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AO4 U/I

– 12-Bit

Kendrion Kuhnke Automation GmbH

144

17 May 2021

5.4.2 AO4-U/I - 12-Bit

Terminals

Power supply to module I/Os

L+

24 VDC

L-

0 V

Information

Module 694 442 02 Kuhnke FIO AO4 12-Bit is the successor module (see below for exception)
compatible with module 694 442 02 Ventura FIO AO4 12-Bit. That is to say, the modules are
interchangeable within the same FIO block without having to modify the device description in the
EtherCAT master's control program.

Please note the following differences if you have a program including the old variant:

Ventura FIO AO4 12-Bit (old)

Kuhnke FIO AO4 12-Bit (new)

Current:

0…±20mA

Current: 0…+20mA
To be able to use the current
outputs, verify that variable
"Chan1_Unipolar" of these
outputs is set to True.

Refer to section Module Options

Short-circuit detectable

Short-circuit not detectable but
outputs are short circuit-protected

Data type of output: UINT

Data type of output: INT

Run the development environment
and convert the data type from
UINT to INT.

+

-

Channel0 0

1

Channel1 2

3

Channel2 4

5

Kanal3

6

7

I/O connection

Front view of AO4 I/O module

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Содержание 694 411 00

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

Страница 2: ...netic Compatibility 12 Definition 12 Interference Emission 12 General Notes on Installation 12 Electrical Immission Safeguard 12 Cable Routing and Wiring 12 Location of Installation 13 Particular Sour...

Страница 3: ...AI4 12Bit AO4 16Bit CoE 63 5 4 2 AO4 U I 12 Bit 144 5 4 3 AO4 U I 16 Bit CoE 149 5 4 4 AI4 8 U 157 5 4 5 AI8 16 U 165 5 4 6 AI4 I 174 5 4 7 AI8 I 181 5 4 8 AI4 Pt Ni TC 189 5 4 9 AI8 Pt Ni TC 198 5 5...

Страница 4: ...l 449 Terminals 449 Function 449 Technical Data 450 7 Configuration 451 7 1 CODESYS V3 CODESYS Configurator 451 Offline Configuration 451 Online Configuration 454 8 Appendix 457 8 1 Technical Data Sum...

Страница 5: ...sensor values revised in chapter 5 4 2 5 4 3 UL logo added for 16 16 bus coupler added to chapter 5 2 2 08 Mar 2017 New thermo module sub chapters on cold point compensation and calibration 5 4 8 5 4...

Страница 6: ...negligence on our part Terms of Delivery The general conditions of sales and service of Kendrion Kuhnke Automation GmbH shall apply Copyright Kendrion Kuhnke Automation GmbH This instruction manual i...

Страница 7: ...unit decides how to configure the network and create the control program This manual aims to introduce you to using the modules The examples are preferably based on CODESYS version 3 which has an Eth...

Страница 8: ...y at all times 2 4 Transport and Storage At times of transport and storage protect Kuhnke FIO Module against inadmissible exposure such as mechanical stress temperature humidity and or aggressive atmo...

Страница 9: ...ude selecting high quality components quality agreements with our suppliers actions to avoid static charges when handling MOS circuits worst case planning and design of all circuits visual inspections...

Страница 10: ...tential consequences of non observance Preventive measures DANGER A DANGER warning makes you aware of an immediately hazardous situation which WILL cause a serious or fatal accident if not observed WA...

Страница 11: ...all dangerous states Emergency off installations must comply with EN 60204 IEC 204 VDE 0113 They must be operative at any time Safety and precautions regulations for qualified applications have to be...

Страница 12: ...tion instructions to be complied with to ensure that hardware interface factors and the ensuing noise voltages are limited to tolerable levels Interference Emission Interfering emission of electromagn...

Страница 13: ...se effects of moisture corrosive gases liquids and conductive dust Operation of an impermissibly dirty module is not permitted Cleaning the device is also prohibited Impact and Vibration Consider poss...

Страница 14: ...nke FIO is a system of modules interconnecting via the backplane bus to make up a so called EtherCAT network able to transfer process signals For example a Kuhnke FIO system may comprise a Kuhnke FIO...

Страница 15: ...h a controller such as the analogue modules are available as variants compatible with the process map control methodology of the Ventura FIO modules or as object controlled variants CoE CAN over Ether...

Страница 16: ...The picture below shows the basic layout of the Kuhnke FIO modules The bus coupler and the I O modules differ in their connectors and indicators however The housing mount consists of an aluminium pro...

Страница 17: ...o the top and 35 mm to adjacent devices or cabinet surfaces Leave at least 20 mm of lateral distance to third party units and cabinet surfaces Order of Modules in Multi FIO Systems NOTE In order to en...

Страница 18: ...about 1cm away towards the right of the first module Push the second module along the rail towards the first module until you hear the locking device snap in To Disconnect Two Modules Push down the u...

Страница 19: ...ctor sleeve w collar to DIN 46 228 4 8 10 8 10 8 10 8 10 10 12 10 12 Connector sleeve w o collar to DIN 46 228 1 8 10 8 10 8 10 8 10 8 10 8 10 8 10 Stripped end mm sleeve length mm The spring assisted...

Страница 20: ...g variants that connect earth to 24V Remember that even in case of a fault a maximum voltage of U max 33 V maybe supplied to these assemblies If you cannot rule out this risk external protection of th...

Страница 21: ...ed Power to the I O module outputs is supplied separately Spring assisted plug with bolt flange for bus coupler connection I O Modules The I O supply connects to the I O module using plug type termina...

Страница 22: ...To have your control program check whether power is supplied to the IOs connect L to a digital input and poll that input as an indirect indicator of the IO power supply Remember the following if you c...

Страница 23: ...LEDs are located on the bus coupler They indicate the physical state of the Ethernet State LED flash code Explanation Not connected Off No Ethernet connection Connected Green on Connected to Ethernet...

Страница 24: ...Freescale RAM remanent memory 128 MB flash storage Drives On board flash memory SD HC card slot Software Operating system Windows Embedded CE 6 0 Application CODESYS V3 Soft PLC plus WebVisu Ports 1x...

Страница 25: ...mory 256 MB flash storage Drives On board flash memory SD HC card slot Software Operating system Windows Embedded Compact 2013 Application CODESYS V3 Soft PLC plus optional WebVisu Ports 1x RS232 1x U...

Страница 26: ...nd permanent tensile load close to the connector of the Ethernet cable strain the connections If the Ethernet plug is seated with a lot of play and not sufficiently guided in the socket tilting effect...

Страница 27: ...effect being that another 100 Base Tx line can be plugged in to connect the next EtherCAT unit to the second bus coupler port Information Best noise emission results are obtained by connecting the sh...

Страница 28: ...n See page 27 Module State Variable Data type Explanation Undervoltage BOOL Low voltage supplied power 19 2V Technical Data Function Connects a 100 Base TX EtherCAT with the Kuhnke FIO I O modules Gen...

Страница 29: ...6 digital inputs and 16 digital outputs The E bus port on the side allows a flexible extension of the bus coupler DI16 DO16 by Kuhnke FIO series EtherCAT I O modules Information Best noise emission re...

Страница 30: ...uit prevails the outputs are allowed to cool down to be turned back on until the thermal fuse blows again LED Power The LED labelled Power indicates the state of the I O module s I O power supply Stat...

Страница 31: ...E 747GB V2 31 17 May 2021 Module State Variable Data type Explanation undervoltage_load BOOL U24_Load undervoltage supplied power 19 2V undervoltage_logic BOOL U24_Logic undervoltage supplied power 19...

Страница 32: ...x 100 m between 2 bus couplers EtherCAT port 2x RJ45 Module power supply 24 VDC 15 20 IO power connector male 36 pole connector included in module package Input current 40 mA E bus plus E bus power ma...

Страница 33: ...uts and 8 digital outputs The E bus port on the side allows a flexible extension of the bus coupler DI8 DO8 by Kuhnke FIO series EtherCAT I O modules Information Best noise emission results are obtain...

Страница 34: ...le s I O power supply State LED flash code Explanation On Green on 24 VDC supply ok Off Off 24 VDC supply not ok NOTE The module features a low voltage watchdog for the logic and load circuits LED In...

