Beckhoff EP1 Series Page 39 Documentation Download

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Product overview

EP1xxx

Version: 2.5.0

Fig. 31: Signal noise in detail

Color

Meaning

Red

Angle measured with 1024-step encoder / 4-way analysis for reference

Green

Angle trigonometrically calculated on a PC, without noise suppression

blue

Fast algorithm

yellow

Arithmetic mean (1000 sliding values)

Direct measurement in the EP1816-3008

For direct measurements CoE object 0x8080:1D Presentation must be set to

Horizontal Off-Axis Angle

Fig. 32: Activating direct measurements in the EP1816-3008

Summary of Contents for EP1 Series

Page 1: ...Documentation EP1xxx EtherCAT Box Modules with digital inputs 2 5 0 2017 05 19 Version Date ...

Page 2: ......

Page 3: ...1 2 6 2 EP1258 Technical Data 22 2 6 3 EP1258 0001 Process image 23 2 7 EP1809 EP1819 24 2 7 1 EP1809 0021 EP1819 0021 Introduction 24 2 7 2 EP1809 0022 EP1819 0022 Introduction 25 2 7 3 EP1809 EP1819 Technical data 26 2 7 4 EP1809 0021 Process image 27 2 8 EP1816 0008 28 2 8 1 EP1816 0008 Introduction 28 2 8 2 EP1816 0008 Technical Data 29 2 8 3 EP1816 0008 Status LEDs 29 2 8 4 EP1816 0008 Proces...

Page 4: ...7 Cabling 61 4 Commissioning Configuration 63 4 1 Inserting into the EtherCAT network 63 4 2 Configuration via TwinCAT 66 4 3 EP1816 0008 Object Overview 74 4 4 EP1816 0008 Object description and parameterization 76 4 5 EP1816 3008 Object overview 81 4 6 EP1816 3008 Object description and parameterization 86 4 6 1 Objects to be parameterized during commissioning 86 4 6 2 Standard objects 0x1000 0x...

Page 5: ...he data diagrams and descriptions in this documentation Trademarks Beckhoff TwinCAT EtherCAT Safety over EtherCAT TwinSAFE XFC and XTS 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 co...

Page 6: ...miliar with the applicable national standards Description of symbols In this documentation the following symbols are used with an accompanying safety instruction or note The safety instructions must be read carefully and followed without fail DANGER Serious risk of injury Failure to follow the safety instructions associated with this symbol directly endangers the life and health of persons WARNING...

Page 7: ...ion of the power connection updated Overview of EtherCAT cables extended 1 1 0 Technical data Current consumption values amended Nut torques for connectors added 1 0 0 Process data description extended 0 7 Description of status LEDs added Signal connection extended Explanation of the serial number adapted to the new standard 0 6 Signal connection extended 0 5 First preliminary version Firmware and...

Page 8: ...5 0 WW week of production calendar week YY year of production FF firmware version HH hardware version Example with D no 29 10 02 01 29 week of production 29 10 year of production 2010 02 firmware version 02 01 hardware version 01 ...

Page 9: ...obust design of the EtherCAT Box modules enables them to be used directly at the machine Control cabinets and terminal boxes are now no longer required The modules are fully sealed and therefore ideally prepared for wet dirty or dusty conditions Pre assembled cables significantly simplify EtherCAT and signal wiring Very few wiring errors are made so that commissioning is optimized In addition to p...

Page 10: ...T documentation You will find a detailed description of the EtherCAT system in the Basic System Documen tation for EtherCAT which is available for download from our website www beckhoff com under Downloads Note XML files You will find XML files XML Device Description Files for Beckhoff EtherCAT modules on our website www beckhoff com under Downloads in the Configuration Files area ...

Page 11: ... 10 µs EP1018 0002 12 4 x M12 8 10 µs EP1098 0001 16 8 x M8 8 10 µs negative switching EP1111 0000 19 3 ID switches for identification of EtherCAT groups EP1258 0001 21 8 x M8 8 10 µs 2 channels with time stamp EP1258 0002 21 4 x M12 8 10 µs 2 channels with time stamp EP1809 0021 24 8 x M8 8 3 0 ms wide body EP1809 0022 25 8 x M12 8 3 0 ms wide body EP1816 0008 28 1 x D Sub 25 16 10 µs EP1816 3008...

Page 12: ...Product overview EP1xxx 12 Version 2 5 0 2 3 EP1008 EP1018 2 3 1 EP1008 EP1018 Introduction Fig 4 EP1008 0001 EP1018 0001 Fig 5 EP1008 0002 EP1018 0002 ...

Page 13: ...d by light emitting diodes the signal connection is made optionally through M8 connectors EP1008 0001 EP1018 0001 or M12 connectors EP1008 0002 EP1018 0002 EP1008 0022 These versions have input filters of different speeds The sensors are supplied from the control voltage US The load voltage UP is not used in the input module but may be connected in order to be relayed downstream Quick links Instal...

Page 14: ...rrent consumption typically 120 mA Sensor supply derived from control voltage Us Sensor current consumption max 0 5 A total short circuit proof Power supply connection Feed 1 x M8 plug 4 pin Onward connection 1 x M8 socket 4 pin Process image 8 input bits Electrical isolation Control voltage fieldbus yes Permissible ambient temperature during operation 25 C 60 C 0 C 55 C according to cULus see UL ...

