 Version: 2.7 83

6.2.3 AlarmDiag
6.2.3.1 FUNCTION_BLOCK FB_PN_ALARM_DIAG
Fig. 58: FUNCTION_BLOCK FB_PN_ALARM_DIAG
Diagnosis alarms can be read out using this function block. Each instance of this function block makes a
PLC input available ("PnIoBoxDiag"). This input must be linked to the “PnIoBoxDiag” input of the device that
is to be evaluated. After successful reading of the diagnosis alarms/warnings, the alarm status of the device
is reset. The function block must be called once for each PROFINET device. A running index (iNrAlarms)
indicates how many diagnosis alarms have been read from the buffer.
VAR_INPUT
VAR_INPUT
bEnable : BOOL;
END_VAR
bEnable: Activation of the function block
VAR_OUTPUT
VAR_OUTPUT
bBusy : BOOL;
stAlarmDiagData : ST_PN_AlarmDiagData;
bError : BOOL;
iErrorID : UDINT;
iNrAlarms : INT;
END_VAR
stAlarmDiagData: Diagnosis messages are output via this structure. An alarm is output via the structure in
each cycle as long as the status bit [0x0010 = at least one AlarmCR got a diagnosis alarm] is present at the
PLC input.
bError: If an error should occur during the transmission of the command, this output is set after the bBusy
output has been reset.
iNrAlarms: Number of alarms last read out.
VAR
VAR
PnIoBoxDiag AT %I* : WORD; (*Hardware Input*)
END_VAR
PnIoBoxDiag : Hardware input: this variable must be linked to the PROFINET device. A change of state of
this variable indicates to the PLC program that there are new diagnosis alarms in the linked PROFINET
device.
84 Version: 2.7 EL6631, EL6632

Fig. 59: Linking of the variables in the TwinCAT tree

EL6631, EL6632 Version: 2.7 85

6.3 Data Structures
6.3.1 I&M
6.3.1.1 str_SW_Rec
The data structure str_IM_0xAFF0 maps the structure of the I&M0 frame in the PLC. Which contains
information that is permanently stored in PROFINET devices.
TYPE str_IM_0xAFF0 :
STRUCT
nBlockTyp : WORD;
nBlockLen : WORD;
nBlockVersion : WORD;
nVendorID : WORD;
cOrderID : STRING(21);
cSerialNumber : STRING(17);
nHW_Rev : WORD;
strSW_Rev : str_SW_Rec;
nRevCount : WORD;
nProfileID : WORD;
nProfileSpecType : WORD;
arIM_Version : ARRAY[0..1] OF BYTE;
nSupport : WORD;
END_STRUCT
END_TYPE
The data structure str_SW_REC contains the software version of the PROFINET device.
TYPE str_SW_Rec :
STRUCT
cSWRevPrefix :STRING(2);
nSWRevFuncEnhance :BYTE;
nSWRevBugFix :BYTE;
nSWRevIntCha :BYTE;
END_STRUCT
END_TYPE
6.3.1.2 str_IM_0xAFF1
The data structure str_IM_0xAFF1 maps the structure of the I&M1 frame in the PLC. This structure is used
both for writing to, and for reading from a PROFINET device.
STRUCT
nBlockTyp : WORD;
nBlockLen : WORD;
END_STRUCT
END_TYPE
86 Version: 2.7 EL6631, EL6632

STRUCT
nBlockTyp : WORD;
nBlockLen : WORD;
st_IM_Date : STRING(16);
END_STRUCT
END_TYPE
STRUCT
nBlockTyp : WORD;
nBlockLen : WORD;
st_IM_Descriptor : STRING(54)
END_STRUCT
END_TYPE
STRUCT
nBlockTyp : WORD;
nBlockLen : WORD;
st_IM_Signatur : STRING(54)
END_STRUCT
END_TYPE
EL6631, EL6632 Version: 2.7 87

