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Commissioning/Configuration

EP3356-0022

29

Version: 1.4

Manual modification of the process data

According to the ESI description, a PDO can be identified as "fixed" with a flag "F" in the PDO over-
view (see previous illustration, J). The configuration of such PDOs cannot be changed, even if Twin-
CAT offers the associated dialog (“Edit”). In particular, CoE content cannot be displayed as cyclic
process data. This generally also applies in cases where a device supports download of the PDO
configuration, “G”. In case of incorrect configuration the EtherCAT slave usually refuses to start and
change to OP state. The System Manager displays an “invalid SM cfg” logger message:

`Box 1 (EP3356)` (0022): state change aborted (requested ‚SAFEOP`, back to ‚PREOP`), `Box1
(EP3356)` (0022): `PREOP to SAFEOP`failed! Error: `check device state for SAFEOP`, AL Status
`0x0012`read and 0x0004` expected. AL status code `0x001e – invalid SM IN cfg` This error mes-
sage „invalid SM IN cfg“ or „invalid SM OUT cfg“ provides an indication of the reason for the failed
start.

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Содержание EP3356-0022

Страница 1: ...Documentation EN EP3356 0022 1 channel precise load cell analysis resistor bridge 24 bit 2020 09 22 Version 1 4 ...

Страница 2: ......

Страница 3: ...nectors 20 4 2 2 Status LEDs 21 4 2 3 Cables 21 4 3 Supply voltages 22 4 3 1 Connectors 22 4 3 2 Status LEDs 23 4 3 3 Conductor losses 23 4 4 Resistor bridge 24 4 5 UL Requirements 26 5 Commissioning Configuration 27 5 1 Integration in TwinCAT 27 5 2 EtherCAT slave process data settings PDO 28 5 3 Basic function principles 30 5 4 Application notes 39 5 5 Calibration and adjustment 42 5 6 Notices o...

Страница 4: ...Table of contents EP3356 0022 4 Version 1 4 6 3 1 Beckhoff Identification Code BIC 87 6 4 Support and Service 89 ...

Страница 5: ...cation of products that have already been supplied may be made on the basis of the data diagrams and descriptions in this documentation Trademarks Beckhoff TwinCAT EtherCAT EtherCAT G EtherCAT G10 EtherCAT P Safety over EtherCAT TwinSAFE XFC XTS and XPlanar are registered trademarks of and licensed by Beckhoff Automation GmbH Other designations used in this publication may be trademarks whose use ...

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

Страница 7: ... it was prepared The properties of the modules are subject to continuous development and improvement Modules having earlier production statuses cannot have the same properties as modules with the latest status Existing properties however are always retained and are not changed so that these modules can always be replaced by new ones The firmware and hardware version delivery state can be found in ...

Страница 8: ...simultaneously in the input circuit and the final load value is calculated as a process value on the basis of the settings in the EP3356 With automatic self calibration can be deactivated dynamic filters and distributed clock support the EP3356 with measuring cycles of 100 µs can be used for fast and precise monitoring of torque or vibration sensors The EP3356 can also be used to analyze up to fou...

Страница 9: ...ported nominal sensitivity all resolution of parameter 0 01 µV V Recommended 0 5 mV V 4 mV V Min strain gauge resistor parallel operation of strain gauges only with suitable strain gauges recommended Input filter limit frequency hardware 10 kHz low pass 3 dB Filter software Present 50 Hz Configurable 50 60 Hz FIR notch filter IIR low pass 4 fold averager Internal resistance 200 kΩ Uref 1 MΩ Ud Spe...

Страница 10: ...owing components are included in the scope of delivery 1x EtherCAT Box EP3356 0022 2x protective cap for EtherCAT socket M8 green pre assembled 1x protective cap for supply voltage input M8 transparent pre assembled 1x protective cap for supply voltage output M8 black pre assembled 10x labels blank 1 strip of 10 Pre assembled protective caps do not ensure IP67 protection Protective caps are pre as...

Страница 11: ...e etc Structure of electrical strain gauges A strain gauge consists of a carrier material e g stretchable plastic film with an applied metal film from which a lattice of electrically conductive resistive material is worked in very different geometrical forms depending on the requirements Fig 2 Strain gauge This utilizes a behavior whereby for example in the case of strain the length of a metallic ...

