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Beckhoff EP5 Series Documentation Download Page 77

Commissioning/Configuration

EP5xxx

77

Version: 2.3.0

4.6.1.3

EP5101-2011 - PDO assignment

Fig. 68: PDO assignment and content, EP5101-2011

PDO Assignment

To configure the process data, select the required Sync Manager (SM 2 or SM 3 can be changed) in the

Sync Manager

 field at the top left (see illustration above). The process data assigned to this Sync Manager

can then be switched on or off in the 

PDO Assignment

 field below. Restarting the EtherCAT system, or

reloading the configuration in configuration mode (F4), causes the EtherCAT communication to restart, and
the process data is transferred from the terminal.

Summary of Contents for EP5 Series

Page 1: ...Documentation EP5xxx EtherCAT Box Modules for Angle and Position Measurement 2 3 0 2018 12 10 Version Date...

Page 2: ......

Page 3: ...1 2011 Process image 22 2 4 7 EP5151 0002 Process image 23 3 Mounting and connection 24 3 1 Mounting 24 3 1 1 Dimensions 24 3 1 2 Fixing 25 3 1 3 Nut torque for connectors 26 3 1 4 Additional checks 2...

Page 4: ...e object 96 4 11 2 Configuration data 97 4 11 3 Input data 98 4 11 4 Output data 99 4 11 5 Information diagnostic data channel specific 99 4 11 6 Standard objects 99 4 12 EP5101 0011 Object descriptio...

Page 5: ...Table of contents EP5xxx 5 Version 2 3 0 5 Appendix 150 5 1 General operating conditions 150 5 2 EtherCAT Box EtherCAT P Box Accessories 151 5 3 Support and Service 152...

Page 6: ...Table of contents EP5xxx 6 Version 2 3 0...

Page 7: ...a diagrams and descriptions in this documentation Trademarks Beckhoff TwinCAT EtherCAT EtherCAT P Safety over EtherCAT TwinSAFE XFC and XTS are registered trademarks of and licensed by Beckhoff Automa...

Page 8: ...ained specialists in control automation and drive engineering who are familiar with the applicable national standards Description of instructions In this documentation the following instructions are u...

Page 9: ...and EP5151 0002 Technical data extended with EP5101 1002 and EP5151 0002 Encoder connection M12 8 pin extended with EP5151 Information on basic function principles amended Parameters and modes amende...

Page 10: ...ed so that older modules can always be replaced with new ones The firmware and hardware version delivery state can be found in the batch number D number printed on the side of the EtherCAT Box Syntax...

Page 11: ...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 ideal...

Page 12: ...ion You will find a detailed description of the EtherCAT system in the Basic System Documentation for EtherCAT which is available for download from our website www beckhoff com under Downloads EtherCA...

Page 13: ...0002 16 M12 screw type 8 pin 1 5 VDC 150 mA VCC Distributed clocks 4 million increments sec ond EP5101 1002 16 1 24 VDC 500 mA VCC EP5101 0011 16 D Sub socket 15 pin 1 5 VDC 150 mA VCC Distributed clo...

Page 14: ...interface circuit generates a pulse for reading the encoder and makes the incoming data stream available to the controller as a data word in the process image Various operating modes transmission freq...

Page 15: ...x 32 bit input 8 bit status Electrical isolation 500 V Special features Baud rate coding and data length are adjustable Weight app 165 g Operating storage temperature 0 55 C 25 85 C Vibration shock re...

Page 16: ...s with a fault message output can be connected to the status input of the interface A period measurement with a resolution of up to 100 ns is possible The gate input allows the counter to be disabled...

Page 17: ...socket EP5101 0002 and EP5101 1002 or via a 15 pin D sub socket EP5101 0011 and EP5101 2011 In the M12 version not all signals are available Quick links Installation 24 Configuration 50 UL requiremen...

Page 18: ...period measurement with a resolution of up to 100 ns is possible Due to the optional interpolating micro increment function the EP5151 0002 can supply even more precise axis positions for dynamic axe...

Page 19: ...aluation Quadrature decoder Four fold evaluation Zero pulse latch Bit 16 Commands read set enable Distributed Clocks yes Supply of the module electronics from the control voltage US Current consumptio...

