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Commissioning/Configuration

EP6002-0002

47

Version: 1.0

Index 1A04 COM TxPDO-Map Inputs Ch.1

Index (hex) Name

Meaning

Data type

Flags Default

1A04:0

COM TxPDO-Map
Inputs Ch.1

PDO Mapping TxPDO 5

UINT8

RO

0x17 (23

dec

)

1A04:01

SubIndex 001

1. PDO Mapping entry (object 0x6001 (Status Ch.1), en-
try 0x01 (Status))

UINT32

RO

0x6001:01, 16

1A04:02

SubIndex 002

2. PDO Mapping entry (object 0x6000 (COM Inputs
Ch.1), entry 0x11 (Data In 0))

UINT32

RO

0x6000:11, 8

1A04:03

SubIndex 003

3. PDO Mapping entry (object 0x6000 (COM Inputs
Ch.1), entry 0x12 (Data In 1))

UINT32

RO

0x6000:12, 8

1A04:04

SubIndex 004

4. PDO Mapping entry (object 0x6000 (COM Inputs
Ch.1), entry 0x13 (Data In 2))

UINT32

RO

0x6000:13, 8

1A04:05

SubIndex 005

5. PDO Mapping entry (object 0x6000 (COM Inputs
Ch.1), entry 0x14 (Data In 3))

UINT32

RO

0x6000:14, 8

1A04:06

SubIndex 006

6. PDO Mapping entry (object 0x6000 (COM Inputs
Ch.1), entry 0x15 (Data In 4))

UINT32

RO

0x6000:15, 8

1A04:07

SubIndex 007

7. PDO Mapping entry (object 0x6000 (COM Inputs
Ch.1), entry 0x16 (Data In 5))

UINT32

RO

0x6000:16, 8

1A04:08

SubIndex 008

8. PDO Mapping entry (object 0x6000 (COM Inputs
Ch.1), entry 0x17 (Data In 6))

UINT32

RO

0x6000:17, 8

1A04:09

SubIndex 009

9. PDO Mapping entry (object 0x6000 (COM Inputs
Ch.1), entry 0x18 (Data In 7))

UINT32

RO

0x6000:18, 8

1A04:0A

SubIndex 010

10. PDO Mapping entry (object 0x6000 (COM Inputs
Ch.1), entry 0x19 (Data In 8))

UINT32

RO

0x6000:19, 8

1A04:0B

SubIndex 011

11. PDO Mapping entry (object 0x6000 (COM Inputs
Ch.1), entry 0x1A (Data In 9))

UINT32

RO

0x6000:1A, 8

1A04:0C

SubIndex 012

12. PDO Mapping entry (object 0x6000 (COM Inputs
Ch.1), entry 0x1B (Data In 10))

UINT32

RO

0x6000:1B, 8

1A04:0D

SubIndex 013

13. PDO Mapping entry (object 0x6000 (COM Inputs
Ch.1), entry 0x1C (Data In 11))

UINT32

RO

0x6000:1C, 8

1A04:0E

SubIndex 014

14. PDO Mapping entry (object 0x6000 (COM Inputs
Ch.1), entry 0x1D (Data In 12))

UINT32

RO

0x6000:1D, 8

1A04:0F

SubIndex 015

15. PDO Mapping entry (object 0x6000 (COM Inputs
Ch.1), entry 0x1E (Data In 13))

UINT32

RO

0x6000:1E, 8

1A04:10

SubIndex 016

16. PDO Mapping entry (object 0x6000 (COM Inputs
Ch.1), entry 0x1F (Data In 14))

UINT32

RO

0x6000:1F, 8

1A04:11

SubIndex 017

17. PDO Mapping entry (object 0x6000 (COM Inputs
Ch.1), entry 0x20 (Data In 15))

UINT32

RO

0x6000:20, 8

1A04:12

SubIndex 018

18. PDO Mapping entry (object 0x6000 (COM Inputs
Ch.1), entry 0x21 (Data In 16))

UINT32

RO

0x6000:21, 8

1A04:13

SubIndex 019

19. PDO Mapping entry (object 0x6000 (COM Inputs
Ch.1), entry 0x22 (Data In 17))

UINT32

RO

0x6000:22, 8

1A04:14

SubIndex 020

20. PDO Mapping entry (object 0x6000 (COM Inputs
Ch.1), entry 0x23 (Data In 18))

UINT32

RO

0x6000:23, 8

1A04:15

SubIndex 021

21. PDO Mapping entry (object 0x6000 (COM Inputs
Ch.1), entry 0x24 (Data In 19))

UINT32

RO

0x6000:24, 8

1A04:16

SubIndex 022

22. PDO Mapping entry (object 0x6000 (COM Inputs
Ch.1), entry 0x25 (Data In 20))

UINT32

RO

0x6000:25, 8

1A04:17

SubIndex 023

23. PDO Mapping entry (object 0x6000 (COM Inputs
Ch.1), entry 0x26 (Data In 21))

UINT32

RO

0x6000:26, 8

Summary of Contents for EP6002-0002

Page 1: ...Documentation EP6002 0002 2 channel serial interface RS232 RS422 RS485 1 0 2019 12 11 Version Date...

