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Commissioning and configuration

EP1518-0002

46

Version: 2.1.0

Shift Time

The Shift Time can be used to shift the SYNC0 pulse for this EtherCAT Box relative to other Boxes/
Terminals and the global SYNC pulse in nanosecond steps. If the inputs of several Boxes are read
simultaneously, the same value must be entered here.

Based on input reference

If this option is activated an additional Input Shift is added to the configurable terminal-specific SYNC0 shift
(user defined). This value is calculated and made available by the EtherCAT master (SysMan/Device
EtherCAT/Tab EtherCAT/Advanced Settings/Distributed Clocks/Input Shift Time). As a result,

all

the input

terminals in the system (EL1xxx, EL3xxx, EP1xxx, EP3xxx) read their inputs as close as possible to the time
of the EtherCAT frame that will fetch them, thereby supplying the most recent possible input data to the
controller.

Enable SYNC0

Automatically activated in

DC-synchron

operation mode.

SYNC1

Additional SYNC pulse, derived from SYNC0 or from the DC itself.

DC settings for EtherCAT master

Higher-level distributed clock parameters can be modified under advanced settings for the EtherCAT master.
Refer also to the basic introduction to the topic of EtherCAT and Distributed Clocks; download: the

Distributed Clocks system description

Fig. 43: EtherCAT Master, EtherCAT tab, Advanced Settings

4.1.4

Distributed Clocks and EP1518

Digital inputs and Distributed Clocks

If the Distributed Clock of the EP1518 is activated, the digital inputs are read in without the set filter
promptly before the arrival of the querying EtherCAT datagram.

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Содержание EP1518-0001

Страница 1: ...Documentation EP1518 0002 EtherCAT Box with 8 digital inputs and 2 counters 2 1 0 2018 12 05 Version Date ...

Страница 2: ......

Страница 3: ... Power cables 25 3 2 6 Power cable conductor losses M8 26 3 2 7 Signal connection 27 3 2 8 Status LEDs at the signal connections 28 3 3 UL Requirements 29 3 4 ATEX notes 30 3 4 1 ATEX Special conditions 30 3 4 2 BG2000 0000 EtherCAT Box protection enclosure 31 3 4 3 ATEX Documentation 32 4 Commissioning and configuration 33 4 1 Integration in TwinCAT 33 4 1 1 Inserting into the EtherCAT network 33...

Страница 4: ...Table of contents EP1518 0002 4 Version 2 1 0 5 1 General operating conditions 69 5 2 EtherCAT Box EtherCAT P Box Accessories 70 5 3 Support and Service 71 ...

Страница 5: ...data diagrams and descriptions in this documentation Trademarks Beckhoff TwinCAT EtherCAT EtherCAT P Safety over EtherCAT TwinSAFE XFC and XTS are registered trademarks of and licensed by Beckhoff Automation GmbH Other designations used in this publication may be trademarks whose use by third parties for their own purposes could violate the rights of the owners Patent Pending The EtherCAT Technolo...

Страница 6: ...r trained specialists in control automation and drive engineering who are familiar with the applicable national standards Description of instructions In this documentation the following instructions are used These instructions must be read carefully and followed without fail DANGER Serious risk of injury Failure to follow this safety instruction directly endangers the life and health of persons WA...

Страница 7: ...s having earlier production statuses cannot have the same properties as modules with the latest status However existing properties are retained and are not changed so that older modules can always be replaced with new ones Documentation Version EP1518 0002 Firmware Hardware 2 1 04 06 2 0 0 04 05 1 0 0 02 00 The firmware and hardware version delivery state can be found in the batch number D number ...

Страница 8: ... robust design of the EtherCAT Box modules enables them to be used directly at the machine Control cabinets and terminal boxes are now no longer required The modules are fully sealed and therefore ideally prepared for wet dirty or dusty conditions Pre assembled cables significantly simplify EtherCAT and signal wiring Very few wiring errors are made so that commissioning is optimized In addition to...

Страница 9: ...tation You will find a detailed description of the EtherCAT system in the Basic System Documentation for EtherCAT which is available for download from our website www beckhoff com under Downloads EtherCAT XML Device Description You will find XML files XML Device Description Files for Beckhoff EtherCAT modules on our web site www beckhoff com under Downloads in the Configuration Files area ...

