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Commissioning

EJ6002

Version: 1.5

Index 1A00 COM TxPDO-Map Inputs Ch.1

Index
(hex)

Name

Meaning

Data type

Flags Default

1A00:0

COM TxPDO-Map In-
puts Ch.1

PDO Mapping TxPDO 1

UINT8

0x1F (31

dec

)

1A00:01

SubIndex 001

1. PDO Mapping entry (object 0x6000 (COM Inputs
Ch.1), entry 0x01 (Transmit accepted))

UINT32

06000:01, 1

1A00:02

SubIndex 002

2. PDO Mapping entry (object 0x6000 (COM Inputs
Ch.1), entry 0x02 (Receive request))

UINT32

06000:02, 1

1A00:03

SubIndex 003

3. PDO Mapping entry (object 0x6000 (COM Inputs
Ch.1), entry 0x03 (Init accepted))

UINT32

06000:03, 1

1A00:04

SubIndex 004

4. PDO Mapping entry (object 0x6000 (COM Inputs
Ch.1), entry 0x04 (Buffer full))

UINT32

06000:04, 1

1A00:05

SubIndex 005

5. PDO Mapping entry (object 0x6000 (COM Inputs
Ch.1), entry 0x05 (Parity error))

UINT32

06000:05, 1

1A00:06

SubIndex 006

6. PDO Mapping entry (object 0x6000 (COM Inputs
Ch.1), entry 0x06 (Framing error))

UINT32

06000:06, 1

1A00:07

SubIndex 007

7. PDO Mapping entry (object 0x0x6000 (COM Inputs
Ch.1), entry 0x07 (Overrun error))

UINT32

06000:07, 1

1A00:08

SubIndex 008

8. PDO Mapping entry (1 bits align)

UINT32

0x0000:00, 1

1A00:09

SubIndex 009

9. PDO Mapping entry (object 0x0x6000 (COM Inputs
Ch.1), entry 0x09 (Input length))

UINT32

06000:09, 8

1A00:0A

SubIndex 010

10. PDO Mapping entry (object 0x0x6000 (COM Inputs
Ch.1), entry 0x11 (Data In 0))

UINT32

06000:11, 8

1A00:0B

SubIndex 011

11. PDO Mapping entry (object 0x0x6000 (COM Inputs
Ch.1), entry 0x12 (Data In 1))

UINT32

06000:12, 8

1A00:0C

SubIndex 012

12. PDO Mapping entry (object 0x0x6000 (COM Inputs
Ch.1), entry 0x13 (Data In 2))

UINT32

06000:13, 8

1A00:0D

SubIndex 013

13. PDO Mapping entry (object 0x0x6000 (COM Inputs
Ch.1), entry 0x14 (Data In 3))

UINT32

06000:14, 8

1A00:0E

SubIndex 014

14. PDO Mapping entry (object 0x0x6000 (COM Inputs
Ch.1), entry 0x15 (Data In 4))

UINT32

06000:15, 8

1A00:0F

SubIndex 015

15. PDO Mapping entry (object 0x0x6000 (COM Inputs
Ch.1), entry 0x16 (Data In 5))

UINT32

06000:16, 8

1A00:10

SubIndex 016

16. PDO Mapping entry (object 0x0x6000 (COM Inputs
Ch.1), entry 0x17 (Data In 6))

UINT32

06000:17, 8

1A00:11

SubIndex 017

17. PDO Mapping entry (object 0x0x6000 (COM Inputs
Ch.1), entry 0x18 (Data In 7))

UINT32

06000:18, 8

1A00:12

SubIndex 018

18. PDO Mapping entry (object 0x0x6000 (COM Inputs
Ch.1), entry 0x19 (Data In 8))

UINT32

06000:19, 8

1A00:13

SubIndex 019

19. PDO Mapping entry (object 0x0x6000 (COM Inputs
Ch.1), entry 0x1A (Data In 9))

UINT32

06000:1A, 8

1A00:14

SubIndex 020

20. PDO Mapping entry (object 0x0x6000 (COM Inputs
Ch.1), entry 0x1B (Data In 10))

UINT32

06000:1B, 8

1A00:15

SubIndex 021

21. PDO Mapping entry (object 0x0x6000 (COM Inputs
Ch.1), entry 0x1C (Data In 11))

UINT32

06000:1C, 8

1A00:16

SubIndex 022

22. PDO Mapping entry (object 0x0x6000 (COM Inputs
Ch.1), entry 0x1C (Data In 12))

UINT32

06000:1D, 8

1A00:17

SubIndex 023

23. PDO Mapping entry (object 0x0x6000 (COM Inputs
Ch.1), entry 0x1E (Data In 13))

UINT32

06000:1E, 8

1A00:18

SubIndex 024

24. PDO Mapping entry (object 0x0x6000 (COM Inputs
Ch.1), entry 0x1F (Data In 14))

UINT32

06000:1F, 8

1A00:19

SubIndex 025

25. PDO Mapping entry (object 0x0x6000 (COM Inputs
Ch.1), entry 0x20 (Data In 15))

UINT32

06000:20, 8

1A00:1A

SubIndex 026

26. PDO Mapping entry (object 0x0x6000 (COM Inputs
Ch.1), entry 0x21 (Data In 16))

UINT32

06000:21, 8

1A00:1B

SubIndex 027

27. PDO Mapping entry (object 0x0x6000 (COM Inputs
Ch.1), entry 0x22 (Data In 17))

UINT32

06000:22, 8

1A00:1C

SubIndex 028

28. PDO Mapping entry (object 0x0x6000 (COM Inputs
Ch.1), entry 0x23 (Data In 18))

UINT32

06000:23, 8

1A00:1D

SubIndex 029

29. PDO Mapping entry (object 0x0x6000 (COM Inputs
Ch.1), entry 0x24 (Data In 19))

UINT32

06000:24, 8

