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Commissioning and configuration

EP4374

Version: 2.3

4.4.4

Profile-specific objects (0x6000-0xFFFF)

The profile-specific objects have the same meaning for all EtherCAT slaves that support the profile 5001.

Index 6000 AI Inputs Ch.1

Index (hex) Name

Meaning

Data type

Flags

Default

6000:0

AI Inputs Ch.1

UINT8

0x11 (17

dec

)

6000:01

Underrange

Underrange event active

BOOLEAN

0x00 (0

dec

)

6000:02

Overrange

Overrange event active

BOOLEAN

0x00 (0

dec

)

6000:03

Limit 1

Bit 0 = 1

bin

Value greater than limit 1

BIT2

0x00 (0

dec

)

Bit 1 = 1

bin

Value less than limit 1

6000:05

Limit 2

Bit 0 = 1

bin

Value greater than limit 2

BIT2

0x00 (0

dec

)

Bit 1 = 1

bin

Value less than limit 2

6000:07

Error

Bit set when Over- or Underrange

BOOLEAN

0x00 (0

dec

)

6000:0E

Sync error

BOOLEAN

0x00 (0

dec

)

6000:0F

TxPDO State

BOOLEAN

0x00 (0

dec

)

6000:10

TxPDO Toggle

BOOLEAN

0x00 (0

dec

)

6000:11

Value

INT16

0x0000 (0

dec

)

Index 6010 AI Inputs Ch.2

Index (hex) Name

Meaning

Data type

Flags

Default

6010:0

AI Inputs Ch.2

UINT8

0x11 (17

dec

)

6010:01

Underrange

Underrange event active

BOOLEAN

0x00 (0

dec

)

6010:02

Overrange

Overrange event active

BOOLEAN

0x00 (0

dec

)

6010:03

Limit 1

Bit 0 = 1

bin

Value greater than limit 1

BIT2

0x00 (0

dec

)

Bit 1 = 1

bin

Value less than limit 1

6010:05

Limit 2

Bit 0 = 1

bin

Value greater than limit 2

BIT2

0x00 (0

dec

)

Bit 1 = 1

bin

Value less than limit 2

6010:07

Error

Bit set when Over- or Underrange

BOOLEAN

0x00 (0

dec

)

6010:0E

Sync error

BOOLEAN

0x00 (0

dec

)

6010:0F

TxPDO State

BOOLEAN

0x00 (0

dec

)

6010:10

TxPDO Toggle

BOOLEAN

0x00 (0

dec

)

6010:11

Value

INT16

0x0000 (0

dec

)

Index 7020 AO Outputs Ch.3

Index (hex) Name

Meaning

Data type

Flags

Default

7020:0

AO Outputs Ch.3

UINT8

0x11 (17

dec

)

7020:11

Analog output

Analog output data

INT16

0x0000 (0

dec

)

Index 7030 AO Outputs Ch.4

Index (hex) Name

Meaning

Data type

Flags

Default

7030:0

AO Outputs Ch.4

UINT8

0x11 (17

dec

)

7030:11

Analog output

Analog output data

INT16

0x0000 (0

dec

)

Index 800E AI Internal data Ch.1

Index (hex) Name

Meaning

Data type

Flags

Default

800E:0

AI Internal data Ch.1

UINT8

0x01 (1

dec

)

800E:01

ADC raw value

INT16

0x0000 (0

dec

)

Содержание EP4374

Страница 1: ...Documentation EP4374 EtherCAT Box with analog inputs and outputs 2 3 2019 07 15 Version Date ...

Страница 2: ......

Страница 3: ...ements 24 3 4 ATEX notes 25 3 4 1 ATEX Special conditions 25 3 4 2 BG2000 EtherCAT Box protection enclosures 26 3 4 3 ATEX Documentation 27 4 Commissioning and configuration 28 4 1 Configuration in TwinCAT 28 4 2 Parameterize signal ranges 28 4 3 Object overview 29 4 4 Object description and parameterization 35 4 4 1 Objects to be parameterized during commissioning 35 4 4 2 Objects for regular ope...

Страница 4: ...Table of contents EP4374 4 Version 2 3 ...

Страница 5: ...for 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 ...

Страница 6: ...f 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 by third...

