Kendrion 694 411 00 Instruction Manual Download Page 427 | Manualshive

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Kendrion Kuhnke Automation GmbH

CAN Master/Slave

427

17 May 2021

5.7.3 CAN Master/Slave

The FIO CAN Master/Slave module is a layer 2 EtherCAT CAN gateway. CODESYS provides the higher-
layer protocols (CANopen Master / Slave, etc.). The module is based on the EtherCAT slave stack version
5.11.

In CODESYS 3, the module provides a CANbus port that further configurations can be connected to. A
device description available for CODESYS 3 contains all the required details. Mind that you also need the
device driver (CAN Mini Driver).

Visit Kendrion Kuhnke's Product Finder to download the data you need. Please note the installation
instructions.

Link:

http://productfinder.kuhnke.kendrion.com

Screen if the device description has been installed properly

Pin wiring

Front view of the CAN Master/Slave module

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Summary of Contents for 694 411 00

Page 1: ...Instruction Manual Kuhnke FIO IP20 EtherCAT I O Modules E 747GB V2 17 May 2021...

Page 2: ...netic Compatibility 12 Definition 12 Interference Emission 12 General Notes on Installation 12 Electrical Immission Safeguard 12 Cable Routing and Wiring 12 Location of Installation 13 Particular Sour...

Page 3: ...AI4 12Bit AO4 16Bit CoE 63 5 4 2 AO4 U I 12 Bit 144 5 4 3 AO4 U I 16 Bit CoE 149 5 4 4 AI4 8 U 157 5 4 5 AI8 16 U 165 5 4 6 AI4 I 174 5 4 7 AI8 I 181 5 4 8 AI4 Pt Ni TC 189 5 4 9 AI8 Pt Ni TC 198 5 5...

Page 4: ...l 449 Terminals 449 Function 449 Technical Data 450 7 Configuration 451 7 1 CODESYS V3 CODESYS Configurator 451 Offline Configuration 451 Online Configuration 454 8 Appendix 457 8 1 Technical Data Sum...

Page 5: ...sensor values revised in chapter 5 4 2 5 4 3 UL logo added for 16 16 bus coupler added to chapter 5 2 2 08 Mar 2017 New thermo module sub chapters on cold point compensation and calibration 5 4 8 5 4...

Page 6: ...negligence on our part Terms of Delivery The general conditions of sales and service of Kendrion Kuhnke Automation GmbH shall apply Copyright Kendrion Kuhnke Automation GmbH This instruction manual i...

Page 7: ...unit decides how to configure the network and create the control program This manual aims to introduce you to using the modules The examples are preferably based on CODESYS version 3 which has an Eth...

Page 8: ...y at all times 2 4 Transport and Storage At times of transport and storage protect Kuhnke FIO Module against inadmissible exposure such as mechanical stress temperature humidity and or aggressive atmo...

Page 9: ...ude selecting high quality components quality agreements with our suppliers actions to avoid static charges when handling MOS circuits worst case planning and design of all circuits visual inspections...

Page 10: ...tential consequences of non observance Preventive measures DANGER A DANGER warning makes you aware of an immediately hazardous situation which WILL cause a serious or fatal accident if not observed WA...

Page 11: ...all dangerous states Emergency off installations must comply with EN 60204 IEC 204 VDE 0113 They must be operative at any time Safety and precautions regulations for qualified applications have to be...

Page 12: ...tion instructions to be complied with to ensure that hardware interface factors and the ensuing noise voltages are limited to tolerable levels Interference Emission Interfering emission of electromagn...

Page 13: ...se effects of moisture corrosive gases liquids and conductive dust Operation of an impermissibly dirty module is not permitted Cleaning the device is also prohibited Impact and Vibration Consider poss...

Page 14: ...nke FIO is a system of modules interconnecting via the backplane bus to make up a so called EtherCAT network able to transfer process signals For example a Kuhnke FIO system may comprise a Kuhnke FIO...

Page 15: ...h a controller such as the analogue modules are available as variants compatible with the process map control methodology of the Ventura FIO modules or as object controlled variants CoE CAN over Ether...

Page 16: ...The picture below shows the basic layout of the Kuhnke FIO modules The bus coupler and the I O modules differ in their connectors and indicators however The housing mount consists of an aluminium pro...

Page 17: ...o the top and 35 mm to adjacent devices or cabinet surfaces Leave at least 20 mm of lateral distance to third party units and cabinet surfaces Order of Modules in Multi FIO Systems NOTE In order to en...

Page 18: ...about 1cm away towards the right of the first module Push the second module along the rail towards the first module until you hear the locking device snap in To Disconnect Two Modules Push down the u...

Page 19: ...ctor sleeve w collar to DIN 46 228 4 8 10 8 10 8 10 8 10 10 12 10 12 Connector sleeve w o collar to DIN 46 228 1 8 10 8 10 8 10 8 10 8 10 8 10 8 10 Stripped end mm sleeve length mm The spring assisted...

Page 20: ...g variants that connect earth to 24V Remember that even in case of a fault a maximum voltage of U max 33 V maybe supplied to these assemblies If you cannot rule out this risk external protection of th...

Page 21: ...ed Power to the I O module outputs is supplied separately Spring assisted plug with bolt flange for bus coupler connection I O Modules The I O supply connects to the I O module using plug type termina...

Page 22: ...To have your control program check whether power is supplied to the IOs connect L to a digital input and poll that input as an indirect indicator of the IO power supply Remember the following if you c...

Page 23: ...LEDs are located on the bus coupler They indicate the physical state of the Ethernet State LED flash code Explanation Not connected Off No Ethernet connection Connected Green on Connected to Ethernet...

Page 24: ...Freescale RAM remanent memory 128 MB flash storage Drives On board flash memory SD HC card slot Software Operating system Windows Embedded CE 6 0 Application CODESYS V3 Soft PLC plus WebVisu Ports 1x...

Page 25: ...mory 256 MB flash storage Drives On board flash memory SD HC card slot Software Operating system Windows Embedded Compact 2013 Application CODESYS V3 Soft PLC plus optional WebVisu Ports 1x RS232 1x U...

Page 26: ...nd permanent tensile load close to the connector of the Ethernet cable strain the connections If the Ethernet plug is seated with a lot of play and not sufficiently guided in the socket tilting effect...

Page 27: ...effect being that another 100 Base Tx line can be plugged in to connect the next EtherCAT unit to the second bus coupler port Information Best noise emission results are obtained by connecting the sh...

Page 28: ...n See page 27 Module State Variable Data type Explanation Undervoltage BOOL Low voltage supplied power 19 2V Technical Data Function Connects a 100 Base TX EtherCAT with the Kuhnke FIO I O modules Gen...

Page 29: ...6 digital inputs and 16 digital outputs The E bus port on the side allows a flexible extension of the bus coupler DI16 DO16 by Kuhnke FIO series EtherCAT I O modules Information Best noise emission re...

Page 30: ...uit prevails the outputs are allowed to cool down to be turned back on until the thermal fuse blows again LED Power The LED labelled Power indicates the state of the I O module s I O power supply Stat...

Page 31: ...E 747GB V2 31 17 May 2021 Module State Variable Data type Explanation undervoltage_load BOOL U24_Load undervoltage supplied power 19 2V undervoltage_logic BOOL U24_Logic undervoltage supplied power 19...

Page 32: ...x 100 m between 2 bus couplers EtherCAT port 2x RJ45 Module power supply 24 VDC 15 20 IO power connector male 36 pole connector included in module package Input current 40 mA E bus plus E bus power ma...

Page 33: ...uts and 8 digital outputs The E bus port on the side allows a flexible extension of the bus coupler DI8 DO8 by Kuhnke FIO series EtherCAT I O modules Information Best noise emission results are obtain...

Page 34: ...le s I O power supply State LED flash code Explanation On Green on 24 VDC supply ok Off Off 24 VDC supply not ok NOTE The module features a low voltage watchdog for the logic and load circuits LED In...

Page 35: ...x 100 m between 2 bus couplers EtherCAT port 2x RJ45 Module power supply 24 VDC 15 20 IO power connector male 18 pole connector included in module package Input current 40 mA E bus plus E bus power ma...

Page 36: ...gh to design a star topology of EtherCAT slaves for example Terminals Module power supply via the E bus EtherCAT OUT1 Female RJ45 output to next EtherCAT station OUT2 Female RJ45 output to next EtherC...

Page 37: ...RJ45 100 Base Tx ports OUT1 OUT2 The other 2 ports are used by the E bus Your configuration should take account of the order in which the ports are addressed i e of the transfer path of the EtherCAT f...

Page 38: ...ational no data exchange Safe Op Off green 5 1 Safe operation inputs readable Op Green on Operational unrestricted data exchange LED IO The LED labelled IO indicates the state of the module s I Os Sta...

Page 39: ...odule features 16 digital inputs and 16 digital outputs Variable Variable Data type Explanation DigitalInputn BOOL Digital input n 0 15 DigitalOutputn BOOL Digital output n 0 15 Technical Data Digital...

Page 40: ...1 1 Pre operational no data exchange Safe Op Off green 5 1 Safe operation inputs readable Op Green on Operational unrestricted data exchange LED IO There is no LED labelled IO LED Power The LED labell...

Page 41: ...nformation The module is not monitored for low voltage states Variable Variable Data type Explanation DigitalInputn BOOL Digital input n 0 15 DigitalOutputn BOOL Digital output n 0 15 Technical Data D...

Page 42: ...ff green 5 1 Safe operation inputs readable Op Green on Operational unrestricted data exchange LED IO The LED labelled IO indicates the state of the module s I Os State LED flash code Explanation Ok O...

Page 43: ...tion The DI16 DO8 module features 16 digital inputs and 8 digital outputs Variable Variable Data type Explanation DigitalInputn BOOL Digital input n 0 15 DigitalOutputn BOOL Digital output n 0 7 Reser...

Page 44: ...ta exchange Safe Op Off green 5 1 Safe operation inputs readable Op Green on Operational unrestricted data exchange LED IO The LED labelled IO indicates the state of the module s I Os State LED flash...

Page 45: ...8 module features 8 digital inputs and 8 digital outputs Variable Variable Data type Explanation DigitalInputn BOOL Digital input n 0 7 DigitalOutputn BOOL Digital output n 0 7 Technical Data Digital...

Page 46: ...erational no data exchange Safe Op Off green 5 1 Safe operation inputs readable Op Green on Operational unrestricted data exchange LED IO There is no LED labelled IO LED Power There is no LED labelled...

Page 47: ...s typically Signal level Off 3V 5V EN 61131 3 type 1 On 15V 30V IO power connection 18 pin plug Controller ASIC ET1200 Baud rate 100 Mbit s E bus connector 10 pole system plug in side wall Terminating...

Page 48: ...o data exchange Pre Op Off green 1 1 Pre operational no data exchange Safe Op Off green 5 1 Safe operation inputs readable Op Green on Operational unrestricted data exchange LED IO There is no LED lab...

Page 49: ...of the two wire connection without additional distribution terminal CAUTION The 24V outputs are only intended for use with the inputs of the module NOTE The output drivers have a thermal fuse to autom...

Page 50: ...ising delay 1 ms typically Signal level Off 3V 5V EN 61131 3 type 1 On 15V 30V IO power connection 36 pin plug Controller ASIC ET1200 Baud rate 100 Mbit s E bus connector 10 pole system plug in side w...

Page 51: ...erational no data exchange Safe Op Off green 5 1 Safe operation inputs readable Op Green on Operational unrestricted data exchange LED IO There is no LED labelled IO LED Power There is no LED labelled...

Page 52: ...s typically Signal level Off 3V 5V EN 61131 3 type 1 On 15V 30V IO power connection 36 pin plug Controller ASIC ET1100 Baud rate 100 Mbit s E bus connector 10 pole system plug in side wall Terminating...

Page 53: ...green 5 1 Safe operation inputs readable Op Green on Operational unrestricted data exchange LED IO The LED labelled IO indicates the state of the module s I Os State LED flash code Explanation Ok Off...

Page 54: ...on Output enabled Off Off Output disabled Function The DO8 module has 8 digital outputs Variable Variable Data type Explanation DigitalOutputn BOOL Digital output n 0 7 Reserved BOOL Unused output ad...

Page 55: ...exchange Safe Op Off green 5 1 Safe operation inputs readable Op Green on Operational unrestricted data exchange LED IO The LED labelled IO indicates the state of the module s I Os State LED flash co...

Page 56: ...nnel State LED Explanation On Green on Output enabled Off Off Output disabled Function The DO16 module has 16 digital outputs Variable Variable Data type Explanation DigitalOutputn BOOL Digital output...

Page 57: ...no data exchange Safe Op Off green 5 1 Safe operation inputs readable Op Green on Operational unrestricted data exchange LED IO The LED labelled IO indicates the state of the module s I Os State LED...

Page 58: ...n Output enabled Off Off Output disabled Function The DO16 module has 16 digital outputs and 16 ground connections without an additional distribution terminal Variable Variable Data type Explanation D...

Page 59: ...green 1 1 Pre operational no data exchange Safe Op Off green 5 1 Safe operation inputs readable Op Green on Operational unrestricted data exchange LED IO LED IO has no function LED Power The LED labe...

Page 60: ...rrent reduces the lifetime of the module Pay attention to a good allocation of the switching currents to the individual outputs insert e g two outputs loaded with 5A if possible not directly next to e...

Page 61: ...Off green 1 1 Pre operational no data exchange Safe Op Off green 5 1 Safe operation inputs readable Op Green on Operational unrestricted data exchange LED IO LED IO has no function LED Power The LED l...

Page 62: ...rrent reduces the lifetime of the module Pay attention to a good allocation of the switching currents to the individual outputs insert e g two outputs loaded with 5A if possible not directly next to e...

Page 63: ...16Bit E 747GB V2 63 17 May 2021 5 4 Analogue FIO Modules 5 4 1 AI4 12Bit AO4 16Bit CoE Terminals Power supply to module I Os L 24 VDC L 0 V Funktionserde Schirm der Analogleitungen Abschnitt Earth Fr...

Page 64: ...r Off Malfunction of module if E bus LED On Inoperative if E bus LED Off Red 1x Short circuit Red 2x Low voltage Red 4x EtherCAT watchdog control Red 6x Module specific fault Red 7x Configuration erro...

Page 65: ...on the configuration of the analog inputs various predefined mappings are available A basic distinction is made between the following display formats Field Value Physical Input value in V or mA as RE...

Page 66: ...object of the scaled analog input values The predefined mapping object 1A03h can be selected for this purpose AI Channel Control 2001h Bit 1 0 Scaling by factor and offset Bit 1 1 Scaling by set point...

Page 67: ...activated The analog outputs are activated by configuring the output type of the respective output Objekt Beschreibung AO Output Type 6310h 0 Disabled Default 10 0 10 V 11 10 V 20 0 20 mA 21 4 20 mA O...