Страница 12: ...suring instrument measures the bridge supply voltage UV or USupply and the resulting bridge voltage UD or UBridge and forms the quotients from both voltages i e the ratio After further calculation and scaling the measured value is output e g in kg Due to the division of UD and UV the measurement is in principle independent of changes in the supply voltage If the voltages UV and UD are measured sim...

Страница 13: ...suming a realistic temperature change of for example 30 the line resistance RL changes by ΔRL 30 3 9 10 4 3 5 Ω 0 41 Ω In relation to a 350 Ω measuring bridge this means a measuring error of 0 1 Fig 4 4 conductor connection This can be remedied by a 6 conductor connection in particular for precision applications only possible with EL3356 Fig 5 6 conductor connection ...

Страница 14: ...356 0022 is sufficient because due to the shorter cable lengths no measurement errors occur Structure of a load cell with a strain gauge One application of the strain gauge is the construction of load cells This involves gluing strain gauges full bridges as a rule to an elastic mechanical carrier e g a double bending beam spring element and additionally covered to protect against environmental inf...

Страница 15: ...0 000 D 500 1000 The scale interval nmax 4000d states that with a load cell with a resolution of Vmin 1 g a calibratable set of scales can be built that has a maximum measuring range of 4000d Vmin 4 kg Since Vmin is thereby a minimum specification an 8 kg set of scales could be built if the application allows with the same load cell wherein the calibratable resolution would then fall to 8 kg 4000d...

Страница 16: ...6 are internally connected to one another an external parallel connection is not necessary if several load cells are connected to the EP3356 they are automatically connected in parallel Up to four load cells can be connected The three load cells in the above example silo container can thus be connected to any three of the M12 sockets of the EP3356 Note the load cells must be matched to each other ...

Страница 17: ...owly changing measured value during the static measurement In an ideal case the error can be compensated by constructive measures geometry adhesives Hysteresis If even elongation and compression of the load cell take place then the output voltage does not follow exactly the same curve since the deformation of the strain gauge and the carrier may be different due to the adhesive and its layer thick...

Страница 18: ...ng features Housing material PA6 polyamide Sealing compound polyurethane Mounting two fastening holes Ø 4 5 mm for M4 Metal parts brass nickel plated Contacts CuZn gold plated Power feed through max 4 A Installation position variable Protection class IP65 IP66 IP67 conforms to EN 60529 when screwed together Dimensions H x W x D approx 126 x 60 x 26 5 mm without connectors ...

Страница 19: ...e centrally located fastening holes 4 1 3 Tightening torques for plug connectors Screw connectors tight with a torque wrench e g ZB8801 from Beckhoff Connector diameter Tightening torque M8 0 4 Nm M12 0 6 Nm 4 1 4 Functional earth FE The fastening holes 19 also serve as connections for the functional earth FE Make sure that the box is earthed with low impedance via both fastening screws You can ac...

Страница 20: ...20 ZB9030 ZB9032 ZK1090 6292 ZK1090 3xxx xxxx ZB9031 and old versions of ZB9030 ZB9032 ZK1090 3xxx xxxx TIA 568B Tx 1 yellow1 orange white white orange Tx 4 orange1 orange orange Rx 2 white1 blue white white green Rx 3 blue1 blue green Shield Housing Shield Shield Shield 1 Core colors according to EN 61918 Adaptation of core colors for cables ZB9030 ZB9032 and ZK1090 3xxxx xxxx For standardization...

Страница 21: ...he status of the slave in the EtherCAT network LED Meaning off Slave is in Init state flashes uniformly Slave is in Pre Operational state flashes sporadically Slave is in Safe Operational state lit Slave is in Operational state Description of the EtherCAT slave states 4 2 3 Cables For connecting EtherCAT devices only shielded Ethernet cables that meet the requirements of at least category 5 CAT5 a...

Страница 22: ...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 4 3 1 Connectors NOTE Risk of confusion supply voltages and EtherCAT Defect possible through incorrect insertion Observe the color coding of the connectors black Supply voltages green EtherCAT Fig 12 Connectors for supply voltages...