Страница 7: ...status However existing properties are retained and are not changed so that older modules can always be replaced with new ones Documentation Version EP4374 0002 Firmware Hardware 2 3 04 08 2 1 04 08 2 0 03 06 1 0 01 00 The firmware and hardware version delivery state can be found in the batch number D number printed on the side of the EtherCAT Box Syntax of the batch number D number D WW YY FF HH ...

Страница 8: ...or use outside the control cabinet in wet dirty or dusty industrial environments EtherCAT Box modules communicate with the controller via the EtherCAT fieldbus They each have two connections for EtherCAT communication and for the power supply Feed Downstream connection This enables the cabling of EtherCAT Box modules in a line structure Power EtherCAT Fig 1 EtherCAT Box modules Example of cabling ...

Страница 9: ... EtherCAT Box with analog inputs and outputs EP4374 0002 has two analog inputs and two analog outputs The signal range can be individually parameterized for each analog input and output 10 10 V 0 10 V 0 20 mA 4 20 mA Quick links Installation 14 Configuration 28 UL requirements 24 ...

Страница 10: ... circuit protected Actuator supply Analog output channels from the peripheral voltage UP not short circuit protected Analog inputs Number 2 Connection M12 sockets 5 pin Pin assignment 22 Signal range Parameterizable 28 10 10 V default 0 10 V 0 20 mA 4 20 mA Electrical specifications 11 Analog outputs Number 2 Connection M12 sockets 5 pin Pin assignment 22 Output signal range Parameterizable 28 10 ...

Страница 11: ... µV approx 610 µA approx 488 µA The analog inputs and outputs have a common analog ground potential The analog ground potential is electrically isolated from all other ground potentials in the box Analog outputs The output signal range can be switched during operation The following table shows the electrical specifications depending on the selected output signal range Technical data Output signal ...

Страница 12: ... components are included in the scope of delivery 1x EP4374 0002 EtherCAT Box 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 assembl...

Страница 13: ...3 value equal to limit 1 set in object 0x80x0 13 37 Limit 2 with activated limit 2 object 0x80x0 08 37 1 means 1 value less than limit 2 set in object 0x80x0 14 37 2 value greater than limit 2 set in object 0x80x0 14 37 3 value equal to limit 2 set in object 0x80x0 14 37 Error This bit is set if overrange or underrange was detected AI Inputs Channel 2 The data of the second analog channel have the...

Страница 14: ...n millimeters Housing features Housing material PA6 polyamide Sealing compound polyurethane Mounting two fastening holes Ø 3 5 mm for M3 Metal parts brass nickel plated Contacts CuZn gold plated Power feed through max 4 A Mounting position variable Protection class IP65 IP66 IP67 conforms to EN 60529 when screwed together Dimensions H x W x D approx 126 x 30 x 26 5 mm ...

Страница 15: ...against soiling Protection class IP67 can only be guaranteed if all cables and connectors are connected Protect the connections against soiling during mounting Mount the module with two M3 screws on the fastening holes in the corners of the module The fastening holes have no thread ...

Страница 16: ...nsure the correct seating of pre assembled protective caps Protective caps are pre assembled at the factory to protect connectors during transport They may not be tight enough to ensure IP67 protection Connector overview X60 X61 X40 X41 1 2 3 4 Fig 4 Connector overview Name Connector type Tightening torque Function 1 M12 0 6 Nm 1 Analog inputs 22 2 3 M12 0 6 Nm 1 Analog outputs 22 4 X40 M8 0 4 Nm ...

Страница 17: ...AT interfaces Connectors for supply voltages have the same design as connectors for EtherCAT They are not protected against mismating Avoid mismating Observe the color coding of the connectors Power supply black EtherCAT green Two M8 connectors at the low end of the modules are used for feeding and routing the supply voltages IN left M8 connector for feeding the supply voltages OUT right M8 connec...

Страница 18: ...ion 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 3 2 1 2 Status LEDs Fig 7 Status LEDs for the power supply LED Display Meaning US control voltage off Supply voltage US is not present green illuminated Supply voltage US is present UP peripheral voltage off Sup...

Страница 19: ...ule 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 8 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 ar...

Страница 20: ...incoming and outgoing EtherCAT connection Fig 9 EtherCAT connection Pin assignment Fig 10 M8 socket EtherCAT M8 connector Core colors Signal Pin ZB9010 ZB9020 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 H...

Страница 21: ...ted EtherCAT device flashes ACT communication with the connected EtherCAT device Run Each EtherCAT slave has a green LED labelled Run The LED signals the 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 A description of the ...