Page 68: ...synchronously For this purpose there is a local clock in the EtherCAT slave controllers which is automatically synchronised by the EtherCAT master with the master clock in the EtherCAT network with a...

Page 69: ...Cycle time 4000 s 4 times oversampling Every 1000 s the Sync 0 interrupt is triggered on the module in which the input values are read These are available in the following objects Field Value Real Pro...

Page 70: ...o Value Range Fix Default Value 800A 0192h Additional Information 16 Bit 31 16 Bit 16 Digital Input FB o Bit 17 Analog Input FB Bit 18 Digital Output FB o Bit 19 Analog Output FB Bit 20 Controller FB...

Page 71: ...3 2 1 0 MAN RES PROF COM TEMP VOL CUR GEN GEN General error CUR Current VOL Voltage TEMP Temperature COM Communication PROF Device profile RES reserved always 0 MAN Manufacturer specific Manufacturer...

Page 72: ...ng No Units Value Range Fix Default Value 1 00 Subindex 0 of this object contains the length of the character string As of subindex 1 the individual characters are contained The character string is no...

Page 73: ...dor ID Subindex 01h Data type UNSIGNED32 Access read only PDO Mapping No Default Value 0048554Bh Name Product Code Subindex 02h Data type UNSIGNED32 Access read only PDO Mapping No Default Value 0002E...

Page 74: ...ata Type Name Highest sub index supported Subindex 00h Data type UNSIGNED8 Access read only PDO Mapping No Default Value 02h Name Local Error Reaction Subindex 01h Data type UNSIGNED32 Access read onl...

Page 75: ...fault Value 01h Name 1st Object to be mapped Subindex 01h Data type UNSIGNED32 Access read write PDO Mapping No Default Value 2201 00 10h Name 2nd Object to be mapped Subindex 02h Data type UNSIGNED32...

Page 76: ...Name 7th Object to be mapped Subindex 07h Data type UNSIGNED32 Access read write PDO Mapping No Default Value 00000000h Name 8th Object to be mapped Subindex 08h Data type UNSIGNED32 Access read write...

Page 77: ...supported Subindex 00h Data type UNSIGNED8 Access read only PDO Mapping No Default Value 04h Name 1st Object to be mapped Subindex 01h Data type UNSIGNED32 Access read write PDO Mapping No Default Val...

Page 78: ...D32 Access read write PDO Mapping No Default Value 00000000h Name 7th Object to be mapped Subindex 07h Data type UNSIGNED32 Access read write PDO Mapping No Default Value 00000000h Name 8th Object to...

Page 79: ...x supported Subindex 00h Data type UNSIGNED8 Access read only PDO Mapping No Default Value 04h Name 1st Object to be mapped Subindex 01h Data type UNSIGNED32 Access read write PDO Mapping No Default V...

Page 80: ...D32 Access read write PDO Mapping No Default Value 00000000h Name 7th Object to be mapped Subindex 07h Data type UNSIGNED32 Access read write PDO Mapping No Default Value 00000000h Name 8th Object to...

Page 81: ...ed Subindex 00h Data type UNSIGNED8 Access read only PDO Mapping No Default Value 04 Name 1st Object to be mapped Subindex 01h Data type UNSIGNED32 Access read write PDO Mapping No Default Value 6300...

Page 82: ...D32 Access read write PDO Mapping No Default Value 00000000h Name 7th Object to be mapped Subindex 07h Data type UNSIGNED32 Access read write PDO Mapping No Default Value 00000000h Name 8th Object to...

Page 83: ...lt Value 01h Name 1st Object to be mapped Subindex 01h Data type UNSIGNED32 Access read write PDO Mapping No Default Value 213F 00 10h Name 2nd Object to be mapped Subindex 02h Data type UNSIGNED32 Ac...

Page 84: ...Name 7th Object to be mapped Subindex 07h Data type UNSIGNED32 Access read write PDO Mapping No Default Value 00000000h Name 8th Object to be mapped Subindex 08h Data type UNSIGNED32 Access read write...

Page 85: ...No Default Value 04h Name 1st Object to be mapped Subindex 01h Data type UNSIGNED32 Access read write PDO Mapping No Default Value 6100 01 20h Name 2nd Object to be mapped Subindex 02h Data type UNSIG...

Page 86: ...Name 7th Object to be mapped Subindex 07h Data type UNSIGNED32 Access read write PDO Mapping No Default Value 00000000h Name 8th Object to be mapped Subindex 08h Data type UNSIGNED32 Access read write...

Page 87: ...ng No Default Value 04h Name 1st Object to be mapped Subindex 01h Data type UNSIGNED32 Access read write PDO Mapping No Default Value 7100 01 20h Name 2nd Object to be mapped Subindex 02h Data type UN...

Page 88: ...Name 7th Object to be mapped Subindex 07h Data type UNSIGNED32 Access read write PDO Mapping No Default Value 00000000h Name 8th Object to be mapped Subindex 08h Data type UNSIGNED32 Access read write...

Page 89: ...ault Value 04h Name 1st Object to be mapped Subindex 01h Data type UNSIGNED32 Access read write PDO Mapping No Default Value 6130 01 20h Name 2nd Object to be mapped Subindex 02h Data type UNSIGNED32...

Page 90: ...Name 7th Object to be mapped Subindex 07h Data type UNSIGNED32 Access read write PDO Mapping No Default Value 00000000h Name 8th Object to be mapped Subindex 08h Data type UNSIGNED32 Access read write...

Page 91: ...fault Value 05h Name 1st Object to be mapped Subindex 01h Data type UNSIGNED32 Access read write PDO Mapping No Default Value 2101 01 10h Name 2nd Object to be mapped Subindex 02h Data type UNSIGNED32...

Page 92: ...Name 7th Object to be mapped Subindex 07h Data type UNSIGNED32 Access read write PDO Mapping No Default Value 00000000h Name 8th Object to be mapped Subindex 08h Data type UNSIGNED32 Access read writ...

Page 93: ...fault Value 05h Name 1st Object to be mapped Subindex 01h Data type UNSIGNED32 Access read write PDO Mapping No Default Value 2102 01 10h Name 2nd Object to be mapped Subindex 02h Data type UNSIGNED32...

Page 94: ...Name 7th Object to be mapped Subindex 07h Data type UNSIGNED32 Access read write PDO Mapping No Default Value 00000000h Name 8th Object to be mapped Subindex 08h Data type UNSIGNED32 Access read writ...

Page 95: ...fault Value 05h Name 1st Object to be mapped Subindex 01h Data type UNSIGNED32 Access read write PDO Mapping No Default Value 2103 01 10h Name 2nd Object to be mapped Subindex 02h Data type UNSIGNED32...

Page 96: ...Name 7th Object to be mapped Subindex 07h Data type UNSIGNED32 Access read write PDO Mapping No Default Value 00000000h Name 8th Object to be mapped Subindex 08h Data type UNSIGNED32 Access read writ...

Page 97: ...fault Value 05h Name 1st Object to be mapped Subindex 01h Data type UNSIGNED32 Access read write PDO Mapping No Default Value 2104 01 10h Name 2nd Object to be mapped Subindex 02h Data type UNSIGNED32...

Page 98: ...Name 7th Object to be mapped Subindex 07h Data type UNSIGNED32 Access read write PDO Mapping No Default Value 00000000h Name 8th Object to be mapped Subindex 08h Data type UNSIGNED32 Access read writ...

Page 99: ...fault Value 05h Name 1st Object to be mapped Subindex 01h Data type UNSIGNED32 Access read write PDO Mapping No Default Value 2131 01 20h Name 2nd Object to be mapped Subindex 02h Data type UNSIGNED32...

Page 100: ...Name 7th Object to be mapped Subindex 07h Data type UNSIGNED32 Access read write PDO Mapping No Default Value 00000000h Name 8th Object to be mapped Subindex 08h Data type UNSIGNED32 Access read writ...

Page 101: ...fault Value 05h Name 1st Object to be mapped Subindex 01h Data type UNSIGNED32 Access read write PDO Mapping No Default Value 2132 01 20h Name 2nd Object to be mapped Subindex 02h Data type UNSIGNED32...

Page 102: ...Name 7th Object to be mapped Subindex 07h Data type UNSIGNED32 Access read write PDO Mapping No Default Value 00000000h Name 8th Object to be mapped Subindex 08h Data type UNSIGNED32 Access read writ...

Page 103: ...efault Value 05h Name 1st Object to be mapped Subindex 01h Data type UNSIGNED32 Access read write PDO Mapping No Default Value 2133 01 20h Name 2nd Object to be mapped Subindex 02h Data type UNSIGNED3...

Page 104: ...Name 7th Object to be mapped Subindex 07h Data type UNSIGNED32 Access read write PDO Mapping No Default Value 00000000h Name 8th Object to be mapped Subindex 08h Data type UNSIGNED32 Access read writ...

Page 105: ...efault Value 05h Name 1st Object to be mapped Subindex 01h Data type UNSIGNED32 Access read write PDO Mapping No Default Value 2134 01 20h Name 2nd Object to be mapped Subindex 02h Data type UNSIGNED3...

Page 106: ...Name 7th Object to be mapped Subindex 07h Data type UNSIGNED32 Access read write PDO Mapping No Default Value 00000000h Name 8th Object to be mapped Subindex 08h Data type UNSIGNED32 Access read writ...

Page 107: ...t Value 04h Name AI Channel Control 1 Subindex 01h Data type UINT8 Access read write PDO Mapping Yes RX PDO Default Value 00000000h Name AI Channel Control 2 Subindex 02h Data type UINT8 Access read w...

Page 108: ...Comparator active AI Channel Status 2002h Name AI Channel State Index 2002h Object Code ARRAY No of Elements 5 Data Type UINT8 Name Highest sub index supported Subindex 00h Data type UINT8 Access rea...

Page 109: ...h Data type UINT8 Access read only PDO Mapping Yes TX PDO Default Value 00000000h Name AI Channel Status 4 Subindex 04h Data type UINT8 Access read only PDO Mapping Yes TX PDO Default Value 00000000h...

Page 110: ...f a new error occurs it is written to subindex 1 The existing entries in subindexes 1 to 7 are moved one position backwards The error on subindex 7 is removed The number of errors that have already oc...

Page 111: ...mple N 0 N 4 Subindex 01h 05h Data type INT16 Access read only PDO Mapping Yes TX PDO Default Value 00000000h Oversampling input values AI1 AI2 Oversample Data FV 2102h Name AI2 Oversample Data FV Ind...

Page 112: ...e N 0 N 4 Subindex 01h 05h Data type INT16 Access read only PDO Mapping Yes TX PDO Default Value 00000000h Oversampling input values AI3 AI4 Oversample Data FV 2104h Name AI4 Oversample Data FV Index...

Page 113: ...nput Calibration Gain 1 Subindex 01h Data type REAL32 Access read write PDO Mapping No Default Value 1 0 Name AI Input Calibration Gain 2 Subindex 02h Data type REAL32 Access read write PDO Mapping No...

Page 114: ...N 0 N 4 Subindex 01h 05h Data type REAL32 Access read only PDO Mapping Yes TX PDO Default Value 00000000h Oversampling input values AI1 AI2 Oversample Data PV 2132h Name AI2 Oversample Data PV Index...

Page 115: ...ple N 0 N 4 Subindex 01h 05h Data type REAL32 Access read only PDO Mapping Yes TX PDO Default Value 00000000h Oversampling input values AI3 AI4 Oversample Data PV 2134h Name AI4 Oversample Data PV Ind...

Page 116: ...or wire break 2331h AI1 Overvoltage or wire break 2332h AI2 Overvoltage or wire break 2333h AI3 Overvoltage or wire break 3120h Module undervoltage 5100h AI0 Input value outside the parameterized lim...

Page 117: ...f Elements 0 Data Type UNSIGNED16 Access read write PDO Mapping Yes RX PDO Value Range Default Value 00h 7 6 5 4 3 2 1 0 RES RES 0 keine Aktion 1 Reset Device durchf hren Device Status 2202h Name Devi...

Page 118: ...ss read only PDO Mapping Yes TX PDO Default Value 00000000h Name AI Input FV 2 Subindex 02h Data type REAL32 Access read only PDO Mapping Yes TX PDO Default Value 00000000h Name AI Input FV 3 Subindex...

Page 119: ...index 00h Data type UINT16 Access read only PDO Mapping No Default Value 04h Name AI Sensor Type 1 Subindex 01h Data type UINT16 Access read write PDO Mapping No Default Value 00000000h Name AI Sensor...

Page 120: ...ation GmbH 120 E 747GB V2 17 May 2021 Name AI Sensor Type 4 Subindex 04h Data type UINT16 Access read write PDO Mapping No Default Value 00000000h Channel dependent setting of the connected sensor 42...

Page 121: ...fault Value 04h Name AI Input Scaling 1 FV 1 Subindex 01h Data type REAL32 Access read write PDO Mapping No Default Value 00000000h Name AI Input Scaling 1 FV 2 Subindex 02h Data type REAL32 Access re...

Page 122: ...lt Value 04h Name AI Input Scaling 1 PV 1 Subindex 01h Data type REAL32 Access read write PDO Mapping No Default Value 00000000h Name AI Input Scaling 1 PV 2 Subindex 02h Data type REAL32 Access read...

Page 123: ...fault Value 04h Name AI Input Scaling 2 FV 1 Subindex 01h Data type REAL32 Access read write PDO Mapping No Default Value 00000000h Name AI Input Scaling 2 FV 2 Subindex 02h Data type REAL32 Access re...

Page 124: ...lt Value 04h Name AI Input Scaling 2 PV 1 Subindex 01h Data type REAL32 Access read write PDO Mapping No Default Value 00000000h Name AI Input Scaling 2 PV 2 Subindex 02h Data type REAL32 Access read...

Page 125: ...04h Name AI Input Offset 1 Subindex 01h Data type REAL32 Access read write PDO Mapping No Default Value 00000000h Name AI Input Offset 2 Subindex 02h Data type REAL32 Access read write PDO Mapping No...

Page 126: ...e AI Scaling Factor 1 Subindex 01h Data type REAL32 Access read write PDO Mapping No Default Value 00000000h Name AI Scaling Factor 2 Subindex 02h Data type REAL32 Access read write PDO Mapping No Def...

Page 127: ...04h Name AI Scaling Offset 1 Subindex 01h Data type REAL32 Access read write PDO Mapping No Default Value 00000000h Name AI Scaling Offset 2 Subindex 02h Data type REAL32 Access read write PDO Mappin...

Page 128: ...01h Data type REAL32 Access read only PDO Mapping Yes TX PDO Default Value 00000000h Name AI Input PV 2 Subindex 02h Data type REAL32 Access read only PDO Mapping Yes TX PDO Default Value 00000000h N...