Страница 23: ...ccount the voltage drop on the supply line when planning a system Avoid the voltage drop being so high that the supply voltage at the box lies below the minimum nominal voltage Variations in the voltage of the power supply unit must also be taken into account Voltage drop on the supply line Vert Faktor 0 45 cm V 5 10 15 20 2 4 6 8 10 25 0 0 12 30 Vert Faktor 0 45 cm V Voltage drop V Cable length m...

Страница 24: ...12 sockets of the EP3356 are internally connected to one another Therefore you can connect a resistor bridge to any M12 socket You can also connect several resistor bridges in parallel Example 16 The voltage Uref is 10 V and is generated in the EP3356 from UP Do not earth the sensor cable shield at the sensor end If a shielded sensor cable is used it should not be earthed at the sensor end Otherwi...

Страница 25: ...lickering State of the EtherCAT State Machine BOOTSTRAP mode for firmware updates of the box Stdy green on The measuring value is steady off The measuring value is not steady Msr grün on Measuring active valid process data off Self calibration active if LED self calibration is lit or Self test active if LED self test is lit filters are initialized S Cal green on Self calibration active Process dat...

Страница 26: ...m 4 Amp or by a 24 VDC power source that has to satisfy NEC class 2 A NEC class 2 power supply shall not be connected in series or parallel with another class 2 power source CAUTION CAUTION To meet 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 telecommu...

Страница 27: ...Commissioning Configuration EP3356 0022 27 Version 1 4 5 Commissioning Configuration 5 1 Integration in TwinCAT The procedure for integration in TwinCAT is described in this Quick start guide ...

Страница 28: ... Examples of modifications include Mask out a channel displaying additional cyclic information 16 bit display instead of 8 bit data size etc In so called intelligent EtherCAT devices the process data information is also stored in the CoE directory Any changes in the CoE directory that lead to different PDO settings prevent successful startup of the slave It is not advisable to deviate from the des...

Страница 29: ...generally also applies in cases where a device supports download of the PDO configuration G In case of incorrect configuration the EtherCAT slave usually refuses to start and change to OP state The System Manager displays an invalid SM cfg logger message Box 1 EP3356 0022 state change aborted requested SAFEOP back to PREOP Box1 EP3356 0022 PREOP to SAFEOP failed Error check device state for SAFEOP...

Страница 30: ... as process data The data processing is subject to the following filtering procedures the analog converter ADC integrates over 76 samples calculation of mean values in the averager if activated software filter IIR FIR if activated The EP3356 has an automatic compensation self calibration function Default state self calibration activated execution every 3 minutes errors in the analog input stages t...

Страница 31: ...e screen before the box using suitable screening material the minimum permissible assigned EtherCAT cycle time for the EP3356 is 100 µs If the EP3356 0022 is to be used in Distributed Clocks mode DC must be activated the Process data 54 Timestamp must be activated The filter functionality is not available then Signal flow diagram Fig 21 Block diagram of EP3356 0022 The EP3356 processes the data in...

Страница 32: ...filter are available Notch filter means that the filter has zeros notches in the frequency response at the filter frequency and multiples thereof i e it attenuates the amplitude at these frequencies The FIR filter operates as a non recursive filter PDO filter The filter behaves like the 50 60 Hz FIR filter described above However the filter frequency can be adjusted here in 0 1 Hz steps by means o...

Страница 33: ...Commissioning Configuration EP3356 0022 33 Version 1 4 Fig 23 Step response and Bode diagramm of the IIR filter ...

Страница 34: ...ycle synchronously Hence a new mea sured value is available in each PLC cycle At which point the filters can be adjusted is described in the chapter Object description and parameterization for example under index 0x8000 12 IIR filter Differential equation Yn Xn a0 Yn 1 b1 with a0 b1 1 a0 see table b1 1 a0 Dynamic IIR Filter The dynamic IIR filter automatically switches through the 8 different IIR ...