6.3.2 Port
6.3.2.1 str_GetPortStatistic
All statistical information of a device is represented in the data structure str_GetPortStatistic.
TYPE str_GetPortStatisitc :
STRUCT
Speed : DWORD;
PhyMAC : STRING(50);
OperatingStatus : STRING(16);
RxOctets : DWORD;
RxUniCastPackets : DWORD;
RxBadPackets : DWORD;
RxDroppedFrames : DWORD;
RxUnknownProtocol : DWORD;
TxOctets : DWORD;
TxUniCastPackets : DWORD;
TxBadPackets : DWORD;
TxDroppedPackets : DWORD;
END_STRUCT
END_TYPE
88 Version: 2.7 EL6631, EL6632

6.3.2.2 str_PortDiag
All port diagnostic information is represented in the data structure str_PortDiag.
TYPE str_PortDiag :
STRUCT
PortId : STRING(128);
PortDescription : STRING(128);
SystemName : STRING(128);
SystemDescription : STRING(128);
ChassisId : STRING(128);
END_STRUCT
END_TYPE
6.3.3 AlarmDiag
6.3.3.1 ST_PN_DiagMessage
The data structure ST_PN_DiagMessage contains the complete data stream of a diagnostic message that is
sent by a PROFINET on request. This data stream is evaluated in the FB_PN_ALARM_DIAG function block
and is copied to a readable structure.
TYPE ST_PN_DiagMessage :
STRUCT
nFlags : WORD;
nTextID : WORD;
TimeStamp : ARRAY[0..7] OF BYTE;
nData : ARRAY[0..299] OF BYTE;
END_STRUCT
END_TYPE
6.3.3.2 ST_PN_Diag
The data structure ST_PN_Diag contains a diagnostic message from a terminal that is connected via a PN
device and a controller.
TYPE str_PortDiag :
STRUCT
strTimeStamp : ARRAY[0..7] OF BYTE;
nAPI : DWORD;
nSlot : WORD;
nSubSlot : WORD;
nAlarmType : WORD;
nAlarmSpecifier : WORD;
nUserStructIdentifier : WORD;
nChannelNumber : WORD;
nChannelErrorTyp : WORD;
nChannelProperties : WORD;
nExtChannelErrorTyp : WORD;
arSpare : ARRAY [1..9] OF WORD;
arUserSpecificData : ARRAY [0..19] OF BYTE;
END_STRUCT
END_TYPE
The information content of the structure corresponds to that of the Diag History, which is displayed in the
system manager.
EL6631, EL6632 Version: 2.7 89

Fig. 60: "Diag History" tab
6.3.3.3 ST_PN_AlarmDiagData
The data structure ST_PN_AlarmDiagData contains the alarm diagnosis data record read from a device,
including a time stamp that indicates when the event occurred and a flag that indicates that ‘user-specific’
data are present.
TYPE ST_PN_AlarmDiagData :
STRUCT
ST_TimeStamp : TIMESTRUCT;
sNameOfStation : STRING(20);
ST_Diag : ST_PN_Diag [} 89];
bUserSpecData : BOOL;
END_STRUCT
END_TYPE
6.3.4 Enumeration types for PROFINET alarms

E_PN_ALARM_TYP
The enumeration type E_PN_ALARM_TYP lists all PROFINET communication alarms.

TYPE E_PN_ALARM_TYP :
(
PN_ALARM_RESERVE :=0,
PN_ALARM_DIAGNOSE_APPEARS :=1,
PN_ALARM_PROCESS :=2,
PN_ALARM_PULL :=3,
PN_ALARM_PLUG :=4,
PN_ALARM_STATUS :=5,
PN_ALARM_UPDATE :=6,
PN_ALARM_REDUNDANCY :=7,
PN_ALARM_Controlled_by_Supervisor :=8,
PN_ALARM_Released :=9,
PN_ALARM_Plug_Wrong_Submodule :=16#A,
PN_ALARM_Diagnosis_Disappears :=16#B,
PN_ALARM_Multicast_Communication_Mismatch :=16#C,
PN_ALARM_Multicast :=16#D,
PN_ALARM_STATUS_ :=16#E,
PN_ALARM_Sync_ :=16#F,
PN_ALARM_Isochronous_Mode_Problem_Notification :=16#10
);
END_TYPE
90 Version: 2.7 EL6631, EL6632

Appendix
7 Appendix
7.1 FAQ
The following information answers frequently asked questions and gives hints for the configuration of the
PROFINET system. If these are not observed, undesired behavior may occur. Here you will find approaches
to diagnostics.
7.1.1 Device description file (GSDML) / DAP (DeviceAccessPoint)