Страница 35: ...x 100 m between 2 bus couplers EtherCAT port 2x RJ45 Module power supply 24 VDC 15 20 IO power connector male 18 pole connector included in module package Input current 40 mA E bus plus E bus power ma...

Страница 36: ...gh to design a star topology of EtherCAT slaves for example Terminals Module power supply via the E bus EtherCAT OUT1 Female RJ45 output to next EtherCAT station OUT2 Female RJ45 output to next EtherC...

Страница 37: ...RJ45 100 Base Tx ports OUT1 OUT2 The other 2 ports are used by the E bus Your configuration should take account of the order in which the ports are addressed i e of the transfer path of the EtherCAT f...

Страница 38: ...ational no data exchange Safe Op Off green 5 1 Safe operation inputs readable Op Green on Operational unrestricted data exchange LED IO The LED labelled IO indicates the state of the module s I Os Sta...

Страница 39: ...odule features 16 digital inputs and 16 digital outputs Variable Variable Data type Explanation DigitalInputn BOOL Digital input n 0 15 DigitalOutputn BOOL Digital output n 0 15 Technical Data Digital...

Страница 40: ...1 1 Pre operational no data exchange Safe Op Off green 5 1 Safe operation inputs readable Op Green on Operational unrestricted data exchange LED IO There is no LED labelled IO LED Power The LED labell...

Страница 41: ...nformation The module is not monitored for low voltage states Variable Variable Data type Explanation DigitalInputn BOOL Digital input n 0 15 DigitalOutputn BOOL Digital output n 0 15 Technical Data D...

Страница 42: ...ff green 5 1 Safe operation inputs readable Op Green on Operational unrestricted data exchange LED IO The LED labelled IO indicates the state of the module s I Os State LED flash code Explanation Ok O...

Страница 43: ...tion The DI16 DO8 module features 16 digital inputs and 8 digital outputs Variable Variable Data type Explanation DigitalInputn BOOL Digital input n 0 15 DigitalOutputn BOOL Digital output n 0 7 Reser...

Страница 44: ...ta exchange Safe Op Off green 5 1 Safe operation inputs readable Op Green on Operational unrestricted data exchange LED IO The LED labelled IO indicates the state of the module s I Os State LED flash...

Страница 45: ...8 module features 8 digital inputs and 8 digital outputs Variable Variable Data type Explanation DigitalInputn BOOL Digital input n 0 7 DigitalOutputn BOOL Digital output n 0 7 Technical Data Digital...

Страница 46: ...erational no data exchange Safe Op Off green 5 1 Safe operation inputs readable Op Green on Operational unrestricted data exchange LED IO There is no LED labelled IO LED Power There is no LED labelled...

Страница 47: ...s typically Signal level Off 3V 5V EN 61131 3 type 1 On 15V 30V IO power connection 18 pin plug Controller ASIC ET1200 Baud rate 100 Mbit s E bus connector 10 pole system plug in side wall Terminating...

Страница 48: ...o data exchange Pre Op Off green 1 1 Pre operational no data exchange Safe Op Off green 5 1 Safe operation inputs readable Op Green on Operational unrestricted data exchange LED IO There is no LED lab...

Страница 49: ...of the two wire connection without additional distribution terminal CAUTION The 24V outputs are only intended for use with the inputs of the module NOTE The output drivers have a thermal fuse to autom...

Страница 50: ...ising delay 1 ms typically Signal level Off 3V 5V EN 61131 3 type 1 On 15V 30V IO power connection 36 pin plug Controller ASIC ET1200 Baud rate 100 Mbit s E bus connector 10 pole system plug in side w...

Страница 51: ...erational no data exchange Safe Op Off green 5 1 Safe operation inputs readable Op Green on Operational unrestricted data exchange LED IO There is no LED labelled IO LED Power There is no LED labelled...

Страница 52: ...s typically Signal level Off 3V 5V EN 61131 3 type 1 On 15V 30V IO power connection 36 pin plug Controller ASIC ET1100 Baud rate 100 Mbit s E bus connector 10 pole system plug in side wall Terminating...

Страница 53: ...green 5 1 Safe operation inputs readable Op Green on Operational unrestricted data exchange LED IO The LED labelled IO indicates the state of the module s I Os State LED flash code Explanation Ok Off...

Страница 54: ...on Output enabled Off Off Output disabled Function The DO8 module has 8 digital outputs Variable Variable Data type Explanation DigitalOutputn BOOL Digital output n 0 7 Reserved BOOL Unused output ad...

Страница 55: ...exchange Safe Op Off green 5 1 Safe operation inputs readable Op Green on Operational unrestricted data exchange LED IO The LED labelled IO indicates the state of the module s I Os State LED flash co...

Страница 56: ...nnel State LED Explanation On Green on Output enabled Off Off Output disabled Function The DO16 module has 16 digital outputs Variable Variable Data type Explanation DigitalOutputn BOOL Digital output...

Страница 57: ...no data exchange Safe Op Off green 5 1 Safe operation inputs readable Op Green on Operational unrestricted data exchange LED IO The LED labelled IO indicates the state of the module s I Os State LED...

Страница 58: ...n Output enabled Off Off Output disabled Function The DO16 module has 16 digital outputs and 16 ground connections without an additional distribution terminal Variable Variable Data type Explanation D...

Страница 59: ...green 1 1 Pre operational no data exchange Safe Op Off green 5 1 Safe operation inputs readable Op Green on Operational unrestricted data exchange LED IO LED IO has no function LED Power The LED labe...

Страница 60: ...rrent reduces the lifetime of the module Pay attention to a good allocation of the switching currents to the individual outputs insert e g two outputs loaded with 5A if possible not directly next to e...

Страница 61: ...Off green 1 1 Pre operational no data exchange Safe Op Off green 5 1 Safe operation inputs readable Op Green on Operational unrestricted data exchange LED IO LED IO has no function LED Power The LED l...

Страница 62: ...rrent reduces the lifetime of the module Pay attention to a good allocation of the switching currents to the individual outputs insert e g two outputs loaded with 5A if possible not directly next to e...

Страница 63: ...16Bit E 747GB V2 63 17 May 2021 5 4 Analogue FIO Modules 5 4 1 AI4 12Bit AO4 16Bit CoE Terminals Power supply to module I Os L 24 VDC L 0 V Funktionserde Schirm der Analogleitungen Abschnitt Earth Fr...

Страница 64: ...r Off Malfunction of module if E bus LED On Inoperative if E bus LED Off Red 1x Short circuit Red 2x Low voltage Red 4x EtherCAT watchdog control Red 6x Module specific fault Red 7x Configuration erro...

Страница 65: ...on the configuration of the analog inputs various predefined mappings are available A basic distinction is made between the following display formats Field Value Physical Input value in V or mA as RE...

Страница 66: ...object of the scaled analog input values The predefined mapping object 1A03h can be selected for this purpose AI Channel Control 2001h Bit 1 0 Scaling by factor and offset Bit 1 1 Scaling by set point...

Страница 67: ...activated The analog outputs are activated by configuring the output type of the respective output Objekt Beschreibung AO Output Type 6310h 0 Disabled Default 10 0 10 V 11 10 V 20 0 20 mA 21 4 20 mA O...

Страница 68: ...synchronously For this purpose there is a local clock in the EtherCAT slave controllers which is automatically synchronised by the EtherCAT master with the master clock in the EtherCAT network with a...

Страница 69: ...Cycle time 4000 s 4 times oversampling Every 1000 s the Sync 0 interrupt is triggered on the module in which the input values are read These are available in the following objects Field Value Real Pro...

Страница 70: ...o Value Range Fix Default Value 800A 0192h Additional Information 16 Bit 31 16 Bit 16 Digital Input FB o Bit 17 Analog Input FB Bit 18 Digital Output FB o Bit 19 Analog Output FB Bit 20 Controller FB...

Страница 71: ...3 2 1 0 MAN RES PROF COM TEMP VOL CUR GEN GEN General error CUR Current VOL Voltage TEMP Temperature COM Communication PROF Device profile RES reserved always 0 MAN Manufacturer specific Manufacturer...

Страница 72: ...ng No Units Value Range Fix Default Value 1 00 Subindex 0 of this object contains the length of the character string As of subindex 1 the individual characters are contained The character string is no...