Страница 35: ...lter therefore remains unchanged at the strongest level IIR8 resulting in a low fluctuation measured value Right The scales are suddenly loaded The change in the weight immediately exceeds the limit value of 0 5 digits per 100 ms The filter is opened every 100 ms by one level IIR8 IIR7 IIR6 etc and the display value immediately follows the jump After the removal of the weight the signal quickly fa...

Страница 36: ...ement in the EP3356 The characteristics Mode Meaning typ la tency typ current consumption 0 High precision Analog conversion at 10 5 kSps samples per second Slow conversion and thus high accuracy 7 2 ms 70 see Technical data 9 re garding nomi nal value 1 High speed low latency Analog conversion at 105 5 kSps samples per second Fast conversion with low latency 0 72 ms 100 see Technical data 9 re ga...

Страница 37: ...og to Digital converter It is not possible to change the specified latency Beyond that the following are individually adjustable in each mode via CoE activation of the averager activation of the filter type of filter Fig 26 Setting parameters in CoE belonging to the individual modes ...

Страница 38: ...ws the fill level During this phase it is of no importance that the measured value is very inaccurate and subject to high fluctuations If the sack is 90 full filling must be slowed down and the loading must be followed with higher accuracy the filter must be closed Therefore the two conversion modes can be switched via the process data bit Sample mode in the EP3356 in relation to the processing of...

Страница 39: ...ress open circuit recognition facility If one of the bridge wires is broken however the voltage measured there generally moves towards the final value thus displaying an error in the status word Over underrange of the supply voltage is likewise indicated Input freeze If the box is placed in the freeze state by InputFreeze in the control word no further analog measured values are relayed to the int...

Страница 40: ...ional force acceleration due to gravity at the place of installation of the scales In general acceleration due to the gravitational pull of the earth at the place of installation is not equal to the defined standard value of g 9 80665 m s For example 4 zones of acceleration due to gravity are defined in Germany in which a local acceleration due to gravity of 9 807 m s to 9 813 m s is to be assumed...

Страница 41: ... evaluation is naturally considerably affected by the filter setting In the following example recorded with TwinCAT Scope2 a 15 kg load cell is suddenly unloaded and loaded with 547 g SteadyState is subject to a window time from 100 ms and a tolerance of 8 g 15 kg nominal value scaling 1000 see CoE Fig 30 Load cell loaded and unloaded Official calibration capability Official calibration is a speci...

Страница 42: ...ns of compensation in the system In the practical calibration measurement takes place first with the scales unloaded then with a defined load on the scales The EP3356 automatically calculates the existing sensor characteristic values from the measured values Sequence 1 Perform a CoE reset with object 0x1011 01 see Restoring the delivery state 80 2 Set scale factor to 1000 0x8000 27 66 for declarat...

Страница 43: ...certificate are communicated here directly to the EP3356 so that it can calculate the load 1 Perform a CoE reset with object 0x1011 01 see Restoring the delivery state 80 2 Set scale factor to 1000 0x8000 27 66 for declaration of weight in g 3 Set gravity of earth 0x8000 26 66 if necessary default 9 806650 4 Set gain to 0x8000 21 66 1 5 Set tare to 0 0x8000 22 66 6 Specify the nominal load of the ...

Страница 44: ...n the process image Once started a self calibration self test cannot be aborted If the self calibration has been disabled by Disable calibration it can nevertheless be started by the Start calibration process data bit Self calibration The self calibration takes place for the first time directly after starting up the box At this point the external reference voltage must already be applied If the re...

Страница 45: ... discussed above are carried out by means of commands in the standardized object 0xFB00 64 Index Name Comment FB00 01 Request Entry of the command to be executed FB00 02 Status Status of the command currently being executed 0 Command executed without error 255 Command is being executed FB00 03 Response Optional response value of the command The function blocks FB_EcCoESdoWrite and FB_EcCoESdoRead ...

Страница 46: ... applies to both symmetrical and asymmetrical measuring spans Fig 32 Measuring range For the above examples this means Measuring range 0 to 10 V asymmetric unipolar full scale value 10 V measuring span 10 V Measuring range 4 to 20 mA asymmetric unipolar full scale value 20 mA measuring span 16 mA Measuring range 200 to 1370 C asymmetric bipolar full scale value 1370 C measuring span 1570 C Measuri...