Page 129: ...of Elements 5 Name Highest sub index supported Subindex 00h Data type UINT8 Access read only PDO Mapping No Default Value 04h Name AI Filter Type 1 Subindex 01h Data type ENUM Access read write PDO M...

Page 130: ...1 Filter AI Filter Constant 61A1h Name AI Filter Constant Index 61A1h Object Code RECORD No of Elements 5 Name Highest sub index supported Subindex 00h Data type UINT8 Access read only PDO Mapping No...

Page 131: ...04h Data type UINT16 Access read write PDO Mapping No Default Value 00000000h PT1 Filter time in ms AO Output PV 6300h Name AO Output PV Index 6300h Object Code ARRAY No of Elements 5 Data Type REAL32...

Page 132: ...ing Yes TX PDO Default Value 00000000h Name AO Output PV 4 Subindex 04h Data type REAL32 Access read only PDO Mapping Yes TX PDO Default Value 00000000h AO Output Type 6310h Name AO Sensor Type Index...

Page 133: ...ing No Default Value 00000000h Name AO Sensor Type 4 Subindex 04h Data type UINT16 Access read write PDO Mapping No Default Value 00000000h Channel dependent setting of the output variable 0 Disabled...

Page 134: ...bindex 02h Data type REAL32 Access read write PDO Mapping No Default Value 00000000h Name AO Output Scaling 1 FV 3 Subindex 03h Data type REAL32 Access read write PDO Mapping No Default Value 00000000...

Page 135: ...No Default Value 00000000h Name AO Output Scaling 1 PV 2 Subindex 02h Data type REAL32 Access read write PDO Mapping No Default Value 00000000h Name AO Output Scaling 1 PV 3 Subindex 03h Data type REA...

Page 136: ...1h Data type REAL32 Access read write PDO Mapping No Default Value 00000000h Name AO Output Scaling 2 FV 2 Subindex 02h Data type REAL32 Access read write PDO Mapping No Default Value 00000000h Name A...

Page 137: ...ault Value 04h Name AO Output Scaling 2 PV 1 Subindex 01h Data type REAL32 Access read write PDO Mapping No Default Value 00000000h Name AO Output Scaling 2 PV 2 Subindex 02h Data type REAL32 Access r...

Page 138: ...AO Output FV 1 Subindex 01h Data type REAL32 Access read only PDO Mapping Yes TX PDO Default Value 00000000h Name AO Output FV 2 Subindex 02h Data type REAL32 Access read only PDO Mapping Yes TX PDO...

Page 139: ...ess read only PDO Mapping Yes TX PDO Default Value 00000000h Name AI Input FV 2 Subindex 02h Data type INT16 Access read only PDO Mapping Yes TX PDO Default Value 00000000h Name AI Input FV 3 Subindex...

Page 140: ...efault Value 04h Name AO Output FV 1 Subindex 01h Data type INT16 Access read only PDO Mapping Yes TX PDO Default Value 00000000h Name AO Output FV 2 Subindex 02h Data type INT16 Access read only PDO...

Page 141: ...Access read only PDO Mapping Yes TX PDO Default Value 00000000h Name AO Output FV 3 Subindex 03h Data type INT16 Access read only PDO Mapping Yes TX PDO Default Value 00000000h Name AO Output FV 4 Sub...

Page 142: ...35 s when all channels are active Strom Measurement range 0 20mA 4 20mA Settling time 0 16V 25 s at 300 1mH Measurement error 0 5 typical 0 4 of final value Conversion time 200 s when all channels are...

Page 143: ...3 17 May 2021 General information Baud rate 100 Mbit s Controller ASIC ET1200 E bus connector 10 pole system plug in side wall Terminating module not required IO power connection 36 pin plug Power sup...

Page 144: ...r s control program Please note the following differences if you have a program including the old variant Ventura FIO AO4 12 Bit old Kuhnke FIO AO4 12 Bit new Current 0 20mA Current 0 20mA To be able...

Page 145: ...or Off Malfunction of module if E bus LED On Inoperative if E bus LED Off Red 1x Short circuit Red 2x Low voltage Red 4x EtherCAT watchdog control Red 6x Module specific fault Red 7x Configuration err...

Page 146: ...32767 16 7FFF 6 6 12 19660 16 4CCC 26216 39320 16 9998 7 7 14 22936 16 5998 19662 45874 16 B332 8 8 16 26213 16 6665 13109 52427 16 CCCB 9 9 18 29490 16 7332 6555 58981 16 E665 10 10 20 32767 16 7FFF...

Page 147: ...nfiguration error or watchdog control Specific_Error BOOL Module specific fault OptionsSet BOOL Sent by module to acknowledge SetOptions To reset the messages see section Module Control Module specifi...

Page 148: ...10V Short circuit protection Yes Short circuit current max 30mA Load resistance min 1k Settling time 0 10V 22 s at 2k 200pF Current Measuring range 0 20mA Load resistance max 500 max 1mH inductive Set...

Page 149: ...442 02 with a Kuhnke FIO AO4 16 Bit module 694 442 52 you must modify the EtherCAT master s control program Please note the following differences Ventura FIO AO4 12 Bit old Kuhnke FIO AO4 16 Bit new...

Page 150: ...nd the module state Service data objects SDO are available for details and settings You may run the configuration tool offline to change some settings of module AO4 16 Bit such as the properties of ea...

Page 151: ...Kendrion Kuhnke Automation GmbH AO4 U I 16 Bit E 747GB V2 151 17 May 2021 Click tap on Add choose an object and set the appropriate value...

Page 152: ...or Off Malfunction of module if E bus LED On Inoperative if E bus LED Off Red 1x Short circuit Red 2x Low voltage Red 4x EtherCAT watchdog control Red 6x Module specific fault Red 7x Configuration err...

Page 153: ...9 13107 16 3332 3 6 8 8 7 2 9830 16 2666 19660 16 4CCC 4 8 10 4 9 6 13106 16 3332 26214 16 6665 5 10 12 0 12 0 16383 16 3FFF 32767 16 7FFF 6 12 13 6 14 4 19660 16 4CCC 39320 16 9998 7 14 15 2 16 8 229...

Page 154: ...d Object Dictionary Index Name Type Default Min Max Access 1000 Device Type UINT32 0xF0191 RO 1001 Error Register UINT8 RO 1008 Device Name String RO 1009 Hardware Version String 1 00 RO 100A Software...

Page 155: ...avior Output 3 Array 2004 0 Number of Entries UINT8 2 RO 2004 1 Active on Undervoltage 24 BOOL FALSE RW 2004 1 Active on EtherCAT Watchdog Error BOOL FALSE RW 6411 Analogue Outputs Array 6411 0 Number...

Page 156: ...K Destruction limit external voltages 15V Voltage Measuring range 0 10V 10V Short circuit protection Yes Short circuit current max 30mA Load resistance min 1k Settling time 0 10V 22 s at 2k 200pF Curr...

Page 157: ...1 52 you must modify the EtherCAT master s control program Status LEDs LED EtherCAT Run The LED labelled EtherCAT Run indicates the state of the EtherCAT ASIC State LED flash code Explanation Init Off...

Page 158: ...nals Channels can be combined as follows 0 1 2 3 4 5 and 6 7 Measured Value Table Analogue voltage values Measured value Variable value 16 bits 10 V 5 V 2 5 V Bipolar Unipolar UINT Data type conversio...

Page 159: ...uld deactivate the measurement channel at the start parameters or set the input to ground short circuit when measuring differential signals To Set up the Options Conversion of the analogue values can...

Page 160: ...so use the SDO transfer components available for the EtherCAT master to change settings at runtime Click tap on Add choose an object and set the appropriate value Options You can set up the following...

Page 161: ...Default Min Max Access 1000 Device Type UINT32 0x40191 RO 1001 Error Register UINT8 RO 1008 Device Name String AI4 8 U 13 Bit RO 1009 Hardware Version String 1 00 RO 100A Software Version String 1 00...

Page 162: ...e ended Single ended 0 Differential 1 RW 2001 3 Input 4_5 Switch UINT8 Single ended Single ended 0 Differential 1 RW 2001 4 Input 6_7 Switch UINT8 Single ended Single ended 0 Differential 1 RW 2003 In...

Page 163: ...6 Analog Input 5 UINT16 RO P 6401 7 Analog Input 6 UINT16 RO P 6401 8 Analog Input 7 UINT16 RO P 6500 StateWord Array 6500 0 Number of Entries UINT8 16 RO 6500 1 ResetErrorAck BOOL RO P 6500 3 EtherCA...

Page 164: ...nised with DC SM Conversion time 464 s if all channels are active Internal resistance 1M Input filter cutoff frequency typ 1kHz Measuring error 0 4 typ 0 2 of final value Baud rate 100 Mbit s Controll...

Page 165: ...41 03 with a Kuhnke FIO AI8 16 U module 694 441 53 you must modify the EtherCAT master s control program Status LEDs LED EtherCAT Run The LED labelled EtherCAT Run indicates the state of the EtherCAT...

Page 166: ...u can pick up no more than 8 differential signals Channels can be combined as follows 0 1 2 3 4 5 6 7 8 9 10 11 12 13 and 14 15 Table of measured values Measured value Variable value 16 bits 10 V 5 V...

Page 167: ...ed values displayed in the I O image are floated To prevent this you should deactivate the measurement channel at the start parameters or set the input to ground short circuit when measuring different...

Page 168: ...tings of module AI4 8U 16 Bit such as the properties of each of the inputs The EtherCAT master will apply the settings when starting up the module You can also use the SDO transfer components availabl...

Page 169: ...ResetError 0 errors are retained 1 errors cleared after removing their cause 1 15 not used Object Dictionary Index Name Type Default Min Max Access 1000 Device Type UINT32 0x40191 RO 1001 Error Regist...

Page 170: ...2 5V 4 RW 2000 6 Input 5 UINT8 Off Off 0 0 10V 1 5V 2 10V 3 2 5V 4 RW 2000 7 Input 6 UINT8 Off Off 0 0 10V 1 5V 2 10V 3 2 5V 4 RW 2000 8 Input 7 UINT8 Off Off 0 0 10V 1 5V 2 10V 3 2 5V 4 RW 2000 9 In...

Page 171: ...1 RW 2001 4 Input 6_7 Switch UINT8 Single ended Single ended 0 Differential 1 RW 2001 5 Input 8_9 Switch UINT8 Single ended Single ended 0 Differential 1 RW 2001 6 Input 10_11 Switch UINT8 Single ende...

Page 172: ...2 UINT16 RO P 6401 4 Analog Input 3 UINT16 RO P 6401 5 Analog Input 4 UINT16 RO P 6401 6 Analog Input 5 UINT16 RO P 6401 7 Analog Input 6 UINT16 RO P 6401 8 Analog Input 7 UINT16 RO P 6401 9 Analog In...

Page 173: ...onised with DC SM Conversion time 580 s if all channels are active Internal resistance 1M Input filter cutoff frequency typ 1kHz Measuring error 0 4 typ 0 2 of final value Baud rate 100 Mbit s Control...

Page 174: ...st modify the EtherCAT master s control program Status LEDs LED EtherCAT Run The LED labelled EtherCAT Run indicates the state of the EtherCAT ASIC State LED flash code Explanation Init Off Initialisi...

Page 175: ...nnel enabled Off Off Channel disabled Added to the CoE variant 694 441 51 Kuhnke FIO AI4 I 12 Bit Error Red 1x Current 20 5 mA Red 2x Current 3 5 mA 4 20 mA mode Function The AI4 I module has four ana...

Page 176: ...s and state of AI4 I CoE To Set up the Options Conversion of the analogue values can be synchronised with DC Distributed Clocks or SM Sync Manager The process data objects stored as variables in the E...

Page 177: ...and choose the Startup Parameters to change some settings of module AI4 I 12 Bit such as the properties of each of the inputs The EtherCAT master will apply the settings when starting up the module Y...

Page 178: ...10 Input2low Current at 4 20mA 3 5mA 11 Input3low Current at 4 20mA 3 5mA 12 15 not used 16 Input0high Current 20 5 mA 17 Input1high Current 20 5 mA 18 Input2high Current 20 5 mA 19 Input3high Curren...

Page 179: ...1 1 255 RW 2003 2 Input 1 Average UINT8 1 1 255 RW 2003 3 Input 2 Average UINT8 1 1 255 RW 2003 4 Input 3 Average UINT8 1 1 255 RW 6401 Analogue input Array 6401 0 Number of Entries UINT8 4 RO 6401 1...

Page 180: ...ue inputs 4 Measuring range 0 20mA 4 20mA final value 20mA Resolution 12 bit Start AD conversion synchronised with DC SM Conversion time 235 s if all channels are active Internal resistance 300 Input...

Page 181: ...12 Bit module 694 441 04 with a Kuhnke FIO AI8 I 12 Bit module 694 441 54 you must modify the EtherCAT master s control program Status LEDs LED EtherCAT Run The LED labelled EtherCAT Run indicates th...

Page 182: ...s indicate the state of every channel State LED flash code Explanation On Green on Channel enabled Off Off Channel disabled Added to the CoE variant 694 441 51 Kuhnke FIO AI4 I 12 Bit Error red Curren...

Page 183: ...s and state of AI8 I CoE To Set up the Options Conversion of the analogue values can be synchronised with DC Distributed Clocks or SM Sync Manager The process data objects stored as variables in the E...

Page 184: ...and choose the Startup Parameters to change some settings of module AI8 I 12 Bit such as the properties of each of the inputs The EtherCAT master will apply the settings when starting up the module Y...

Page 185: ...urrent at 4 20mA 3 5mA 10 Input2low Current at 4 20mA 3 5mA 11 Input3low Current at 4 20mA 3 5mA 12 Input4low Current at 4 20mA 3 5mA 13 Input5low Current at 4 20mA 3 5mA 14 Input6low Current at 4 20m...

Page 186: ...INT8 8 RO 2000 1 Input 0 UINT8 Off Off 0 4 20mA 5 0 20mA 6 RW 2000 2 Input 1 UINT8 Off Off 0 4 20mA 5 0 20mA 6 RW 2000 3 Input 2 UINT8 Off Off 0 4 20mA 5 0 20mA 6 RW 2000 4 Input 3 UINT8 Off Off 0 4 2...

Page 187: ...EtherCAT Error BOOL RO P 6500 4 ConfigError BOOL RO P 6500 5 8 BOOL RO P 6500 9 Input 0 low BOOL RO P 6500 10 Input 1 low BOOL RO P 6500 11 Input 2 low BOOL RO P 6500 12 Input 3 low BOOL RO P 6500 13...

Page 188: ...ime 290 s if all channels are active Internal resistance 300 Input filter cutoff frequency 100 kHz Measuring error 0 5 typ 0 4 of final value Supply of Sensors 24VDC a total of max 200mA Baud rate 100...