Page 20: ...hannels A B or C has an open circuit configurable for each channel via CoE Extrapolation stall Micro increment value invalid when micro increment evaluation is enabled index 0x8000 0A Status of Input...

Page 21: ...e ment evaluation is enabled index 0x8000 0A Status of Input A B C Status of inputs A B and C Status of input gate Status of the gate input Status of extern latch Status of the latch input Sync error...

Page 22: ...of extern latch Status of the latch input Sync error EtherCAT error see EtherCAT system documen tation TxPDO State See object description 126 TxPDO Toggle See object description 126 Counter value Curr...

Page 23: ...x 0x8000 0A Status of Input A B C Status of inputs A B and C Status of input gate Status of the gate input Status of extern latch Status of the latch input Sync error EtherCAT error see EtherCAT syste...

Page 24: ...asting compound Polyurethane Mounting two fastening holes 3 mm for M3 two fastening holes 3 mm for M3 two fastening holes 4 5 mm for M4 Metal parts Brass nickel plated Contacts CuZn gold plated Power...

Page 25: ...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...

Page 26: ...he 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 7 EtherCAT Box with M8 connectors M12 connectors It i...

Page 27: ...re 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...

Page 28: ...e EtherCAT Box EPxxxx has two M8 sockets marked in green the Coupler Box FBB x110 has two M12 sockets Fig 11 EtherCAT Box M8 30 mm housing Fig 12 EtherCAT Box M860 mm housing example EP9214 Fig 13 Cou...

Page 29: ...connectors For unification the prevalent cables ZB9030 ZB9032 and ZK1090 3xxx xxxx this means the pre as sembled cables with M8 connectors were changed to the colors of EN61918 yellow orange white bl...

Page 30: ...following EtherCAT module flashing ACT Communication with the following EtherCAT module Run off Status of the EtherCAT module is Init flashes quickly Status of the EtherCAT module is pre operational...

Page 31: ...2 Auxiliary 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...

Page 32: ...nality 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...

Page 33: ...h 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 powe...

Page 34: ...his 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 NOTE Electrical isolation may be canc...

Page 35: ...ule 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 20 Power cable conductor losses Example 8 m...

Page 36: ...ot be exceeded at 16 A When wiring note that with a rated voltage of 24 V the function of the modules can no longer be guaranteed from a voltage drop of 6 V Variations in the output voltage from the p...

Page 37: ...cables htm id 690338951657421 EtherCAT cables Fig 22 ZK1090 3131 0xxx For connecting EtherCAT devices only use shielded Ethernet cables with a minimum specification of category 5 CAT5 according to EN...

Page 38: ...Mounting and connection EP5xxx 38 Version 2 3 0 Power cable Fig 23 ZK2020 3132 0xxx Sensor cables Fig 24 Selection of Beckhoff sensor cables...

Page 39: ...d by means of a fuse in accor dance with UL248 rated maximum 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 w...

Page 40: ...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 i...

Page 41: ...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 40 Installation Put the cables for Ethe...

Page 42: ...losure 3 7 3 ATEX Documentation Notes about operation of EtherCAT Box Modules EPxxxx xxxx in potentially explo sive areas ATEX Pay also attention to the continuative documentationNotes about operation...

Page 43: ...D indicators meanings Fig 30 EP5001 0002 LEDs LED green red Data Encoder supply switched on operational state not short circuited SSI without power supply Open circuit on the SSI data input D or D Dat...

Page 44: ...ocket 8 pin Fig 31 EP5101 0002 EP5101 1002 pin assignment Fig 32 EP5101 0002 EP5101 1002 LEDs LED indicators meanings Connection LED Display Meaning M12 A off Input A track A low green Input A track A...

Page 45: ...D indicators meanings Connection LED Display Meaning D sub A off Input A track A low green Input A track A high B off Input B track B low green Input B track B high C off Input C track C low green Inp...

Page 46: ...tors meanings Fig 36 EP5151 0002 LEDs Connection LED Display Meaning M12 A off Input A track A low green Input A track A high B off Input B track B low green Input B track B high C off Input C track C...