Страница 73: ...dor ID Subindex 01h Data type UNSIGNED32 Access read only PDO Mapping No Default Value 0048554Bh Name Product Code Subindex 02h Data type UNSIGNED32 Access read only PDO Mapping No Default Value 0002E...

Страница 74: ...ata Type Name Highest sub index supported Subindex 00h Data type UNSIGNED8 Access read only PDO Mapping No Default Value 02h Name Local Error Reaction Subindex 01h Data type UNSIGNED32 Access read onl...

Страница 75: ...fault Value 01h Name 1st Object to be mapped Subindex 01h Data type UNSIGNED32 Access read write PDO Mapping No Default Value 2201 00 10h Name 2nd Object to be mapped Subindex 02h Data type UNSIGNED32...

Страница 76: ...Name 7th Object to be mapped Subindex 07h Data type UNSIGNED32 Access read write PDO Mapping No Default Value 00000000h Name 8th Object to be mapped Subindex 08h Data type UNSIGNED32 Access read write...

Страница 77: ...supported Subindex 00h Data type UNSIGNED8 Access read only PDO Mapping No Default Value 04h Name 1st Object to be mapped Subindex 01h Data type UNSIGNED32 Access read write PDO Mapping No Default Val...

Страница 78: ...D32 Access read write PDO Mapping No Default Value 00000000h Name 7th Object to be mapped Subindex 07h Data type UNSIGNED32 Access read write PDO Mapping No Default Value 00000000h Name 8th Object to...

Страница 79: ...x supported Subindex 00h Data type UNSIGNED8 Access read only PDO Mapping No Default Value 04h Name 1st Object to be mapped Subindex 01h Data type UNSIGNED32 Access read write PDO Mapping No Default V...

Страница 80: ...D32 Access read write PDO Mapping No Default Value 00000000h Name 7th Object to be mapped Subindex 07h Data type UNSIGNED32 Access read write PDO Mapping No Default Value 00000000h Name 8th Object to...

Страница 81: ...ed Subindex 00h Data type UNSIGNED8 Access read only PDO Mapping No Default Value 04 Name 1st Object to be mapped Subindex 01h Data type UNSIGNED32 Access read write PDO Mapping No Default Value 6300...

Страница 82: ...D32 Access read write PDO Mapping No Default Value 00000000h Name 7th Object to be mapped Subindex 07h Data type UNSIGNED32 Access read write PDO Mapping No Default Value 00000000h Name 8th Object to...

Страница 83: ...lt Value 01h Name 1st Object to be mapped Subindex 01h Data type UNSIGNED32 Access read write PDO Mapping No Default Value 213F 00 10h Name 2nd Object to be mapped Subindex 02h Data type UNSIGNED32 Ac...

Страница 84: ...Name 7th Object to be mapped Subindex 07h Data type UNSIGNED32 Access read write PDO Mapping No Default Value 00000000h Name 8th Object to be mapped Subindex 08h Data type UNSIGNED32 Access read write...

Страница 85: ...No Default Value 04h Name 1st Object to be mapped Subindex 01h Data type UNSIGNED32 Access read write PDO Mapping No Default Value 6100 01 20h Name 2nd Object to be mapped Subindex 02h Data type UNSIG...

Страница 86: ...Name 7th Object to be mapped Subindex 07h Data type UNSIGNED32 Access read write PDO Mapping No Default Value 00000000h Name 8th Object to be mapped Subindex 08h Data type UNSIGNED32 Access read write...

Страница 87: ...ng No Default Value 04h Name 1st Object to be mapped Subindex 01h Data type UNSIGNED32 Access read write PDO Mapping No Default Value 7100 01 20h Name 2nd Object to be mapped Subindex 02h Data type UN...

Страница 88: ...Name 7th Object to be mapped Subindex 07h Data type UNSIGNED32 Access read write PDO Mapping No Default Value 00000000h Name 8th Object to be mapped Subindex 08h Data type UNSIGNED32 Access read write...

Страница 89: ...ault Value 04h Name 1st Object to be mapped Subindex 01h Data type UNSIGNED32 Access read write PDO Mapping No Default Value 6130 01 20h Name 2nd Object to be mapped Subindex 02h Data type UNSIGNED32...

Страница 90: ...Name 7th Object to be mapped Subindex 07h Data type UNSIGNED32 Access read write PDO Mapping No Default Value 00000000h Name 8th Object to be mapped Subindex 08h Data type UNSIGNED32 Access read write...

Страница 91: ...fault Value 05h Name 1st Object to be mapped Subindex 01h Data type UNSIGNED32 Access read write PDO Mapping No Default Value 2101 01 10h Name 2nd Object to be mapped Subindex 02h Data type UNSIGNED32...

Страница 92: ...Name 7th Object to be mapped Subindex 07h Data type UNSIGNED32 Access read write PDO Mapping No Default Value 00000000h Name 8th Object to be mapped Subindex 08h Data type UNSIGNED32 Access read writ...

Страница 93: ...fault Value 05h Name 1st Object to be mapped Subindex 01h Data type UNSIGNED32 Access read write PDO Mapping No Default Value 2102 01 10h Name 2nd Object to be mapped Subindex 02h Data type UNSIGNED32...

Страница 94: ...Name 7th Object to be mapped Subindex 07h Data type UNSIGNED32 Access read write PDO Mapping No Default Value 00000000h Name 8th Object to be mapped Subindex 08h Data type UNSIGNED32 Access read writ...

Страница 95: ...fault Value 05h Name 1st Object to be mapped Subindex 01h Data type UNSIGNED32 Access read write PDO Mapping No Default Value 2103 01 10h Name 2nd Object to be mapped Subindex 02h Data type UNSIGNED32...

Страница 96: ...Name 7th Object to be mapped Subindex 07h Data type UNSIGNED32 Access read write PDO Mapping No Default Value 00000000h Name 8th Object to be mapped Subindex 08h Data type UNSIGNED32 Access read writ...

Страница 97: ...fault Value 05h Name 1st Object to be mapped Subindex 01h Data type UNSIGNED32 Access read write PDO Mapping No Default Value 2104 01 10h Name 2nd Object to be mapped Subindex 02h Data type UNSIGNED32...

Страница 98: ...Name 7th Object to be mapped Subindex 07h Data type UNSIGNED32 Access read write PDO Mapping No Default Value 00000000h Name 8th Object to be mapped Subindex 08h Data type UNSIGNED32 Access read writ...

Страница 99: ...fault Value 05h Name 1st Object to be mapped Subindex 01h Data type UNSIGNED32 Access read write PDO Mapping No Default Value 2131 01 20h Name 2nd Object to be mapped Subindex 02h Data type UNSIGNED32...

Страница 100: ...Name 7th Object to be mapped Subindex 07h Data type UNSIGNED32 Access read write PDO Mapping No Default Value 00000000h Name 8th Object to be mapped Subindex 08h Data type UNSIGNED32 Access read writ...

Страница 101: ...fault Value 05h Name 1st Object to be mapped Subindex 01h Data type UNSIGNED32 Access read write PDO Mapping No Default Value 2132 01 20h Name 2nd Object to be mapped Subindex 02h Data type UNSIGNED32...

Страница 102: ...Name 7th Object to be mapped Subindex 07h Data type UNSIGNED32 Access read write PDO Mapping No Default Value 00000000h Name 8th Object to be mapped Subindex 08h Data type UNSIGNED32 Access read writ...

Страница 103: ...efault Value 05h Name 1st Object to be mapped Subindex 01h Data type UNSIGNED32 Access read write PDO Mapping No Default Value 2133 01 20h Name 2nd Object to be mapped Subindex 02h Data type UNSIGNED3...

Страница 104: ...Name 7th Object to be mapped Subindex 07h Data type UNSIGNED32 Access read write PDO Mapping No Default Value 00000000h Name 8th Object to be mapped Subindex 08h Data type UNSIGNED32 Access read writ...

Страница 105: ...efault Value 05h Name 1st Object to be mapped Subindex 01h Data type UNSIGNED32 Access read write PDO Mapping No Default Value 2134 01 20h Name 2nd Object to be mapped Subindex 02h Data type UNSIGNED3...