Страница 10: ...has three modes of operation that can be selected via the PDOs using the Sync Manager 2 digital inputs and 2 counters delivery state 5 digital inputs and 1 counter 8 digital inputs All inputs continue to be shown in the process image even in the counter operation modes Signal acquisition takes place with the filter times set via CoE Irrespective of that the counter pulses are always counted with a...

Страница 11: ...ed from control voltage Us Sensor current consumption max 0 5 A per 4 sensors short circuit proof Power supply connection Power supply 1 x M8 plug 4 pole Onward connection 1 x M8 socket 4 pole Input process image 8 bits data 8 bits diagnostics 48 bits counter Output process image 48 bits counter Distributed clocks yes Electrical isolation control voltage fieldbus 500 V Weight approx 165 g Permissi...

Страница 12: ...cess data The input data of the 2nd counter can be found under CNT Input Channel 2 Their structure corresponds to that of the 1st counter DIG Inputs shows the states of the individual inputs irrespective of the selected operation mode Error channel 1 displays a short circuit of the supply voltage Us to digital inputs 0 to 3 Error channel 2 displays a short circuit of the supply voltage Us to digit...

Страница 13: ...ive of the selected operation mode Error channel 1 displays a short circuit of the supply voltage Us to digital inputs 0 to 3 Error channel 2 displays a short circuit of the supply voltage Us to digital inputs 4 to 7 The output data of the 1st counter can be found under CNT Output Channel 1 The setting of Set counter activates the adoption of the Set Counter Value into the Counter Value of the 1st...

Страница 14: ...pound Polyurethane Mounting two fastening holes Ø 3 mm for M3 two fastening holes Ø 3 mm for M3 two fastening holes Ø 4 5 mm for M4 Metal parts Brass nickel plated Contacts CuZn gold plated Power feed through max 4 A M8 max 16 A 7 8 max 15 5 A B17 5G 1 5 mm2 Installation position variable Protection class IP65 IP66 IP67 conforms to EN 60529 when screwed together Dimensions H x W x D app 126 x 30 x...

Страница 15: ...ot threaded When assembling remember that the fieldbus connectors increases the overall height See chapter accessories Mounting Rail ZS5300 0001 The mounting rail ZS5300 0001 500 mm x 129 mm allows the time saving assembly of modules The rail is made of stainless steel 1 5 mm thick with already pre made M3 threads for the modules The rail has got 5 3 mm slots to mount it via M5 screws to the machi...

Страница 16: ... M8 connectors tight with a nut torque of 0 4 Nm When using the torque control screwdriver ZB8800 is also a max torque of 0 5 Nm permissible Fig 7 EtherCAT Box with M8 connectors M12 connectors It is recommended to pull the M12 connectors tight with a nut torque of 0 6 Nm Fig 8 EtherCAT Box with M8 and M12 connectors ...

Страница 17: ...mend fastening the 7 8 plug connectors with a torque of 1 5 Nm Fig 9 7 8 plug connectors Torque socket wrenches Fig 10 ZB8801 torque socket wrench Ensure the right torque Use the torque socket wrenches available by Beckhoff to pull the connectors tight ZB8800 ZB8801 0000 ...

Страница 18: ... EtherCAT Box EPxxxx has two M8 sockets marked in green the Coupler Box FBB x110 has two M12 sockets Fig 11 EtherCAT Box M8 30 mm housing Fig 12 EtherCAT Box M860 mm housing example EP9214 Fig 13 Coupler Box M12 Assignment There are various different standards for the assignment and colors of connectors and cables for Ethernet EtherCAT ...

Страница 19: ...onnectors For unification the prevalent cables ZB9030 ZB9032 and ZK1090 3xxx xxxx this means the pre as sembled cables with M8 connectors were changed to the colors of EN61918 yellow orange white blue So different color coding exists But the electrical properties are absolutely identical EtherCAT connector The following connectors can be supplied for use in Beckhoff EtherCAT systems Name Connector...

Страница 20: ...ollowing EtherCAT module flashing ACT Communication with the following EtherCAT module Run off Status of the EtherCAT module is Init flashes quickly Status of the EtherCAT module is pre operational flashes slowly Status of the EtherCAT module is safe operational Lit Status of the EtherCAT module is operational EtherCAT statuses The various statuses in which an EtherCAT module may be found are desc...