Page 189: ...cing a Ventura FIO AI4 Pt Ni100 or 694 443 03 Ventura FIO AI4 Pt Ni1000 or 694 443 05 Ventura FIO AI4 TE 694 443 01 with a Kuhnke FIO AI4 Pt Ni TC module 694 443 57 you must modify the EtherCAT master...

Page 190: ...ion to ensure that all error are detected shown properly Note on thermocouple mode Errors input low and input high are just indicative of the temperature being out of the set range A short circuit inp...

Page 191: ...ailable for details and settings You may run the configuration tool offline and choose the Startup Parameters to change some settings of module AI4 Pt Ni TC such as the properties of each of the input...

Page 192: ...unction 2 Pt100 3 Pt1000 4 Ni100 5 Ni1000 DIN43760 6 Thermo K 7 Thermo J InputFormat 0 0 1 C 1 V 2 Raw raw data Data rate and filter 0 1000 readings per second 1 600 readings per second 2 330 readings...

Page 193: ...nge of connected reading 18 Input2high Incorrect range of connected reading 19 Input3high Incorrect range of connected reading 20 31 not used Analogue Inputs Check the following variables for the digi...

Page 194: ...T32 0x0048554B RO 1018 2 Product Code UINT32 185345 RO 1018 3 Revision Number UINT32 1 RO 1018 4 Serial Number UINT32 RO 2000 Sensor Type Array 2000 0 Number of Entries UINT8 4 RO 2000 1 Sensor0 UINT8...

Page 195: ...ray 2002 0 Number of Entries UINT8 4 2002 1 Input0DataRateAndFilter readings per second UINT8 20 1000 0 600 1 330 2 175 3 90 4 45 5 20 6 20 50 60Hz 7 20 50Hz 8 20 60Hz 9 RO 2002 2 Input1DataRateAndFil...

Page 196: ...2 Analog Input 1 UINT16 RO P 6401 3 Analog Input 2 UINT16 RO P 6500 StateWord Array RO P 6500 0 Number of Entries UINT8 32 RO P 6500 1 ResetErrorAck BOOL RO P 6500 2 BOOL RO P 6500 3 EtherCAT Error B...

Page 197: ...n Yes Measuring range Type K 200 C 1372 C Measuring range Type J 50 C 760 C Measuring range mV 40 65 mV Pt100 Ni100 Measuring range Pt 75 C 670 C Measuring range Ni 60 C 250 C Input resistance 70 320...

Page 198: ...ETG guidelines Before replacing a Ventura FIO AI8 Pt Ni100 694 443 02 or Ventura FIO AI8 Pt Ni1000 694 443 04 or Ventura FIO AI4 TE 694 443 06 with a Kuhnke FIO AI8 Pt Ni TC module 694 443 58 you must...

Page 199: ...r 3 wire connection to ensure that all error are detected shown properly Note on thermocouple mode Errors input low and input high are just indicative of the temperature being out of the set range A s...

Page 200: ...ailable for details and settings You may run the configuration tool offline and choose the Startup Parameters to change some settings of module AI8 Pt Ni TC such as the properties of each of the input...

Page 201: ...ion 2 Pt100 3 Pt1000 4 Ni100 5 Ni1000 DIN43760 6 Thermo K 7 Thermo J InputFormat 0 0 1 C Data rate and filter 1 V 2 Raw raw data 0 1000 readings per second Average 1 600 readings per second 2 330 read...

Page 202: ...ding 16 Input0high Incorrect range of connected reading 17 Input1high Incorrect range of connected reading 18 Input2high Incorrect range of connected reading 19 Input3high Incorrect range of connected...

Page 203: ...tring 1 00 RO 100A Software Version String 1 00 RO 1018 Identity Object Array 1018 0 Number of Entries UINT8 4 RO 1018 1 Vendor Id UINT32 0x0048554B RO 1018 2 Product Code UINT32 185346 RO 1018 3 Revi...

Page 204: ...T1000 NI100 NI1000 Thermo_K Thermo_J RW 2000 7 Sensor6 UINT8 Off Off Internal PT100 PT1000 NI100 NI1000 Thermo_K Thermo_J RW 2000 8 Sensor7 UINT8 Off Off Internal PT100 PT1000 NI100 NI1000 Thermo_K Th...

Page 205: ...er Array 2002 0 Number of Entries UINT8 8 2002 1 Input0DataRateAndFilter readings per second UINT8 20 1000 0 600 1 330 2 175 3 90 4 45 5 20 6 20 50 60Hz 7 20 50Hz 8 20 60Hz 9 RO 2002 2 Input1DataRateA...

Page 206: ...5 3 90 4 45 5 20 6 20 50 60Hz 7 20 50Hz 8 20 60Hz 9 RO 2002 6 Input5DataRateAnd Filter readings per second UINT8 20 1000 0 600 1 330 2 175 3 90 4 45 5 20 6 20 50 60Hz 7 20 50Hz 8 20 60Hz 9 RO 2002 7 I...

Page 207: ...NT16 RO P 6401 5 Analog Input 4 UINT16 RO P 6401 6 Analog Input 5 UINT16 RO P 6401 7 Analog Input 6 UINT16 RO P 6401 8 Analog Input 7 UINT16 RO P 6500 StateWord Array 6500 0 Number of Entries UINT8 32...

Page 208: ...GmbH 208 E 747GB V2 17 May 2021 Index Name Type Default Min Max Access 6500 3 ConfigError BOOL RO P 6500 4 Module Control Array 7001 Number of Entries UINT8 1 RO 7001 0 Reset Error BOOL RW P 7001 1 RO...

Page 209: ...n Yes Measuring range Type K 200 C 1372 C Measuring range Type J 50 C 760 C Measuring range mV 40 65 mV Pt100 Ni100 Measuring range Pt 75 C 670 C Measuring range Ni 60 C 250 C Input resistance 70 320...

Page 210: ...puts 4 Out_0 Digital output 5 6 A_Out Analogue output Counter Posi2 only 7 12 A B Ref Incremental encoder signals 13 14 5 V 5V encoder supply 0 2A fuse 15 24 V 24V encoder supply 0 2A fuse 16 17 24V M...

Page 211: ...No error Error Off Malfunction of module if E bus LED On Inoperative if E bus LED Off Red 2x Low voltage Red 3x Internal watchdog Red 4x EtherCAT watchdog control Red 7x Configuration error E bus pre...

Page 212: ...also Operation Synchronised with Frames or DC The module runs in the appropriate mode depending on whether Distributed Clocks DC is used or not By default the module synchronises with frames When the...

Page 213: ...setError to a rising edge Variable Data type Explanation ResetError BOOL Rising edge acknowledges error Module State The following module states are indicated Variable Data type Explanation LowSupplyV...

Page 214: ...L 0 Output_0_0 is a digital output 1 Reference value function controls Output_0_0 OnErrorForceOutputsOff_1 Release 3 or higher BOOL 0 All digital and analogue outputs keep refreshing after a module er...

Page 215: ...Counter 1 options accepted OutputsOnErrorOff_1 BOOL Error switches off the outputs release 3 or higher Counter 1 Error Use these variables to indicate error states Variable Data type Explanation Outp...

Page 216: ...tual Values These variables indicate the actual counter value and the current presets Variable SelectedValue multiplexes use Select_1 to select and shows the presets Variable Data type Explanation Cou...

Page 217: ...INT Time stamp of digital input 1 software polling Input_0_2_TS UINT Time stamp of digital input 2 software polling Input_0_3_TS UINT Time stamp of digital input 3 software polling Information The tim...

Page 218: ...tput delay underway This variable defines the time at which the output is set Variable Data type Explanation Output_0_0_Del UINT Output delay in s If synchronised with frames Frame Digital Output Vari...

Page 219: ...unter Posi2 5V only These variables define the voltage reading of the analogue outputs Variable Data type Explanation AnalogOutput_1 UINT Analogue output 1 Table Voltage output values Voltage V Hex va...

Page 220: ...eference Value A rising edge of control bit SetOptions_1 accepts the configuration settings set in Counter 1 Options Status bit OptionsSet_1 confirms that the settings have been accepted Example set u...

Page 221: ...how to set options The state of the output is retrieved from the module and shown in In_Output_0_0 Term2_ControlOutput_1 FALSE Term2_Output_0_0 sets output Term2_ControlOutput_1 TRUE Reference functio...

Page 222: ...ter_1 TRUE Term2_SetValue_1 2000 Term2_SetPreset_1 TRUE Term2_SetOptions_1 TRUE StepInit 1 Wait until accepting OptionsSet and PresetSet has been confirmed 1 IF Term2_OptionsSet_1 AND Term2_PresetSet_...

Page 223: ..._1 Term2_SelectedValue_1 Use to read the captured value Term2_Captured_1 A capture event has occurred Term2_ResetCaptured_1 Reset Term2_Captured_1 Digital Inputs Input_0_x Use variable Input_0_x to po...

Page 224: ...xml WxHxD 25x120x90 mm Installation 35 mm DIN rail Controller ASIC ET1200 E bus connector 10 pole system plug in side wall Terminating module not required E bus load 300 mA Power supply Logic circuit...

Page 225: ...Kendrion Kuhnke Automation GmbH Counter Encoder 694 454 53 E 747GB V2 225 17 May 2021 5 5 2 Counter Encoder Front view and I O connection Front view I O Modul Counter Encoder I O connection...

Page 226: ...tional if bootstrap mode is supported LED IO The LED labelled IO indicates the state of the module s I Os State LED flash code Explanation Ok Green on No error Error Off Malfunction of module if E bus...

Page 227: ...the state of each of the digital I Os Kanal Kanal Beschreibung A CLK A CLK Incremental encoder The LEDs indicate the signal status of the incremental encoder track Endat SSI The LEDs light up in time...

Page 228: ...endently of each other which gives the module a high degree of flexibility Module configuration The configuration of the counter encoder interfaces is done via pluggable modules that are inserted into...

Page 229: ...of the configuration options with the associated objects These are linked to the object directory Encoder interface configuration Incremental encoder Object overview Slot Object Explanation Enc1 0x210...

Page 230: ...Level 0 Reference on rising edge 1 Reference on falling edge Sub 04 SSI 0 Straight binary 1 Grey coded binary Sub 05 event counter 0 Count rising edges 1 Count falling edges 3 Count both edges Enc2 0...

Page 231: ...ex Level 0 Reference on rising edge 1 Reference on falling edge Sub 04 SSI 0 Straight binary 1 Grey coded binary Sub 05 event counter 0 Count rising edges 1 Count falling edges 3 Count both edges Enc2...

Page 232: ...SI 0 Straight binary 1 Grey coded binary Sub 05 event counter 0 Count rising edges 1 Count falling edges 3 Count both edges Enc2 0x2903 Enc2 Digital Interface Config Enc1 0x2110 Enc1 Digital Interface...

Page 233: ...DAT encoders The following objects are available for the output of the position value in user defined units 0x2014 Enc1 Linear Position Value 0x2814 Enc2 Linear Position Value Add these objects to the...

Page 234: ...cts are structured as follows 0x1000 0x1FFF Device specific 0x2000 0x23FF Manufacture specific Counter Encoder 1 0x2800 0x2FFF Manufacture specific Counter Encoder 2 0x3000 0x37FF Manufacture specific...

Page 235: ...0 Name Error register Data Type UNSIGNED8 Access ro Defaultvalue PDO Mapping no In the case of an error the corresponding error bit is set If the error no longer exists it is automatically deleted In...

Page 236: ...eld 1 Data Type UNSIGNED32 Access ro Defaultvalue PDO Mapping no Accessname Pre definederrorfield 0 Sub 0x02 Name Standard error field 2 Data Type UNSIGNED32 Access ro Defaultvalue PDO Mapping no Acce...

Page 237: ...Name Standard error field 7 Data Type UNSIGNED32 Access ro Defaultvalue PDO Mapping no Accessname Pre definederrorfield 6 Sub 0x08 Name Standard error field 8 Data Type UNSIGNED32 Access ro Defaultva...

Page 238: ...ical Device overlapping 0x1 Encoder 1 0x2 Encoder 2 Sub Number 19 16 See table Error Code Error Code 15 0 Errorcode Sub Device Channel Reaction Explanation 0x2110 0x0 Enc1 Enc2 No Overcurrent supply e...

Page 239: ...ccess ro Defaultvalue Counter Encoder 694 454 53 PDO Mapping no 0x1009 Manufacturer hardware version Object Code Variable Sub 0x00 Name Manufacturer hardware version Data Type VISIBLE_STRING Access ro...

Page 240: ...alue 0x04 PDO Mapping no Sub 0x01 Name Vendor ID Data Type UNSIGNED32 Access ro Defaultvalue 0x48554B PDO Mapping no Sub 0x02 Name Product code Data Type UNSIGNED32 Access ro Defaultvalue 0x2F144 PDO...

Page 241: ...Access ro Defaultvalue 2 PDO Mapping no Sub 0x01 Name Local Error Reaction Data Type UNSIGNED32 Access rw Defaultvalue 1 PDO Mapping no Sub 0x02 Name Sync Error Counter Limit Data Type UNSIGNED16 Acc...

Page 242: ...1 Low Limit 0 High Limit 64 PDO Mapping no Sub 0x01 Name Mapping Entry 1 Data Type UNSIGNED32 Access ro Defaultvalue 0x21010010 PDO Mapping no Each subindex 1 8 describes one mapped object A mapping...

Page 243: ...1 Low Limit 0 High Limit 64 PDO Mapping no Sub 0x01 Name Mapping Entry 1 Data Type UNSIGNED32 Access ro Defaultvalue 0x29010010 PDO Mapping no Each subindex 1 8 describes one mapped object A mapping...

Page 244: ...Defaultvalue 0x60040020 PDO Mapping no Sub 0x02 Name Mapping Entry 2 Data Type UNSIGNED32 Access ro Defaultvalue 0x20300020 PDO Mapping no Sub 0x03 Name Mapping Entry 3 Data Type UNSIGNED32 Access ro...

Page 245: ...ntry 1 Data Type UNSIGNED32 Access ro Defaultvalue 0x24080120 PDO Mapping no Sub 0x02 Name Mapping Entry 2 Data Type UNSIGNED32 Access ro Defaultvalue 0x24080220 PDO Mapping no Sub 0x03 Name Mapping E...

Page 246: ...pping entry consists of four bytes which are composed as follows Index 16 Bit 31 16 Index of the object to be mapped SubIndex 8 Bit 15 8 Subindex of the object to be mapped Length 8 Bit 7 0 Length of...

Page 247: ...31 16 Index of the object to be mapped SubIndex 8 Bit 15 8 Subindex of the object to be mapped Length 8 Bit 7 0 Length of the object to be mapped 0x1c00 Sync Manager Communication Type Object Code Arr...

