Kendrion Kuhnke FIO Instruction Manual Download Page 226

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Appendix

Kendrion Kuhnke Automation GmbH

226

17 May 2021

Extension ....................................................... connection to first Kuhnke FIO I/O module integrated in

side panel of module

Diagnostics .................................................... LED: EtherCAT module state,

EtherCAT In/Out state
I/O state (summarised)
state of every I/O

Digital inputs .................................................. 16, 3 ms delay

Digital outputs ................................................ 16, load: 0.5 A, high-side semiconductor

Kuhnke FIO Bus Coupler DI8 DO8

Part no. .......................................................... 694.400.08

Fieldbus ......................................................... EtherCAT 100 Mbit/s 100 Base TX to IEEE802.3

Connection..................................................... 2x RJ45

Controller ....................................................... ASIC ET1100

Extension ....................................................... connection to first Kuhnke FIO I/O module integrated in

side panel of module

Diagnostics .................................................... LED: EtherCAT module state,

EtherCAT In/Out state
I/O 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 Base TX to IEEE802.3

Connection..................................................... 2x RJ45

Controller ....................................................... ASIC ET1100

Extension ....................................................... connection to first Kuhnke FIO I/O module integrated in

side panel of module

Diagnostics .................................................... LED: EtherCAT module state,

EtherCAT In/Out state
I/O state (summarised)
state of every I/O

Digital inputs .................................................. 8, 3 ms delay

Digital outputs ................................................ 4, load: 0.5 A, high-side semiconductor

Kuhnke FIO I/O Modules (General)

Fieldbus ......................................................... EtherCAT 100 Mbit/s LVDS: E-bus

Controller ....................................................... ASIC ET1200 or ET1100

Extension ....................................................... connection to adjacent Kuhnke FIO I/O modules

integrated in side panels of module

Diagnostics .................................................... LED: EtherCAT state

I/O states (summarised) *,
IO power supply state *
state of every I/O
(* if available)

Summary of Contents for Kuhnke FIO

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

Page 2: ...finition 13 Interference Emission 13 General Notes on Installation 13 Electrical Immission Safeguard 13 Cable Routing and Wiring 13 Location of Installation 14 Temperature 14 Contamination 14 Impact a...

Page 3: ...Overview of pluggable modules 43 Encoder interface 44 Encoder interface configuration Incremental encoder 44 Encoder interface configuration SSI Encoder 45 Encoder interface configuration ENDAT Encode...

Page 4: ...Shield Terminal 217 Terminals 217 Function 217 Technical Data 218 Shield Terminal 2x8mm 218 Shield Terminal 14mm 218 7 Configuration 219 7 1 CODESYS V3 CODESYS Configurator 219 Offline Configuration 2...

Page 5: ...229 Kuhnke FIO AI8 16 U 13 Bit 229 Kuhnke FIO AI4 I 12 Bit 229 Kuhnke FIO AI8 I 12 Bit 229 Kuhnke FIO AI4 Pt Ni TC 16 Bit 230 Kuhnke FIO AI8 Pt Ni TC 16 Bit 230 Mixed I O Modules 230 Kuhnke FIO MIX 0...

Page 6: ...n history Date Comments modifications 25 Aug 2017 Source version after separation of the instructions into categories and translation 14 Jan 2019 Mounting instructions for the potential distributor ad...

Page 7: ...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 8: ...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 9: ...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 10: ...lude 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 inspection...

Page 11: ...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 12: ...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 13: ...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 14: ...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 15: ...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 16: ...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 17: ...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 18: ...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 19: ...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 20: ...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 21: ...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 22: ...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 23: ...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 24: ...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 25: ...n 0 3 In_0 3 Digital inputs 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 suppl...

Page 26: ...anation Ok Green on 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 Configurat...

Page 27: ...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 firs...

Page 28: ...ResetError 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 LowSupp...

Page 29: ...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 error...

Page 30: ...OOL 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 O...

Page 31: ...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 Counter...

Page 32: ...UINT 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 t...

Page 33: ...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 Variable...

Page 34: ...Counter 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...

Page 35: ...ence 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 up th...

Page 36: ...now 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 fun...

Page 37: ...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_1 TH...

Page 38: ...lue_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...

Page 39: ...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 From...

Page 40: ...Counter Encoder 694 454 53 Kendrion Kuhnke Automation GmbH 40 E 747GB V2 17 May 2021 5 1 2 Counter Encoder Front view and I O connection Front view I O Modul Counter Encoder I O connection...

Page 41: ...ional 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 42: ...he 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 w...

Page 43: ...ndently 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 44: ...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 45: ...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 46: ...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 47: ...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 48: ...AT 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 49: ...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 50: ...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 51: ...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 52: ...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 Defaultval...

Page 53: ...cal 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 en...

Page 54: ...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 55: ...lue 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 M...

Page 56: ...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 57: ...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 e...

Page 58: ...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 e...

Page 59: ...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 60: ...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 61: ...onsists 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 object to...

Page 62: ...f 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 Array Sub 0x00 N...

Page 63: ...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 64: ...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 65: ...ltvalue 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 Defaultvalu...

Page 66: ...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 67: ...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 68: ...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 Mappi...

Page 69: ...c1 Position Value Signed Data Type INTEGER32 Access ro Defaultvalue PDO Mapping optional TPDO only Accessname Enc1PositionValueSigned 0x2008 Enc1 High Resolution Position Value Signed Object Code Vari...

Page 70: ...nly 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 REAL32 Acces...

Page 71: ...lue 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 obj...