Страница 47: ...basic rule Analog measurements always take the form of voltage measurements between two potential points For voltage measurements a large R is used in order to ensure a high impedance For current measurements a small R is used as shunt If the purpose is resistance measurement corresponding considerations are applied Beckhoff generally refers to these two points as input signal potential and input ...

Страница 48: ...al sensor cable If differential channels are not electrically isolated usually only one VCM max is permitted If the channels are electrically isolated this limit should not apply and the channels voltages may differ up to the specified separation limit Differential measurement in combination with correct sensor wiring has the special advantage that any interference affecting the sensor cable ideal...

Страница 49: ...current loop Externally supplied sensors 3 and 4 wire connection see Fig Connection of externally supplied sensors cf IEC60381 1 the sensor draws the energy operating voltage for its own operation from 2 supply cables of its own One or two further sensor cables are used for the signal transmission of the current loop 1 sensor cable according to the Beckhoff terminology such sensors are to be conne...

Страница 50: ...Commissioning Configuration EP3356 0022 50 Version 1 4 Fig 34 2 3 4 wire connection as single ended or differential connection technology ...

Страница 51: ...EP3356 operates as a 1 channel strain gauge monitor with the process image 54 the box can be switched to 2 channel voltage measurement by changing the process data See the notes on the process image regarding this If the EP3356 is not used as a load measuring box but rather as a 2 channel analog input measuring box the following must be observed The CoE settings are to be found for Channel 1 objec...

Страница 52: ...the voltage measuring mode the EL3356 is to be connected to external GND with a single ended connection In addition the internal GND reference is to be closed by the CoE switch SymmetricRef erencePotential The EP3356 supply is not usable because the box internally generated 10 V ...

Страница 53: ...clic but not equidistant measurement the time intervals between 2 measured values are therefore not constant For this reason the 64 bit timestamp delivered with the process value must be evaluated by the user In order to suppress falsification of the measurement results by upstream filters both the software filter and the averager are deactivated in this operating mode The measurement calculation ...

Страница 54: ...valuation strain gauge balance beam load cell Here both analog input voltages are measured internally they are calculated locally according to the internal settings in the box and the resulting load value is output to the controller as a cyclic process value The box is to be regarded as a 1 channel box The load value can be output as an integer or as a float real representation 2 channel voltage m...

Страница 55: ...rneath it G So that the individual bit meanings are visible e g in the Status status word and can be separately linked G ShowSubVariables must be activated in the System Manager F The bit position at which the subvariables are located in the status or control word Ctrl can be taken from the address overview H or the following information Predefined PDO Assignment In order to simplify the configura...

Страница 56: ...bit floating point load value as final value according to the calculation specifications in the CoE no further conversion necessary in the PLC 2x AnalogIn Standard 2 channel voltage measurement 32 bit integer voltage value with additional information under range over range error TxPdoToggle 2x AnalogIn Compact 2 channel voltage measurement 32 bit integer voltage value only Default process image Th...

Страница 57: ... 1 with sign Variable Value Real Meaning Calculated 32 bit fixed point REAL load value with mantissa and exponent in unit 1 The format matches the REAL format of IEC 61131 3 which in turn is based on the REAL format of IEC 559 A REAL number single precision is defined as follows See also Beckhoff InfoSys TwinCAT PLC Control standard data types In accordance with IEC 61131 this 32 bit variable can ...

Страница 58: ...tion Mean ing start s tare 62 mode 42 switching EL3356 0 010 and EP3356 0 022only stops the measure ment 39 Switches the auto matic self calibration 42 off Starts the self cali bration 42 im mediately See also the example program 75 for the dissection of the Status and CTRL variable Variants Predefined PDO Fixed point representation of the load The display of the load value can also be converted a...

Страница 59: ...of IEC 559 A REAL number single precision is defined as follows See also Beckhoff InfoSys TwinCAT PLC Control standard data types This 32 bit variable can be linked directly with a FLOAT variable of the PLC according to IEC61131 Bit position from left 1 8 23 1 hidden bit see IEC 559 Function Sign Exponent Mantissa Voltage measurement The EP3356 can also be used as a 2 channel analog input box for ...