Page 15: ...x 15 Version 2 5 0 2 3 3 EP1008 0001 Process image Channel 1 to Channel 8 You will find the 8 digital inputs to the module here using the EP1008 0001 as an example under Channel 1 to Channel 8 Fig 7 EP1008 0001 Process image ...

Page 16: ...level and transfer them electrically isolated to the controller The status of the signal is displayed by light emitting diodes The signal connection is made through M8 connectors EP1098 0001 or M12 connectors EP1098 0002 The sensors are supplied from the control voltage Us The load voltage Up is not used in the input module but may be connected in order to be relayed downstream Quick links Install...

Page 17: ...20 mA Sensor supply derived from control voltage Us Sensor current consumption max 0 5 A total short circuit proof Power supply connection Feed 1 x M8 plug 4 pin Onward connection 1 x M8 socket 4 pin Process image 8 input bits Electrical isolation Control voltage fieldbus yes Permissible ambient temperature during operation 25 C 60 C 0 C 55 C according to cULus see UL Requirements Permissible ambi...

Page 18: ...x 18 Version 2 5 0 2 4 3 EP1098 0001 Process image Channel 1 to Channel 8 You will find the 8 digital inputs to the module here using the EP1098 0001 as an example under Channel 1 to Channel 8 Fig 9 EP1098 0001 Process image ...

Page 19: ... of EtherCAT components can be assigned an ID This group can be present in any position in the EtherCAT network as a result of which variable topologies can be realized in a simple manner The EtherCAT connection is established via shielded M8 connectors with direct display of link and activity status The Run LED indicates the status of the EP1111 Quick links Installation Also see about this 2 UL R...

Page 20: ...onnection Feed 1 x M8 plug 4 pin Onward connection 1 x M8 socket 4 pin Process image 2 byte input data Weight app 165 g Permissible ambient temperature during operation 25 C 60 C 0 C 55 C according to cULus see UL Requirements 54 Permissible ambient temperature during storage 40 C 85 C Vibration shock resistance conforms to EN 60068 2 6 EN 60068 2 27 EMC resistance emission conforms to EN 61000 6 ...

Page 21: ...s not used in the input module but may be connected in order to be relayed downstream Distributed Clocks Channels 0 and 1 are assigned a time stamp that shows the time of the last edge change with a resolution of 1 ns This technology enables signals to be traced exactly over time and synchronized with the clocks distributed across the system With this technology machine wide parallel hardware wiri...

Page 22: ...trol voltage Us Sensor current consumption max 0 5 A total short circuit proof Power supply connection Feed 1 x M8 plug 4 pin Onward connection 1 x M8 socket 4 pin Resolution time stamp 1 ns Channel 0 1 Precision of the time stamp 10 ns input delay Channel 0 1 Precision of the distributed clocks 100 ns Channel 0 1 Process image 8 input bits 36 byte time stamp Electrical isolation Control voltage f...

Page 23: ... 23 Version 2 5 0 2 6 3 EP1258 0001 Process image Channel 1 to Channel 8 Fig 13 EP1258 0001 Process image You will find the 8 digital inputs to the module here using the EP1258 0001 as an example under Channel 1 to Channel 8 ...

Page 24: ...acquires the binary control signals from the process level and transmits them in an electrically isolated form to the controller The state of the signals is indicated by light emitting diodes The signals are connected via M8 connectors The sensors are supplied from the box supply voltage US The auxiliary voltage UP is not used in the input module but may be connected in order to be relayed downstr...

Page 25: ...ess level and transmit them in an electrically isolated form to the controller The state of the signals is indicated by light emitting diodes The signals are connected via M12 connectors These versions are distinguished by input filters of different speeds The sensors are supplied from the box supply voltage US The auxiliary voltage UP is not used in the input module but may be connected in order ...

Page 26: ...rent consumption typically 130 mA without sensor current Sensor supply derived from control voltage Us Sensor current consumption max 0 5 A total short circuit proof Power supply connection Feed 1 x M8 plug 4 pin Onward connection 1 x M8 socket 4 pin Process image 16 input bits Electrical isolation Control voltage fieldbus yes Permissible ambient temperature during operation 25 C 60 C 25 C 60 C 0 ...

Page 27: ...27 Version 2 5 0 2 7 4 EP1809 0021 Process image Channel 1 to Channel 16 You will find the 16 digital inputs to the module here using the EP1809 0021 as an example under Channel 1 to Channel 16 Fig 16 EP1809 0021 Process image ...

Page 28: ...he process level and transfers them with electrical isolation to the controller The signal status is indicated by light emitting diodes the signal connection is made through a 25 pin Sub D socket The sensors are supplied from the control voltage Us The load voltage Up is not used in the input module but may be connected in order to be relayed downstream Quick links Installation UL Requirements for...

Page 29: ...or supply derived from control voltage Us Sensor current consumption max 0 5 A total short circuit proof Power supply connection Feed 1 x M8 plug 4 pin Onward connection 1 x M8 socket 4 pin Process image 16 input bits Electrical isolation Control voltage fieldbus yes Permissible ambient temperature during operation 25 C 60 C 0 C 55 C according to cULus see UL Requirements Permissible ambient tempe...

Page 30: ...ot present Green illuminated The power supply voltage Us is present Up off The power supply voltage Up is not present Green illuminated The power supply voltage Up is present 2 8 4 EP1816 0008 Process image DIG Inputs Channel 1 You will find the first 8 digital inputs of the module under DIG Inputs Channel 1 Fig 19 EP1816 0008 Process image DIG Inputs Channel 1 DIG Inputs Channel 2 You will find t...