Страница 21: ...tions 4 GNDp The pins M8 connectors carry a maximum current of 4 A Two LEDs display the status of the supply voltages NOTE Don t confuse the power connectors with the EtherCAT connectors Never connect the power cables M8 24 VDC with the green marked EtherCAT sockets of the EtherCAT Box Modules This can damage the modules Control voltage Us 24 VDC Power is supplied to the fieldbus the processor log...

Страница 22: ...odule not IP204x Bxxx and IE204x The supply voltages Us and Up can thus easily be transferred from EtherCAT Box to EtherCAT Box NOTE Pay attention to the maximum permissible current Pay attention also for the redirection of the supply voltages Us and Up the maximum permissible current for M8 connectors of 4 A must not be exceeded ...

Страница 23: ...included power supply the usage of four cannel power distribution modules EP9214 or EP9224 with integrated data logging see www beckhoff com EP9224 is recommended With these modules intelligent power distribution concepts with up to 2 x 16 A and a maximum of 2 5 mm cable cross section can be realized Fig 17 EP92x4 0023 Connectors for Power In and Power Out Fig 18 Pin assignment 7 8 Power In and Po...

Страница 24: ...suring potentiometers Details of the power supply may be taken from the specific module descriptions NOTE Electrical isolation may be cancelled If digital and analog fieldbus boxes are connected directly via four core power leads the analog signals in the fieldbus boxes may be no longer electrically isolated from the control voltage 3 2 4 EP1518 Status LEDs for the power supply Fig 19 Status LEDs ...

Страница 25: ...32 0020 2 00 m ZK2020 3132 0050 5 00 m ZK2020 3334 0001 Angled socket angled socket 0 15 m ZK2020 3334 0005 0 50 m ZK2020 3334 0010 1 00 m ZK2020 3334 0020 2 00 m ZK2020 3334 0050 5 00 m Further available power cables may be found in the Beckhoff catalog or on our internet pages http www beckhoff com Technical data Technical data Rated voltage according to IEC61076 2 101 30 VDC Contamination level...

Страница 26: ...e can no longer be assured if the voltage drop reaches 6 V Variations in the output voltage from the power supply unit must also be taken into account Fig 20 Power cable conductor losses Example 8 m power cable with 0 34 mm cross section has a voltage drop of 3 2 V at 4 A EP92x4 Power Distribution Modules With EP9214 and EP9224 Power Distribution Modules intelligent concepts for voltage supply are...

Страница 27: ...e process level and transmit them to the higher level automation device The signals are connected via M8 connectors EPxxxx 0001 or M12 connectors EPxxxx 0002 Fig 21 Signal connection digital inputs M8 and M12 The sensors are supplied with a common maximum current of 0 5 A from the control voltage Us Light emitting diodes indicate the signal state of the inputs ...

Страница 28: ...en LED adjacent to the signal socket Fig 22 Status LEDs at the signal connections Connection LED Display Meaning M12 socket no 1 channel 0 channel 1 off input not set green input set M12 socket no 2 channel 2 channel 3 off input not set green input set M12 socket no 3 channel 4 channel 5 off input not set green input set M12 socket no 4 channel 6 channel 7 off input not set green input set ...

Страница 29: ... Amp or by a 24 VDC power source that has to satisfy NEC class 2 A NEC class 2 power supply shall not be connected in series or parallel with another class 2 power source CAUTION CAUTION To meet the UL requirements the EtherCAT Box Modules must not be connected to unlimited power sources Networks CAUTION CAUTION To meet the UL requirements EtherCAT Box Modules must not be connected to telecommunic...

Страница 30: ...protect against the rated operating voltage being exceeded by more than 40 due to short term interference voltages The connections of the certified components may only be connected or disconnected if the supply volt age has been switched off or if a non explosive atmosphere is ensured Standards The fundamental health and safety requirements are fulfilled by compliance with the following standards ...

Страница 31: ...ring of the modules ATEX The BG2000 0000 protection enclosure has to be mounted over a single EtherCAT Box to fulfill the special conditions according to ATEX 30 Installation Put the cables for EtherCAT power supply and sensors actuators through the hole of the BG2000 0000 protection enclosure Fig 24 BG2000 0000 putting the cables Fix the wires for EtherCAT power supply and sensors actuators to th...

Страница 32: ...sure 3 4 3 ATEX Documentation Notes about operation of EtherCAT Box Modules EPxxxx xxxx in potentially explo sive areas ATEX Pay also attention to the continuative documentationNotes about operation of EtherCAT Box Mod ules EPxxxx xxxx in potentially explosive areas ATEX that is available in the download area of the Beckhoff homepage http www beckhoff com ...