Страница 22: ... connections Status LEDs at M12 connections 1 and 2 inputs Connection LED Display Meaning M12 socket no 1 and 2 R left off No data transfer to the D A converter green Data transfer to the D A converter E right off Function OK red Error Open circuit or measured value outside of the measuring range smaller than 3 5 mA 11 V or larger than 21 mA 11 V Correct function is indicated if the green Run LED ...

Страница 23: ...connection Analog inputs The sensor is connected via In and In The sensor can optionally be operated supplied with 24 VDC Analog outputs Fig 15 Signal connection Analog outputs The actuator is connected via output and output GND The actuator can optionally be operated supplied with 24 VDC ...

Страница 24: ... 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 25: ...ken to 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 sta...

Страница 26: ...wiring of the modules ATEX WARNING Mount a protection enclosure To fulfill the special conditions according to ATEX 25 a BG2000 0000 or BG2000 0010 protection enclo sure has to be mounted over the EtherCAT Box Installation Put the cables for EtherCAT power supply and sensors actuators through the hole of the protection enclosure Fig 17 BG2000 putting the cables Fix the wires for EtherCAT power sup...

Страница 27: ...on enclosure 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 28: ...he signal range can be individually parameterized for each analog input and output The parameters that define the signal range are located in the CoE directory Interface CoE Index Analog input 1 F800 01 Analog input 2 F800 02 Analog output 3 F800 03 Analog output 4 F800 04 TwinCAT Proceed as follows to change the signal range of an analog channel in TwinCAT 1 Double click the IO module EP4374 0002...

Страница 29: ...40 Subindex Backup parameter handling RO 0x01 1dec 10F0 01 Checksum RO 0x00000000 0dec 1600 0 40 Subindex AO Outputs Ch 3 RO 0x01 1dec 1600 01 SubIndex 001 RO 0x7020 11 16 1601 0 41 Subindex AO Outputs Ch 4 RO 0x01 1dec 1601 01 SubIndex 001 RO 0x7030 11 16 1800 0 41 Subindex AI Inputs Ch 1 RO 0x06 6dec 1800 06 Exclude TxPDOs RO 01 1A 1801 0 41 Subindex AI Inputs Compact Ch 1 RO 0x06 6dec 1801 06 E...

Страница 30: ... 001 RO 0x01 1dec 1C00 02 SubIndex 002 RO 0x02 2dec 1C00 03 SubIndex 003 RO 0x03 3dec 1C00 04 SubIndex 004 RO 0x04 4dec 1C12 0 42 Subindex RxPDO assign RW 0x02 2dec 1C12 01 SubIndex 001 RW 0x1600 5632dec 1C12 02 SubIndex 002 RW 0x1601 5633dec 1C13 0 43 Subindex TxPDO assign RW 0x02 2dec 1C13 01 SubIndex 001 RW 0x1A00 6656dec 1C13 02 SubIndex 002 RW 0x1A02 6658dec 1C32 0 43 Subindex SM output param...

Страница 31: ...0 0dec 1C33 0C Cycle exceeded counter RO 0x0000 0dec 1C33 0D Shift too short counter RO 0x0000 0dec 1C33 20 Sync error RO 0x00 0dec 6000 0 45 Subindex AI Inputs Ch 1 RO 0x11 17dec 6000 01 Underrange RO 0x00 0dec 6000 02 Overrange RO 0x00 0dec 6000 03 Limit 1 RO 0x00 0dec 6000 05 Limit 2 RO 0x00 0dec 6000 07 Error RO 0x00 0dec 6000 0E Sync error RO 0x00 0dec 6000 0F TxPDO State RO 0x00 0dec 6000 10...

Страница 32: ...000 0dec 8000 18 User calibration gain RW 0x4000 16384dec 800E 0 45 Subindex AI Internal data Ch 1 RO 0x01 1dec 800E 01 ADC raw value RO 0x0000 0dec 800F 0 46 Subindex AI Vendor data Ch 1 RW 0x06 6dec 800F 01 R0 offset RW 0x0000 0dec 800F 02 R0 gain RW 0x4000 16384dec 800F 03 R1 offset RW 0x0000 0dec 800F 04 R1 gain RW 0x4000 16384dec 800F 05 R2 offset RW 0x0000 0dec 800F 06 R2 gain RW 0x4000 1638...