Страница 106: ...Name 7th Object to be mapped Subindex 07h Data type UNSIGNED32 Access read write PDO Mapping No Default Value 00000000h Name 8th Object to be mapped Subindex 08h Data type UNSIGNED32 Access read writ...

Страница 107: ...t Value 04h Name AI Channel Control 1 Subindex 01h Data type UINT8 Access read write PDO Mapping Yes RX PDO Default Value 00000000h Name AI Channel Control 2 Subindex 02h Data type UINT8 Access read w...

Страница 108: ...Comparator active AI Channel Status 2002h Name AI Channel State Index 2002h Object Code ARRAY No of Elements 5 Data Type UINT8 Name Highest sub index supported Subindex 00h Data type UINT8 Access rea...

Страница 109: ...h Data type UINT8 Access read only PDO Mapping Yes TX PDO Default Value 00000000h Name AI Channel Status 4 Subindex 04h Data type UINT8 Access read only PDO Mapping Yes TX PDO Default Value 00000000h...

Страница 110: ...f a new error occurs it is written to subindex 1 The existing entries in subindexes 1 to 7 are moved one position backwards The error on subindex 7 is removed The number of errors that have already oc...

Страница 111: ...mple N 0 N 4 Subindex 01h 05h Data type INT16 Access read only PDO Mapping Yes TX PDO Default Value 00000000h Oversampling input values AI1 AI2 Oversample Data FV 2102h Name AI2 Oversample Data FV Ind...

Страница 112: ...e N 0 N 4 Subindex 01h 05h Data type INT16 Access read only PDO Mapping Yes TX PDO Default Value 00000000h Oversampling input values AI3 AI4 Oversample Data FV 2104h Name AI4 Oversample Data FV Index...

Страница 113: ...nput Calibration Gain 1 Subindex 01h Data type REAL32 Access read write PDO Mapping No Default Value 1 0 Name AI Input Calibration Gain 2 Subindex 02h Data type REAL32 Access read write PDO Mapping No...

Страница 114: ...N 0 N 4 Subindex 01h 05h Data type REAL32 Access read only PDO Mapping Yes TX PDO Default Value 00000000h Oversampling input values AI1 AI2 Oversample Data PV 2132h Name AI2 Oversample Data PV Index...

Страница 115: ...ple N 0 N 4 Subindex 01h 05h Data type REAL32 Access read only PDO Mapping Yes TX PDO Default Value 00000000h Oversampling input values AI3 AI4 Oversample Data PV 2134h Name AI4 Oversample Data PV Ind...

Страница 116: ...or wire break 2331h AI1 Overvoltage or wire break 2332h AI2 Overvoltage or wire break 2333h AI3 Overvoltage or wire break 3120h Module undervoltage 5100h AI0 Input value outside the parameterized lim...

Страница 117: ...f Elements 0 Data Type UNSIGNED16 Access read write PDO Mapping Yes RX PDO Value Range Default Value 00h 7 6 5 4 3 2 1 0 RES RES 0 keine Aktion 1 Reset Device durchf hren Device Status 2202h Name Devi...

Страница 118: ...ss read only PDO Mapping Yes TX PDO Default Value 00000000h Name AI Input FV 2 Subindex 02h Data type REAL32 Access read only PDO Mapping Yes TX PDO Default Value 00000000h Name AI Input FV 3 Subindex...

Страница 119: ...index 00h Data type UINT16 Access read only PDO Mapping No Default Value 04h Name AI Sensor Type 1 Subindex 01h Data type UINT16 Access read write PDO Mapping No Default Value 00000000h Name AI Sensor...

Страница 120: ...ation GmbH 120 E 747GB V2 17 May 2021 Name AI Sensor Type 4 Subindex 04h Data type UINT16 Access read write PDO Mapping No Default Value 00000000h Channel dependent setting of the connected sensor 42...

Страница 121: ...fault Value 04h Name AI Input Scaling 1 FV 1 Subindex 01h Data type REAL32 Access read write PDO Mapping No Default Value 00000000h Name AI Input Scaling 1 FV 2 Subindex 02h Data type REAL32 Access re...

Страница 122: ...lt Value 04h Name AI Input Scaling 1 PV 1 Subindex 01h Data type REAL32 Access read write PDO Mapping No Default Value 00000000h Name AI Input Scaling 1 PV 2 Subindex 02h Data type REAL32 Access read...

Страница 123: ...fault Value 04h Name AI Input Scaling 2 FV 1 Subindex 01h Data type REAL32 Access read write PDO Mapping No Default Value 00000000h Name AI Input Scaling 2 FV 2 Subindex 02h Data type REAL32 Access re...

Страница 124: ...lt Value 04h Name AI Input Scaling 2 PV 1 Subindex 01h Data type REAL32 Access read write PDO Mapping No Default Value 00000000h Name AI Input Scaling 2 PV 2 Subindex 02h Data type REAL32 Access read...

Страница 125: ...04h Name AI Input Offset 1 Subindex 01h Data type REAL32 Access read write PDO Mapping No Default Value 00000000h Name AI Input Offset 2 Subindex 02h Data type REAL32 Access read write PDO Mapping No...

Страница 126: ...e AI Scaling Factor 1 Subindex 01h Data type REAL32 Access read write PDO Mapping No Default Value 00000000h Name AI Scaling Factor 2 Subindex 02h Data type REAL32 Access read write PDO Mapping No Def...

Страница 127: ...04h Name AI Scaling Offset 1 Subindex 01h Data type REAL32 Access read write PDO Mapping No Default Value 00000000h Name AI Scaling Offset 2 Subindex 02h Data type REAL32 Access read write PDO Mappin...

Страница 128: ...01h Data type REAL32 Access read only PDO Mapping Yes TX PDO Default Value 00000000h Name AI Input PV 2 Subindex 02h Data type REAL32 Access read only PDO Mapping Yes TX PDO Default Value 00000000h N...

Страница 129: ...of Elements 5 Name Highest sub index supported Subindex 00h Data type UINT8 Access read only PDO Mapping No Default Value 04h Name AI Filter Type 1 Subindex 01h Data type ENUM Access read write PDO M...

Страница 130: ...1 Filter AI Filter Constant 61A1h Name AI Filter Constant Index 61A1h Object Code RECORD No of Elements 5 Name Highest sub index supported Subindex 00h Data type UINT8 Access read only PDO Mapping No...

Страница 131: ...04h Data type UINT16 Access read write PDO Mapping No Default Value 00000000h PT1 Filter time in ms AO Output PV 6300h Name AO Output PV Index 6300h Object Code ARRAY No of Elements 5 Data Type REAL32...

Страница 132: ...ing Yes TX PDO Default Value 00000000h Name AO Output PV 4 Subindex 04h Data type REAL32 Access read only PDO Mapping Yes TX PDO Default Value 00000000h AO Output Type 6310h Name AO Sensor Type Index...

Страница 133: ...ing No Default Value 00000000h Name AO Sensor Type 4 Subindex 04h Data type UINT16 Access read write PDO Mapping No Default Value 00000000h Channel dependent setting of the output variable 0 Disabled...

Страница 134: ...bindex 02h Data type REAL32 Access read write PDO Mapping No Default Value 00000000h Name AO Output Scaling 1 FV 3 Subindex 03h Data type REAL32 Access read write PDO Mapping No Default Value 00000000...

Страница 135: ...No Default Value 00000000h Name AO Output Scaling 1 PV 2 Subindex 02h Data type REAL32 Access read write PDO Mapping No Default Value 00000000h Name AO Output Scaling 1 PV 3 Subindex 03h Data type REA...

Страница 136: ...1h Data type REAL32 Access read write PDO Mapping No Default Value 00000000h Name AO Output Scaling 2 FV 2 Subindex 02h Data type REAL32 Access read write PDO Mapping No Default Value 00000000h Name A...

Страница 137: ...ault Value 04h Name AO Output Scaling 2 PV 1 Subindex 01h Data type REAL32 Access read write PDO Mapping No Default Value 00000000h Name AO Output Scaling 2 PV 2 Subindex 02h Data type REAL32 Access r...

Страница 138: ...AO Output FV 1 Subindex 01h Data type REAL32 Access read only PDO Mapping Yes TX PDO Default Value 00000000h Name AO Output FV 2 Subindex 02h Data type REAL32 Access read only PDO Mapping Yes TX PDO...