Страница 33: ...anual inserting appending 33 of fieldbus devices couplers and slaves Automatic scanning in of the box The EtherCAT system must be in a safe de energized state before the EtherCAT modules are connected to the EtherCAT network Switch on the operating voltage open the TwinCAT System Manager 36 Config mode and scan in the devices see Fig 1 Acknowledge all dialogs with OK so that the configuration is i...

Страница 34: ... 28 Appending a new I O device I O Devices right click Append Device Fig 29 Selecting the device EtherCAT Append a new box Fig 30 Appending a new box Device right click Append Box In the dialog that appears select the desired box e g EP2816 0008 and confirm with OK ...

Страница 35: ...Commissioning and configuration EP1518 0002 35 Version 2 1 0 Fig 31 Selecting a Box e g EP2816 0008 Fig 32 Appended Box in the TwinCAT tree ...

Страница 36: ...to be configured In the right hand window of the TwinCAT System manager various tabs are now available for configuring the EtherCAT Box General tab Fig 34 General tab Name Name of the EtherCAT device Id Number of the EtherCAT device Type EtherCAT device type Comment Here you can add a comment e g regarding the system Disabled Here you can deactivate the EtherCAT device Create symbols Access to thi...

Страница 37: ... by the EtherCAT master during the start up phase Tick the checkbox to the left of the input field in order to modify the default value Previous Port Name and port of the EtherCAT device to which this device is connected If it is possible to connect this device with another one without changing the order of the EtherCAT devices in the communication ring then this combobox is activated and the Ethe...

Страница 38: ...Manager type are listed here If the output Sync Manager outputs is selected in the Sync Manager list all RxPDOs are displayed If the input Sync Manager inputs is selected in the Sync Manager list all TxPDOs are displayed The selected entries are the PDOs involved in the process data transfer In the tree diagram of the System Manager these PDOs are displayed as variables of the EtherCAT device The ...

Страница 39: ...t take part in the process data traffic SU Sync unit to which this PDO is assigned PDO Content Indicates the content of the PDO If flag F fixed content of the PDO is not set the content can be modified Download If the device is intelligent and has a mailbox the configuration of the PDO and the PDO assignments can be downloaded to the device This is an optional feature that is not supported by all ...

Страница 40: ...t to be sent to the mailbox Move Up This button moves the selected request up by one position in the list Move Down This button moves the selected request down by one position in the list New This button adds a new mailbox download request to be sent during startup Delete This button deletes the selected entry Edit This button edits an existing request CoE Online tab The additional CoE Online tab ...

Страница 41: ...e RO The object can be read but no data can be written to the object read only P An additional P identifies the object as a process data object Value Value of the object Update List The Update list button updates all objects in the displayed list Auto Update If this check box is selected the content of the objects is updated automatically Advanced The Advanced button opens the Advanced Settings di...

Страница 42: ... objects included in the object directory of the slave is uploaded from the slave via SDO information The list below can be used to specify which object types are to be uploaded Offline via EDS file If this option button is selected the list of the objects included in the object directory is read from an EDS file provided by the user Online tab Fig 40 Online tab ...

Страница 43: ...ets the error flag The current state is now displayed as ERR PREOP When the Clear Error button is pressed the error flag is cleared and the current state is displayed as PREOP again Current State Indicates the current state of the EtherCAT device Requested State Indicates the state requested for the EtherCAT device DLL Status Indicates the DLL status data link layer status of the individual ports ...

Страница 44: ...ing offers higher quality position data for a higher level control algorithm for example In the EP1518 the SYNC0 signal acts as trigger Fig 41 DC tab Distributed Clocks When DC Synchron operation mode is activated TwinCAT selects settings that ensure reliable operation of the Box with current position data This means that determination of the current counter value is triggered by the SYNC0 signal ...

Страница 45: ...al with all conceivable setting options cannot be guaranteed Default setting The cyclic reading of the inputs is triggered by the SYNC0 pulse interrupt of the DC in the EtherCAT Box The EtherCAT master sets the Sync Unit Cycle time value to the PLC cycle time and therefore the EtherCAT cycle time as standard See Fig Advanced Distributed Clock DC settings 4000 µs 4 ms as TwinCAT is in configuration...