Страница 33: ... 0dec 8020 07 Enable user calibration RW 0x00 0dec 8020 08 Enable vendor calibration RW 0x01 1dec 8020 11 User scale offset RW 0x0000 0dec 8020 12 User scale gain RW 0x00010000 65536dec 8020 13 Default output RW 0x0000 0dec 8020 14 Default output ramp RW 0xFFFF 65535dec 8020 15 User calibration offset RW 0x0000 0dec 8020 16 User calibration gain RW 0x4000 16384dec 802E 0 46 Subindex AO Internal da...

Страница 34: ...on Offset RW 0x0000 0dec 803F 02 R0 Calibration Gain RW 0x4000 16384dec 803F 03 R1 Calibration Offset RW 0x0000 0dec 803F 04 R1 Calibration Gain RW 0x4000 16384dec 803F 05 R2 Calibration Offset RW 0x0000 0dec 803F 06 R2 Calibration Gain RW 0x4000 16384dec F000 0 47 Subindex Modular device profile RO 0x02 2dec F000 01 Module index distance RO 0x0010 16dec F000 02 Maximum number of modules RO 0x0004...

Страница 35: ...r different intended applications Objects required for parameterization 35 during commissioning Objects intended for regular operation 40 e g through ADS access Objects for indicating internal settings 40 may be fixed Further profile specific objects 45 indicating inputs outputs and status information The following section first describes the objects required for normal operation followed by a com...

Страница 36: ...ation enabled 8000 0B Enable vendor cali bration 0bin Vendor calibration not enabled BOOLEAN RW 0x01 1dec 1bin Vendor calibration enabled 8000 0E Swap limit bits 1bin Limit bits swapped BOOLEAN RW 0x00 0dec 8000 11 User scale offset User scaling Offset INT16 RW 0x0000 0dec 8000 12 User scale gain User scaling Gain The gain is represented in fixed point format with the factor 2 16 The value 1 corre...

Страница 37: ...ation enabled 8010 0B Enable vendor cali bration 0bin Vendor calibration not enabled BOOLEAN RW 0x01 1dec 1bin Vendor calibration enabled 8010 0E Swap limit bits 1bin Limit bits swapped BOOLEAN RW 0x00 0dec 8010 11 User scale offset User scaling Offset INT16 RW 0x0000 0dec 8010 12 User scale gain User scaling Gain The gain is represented in fixed point format with the factor 2 16 The value 1 corre...

Страница 38: ...put value In the event of an error triggering of the watch dog the last process data is output 8020 07 Enable user calibra tion 0bin User calibration not active BOOLEAN RW 0x00 0dec 1bin User calibration active 8020 08 Enable vendor cali bration 0bin Manufacturer calibration not active BOOLEAN RW 0x01 1dec 1bin Vendor calibration active 8020 11 User scale offset User scaling Offset INT16 RW 0x0000...

Страница 39: ...1 1dec 1bin Vendor calibration active 8030 11 User scale offset User scaling Offset INT16 RW 0x0000 0dec 8030 12 User scale gain User scaling Gain This is the user scaling gain The gain is represented in fixed point format with the factor 2 16 The value one cor responds to 65535 0x00010000 INT32 RW 0x00010000 65536dec 8030 13 Default output Default output value INT16 RW 0x0000 0dec 8030 14 Default...

Страница 40: ... 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 of the EtherCAT slave UINT32 RO 0x11164052 286670930dec 1018 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 UINT...

Страница 41: ... AI Inputs Compact Ch 2 PDO Parameter TxPDO 4 UINT8 RO 0x06 6dec 1803 06 Exclude TxPDOs Specifies the TxPDOs index of TxPDO mapping objects that must not be transferred together with TxPDO 4 OCTET STRING 2 RO 02 1A Index 1A00 AI Inputs Ch 1 Index hex Name Meaning Data type Flags Default 1A00 0 AI Inputs Ch 1 PDO Mapping TxPDO 1 UINT8 RO 0x0B 11dec 1A00 01 SubIndex 001 1 PDO Mapping entry object 0x...