Страница 139: ...ess read only PDO Mapping Yes TX PDO Default Value 00000000h Name AI Input FV 2 Subindex 02h Data type INT16 Access read only PDO Mapping Yes TX PDO Default Value 00000000h Name AI Input FV 3 Subindex...

Страница 140: ...efault Value 04h Name AO Output FV 1 Subindex 01h Data type INT16 Access read only PDO Mapping Yes TX PDO Default Value 00000000h Name AO Output FV 2 Subindex 02h Data type INT16 Access read only PDO...

Страница 141: ...Access read only PDO Mapping Yes TX PDO Default Value 00000000h Name AO Output FV 3 Subindex 03h Data type INT16 Access read only PDO Mapping Yes TX PDO Default Value 00000000h Name AO Output FV 4 Sub...

Страница 142: ...35 s when all channels are active Strom Measurement range 0 20mA 4 20mA Settling time 0 16V 25 s at 300 1mH Measurement error 0 5 typical 0 4 of final value Conversion time 200 s when all channels are...

Страница 143: ...3 17 May 2021 General information Baud rate 100 Mbit s Controller ASIC ET1200 E bus connector 10 pole system plug in side wall Terminating module not required IO power connection 36 pin plug Power sup...

Страница 144: ...r s control program Please note the following differences if you have a program including the old variant Ventura FIO AO4 12 Bit old Kuhnke FIO AO4 12 Bit new Current 0 20mA Current 0 20mA To be able...

Страница 145: ...or Off Malfunction of module if E bus LED On Inoperative if E bus LED Off Red 1x Short circuit Red 2x Low voltage Red 4x EtherCAT watchdog control Red 6x Module specific fault Red 7x Configuration err...

Страница 146: ...32767 16 7FFF 6 6 12 19660 16 4CCC 26216 39320 16 9998 7 7 14 22936 16 5998 19662 45874 16 B332 8 8 16 26213 16 6665 13109 52427 16 CCCB 9 9 18 29490 16 7332 6555 58981 16 E665 10 10 20 32767 16 7FFF...

Страница 147: ...nfiguration error or watchdog control Specific_Error BOOL Module specific fault OptionsSet BOOL Sent by module to acknowledge SetOptions To reset the messages see section Module Control Module specifi...

Страница 148: ...10V Short circuit protection Yes Short circuit current max 30mA Load resistance min 1k Settling time 0 10V 22 s at 2k 200pF Current Measuring range 0 20mA Load resistance max 500 max 1mH inductive Set...

Страница 149: ...442 02 with a Kuhnke FIO AO4 16 Bit module 694 442 52 you must modify the EtherCAT master s control program Please note the following differences Ventura FIO AO4 12 Bit old Kuhnke FIO AO4 16 Bit new...

Страница 150: ...nd the module state Service data objects SDO are available for details and settings You may run the configuration tool offline to change some settings of module AO4 16 Bit such as the properties of ea...

Страница 151: ...Kendrion Kuhnke Automation GmbH AO4 U I 16 Bit E 747GB V2 151 17 May 2021 Click tap on Add choose an object and set the appropriate value...

Страница 152: ...or Off Malfunction of module if E bus LED On Inoperative if E bus LED Off Red 1x Short circuit Red 2x Low voltage Red 4x EtherCAT watchdog control Red 6x Module specific fault Red 7x Configuration err...

Страница 153: ...9 13107 16 3332 3 6 8 8 7 2 9830 16 2666 19660 16 4CCC 4 8 10 4 9 6 13106 16 3332 26214 16 6665 5 10 12 0 12 0 16383 16 3FFF 32767 16 7FFF 6 12 13 6 14 4 19660 16 4CCC 39320 16 9998 7 14 15 2 16 8 229...

Страница 154: ...d Object Dictionary Index Name Type Default Min Max Access 1000 Device Type UINT32 0xF0191 RO 1001 Error Register UINT8 RO 1008 Device Name String RO 1009 Hardware Version String 1 00 RO 100A Software...

Страница 155: ...avior Output 3 Array 2004 0 Number of Entries UINT8 2 RO 2004 1 Active on Undervoltage 24 BOOL FALSE RW 2004 1 Active on EtherCAT Watchdog Error BOOL FALSE RW 6411 Analogue Outputs Array 6411 0 Number...

Страница 156: ...K Destruction limit external voltages 15V Voltage Measuring range 0 10V 10V Short circuit protection Yes Short circuit current max 30mA Load resistance min 1k Settling time 0 10V 22 s at 2k 200pF Curr...

Страница 157: ...1 52 you must modify the EtherCAT master s control program Status LEDs LED EtherCAT Run The LED labelled EtherCAT Run indicates the state of the EtherCAT ASIC State LED flash code Explanation Init Off...

Страница 158: ...nals Channels can be combined as follows 0 1 2 3 4 5 and 6 7 Measured Value Table Analogue voltage values Measured value Variable value 16 bits 10 V 5 V 2 5 V Bipolar Unipolar UINT Data type conversio...

Страница 159: ...uld deactivate the measurement channel at the start parameters or set the input to ground short circuit when measuring differential signals To Set up the Options Conversion of the analogue values can...

Страница 160: ...so use the SDO transfer components available for the EtherCAT master to change settings at runtime Click tap on Add choose an object and set the appropriate value Options You can set up the following...

Страница 161: ...Default Min Max Access 1000 Device Type UINT32 0x40191 RO 1001 Error Register UINT8 RO 1008 Device Name String AI4 8 U 13 Bit RO 1009 Hardware Version String 1 00 RO 100A Software Version String 1 00...

Страница 162: ...e ended Single ended 0 Differential 1 RW 2001 3 Input 4_5 Switch UINT8 Single ended Single ended 0 Differential 1 RW 2001 4 Input 6_7 Switch UINT8 Single ended Single ended 0 Differential 1 RW 2003 In...

Страница 163: ...6 Analog Input 5 UINT16 RO P 6401 7 Analog Input 6 UINT16 RO P 6401 8 Analog Input 7 UINT16 RO P 6500 StateWord Array 6500 0 Number of Entries UINT8 16 RO 6500 1 ResetErrorAck BOOL RO P 6500 3 EtherCA...

Страница 164: ...nised with DC SM Conversion time 464 s if all channels are active Internal resistance 1M Input filter cutoff frequency typ 1kHz Measuring error 0 4 typ 0 2 of final value Baud rate 100 Mbit s Controll...

Страница 165: ...41 03 with a Kuhnke FIO AI8 16 U module 694 441 53 you must modify the EtherCAT master s control program Status LEDs LED EtherCAT Run The LED labelled EtherCAT Run indicates the state of the EtherCAT...

Страница 166: ...u can pick up no more than 8 differential signals Channels can be combined as follows 0 1 2 3 4 5 6 7 8 9 10 11 12 13 and 14 15 Table of measured values Measured value Variable value 16 bits 10 V 5 V...

Страница 167: ...ed values displayed in the I O image are floated To prevent this you should deactivate the measurement channel at the start parameters or set the input to ground short circuit when measuring different...

Страница 168: ...tings of module AI4 8U 16 Bit such as the properties of each of the inputs The EtherCAT master will apply the settings when starting up the module You can also use the SDO transfer components availabl...

Страница 169: ...ResetError 0 errors are retained 1 errors cleared after removing their cause 1 15 not used Object Dictionary Index Name Type Default Min Max Access 1000 Device Type UINT32 0x40191 RO 1001 Error Regist...

Страница 170: ...2 5V 4 RW 2000 6 Input 5 UINT8 Off Off 0 0 10V 1 5V 2 10V 3 2 5V 4 RW 2000 7 Input 6 UINT8 Off Off 0 0 10V 1 5V 2 10V 3 2 5V 4 RW 2000 8 Input 7 UINT8 Off Off 0 0 10V 1 5V 2 10V 3 2 5V 4 RW 2000 9 In...

Страница 171: ...1 RW 2001 4 Input 6_7 Switch UINT8 Single ended Single ended 0 Differential 1 RW 2001 5 Input 8_9 Switch UINT8 Single ended Single ended 0 Differential 1 RW 2001 6 Input 10_11 Switch UINT8 Single ende...