Page 31: ...nd transfers them with electrical isolation to the controller The signal status is indicated by light emitting diodes the signal connection is made through a 25 pin Sub D socket In addition the EP1816 3008 has two 3 axis accelerometers The sensors are supplied from the control voltage Us The load voltage Up is not used in the input module but may be connected in order to be relayed downstream Quic...

Page 32: ...upply 1 x M8 plug 4 pin Onward connection 1 x M8 socket 4 pin Electrical isolation Control voltage fieldbus yes Permissible ambient temperature during operation 25 C 60 C 0 C 55 C according to cULus see UL requirements Permissible ambient temperature during storage 40 C 85 C 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 ...

Page 33: ...found under DIG Inputs Channel n AI Inputs Channel 1 to 6 Fig 23 EP1816 3008 AI inputs channels 1 to 6 The data for the two accelerometers can be found under AI inputs Channel Status Error error relating to the communication with the accelerometer Value 16 bit acceleration value AI Inputs Channel 1 value sensor 1 axis X AI Inputs Channel 2 value sensor 1 axis Y AI Inputs Channel 3 value sensor 1 a...

Page 34: ... Version 2 5 0 AI Inputs Channel 1 value sensor 2 axis Y AI Inputs Channel 2 value sensor 2 axis X AI Inputs Channel 3 value sensor 2 axis Z DIG Inputs Device Fig 24 EP1816 3008 DIG Inputs Device 16 bit status bit of the module ...

Page 35: ...es the location of the PCB The accelerometers are numbered 1 and 2 They are mounted on the underside of the PCB In this position gravity which is a form of acceleration is displayed as a negative value when the Box is in its normal operating position on a flat level surface e g on a test bench Process values Allocated acceleration value AI Inputs Channel1 value Sensor 1 X axis AI Inputs Channel2 v...

Page 36: ...a from the accelerometers in each case X Y and Z axis values are displayed as RAW data i e directly in the form in which they are transferred from the sensors Fig 26 CoE object 0x8080 1D Alternatively the data can be converted to 1mG LSB CoE object 0x8080 1D must be set accordingly Fig 27 Setting for output in mG ...

Page 37: ...g 28 EP1816 3008 movement of the box in the axes resulting acceleration values Color Meaning Blue sensor 1 Z axis Red sensor 1 X axis Green Sensor 1 Y axis 2 9 6 Update frequency Fig 29 Update frequency The update frequency of the sensor data is set via CoE object 0x8080 0D On delivery this is set to 5 kHz ...

Page 38: ...angle resolution is limited to 1 In cases where higher resolution and accuracy is required the calculations should be executed on a PC The sensors used are capable of an accuracy of less than 0 1 Since the angle values are derived from the acceleration values which are subject to certain noise they have to be filtered via suitable algorithms In simple cases this could be moving average for example...

Page 39: ...or reference Green Angle trigonometrically calculated on a PC without noise suppression blue Fast algorithm yellow Arithmetic mean 1000 sliding values Direct measurement in the EP1816 3008 For direct measurements CoE object 0x8080 1D Presentation must be set to Horizontal Off Axis Angle Fig 32 Activating direct measurements in the EP1816 3008 ...

Page 40: ...igh positive angle X Box tilted to the left top to the left positive angle Y Box tilted to the right top to the right negative angle Y Color Meaning AI Inputs Channel 1 Input 1 180 to 180 relative to X AI Inputs Channel 2 Input 2 180 to 180 relative to Y AI Inputs Channel 3 Input 3 0 AI Inputs Channel 4 Input 4 180 to 180 relative to Y AI Inputs Channel 5 Input 5 180 to 180 relative to X AI Inputs...

Page 41: ... are based on typical features of our products and only serve as samples The notices contained in this document explicitly do not refer to specific applications The customer is therefore responsible for assessing and deciding whether the product is suitable for a particular application We accept no responsibility for the completeness and correctness of the source code contained in this document We...

Page 42: ...g compound Polyurethane Mounting two fastening holes Ø 3 mm for M3 two fastening holes Ø 3 mm for M3 two fastening holes Ø 4 5 mm for M4 Metal parts Brass nickel plated Contacts CuZn gold plated Power feed through max 4 A Installation position variable Protection class IP65 IP66 IP67 conforms to EN 60529 when screwed together Dimensions H x W x D ca 126 x 30 x 26 5 mm ca 126 x 60 x 26 5 mm Weight ...

Page 43: ...are not threaded When assembling remember that the fieldbus connectors increases the overall height See chapter accessories Mounting Rail ZS5300 0001 The mounting rail ZS5300 0001 500 mm x 129 mm allows the time saving assembly of modules The rail is made of stainless steel 1 5 mm thick with already pre made M3 threads for the modules The rail has got 5 3 mm slots to mount it via M5 screws to the ...

Page 44: ...e M8 connectors tight with a nut torque of 0 4 Nm When using the torque control screwdriver ZB8800 is also a max torque of 0 5 Nm permissible Fig 36 EtherCAT Box with M8 connectors M12 connectors It is recommended to pull the M12 connectors tight with a nut torque of 0 6 Nm Fig 37 EtherCAT Box with M8 and M12 connectors ...