Page 47: ...finds match the configuration This test can be parameterized in the advanced device settings To ensure that the latest features settings of the master can be used always download the latest ESI file P...

Page 48: ...e EtherCAT modules to the EtherCAT network Switch on the operating voltage open the TwinCAT System Manager 57 Config mode Adding a new I O device In the following dialog select the device EtherCAT Dir...

Page 49: ...uration EP5xxx 49 Version 2 3 0 Fig 39 Appending a new box Device right click Append Box In the dialog that is displayed select the required Box e g EP6224 2022 and confirm with OK Fig 40 Selecting a...

Page 50: ...it finds match the configuration To ensure that the latest features settings of the EtherCAT Box can be used always download the latest ESI file Please note the following information Installation of...

Page 51: ...rformed independent of the previous step Troubleshooting The scan with existing configuration can also be carried out for comparison Detecting scanning of the EtherCAT device The online device search...

Page 52: ...43 Note for automatic device scan Ethernet ports with installed TwinCAT real time driver are shown as RT Ethernet devices An EtherCAT frame is sent to these ports for testing purposes If the scan agen...

Page 53: ...in the configuration manually or through a scan the I O field can be scanned for devices slaves Fig 45 scan query after automatic creation of an EtherCAT device The configuration was established and s...

Page 54: ...ice Device are not detected properly Possible reasons include faulty data links resulting in data loss during the scan the device has an invalid device description The connections and devices should b...

Page 55: ...tion type between master and device and the device functions if applicable The physical device firmware if available has to support the communication queries settings of the master This is backward co...

Page 56: ...ssioning Configuration EP5xxx 56 Version 2 3 0 Fig 50 Example correction dialog with modifications Once all modifications have been saved or accepted click OK to transfer them to the real tsm configur...

Page 57: ...configured In the right hand window of the TwinCAT System manager various tabs are now available for configuring the EtherCAT Box General tab Fig 52 General tab Name Name of the EtherCAT device Id Num...

Page 58: ...he EtherCAT master during the start up phase Tick the checkbox 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 devi...

Page 59: ...er 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 TxPDO...

Page 60: ...e 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 Dow...

Page 61: ...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 a...

Page 62: ...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...

Page 63: ...ts included in the object directory 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...

Page 64: ...he 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...

Page 65: ...xamples of modifications include Mask out a channel displaying additional cyclic information 16 bit display instead of 8 bit data size etc In so called intelligent EtherCAT devices the process data in...

Page 66: ...configuration G In case of incorrect configuration the EtherCAT slave usually refuses to start and change to OP state The System Manager displays an invalid SM cfg logger message Box 1 EP3356 0022 sta...

Page 67: ...on of the EP5001 0002 cannot be changed PDO Assignment SM3 PDO Assignment 0x1C13 Index Index of excluded PDOs Size byte bit Name PDO Content index name 0x1A00 default 6 0 SSI Inputs 0x6000 01 94 Data...

Page 68: ...yclic operation is started via the SyncManagers during EtherCAT frame processing DC Synchron Cyclic operation in the module is started by the local distributed clock at exact intervals The start time...

Page 69: ...ors such as invalid telegram size are no longer shown in the Data error process data Index 0x8000 02 94 Enable Power failure bit If the bit is set to TRUE the last bit LSB in the SSI telegram is inter...

Page 70: ...nalysis is active 16 16 0 Power failure bit is not active 13 16 1 2 Variable analysis is active 30 29 1 Power failure bit is active 12 12 2 2 Variable analysis is active 26 26 0 Power failure bit is n...

Page 71: ...4 6 1 Process data 16 or 32 bit process data The EP51x1 can be operated both with 16 bit process data default or 32 bit process data This can be set via the Predefined PDO Assignment in the Process D...

Page 72: ...n to the main PDO PDO 1 0x1A02 or 0x1A03 The frequency or the period can be selected as optional PDO 1 PDO 2 0x1A04 or 0x1A05 In one of the DC modes a 32 bit or 64 bit timestamp can be selected The ti...