Page 248: ...ue 4 PDO Mapping no 0x1c12 Sync Manager 2 PDO Assignment Object Code Array Sub 0x00 Name Highest subindex supported Data Type UNSIGNED8 Access ro Defaultvalue 2 Low Limit 0 High Limit 2 PDO Mapping no...

Page 249: ...o Sub 0x01 Name Subindex Data Type UNSIGNED16 Access rw Defaultvalue 0x1a00 PDO Mapping no Sub 0x02 Name Subindex 2 Data Type UNSIGNED16 Access rw Defaultvalue 0x1a05 PDO Mapping no 0x1c32 Sync Manage...

Page 250: ...ultvalue 0x10 PDO Mapping no Sub 0x05 Name Minimum Cycle Time Data Type UNSIGNED32 Access ro Defaultvalue 0x20 PDO Mapping no Sub 0x06 Name Calc and Copy Time Data Type UNSIGNED32 Access ro Defaultval...

Page 251: ...o small Data Type UNSIGNED16 Access ro Defaultvalue 0x10 PDO Mapping no Sub 0x20 Name Sync Error Data Type BOOLEAN Access ro Defaultvalue 0x01 PDO Mapping no 0x1c33 Sync Manager 3 Synchronization Obje...

Page 252: ...x10 PDO Mapping no Sub 0x05 Name Minimum Cycle Time Data Type UNSIGNED32 Access ro Defaultvalue 0x20 PDO Mapping no Sub 0x06 Name Calc and Copy Time Data Type UNSIGNED32 Access ro Defaultvalue 0x20 PD...

Page 253: ...e 0x20 PDO Mapping no Sub 0x0c Name Cycle time too small Data Type UNSIGNED16 Access ro Defaultvalue 0x10 PDO Mapping no Sub 0x20 Name Sync Error Data Type BOOLEAN Access ro Defaultvalue 0x01 PDO Mapp...

Page 254: ...Name Enc1 Position Value Signed Data Type INTEGER32 Access ro Defaultvalue PDO Mapping optional TPDO only Accessname Enc1PositionValueSigned 0x2008 Enc1 High Resolution Position Value Signed Object Co...

Page 255: ...TPDO only Accessname Enc1LinearPositionValue Position value in user units 0x2015 Enc1 Linear Position Preset Value Object Code Variable Sub 0x00 Name Enc1 Linear Position Preset Value Data Type REAL3...

Page 256: ...alue Filter Select Object Code Variable Sub 0x00 Name Enc1 Speed Value Filter Select Data Type UNSIGNED8 Access ro Defaultvalue 11 PDO Mapping no Accessname Enc1SpeedValueFilterSelect Configuration ob...

Page 257: ...V2 257 17 May 2021 Accessname Enc1PositionEncoderResolution EncoderIncrements Sub 0x02 Name Motor Revolutions Data Type UNSIGNED32 Access rw Defaultvalue 0x00000001 PDO Mapping no Accessname Enc1Posit...

Page 258: ...s ro Defaultvalue 2 PDO Mapping no Sub 0x01 Name Motor Shaft Revolutions Data Type UNSIGNED32 Access rw Defaultvalue 0x00000001 PDO Mapping no Accessname Enc1GearRatio MotorShaftRevolutions Sub 0x02 N...

Page 259: ...ata Type UNSIGNED8 Access ro Defaultvalue 2 PDO Mapping no Sub 0x01 Name Feed Data Type UNSIGNED32 Access rw Defaultvalue 0x00000064 PDO Mapping no Accessname Enc1FeedConstant Feed Sub 0x02 Name Shaft...

Page 260: ...s of the connected encoder 64 Encoder default 65 SSI 69 EnDat 80 Event counter 0x2101 Enc1 Digital Interface Control Object Code Variable Sub 0x00 Name Enc1 Digital Interface Control Data Type UNSIGNE...

Page 261: ...9 8 7 6 5 4 3 2 1 0 Dir Ref Ref 0 Encoder is not referenced 1 Encoder is referenced Dir 0 Clockwise 1 Counter clockwise 0x2103 Enc1 Digital Interface Config Object Code Record Sub 0x00 Name Highest su...

Page 262: ...Useg reycode Sub 0x05 Name Enc1 Event Counter Sensitivity Data Type UNSIGNED8 Access ro Defaultvalue 0 PDO Mapping no Accessname Enc1DigitalInterfaceConfig Enc1EventCou nter Sensitivity Object for con...

Page 263: ...Resolution of the encoder according to data sheet 0x2111 Enc1 Digital Interface Baud Rate Object Code Variable Sub 0x00 Name Enc1 Digital Interface Baud Rate Data Type UNSIGNED16 Access rw Defaultvalu...

Page 264: ...ta Type UNSIGNED8 Access ro Defaultvalue PDO Mapping optional TPDO only Accessname Enc1EncoderTrackABRef 7 6 5 4 3 2 1 0 Ref B A Signal level at the corresponding encoder track 0x213f Enc1 ErrorCode O...

Page 265: ...nly Accessname EventCounterCount EventCounterChannel1 Sub 0x02 Name Event Counter Channel 2 Data Type UNSIGNED32 Access ro Defaultvalue PDO Mapping optional TPDO only Accessname EventCounterCount Even...

Page 266: ...a Type UNSIGNED32 Access ro Defaultvalue PDO Mapping optional TPDO only Accessname EventCounterCount EventCounterChannel6 0x2801 Enc2 Error Register Object Code Variable Sub 0x00 Name Enc2 Error Regis...

Page 267: ...igned 0x2808 Enc2 High Resolution Position Value Signed Object Code Variable Sub 0x00 Name Enc2 High Resolution Position Value Signed Data Type INTEGER64 Access ro Defaultvalue PDO Mapping optional TP...

Page 268: ...ble Sub 0x00 Name Enc2 Linear Position Preset Value Data Type REAL32 Access rw Defaultvalue PDO Mapping no Accessname Enc2LinearPositionPresetValue 0x2830 Enc2 High Resolution Speed Value Object Code...

Page 269: ...lterSelect 0x288f Enc2 Position Encoder Resolution Object Code Record Sub 0x00 Name SubIndex 000 Data Type UNSIGNED8 Access ro Defaultvalue 2 PDO Mapping no Sub 0x01 Name Encoder Increments Data Type...

Page 270: ...UNSIGNED8 Access ro Defaultvalue 2 PDO Mapping no Sub 0x01 Name Motor Shaft Revolutions Data Type UNSIGNED32 Access rw Defaultvalue 0x00000001 PDO Mapping no Accessname Enc2GearRatio MotorShaftRevolu...

Page 271: ...e SubIndex 000 Data Type UNSIGNED8 Access ro Defaultvalue 2 PDO Mapping no Sub 0x01 Name Feed Data Type UNSIGNED32 Access rw Defaultvalue 0x00000001 PDO Mapping no Accessname Enc2FeedConstant Feed Sub...

Page 272: ...ttings of the connected encoder 64 Encoder 65 SSI 69 EnDat 80 Event counter 0x2901 Enc2 Digital Interface Control Object Code Variable Sub 0x00 Name Enc2 Digital Interface Control Data Type UNSIGNED16...

Page 273: ...atus Ref 0 Encoder is not referenced 1 Encoder is referenced Dir 0 Clockwise 1 Counter clockwise 0x2903 Enc2 Digital Interface Config Object Code Record Sub 0x00 Name Highest sub index supported Data...

Page 274: ...cessname Enc2DigitalInterfaceConfig Enc2SSI Usegreycode Sub 0x05 Name Enc2 Event Counter Sensitivity Data Type UNSIGNED8 Access ro Defaultvalue 0 PDO Mapping no Accessname Enc2DigitalInterfaceConfig E...

Page 275: ...0 Name Enc1 Digital Interface Bit Size Data Type UNSIGNED8 Access ro Defaultvalue PDO Mapping no Accessname Enc2DigitalInterfaceBitSize SSI EnDat Resolution of the encoder according to data sheet 0x29...

Page 276: ...Code Variable Sub 0x00 Name Enc2 Capture Input Value Data Type INTEGER64 Access ro Defaultvalue PDO Mapping optional TPDO only Accessname Enc2CaptureInputValue 0x2922 Enc2 Encoder Track ABRef Object...

Page 277: ...Defaultvalue PDO Mapping no Accessname Enc1OperatingParameters 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 DIR Bit 3 DIR 0 Clockwise 1 Counter clockwise 0x6002 Enc1 Total Measuring Range Object Code Variab...

Page 278: ...g optional TPDO only Accessname Enc1PositionValue 0x6008 Enc1 High Resolution Position Value Object Code Variable Sub 0x00 Name Enc1 High Resolution Position Value Data Type UNSIGNED64 Access ro Defau...

Page 279: ...index 0x600c Enc1 Position Raw Value Object Code Variable Sub 0x00 Name Enc1 Position Raw Value Data Type UNSIGNED32 Access ro Defaultvalue PDO Mapping optional TPDO only Accessname Enc1PositionRawVal...

Page 280: ...no Accessname Enc1SpeedParameters Enc1SpeedSourceSelector Sub 0x02 Name Enc1 Speed Integration Time Data Type UNSIGNED16 Access ro Defaultvalue 100 PDO Mapping no Accessname Enc1SpeedParameters Enc1S...

Page 281: ...500 Enc1 Operating Status Object Code Variable Sub 0x00 Name Enc1 Operating Status Data Type UNSIGNED16 Access ro Defaultvalue PDO Mapping no Accessname Enc1OperatingStatus 15 14 13 12 11 10 9 8 7 6 5...

Page 282: ...Enc2TotalMeasuringRange Encoder resolution With setting Single Turn relevant for the overflow 0x6803 Enc2 Preset Value Object Code Variable Sub 0x00 Name Enc2 Preset Value Data Type UNSIGNED32 Access...

Page 283: ...alue 5 5 2 1 1 0x6809 Enc2 High Resolution Preset Value Object Code Variable Sub 0x00 Name Enc2 High Resolution Preset Value Data Type UNSIGNED64 Access rw Defaultvalue PDO Mapping no Accessname Enc2H...

Page 284: ...PDO Mapping optional TPDO only Accessname Enc2PositionRawValue 32 Bit raw encoder value without offsets and homing and index 0x6830 Enc2 Speed Value Object Code Record Sub 0x00 Name SubIndex 000 Data...

Page 285: ...ue 4 PDO Mapping no Accessname Enc2SpeedParameters Enc2SpeedSourceSelector Sub 0x02 Name Enc2 Speed Integration Time Data Type UNSIGNED16 Access ro Defaultvalue 100 PDO Mapping no Accessname Enc2Speed...

Page 286: ...on time in ms Sub 03 Conversion factor for velocity calculation result in 0x6830 Sub 04 Conversion devider for velocity calculation result in 0x6830 0x6d00 Enc2 Operating Status Object Code Variable S...

Page 287: ...dewing Protection IP20 Interference immunity Zone B DIN EN 61131 2 Fieldbus System Type EtherCAT 100 Mbit s Connection 10 pole system plug at the side Logic supply from EtherCAT Coupler via E Bus plug...

Page 288: ...current 5 A max 55 C 5A 12 24 VDC 4A 48 VDC Peak current stepper motor 10 A brushless DC motor 15 A Incremental encoder 5V 24V A A B B Z Z Hall generator 24 V H1 H2 H3 or 3 extra low side switching d...

Page 289: ...software tracks 8 cams per track Total output current Itot 4 5 A Inputs 1x 24 VDC 1 ms 4x 24 VDC or 0 10 V configurable Encoder interface incremental 24 VDC A B Ref absolute via CAN or EtherCAT Cam p...

Page 290: ...supply to CPU right 0 7 DO0 DO7 digital outputs 1 7 8 11 AI0 AI3 DI0 DI3 analogue inputs optionally used as DI 12 DI4 digital input DI 13 DI5 C_cycle DI counting cycle input rising edge 14 DI6 C_Dir D...

Page 291: ...e LED labelled IO indicates the state of the module s I Os State LED flash code Explanation Ok Green on No error Error Red flashing 1x short circuit 2x low voltage Start defective Red Module not initi...

Page 292: ...AT master s control program are used to access the IOs and the module state Service data objects SDO are available for details and settings You may run the configuration tool offline to change some se...

Page 293: ...gital input 6 DigitalInput7 BOOL Digital input 7 Counter UDINT Reading of event counter at DI5 SampleCycleCounter UINT Increments when new analogue values are available AnalogIn0 The following input v...

Page 294: ...or message Bit 1 Reset counter started by edge 0 1 Bits 2 15 Not used DigitalOutput0 BOOL Digital output 0 DigitalOutput1 BOOL Digital output 1 DigitalOutput2 BOOL Digital output 2 DigitalOutput3 BOOL...

Page 295: ...1 5 Sample0 4 UINT16 RO P 6402 AnalogIn1 Array 6402 1 Sample0 UINT16 RO P 6402 2 Sample1 UINT16 RO P 6402 3 Sample2 UINT16 RO P 6402 4 Sample3 UINT16 RO P 6402 5 Sample4 UINT16 RO P 6403 AnalogIn2 Ar...

Page 296: ...econd already Values will be entered in Sample0 only Sample 1 4 are left blank Oversampling Synchronised with DC Interrupt SYNC0 is used for analogue sampling whereas interrupt SYNC1 is used to transf...

Page 297: ...d Every SDO transfer to and from the object contain 10 bytes Bit0 of the StateWord indicates that there is data in the in queue The data in buffer contains not more than 1024 bytes Bit1 of the StateWo...

Page 298: ...hether the EtherCAT master s values are up to date Ideal EtherCAT cycles for this module are 1 ms to 5 ms long Information Consistent analogue values The module provide consistent sets of analogue val...

Page 299: ...lution 12 bit Sampling rate 1ms RS485 Electrically insulated Baud rate 2 4 921 6 kBit s Connection e g 4 x KDT 621 9 6 or 19 2 kBit s IO power connection 36 pin plug Controller ASIC ET1200 Baud rate 1...

Page 300: ...MIX 04 694 444 64 Kendrion Kuhnke Automation GmbH 300 E 747GB V2 17 May 2021 5 6 2 MIX 04 Front view and I O connection Front view I O Module MIX 04 I O connection...

Page 301: ...LED labelled IO indicates the state of the module s I Os State LED flash code Explanation Ok Green on No Error Error Off Malfunction of module if E bus LED On Inoperative if E bus LED Off Red 2 x Unde...

Page 302: ...input A CLK A CLK B DAT B DAT B DAT B DAT Z Z Z Z AO0 AO2 Analogue output activated and without error AO0 AO2 AO1 AO3 Analogue output activated and without error AO1 AO3 Function The Kuhnke FIO MIX 04...

Page 303: ...aces is done via pluggable modules that are inserted into the corresponding slots One slot corresponds to one analogue channel or one counter encoder interface Only suitable modules can be plugged int...