Страница 172: ...2 UINT16 RO P 6401 4 Analog Input 3 UINT16 RO P 6401 5 Analog Input 4 UINT16 RO P 6401 6 Analog Input 5 UINT16 RO P 6401 7 Analog Input 6 UINT16 RO P 6401 8 Analog Input 7 UINT16 RO P 6401 9 Analog In...

Страница 173: ...onised with DC SM Conversion time 580 s if all channels are active Internal resistance 1M Input filter cutoff frequency typ 1kHz Measuring error 0 4 typ 0 2 of final value Baud rate 100 Mbit s Control...

Страница 174: ...st modify the EtherCAT master s control program Status LEDs LED EtherCAT Run The LED labelled EtherCAT Run indicates the state of the EtherCAT ASIC State LED flash code Explanation Init Off Initialisi...

Страница 175: ...nnel enabled Off Off Channel disabled Added to the CoE variant 694 441 51 Kuhnke FIO AI4 I 12 Bit Error Red 1x Current 20 5 mA Red 2x Current 3 5 mA 4 20 mA mode Function The AI4 I module has four ana...

Страница 176: ...s and state of AI4 I CoE To Set up the Options Conversion of the analogue values can be synchronised with DC Distributed Clocks or SM Sync Manager The process data objects stored as variables in the E...

Страница 177: ...and choose the Startup Parameters to change some settings of module AI4 I 12 Bit such as the properties of each of the inputs The EtherCAT master will apply the settings when starting up the module Y...

Страница 178: ...10 Input2low Current at 4 20mA 3 5mA 11 Input3low Current at 4 20mA 3 5mA 12 15 not used 16 Input0high Current 20 5 mA 17 Input1high Current 20 5 mA 18 Input2high Current 20 5 mA 19 Input3high Curren...

Страница 179: ...1 1 255 RW 2003 2 Input 1 Average UINT8 1 1 255 RW 2003 3 Input 2 Average UINT8 1 1 255 RW 2003 4 Input 3 Average UINT8 1 1 255 RW 6401 Analogue input Array 6401 0 Number of Entries UINT8 4 RO 6401 1...

Страница 180: ...ue inputs 4 Measuring range 0 20mA 4 20mA final value 20mA Resolution 12 bit Start AD conversion synchronised with DC SM Conversion time 235 s if all channels are active Internal resistance 300 Input...

Страница 181: ...12 Bit module 694 441 04 with a Kuhnke FIO AI8 I 12 Bit module 694 441 54 you must modify the EtherCAT master s control program Status LEDs LED EtherCAT Run The LED labelled EtherCAT Run indicates th...

Страница 182: ...s indicate the state of every channel State LED flash code Explanation On Green on Channel enabled Off Off Channel disabled Added to the CoE variant 694 441 51 Kuhnke FIO AI4 I 12 Bit Error red Curren...

Страница 183: ...s and state of AI8 I CoE To Set up the Options Conversion of the analogue values can be synchronised with DC Distributed Clocks or SM Sync Manager The process data objects stored as variables in the E...

Страница 184: ...and choose the Startup Parameters to change some settings of module AI8 I 12 Bit such as the properties of each of the inputs The EtherCAT master will apply the settings when starting up the module Y...

Страница 185: ...urrent at 4 20mA 3 5mA 10 Input2low Current at 4 20mA 3 5mA 11 Input3low Current at 4 20mA 3 5mA 12 Input4low Current at 4 20mA 3 5mA 13 Input5low Current at 4 20mA 3 5mA 14 Input6low Current at 4 20m...

Страница 186: ...INT8 8 RO 2000 1 Input 0 UINT8 Off Off 0 4 20mA 5 0 20mA 6 RW 2000 2 Input 1 UINT8 Off Off 0 4 20mA 5 0 20mA 6 RW 2000 3 Input 2 UINT8 Off Off 0 4 20mA 5 0 20mA 6 RW 2000 4 Input 3 UINT8 Off Off 0 4 2...

Страница 187: ...EtherCAT Error BOOL RO P 6500 4 ConfigError BOOL RO P 6500 5 8 BOOL RO P 6500 9 Input 0 low BOOL RO P 6500 10 Input 1 low BOOL RO P 6500 11 Input 2 low BOOL RO P 6500 12 Input 3 low BOOL RO P 6500 13...

Страница 188: ...ime 290 s if all channels are active Internal resistance 300 Input filter cutoff frequency 100 kHz Measuring error 0 5 typ 0 4 of final value Supply of Sensors 24VDC a total of max 200mA Baud rate 100...

Страница 189: ...cing a Ventura FIO AI4 Pt Ni100 or 694 443 03 Ventura FIO AI4 Pt Ni1000 or 694 443 05 Ventura FIO AI4 TE 694 443 01 with a Kuhnke FIO AI4 Pt Ni TC module 694 443 57 you must modify the EtherCAT master...

Страница 190: ...ion to ensure that all error are detected shown properly Note on thermocouple mode Errors input low and input high are just indicative of the temperature being out of the set range A short circuit inp...

Страница 191: ...ailable for details and settings You may run the configuration tool offline and choose the Startup Parameters to change some settings of module AI4 Pt Ni TC such as the properties of each of the input...

Страница 192: ...unction 2 Pt100 3 Pt1000 4 Ni100 5 Ni1000 DIN43760 6 Thermo K 7 Thermo J InputFormat 0 0 1 C 1 V 2 Raw raw data Data rate and filter 0 1000 readings per second 1 600 readings per second 2 330 readings...

Страница 193: ...nge of connected reading 18 Input2high Incorrect range of connected reading 19 Input3high Incorrect range of connected reading 20 31 not used Analogue Inputs Check the following variables for the digi...

Страница 194: ...T32 0x0048554B RO 1018 2 Product Code UINT32 185345 RO 1018 3 Revision Number UINT32 1 RO 1018 4 Serial Number UINT32 RO 2000 Sensor Type Array 2000 0 Number of Entries UINT8 4 RO 2000 1 Sensor0 UINT8...

Страница 195: ...ray 2002 0 Number of Entries UINT8 4 2002 1 Input0DataRateAndFilter readings per second UINT8 20 1000 0 600 1 330 2 175 3 90 4 45 5 20 6 20 50 60Hz 7 20 50Hz 8 20 60Hz 9 RO 2002 2 Input1DataRateAndFil...

Страница 196: ...2 Analog Input 1 UINT16 RO P 6401 3 Analog Input 2 UINT16 RO P 6500 StateWord Array RO P 6500 0 Number of Entries UINT8 32 RO P 6500 1 ResetErrorAck BOOL RO P 6500 2 BOOL RO P 6500 3 EtherCAT Error B...

Страница 197: ...n Yes Measuring range Type K 200 C 1372 C Measuring range Type J 50 C 760 C Measuring range mV 40 65 mV Pt100 Ni100 Measuring range Pt 75 C 670 C Measuring range Ni 60 C 250 C Input resistance 70 320...

Страница 198: ...ETG guidelines Before replacing a Ventura FIO AI8 Pt Ni100 694 443 02 or Ventura FIO AI8 Pt Ni1000 694 443 04 or Ventura FIO AI4 TE 694 443 06 with a Kuhnke FIO AI8 Pt Ni TC module 694 443 58 you must...

Страница 199: ...r 3 wire connection to ensure that all error are detected shown properly Note on thermocouple mode Errors input low and input high are just indicative of the temperature being out of the set range A s...

Страница 200: ...ailable for details and settings You may run the configuration tool offline and choose the Startup Parameters to change some settings of module AI8 Pt Ni TC such as the properties of each of the input...

Страница 201: ...ion 2 Pt100 3 Pt1000 4 Ni100 5 Ni1000 DIN43760 6 Thermo K 7 Thermo J InputFormat 0 0 1 C Data rate and filter 1 V 2 Raw raw data 0 1000 readings per second Average 1 600 readings per second 2 330 read...

Страница 202: ...ding 16 Input0high Incorrect range of connected reading 17 Input1high Incorrect range of connected reading 18 Input2high Incorrect range of connected reading 19 Input3high Incorrect range of connected...