Page 73: ...or off in the PDO Assignment field below Restarting the EtherCAT system or reloading the configuration in configuration mode F4 causes the EtherCAT communication to restart and the process data is tr...

Page 74: ...98 Counter value 16 Bit 0x6000 12 98 Latch value 16 Bit 0x1A01 0x1A00 10 0 ENC Status 0x6000 01 98 Latch C valid 0x6000 03 98 Set counter done 0x6000 04 98 Counter underflow 0x6000 05 98 Counter over...

Page 75: ...Sync Manager SM 2 or SM 3 can be changed in the Sync Manager field at the top left see illustration above The process data assigned to this Sync Manager can then be switched on or off in the PDO Assi...

Page 76: ...trapolation stall 0x6000 09 114 Status of input A 0x6000 0A 114 Status of input B 0x6000 0B 114 Status of input C 0x6000 0C 114 Status of input gate 0x6000 0D 114 Status of extern latch 0x1C32 20 121...

Page 77: ...c Manager SM 2 or SM 3 can be changed in the Sync Manager field at the top left see illustration above The process data assigned to this Sync Manager can then be switched on or off in the PDO Assignme...

Page 78: ...input status 0x6000 07 126 Open circuit 0x6000 09 126 Status of input A 0x6000 0C 126 Status of input gate 0x6000 0D 126 Status of extern latch 0x6000 0E 126 Sync error 0x6000 0F 126 TxPDO State 0x60...

Page 79: ...Sync Manager SM 2 or SM 3 can be changed in the Sync Manager field at the top left see illustration above The process data assigned to this Sync Manager can then be switched on or off in the PDO Assi...

Page 80: ...139 Extrapolation stall 0x6000 09 139 Status of input A 0x6000 0A 139 Status of input B 0x6000 0B 139 Status of input C 0x6000 0C 139 Status of input gate 0x6000 0D 139 Status of extern latch 0x1C32 2...

Page 81: ...yclic operation is started via the SyncManagers during EtherCAT frame processing DC Synchron Cyclic operation in the module is started by the local distributed clock at exact intervals The start time...

Page 82: ...tting the changes The following CoE settings from object 0x8000 are possible and shown here in their default settings based on the EP5101 0011 as an example Fig 71 Object 0x8000 default example EP5101...

Page 83: ...endent of the DC mode No frequency measurement is possible if the counter is blocked by the gate In this case the period can be measured regardless A C or external reset restarts the frequency measure...

Page 84: ...dex 0x7000 04 the counter value is saved on the latch input index 0x6000 12 when the first external latch pulse with falling edge is encountered The subsequent pulses have no influence on the latch va...

Page 85: ...n circuit detection is activated for channels A and B by default A differential voltage of 3 5 V typical subject to modification is interpreted as an open circuit If an open circuit is detected it is...

Page 86: ...the counted encoder increments from a certain speed The interpolation resolution is 8 bit corresponding to 256 values A standard encoder with 1 024 lines with 4 way evaluation and micro increments th...

Page 87: ...Interface signal level The EP5001 0002 expects signal levels according to RS485 The typical output levels apply for a load of 60 ohm or higher Differential signal input Fig 74 Voltage level for differ...

Page 88: ...n mode range 13 2 V and 10 V with respect to GND cf diagram Signal levels outside this range can lead to destruction Fig 75 EP5101 signal level interface In differential mode only the voltage differen...

Page 89: ...ioning Configuration EP5xxx 89 Version 2 3 0 4 9 EP5151 Interface signal level The EP5151 expects signal levels according to HTL push pull Differential signal input Fig 76 Voltage level for differenti...

Page 90: ...peration followed by a complete overview of missing objects Index 1000 Device type Index hex Name Meaning Data type Flags Default 1000 0 Device type Device type of the EtherCAT slave The Lo Word conta...

Page 91: ...sferred together with TxPDO 1 OCTET STRING 2 RO 00 1A Index 1A00 SSI TxPDO Map Inputs Index hex Name Meaning Data type Flags Default 1A00 0 SSI TxPDO Map In puts PDO Mapping TxPDO 1 UINT8 RO 0x08 8dec...