Page 304: ...20mA 192361012 AI3 Current 4 20mA 5 Enc1 Encoder 1 192361013 Enc1 Counter 192361014 Enc1 SSI 192361015 Enc1 EnDat 192361016 Enc event counter 6 Enc2 Encoder 2 192361017 Enc2 Counter 192361018 Enc2 SSI...

Page 305: ...he configuration options with the associated objects These are linked to the object directory Encoder interface configuration Incremental encoder Object overview Slot Object Explanation Enc1 0x2100 En...

Page 306: ...Level 0 Reference on rising edge 1 Reference on falling edge Sub 04 SSI 0 Straight binary 1 Grey coded binary Sub 05 event counter 0 Count rising edges 1 Count falling edges 3 Count both edges Enc2 0x...

Page 307: ...x Level 0 Reference on rising edge 1 Reference on falling edge Sub 04 SSI 0 Straight binary 1 Grey coded binary Sub 05 event counter 0 Count rising edges 1 Count falling edges 3 Count both edges Enc2...

Page 308: ...edge Sub 04 SSI 0 Straight binary 1 Grey coded binary Sub 05 event counter 0 Count rising edges 1 Count falling edges 3 Count both edges Enc2 0x2903 Enc2 Digital Interface Config Enc1 0x2110 Enc1 Digi...

Page 309: ...ncoders The following objects are available for the output of the position value in user defined units 0x2014 Enc1 Linear Position Value 0x2814 Enc2 Linear Position Value Add these objects to the PDO...

Page 310: ...the object to the mapping AI1 02 AI2 03 AI3 04 AI0 0x7126 AIScalingFactor 0x7127 AIScalingOffset 01 Scaling of the analogue input values by setting the scaling factor and offset To output the scaled v...

Page 311: ...scaled output values the automatic configuration in the slot must be adjusted AO1 02 AO2 03 AO3 04 AO0 0x7320 AOOutputScaling1FV 0x7321 AOOutputScaling1PV 0x7322 AOOutputScaling2FV 0x7323 AOOutputScal...

Page 312: ...rtual Device Analogue Input Output 0x1000 Device type Object Code Variable Sub 0x00 Name Device type Data Type UNSIGNED32 Access ro Defaultvalue 5001 0x1389 PDO Mapping No 5001 Modular Device Profile...

Page 313: ...ow Limit 0 High Limit 0 PDO Mapping no Sub 0x01 Name Standard error field 1 Data Type UNSIGNED32 Access ro Defaultvalue PDO Mapping no Accessname Pre definederrorfield 0 Sub 0x02 Name Standard error f...

Page 314: ...efinederrorfield 5 Sub 0x07 Name Standard error field 7 Data Type UNSIGNED32 Access ro Defaultvalue PDO Mapping no Accessname Pre definederrorfield 6 Sub 0x08 Name Standard error field 8 Data Type UNS...

Page 315: ...driver 0x2330 0x0 AI AO AO0 Output is set to zero Open Circuit Overvoltage 0x2330 0x1 AI AO AO1 Output is set to zero Open Circuit Overvoltage 0x2330 0x2 AI AO AO2 Output is set to zero Open Circuit O...

Page 316: ...Access ro Defaultvalue Mix04 694 444 64 PDO Mapping no 0x1009 Manufacturer hardware version Object Code Variable Sub 0x00 Name Manufacturer hardware version Data Type VISIBLE_STRING Access ro Defaultv...

Page 317: ...0x04 PDO Mapping no Sub 0x01 Name Vendor ID Data Type UNSIGNED32 Access ro Defaultvalue 0x48554B PDO Mapping no Sub 0x02 Name Product code Data Type UNSIGNED32 Access ro Defaultvalue 0x2F144 PDO Mappi...

Page 318: ...de Record Sub 0x00 Name Highest sub index supported Data Type UNSIGNED8 Access ro Defaultvalue 2 PDO Mapping no Sub 0x01 Name Local Error Reaction Data Type UNSIGNED32 Access rw Defaultvalue 1 PDO Map...

Page 319: ...0x00 Name SubIndex 000 Data Type UNSIGNED8 Access ro Defaultvalue 1 Low Limit 0 High Limit 64 PDO Mapping no Sub 0x01 Name Mapping Entry 1 Data Type UNSIGNED32 Access ro Defaultvalue 0x32010010 PDO M...

Page 320: ...entry consists of four bytes which are composed as follows Index 16 Bit 31 16 Index of the object to be mapped SubIndex 8 Bit 15 8 Subindex of the object to be mapped Length 8 Bit 7 0 Length of the ob...

Page 321: ...me Mapping Entry 1 Data Type UNSIGNED32 Access ro Defaultvalue 0x73300108 PDO Mapping no Each subindex 1 8 describes one mapped object A mapping entry consists of four bytes which are composed as foll...

Page 322: ...x 000 Data Type UNSIGNED8 Access ro Defaultvalue 1 Low Limit 0 High Limit 64 PDO Mapping no Sub 0x01 Name Mapping Entry 1 Data Type UNSIGNED32 Access ro Defaultvalue 0x73300308 PDO Mapping no Each sub...

Page 323: ...ogue Interface Status Object Code Record Sub 0x00 Name SubIndex 000 Data Type UNSIGNED8 Access ro Defaultvalue 1 Low Limit 0 High Limit 64 PDO Mapping no Sub 0x01 Name Mapping Entry 1 Data Type UNSIGN...

Page 324: ...the object to be mapped Length 8 Bit 7 0 Length of the object to be mapped 0x1a02 AI1 Input Value Object Code Record Sub 0x00 Name SubIndex 000 Data Type UNSIGNED8 Access ro Defaultvalue 1 Low Limit...

Page 325: ...entry consists of four bytes which are composed as follows Index 16 Bit 31 16 Index of the object to be mapped SubIndex 8 Bit 15 8 Subindex of the object to be mapped Length 8 Bit 7 0 Length of the ob...

Page 326: ...PDO Mapping no Sub 0x01 Name Mapping Entry 1 Data Type UNSIGNED32 Access ro Defaultvalue 0x60040020 PDO Mapping no Sub 0x02 Name Mapping Entry 2 Data Type UNSIGNED32 Access ro Defaultvalue 0x20300020...

Page 327: ...1 Data Type UNSIGNED32 Access ro Defaultvalue 0x24080120 PDO Mapping no Sub 0x02 Name Mapping Entry 2 Data Type UNSIGNED32 Access ro Defaultvalue 0x24080220 PDO Mapping no Sub 0x03 Name Mapping Entry...

Page 328: ...pping no Sub 0x07 Name Mapping Entry 7 Data Type UNSIGNED32 Access ro Defaultvalue 0x20010008 PDO Mapping no Each subindex 1 8 describes one mapped object A mapping entry consists of four bytes which...

Page 329: ...ultvalue 0x68040020 PDO Mapping no Sub 0x02 Name Mapping Entry 2 Data Type UNSIGNED32 Access ro Defaultvalue 0x28300020 PDO Mapping no Sub 0x03 Name Mapping Entry 3 Data Type UNSIGNED32 Access ro Defa...

Page 330: ...s ro Defaultvalue 4 Low Limit 0 High Limit 8 PDO Mapping no Sub 0x01 Name Subindex 1 Data Type UNSIGNED8 Access ro Defaultvalue 1 PDO Mapping no Sub 0x02 Name Subindex 2 Data Type UNSIGNED8 Access ro...

Page 331: ...t Code Array Sub 0x00 Name Highest subindex supported Data Type UNSIGNED8 Access ro Defaultvalue 2 Low Limit 0 High Limit 2 PDO Mapping no Sub 0x01 Name Subindex Data Type UNSIGNED16 Access rw Default...

Page 332: ...t Code Array Sub 0x00 Name Highest subindex supported Data Type UNSIGNED8 Access ro Defaultvalue 2 Low Limit 0 High Limit 4 PDO Mapping no Sub 0x01 Name Subindex Data Type UNSIGNED16 Access rw Default...

Page 333: ...Name Synchronization Type Data Type UNSIGNED16 Access ro Defaultvalue 0x10 PDO Mapping no Sub 0x02 Name Cycle Time Data Type UNSIGNED32 Access ro Defaultvalue 0x20 PDO Mapping no Sub 0x04 Name Synchr...

Page 334: ...GNED32 Access ro Defaultvalue 0x20 PDO Mapping no Sub 0x0a Name Sync0 Cycle Time Data Type UNSIGNED32 Access rw Defaultvalue 0x20 PDO Mapping no Sub 0x0b Name SM Event missed Data Type UNSIGNED16 Acce...

Page 335: ...Name Synchronization Type Data Type UNSIGNED16 Access ro Defaultvalue 0x10 PDO Mapping no Sub 0x02 Name Cycle Time Data Type UNSIGNED32 Access ro Defaultvalue 0x20 PDO Mapping no Sub 0x04 Name Synchr...

Page 336: ...GNED32 Access ro Defaultvalue 0x10 PDO Mapping no Sub 0x0a Name Sync0 Cycle Time Data Type UNSIGNED32 Access rw Defaultvalue 0x20 PDO Mapping no Sub 0x0b Name SM Event missed Data Type UNSIGNED16 Acce...

Page 337: ...0x00 Name Enc1 Error Register Data Type UNSIGNED8 Access ro Defaultvalue PDO Mapping optional TPDO only Accessname Enc1ErrorRegister 0x2003 Enc1 Preset Value Signed Object Code Variable Sub 0x00 Name...

Page 338: ...Signed Data Type INTEGER32 Access ro Defaultvalue PDO Mapping optional TPDO only Accessname Enc1PositionValueSigned 0x2008 Enc1 High Resolution Position Value Signed Object Code Variable Sub 0x00 Name...

Page 339: ...reset Value Signed Data Type INTEGER64 Access rw Defaultvalue PDO Mapping no Accessname Enc1HighResolutionPresetValueSigned High Resolution Offset Wert 0x2014 Enc1 Linear Position Value Object Code Va...

Page 340: ...t Code Variable Sub 0x00 Name Enc1 High Resolution Speed Value Data Type INTEGER32 Access ro Defaultvalue PDO Mapping optional TPDO only Accessname Enc1HighResolutionSpeedValue Speed Value 0x2031 Enc1...

Page 341: ...n Object Code Record Sub 0x00 Name SubIndex 000 Data Type UNSIGNED8 Access ro Defaultvalue 2 PDO Mapping no Sub 0x01 Name Encoder Increments Data Type UNSIGNED32 Access rw Defaultvalue 0x000003E8 PDO...

Page 342: ...Defaultvalue 2 PDO Mapping no Sub 0x01 Name Motor Shaft Revolutions Data Type UNSIGNED32 Access rw Defaultvalue 0x00000001 PDO Mapping no Accessname Enc1GearRatio MotorShaftRevolutions Sub 0x02 Name D...

Page 343: ...ype UNSIGNED8 Access ro Defaultvalue 2 PDO Mapping no Sub 0x01 Name Feed Data Type UNSIGNED32 Access rw Defaultvalue 0x00000064 PDO Mapping no Accessname Enc1FeedConstant Feed Sub 0x02 Name Shaft Revo...

Page 344: ...gital Interface Control Object Code Variable Sub 0x00 Name Enc1 Digital Interface Control Data Type UNSIGNED16 Access rw Defaultvalue 0 PDO Mapping optional RPDO only Accessname Enc1DigitalInterfaceCo...

Page 345: ...ecord Sub 0x00 Name Highest sub index supported Data Type UNSIGNED8 Access ro Defaultvalue 5 PDO Mapping no Sub 0x01 Name Enc1 Encoder Level Data Type UNSIGNED8 Access ro Defaultvalue 0 PDO Mapping no...

Page 346: ...PDO Mapping no Accessname Enc1DigitalInterfaceConfig Enc1EventCou nter Sensitivity Object for configuration of the counter encoder interface Subindex 01 Encoder Level 0 HTL default 1 TTL 2 RS422 Subi...

Page 347: ...faultvalue PDO Mapping no Accessname Enc1DigitalInterfaceBitSize SSI ENDAT Resolution of the encoder according to data sheet 0x2111 Enc1 Digital Interface Baud Rate Object Code Variable Sub 0x00 Name...

Page 348: ...0x2122 Enc1 Encoder Track ABRef Object Code Variable Sub 0x00 Name Enc1 Encoder Track ABRef Data Type UNSIGNED8 Access ro Defaultvalue PDO Mapping optional TPDO only Accessname Enc1EncoderTrackABRef...

Page 349: ...Accessname EventCounterCount EventCounterChannel1 Sub 0x02 Name Event Counter Channel 2 Data Type UNSIGNED32 Access ro Defaultvalue PDO Mapping optional TPDO only Accessname EventCounterCount EventCou...

Page 350: ...pe UNSIGNED32 Access ro Defaultvalue PDO Mapping optional TPDO only Accessname EventCounterCount EventCounterChannel6 0x2801 Enc2 Error Register Object Code Variable Sub 0x00 Name Enc2 Error Register...

Page 351: ...0x2808 Enc2 High Resolution Position Value Signed Object Code Variable Sub 0x00 Name Enc2 High Resolution Position Value Signed Data Type INTEGER64 Access ro Defaultvalue PDO Mapping optional TPDO on...

Page 352: ...Sub 0x00 Name Enc2 Linear Position Preset Value Data Type REAL32 Access rw Defaultvalue PDO Mapping no Accessname Enc2LinearPositionPresetValue 0x2830 Enc2 High Resolution Speed Value Object Code Vari...

Page 353: ...elect 0x288f Enc2 Position Encoder Resolution Object Code Record Sub 0x00 Name SubIndex 000 Data Type UNSIGNED8 Access ro Defaultvalue 2 PDO Mapping no Sub 0x01 Name Encoder Increments Data Type UNSIG...

Page 354: ...0x00000001 PDO Mapping no Accessname Enc2GearRatio MotorShaftRevolutions Sub 0x02 Name Driving Shaft Revolutions Data Type UNSIGNED32 Access rw Defaultvalue 0x00000001 PDO Mapping no Accessname Enc2G...

Page 355: ...Defaultvalue 64 PDO Mapping no Accessname Enc2DigitalInterfaceType Settings of the connected encoder 64 Encoder 65 SSI 69 EnDat 80 Event counter 0x2901 Enc2 Digital Interface Control Object Code Varia...

Page 356: ...Ref 0 Encoder is not referenced 1 Encoder is referenced Dir 0 Clockwise 1 Counter clockwise 0x2903 Enc2 Digital Interface Config Object Code Record Sub 0x00 Name Highest sub index supported Data Type...

Page 357: ...gitalInterfaceConfig Enc2SSI Usegreycode Sub 0x05 Name Enc2 Event Counter Sensitivity Data Type UNSIGNED8 Access ro Defaultvalue 0 PDO Mapping no Accessname Enc2DigitalInterfaceConfig Enc2EventCounter...