Page 2: ......

Page 3: ...mensions 16 3 1 2 Fixing 17 3 2 Supply voltages 18 3 2 1 Connectors 18 3 2 2 Status LEDs 19 3 2 3 Conductor losses 19 3 3 EtherCAT 20 3 3 1 Connectors 20 3 3 2 Status LEDs 21 3 3 3 Cables 21 3 4 RS232...

Page 4: ...ring the delivery state 57 4 5 Decommissioning 58 5 Appendix 59 5 1 General operating conditions 59 5 2 EtherCAT Box EtherCAT P Box Accessories 60 5 3 General note on the introduction of the Beckhoff...

Page 5: ...ation 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 EtherCAT EtherCAT G EtherCAT G10 Ethe...

Page 6: ...trained 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...

Page 7: ...are retained and are not changed 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 si...

Page 8: ...for use outside the control cabinet in wet dirty or dusty industrial environments EtherCAT Box modules communicate with the controller via the EtherCAT fieldbus They each have two connections for Ethe...

Page 9: ...dbus using a simple handshake protocol This does not have any effect on the protocol of the serial interface The active serial communication channel functions independently of the higher level bus sys...

Page 10: ...ltage 24 VDC 15 20 Sum current max 4 A 1 Consumers Serial interface Number of channels 2 Interface type Individually parameterizable for each channel RS232 RS422 RS485 Connection 1x M12 socket per cha...

Page 11: ...nformity Approvals CE cURus 2 4 Scope of supply Make sure that the following components are included in the scope of delivery 1x EtherCAT Box EP6002 0002 2x protective cap for EtherCAT socket M8 green...

Page 12: ...n example of the process data object for serial channel 1 The process data object for channel 2 is structured in exactly the same way Status Status word 14 for receive data Data In n The input variabl...

Page 13: ...ay Ctrl Control word 14 for transmit data Data Out n The output variables Data Out 0 Data Out 22 can each be filled with one byte of send data The content of Data Out 0 is transmitted first 2 5 1 Assi...

Page 14: ...icated via the OL bits The box acknowledges receipt of the data in the status byte by changing the state of the SW 0 TA bit Only then can new data be transferred from the controller to the box 2 5 3 S...

Page 15: ...x 22 bytes x 10 bits 11000 baud bit s can be achieved The next lower standard data transfer rate is 9600 baud Accordingly continuous transfer at a maximum baud rate of 9600 can be secured with a cycle...

Page 16: ...meters Housing features Housing material PA6 polyamide Sealing compound polyurethane Mounting two fastening holes 3 5 mm for M3 Metal parts brass nickel plated Contacts CuZn gold plated Power feed thr...

Page 17: ...tors can lead to malfunctions Protection class IP67 can only be guaranteed if all cables and connectors are connected Protect the plug connectors against dirt during the assembly Mount the module with...

Page 18: ...permissible current Pay attention also for the redirection of the supply voltages US and UP the maximum permissible current for M8 connectors of 4 A must not be exceeded 3 2 1 Connectors NOTE Risk of...

Page 19: ...count the voltage drop on the supply line when planning a system Avoid the voltage drop being so high that the supply voltage at the box lies below the minimum nominal voltage Variations in the voltag...

Page 20: ...1090 3xxx xxxx TIA 568B Tx 1 yellow1 orange white white orange Tx 4 orange1 orange orange Rx 2 white1 blue white white green Rx 3 blue1 blue green Shield Housing Shield Shield Shield 1 Core colors acc...

Page 21: ...he status of the slave in the EtherCAT network LED Meaning off Slave is in Init state flashes uniformly Slave is in Pre Operational state flashes sporadically Slave is in Safe Operational state lit Sl...

Page 22: ...e 2 white TxD send data 3 blue GND Ground 4 black RxD receive data 5 grey Shield Shield 3 4 2 Status LEDs X02 X04 Fig 12 RS232 Status LEDs LED Display Meaning R left green illuminated The serial port...

Page 23: ...istors A linear bus with more than two devices can be set up in RS485 mode To prevent reflections dur ing the data transmission it is necessary to terminate the line ends of the bus cable with resisto...

Page 24: ...m 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 th...

Page 25: ...nCAT An EtherCAT Box must be configured in TwinCAT so that its functions can be used in a PLC program The following link will take you to a quick start guide describing the configuration of an EtherCA...