1A00:1E

SubIndex 030

30. PDO Mapping entry (object 0x0x6000 (COM Inputs
Ch.1), entry 0x25 (Data In 20))

UINT32

06000:25, 8

1A00:1F

SubIndex 031

31. PDO Mapping entry (object 0x0x6000 (COM Inputs
Ch.1), entry 0x26 (Data In 21))

UINT32

06000:26, 8

Содержание EJ6002

Страница 1: ...Documentation EN EJ6002 2 channel serial interface RS232 RS422 or RS485 2022 06 23 Version 1 5...

Страница 2: ......

Страница 3: ...pply for the EtherCAT plug in modules 23 4 2 EJxxxx dimensions 25 4 3 Installation positions and minimum distances 26 4 3 1 Minimum distances for ensuring installability 26 4 3 2 Installation position...

Страница 4: ...of contents EJ6002 4 Version 1 5 6 2 4 Output data 44 6 2 5 Information and diagnostic data 45 6 2 6 Standard objects 0x1000 0x1FFF 45 6 2 7 Command object 0xFB00 57 7 Appendix 58 7 1 Support and Serv...

Страница 5: ...ducts that have already been supplied may be made on the basis of the data diagrams and descriptions in this documentation Trademarks Beckhoff TwinCAT TwinCAT BSD TC BSD EtherCAT EtherCAT G EtherCAT G...

Страница 6: ...ined specialists in control automation and drive engineering who are familiar with the applicable national standards Description of instructions In this documentation the following instructions are us...

Страница 7: ...ct description and parameterization 1 4 Update chapter Marking of EtherCAT plug in modules Update Technical Data Chapter Disposal added Update structure 1 3 Update chapter Configuration data 1 2 New t...

Страница 8: ...of EtherCAT Components 2 Infrastructure for EtherCAT Ethernet Technical recommendations and notes for design implementation an testing 3 Design Guide EJ8xxx Signal distribution board for standard Ethe...

Страница 9: ...herCAT plug in modules s following illustration A and B Fig 1 Order identifier A Revision number B and serial number C using the example of EJ1008 Product group Example Product designation Version Rev...

Страница 10: ...L file which is available for download from the Beckhoff web site The product designation version and revision are read as decimal numbers even if they are technically saved in hexadecimal Serial numb...

Страница 11: ...roduct it can be found in the following places on the packaging unit directly on the product if space suffices on the packaging unit and the product The BIC is machine readable and contains informatio...

Страница 12: ...composite information from items 1 4 and with the above given example value on positon 6 The data identifiers are marked in bold font for better display 1P072222SBTNk4p562d71KEL1809 Q1 51S678294 Accor...

Страница 13: ...uced into the Beckhoff I O production terminals box modules from 2020 widespread implementation is expected in 2021 The user can electronically access the eBIC if existent as follows With all EtherCAT...

Страница 14: ...cific content is stored with the help of a category according to ETG 2010 ID 03 indicates to all EtherCAT masters that they must not overwrite these data in case of an update or restore the data after...

Страница 15: ...n the side of the modules The cRUus imprint identifies devices that meet product safety requirements according to U S and Canadian regulations The warning symbol is a request to read the corresponding...

Страница 16: ...lication specific plug connectors in order to connect the controller to further machine modules Using pre assembled cable harnesses avoids the need for time consuming connection of individual wires Co...

Страница 17: ...RS232 RS422 and RS485 baud rates and modes e g termination BIAS failsafe can be configured via software The devices connected to the EJ6002 EtherCAT plug in module communicate with the automation dev...

Страница 18: ...on signal distribution board Pollution degree 2 Mounting position Standard 27 Position of the coding pins 30 2 and 5 Color coding grey Vibration shock resistance according to EN 60068 2 6 EN 60068 2...