Страница 60: ...a x1A03 Timestamp must be activated Also the variables DcOutputShift and DcInputShift are displayed in the process data in DC mode Upon activation of the configuration these are calculated once in the unit ns on the basis of the set EtherCAT cycle time observe assigned task and DC shift times from the EtherCAT master settings In the InputBased operating mode DcInputShift indicates by how many nano...

Страница 61: ...0x1A01 0x1A02 0x1A03 0x1A05 6 0 AI Standard Channel 1 Analog Input 0x6010 01 65 Underrange 0x6010 02 65 Overrange 0x6010 07 65 Error 0x6010 10 65 TxPDO Toggle 0x6010 11 65 Value 0x1A05 0x1A00 0x1A01 0x1A02 0x1A03 0x1A04 4 0 AI Standard Channel 1 Analog Input 0x6010 11 65 Value 0x1A06 0x1A00 0x1A01 0x1A02 0x1A03 0x1A07 6 0 AI Standard Channel 2 Analog Input 0x6020 01 65 Underrange 0x6020 02 65 Over...

Страница 62: ...0 enable filter 0 No filters active The terminal box operates cy cle synchronous 1 The filter settings of subindex 0x8000 11 or 0x8000 12 are active BOOLEAN RW 0x01 1dec 8000 02 Mode1 enable filter Only EL3356 0010 EP3356 0022 BOOLEAN RW 0x01 1dec 8000 03 Mode0 enable averager Activates hardware averager BOOLEAN RW 0x01 1dec 8000 04 Mode1 enable averager Only EL3356 0010 EP3356 0022 BOOLEAN RW 0x0...

Страница 63: ...28 Reference load Reference weight for manual calibration REAL32 RW 0x40A00000 1084227584dec 5 0 8000 29 Steady state window Time constant for the steady state bit Idling recognition 39 UINT16 RW 0x03E8 1000dec 8000 2A Steady state tolerance Tolerance window for the steady state bit UINT32 RW 0x00000005 5dec 8000 31 Calibration interval Calibration interval for the automatic calibration of the ter...

Страница 64: ...00 65536dec 80n0 15 Filter settings This object defines the digital filter settings if it is activated with index 0x80n0 06 64 The possible settings are numbered consecu tively 0 50 Hz FIR 1 60 Hz FIR 2 IIR 1 3 IIR 2 4 IIR 3 5 IIR 4 6 IIR 5 7 IIR 6 8 IIR 7 9 IIR 8 UINT16 RW 0x0000 0dec 80n0 17 User calibration offset User calibration offset INT32 RW 0x00000000 0dec 80n0 18 User calibration gain Us...

Страница 65: ... 0x00 0dec 60n0 02 Overrange Measurement range is exceeded BOOLEAN RO 0x00 0dec 60n0 07 Error An error has occurred e g Over underrange Udif Over underrange Uref the external Uref is too low between 1 V and 1 V Data invalid BOOLEAN RO 0x00 0dec 60n0 10 TxPDO Toggle The TxPDO Toggle is toggled by the slave if the data of the corresponding PDO was updated BOOLEAN RO 0x00 0dec 60n0 11 Value 32 Bit me...

Страница 66: ... tion BOOLEAN RO 0x00 0dec A000 17 Overrange supply Overranged measuring value of the reference voltage BOOLEAN RO 0x00 0dec A000 18 Underrange supply Underranged measuring value of the reference voltage BOOLEAN RO 0x00 0dec Vendor configuration data Index 801F 802F AI Vendor data Index hex Name Meaning Data type Flags Default 801F 0 AI Vendor data Max subindex UINT8 RO 0x02 2dec 801F 01 Calibrati...

Страница 67: ...Mapping RxPDO Map control UINT8 RO 0x07 7dec 1600 01 Subindex 001 1 PDO Mapping entry object 0x7000 RMB out puts entry 0x01 Start calibration OCTET STRING 10 RO 0x7000 01 1 1600 02 Subindex 002 2 PDO Mapping entry object 0x7000 RMB out puts entry 0x02 Disable calibration OCTET STRING 10 RO 0x7000 02 1 1600 03 Subindex 003 3 PDO Mapping entry object 0x7000 RMB out puts entry 0x03 Input freeze OCTET...