Page 45: ...sure the right torque Use the torque socket wrenches available by Beckhoff to pull the connectors tight ZB8800 ZB8801 0000 3 1 4 Additional checks The boxes have undergone the following additional tests Verification Explanation Vibration 10 frequency runs in 3 axes 5 Hz f 60 Hz displacement 0 35 mm constant amplitude 60 1 Hz f 500 Hz acceleration 5 g constant amplitude Shocks 1000 shocks in each d...

Page 46: ...EtherCAT connection For the incoming and ongoing EtherCAT connection the EtherCAT Box EPxxxx has two M8 sockets marked in green the Coupler Box FBB x110 has two M12 sockets Fig 40 EtherCAT Box M8 30 mm housing Fig 41 EtherCAT Box M8 60 mm housing EP9214 for example ...

Page 47: ...n 2 Pin 3 white2 blue white3 white green Rx Receive Data Pin 3 Pin 4 Pin 6 blue2 blue3 green Shield Shield Housing Shroud Screen Screen Screen 1 colored markings according to EN 61918 in the four pin RJ45 connector ZS1090 0003 2 wire colors according to EN 61918 3 wire colors Note Assimilation of color coding for cable ZB9030 ZB9032 and ZK1090 3xxxx xxxx with M8 connectors For unification the prev...

Page 48: ...play Meaning IN L A off no connection to the preceding EtherCAT module Lit LINK connection to the preceding EtherCAT module flashing ACT Communication with the preceding EtherCAT module OUT L A off no connection to the following EtherCAT module Lit LINK connection to the following EtherCAT module flashing ACT Communication with the following EtherCAT module Run off Status of the EtherCAT module is...

Page 49: ...uxiliary voltage Up 24 VDC 3 GNDs may be connected internally to each other depending on the module see specific module descriptions 4 GNDp The pins M8 connectors carry a maximum current of 4 A Two LEDs display the status of the supply voltages Attention Don t confuse the power connectors with the EtherCAT connectors Never connect the power cables M8 24 VDC with the green marked EtherCAT sockets o...

Page 50: ...ty of the inputs are retained Redirection of the supply voltages The IN and OUT power connections are bridged in the module not IP204x Bxxx and IE204x The supply voltages Us and Up can thus easily be transferred from EtherCAT Box to EtherCAT Box Attention Pay attention to the maximum permissible current Pay attention also for the redirection of the supply voltages Us and Up the maximum per missibl...

Page 51: ... included power supply the usage of four cannel power distribution modules EP9214 or EP9224 with integrated data logging see www beckhoff com EP9224 is recommended With these modules intelligent power distribution concepts with up to 2 x 16 A and a maximum of 2 5 mm cable cross section can be realized Fig 46 EP92x4 0023 Connectors for Power In and Power Out Fig 47 Pin assignment 7 8 Power In and P...

Page 52: ... is then available to the sensors e g smoothed 10 V for measuring potentiometers Details of the power supply may be taken from the specific module descriptions Attention Electrical isolation may be cancelled If digital and analog fieldbus boxes are connected directly via four core power leads the analog signals in the fieldbus boxes may be no longer electrically isolated from the control voltage 3...

Page 53: ... can no longer be assured if the voltage drop reaches 6 V Variations in the output voltage from the power supply unit must also be taken into account Fig 49 Power cable conductor losses Example 8 m power cable with 0 34 mm cross section has a voltage drop of 3 2 V at 4 A Note EP92x4 Power Distribution Modules With EP9214 and EP9224 Power Distribution Modules intelligent concepts for voltage sup pl...

Page 54: ...4 Amp or by a 24 VDC power source that has to satisfy NEC class 2 A NEC class 2 power supply shall not be connected in series or parallel with another class 2 power source CAUTION CAUTION To meet the UL requirements the EtherCAT Box Modules must not be connected to unlim ited power sources Networks CAUTION CAUTION To meet the UL requirements EtherCAT Box Modules must not be connected to telecom mu...

Page 55: ...o protect against the rated operating voltage being exceeded by more than 40 due to short term interference voltages The connections of the certified components may only be connected or disconnected 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...

Page 56: ...n dis assembly or wiring of the modules ATEX The BG2000 0000 protection enclosure has to be mounted over a single EtherCAT Box to fulfill the special conditions according to ATEX 55 Installation Put the cables for EtherCAT power supply and sensors actuators through the hole of the BG2000 0000 protection enclosure Fig 51 BG2000 0000 putting the cables Fix the wires for EtherCAT power supply and sen...

Page 57: ...e protection enclosure 3 5 3 ATEX Documentation Note Notes about operation of EtherCAT Box Modules EPxxxx xxxx in potentially explosive areas ATEX Pay also attention to the continuative documentationNotes about operation of EtherCAT Box Modules EPxxxx xxxx in potentially explosive areas ATEX that is available in the download area of the Beckhoff homepage http www beckhoff com ...

Page 58: ...the process level and transmit them to the higher level automation unit The signals are optionally connected via screw in M8 connectors EP1xxx 0001 or screw in M12 connectors EP1xxx 0002 Fig 54 Digital inputs M8 and M12 The sensors are supplied from the control voltage Us with a maximum current of 0 5 A The state of the signals is indicated by light emitting diodes ...

Page 59: ...ntrol signals from the process level and transmit them to the higher level automation unit The signal connection is made through a 25 pin sub D socket The sensors are supplied from the control voltage Us The load voltage Up is not used in the input module but may be connected in order to be relayed downstream Fig 55 Digital inputs Sub D25 16 channels ...