Page 358: ...italInterfaceBitSize SSI EnDat Resolution of the encoder according to data sheet 0x2911 Enc2 Digital Interface Baud Rate Object Code Variable Sub 0x00 Name Enc2 Digital Interface Baud Rate Data Type U...

Page 359: ...0x2922 Enc2 Encoder Track ABRef Object Code Variable Sub 0x00 Name Enc2 Encoder Track ABRef Data Type UNSIGNED8 Access ro Defaultvalue PDO Mapping optional TPDO only Accessname Enc2EncoderTrackABRef...

Page 360: ...0x00 Name SubIndex 000 Data Type UNSIGNED8 Access ro Defaultvalue 4 PDO Mapping no Sub 0x01 Name Channel Control AI0 Data Type UNSIGNED8 Access rw Defaultvalue PDO Mapping optional RPDO only Accessnam...

Page 361: ...t values with faktor and offset 1 Scale input values with interpolation pointsn COMP 0 Comparator not active 1 Comparator active 0x3012 AIChannelStatus Object Code Array Sub 0x00 Name Highest sub inde...

Page 362: ...Channel Status AI3 Data Type UNSIGNED8 Access ro Defaultvalue PDO Mapping optional TPDO only Accessname AIChannelStatus 3 7 6 5 4 3 2 1 0 UpLim LoLim LoLim Lower Limit bzw UpLim Upper Limit 0 Limit ni...

Page 363: ...name AIInputCalibrationGain AIInputcalibrationgain0 Sub 0x02 Name AI Input calibration gain 1 Data Type REAL32 Access rw Defaultvalue PDO Mapping no Accessname AIInputCalibrationGain AIInputcalibratio...

Page 364: ...ro Defaultvalue PDO Mapping optional TPDO only Accessname AI AOErrorCode See table object 0x1003 Pre defined error field 0x3201 AI AO DeviceControl Object Code Variable Sub 0x00 Name AI AO DeviceContr...

Page 365: ...ect Code Variable Sub 0x00 Name Enc1 Operating Parameters Data Type UNSIGNED16 Access rw Defaultvalue PDO Mapping no Accessname Enc1OperatingParameters 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 DIR Bit 3...

Page 366: ...Data Type UNSIGNED32 Access ro Defaultvalue PDO Mapping optional TPDO only Accessname Enc1PositionValue 0x6008 Enc1 High Resolution Position Value Object Code Variable Sub 0x00 Name Enc1 High Resolut...

Page 367: ...x 0x600c Enc1 Position Raw Value Object Code Variable Sub 0x00 Name Enc1 Position Raw Value Data Type UNSIGNED32 Access ro Defaultvalue PDO Mapping optional TPDO only Accessname Enc1PositionRawValue 3...

Page 368: ...ccessname Enc1SpeedParameters Enc1SpeedSourceSelector Sub 0x02 Name Enc1 Speed Integration Time Data Type UNSIGNED16 Access ro Defaultvalue 100 PDO Mapping no Accessname Enc1SpeedParameters Enc1SpeedI...

Page 369: ...Conversion factor for velocity calculation result in 0x6030 Sub 04 Conversion devider for velocity calculation result in 0x6030 0x6500 Enc1 Operating Status Object Code Variable Sub 0x00 Name Enc1 Op...

Page 370: ...3 2 1 0 DIR Bit 3 DIR 0 Clockwise 1 Counter clockwise 0x6802 Enc2 Total Measuring Range Object Code Variable Sub 0x00 Name Enc2 Total Measuring Range Data Type UNSIGNED32 Access rw Defaultvalue 4000 P...

Page 371: ...NED64 Access ro Defaultvalue PDO Mapping optional TPDO only Accessname Enc2HighResolutionPositionValue 0x6809 Enc2 High Resolution Preset Value Object Code Variable Sub 0x00 Name Enc2 High Resolution...

Page 372: ...homing and index 0x6830 Enc2 Speed Value Object Code Record Sub 0x00 Name SubIndex 000 Data Type UNSIGNED8 Access ro Defaultvalue 1 PDO Mapping no Sub 0x01 Name Enc2 Speed Value Channel 1 Data Type I...

Page 373: ...Name Enc2 Multiplier Value Data Type UNSIGNED16 Access ro Defaultvalue 1 Low Limit 1 High Limit 65535 PDO Mapping no Accessname Enc2SpeedParameters Enc2MultiplierValue Sub 0x04 Name Enc2 Divider valu...

Page 374: ...May 2021 0x6d00 Enc2 Operating Status Object Code Variable Sub 0x00 Name Enc2 Operating Status Data Type UNSIGNED16 Access ro Defaultvalue PDO Mapping no Accessname Enc2OperatingStatus 15 14 13 12 11...

Page 375: ...AIInputFV_Real 0 Sub 0x02 Name AI Input FV 1 Data Type UNSIGNED8 Access ro Defaultvalue PDO Mapping optional TPDO only Accessname AIInputFV_Real 1 Sub 0x03 Name AI Input FV 2 Data Type UNSIGNED8 Acces...

Page 376: ...ensorType AIsensortype0 Sub 0x02 Name AI sensor type 1 Data Type UNSIGNED16 Access ro Defaultvalue 42 PDO Mapping no Accessname AISensorType AIsensortype1 Sub 0x03 Name AI sensor type 2 Data Type UNSI...

Page 377: ...PDO Mapping no Accessname AIInputScaling1FV AIInputscaling1FV0 Sub 0x02 Name AI Input scaling 1 FV 1 Data Type REAL32 Access ro Defaultvalue PDO Mapping no Accessname AIInputScaling1FV AIInputscaling1...

Page 378: ...PDO Mapping no Accessname AIInputScaling1PV AIInputscaling1PV0 Sub 0x02 Name AI Input scaling 1 PV 1 Data Type REAL32 Access ro Defaultvalue PDO Mapping no Accessname AIInputScaling1PV AIInputscaling1...

Page 379: ...PDO Mapping no Accessname AIInputScaling2FV AIInputscaling2FV0 Sub 0x02 Name AI Input scaling 2 FV 1 Data Type REAL32 Access ro Defaultvalue PDO Mapping no Accessname AIInputScaling2FV AIInputscaling2...

Page 380: ...PDO Mapping no Accessname AIInputScaling2PV AIInputscaling2PV0 Sub 0x02 Name AI Input scaling 2 PV 1 Data Type REAL32 Access ro Defaultvalue PDO Mapping no Accessname AIInputScaling2PV AIInputscaling2...

Page 381: ...e PDO Mapping no Accessname AIInputOffset AIInputoffset0 Sub 0x02 Name AI Input offset 1 Data Type REAL32 Access ro Defaultvalue PDO Mapping no Accessname AIInputOffset AIInputoffset1 Sub 0x03 Name AI...

Page 382: ...ng no Accessname AIScalingFactor AIscalingfactor0 Sub 0x02 Name AI scaling factor 1 Data Type REAL32 Access ro Defaultvalue PDO Mapping no Accessname AIScalingFactor AIscalingfactor1 Sub 0x03 Name AI...

Page 383: ...Mapping no Accessname AIScalingOffset AIscalingoffset0 Sub 0x02 Name AI scaling offset 1 Data Type REAL32 Access ro Defaultvalue PDO Mapping no Accessname AIScalingOffset AIscalingoffset1 Sub 0x03 Nam...

Page 384: ...V 0 Sub 0x02 Name AI Input PV 1 Data Type REAL32 Access ro Defaultvalue PDO Mapping optional TPDO only Accessname AIInputPV 1 Sub 0x03 Name AI Input PV 2 Data Type REAL32 Access ro Defaultvalue PDO Ma...

Page 385: ...O Mapping no Accessname AIFilterType AI0lowpassfiltertype Sub 0x02 Name AI1 low pass filter type Data Type UNSIGNED8 Access ro Defaultvalue 0 PDO Mapping no Accessname AIFilterType AI1lowpassfiltertyp...

Page 386: ...DO Mapping no Accessname AIFilterType AI1notchfiltertype Sub 0x07 Name AI2 notch filter type Data Type UNSIGNED8 Access ro Defaultvalue 0 PDO Mapping no Accessname AIFilterType AI2notchfiltertype Sub...

Page 387: ...ing no Accessname AIFilterConstant AIfilterconstant0 Sub 0x02 Name AI filter constant 1 Data Type UNSIGNED16 Access rw Defaultvalue PDO Mapping no Accessname AIFilterConstant AIfilterconstant1 Sub 0x0...

Page 388: ...EAL32 Access rw Defaultvalue PDO Mapping optional RPDO only Accessname AOOutputPV 0 Sub 0x02 Name AO Output PV 1 Data Type REAL32 Access rw Defaultvalue PDO Mapping optional RPDO only Accessname AOOut...

Page 389: ...tType AOoutputtype0 Sub 0x02 Name AO output type 1 Data Type UNSIGNED8 Access ro Defaultvalue 10 PDO Mapping no Accessname AOOutputType AOoutputtype1 Sub 0x03 Name AO output type 2 Data Type UNSIGNED8...

Page 390: ...b 0x02 Name AO operating mode 1 Data Type UNSIGNED8 Access ro Defaultvalue 0 PDO Mapping no Accessname AOOperatingMode AOoperatingmode1 Sub 0x03 Name AO operating mode 2 Data Type UNSIGNED8 Access ro...

Page 391: ...Mapping no Accessname AOOutputScaling1FV AOoutputscaling1FV0 Sub 0x02 Name AO output scaling 1 FV 1 Data Type REAL32 Access rw Defaultvalue PDO Mapping no Accessname AOOutputScaling1FV AOoutputscaling...

Page 392: ...Mapping no Accessname AOOutputScaling1PV AOoutputscaling1PV0 Sub 0x02 Name AO output scaling 1 PV 1 Data Type REAL32 Access rw Defaultvalue PDO Mapping no Accessname AOOutputScaling1PV AOoutputscaling...

Page 393: ...Mapping no Accessname AOOutputScaling2FV AOoutputscaling2FV0 Sub 0x02 Name AO output scaling 2 FV 1 Data Type REAL32 Access rw Defaultvalue PDO Mapping no Accessname AOOutputScaling2FV AOoutputscaling...

Page 394: ...Mapping no Accessname AOOutputScaling2PV AOoutputscaling2PV0 Sub 0x02 Name AO output scaling 2 PV 1 Data Type REAL32 Access rw Defaultvalue PDO Mapping no Accessname AOOutputScaling2PV AOoutputscaling...

Page 395: ...Defaultvalue PDO Mapping optional RPDO only Accessname AOOutputFV_Dec 0 Sub 0x02 Name AO Output FV 1 Data Type UNSIGNED8 Access rw Defaultvalue PDO Mapping optional RPDO only Accessname AOOutputFV_De...

Page 396: ...ssname AIInputFV_Int 0 Sub 0x02 Name AI Input FV 1 Data Type INTEGER16 Access ro Defaultvalue PDO Mapping optional TPDO only Accessname AIInputFV_Int 1 Sub 0x03 Name AI Input FV 2 Data Type INTEGER16...

Page 397: ...PDO Mapping optional RPDO only Accessname AOOutputFV_Inc 0 Sub 0x02 Name AO Output FV 1 Data Type INTEGER16 Access rw Defaultvalue PDO Mapping optional RPDO only Accessname AOOutputFV_Inc 1 Sub 0x03 N...

Page 398: ...EtherCAT Coupler via E Bus plug E Bus Last 100mA Galvanic separation Separated from one another and versus the bus Analogue inputs Number 4 Type 0 10 V 0 4 20 mA Internal resistance Voltage 200 k Inte...

Page 399: ...module Terminals IO Connection Male 18 pin Trm Signal Explanation 0 4 Not used 5 D Data 6 D Data 7 GND earth potential 8 D Term Bus termination Data 9 D Term Bus termination Data 10 15 Not used Statu...

Page 400: ...direction Use PDO Assignment objects 1C12 and 1C13 to vary the volume of data Taken together with the mailboxes 32 bytes each this is the maximum configuration of ET1200 Output Data PLC IO 0 160 Bytes...

Page 401: ...tchdog triggered watchdog control Unused 0 Bit 1 Unused 1 Bit 1 TxCounterMiss Bit 1 The gateway checks the TxCounter for steady increments This error indicates a skipped increment Best use TxCounterCo...

Page 402: ...mation GmbH 402 E 747GB V2 17 May 2021 Now go to ComParameter and change the Baud Rate or other settings as appropriate or enable disable data synchronisation Your settings are then displayed on tab S...

Page 403: ...Data1 3 l TxData1 4 o TxData1 5 Increment TxCounter by 1 TxCounter 1 TxCounterCon 0 Slave module accepts data into a an out data queue TxCounterCon TxCounter acknowledges Data has not necessarily been...

Page 404: ...ontroller wrror COM_CtrlErr Indicates bit errors or overruns of the control unit concerned The applicable LED COM State is red and flashes rapidly or alternates green red while communicating Use Reset...

Page 405: ...5 0 Number of Entries UINT8 1 RO 1605 1 Subindex 001h UINT32 0x70050040 RO 1606 ReceivePDO6 Mapping Parameter Array 1606 0 Number of Entries UINT8 1 RO 1606 1 Subindex 001h UINT32 0x70060040 RO 1607 R...

Page 406: ...O 1612 1 Subindex 001h UINT32 0x70120040 RO 1613 ReceivePDO19 Mapping Parameter Array 1613 0 Number of Entries UINT8 1 RO 1613 1 Subindex 001h UINT32 0x70130040 RO 1A00 Receive PDO0 Mapping Parameter...

Page 407: ...ping Parameter Array 1A06 0 Number of Entries UINT8 1 RO 1A06 1 Subindex 001h UINT32 0x75060040 RO 1A07 Receive PDO7 Mapping Parameter Array 1A07 0 Number of Entries UINT8 1 RO 1A07 1 Subindex 001h UI...

Page 408: ...0040 RO 1A13 Receive PDO19 Mapping Parameter Array 1A13 0 Number of Entries UINT8 1 RO 1A13 1 Subindex 001h UINT32 0x75130040 RO 1C00 Sync Manager Type Array 1C00 0 Number of Entries UINT8 4 RO 1C00 1...

Page 409: ...UINT16 0x1A0B RO 1C13 13 SubIndex 013 UINT16 0x1A0C RO 1C13 14 SubIndex 014 UINT16 0x1A0D RO 1C13 15 SubIndex 015 UINT16 0x1A0E RO 1C13 16 SubIndex 016 UINT16 0x1A0F RO 1C13 17 SubIndex 017 UINT16 0x1...

Page 410: ...0 Odd 1 Even 2 2001 4 StopBits UINT32 1 1 1 1 2 stop bits 2 2010 DataSync UINT8 NoSync NoSync 0 RxSync 1 RW 6500 StateWord Array 6500 0 Number of Entries UINT8 16 RO 6500 1 ResetErrorAck BOOL RO P 65...