Page 92: ...Default 1C12 0 RxPDO assign PDO Assign Outputs UINT8 RW 0x00 0dec Index 1C13 TxPDO assign Index hex Name Meaning Data type Flags Default 1C13 0 TxPDO assign PDO Assign Inputs UINT8 RO 0x02 2dec 1C13 0...

Page 93: ...08 UINT16 RO 0xC00B 49163dec 1C33 05 Minimum cycle time Minimum cycle time in ns UINT32 RO 0x00030D40 0dec 1C33 06 Calc and copy time Time between reading of the inputs and availability of the inputs...

Page 94: ...6000 11 Counter value Counter value UINT32 RO 0x00000000 0dec Index 8000 SSI Settings Index hex Name Meaning Data type Flags Default 8000 0 SSI Settings Length of this object UINT8 RO 0x13 19dec 8000...

Page 95: ...vice profile Index hex Name Meaning Data type Flags Default F000 0 Modular device pro file General information for the modular device profile UINT8 RO 0x02 2dec F000 01 Module index dis tance Index di...

Page 96: ...meterization via the CoE list CAN over EtherCAT The EtherCAT device is parameterized via the CoE Online tab 61 double click on the respec tive object or via the Process Data 58 tab allocation of PDOs...

Page 97: ...ircuit detec tion C 85 An open circuit on track C is indicated in object Open cir cuit index 0x6000 07 98 and as a process data Diag nosis is only possible if the corresponding input is wired dif fere...

Page 98: ...Configuration via the objects Open circuit detection A Index 0x8000 0B 97 Open circuit detection B Index 0x8000 0C 97 Open circuit detection C Index 0x8000 0D 97 BOOLEAN RO 0x00 0dec 6000 08 Extrapola...

Page 99: ...it on track B BOOLEAN RO 0x00 0dec A000 03 Open circuit C 85 Open circuit on track C BOOLEAN RO 0x00 0dec 4 11 6 Standard objects The standard objects have the same meaning for all EtherCAT slaves Ind...

Page 100: ...x Name Meaning Data type Flags Default 1400 0 ENC RxPDO Par Control compact PDO Parameter RxPDO 1 UINT8 RO 0x06 6dec 1400 06 Exclude RxPDOs Specifies the RxPDOs index of RxPDO mapping objects that mus...

Page 101: ...Mapping entry 8 bits align UINT32 RO 0x0000 00 8 1601 06 SubIndex 006 6 PDO Mapping entry object 0x7000 ENC Outputs en try 0x11 Set counter value UINT32 RO 0x7000 11 32 1601 07 SubIndex 007 7 reserved...

Page 102: ...mapping objects that must not be transferred together with TxPDO 3 OCTET STRING 2 RO 03 1A Index 1803 ENC TxPDO Par Period Index hex Name Meaning Data type Flags Default 1803 0 ENC TxPDO Par Period P...

Page 103: ...08 8 PDO Mapping entry object 0x6000 ENC Inputs entry 0x08 Extrapolation stall UINT32 RO 0x6000 08 1 1A00 09 SubIndex 009 9 PDO Mapping entry object 0x6000 ENC Inputs entry 0x09 Status of input A UINT...

Page 104: ...ntry object 0x6000 ENC Inputs entry 0x08 Extrapolation stall UINT32 RO 0x6000 08 1 1A00 09 SubIndex 009 9 PDO Mapping entry object 0x6000 ENC Inputs entry 0x09 Status of input A UINT32 RO 0x6000 09 1...

Page 105: ...8 PDO Mapping entry object 0x6000 ENC Inputs entry 0x08 Extrapolation stall UINT32 RO 0x6000 08 1 1A01 09 SubIndex 009 9 PDO Mapping entry object 0x6000 ENC Inputs entry 0x09 Status of input A UINT32...

Page 106: ...0x0B Status of input C UINT32 RO 0x6000 0B 1 1A01 0C SubIndex 012 12 PDO Mapping entry 1 bit align UINT32 RO 0x0000 00 1 1A01 0D SubIndex 013 13 PDO Mapping entry 1 bit align UINT32 RO 0x0000 00 1 1A...