Page 72: ...GB V2 17 May 2021 Accessname Enc1PositionEncoderResolution EncoderIncrements Sub 0x02 Name Motor Revolutions Data Type UNSIGNED32 Access rw Defaultvalue 0x00000001 PDO Mapping no Accessname Enc1Positi...

Page 73: ...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 Na...

Page 74: ...ta 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 75: ...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 UNSIGNED...

Page 76: ...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 77: ...seg 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 conf...

Page 78: ...esolution 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 Defaultvalue...

Page 79: ...a 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 Ob...

Page 80: ...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 81: ...Defaultvalue PDO Mapping optional TPDO only Accessname EventCounterCount EventCounterChannel6 0x2801 Enc2 Error Register Object Code Variable Sub 0x00 Name Enc2 Error Register Data Type UNSIGNED8 Acce...

Page 82: ...ution 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 only Accessname Enc2HighR...

Page 83: ...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 84: ...terSelect 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 U...

Page 85: ...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 MotorShaftRevolut...

Page 86: ...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 87: ...tings 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 88: ...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 89: ...c2DigitalInterfaceConfig Enc2SSI Usegreycode Sub 0x05 Name Enc2 Event Counter Sensitivity Data Type UNSIGNED8 Access ro Defaultvalue 0 PDO Mapping no Accessname Enc2DigitalInterfaceConfig Enc2EventCou...

Page 90: ...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 0x2911 Enc2 Dig...

Page 91: ...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 Code V...

Page 92: ...e 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 Variable Sub 0x00...

Page 93: ...nal 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 Defaultvalue...

Page 94: ...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 95: ...no Accessname Enc1SpeedParameters Enc1SpeedSourceSelector Sub 0x02 Name Enc1 Speed Integration Time Data Type UNSIGNED16 Access ro Defaultvalue 100 PDO Mapping no Accessname Enc1SpeedParameters Enc1Sp...

Page 96: ...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 97: ...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 98: ...lue 5 1 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 Enc2Hi...

Page 99: ...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 100: ...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 101: ...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 102: ...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 103: ...t 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 digital...

Page 104: ...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 pr...

Page 105: ...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 106: ...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 107: ...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 108: ...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 109: ...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 110: ...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 111: ...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 112: ...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 113: ...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 114: ...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 115: ...Kendrion Kuhnke Automation GmbH Mix 04 694 444 64 E 747GB V2 115 17 May 2021 5 2 2 MIX 04 Front view and I O connection Front view I O Module MIX 04 I O connection...

Page 116: ...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 117: ...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 118: ...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 119: ...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 120: ...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 121: ...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 122: ...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 123: ...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 124: ...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 125: ...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 126: ...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 127: ...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 128: ...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 129: ...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 130: ...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 131: ...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 132: ...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 133: ...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 134: ...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 135: ...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 136: ...Sub 0x01 Name 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 comp...

Page 137: ...x00 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 0x73300308 PDO Map...

Page 138: ...x1a00 Analogue 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 T...

Page 139: ...dex of 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...

Page 140: ...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 141: ...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 142: ...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 143: ...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 144: ...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 145: ...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 146: ...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 147: ...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 148: ...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 149: ...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 150: ...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 151: ...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 152: ...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 153: ...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 154: ...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 155: ...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 Linear...

Page 156: ...t 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 Mapping...

Page 157: ...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 158: ...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 159: ...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 160: ...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 161: ...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 162: ...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 163: ...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 164: ...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 165: ...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 166: ...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 167: ...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 168: ...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 169: ...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 170: ...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 171: ...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 172: ...ame Enc2DigitalInterfaceConfig Enc2SSI Usegreycode Sub 0x05 Name Enc2 Event Counter Sensitivity Data Type UNSIGNED8 Access ro Defaultvalue 0 PDO Mapping no Accessname Enc2DigitalInterfaceConfig Enc2Ev...

Page 173: ...me Enc2DigitalInterfaceBitSize 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 D...

Page 174: ...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 175: ...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 176: ...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 177: ...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 178: ...name AIInputCalibrationGain AIInputcalibrationgain0 Sub 0x02 Name AI Input calibration gain 1 Data Type REAL32 Access rw Defaultvalue PDO Mapping no Accessname AIInputCalibrationGain AIInputcalibratio...

Page 179: ...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 180: ...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 181: ...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 182: ...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 183: ...ccessname Enc1SpeedParameters Enc1SpeedSourceSelector Sub 0x02 Name Enc1 Speed Integration Time Data Type UNSIGNED16 Access ro Defaultvalue 100 PDO Mapping no Accessname Enc1SpeedParameters Enc1SpeedI...

Page 184: ...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 185: ...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 186: ...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 187: ...Kendrion Kuhnke Automation GmbH Mix 04 694 444 64 E 747GB V2 187 17 May 2021...

Page 188: ...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 189: ...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 190: ...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 191: ...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 192: ...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 193: ...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 194: ...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 195: ...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 196: ...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 197: ...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 198: ...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 199: ...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 200: ...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 201: ...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 202: ...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 203: ...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 204: ...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 205: ...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 206: ...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 207: ...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 208: ...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 209: ...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 210: ...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 211: ...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 212: ...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 213: ...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 214: ...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 215: ...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 216: ...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 217: ...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 218: ...Kendrion Kuhnke Automation GmbH 218 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 219: ...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 220: ...GmbH 220 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 221: ...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 222: ...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 223: ...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 224: ...Configuration Kendrion Kuhnke Automation GmbH 224 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 225: ...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 226: ...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 227: ...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 228: ...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 229: ...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 230: ...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 231: ...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 232: ...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 233: ...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 234: ...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 235: ...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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