Страница 68: ... Name Meaning Data type Flags Default 1804 0 AI TxPDO Par Standard Ch 1 PDO Parameter TxPDO 5 UINT8 RO 0x06 6dec 1804 06 Exclude TxPDOs This entry contains the TxPDOs Index of the Tx PDO Mapping objects which shall not be trans mitted with TxPDO 5 OCTET STRING 10 RO 05 1A 00 1A 01 1A 02 1A 03 1A Index 1805 AI TxPDO Par Compact Ch 1 Index hex Name Meaning Data type Flags Default 1805 0 AI TxPDO Par...

Страница 69: ...dy state OCTET STRING 10 RO 0x6000 09 1 1A00 09 Subindex 009 9 PDO Mapping entry 4 bits align OCTET STRING 10 RO 0x0000 00 4 1A00 0A Subindex 010 10 PDO Mapping entry object 0x6000 RMB in puts entry 0x0E Sync error OCTET STRING 10 RO 0x6000 0E 1 1A00 0B Subindex 011 11 PDO Mapping entry 1 bits align OCTET STRING 10 RO 0x0000 00 1 1A00 0C Subindex 012 12 PDO Mapping entry object 0x6000 RMB in puts ...

Страница 70: ... 2 PDO Mapping TxPDO Standard Ch 2 UINT8 RW 0x07 7dec 1A06 01 SubIndex 001 1 PDO Mapping entry object 0x6020 AI supply Inputs entry 0x01 Underrange UINT32 RW 0x6020 01 1 1A06 02 SubIndex 002 2 PDO Mapping entry object 0x6020 AI supply Inputs entry 0x02 Overrange UINT32 RW 0x6020 02 1 1A06 03 SubIndex 003 3 PDO Mapping entry 4 bits align UINT32 RW 0x0000 00 4 1A06 04 SubIndex 004 4 PDO Mapping entr...

Страница 71: ...ains the index of the corresponding TxPDO Mapping object UINT16 RW Index 1C13 TxPDO assign Index hex Name Meaning Data type Flags Default 1C13 0 TxPDO assign PDO Assign Inputs UINT8 RW 0x01 1dec 1C13 01 Subindex 001 1 assigned TxPDO contains the index of the corresponding TxPDO Mapping object UINT16 RW 0x1A00 6656dec 1C13 02 Subindex 002 2 assigned TxPDO contains the index of the corresponding TxP...

Страница 72: ...sured by writing 0x1C32 08 UINT16 RO 0xC007 49159dec 1C32 05 Minimum cycle time Minimum cycle time supported in ns UINT32 RO 0x0000C350 50000dec 1C32 06 Calc and copy time Minimum time between SYNC0 and SYNC1 event in ns only DC mode UINT32 RO 0x00000000 0dec 1C32 07 Minimum delay time UINT32 RO 0x00000000 0dec 1C32 08 Command 0 Measurement of the times will be stopped 1 Measurement of the times w...

Страница 73: ...2 08 72 or 1C33 08 UINT16 RO 0xC007 49159dec 1C33 05 Minimum cycle time same as 0x1C32 05 72 UINT32 RO 0x0000C350 50000dec 1C33 06 Calc and copy time Time between reading of the inputs and availabil ity of the inputs for the master in ns only DC mode UINT32 RO 0x00000000 0dec 1C33 07 Minimum delay time UINT32 RO 0x00000000 0dec 1C33 08 Command same as 0x1C32 08 72 UINT16 RW 0x0000 0dec 1C33 09 Max...

Страница 74: ... Module list Index hex Name Meaning Data type Flags Default F010 0 Module list Max subindex UINT8 RW 0x03 3dec F010 01 SubIndex 001 RMB UINT32 RW 0x00000172 370dec F010 02 SubIndex 002 AI UINT32 RW 0x0000012C 300dec F010 03 SubIndex 003 AI UINT32 RW 0x0000012C 300dec ...

Страница 75: ...r a particular application We accept no responsibility for the completeness and correctness of the source code contained in this document We reserve the right to modify the content of this docu ment at any time and accept no responsibility for errors and missing information In this example program an EP3356 is addressed by a PLC program for TwinCAT 2 The Zip file https infosys beckhoff com content...