Page 107: ...el 3 Process Data Write Out puts UINT8 RO 0x03 3dec 1C00 04 SubIndex 004 Sync Manager Type Channel 4 Process Data Read In puts UINT8 RO 0x04 4dec Index 1C12 RxPDO assign Index hex Name Meaning Data ty...

Page 108: ...1C32 06 Calc and copy time Minimum time between SYNC0 and SYNC1 event in ns DC mode only UINT32 RO 0x00000000 0dec 1C32 07 Minimum delay time UINT32 RO 0x00000000 0dec 1C32 08 Command With this entry...

Page 109: ...C32 08 133 or 0x1C33 08 UINT16 RO 0xC007 49159dec 1C33 05 Minimum cycle time as 0x1C32 05 133 UINT32 RO 0x00000000 0dec 1C33 06 Calc and copy time Time between reading of the inputs and availability o...

Page 110: ...iguration EP5xxx 110 Version 2 3 0 Index F010 Module list Index hex Name Meaning Data type Flags Default F010 0 Module list Maximum subindex UINT8 RW 0x02 2dec F010 01 SubIndex 001 reserved UINT32 RW...

Page 111: ...zation via the CoE list CAN over EtherCAT The EtherCAT device is parameterized via the CoE Online tab 61 double click on the respec tive object or via the Process Data 58 tab allocation of PDOs 4 12 1...

Page 112: ...rcuit detec tion B 85 An open circuit on track B is indicated in object Open cir cuit index 0x6000 07 114 and as a process data Diag nosis is only possible if the corresponding input is wired dif fere...

Page 113: ...on The maximum measurable period is approx 32 7 ms The resolution of the process data continues to be the value ac cording to object Period scaling index 0x8000 14 e g 100 ns default UINT16 RW 0x0064...

Page 114: ...uit detection A Index0x8000 0B 112 Open circuit detection B Index0x8000 0C 112 Open circuit detection C Index0x8000 0D 112 BOOLEAN RO 0x00 0dec 6000 08 Extrapolation stall 85 The extrapolated part of...

Page 115: ...0x03 3dec A000 01 Open circuit A 85 Open circuit on track A BOOLEAN RO 0x00 0dec A000 02 Open circuit B 85 Open circuit on track B BOOLEAN RO 0x00 0dec A000 03 Open circuit C 85 Open circuit on track...

Page 116: ...ct PDO Parameter RxPDO 1 UINT8 RO 0x06 6dec 1400 06 Exclude RxPDOs Specifies the RxPDOs index of RxPDO mapping objects that must not be transferred together with RxPDO 1 OCTET STRING 2 RO 01 16 Index...

Page 117: ...ta BOOLEAN RO 0x00 0dec 1800 09 TxPDO Toggle The TxPDO toggle is toggled with each update the corre sponding input data BOOLEAN RO 0x00 0dec Index 1801 ENC TxPDO Par Status Index hex Name Meaning Data...

Page 118: ...00 07 SubIndex 007 7 PDO Mapping entry object 0x6000 ENC Inputs entry 0x07 Open circuit UINT32 RO 0x6000 07 1 1A00 08 SubIndex 008 8 PDO Mapping entry object 0x6000 ENC Inputs entry 0x08 Extrapolation...

Page 119: ...x0B Status of input C UINT32 RO 0x6000 0B 1 1A01 0C SubIndex 012 12 PDO Mapping entry object 0x6000 ENC Inputs entry 0x0C Status of input gate UINT32 RO 0x6000 0C 1 1A01 0D SubIndex 013 13 PDO Mapping...

Page 120: ...rocess Data Write Outputs UINT8 RO 0x03 3dec 1C00 04 SubIndex 004 Sync Manager Type Channel 4 Process Data Read Inputs UINT8 RO 0x04 4dec Index 1C12 RxPDO assign Index hex Name Meaning Data type Flags...

Page 121: ...UINT32 RO 0x00000000 0dec 1C32 06 Calc and copy time Minimum time between SYNC0 and SYNC1 event in ns DC mode only UINT32 RO 0x00000000 0dec 1C32 08 Command With this entry the real required process...