Страница 19: ...8 EJ6002 Pinout RS232 The PCB footprint can be downloaded from the Beckhoff homepage NOTE Damage to devices possible The pins named with NC must not be connected Before installation and commissioning...

Страница 20: ...9 EJ6002 Pinout RS422 The PCB footprint can be downloaded from the Beckhoff homepage NOTE Damage to devices possible The pins named with NC must not be connected Before installation and commissioning...

Страница 21: ...10 EJ6002 Pinout RS485 The PCB footprint can be downloaded from the Beckhoff homepage NOTE Damage to devices possible The pins named with NC must not be connected Before installation and commissioning...

Страница 22: ...c Manager channels and the distributed clocks Outputs remain in safe state on Operational State of the EtherCAT State Machine OP normal operating state mailbox and process data communication is possib...

Страница 23: ...e found for each module in the respective documentation in section Technical data online and in the catalog The power requirement of the module string is displayed in the TwinCAT System Manager E bus...

Страница 24: ...to 2 000 mA E bus current If a higher current is required due to the attached terminals power feed terminals or power supply plug in modules must be used for the E bus supply with a peripheral voltag...

Страница 25: ...le type Dimensions W x H x D Sample in figure below Coupler 44 mm x 66 mm x 55 mm EJ1100 ej_44_2xrj45_coupler Single module 12 mm x 66 mm x 55 mm EJ1809 ej_12_16pin_code13 Double module 24 mm x 66 mm...

Страница 26: ...ules Fig 16 Mounting distances EJ module PCB Observing the reaching area A minimum reaching area of 92 mm is required for assembly disassembly in order to be able to reach the mounting tabs with the f...

Страница 27: ...sure that the specified conditions see Technical data are adhered to Optimum installation position standard For the optimum installation position the signal distribution board is installed horizontall...

Страница 28: ...ll other installation positions are characterized by a different spatial position of the signal distribution board see Fig Other installation positions The minimum distances to ambient specified above...

Страница 29: ...gram above The color code indicates the signal type The following table provides an overview of the signal types with corresponding color coding Signal type Modules Color Coupler EJ11xx No color codin...

Страница 30: ...lation and service Couplers and placeholder modules have no coding pins Fig 20 Mechanical position coding with coding pins B1 and B2 and coding holes A1 and A2 The following diagram shows the position...

Страница 31: ...of EJ modules A1 A2 Latching lugs top bottom C1 C2 Mounting holes B1 B2 Coding pins D1 D2 Coding holes To install the modules on the signal distribution board proceed as follows 1 Before the installat...

Страница 32: ...g installation ensure safe latching of the modules on the signal distribution board The conse quences of inadequate contact pressure include loss of quality of the transferred signals increased power...

Страница 33: ...uption in EtherCAT communication and must be equipped with placeholder modules In contrast to the passive terminals of the EL series the placeholder modules actively participate in the data exchange S...

Страница 34: ...lation of EJ modules EJ6002 34 Version 1 5 4 6 2 Linking with EtherCAT Terminals and EtherCAT Box modules via an Ethernet EtherCAT connection Fig 24 Example of extension via an Ethernet EtherCAT conne...

Страница 35: ...ied from the power supply unit of the Embedded PC The E bus signals and the supply voltage of the field side UP are routed directly to the PCB via a plug connector at the rear of the EtherCAT EJ coupl...

Страница 36: ...optimally connected to the IPC via the corresponding EtherCAT Cable see following Fig A The IPC can be supplied directly via the signal distribution board using the enclosed power plug see Fig B belo...

Страница 37: ...Disassembly of EJ modules To disassemble the module from the signal distribution board proceed as follows 1 Before disassembly ensure that the signal distribution board is securely connected to the m...

Страница 38: ...EtherCAT basics EJ6002 38 Version 1 5 5 EtherCAT basics Please refer to the EtherCAT System Documentation for the EtherCAT fieldbus basics...

Страница 39: ...rameterized via the CoE Online tab with a double click on the respec tive object or via the Process Data tab assignment of PDOs A detailed description can be found in the EtherCAT System Documentation...

Страница 40: ...XOFF is not supported for input data TRUE XON XOFF is supported for input data BOOLEAN RW 0x00 0dec 80n0 04 Enable send FIFO data continuous FALSE No continuous sending of data from the FIFO TRUE Con...

Страница 41: ...x00000010 16dec 16dec RS232 default Rx Tx RTS CTS are controlled automatically 17dec RS232 manual operation The input of Rx and CTS can be read from the ext status 0x60n1 43 The outputs Tx and RTS can...

Страница 42: ...ec 64dec RS485 Busdevice This configuration will not enable the termination or the BIAS Failsafe resistors It is designed for devices which are connected in between of the two terminating devices 65de...