Page 60: ...ugh a 25 pin sub D socket The sensors are supplied from the control voltage Us The load voltage Up is not used in the input module but may be connected in order to be relayed downstream EP1816 3008 Fig 56 Digital inputs Sub D 25 Attention Please note the special pin assignment of the EP1816 3008 The pin assignment of the EP1816 3008 differs from the EP1816 0008 The supply voltage and GND connectio...

Page 61: ...t_box_cables htm id 690338951657421 EtherCAT cables Fig 57 ZK1090 3131 0xxx For connecting EtherCAT devices only use shielded Ethernet cables with a minimum specification of category 5 CAT5 according to EN 50173 or ISO IEC 11801 Note Wiring recommendations Detailed recommendations for EtherCAT cabling can be found in the documentation De sign recommendations for EtherCAT Ethernet infrastructure wh...

Page 62: ...Mounting and cabling EP1xxx 62 Version 2 5 0 Power cable Fig 58 ZK2020 3132 0xxx Sensor cables Fig 59 Selection of Beckhoff sensor cables ...

Page 63: ...ending 63 of fieldbus devices couplers and slaves Automatic scanning in of the box The EtherCAT system must be in a safe de energized state before the EtherCAT modules are connected to the EtherCAT network Switch on the operating voltage open the TwinCAT System Manager 66 Config mode and scan in the devices see Fig 1 Acknowledge all dialogs with OK so that the configuration is in FreeRun mode Fig ...

Page 64: ...Appending a new I O device I O Devices right click Append Device Fig 62 Selecting the device EtherCAT Append a new box Fig 63 Appending a new box Device right click Append Box In the dialog that appears select the desired box e g EP2816 0008 and confirm with OK ...

Page 65: ...Commissioning Configuration EP1xxx 65 Version 2 5 0 Fig 64 Selecting a Box e g EP2816 0008 Fig 65 Appended Box in the TwinCAT tree ...

Page 66: ...onfigured In the right hand window of the TwinCAT System manager various tabs are now available for configuring the EtherCAT Box General tab Fig 67 General tab Name Name of the EtherCAT device Id Number of the EtherCAT device Type EtherCAT device type Comment Here you can add a comment e g regarding the system Disabled Here you can deactivate the EtherCAT device Create symbols Access to this Ether...

Page 67: ...herCAT master during the start up phase Tick the control box to the left of the input field in order to modify the default value Previous Port Name and port of the EtherCAT device to which this device is connected If it is possible to connect this device with another one without changing the order of the EtherCAT devices in the communication ring then this combination field is activated and the Et...

Page 68: ...ger type are listed here If the output Sync Manager outputs is selected in the Sync Manager list all RxPDOs are displayed If the input Sync Manager inputs is selected in the Sync Manager list all TxPDOs are displayed The selected entries are the PDOs involved in the process data transfer In the tree diagram of the System Manager these PDOs are displayed as variables of the EtherCAT device The name...

Page 69: ... take part in the process data traffic SU Sync unit to which this PDO is assigned PDO Content Indicates the content of the PDO If flag F fixed content of the PDO is not set the content can be modified Download If the device is intelligent and has a mailbox the configuration of the PDO and the PDO assignments can be downloaded to the device This is an optional feature that is not supported by all E...

Page 70: ...to be sent to the mailbox Move Up This button moves the selected request up by one position in the list Move Down This button moves the selected request down by one position in the list New This button adds a new mailbox download request to be sent during startup Delete This button deletes the selected entry Edit This button edits an existing request CoE Online tab The additional CoE Online tab is...

Page 71: ...e RO The object can be read but no data can be written to the object read only P An additional P identifies the object as a process data object Value Value of the object Update List The Update list button updates all objects in the displayed list Auto Update If this check box is selected the content of the objects is updated automatically Advanced The Advanced button opens the Advanced Settings di...

Page 72: ... objects included in the object list of the slave is uploaded from the slave via SDO information The list below can be used to specify which object types are to be uploaded Offline via EDS File If this option button is selected the list of the objects included in the object list is read from an EDS file provided by the user Online tab Fig 73 Online tab ...

Page 73: ...error flag The current state is now displayed as ERR PREOP When the Clear Error button is pressed the error flag is cleared and the current state is displayed as PREOP again Current State Indicates the current state of the EtherCAT device Requested State Indicates the state requested for the EtherCAT device DLL Status Indicates the DLL status data link layer status of the individual ports of the E...

Page 74: ...DO TxPDO Map Inputs Ch 1 RO 0x0B 11dec 1A00 01 SubIndex 001 RO 0x6000 01 1 1A00 02 SubIndex 002 RO 0x6000 02 1 1A00 03 SubIndex 003 RO 0x6000 03 1 1A00 04 SubIndex 004 RO 0x6000 04 1 1A00 05 SubIndex 005 RO 0x6000 05 1 1A00 06 SubIndex 006 RO 0x6000 06 1 1A00 07 SubIndex 007 RO 0x6000 07 1 1A00 08 SubIndex 008 RO 0x6000 08 1 1A00 09 SubIndex 009 RO 0x0000 00 5 1A00 0A SubIndex 010 RO 0x1C32 20 1 1...

Page 75: ...00 0dec 6000 02 Input 2 RO 0x00 0dec 6000 03 Input 3 RO 0x00 0dec 6000 04 Input 4 RO 0x00 0dec 6000 05 Input 5 RO 0x00 0dec 6000 06 Input 6 RO 0x00 0dec 6000 07 Input 7 RO 0x00 0dec 6000 08 Input 8 RO 0x00 0dec 6000 0E Sync Error RO 0x00 0dec 6010 80 0 SubIndex DO Inputs Ch 2 RO 0x0E 14dec 6010 01 Input 1 RO 0x00 0dec 6010 02 Input 2 RO 0x00 0dec 6010 03 Input 3 RO 0x00 0dec 6010 04 Input 4 RO 0x0...