Page 122: ...0x1C32 08 121 or 0x1C33 08 UINT16 RO 0xC007 49159dec 1C33 05 Minimum cycle time as 0x1C32 05 121 UINT32 RO 0x00000000 0dec 1C33 06 Calc and copy time Time between reading of the inputs and availabili...

Page 123: ...2 3 0 Index F010 Module list Index hex Name Meaning Data type Flags Default F010 0 Module list Maximum subindex UINT8 RW 0x02 2dec F010 01 SubIndex 001 reserved UINT32 RW 0x000001FE 510dec F010 02 Sub...

Page 124: ...zation via the CoE list CAN over EtherCAT The EtherCAT device is parameterized via the CoE Online tab 61 double click on the respec tive object or via the Process Data 58 tab allocation of PDOs 4 13 1...

Page 125: ...tion 84 Activates reversion of rotation BOOLEAN RW 0x00 0dec 8000 10 Extern reset polarity 84 0 Fall the counter is set to zero with a falling edge 1 Rise the counter is set to zero with a rising edge...

Page 126: ...State of the status input alarm input 1 BOOLEAN RO 0x00 0dec 6000 07 Open circuit 85 Indicates an open circuit Configuration via the objects Open circuit detection A Index 0x8000 0B 125 Open circuit...

Page 127: ...85 Open circuit on track A BOOLEAN RO 0x00 0dec A000 02 Open circuit B 85 Open circuit on track B BOOLEAN RO 0x00 0dec A000 03 Open circuit C 85 Open circuit on track C BOOLEAN RO 0x00 0dec A000 04 Fi...

Page 128: ...Parameter RxPDO 1 UINT8 RO 0x06 6dec 1400 06 Exclude RxPDOs Specifies the RxPDOs index of RxPDO mapping objects that must not be transferred together with RxPDO 1 OCTET STRING 2 RO 01 16 Index 1401 EN...

Page 129: ...Par Status compact Index hex Name Meaning Data type Flags Default 1801 0 ENC TxPDO Par Status compact PDO parameter TxPDO 2 UINT8 RO 0x06 6dec 1801 06 Exclude TxPDOs Specifies the TxPDOs index of TxP...

Page 130: ...SubIndex 008 8 PDO Mapping entry object 0x6000 ENC Inputs entry 0x09 Status of input A UINT32 RO 0x6000 09 1 1A00 09 SubIndex 009 9 PDO Mapping entry object 0x6000 ENC Inputs entry 0x0A Status of inpu...

Page 131: ...ect 0x6000 ENC Inputs entry 0x0C Status of input gate UINT32 RO 0x6000 0C 1 1A01 0C SubIndex 012 12 PDO Mapping entry object 0x6000 ENC Inputs entry 0x0D Status of extern latch UINT32 RO 0x6000 0D 1 1...

Page 132: ...Process Data Write Out puts UINT8 RO 0x03 3dec 1C00 04 SubIndex 004 Sync Manager Type Channel 4 Process Data Read In puts UINT8 RO 0x04 4dec Index 1C12 RxPDO assign Index hex Name Meaning Data type Fl...

Page 133: ...1C32 06 Calc and copy time Minimum time between SYNC0 and SYNC1 event in ns DC mode only UINT32 RO 0x00000000 0dec 1C32 06 Minimum delay time UINT32 RO 0x00000000 0dec 1C32 08 Command With this entry...

Page 134: ...2 08 133 or 0x1C33 08 134 UINT16 RO 0xC007 49159dec 1C33 05 Minimum cycle time as 0x1C32 05 133 UINT32 RO 0x00000000 0dec 1C33 06 Calc and copy time Time between reading of the inputs and availability...

Page 135: ...iguration EP5xxx 135 Version 2 3 0 Index F010 Module list Index hex Name Meaning Data type Flags Default F010 0 Module list Maximum subindex UINT8 RW 0x02 2dec F010 01 SubIndex 001 reserved UINT32 RW...

Page 136: ...zation via the CoE list CAN over EtherCAT The EtherCAT device is parameterized via the CoE Online tab 61 double click on the respec tive object or via the Process Data 58 tab allocation of PDOs 4 14 1...