Page 26: ...nding ob ject Only the mandatory parameters for the respective interface mode are specified here Further settings may be possible 4 2 1 1 RS232 RS232 point to point connection to an RS232 device Direc...

Page 27: ...be established Fig 17 4 wire point to point connection to an RS422 device The following CoE objects must be set Index Name Meaning Data type Flags Setting F800 0n Interface type Ch n 0x00 RS232 BIT1 R...

Page 28: ...ing F800 0n Interface type Ch n 0x00 RS232 BIT1 RW 0x01 1dec 0x01 RS485 422 Index Name Meaning Data type Flags Setting 80n0 06 Enable half du plex channel n 0bin Full duplex transmitted data are monit...

Page 29: ...ce type Ch n 0x00 RS232 BIT1 RW 0x01 1dec 0x01 RS485 422 Index Name Meaning Data type Flags Setting 80n0 06 Enable half du plex channel n 0bin Full duplex transmitted data are monitored The bit has no...

Page 30: ...note the following general CoE notes when using manipulating the CoE parameters Keep a startup list if components have to be replaced Differentiation between online offline dictionary existence of cu...

Page 31: ...tiguous data stream the Enable transfer rate optimization option in the Settings object is activated by default Due to this switch the data will first be stored intermediately in the receive buffer 86...

Page 32: ...ady for data exchange Data transmission from the controller to the module send 2 characters 1 Set Output length to 2 2 Fill Data Out 0 and Data Out 1 with user data 3 Change the state of Transmit requ...

Page 33: ...Commissioning Configuration EP6002 0002 33 Version 1 0 4 2 4 Communication via a virtual COM port Application Note DK9322 0411 0041 describes the communication via a virtual COM port...

Page 34: ...0 COM TxPDO Par Inputs Ch 1 43 1801 COM TxPDO Par Inputs Ch 2 44 1804 COM TxPDO Par Inputs Ch 1 44 1805 COM TxPDO Par Inputs Ch 2 44 1A00 COM TxPDO Map Inputs Ch 1 45 1A01 COM TxPDO Map Inputs Ch 2 46...

Page 35: ...urrent XML description use CoE reload for resetting changes Introduction The CoE overview contains objects for different intended applications Objects required for parameterization 35 during commissio...

Page 36: ...d RS422 mode BOOLEAN RW 0x00 0dec 0 Full duplex The module monitors its transmit ted data 1 Half duplex The module does not monitor the data that it has transmitted itself 8000 07 Enable point to poin...

Page 37: ...e point to point connection RS422 0 The module is used in a bus structure in ac cordance with the RS485 standard BOOLEAN RW 0x00 0dec 1 The module is used as a point to point con nection RS422 8010 11...

Page 38: ...rCAT slave the Low Word bit 0 15 indicates the special terminal number the High Word bit 16 31 refers to the device description UINT32 RO 0x00100002 1048578dec 1018 04 Serial number Serial number of t...

Page 39: ...pecifies the RxPDOs index of RxPDO mapping ob jects that must not be transferred together with Rx PDO 5 OCTET STRING 2 RO 00 16 Index 1405 COM RxPDO Par Outputs Ch 2 Index hex Name Meaning Data type F...

Page 40: ...ct 0x7000 COM Outputs Ch 1 entry 0x17 Data Out 6 UINT32 RO 0x7000 17 8 1600 0E SubIndex 014 14 PDO Mapping entry object 0x7000 COM Outputs Ch 1 entry 0x18 Data Out 7 UINT32 RO 0x7000 18 8 1600 0F SubI...

Page 41: ...ct 0x7010 COM Outputs Ch 2 entry 0x17 Data Out 6 UINT32 RO 0x7010 17 8 1601 0E SubIndex 014 14 PDO Mapping entry object 0x7010 COM Outputs Ch 2 entry 0x18 Data Out 7 UINT32 RO 0x7010 18 8 1601 0F SubI...

Page 42: ...RO 0x7000 19 8 1604 0B SubIndex 011 11 PDO Mapping entry object 0x7000 COM Outputs Ch 1 entry 0x1A Data Out 9 UINT32 RO 0x7000 1A 8 1604 0C SubIndex 012 12 PDO Mapping entry object 0x7000 COM Outputs...

Page 43: ...2 PDO Mapping entry object 0x7010 COM Outputs Ch 2 entry 0x1B Data Out 10 UINT32 RO 0x7010 1B 8 1605 0D SubIndex 013 13 PDO Mapping entry object 0x7010 COM Outputs Ch 2 entry 0x1C Data Out 11 UINT32 R...

Page 44: ...puts Ch 1 Index hex Name Meaning Data type Flags Default 1804 0 COM TxPDO Par Inputs Ch 1 PDO parameter TxPDO 5 UINT8 RO 0x06 6dec 1804 06 Exclude TxPDOs Specifies the TxPDOs index of TxPDO mapping ob...