Page 76: ... the objects required for normal operation followed by a complete overview of missing objects Objects to be parameterized during commissioning Objects to be parameterized during commissioning Index 1011 Restore default parameters Index Name Meaning Data type Flags Default 1011 0 Restore default parameters Restore default parameters UINT8 RO 0x01 1dec 1011 01 SubIndex 001 If this object is set to 0...

Page 77: ...rdized loading and saving of backup entries UINT8 RO 0x01 1dec 10F0 01 Checksum Checksum across all backup entries of the EtherCAT slave UINT32 RO 0x00000000 0dec Index 1A00 DO TxPDO Map Inputs Ch 1 Index Name Meaning Data type Flags Default 1A00 0 DO TxPDO Map Inputs Ch 1 PDO Mapping TxPDO 1 UINT8 RO 0x0B 11dec 1A00 01 SubIndex 001 1 PDO Mapping entry object 0x6000 DO Inputs Ch 1 entry 0x01 Input...

Page 78: ...8 Input 8 UINT32 RO 0x6010 08 1 1A01 09 SubIndex 009 9 PDO Mapping entry 5 bits align UINT32 RO 0x0000 00 5 1A01 0A SubIndex 010 10 PDO Mapping entry object 0x1C32 entry 0x20 UINT32 RO 0x1C32 20 1 1A01 0B SubIndex 011 11 PDO Mapping entry 2 bits align UINT32 RO 0x0000 00 2 Index 1C00 Sync manager type Index Name Meaning Data type Flags Default 1C00 0 Sync manager type Using the sync managers UINT8...

Page 79: ...49159dec 1C33 05 Minimum cycle time Minimum cycle time in ns UINT32 RO 0x000124F8 75000dec 1C33 06 Calc and copy time Time between reading of the inputs and availability of the inputs for the master in ns only DC mode UINT32 RO 0x00000000 0dec 1C33 08 Command 0 Measurement of the local cycle time is stopped 1 Measurement of the local cycle time is started The entries 1C33 03 79 1C33 06 79 1C33 07 ...

Page 80: ...RO 0x00 0dec 6010 04 Input 4 boolean RO 0x00 0dec 6010 05 Input 5 boolean RO 0x00 0dec 6010 06 Input 6 boolean RO 0x00 0dec 6010 07 Input 7 boolean RO 0x00 0dec 6010 08 Input 8 boolean RO 0x00 0dec 6010 0E Sync Error boolean RO 0x00 0dec Index F000 Modular device profile Index Name Meaning Data type Flags Default F000 0 Modular device profile General information for the modular device profile UINT...

Page 81: ...0x09 9dec 0x1A00 01 SubIndex 001 RO 0x6000 01 1 0x1A00 02 SubIndex 002 RO 0x6000 02 1 0x1A00 03 SubIndex 003 RO 0x6000 03 1 0x1A00 04 SubIndex 004 RO 0x6000 04 1 0x1A00 05 SubIndex 005 RO 0x6000 05 1 0x1A00 06 SubIndex 006 RO 0x6000 06 1 0x1A00 07 SubIndex 007 RO 0x6000 07 1 0x1A00 08 SubIndex 008 RO 0x6000 08 1 0x1A00 09 SubIndex 009 RO 0x0000 00 8 1A01 0 91 Subindex DIG TxPDO Map Inputs Ch 2 RO ...

Page 82: ...h 6 RO 0x05 5dec 0x1A07 01 SubIndex 001 RO 0x0000 00 6 0x1A07 02 SubIndex 002 RO 0x6070 07 1 0x1A07 03 SubIndex 003 RO 0x0000 00 8 0x1A07 04 SubIndex 004 RO 0x6070 10 1 0x1A07 05 SubIndex 005 RO 0x6070 11 16 1A08 0 92 Subindex DIG TxPDO Map Inputs Device RO 0x04 4dec 0x1A08 01 SubIndex 001 RO 0xF600 01 1 0x1A08 02 SubIndex 002 RO 0xF600 02 1 0x1A08 03 SubIndex 003 RO 0x0000 00 13 0x1A08 04 SubInde...

Page 83: ...x6000 08 Input 8 RO 0x00 0dec 6010 0 95 Subindex DIG Inputs Ch 2 RO 0x08 8dec 0x6010 01 Input 1 RO 0x00 0dec 0x6010 02 Input 2 RO 0x00 0dec 0x6010 03 Input 3 RO 0x00 0dec 0x6010 04 Input 4 RO 0x00 0dec 0x6010 05 Input 5 RO 0x00 0dec 0x6010 06 Input 6 RO 0x00 0dec 0x6010 07 Input 7 RO 0x00 0dec 0x6010 08 Input 8 RO 0x00 0dec 6020 0 95 Subindex AI Inputs Ch 1 RO 0x11 17dec 0x6020 07 Error RO 0x00 0d...