Страница 203: ...tring 1 00 RO 100A Software Version String 1 00 RO 1018 Identity Object Array 1018 0 Number of Entries UINT8 4 RO 1018 1 Vendor Id UINT32 0x0048554B RO 1018 2 Product Code UINT32 185346 RO 1018 3 Revi...

Страница 204: ...T1000 NI100 NI1000 Thermo_K Thermo_J RW 2000 7 Sensor6 UINT8 Off Off Internal PT100 PT1000 NI100 NI1000 Thermo_K Thermo_J RW 2000 8 Sensor7 UINT8 Off Off Internal PT100 PT1000 NI100 NI1000 Thermo_K Th...

Страница 205: ...er Array 2002 0 Number of Entries UINT8 8 2002 1 Input0DataRateAndFilter readings per second UINT8 20 1000 0 600 1 330 2 175 3 90 4 45 5 20 6 20 50 60Hz 7 20 50Hz 8 20 60Hz 9 RO 2002 2 Input1DataRateA...

Страница 206: ...5 3 90 4 45 5 20 6 20 50 60Hz 7 20 50Hz 8 20 60Hz 9 RO 2002 6 Input5DataRateAnd Filter readings per second UINT8 20 1000 0 600 1 330 2 175 3 90 4 45 5 20 6 20 50 60Hz 7 20 50Hz 8 20 60Hz 9 RO 2002 7 I...

Страница 207: ...NT16 RO P 6401 5 Analog Input 4 UINT16 RO P 6401 6 Analog Input 5 UINT16 RO P 6401 7 Analog Input 6 UINT16 RO P 6401 8 Analog Input 7 UINT16 RO P 6500 StateWord Array 6500 0 Number of Entries UINT8 32...

Страница 208: ...GmbH 208 E 747GB V2 17 May 2021 Index Name Type Default Min Max Access 6500 3 ConfigError BOOL RO P 6500 4 Module Control Array 7001 Number of Entries UINT8 1 RO 7001 0 Reset Error BOOL RW P 7001 1 RO...

Страница 209: ...n Yes Measuring range Type K 200 C 1372 C Measuring range Type J 50 C 760 C Measuring range mV 40 65 mV Pt100 Ni100 Measuring range Pt 75 C 670 C Measuring range Ni 60 C 250 C Input resistance 70 320...

Страница 210: ...puts 4 Out_0 Digital output 5 6 A_Out Analogue output Counter Posi2 only 7 12 A B Ref Incremental encoder signals 13 14 5 V 5V encoder supply 0 2A fuse 15 24 V 24V encoder supply 0 2A fuse 16 17 24V M...

Страница 211: ...No error Error Off Malfunction of module if E bus LED On Inoperative if E bus LED Off Red 2x Low voltage Red 3x Internal watchdog Red 4x EtherCAT watchdog control Red 7x Configuration error E bus pre...

Страница 212: ...also Operation Synchronised with Frames or DC The module runs in the appropriate mode depending on whether Distributed Clocks DC is used or not By default the module synchronises with frames When the...

Страница 213: ...setError to a rising edge Variable Data type Explanation ResetError BOOL Rising edge acknowledges error Module State The following module states are indicated Variable Data type Explanation LowSupplyV...

Страница 214: ...L 0 Output_0_0 is a digital output 1 Reference value function controls Output_0_0 OnErrorForceOutputsOff_1 Release 3 or higher BOOL 0 All digital and analogue outputs keep refreshing after a module er...

Страница 215: ...Counter 1 options accepted OutputsOnErrorOff_1 BOOL Error switches off the outputs release 3 or higher Counter 1 Error Use these variables to indicate error states Variable Data type Explanation Outp...

Страница 216: ...tual Values These variables indicate the actual counter value and the current presets Variable SelectedValue multiplexes use Select_1 to select and shows the presets Variable Data type Explanation Cou...

Страница 217: ...INT Time stamp of digital input 1 software polling Input_0_2_TS UINT Time stamp of digital input 2 software polling Input_0_3_TS UINT Time stamp of digital input 3 software polling Information The tim...

Страница 218: ...tput delay underway This variable defines the time at which the output is set Variable Data type Explanation Output_0_0_Del UINT Output delay in s If synchronised with frames Frame Digital Output Vari...

Страница 219: ...unter Posi2 5V only These variables define the voltage reading of the analogue outputs Variable Data type Explanation AnalogOutput_1 UINT Analogue output 1 Table Voltage output values Voltage V Hex va...

Страница 220: ...eference Value A rising edge of control bit SetOptions_1 accepts the configuration settings set in Counter 1 Options Status bit OptionsSet_1 confirms that the settings have been accepted Example set u...

Страница 221: ...how to set options The state of the output is retrieved from the module and shown in In_Output_0_0 Term2_ControlOutput_1 FALSE Term2_Output_0_0 sets output Term2_ControlOutput_1 TRUE Reference functio...

Страница 222: ...ter_1 TRUE Term2_SetValue_1 2000 Term2_SetPreset_1 TRUE Term2_SetOptions_1 TRUE StepInit 1 Wait until accepting OptionsSet and PresetSet has been confirmed 1 IF Term2_OptionsSet_1 AND Term2_PresetSet_...

Страница 223: ..._1 Term2_SelectedValue_1 Use to read the captured value Term2_Captured_1 A capture event has occurred Term2_ResetCaptured_1 Reset Term2_Captured_1 Digital Inputs Input_0_x Use variable Input_0_x to po...

Страница 224: ...xml WxHxD 25x120x90 mm Installation 35 mm DIN rail Controller ASIC ET1200 E bus connector 10 pole system plug in side wall Terminating module not required E bus load 300 mA Power supply Logic circuit...

Страница 225: ...Kendrion Kuhnke Automation GmbH Counter Encoder 694 454 53 E 747GB V2 225 17 May 2021 5 5 2 Counter Encoder Front view and I O connection Front view I O Modul Counter Encoder I O connection...

Страница 226: ...tional if bootstrap mode is supported LED IO The LED labelled IO indicates the state of the module s I Os State LED flash code Explanation Ok Green on No error Error Off Malfunction of module if E bus...

Страница 227: ...the state of each of the digital I Os Kanal Kanal Beschreibung A CLK A CLK Incremental encoder The LEDs indicate the signal status of the incremental encoder track Endat SSI The LEDs light up in time...

Страница 228: ...endently of each other which gives the module a high degree of flexibility Module configuration The configuration of the counter encoder interfaces is done via pluggable modules that are inserted into...

Страница 229: ...of the configuration options with the associated objects These are linked to the object directory Encoder interface configuration Incremental encoder Object overview Slot Object Explanation Enc1 0x210...

Страница 230: ...Level 0 Reference on rising edge 1 Reference on falling edge Sub 04 SSI 0 Straight binary 1 Grey coded binary Sub 05 event counter 0 Count rising edges 1 Count falling edges 3 Count both edges Enc2 0...

Страница 231: ...ex Level 0 Reference on rising edge 1 Reference on falling edge Sub 04 SSI 0 Straight binary 1 Grey coded binary Sub 05 event counter 0 Count rising edges 1 Count falling edges 3 Count both edges Enc2...

Страница 232: ...SI 0 Straight binary 1 Grey coded binary Sub 05 event counter 0 Count rising edges 1 Count falling edges 3 Count both edges Enc2 0x2903 Enc2 Digital Interface Config Enc1 0x2110 Enc1 Digital Interface...

Страница 233: ...DAT encoders The following objects are available for the output of the position value in user defined units 0x2014 Enc1 Linear Position Value 0x2814 Enc2 Linear Position Value Add these objects to the...

Страница 234: ...cts are structured as follows 0x1000 0x1FFF Device specific 0x2000 0x23FF Manufacture specific Counter Encoder 1 0x2800 0x2FFF Manufacture specific Counter Encoder 2 0x3000 0x37FF Manufacture specific...

Страница 235: ...0 Name Error register Data Type UNSIGNED8 Access ro Defaultvalue PDO Mapping no In the case of an error the corresponding error bit is set If the error no longer exists it is automatically deleted In...

Страница 236: ...eld 1 Data Type UNSIGNED32 Access ro Defaultvalue PDO Mapping no Accessname Pre definederrorfield 0 Sub 0x02 Name Standard error field 2 Data Type UNSIGNED32 Access ro Defaultvalue PDO Mapping no Acce...