Страница 46: ...xx EP1xxx EP3xxx read their inputs as close as possible to the time of the EtherCAT frame that will fetch them thereby supplying the most recent possible input data to the controller Enable SYNC0 Automatically activated in DC synchron operation mode SYNC1 Additional SYNC pulse derived from SYNC0 or from the DC itself DC settings for EtherCAT master Higher level distributed clock parameters can be ...

Страница 47: ... 2 Digital input Operation modes The EP1518 can be operated in 3 modes the mode is set by selecting the PDOs in the Sync Manager 38 Operation mode Number of counter channels Number of free digital inputs Properties 2 up down counters 32 bit 2 2 Single pulses are counted at the counter inputs The gate input or the software gate enables the counter The count direction is specified via CoE 2 up down ...

Страница 48: ...ut or by setting the CoE object 0x80x0 04 Count down The count direction is down Fig 45 Counting mode with reversed counting direction Counting mode with inverted negated GATE input In the default setting the counter is disabled by applying a high level to the GATE input or by setting the Inhibit Counters bit Setting the CoE object 0x80x0 05 Enable input gate activates the counter if GATE is set a...

Страница 49: ...al inputs 52 The setting takes place by selecting the PDOs in the Sync Manager 38 Operation mode Number of 32 bit coun ters Number of free digital inputs Properties 2 up down counters 2 2 Single pulses at the counter inputs are counted the Gate input or the software gate enables the counter count direction via CoE 1 up down counters 1 5 8 digital inputs no counter 8 digital inputs Filter for input...

Страница 50: ...r the other inputs is configurable by software The module parameters are set in the CoE objects 0x8000 0 for counter 1 0x8010 0 for counter 2 and 0x8022 0 for the digital inputs integrate links The second counter is always active internally Internally the second counter is always active so that when switching from one 32 bit counter to two 32 bit counters the previous incoming pulses were counted ...

Страница 51: ...ult settings of the objects 0x8000 to 0x8002 0 The PDOs 0x1600 62 0x1601 63 as well as 0x1A00 63 0x1A01 63 0x1A02 64 and 0x1A03 64 are activated The meaning of the individual objects is explained in the object description One up down counter 0x1601 deactivated 0x1A01 deactivated This mode can be set as follows ...

Страница 52: ...g the PDOs 0x1600 Fig 51 Setting the PDOs 0x1A00 0x1A02 and 0x1A03 The PDOs 0x1600 62 as well as 0x1A00 63 0x1A02 64 and 0x1A03 64 are activated The CoE objects are identical to the 2 x 32 bit counter operation mode 8 digital inputs no counter This mode can be set as follows ...

Страница 53: ...inputs as standard inputs By setting the CoE objects Enable Input gate and Enable input UD the inputs are no longer allocated to the counters but are used as standard inputs Fig 53 Enabling the inputs Setting the counter to a value specified by the process data The counter counter value can be set to any desired value by the controller To do this set the desired value in Set counter value The valu...

Страница 54: ...g resetting of the counter to a defined value If a desired value is set in Counter reload value and the Enable reload bit is activated the counter is set to 0 or to the set value if the specified value is exceeded or fallen below depending on the counting direction Fig 55 Automatic setting of the counter ...

Страница 55: ... default parameters PDO Double click on SubIndex 001 to enter the Set Value dialog Enter the value 1684107116 in field Dec or the value 0x64616F6C in field Hex and confirm with OK All backup objects are reset to the delivery state Fig 57 Entering a restore value in the Set Value dialog Alternative restore value In some older terminals boxes the backup objects can be switched with an alternative re...

Страница 56: ...al number RO 0x00000000 0dec 10F0 0 62 Subindex Backup parameter handling RO 0x01 1dec 10F0 01 Checksum RO 0x00000000 0dec 1600 0 62 Subindex CNT RxPDO Map Outputs Ch 1 RO 0x05 5dec 1600 01 SubIndex 001 RO 0x0000 00 2 1600 02 SubIndex 002 RO 0x7000 03 1 1600 03 SubIndex 003 RO 0x7000 04 1 1600 04 SubIndex 004 RO 0x0000 00 12 1600 05 SubIndex 005 RO 0x7000 11 32 1601 0 63 Subindex CNT RxPDO Map Out...