Device description file (GSDML) / DAP (DeviceAccessPoint)
• Is the GSDML available on the system?
• Do the versions of both systems match?
◦ It is recommended to use the same GSDML/DAP versions on both systems.
◦ Is the latest version used?
• Is the GSDML in the correct path?
◦ TwinCAT 2: TwinCAT2: C:\TwinCAT\Io\ProfiNet
◦ TwinCAT 3: C:\TwinCAT\3.1\Config\Io\Profinet
• Is the correct GSDML used?
◦ Version
◦ It may be necessary to contact the vendor/manufacturer or search for the appropriate GSDML on
the vendor's website.
• Where can I find GSDML files?
◦ From Beckhoff products the GSDML files are usually delivered with the installation of TwinCAT.
◦ On the Beckhoff website, use the "Download Finder" and its filter options for this purpose
Fig. 61: Website Download finder
EL6631, EL6632 Version: 2.7 91

Appendix
Fig. 62: Website Download finder (filtered)
◦ For products from other suppliers/manufacturers, the supplier must be contacted or the GSDML
files can be downloaded from the website.
7.1.2 Task configuration

Task configuration
• Has a free-running task been created?
◦ Or a "special sync task" used?
• Cycle time to base 2?
◦ 1ms, 2ms, 4ms, 8ms, ....
92 Version: 2.7 EL6631, EL6632

Appendix
Fig. 63: Setting "Special Sync Task
• Further notes in chapter Sync Task
7.1.3 EL663x-00x0 EtherCAT Terminals

EL663x-00x0 EtherCAT Terminals
• Was the correct terminal used?
◦ EL663x-0000 cannot be used as device
◦ EL6631-0010 cannot be used as controller
EL663x-00x0 EtherCAT Terminals

• Was the correct terminal used?
◦ EL663x-0000 cannot be used as device
◦ EL6631-0010 cannot be used as controller
EL6631, EL6632 Version: 2.7 93

Appendix
Fig. 64: Wrong configuration
94 Version: 2.7 EL6631, EL6632

Appendix
Fig. 65: Correct configuration
• EtherCAT diagnostics
◦ EtherCAT state = Operational (OP)
◦ WcState = 0 (Data valid)
• EtherCAT diagnostics
◦ EtherCAT state = Operational (OP)
◦ WcState = 0 (Data valid)
7.1.4 BoxStates of the PROFINET devices

BoxStates of the PROFINET devices
• Communication established?
◦ See Box States
7.2 EtherCAT AL Status Codes

For detailed information please refer to the EtherCAT system description.
EL6631, EL6632 Version: 2.7 95

Appendix
7.3 Firmware compatibility

Beckhoff EtherCAT devices are delivered with the latest available firmware version. Compatibility of firmware
and hardware is mandatory; not every combination ensures compatibility. The overview below shows the
hardware versions on which a firmware can be operated.
Note
• It is recommended to use the newest possible firmware for the respective hardware
• Beckhoff is not under any obligation to provide customers with free firmware updates for delivered
products.
NOTICE
Risk of damage to the device!
Pay attention to the instructions for firmware updates on the separate page [} 97].
If a device is placed in BOOTSTRAP mode for a firmware update, it does not check when downloading
whether the new firmware is suitable.
This can result in damage to the device! Therefore, always make sure that the firmware is suitable for the
hardware version!
EL6631
Hardware (HW) Firmware Revision no. Date of release
02-17* 01 (V00.08) EL6631-0000-0016 2012/04
EL6631-0000-0017 2012/10
02 EL6631-0000-0018 2013/05
03 2014/12
04 2015/10
05 2017/01
06 2017/12
07 2018/08
08 2019/12
09 2021/04
10 2022/01
11* 2022/12
EL6632
Hardware (HW) Firmware Revision no. Date of release
02-07 00 (V00.26) EL6632-0000-0016 BETA Version
01 EL6632-0000-0017 2014/11
08-16* 02 2015/10
03 2016/03
04 2017/03
05 2018/08
06* 2021/10
*) This is the current compatible firmware/hardware version at the time of the preparing this documentation.
Check on the Beckhoff web page whether more up-to-date documentation is available.
96 Version: 2.7 EL6631, EL6632