Page 45: ...INT32 RO 0x6000 15 8 1A00 0F SubIndex 015 15 PDO Mapping entry object 0x6000 COM Inputs Ch 1 entry 0x16 Data In 5 UINT32 RO 0x6000 16 8 1A00 10 SubIndex 016 16 PDO Mapping entry object 0x6000 COM Inpu...

Page 46: ...INT32 RO 0x6010 15 8 1A01 0F SubIndex 015 15 PDO Mapping entry object 0x6010 COM Inputs Ch 2 entry 0x16 Data In 5 UINT32 RO 0x6010 16 8 1A01 10 SubIndex 016 16 PDO Mapping entry object 0x6010 COM Inpu...

Page 47: ...INT32 RO 0x6000 19 8 1A04 0B SubIndex 011 11 PDO Mapping entry object 0x6000 COM Inputs Ch 1 entry 0x1A Data In 9 UINT32 RO 0x6000 1A 8 1A04 0C SubIndex 012 12 PDO Mapping entry object 0x6000 COM Inpu...

Page 48: ...B 8 1A05 0D SubIndex 013 13 PDO Mapping entry object 0x6010 COM Inputs Ch 2 entry 0x1C Data In 11 UINT32 RO 0x6010 1C 8 1A05 0E SubIndex 014 14 PDO Mapping entry object 0x6010 COM Inputs Ch 2 entry 0x...

Page 49: ...6dec 1C12 02 Subindex 002 2 allocated RxPDO contains the index of the associ ated RxPDO mapping object UINT16 RW 0x1605 5637dec Index 1C13 TxPDO assign Index hex Name Meaning Data type Flags Default 1...

Page 50: ...m cycle time in ns UINT32 RO 0x00002710 10000dec 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...

Page 51: ...d 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 1C32 08 50 or 1C33 08...

Page 52: ...0x00 0dec 6000 12 Data In 1 Input data UINT8 RO 0x00 0dec 6000 13 Data In 2 Input data UINT8 RO 0x00 0dec 6000 14 Data In 3 Input data UINT8 RO 0x00 0dec 6000 15 Data In 4 Input data UINT8 RO 0x00 0d...

Page 53: ...0x00 0dec 6010 12 Data In 1 Input data UINT8 RO 0x00 0dec 6010 13 Data In 2 Input data UINT8 RO 0x00 0dec 6010 14 Data In 3 Input data UINT8 RO 0x00 0dec 6010 15 Data In 4 Input data UINT8 RO 0x00 0d...

Page 54: ...7000 14 Data Out 3 Output data UINT8 RO 0x00 0dec 7000 15 Data Out 4 Output data UINT8 RO 0x00 0dec 7000 16 Data Out 5 Output data UINT8 RO 0x00 0dec 7000 17 Data Out 6 Output data UINT8 RO 0x00 0dec...

Page 55: ...RO 0x00 0dec 7010 1B Data Out 10 Output data UINT8 RO 0x00 0dec 7010 1C Data Out 11 Output data UINT8 RO 0x00 0dec 7010 1D Data Out 12 Output data UINT8 RO 0x00 0dec 7010 1E Data Out 13 Output data UI...

Page 56: ...UINT16 RO 0x0000 0dec A010 21 Data bytes in re ceive buffer Number of data bytes in the receive FIFO UINT16 RO 0x0000 0dec Index F000 Modular device profile Index hex Name Meaning Data type Flags Defa...

Page 57: ...e default 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...

Page 58: ...ly of the devices Disposal In order to dispose of the device it must be removed In accordance with the WEEE Directive 2012 19 EU Beckhoff takes back old devices and accessories in Germany for proper d...

Page 59: ...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...

Page 60: ...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 assem...

Page 61: ...ternal handling and administration of the products When scanning the BICs you will find the following information Coded information on the BIC Item no Type of information Explanation 1 Beckhoff order...

Page 62: ...52S 23 52S2304853 1 004 Structure of the BIC Example of an item of information made up of positions 1 4 and 6 The data identifiers are each marked in red for clearer illustration 1P072222SBTNk4p562d71...

Page 63: ...ff components there Beckhoff Headquarters Beckhoff Automation GmbH Co KG Huelshorstweg 20 33415 Verl Germany Phone 49 5246 963 0 Fax 49 5246 963 198 e mail info beckhoff com Beckhoff Support Support o...

Page 64: ...CAT status LEDs 21 Fig 11 M12 socket 22 Fig 12 RS232 Status LEDs 22 Fig 13 M12 socket 23 Fig 14 RS422 RS485 Status LEDs 23 Fig 15 UL label 24 Fig 16 Point to point connection to an RS232 device 26 Fig...

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