Страница 57: ...SubIndex 006 RO 0x6020 06 1 1A02 07 SubIndex 007 RO 0x6020 07 1 1A02 08 SubIndex 008 RO 0x6020 08 1 1A02 09 SubIndex 009 RO 0x0000 00 8 1A03 0 64 Subindex DIG TxPDO Map Inputs Device RO 0x07 7dec 1A03 01 SubIndex 001 RO 0x0000 00 1 1A03 02 SubIndex 002 RO 0xF600 02 1 1A03 03 SubIndex 003 RO 0xF600 03 1 1A03 04 SubIndex 004 RO 0x0000 00 10 1A03 05 SubIndex 005 RO 0xF600 0E 1 1A03 06 SubIndex 006 RO...

Страница 58: ...d RO 0xC007 49159dec 1C33 05 Minimum cycle time RO 0x0003D090 250000dec 1C33 06 Calc and copy time RO 0x00000000 0dec 1C33 07 Minimum delay time RO 0x00000000 0dec 1C33 08 Command RW 0x0000 0dec 1C33 09 Maximum delay time RO 0x00000000 0dec 1C33 0B SM event missed counter RO 0x0000 0dec 1C33 0C Cycle exceeded counter RO 0x0000 0dec 1C33 0D Shift too short counter RO 0x0000 0dec 1C33 20 Sync error ...

Страница 59: ...0x00 0dec 8000 04 Count down RW 0x00 0dec 8000 05 Operating mode RW 0x01 1dec 8000 13 Counter reload value RW 0x00000000 0dec 8010 0 61 Subindex CNT Settings RW 0x13 19dec 8010 03 Enable reload RW 0x00 0dec 8010 04 Count down RW 0x00 0dec 8010 05 Operating mode RW 0x01 1dec 8010 13 Counter reload value RW 0x00000000 0dec 8022 0 61 Subindex DIG Filter Settings RW 0x08 8dec 8022 01 Input 0 RW 0x00 0...

Страница 60: ...khoff website http www beckhoff de german default htm download elconfg htm and installing it according to the in stallation instructions Introduction The CoE overview contains objects for different intended applications Objects required for parameterization 60 during commissioning Objects intended for regular operation e g through ADS access Objects for indicating internal settings may be fixed Fu...

Страница 61: ... index 0x8010 13 61 BOOLEAN RW 0x00 0dec 8010 04 Count down Counting direction BOOLEAN RW 0x00 0dec 0bin Forward 1bin Down 8010 05 Operating mode Operation mode BIT2 RW 0x01 1dec 01bin Enable pos gate gate inhibits with positive level 10bin Enable neg gate gate inhibits with negative level 8010 13 Counter reload value The limit that can be activated via Enable reload index 0x8010 03 61 If counting...

Страница 62: ...18 03 Revision Revision number of the EtherCAT slave the low word bit 0 15 indicates the special terminal number the high word bit 16 31 refers to the device description UINT32 RO 0x00100002 1048578dec 1018 04 Serial number Serial number of the EtherCAT slave the low byte bit 0 7 of the low word contains the year of production the high byte bit 8 15 of the low word contains the week of production ...

Страница 63: ...ect 0x6000 DI Inputs Ch 1 entry 0x06 Input 5 UINT32 RO 0x0000 00 7 1A00 07 SubIndex 007 7 PDO Mapping entry object 0x6000 DI Inputs Ch 1 entry 0x06 Input 6 UINT32 RO 0x6000 0E 1 1A00 08 SubIndex 008 8 PDO Mapping entry object 0x6000 DI Inputs Ch 1 entry 0x08 Input 7 UINT32 RO 0x6000 0F 1 1A00 09 SubIndex 009 9 PDO Mapping entry 8 bits align UINT32 RO 0x6000 10 1 1A00 0A SubIndex 010 10 PDO Mapping...

Страница 64: ...PDO Mapping entry 1 bits align UINT32 RO 0x0000 00 1 1A03 02 SubIndex 002 2 PDO Mapping entry object 0xF600 DIG Inputs entry 0x02 Error channel 1 UINT32 RO 0xF600 02 1 1A03 03 SubIndex 003 3 PDO Mapping entry object 0xF600 DIG Inputs entry 0x03 Error channel 2 UINT32 RO 0xF600 03 1 1A03 04 SubIndex 004 4 PDO Mapping entry 10 bits align UINT32 RO 0x0000 00 10 1A03 05 SubIndex 005 5 PDO Mapping entr...