Appendix
7.4 Firmware Update EL/ES/EM/ELM/EP/EPP/ERPxxxx

This section describes the device update for Beckhoff EtherCAT slaves from the EL/ES, ELM, EM, EK, EP,
EPP and ERP series. A firmware update should only be carried out after consultation with Beckhoff support.
NOTICE
Only use TwinCAT 3 software!
A firmware update of Beckhoff IO devices must only be performed with a TwinCAT 3 installation. It is
recommended to build as up-to-date as possible, available for free download on the Beckhoff website.
To update the firmware, TwinCAT can be operated in the so-called FreeRun mode, a paid license is not
required.
The device to be updated can usually remain in the installation location, but TwinCAT has to be operated in
the FreeRun. Please make sure that EtherCAT communication is trouble-free (no LostFrames etc.).
Other EtherCAT master software, such as the EtherCAT Configurator, should not be used, as they may not
support the complexities of updating firmware, EEPROM and other device components.
Storage locations
An EtherCAT slave stores operating data in up to three locations:

• Each EtherCAT slave has a device description, consisting of identity (name, product code), timing
specifications, communication settings, etc.
This device description (ESI; EtherCAT Slave Information) can be downloaded from the Beckhoff
website in the download area as a zip file and used in EtherCAT masters for offline configuration, e.g.
in TwinCAT.
Above all, each EtherCAT slave carries its device description (ESI) electronically readable in a local
memory chip, the so-called ESI EEPROM. When the slave is switched on, this description is loaded
locally in the slave and informs it of its communication configuration; on the other hand, the EtherCAT
master can identify the slave in this way and, among other things, set up the EtherCAT communication
accordingly.
NOTICE
Application-specific writing of the ESI-EEPROM
The ESI is developed by the device manufacturer according to ETG standard and released for the
corresponding product.
- Meaning for the ESI file: Modification on the application side (i.e. by the user) is not permitted.
- Meaning for the ESI EEPROM: Even if a writeability is technically given, the ESI parts in the EEPROM
and possibly still existing free memory areas must not be changed beyond the normal update process.
Especially for cyclic memory processes (operating hours counter etc.), dedicated memory products such as
EL6080 or IPC's own NOVRAM must be used.
• Depending on functionality and performance EtherCAT slaves have one or several local controllers for
processing I/O data. The corresponding program is the so-called firmware in *.efw format.
• In some EtherCAT slaves the EtherCAT communication may also be integrated in these controllers. In
this case the controller is usually a so-called FPGA chip with *.rbf firmware.
Customers can access the data via the EtherCAT fieldbus and its communication mechanisms. Acyclic
mailbox communication or register access to the ESC is used for updating or reading of these data.
The TwinCAT System Manager offers mechanisms for programming all three parts with new data, if the
slave is set up for this purpose. Generally the slave does not check whether the new data are suitable, i.e. it
may no longer be able to operate if the data are unsuitable.
Simplified update by bundle firmware
The update using so-called bundle firmware is more convenient: in this case the controller firmware and the
ESI description are combined in a *.efw file; during the update both the firmware and the ESI are changed in
the terminal. For this to happen it is necessary
• for the firmware to be in a packed format: recognizable by the file name, which also contains the
revision number, e.g. ELxxxx-xxxx_REV0016_SW01.efw
EL6631, EL6632 Version: 2.7 97

Appendix
• for password=1 to be entered in the download dialog. If password=0 (default setting) only the firmware
update is carried out, without an ESI update.
• for the device to support this function. The function usually cannot be retrofitted; it is a component of
many new developments from year of manufacture 2016.
Following the update, its success should be verified

• ESI/Revision: e.g. by means of an online scan in TwinCAT ConfigMode/FreeRun – this is a convenient
way to determine the revision
• Firmware: e.g. by looking in the online CoE of the device
NOTICE
ü Note the following when downloading new device files
a) Firmware downloads to an EtherCAT device must not be interrupted
b) Flawless EtherCAT communication must be ensured. CRC errors or LostFrames must be avoided.
c) The power supply must adequately dimensioned. The signal level must meet the specification.
ð In the event of malfunctions during the update process the EtherCAT device may become unusable and
require re-commissioning by the manufacturer.
7.4.1 Device description ESI file/XML