Страница 42: ...ubIndex 009 9 PDO Mapping entry object 0x6010 AI Inputs entry 0x0F TxPDO State UINT32 RO 0x6010 0F 1 1A02 0A SubIndex 010 10 PDO Mapping entry object 0x6010 AI Inputs entry 0x10 TxPDO Toggle UINT32 RO 0x6010 10 1 1A02 0B SubIndex 011 11 PDO Mapping entry object 0x6010 AI Inputs entry 0x11 Value UINT32 RO 0x6010 11 16 Index 1A03 AI Inputs Compact Ch 2 Index hex Name Meaning Data type Flags Default ...

Страница 43: ...t 1C32 0 SM output parameter UINT8 RO 0x20 32dec 1C32 01 Sync mode UINT16 RW 0x0001 1dec 1C32 02 Cycle time UINT32 RW 0x000F4240 1000000dec 1C32 03 Shift time UINT32 RO 0x00002710 10000dec 1C32 04 Sync modes sup ported UINT16 RO 0xC007 49159dec 1C32 05 Minimum cycle time UINT32 RO 0x0007A120 500000dec 1C32 06 Calc and copy time UINT32 RO 0x00001388 5000dec 1C32 07 Minimum delay time UINT32 RO 0x00...

Страница 44: ...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 43 or 0x1C33 08 44 UINT16 RO 0xC007 49159dec 1C33 05 Minimum cycle time as 0x1C32 05 43 UINT32 RO 0x0007A120 500000dec 1C33 06 Calc and c...

Страница 45: ...ags Default 6010 0 AI Inputs Ch 2 UINT8 RO 0x11 17dec 6010 01 Underrange Underrange event active BOOLEAN RO 0x00 0dec 6010 02 Overrange Overrange event active BOOLEAN RO 0x00 0dec 6010 03 Limit 1 Bit 0 1bin Value greater than limit 1 BIT2 RO 0x00 0dec Bit 1 1bin Value less than limit 1 6010 05 Limit 2 Bit 0 1bin Value greater than limit 2 BIT2 RO 0x00 0dec Bit 1 1bin Value less than limit 2 6010 0...

Страница 46: ...x0000 0dec 801F 06 R2 gain INT16 RW 0x4000 16384dec Index 802E AO Internal data Ch 3 Index hex Name Meaning Data type Flags Default 802E 0 AO Internal data Ch 3 UINT8 RO 0x01 1dec 802E 01 DAC raw value This is the raw DAC value UINT16 RO 0x0000 0dec Index 802F AO Vendor data Ch 3 Index hex Name Meaning Data type Flags Default 802F 0 AO Vendor data Ch 3 UINT8 RO 0x06 6dec 802F 01 R0 Calibration Off...

Страница 47: ...in Vendor calibration Gain for 4 20 mA UINT16 RW 0x4000 16384dec Index F000 Modular device profile Index hex Name Meaning Data type Flags Default F000 0 Modular device profile General information for the modular device profile UINT8 RO 0x02 2dec F000 01 Module index dis tance Index distance of the objects of the individual channels UINT16 RO 0x0010 16dec F000 02 Maximum number of modules Number of...

Страница 48: ...re 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 21 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 49: ...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 50: ...ernal handling and administration of the products When scanning the BICs you will find the following information Coded information on the BIC Item no Type of information Explanation 1 Beckhoff order number Beckhoff order number 2 Beckhoff Traceability Number BTN Unique serial number see note below 3 Article description Beckhoff article description e g EL1008 4 Quantity Quantity in packaging unit e...

Страница 51: ...2S 23 52S2304853 1 004 Structure of the BIC Example of an item of information made up of positions 1 4 and 6 The data identifiers are each marked in red for clearer illustration 1P072222SBTNk4p562d71KEL1809 Q1 51S678294104 1P S 1K Q 51S Order number BTN Article description ID Quantity BTN An important component of the BIC is the Beckhoff Traceability Number BTN item no 2 The BTN is a unique 8 char...

Страница 52: ...f 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 commissio...

Страница 53: ...er cable conductor losses 19 Fig 9 EtherCAT connection 20 Fig 10 M8 socket 20 Fig 11 EtherCAT Status LEDs 21 Fig 12 M12 socket 22 Fig 13 Status LEDs at the M12 connections 22 Fig 14 Signal connection Analog inputs 23 Fig 15 Signal connection Analog outputs 23 Fig 16 UL label 24 Fig 17 BG2000 putting the cables 26 Fig 18 BG2000 fixing the cables 27 Fig 19 BG2000 mounting the protection enclosure 27...

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