Page 137: ...rcuit detec tion B 85 An open circuit on track B is indicated in object Open cir cuit index 0x6000 07 139 and as a process data Diag nosis is only possible if the corresponding input is wired dif fere...

Page 138: ...on The maximum measurable period is approx 32 7 ms The resolution of the process data continues to be the value ac cording to object Period scaling index 0x8000 14 e g 100 ns default UINT16 RW 0x0064...

Page 139: ...uit detection A Index 0x8000 0B 137 Open circuit detection B Index 0x8000 0C 137 Open circuit detection C Index 0x8000 0D 137 BOOLEAN RO 0x00 0dec 6000 08 Extrapolation stall 85 The extrapolated part...

Page 140: ...0x01FF1389 33493897dec Index 1008 Device name Index hex Name Meaning Data type Flags Default 1008 0 Device name Device name of the EtherCAT slave STRING RO EP5151 0002 Index 1009 Hardware version Inde...

Page 141: ...s en try 0x02 Enable latch extern on positive edge UINT32 RO 0x7000 02 1 1600 03 SubIndex 003 3 PDO Mapping entry object 0x7000 ENC Outputs en try 0x03 Set counter UINT32 RO 0x7000 03 1 1600 04 SubInd...

Page 142: ...ed with each update the corre sponding input data BOOLEAN RO 0x00 0dec Index 1802 ENC TxPDO Par Frequency Index hex Name Meaning Data type Flags Default 1802 0 ENC TxPDO Par Frequency PDO parameter Tx...

Page 143: ...0x6000 ENC Inputs entry 0x08 Extrapolation stall UINT32 RO 0x6000 08 1 1A00 09 SubIndex 009 9 PDO Mapping entry object 0x6000 ENC Inputs entry 0x09 Status of input A UINT32 RO 0x6000 09 1 1A00 0A Sub...

Page 144: ...atus of input C UINT32 RO 0x6000 0B 1 1A01 0C SubIndex 012 12 PDO Mapping entry object 0x6000 ENC Inputs entry 0x0C Status of input gate UINT32 RO 0x6000 0C 1 1A01 0D SubIndex 013 13 PDO Mapping entry...

Page 145: ...Process Data Write Out puts UINT8 RO 0x03 3dec 1C00 04 SubIndex 004 Sync Manager Type Channel 4 Process Data Read In puts UINT8 RO 0x04 4dec Index 1C12 RxPDO assign Index hex Name Meaning Data type Fl...

Page 146: ...1C32 06 Calc and copy time Minimum time between SYNC0 and SYNC1 event in ns DC mode only UINT32 RO 0x00000000 0dec 1C32 07 Minimum delay time UINT32 RO 0x00000000 0dec 1C32 08 Command With this entry...

Page 147: ...2 08 133 or 0x1C33 08 134 UINT16 RO 0xC007 49159dec 1C33 05 Minimum cycle time as 0x1C32 05 133 UINT32 RO 0x00000000 0dec 1C33 06 Calc and copy time Time between reading of the inputs and availability...

Page 148: ...iguration EP5xxx 148 Version 2 3 0 Index F010 Module list Index hex Name Meaning Data type Flags Default F010 0 Module list Maximum subindex UINT8 RW 0x01 1dec F010 01 SubIndex 001 reserved UINT32 RW...

Page 149: ...ult 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 re...

Page 150: ...on 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 ei...

Page 151: ...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 assemb...

Page 152: ...onents 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 offe...

Page 153: ...wer In and Power Out 33 Fig 19 Status LEDs for power supply 34 Fig 20 Power cable conductor losses 35 Fig 21 ZK2030 xxxx yyy Conductor losses 36 Fig 22 ZK1090 3131 0xxx 37 Fig 23 ZK2020 3132 0xxx 38 F...

Page 154: ...001 0002 67 Fig 62 Distributed Clocks 68 Fig 63 EP5001 0002 default setting for objects 0x8000 and 0x800D 69 Fig 64 16 or 32 bit process data 71 Fig 65 Main PDO example EP5101 0011 72 Fig 66 PDO assig...

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