NOTICE
Attention regarding update of the ESI description/EEPROM
Some slaves have stored calibration and configuration data from the production in the EEPROM. These are
irretrievably overwritten during an update.
The ESI device description is stored locally on the slave and loaded on start-up. Each device description has
a unique identifier consisting of slave name (9 characters/digits) and a revision number (4 digits). Each slave
configured in the System Manager shows its identifier in the EtherCAT tab:
Fig. 66: Device identifier consisting of name EL3204-0000 and revision -0016
The configured identifier must be compatible with the actual device description used as hardware, i.e. the
description which the slave has loaded on start-up (in this case EL3204). Normally the configured revision
must be the same or lower than that actually present in the terminal network.
For further information on this, please refer to the EtherCAT system documentation.
98 Version: 2.7 EL6631, EL6632

Appendix
Update of XML/ESI description

The device revision is closely linked to the firmware and hardware used. Incompatible combinations
lead to malfunctions or even final shutdown of the device. Corresponding updates should only be
carried out in consultation with Beckhoff support.
Display of ESI slave identifier
The simplest way to ascertain compliance of configured and actual device description is to scan the
EtherCAT boxes in TwinCAT mode Config/FreeRun:
Fig. 67: Scan the subordinate field by right-clicking on the EtherCAT device
If the found field matches the configured field, the display shows
Fig. 68: Configuration is identical
otherwise a change dialog appears for entering the actual data in the configuration.
EL6631, EL6632 Version: 2.7 99

Appendix
Fig. 69: Change dialog
In this example in Fig. Change dialog, an EL3201-0000-0017 was found, while an EL3201-0000-0016 was
configured. In this case the configuration can be adapted with the Copy Before button. The Extended
Information checkbox must be set in order to display the revision.
Changing the ESI slave identifier
The ESI/EEPROM identifier can be updated as follows under TwinCAT:

• Trouble-free EtherCAT communication must be established with the slave.
• The state of the slave is irrelevant.
• Right-clicking on the slave in the online display opens the EEPROM Update dialog, Fig. EEPROM
Update
Fig. 70: EEPROM Update
The new ESI description is selected in the following dialog, see Fig. Selecting the new ESI. The checkbox
Show Hidden Devices also displays older, normally hidden versions of a slave.
100 Version: 2.7 EL6631, EL6632

Appendix
Fig. 71: Selecting the new ESI
A progress bar in the System Manager shows the progress. Data are first written, then verified.
The change only takes effect after a restart.

Most EtherCAT devices read a modified ESI description immediately or after startup from the INIT.
Some communication settings such as distributed clocks are only read during power-on. The
EtherCAT slave therefore has to be switched off briefly in order for the change to take effect.
7.4.2 Firmware explanation

Determining the firmware version
Determining the version via the System Manager
The TwinCAT System Manager shows the version of the controller firmware if the master can access the
slave online. Click on the E-Bus Terminal whose controller firmware you want to check (in the example
terminal 2 (EL3204)) and select the tab CoE Online (CAN over EtherCAT).
CoE Online and Offline CoE

Two CoE directories are available:
• online: This is offered in the EtherCAT slave by the controller, if the EtherCAT slave supports this.
This CoE directory can only be displayed if a slave is connected and operational.
• offline: The EtherCAT Slave Information ESI/XML may contain the default content of the CoE.
This CoE directory can only be displayed if it is included in the ESI (e.g. “Beckhoff EL5xxx.xml”).
The Advanced button must be used for switching between the two views.
In Fig. Display of EL3204 firmware version the firmware version of the selected EL3204 is shown as 03 in
CoE entry 0x100A.
EL6631, EL6632 Version: 2.7 101

Appendix
Fig. 72: Display of EL3204 firmware version
In (A) TwinCAT 2.11 shows that the Online CoE directory is currently displayed. If this is not the case, the
Online directory can be loaded via the Online option in Advanced Settings (B) and double-clicking on
AllObjects.
7.4.3 Updating controller firmware *.efw