Page 84: ...calibration RW 0x00 0dec 0x8040 0B Enable vendor calibration RW 0x00 0dec 0x8040 11 User scale offset RW 0x0000 0dec 0x8040 12 User scale gain RW 0x02A00000 44040192dec 0x8040 17 User calibration offset RW 0x0000 0dec 0x8040 18 User calibration gain RW 0x0000 0dec 804F 0 87 Subindex AI Vendor data Ch 3 RW 0x02 2dec 0x804F 01 Calibration Offset RW 0x0000 0dec 0x804F 02 Calibration Gain RW 0x0000 0d...

Page 85: ...000 0dec F000 0 96 Subindex Modular device profile RO 0x02 2dec 0xF000 01 Module index distance RO 0x0010 16dec 0xF000 02 Maximum number of modules RO 0x0009 9dec F008 96 Code word RW 0x00000000 0dec F010 0 96 Subindex Module list RW 0x09 9dec 0xF010 01 SubIndex 001 RW 0x00000118 280dec 0xF010 02 SubIndex 002 RW 0x00000118 280dec 0xF010 03 SubIndex 003 RW 0x0000012C 300dec 0xF010 04 SubIndex 004 R...

Page 86: ...e specific objects 95 indicating inputs outputs and status information The following section first describes the objects required for normal operation followed by a complete overview of missing objects 4 6 1 Objects to be parameterized during commissioning Index 8020 AI Settings Ch 1 Index hex Name Meaning Data type Flags Default 8020 0 AI Settings Ch 1 UINT8 RO 0x18 24dec 8020 01 Enable user scal...

Page 87: ...4dec 8040 01 Enable user scale BOOLEAN RW 0x00 0dec 8040 0A Enable user calibra tion BOOLEAN RW 0x00 0dec 8040 0B Enable vendor cali bration BOOLEAN RW 0x00 0dec 8040 11 User scale offset INT16 RW 0x0000 0dec 8040 12 User scale gain INT32 RW 0x02A00000 44040192dec 8040 17 User calibration offset INT16 RW 0x0000 0dec 8040 18 User calibration gain INT16 RW 0x0000 0dec Index 804F AI Vendor data Ch 3 ...

Page 88: ...16 RW 0x0000 0dec Index 806F AI Vendor data Ch 5 Index hex Name Meaning Data type Flags Default 806F 0 AI Vendor data Ch 5 UINT8 RO 0x02 2dec 806F 01 Calibration Offset INT16 RW 0x0000 0dec 806F 02 Calibration Gain INT16 RW 0x0000 0dec Index 8070 AI Settings Ch 6 Index hex Name Meaning Data type Flags Default 8070 0 AI Settings Ch 6 UINT8 RO 0x18 24dec 8070 01 Enable user scale BOOLEAN RW 0x00 0de...

Page 89: ... slave The Lo Word con tains the CoE profile used 5001 The Hi Word contains the module profile according to the modular device pro file UINT32 RO 0x00001389 5001dec Index 1008Device name Index hex Name Meaning Data type Flags Default 1008 0 Device name Device name of the EtherCAT slave STRING RO EP1816 3008 Index 1009Hardware version Index hex Name Meaning Data type Flags Default 1009 0 Hardware v...

Page 90: ...sum UINT32 RO 0x00000000 0dec Index 1A00 DIG TxPDO Map Inputs Ch 1 Index hex Name Meaning Data type Flags Default 1A00 0 DIG TxPDO Map In puts Ch 1 PDO Mapping TxPDO 1 UINT8 RO 0x09 9dec 1A00 01 SubIndex 001 1 PDO Mapping entry object 0x6000 DIG Inputs Ch 1 entry 0x01 Input 1 UINT32 RO 0x6000 01 1 1A00 02 SubIndex 002 2 PDO Mapping entry object 0x6000 DIG Inputs Ch 1 entry 0x02 Input 2 UINT32 RO 0...

Page 91: ...SM input param eter entry 0x20 Sync error UINT32 RO 0x6020 07 1 1A02 03 SubIndex 003 3 PDO Mapping entry 1 bits align UINT32 RO 0x0000 00 8 1A02 04 SubIndex 004 4 PDO Mapping entry object 0x6020 AI Inputs Ch 1 entry 0x10 TxPDO Toggle UINT32 RO 0x6020 10 1 1A02 05 SubIndex 005 5 PDO Mapping entry object 0x6020 AI Inputs Ch 1 entry 0x11 Value UINT32 RO 0x6020 11 16 Index 1A03 AI TxPDO Map Inputs Ch ...

Page 92: ...A07 0 AI TxPDO Map Inputs Ch 6 PDO Mapping TxPDO 8 UINT8 RO 0x05 5dec 1A07 01 SubIndex 001 1 PDO Mapping entry 13 bits align UINT32 RO 0x0000 00 6 1A07 02 SubIndex 002 2 PDO Mapping entry object 0x1C33 SM input param eter entry 0x20 Sync error UINT32 RO 0x6070 07 1 1A07 03 SubIndex 003 3 PDO Mapping entry 1 bits align UINT32 RO 0x0000 00 8 1A07 04 SubIndex 004 4 PDO Mapping entry object 0x6070 AI ...

Page 93: ...he index of the associated TxPDO mapping object UINT16 RO 0x1A02 6658dec 1C13 04 Subindex 004 4 allocated TxPDO contains the index of the associated TxPDO mapping object UINT16 RO 0x1A03 6659dec 1C13 05 Subindex 005 5 allocated TxPDO contains the index of the associated TxPDO mapping object UINT16 RO 0x1A04 6660dec 1C13 06 Subindex 006 6 allocated TxPDO contains the index of the associated TxPDO m...