Страница 65: ...supported Bit 2 3 01 DC mode is supported Bit 4 5 10 Output shift with SYNC1 event only DC mode Bit 14 1 dynamic times measurement through writing of 0x1C32 08 65 UINT16 RO 0xC007 49159dec 1C32 05 Minimum cycle time Minimum cycle time in ns UINT32 RO 0x0003D090 250000dec 1C32 06 Calc and copy time Minimum time between SYNC0 and SYNC1 event in ns DC mode only UINT32 RO 0x00000000 0dec 1C32 07 Minim...

Страница 66: ...lable Bit 1 Synchronous with SM 3 Event is supported no outputs available Bit 2 3 01 DC mode is supported Bit 4 5 01 Input shift through local event outputs available Bit 4 5 10 Input shift with SYNC1 event no outputs available Bit 14 1 dynamic times measurement through writing of 0x1C32 08 65 or 0x1C33 08 66 UINT16 RO 0xC007 49159dec 1C33 05 Minimum cycle time as 0x1C32 05 65 UINT32 RO 0x0003D090...

Страница 67: ...c 6010 05 Status of input UD The state of the up down input BOOLEAN RO 0x00 0dec 6010 06 Status of input clock The state of the clock input BOOLEAN RO 0x00 0dec 6010 0E Sync error Synchronization error BOOLEAN RO 0x00 0dec 6010 0F TxPDO State Validity of the data of the associated TxPDO 0 valid 1 invalid BOOLEAN RO 0x00 0dec 6010 10 TxPDO Toggle The TxPDO toggle is toggled by the slave when the da...

Страница 68: ...Name Meaning Data type Flags Default F008 0 Code word reserved UINT32 RW 0x00000000 0dec Index F010 Module List Index hex Name Meaning Data type Flags Default F010 0 Module list Maximum subindex UINT8 RW 0x03 3dec F010 01 SubIndex 001 reserved UINT32 RW 0x00000096 150dec F010 02 SubIndex 002 reserved UINT32 RW 0x00000096 150dec F010 03 SubIndex 003 reserved UINT32 RW 0x00000118 280dec Index F600 D...

Страница 69: ...rotection Definition 0 Non protected 1 Protected against water drops 2 Protected against water drops when enclosure tilted up to 15 3 Protected against spraying water Water sprayed at an angle up to 60 on either side of the ver tical shall have no harmful effects 4 Protected against splashing water Water splashed against the disclosure from any direction shall have no harmful effects 5 Protected a...

Страница 70: ...ng labels on request Tools Ordering information Description ZB8800 torque wrench for M8 cables with knurl incl ratchet ZB8800 0001 M12 ratchet for torque wrench ZB8800 ZB8800 0002 M8 ratchet field assembly for torque wrench ZB8800 ZB8801 0000 torque wrench for hexagonal plugs adjustable ZB8801 0001 torque cable key M8 wrench size 9 for torque wrench ZB8801 0000 ZB8801 0002 torque cable key M12 wre...

Страница 71: ...omponents there Beckhoff Headquarters Beckhoff Automation GmbH Co KG Huelshorstweg 20 33415 Verl Germany Phone 49 0 5246 963 0 Fax 49 0 5246 963 198 e mail info beckhoff com Beckhoff Support Support offers you comprehensive technical assistance helping you not only with the application of individual Beckhoff products but also with other wide ranging services support design programming and commissi...

Страница 72: ...Fig 19 Status LEDs for the power supply 24 Fig 20 Power cable conductor losses 26 Fig 21 Signal connection digital inputs M8 and M12 27 Fig 22 Status LEDs at the signal connections 28 Fig 23 UL label 29 Fig 24 BG2000 0000 putting the cables 31 Fig 25 BG2000 0000 fixing the cables 31 Fig 26 BG2000 0000 mounting the protection enclosure 32 Fig 27 Scanning in the configuration I O Devices right click...

Страница 73: ...jects 0x8000 to 0x8022 0 50 Fig 49 Setting of the PDOs 0x1A00 to 0x1A03 default settings of the objects 0x8000 to 0x8002 0 51 Fig 50 Setting the PDOs 0x1600 52 Fig 51 Setting the PDOs 0x1A00 0x1A02 and 0x1A03 52 Fig 52 Setting the PDOs 0x1A02 and 0x1A03 53 Fig 53 Enabling the inputs 53 Fig 54 Setting the counter 54 Fig 55 Automatic setting of the counter 54 Fig 56 Selecting the Restore default par...

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