CoE directory
The Online CoE directory is managed by the controller and stored in a dedicated EEPROM, which
is generally not changed during a firmware update.
Switch to the Online tab to update the controller firmware of a slave, see Fig. Firmware Update.
102 Version: 2.7 EL6631, EL6632

Appendix
Fig. 73: Firmware Update
Proceed as follows, unless instructed otherwise by Beckhoff support. Valid for TwinCAT 2 and 3 as
EtherCAT master.
• Switch TwinCAT system to ConfigMode/FreeRun with cycle time >= 1 ms (default in ConfigMode is
4 ms). A FW-Update during real time operation is not recommended.
• Switch EtherCAT Master to PreOP
• Switch slave to INIT (A)

• Switch slave to BOOTSTRAP
EL6631, EL6632 Version: 2.7 103

Appendix
• Check the current status (B, C)

• Download the new *efw file (wait until it ends). A password will not be necessary usually.
• After the download switch to INIT, then PreOP

• Switch off the slave briefly (don't pull under voltage!)
• Check within CoE 0x100A, if the FW status was correctly overtaken.
7.4.4 FPGA firmware *.rbf

If an FPGA chip deals with the EtherCAT communication an update may be accomplished via an *.rbf file.
• Controller firmware for processing I/O signals
• FPGA firmware for EtherCAT communication (only for terminals with FPGA)
The firmware version number included in the terminal serial number contains both firmware components. If
one of these firmware components is modified this version number is updated.
Determining the version via the System Manager
The TwinCAT System Manager indicates the FPGA firmware version. Click on the Ethernet card of your
EtherCAT strand (Device 2 in the example) and select the Online tab.
The Reg:0002 column indicates the firmware version of the individual EtherCAT devices in hexadecimal and
decimal representation.
104 Version: 2.7 EL6631, EL6632

Appendix
Fig. 74: FPGA firmware version definition
If the column Reg:0002 is not displayed, right-click the table header and select Properties in the context
menu.
Fig. 75: Context menu Properties
The Advanced Settings dialog appears where the columns to be displayed can be selected. Under
Diagnosis/Online View select the '0002 ETxxxx Build' check box in order to activate the FPGA firmware
version display.
EL6631, EL6632 Version: 2.7 105

Appendix
Fig. 76: Dialog Advanced Settings
Update
For updating the FPGA firmware

• of an EtherCAT coupler the coupler must have FPGA firmware version 11 or higher;
• of an E-Bus Terminal the terminal must have FPGA firmware version 10 or higher.
Older firmware versions can only be updated by the manufacturer!
Updating an EtherCAT device
The following sequence order have to be met if no other specifications are given (e.g. by the Beckhoff
support):
• Switch TwinCAT system to ConfigMode/FreeRun with cycle time >= 1 ms (default in ConfigMode is
4 ms). A FW-Update during real time operation is not recommended.
106 Version: 2.7 EL6631, EL6632

Appendix
• In the TwinCAT System Manager select the terminal for which the FPGA firmware is to be updated (in
the example: Terminal 5: EL5001) and
click the Advanced Settings button in the EtherCAT tab:
• The Advanced Settings dialog appears. Under ESC Access/E²PROM/FPGA click on Write FPGA
button:
EL6631, EL6632 Version: 2.7 107

Appendix
• Select the file (*.rbf) with the new FPGA firmware, and transfer it to the EtherCAT device:
• Wait until download ends

• Switch slave current less for a short time (don't pull under voltage!). In order to activate the new FPGA
firmware a restart (switching the power supply off and on again) of the EtherCAT device is required.
• Check the new FPGA status
NOTICE
A download of firmware to an EtherCAT device must not be interrupted in any case! If you interrupt this
process by switching off power supply or disconnecting the Ethernet link, the EtherCAT device can only be
recommissioned by the manufacturer!
7.4.5 Simultaneous updating of several EtherCAT devices

The firmware and ESI descriptions of several devices can be updated simultaneously, provided the devices
have the same firmware file/ESI.
Fig. 77: Multiple selection and firmware update
Select the required slaves and carry out the firmware update in BOOTSTRAP mode as described above.
108 Version: 2.7 EL6631, EL6632