Page 94: ... with SM 3 Event is supported no outputs available Bit 2 3 01 DC mode is supported Bit 4 5 01 Input shift through local event outputs available Bit 4 5 10 Input shift with SYNC1 event no outputs available Bit 14 1 dynamic times measurement through writing of 0x1C32 08 or 0x1C33 08 UINT16 RO 0xC007 49159dec 1C33 05 Minimum cycle time as 0x1C32 05 UINT32 RO 0x00030D40 200000dec 1C33 06 Calc and copy...

Page 95: ...O 0x00 0dec 6010 05 Input 5 BOOLEAN RO 0x00 0dec 6010 06 Input 6 BOOLEAN RO 0x00 0dec 6010 07 Input 7 BOOLEAN RO 0x00 0dec 6010 08 Input 8 BOOLEAN RO 0x00 0dec Index 6020 AI Inputs Ch 1 Index hex Name Meaning Data type Flags Default 6020 0 AI Inputs Ch 1 UINT8 RO 0x11 17dec 6020 07 Error BOOLEAN RO 0x00 0dec 6020 10 TxPDO Toggle BOOLEAN RO 0x00 0dec 6020 11 Value INT16 RO 0x0000 0dec Index 6030 AI...

Page 96: ...16 RO 0x0010 16dec F000 02 Maximum number of modules UINT16 RO 0x0009 9dec Index F008 Code word Index hex Name Meaning Data type Flags Default F008 0 Code word UINT32 RW 0x00000000 0dec Index F010 Module list Index hex Name Meaning Data type Flags Default F010 0 Module list UINT8 RW 0x09 9dec F010 01 SubIndex 001 UINT32 RW 0x00000118 280dec F010 02 SubIndex 002 UINT32 RW 0x00000118 280dec F010 03 ...

Page 97: ... parameters PDO Double click on SubIndex 001 to enter the Set Value dialog Enter the value 1684107116 in field Dec or the value 0x64616F6C in field Hex and confirm with OK All backup objects are reset to the delivery state Fig 75 Entering a restore value in the Set Value dialog Note Alternative restore value In some older terminals boxes the backup objects can be switched with an alternative re st...

Page 98: ...chanisms 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 3 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 Attention Risk of dama...

Page 99: ... to the EtherCAT system documentation Note Update of XML ESI description The device revision is closely linked to the firmware and hardware used Incompatible com binations 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 configu...

Page 100: ... 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 ...

Page 101: ...estart 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 Determining the firmware version Determining the version on laser inscription Beckhoff EtherCAT Box feature batc...

Page 102: ...ffline 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 Fig 82 Display of EL3204 fi...

Page 103: ... 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 ...

Page 104: ...t displayed right click the table header and select Properties in the context menu Fig 85 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 ...

Page 105: ...re 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 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 ...

Page 106: ...ioning Configuration EP1xxx 106 Version 2 5 0 Fig 87 Select dialog Advanced Settings The Advanced Settings dialog appears Under ESC Access E PROM FPGA click on Write FPGA button Fig 88 Select dialog Write FPGA ...

Page 107: ...ection interrupted the Ether CAT device can only be recommissioned by the manufacturer In order to activate the new FPGA firmware a restart switching the power supply off and on again of the EtherCAT device is required 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...

Page 108: ...rdous parts with a wire Dust tight No intrusion of dust 2 Number water pro tection Definition 0 Non protected 1 Protected against water drops 2 Protected against water drops when enclosure tilted up to 15 3 Protected against spraying water Water sprayed at an angle up to 60 on either side of the vertical shall have no harmful effects 4 Protected against splashing water Water splashed against the d...

Page 109: ...rking labels not printed 4 stripes at 10 pieces ZS5100 xxxx printed marking labels on request Tools Ordering information Description ZB8800 torque wrench for M8 cables with knurl incl ratchet ZB8800 0001 M12 ratchet for torque wrench ZB8800 ZB8800 0002 M8 ratchet field assembly for torque wrench ZB8800 ZB8801 0000 torque wrench for hexagonal plugs adjustable ZB8801 0001 torque cable key M8 wrench ...

Page 110: ...ponents there Beckhoff Headquarters Beckhoff Automation GmbH Co KG Huelshorstweg 20 33415 Verl Germany Phone 49 0 5246 963 0 Fax 49 0 5246 963 198 e mail info beckhoff com Beckhoff Support 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 commission...

Page 111: ...rocess image DIG inputs channels 1 and 2 33 Fig 23 EP1816 3008 AI inputs channels 1 to 6 33 Fig 24 EP1816 3008 DIG Inputs Device 34 Fig 25 Location of the accelerometers 35 Fig 26 CoE object 0x8080 1D 36 Fig 27 Setting for output in mG 36 Fig 28 EP1816 3008 movement of the box in the axes resulting acceleration values 37 Fig 29 Update frequency 37 Fig 30 Angle measurement process data as accelerat...

Page 112: ...ght click Append Box 64 Fig 64 Selecting a Box e g EP2816 0008 65 Fig 65 Appended Box in the TwinCAT tree 65 Fig 66 Branch of the EtherCAT box to be configured 66 Fig 67 General tab 66 Fig 68 EtherCAT tab 67 Fig 69 Process Data tab 68 Fig 70 Startup tab 70 Fig 71 CoE Online tab 71 Fig 72 Advanced Settings 72 Fig 73 Online tab 72 Fig 74 Selecting the Restore default parameters PDO 97 Fig 75 Enterin...

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