Страница 76: ...Commissioning Configuration EP3356 0022 76 Version 1 4 Fig 41 EP3356 Connection of the load sensor full bridge The sensor power supply of 10 V is produced in EP3356 ...

Страница 77: ...res and connect the Ethernet adapter of your PC to the EtherCAT coupler EtherCAT box further information on this can be found in the corresponding coupler manuals Select the local Ethernet adapter with real time driver if one under System configuration I O configuration I O devices Device EtherCAT on the Adapter tab choose Search select the appropriate adapter and confirm see the following two fig...

Страница 78: ...mode see the following two figures Fig 46 Generating variable mapping Fig 47 Restarting TwinCAT in RUN mode In TwinCAT PLC under the Project menu select Rebuild all to compile the project see following figure Fig 48 Compile project In TwinCAT PLC log in with the F11 button confirm loading the program see following figure run the program with the F5 button ...

Страница 79: ...Commissioning Configuration EP3356 0022 79 Version 1 4 Fig 49 Confirming program start ...

Страница 80: ...ore 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 51 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...

Страница 81: ...r protection 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 Protecte...

Страница 82: ...eling material protective caps Ordering information Description ZS5000 0010 Protective cap for M8 sockets IP67 50 pieces ZS5000 0020 Protective cap M12 IP67 50 pieces ZS5100 0000 Inscription labels unprinted 4 strips of 10 ZS5000 xxxx Printed inscription labels on enquiry Tools Ordering information Description ZB8801 0000 Torque wrench for plugs 0 4 1 0 Nm ZB8801 0001 Torque cable key for M8 wrenc...

Страница 83: ...by Beckhoff In principle a device with a higher revision can replace a device with a lower revision unless specified otherwise e g in the documentation Associated and synonymous with each revision there is usually a description ESI EtherCAT Slave Information in the form of an XML file which is available for download from the Beckhoff web site From 2014 01 the revision is shown on the outside of th...

Страница 84: ...u hardware version of the I O PCB Example D 22081501 calendar week 22 of the year 2008 firmware version of bus PCB 1 hardware version of bus PCB 5 firmware version of I O PCB 0 no firmware necessary for this PCB hardware version of I O PCB 1 Unique serial number ID ID number In addition in some series each individual module has its own unique serial number See also the further documentation in the...

Страница 85: ... 85 Version 1 4 Fig 53 EK1100 EtherCAT coupler standard IP20 IO device with serial batch number Fig 54 CU2016 switch with serial batch number Fig 55 EL3202 0020 with serial batch number 26131006 and unique ID number 204418 ...

Страница 86: ...ber 158102 Fig 57 EP1908 0002 IP67 EtherCAT Safety Box with batch number date code 071201FF and unique serial number 00346070 Fig 58 EL2904 IP20 safety terminal with batch number date code 50110302 and unique serial number 00331701 Fig 59 ELM3604 0002 terminal with unique ID number QR code 100001051 and serial batch number 44160201 ...

Страница 87: ... the product 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 information that can also be used by the customer for handling and product management Each piece of information can be uniquely identified using the so called data identifier ANSI MH10 8 2 2016 The data i...

Страница 88: ...iers are used by Beckhoff and serve internal processes Structure of the BIC Example of composite information from item 1 to 4 and 6 The data identifiers are marked in red for better display BTN An important component of the BIC is the Beckhoff Traceability Number BTN item no 2 The BTN is a unique serial number consisting of eight characters that will replace all other serial number systems at Beck...

Страница 89: ...off components there Beckhoff Headquarters Beckhoff Automation GmbH Co KG Huelshorstweg 20 33415 Verl Germany Phone 49 5246 963 0 Fax 49 5246 963 198 e mail info beckhoff com Beckhoff Support Support 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 commiss...

Страница 90: ......

Страница 91: ...Beckhoff Automation GmbH Co KG Hülshorstweg 20 33415 Verl Germany Phone 49 5246 9630 info beckhoff com www beckhoff com More Information www beckhoff com ep3356 ...

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