Страница 43: ...by the module BOOLEAN RO 0x00 0dec 60n0 04 Buffer full The receive FIFO is full Note All incoming data will be lost from this point on BOOLEAN RO 0x00 0dec 60n0 05 Parity error A parity error has occu...

Страница 44: ...dule with the Init accepted 43 bit in index 0x60n0 03 BOOLEAN RO 0x00 0dec 70n0 04 Send continuous Continuous sending of data from the FIFO The send buffer is filled up to 128 bytes by the controller...

Страница 45: ...ta bytes in the receive FIFO UINT16 RO 0x0000 0dec Index F000 Modular device profile Index hex Name Meaning Data type Flags Default F000 0 Modular device profile General information for the modular de...

Страница 46: ...ype Flags Default 1018 0 Identity Information for identifying the slave UINT8 RO 0x04 4dec 1018 01 Vendor ID Vendor ID of the EtherCAT slave UINT32 RO 0x00000002 2dec 1018 02 Product code Product code...

Страница 47: ...COM Outputs Ch 1 entry 0x17 Data Out 6 UINT32 RO 0x7000 17 8 1600 0E SubIndex 014 14 PDO Mapping entry object 0x7000 COM Outputs Ch 1 entry 0x18 Data Out 7 UINT32 RO 0x7000 18 8 1600 0F SubIndex 015...

Страница 48: ...uts Ch 1 PDO Mapping RxPDO 2 UINT8 RO 0x03 03dec 1601 01 SubIndex 001 1 PDO Mapping entry object 0x7001 COM Ext Out puts Ch 1 entry 0x01 Tx UINT32 RO 0x7001 01 1 1601 02 SubIndex 002 2 PDO Mapping ent...

Страница 49: ...COM Outputs Ch 2 entry 0x17 Data Out 6 UINT32 RO 0x7010 17 8 1602 0E SubIndex 014 14 PDO Mapping entry object 0x7010 COM Outputs Ch 2 entry 0x18 Data Out 7 UINT32 RO 0x7010 18 8 1602 0F SubIndex 015...

Страница 50: ...uts Ch 2 PDO Mapping RxPDO 4 UINT8 RO 0x03 03dec 1603 01 SubIndex 001 1 PDO Mapping entry object 0x7011 COM Ext Out puts Ch 2 entry 0x01 Tx UINT32 RO 0x7011 01 1 1603 02 SubIndex 002 2 PDO Mapping ent...

Страница 51: ...5 8 1A00 0F SubIndex 015 15 PDO Mapping entry object 0x0x6000 COM Inputs Ch 1 entry 0x16 Data In 5 UINT32 RO 06000 16 8 1A00 10 SubIndex 016 16 PDO Mapping entry object 0x0x6000 COM Inputs Ch 1 entry...

Страница 52: ...nputs Ch 1 PDO Mapping TxPDO 2 UINT8 RO 0x03 3dec 1A01 01 SubIndex 001 1 PDO Mapping entry object 0x6001 COM Ext Inputs Ch 1 entry 0x01 Rx UINT32 RO 0x6001 01 1 1A01 02 SubIndex 002 2 PDO Mapping entr...

Страница 53: ...5 8 1A02 0F SubIndex 015 15 PDO Mapping entry object 0x0x6010 COM Inputs Ch 2 entry 0x16 Data In 5 UINT32 RO 06010 16 8 1A02 10 SubIndex 016 16 PDO Mapping entry object 0x0x6010 COM Inputs Ch 2 entry...

Страница 54: ...pe Index hex Name Meaning Data type Flags Default 1C00 0 Sync manager type Using the Sync Managers UINT8 RO 0x04 4dec 1C00 01 SubIndex 001 Sync Manager Type Channel 1 Mailbox Write UINT8 RO 0x01 1dec...

Страница 55: ...le time Minimum cycle time in ns UINT32 RO 0x00002710 10000dec 1C32 06 Calc and copy time Time between reading of the inputs and availability of the inputs for the master in ns only DC mode UINT32 RO...

Страница 56: ...le time Minimum cycle time in ns UINT32 RO 0x00002710 10000dec 1C33 06 Calc and copy time Time between reading of the inputs and availability of the inputs for the master in ns only DC mode UINT32 RO...

Страница 57: ...mands are available at this time OCTET STRING 16 bit RW FB00 02 Status Status of the command currently being executed 0 Command executed without error and without re sponse 1 Command executed without...

Страница 58: ...nts there Beckhoff Support Support offers you comprehensive technical assistance helping you not only with the application of individual Beckhoff products but also with other wide ranging services sup...

Страница 59: ......

Страница 60: ...Beckhoff Automation GmbH Co KG H lshorstweg 20 33415 Verl Germany Phone 49 5246 9630 info beckhoff com www beckhoff com More Information www beckhoff com EJ6002...

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