Page 411: ...UINT64 0 RW P 7100 TxCounter UINT16 0 65535 RW P 7101 RxCounterCon UINT16 0 65535 RW P 7102 TxNrOfMsg UINT16 0 152 RW P 7110 ControlWord Array 7110 0 Number of Entries UINT8 16 RO 7110 1 ResetError BO...

Page 412: ...P 750E RxData14 UINT64 RO P F 750 RxData15 UINT64 RO P 7510 RxData16 UINT64 RO P 7511 RxData17 UINT64 RO P 7512 RxData18 UINT64 RO P 7513 RxData19 UINT64 RO P Technical Data RS485 Electrically insulat...

Page 413: ...lanation 0 9 Not used 10 RxD1 Channel 1 Rx data 11 TxD1 Channel 1 Tx data 12 GND1 Channel 1 earth potential 13 RxD2 Channel 2 Rx data 14 TxD2 Channel 2 Tx data 15 GND2 Channel 2 earth potential Status...

Page 414: ...O Assignment objects 1C12 and 1C13 to vary the volume of data Taken together with the mailboxes 32 bytes each this is the maximum configuration of ET1200 Output Data PLC IO 0 160 Bytes Name Size Sourc...

Page 415: ...ing sent or the baud rate is too low COM1_RxQueueOvr Bit 1 In buffer overflow Com1 Data is being accepted too slowly Either speed up the EtherCAT task or reduce the volume of data lower baud rate TxCo...

Page 416: ...le You can directly set the startup parameters Select the module and go to Startparameter startup parameters and Hinzuf gen add Now go to ComParameter and change the Baud Rate or other settings as app...

Page 417: ...Data1 3 l TxData1 4 o TxData1 5 Increment TxCounter by 1 TxCounter 1 TxCounterCon 0 Slave module accepts data into a an out data queue TxCounterCon TxCounter acknowledges Data has not necessarily been...

Page 418: ...ge the error Com controller error COM1_CtrlErr COM2_CtrlErr Indicates bit errors or overruns of the control unit concerned The applicable LED COM State is red and flashes rapidly or alternates green r...

Page 419: ...1 Subindex 001h UINT32 0x70040040 RO 1605 ReceivePDO5 Mapping Parameter Array 1605 0 Number of Entries UINT8 1 RO 1605 1 Subindex 001h UINT32 0x70050040 RO 1606 ReceivePDO6 Mapping Parameter Array 160...

Page 420: ...1612 ReceivePDO18 Mapping Parameter Array 1612 0 Number of Entries UINT8 1 RO 1612 1 Subindex 001h UINT32 0x70120040 RO 1613 ReceivePDO19 Mapping Parameter Array 1613 0 Number of Entries UINT8 1 RO 16...

Page 421: ...1A05 1 Subindex 001h UINT32 0x75050040 RO 1A06 Receive PDO6 Mapping Parameter Array 1A06 0 Number of Entries UINT8 1 RO 1A06 1 SubIndex 001 UINT32 0x75060040 RO 1A07 Receive PDO7 Mapping Parameter Arr...

Page 422: ...ber of Entries UINT8 1 RO 1A12 1 SubIndex 001 UINT32 0x75120040 RO 1A13 Receive PDO19 Mapping Parameter Array 1A13 0 Number of Entries UINT8 1 RO 1A13 1 SubIndex 001 UINT32 0x75130040 RO 1C00 Sync Man...

Page 423: ...010 UINT16 0x1A09 RO 1C13 11 SubIndex 011 UINT16 0x1A0A RO 1C13 12 SubIndex 012 UINT16 0x1A0B RO 1C13 13 SubIndex 013 UINT16 0x1A0C RO 1C13 14 SubIndex 014 UINT16 0x1A0D RO 1C13 15 SubIndex 015 UINT16...

Page 424: ...38400 57600 115200 RW 2000 2 WordLength UINT32 8 Bits 8 8 bit 2000 3 including the baud rate parity stop bits etc UINT32 None 0 None 0 Odd 1 Even 2 2000 4 StopBits UINT32 1 1 1 1 2 stop bits 2 2001 C...

Page 425: ...ta2 UINT64 0 RW P 7003 TxData3 UINT64 0 RW P 7004 TxData4 UINT64 0 RW P 7005 TxData5 UINT64 0 RW P 7006 TxData6 UINT64 0 RW P 7007 TxData7 UINT64 0 RW P 7008 TxData8 UINT64 0 RW P 7009 TxData9 UINT64...

Page 426: ...a5 UINT64 RO P 7506 RxData6 UINT64 RO P 7507 RxData7 UINT64 RO P 7508 RxData8 UINT64 RO P 7509 RxData9 UINT64 RO P 750A RxData10 UINT64 RO P 750B RxData11 UINT64 RO P 750C RxData12 UINT64 RO P 750D Rx...

Page 427: ...CODESYS 3 the module provides a CANbus port that further configurations can be connected to A device description available for CODESYS 3 contains all the required details Mind that you also need the d...

Page 428: ...estricted data exchange LED IO The LED labelled IO indicates the state of the module s I Os State LED flash code Explanation Ok Green on No error Error Red 4x EtherCAT watchdog Red 5x Transmit queue o...

Page 429: ...data received has been processed Only then will the gateway send the next data TxNrOfMsg Word Number of CAN messages in the process image Range 0 9 ResetError Bit 1 Bit 0 1 Resets errors that have be...

Page 430: ...iss Bit 1 The gateway checks the TxCounter for steady increments This error indicates a skipped increment Best use TxCounterCon to send new data CanWarning Bit 1 Indicates the CAN controller states CA...

Page 431: ...ely underneath the Kuhnke FIO CAN Master Slave module Information The Kuhnke FIO CAN Master Slave module does NOT support all CODESYS baud rates refer to the object dictionary The following baud rates...

Page 432: ...CAN Master Slave Kendrion Kuhnke Automation GmbH 432 E 747GB V2 17 May 2021 Your settings are then displayed on tab Startparameter startup parameters...

Page 433: ...dicates the CAN controller states CAN Warning and Error Passive These states are retained unless several frames are sent and received without errors LED CAN is red and flashes rapidly or alternates be...

Page 434: ...Entries UINT8 1 RO 1603 1 SubIndex 001 UINT32 0x70030040 RO 1604 ReceivePDO4 Mapping Parameter Array 1604 0 Number of Entries UINT8 1 RO 1604 1 SubIndex 001 UINT32 0x70040040 RO 1605 ReceivePDO5 Mapp...

Page 435: ...ePDO16 Mapping Parameter Array 1610 0 Number of Entries UINT8 1 RO 1610 1 SubIndex 001 UINT32 0x70100040 RO 1611 ReceivePDO17 Mapping Parameter Array 1611 0 Number of Entries UINT8 1 RO 1611 1 SubInde...

Page 436: ...f Entries UINT8 1 RO 1A04 1 SubIndex 001 UINT32 0x75040040 RO 1A05 Receive PDO5 Mapping Parameter Array 1A05 0 Number of Entries UINT8 1 RO 1A05 1 SubIndex 001 UINT32 0x75050040 RO 1A06 Receive PDO6 M...

Page 437: ...1A11 Receive PDO17 Mapping Parameter Array 1A11 0 Number of Entries UINT8 1 RO 1A11 1 SubIndex 001 UINT32 0x75110040 RO 1A12 Receive PDO18 Mapping Parameter Array 1A12 0 Number of Entries UINT8 1 RO 1...

Page 438: ...5 Subindex 005h UINT16 0x1A04 RO 1C13 6 Subindex 006h UINT16 0x1A05 RO 1C13 7 Subindex 007h UINT16 0x1A06 RO 1C13 8 SubIndex 008 UINT16 0x1A07 RO 1C13 9 SubIndex 009 UINT16 0x1A08 RO 1C13 10 SubIndex...

Page 439: ...NT16 RO 1C33 32 Sync Error BOOL RO 2000 CAN Baud Rate UINT32 500 100 125 250 500 1000 RW 2010 DataSync UINT8 NoSync NoSync 0 RxSync 1 RW 6500 StateWord Array 6500 0 Number of Entries UINT8 16 RO 6500...

Page 440: ...7013 TxData19 UINT64 0 RW P 7100 TxCounter UINT16 0 65535 RW P 7101 RxCounterCon UINT16 0 65535 RW P 7102 TxNrOfMsg UINT16 0 9 RW P 7110 ControlWord Array 7110 0 Number of Entries UINT8 16 RO 7110 1...

Page 441: ...UINT64 RO P F 750 RxData15 UINT64 RO P 7510 RxData16 UINT64 RO P 7511 RxData17 UINT64 RO P 7512 RxData18 UINT64 RO P 7513 RxData19 UINT64 RO P Technical Data CAN Master Slave Electrically insulated B...

Page 442: ...ULus T V Rheinland Runtime system CODESYS RT Safety Programming tool CODESYS v3 5 SP5 or higher with integrated safety function modules E bus power consumption 200 mA 300 mA Supply voltage From bus co...

Page 443: ...ms read input write to E bus Error response time watchdog time configurable Extended diagnostic information Via CoE E bus power consumption 275 mA Supply voltage 24 VDC 15 20 Electrical interference E...

Page 444: ...input write to E bus Error response time watchdog time configurable Extended diagnostic information Via CoE E bus power consumption Typ 210 mA max 300 mA Supply voltage 24 VDC 15 20 Electrical interf...

Page 445: ...d input write to E bus Error response time watchdog time configurable Extended diagnostic information Via CoE E bus power consumption Typ 210 mA max 300 mA Supply voltage 24 VDC 15 20 Electrical inter...

Page 446: ...rror response time watchdog time configurable Extended diagnostic information Via CoE E bus power consumption Typ 210 mA max 300 mA Supply voltage 24 VDC 15 20 Electrical interference EN 61000 6 2 EN...

Page 447: ...e power lines It picks up the potential fed to connections L1 and L2 0 VDC or 24 VDC to the operator s discretion and distributes its among the connections 0 to 15 along the same line The E bus is fed...

Page 448: ...e that you do not mount several potential distributors next to each other to prevent possible EMC problems Please note the following connection example Technical Data Power Distributor 2 x 16 Power co...

Page 449: ...washers Use the 2 screws washers and spring washers to mount the terminal bracket on the housing mount of the Kuhnke FIO module Screw the screws into the 2 holes tapped into the bottom of the front s...

Page 450: ...Kendrion Kuhnke Automation GmbH 450 E 747GB V2 17 May 2021 Technical Data Shield Terminal 2x8mm Shield terminals 8mm 2 pcs Part no 694 412 01 Shield Terminal 14mm Shield terminals 14mm 1 pcs Part no...

Page 451: ...allows both a configuration offline and the scanning of station data via an Ethernet line online configuration The examples below are based around the standard ETG configuration tool EtherCAT configur...

Page 452: ...GmbH 452 E 747GB V2 17 May 2021 Go down the list of devices pick EtherCAT_Master EtherCAT Master and add Kuhnke Automation s FIO Controller Go down the list of devices pick E Bus FIO Controller and ad...

Page 453: ...settings on the right hand side see section AO4 16Bit Keep repeating the last two steps until your configuration is complete If the configuration is complete and all devices are connected to the progr...

Page 454: ...ect Kuhnke Controller 113 to the Kuhnke FIO AI8 I module and the Kuhnke FIO AI8 Pt Ni Tc module and turn on the power supply Use a CAT5 cable to connect your PC s Ethernet port to your CoDeSys3 contro...

Page 455: ...ork The software now scans the Ethernet network and finds the CoDeSys3 control unit connected to it Now select EtherCAT_Master and choose Netzwerk durchsuchen search network CoDeSys scans your EtherCA...

Page 456: ...Configuration Kendrion Kuhnke Automation GmbH 456 E 747GB V2 17 May 2021 Test the EtherCAT IOs DANGER Set outputs only if you are sure that this will cause no harm...

Page 457: ...insulation modules electrically insulated from one another and from the bus Length of analogue signal lines 30m Storage temperature 25 70 C Working temperature 0 55 C Rel humidity 5 95 non condensing...

Page 458: ...state summarised state of every I O Digital inputs 8 3 ms delay Digital outputs 8 load 0 5 A high side semiconductor Kuhnke FIO Bus Coupler DI8 DO4 Part no 694 400 04 Fieldbus EtherCAT 100 Mbit s 100...

Page 459: ...16 DO16 5ms 0 5A Part no 694 450 01 Digital inputs 16 5 ms delay Digital outputs 16 load 0 5 A high side semiconductor Kuhnke FIO DI16 DO16 1ms 0 5A LS Part no 694 450 13 Digital inputs 16 1 ms delay...

Page 460: ...Kuhnke FIO DO16 0 5A Part no 694 452 01 Digital outputs 16 load 0 5 A high side semiconductor Kuhnke FIO DO16 2 wire Part no 694 452 41 Digital outputs 16 load 1 A high side semiconductor 16 Ground co...

Page 461: ...4 442 02 Analogue outputs 4 Resolution 12 bit Output signal 0 10V 10V at loads 1k 1 F 0 20mA 4 20mA 0 24mA at loads 500 1mH configurable Output frequency 220 s constant Kuhnke FIO AI4 8 U 13 Bit Part...

Page 462: ...Ni100 Ni1000DIN43760 thermalcouple types K J Conversion time 50 ms adjustable Mixed I O Modules Kuhnke FIO MIX 02 Part no 694 444 62 Digital inputs 4x 1ms 1x 0 1ms 3x 0 001 ms delay Digital outputs 8...

Page 463: ...electrically insulated Baud rate 2400 115200 Bit s Payload data max 152 bytes In Out Kuhnke FIO RS232 2 Port Part no 694 455 04 Serial interface 2x RS232 electrically insulated Baud rate 2400 115200 B...

Page 464: ...450 02 176 617 36 pin Kuhnke FIO DI8 DO8 5ms 0 5A 694 450 04 182 638 18 pin Kuhnke FIO DI8 DO8 1ms 0 5A 694 450 05 182 637 18 pin Kuhnke FIO DI16 1ms 694 451 03 182 639 18 pin Kuhnke FIO DI16 2 wire...

Page 465: ...RS485 1 Port 694 455 02 187 270 18 pin Kuhnke FIO RS232 2 Port 694 455 04 185 725 18 pin Kuhnke FIO CAN Master Slave 694 455 06 187 272 18 pin Safety Modules Kuhnke FIO Safety PLC 694 330 00 178 779...

Page 466: ...or 18 pin 20x 694 101 18 20 178 641 Spring return unlock button Kuhnke FIO connector 36 pin 20x 694 101 36 20 178 643 Push in unlock button Name Part no ID no Type Ventura FIO Connector black plug bla...

Page 467: ...e overview of our sales and service network including all the relevant addresses Feel free to also contact us at our headquarters in Malente Germany Malente Headquarters Kendrion Kuhnke Automation Gmb...

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