Appendix
7.5 Support and Service

Beckhoff and their partners around the world offer comprehensive support and service, making available fast
and competent assistance with all questions related to Beckhoff products and system solutions.
Beckhoff's branch offices and representatives
Please contact your Beckhoff branch office or representative for local support and service on Beckhoff
products!
The addresses of Beckhoff's branch offices and representatives round the world can be found on her internet
pages: www.beckhoff.com
You will also find further documentation for Beckhoff components there.
Support
The Beckhoff Support offers you comprehensive technical assistance, helping you not only with the
application of individual Beckhoff products, but also with other, wide-ranging services:
• support
• design, programming and commissioning of complex automation systems
• and extensive training program for Beckhoff system components
Hotline: +49 5246 963 157
e-mail: [email protected]
web: www.beckhoff.com/support
Service
The Beckhoff Service Center supports you in all matters of after-sales service:
• on-site service
• repair service
• spare parts service
• hotline service
Hotline: +49 5246 963 460
web: www.beckhoff.com/service
Headquarters Germany
Beckhoff Automation GmbH & Co. KG
Hülshorstweg 20
33415 Verl
Germany
Phone: +49 5246 963 0
web: www.beckhoff.com
EL6631, EL6632 Version: 2.7 109

More Information:
www.beckhoff.com/EL6xxx
Beckhoff Automation GmbH & Co. KG

Hülshorstweg 20
33415 Verl
Germany
Phone: +49 5246 9630
[email protected]
www.beckhoff.com

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Documentation | EN

2024-02-13 | Version: 2.7

2 Product description ................................................................................................................................ 16

3 Mounting and wiring ............................................................................................................................... 28

4 PN controller protocol ............................................................................................................................ 41

EL6631, EL6632 Version: 2.7 3

5 Devices at protocol ................................................................................................................................. 58

6 TwinCAT library and programming ....................................................................................................... 72

4 Version: 2.7 EL6631, EL6632

1.1 Notes on the documentation

© Beckhoff Automation GmbH & Co. KG, Germany.

EL6631, EL6632 Version: 2.7 5

1.2 Guide through documentation

6 Version: 2.7 EL6631, EL6632

1.3 Notes on information security

EL6631, EL6632 Version: 2.7 7

1.4 Safety instructions

Please note the following safety instructions and explanations!

Personal injury warnings

Warning of damage to property or environment

Information on handling the product

This information includes, for example:

8 Version: 2.7 EL6631, EL6632

1.5 Documentation issue status

EL6631, EL6632 Version: 2.7 9

1.6 Version identification of EtherCAT devices

1.6.1 General notes on marking

A Beckhoff EtherCAT device has a 14-digit designation, made up of

10 Version: 2.7 EL6631, EL6632

1.6.2 Version identification of EL terminals

Fig. 1: EL2872 with revision 0022 and serial number 01200815

EL6631, EL6632 Version: 2.7 11

1.6.3 Beckhoff Identification Code (BIC)

Fig. 2: BIC as data matrix code (DMC, code scheme ECC200)

Depending on the product, it can be found in the following places:

12 Version: 2.7 EL6631, EL6632

Posi- Type of Explanation Data Number of digits Example

Structure of the BIC

Fig. 3: Example DMC 1P072222SBTNk4p562d71KEL1809 Q1 51S678294

EL6631, EL6632 Version: 2.7 13

1.6.4 Electronic access to the BIC (eBIC)

K-bus devices (IP20, IP67)

Currently, no electronic storage or readout is planned for these devices.

EtherCAT devices (IP20, IP67)

◦ The BTN and its contents are then displayed:

14 Version: 2.7 EL6631, EL6632

◦ The device must be in PREOP/SAFEOP/OP for access:

PROFIBUS; PROFINET, and DeviceNet devices

Currently, no electronic storage or readout is planned for these devices.

EL6631, EL6632 Version: 2.7 15

Fig. 4: PROFINET topology example

16 Version: 2.7 EL6631, EL6632

2.2 Technical data

2.3 Activation of the PROFINET Controller Supplement

TwinCAT 2.11 Build 1545

Fig. 5: "Append Device" context menu

Select the PROFINET I/O controller under PROFINET.

EL6631, EL6632 Version: 2.7 17

Fig. 6: PROFINET Controller/Device selection