Страница 237: ...Name Standard error field 7 Data Type UNSIGNED32 Access ro Defaultvalue PDO Mapping no Accessname Pre definederrorfield 6 Sub 0x08 Name Standard error field 8 Data Type UNSIGNED32 Access ro Defaultva...

Страница 238: ...ical Device overlapping 0x1 Encoder 1 0x2 Encoder 2 Sub Number 19 16 See table Error Code Error Code 15 0 Errorcode Sub Device Channel Reaction Explanation 0x2110 0x0 Enc1 Enc2 No Overcurrent supply e...

Страница 239: ...ccess ro Defaultvalue Counter Encoder 694 454 53 PDO Mapping no 0x1009 Manufacturer hardware version Object Code Variable Sub 0x00 Name Manufacturer hardware version Data Type VISIBLE_STRING Access ro...

Страница 240: ...alue 0x04 PDO Mapping no Sub 0x01 Name Vendor ID Data Type UNSIGNED32 Access ro Defaultvalue 0x48554B PDO Mapping no Sub 0x02 Name Product code Data Type UNSIGNED32 Access ro Defaultvalue 0x2F144 PDO...

Страница 241: ...Access ro Defaultvalue 2 PDO Mapping no Sub 0x01 Name Local Error Reaction Data Type UNSIGNED32 Access rw Defaultvalue 1 PDO Mapping no Sub 0x02 Name Sync Error Counter Limit Data Type UNSIGNED16 Acc...

Страница 242: ...1 Low Limit 0 High Limit 64 PDO Mapping no Sub 0x01 Name Mapping Entry 1 Data Type UNSIGNED32 Access ro Defaultvalue 0x21010010 PDO Mapping no Each subindex 1 8 describes one mapped object A mapping...

Страница 243: ...1 Low Limit 0 High Limit 64 PDO Mapping no Sub 0x01 Name Mapping Entry 1 Data Type UNSIGNED32 Access ro Defaultvalue 0x29010010 PDO Mapping no Each subindex 1 8 describes one mapped object A mapping...

Страница 244: ...Defaultvalue 0x60040020 PDO Mapping no Sub 0x02 Name Mapping Entry 2 Data Type UNSIGNED32 Access ro Defaultvalue 0x20300020 PDO Mapping no Sub 0x03 Name Mapping Entry 3 Data Type UNSIGNED32 Access ro...

Страница 245: ...ntry 1 Data Type UNSIGNED32 Access ro Defaultvalue 0x24080120 PDO Mapping no Sub 0x02 Name Mapping Entry 2 Data Type UNSIGNED32 Access ro Defaultvalue 0x24080220 PDO Mapping no Sub 0x03 Name Mapping E...

Страница 246: ...pping entry consists of four bytes which are composed as follows Index 16 Bit 31 16 Index of the object to be mapped SubIndex 8 Bit 15 8 Subindex of the object to be mapped Length 8 Bit 7 0 Length of...

Страница 247: ...31 16 Index of the object to be mapped SubIndex 8 Bit 15 8 Subindex of the object to be mapped Length 8 Bit 7 0 Length of the object to be mapped 0x1c00 Sync Manager Communication Type Object Code Arr...

Страница 248: ...ue 4 PDO Mapping no 0x1c12 Sync Manager 2 PDO Assignment Object Code Array Sub 0x00 Name Highest subindex supported Data Type UNSIGNED8 Access ro Defaultvalue 2 Low Limit 0 High Limit 2 PDO Mapping no...

Страница 249: ...o Sub 0x01 Name Subindex Data Type UNSIGNED16 Access rw Defaultvalue 0x1a00 PDO Mapping no Sub 0x02 Name Subindex 2 Data Type UNSIGNED16 Access rw Defaultvalue 0x1a05 PDO Mapping no 0x1c32 Sync Manage...

Страница 250: ...ultvalue 0x10 PDO Mapping no Sub 0x05 Name Minimum Cycle Time Data Type UNSIGNED32 Access ro Defaultvalue 0x20 PDO Mapping no Sub 0x06 Name Calc and Copy Time Data Type UNSIGNED32 Access ro Defaultval...

Страница 251: ...o small Data Type UNSIGNED16 Access ro Defaultvalue 0x10 PDO Mapping no Sub 0x20 Name Sync Error Data Type BOOLEAN Access ro Defaultvalue 0x01 PDO Mapping no 0x1c33 Sync Manager 3 Synchronization Obje...

Страница 252: ...x10 PDO Mapping no Sub 0x05 Name Minimum Cycle Time Data Type UNSIGNED32 Access ro Defaultvalue 0x20 PDO Mapping no Sub 0x06 Name Calc and Copy Time Data Type UNSIGNED32 Access ro Defaultvalue 0x20 PD...

Страница 253: ...e 0x20 PDO Mapping no Sub 0x0c Name Cycle time too small Data Type UNSIGNED16 Access ro Defaultvalue 0x10 PDO Mapping no Sub 0x20 Name Sync Error Data Type BOOLEAN Access ro Defaultvalue 0x01 PDO Mapp...

Страница 254: ...Name Enc1 Position Value Signed Data Type INTEGER32 Access ro Defaultvalue PDO Mapping optional TPDO only Accessname Enc1PositionValueSigned 0x2008 Enc1 High Resolution Position Value Signed Object Co...

Страница 255: ...TPDO only Accessname Enc1LinearPositionValue Position value in user units 0x2015 Enc1 Linear Position Preset Value Object Code Variable Sub 0x00 Name Enc1 Linear Position Preset Value Data Type REAL3...

Страница 256: ...alue Filter Select Object Code Variable Sub 0x00 Name Enc1 Speed Value Filter Select Data Type UNSIGNED8 Access ro Defaultvalue 11 PDO Mapping no Accessname Enc1SpeedValueFilterSelect Configuration ob...

Страница 257: ...V2 257 17 May 2021 Accessname Enc1PositionEncoderResolution EncoderIncrements Sub 0x02 Name Motor Revolutions Data Type UNSIGNED32 Access rw Defaultvalue 0x00000001 PDO Mapping no Accessname Enc1Posit...

Страница 258: ...s ro Defaultvalue 2 PDO Mapping no Sub 0x01 Name Motor Shaft Revolutions Data Type UNSIGNED32 Access rw Defaultvalue 0x00000001 PDO Mapping no Accessname Enc1GearRatio MotorShaftRevolutions Sub 0x02 N...

Страница 259: ...ata Type UNSIGNED8 Access ro Defaultvalue 2 PDO Mapping no Sub 0x01 Name Feed Data Type UNSIGNED32 Access rw Defaultvalue 0x00000064 PDO Mapping no Accessname Enc1FeedConstant Feed Sub 0x02 Name Shaft...

Страница 260: ...s of the connected encoder 64 Encoder default 65 SSI 69 EnDat 80 Event counter 0x2101 Enc1 Digital Interface Control Object Code Variable Sub 0x00 Name Enc1 Digital Interface Control Data Type UNSIGNE...

Страница 261: ...9 8 7 6 5 4 3 2 1 0 Dir Ref Ref 0 Encoder is not referenced 1 Encoder is referenced Dir 0 Clockwise 1 Counter clockwise 0x2103 Enc1 Digital Interface Config Object Code Record Sub 0x00 Name Highest su...

Страница 262: ...Useg reycode Sub 0x05 Name Enc1 Event Counter Sensitivity Data Type UNSIGNED8 Access ro Defaultvalue 0 PDO Mapping no Accessname Enc1DigitalInterfaceConfig Enc1EventCou nter Sensitivity Object for con...

Страница 263: ...Resolution of the encoder according to data sheet 0x2111 Enc1 Digital Interface Baud Rate Object Code Variable Sub 0x00 Name Enc1 Digital Interface Baud Rate Data Type UNSIGNED16 Access rw Defaultvalu...

Страница 264: ...ta Type UNSIGNED8 Access ro Defaultvalue PDO Mapping optional TPDO only Accessname Enc1EncoderTrackABRef 7 6 5 4 3 2 1 0 Ref B A Signal level at the corresponding encoder track 0x213f Enc1 ErrorCode O...

Страница 265: ...nly Accessname EventCounterCount EventCounterChannel1 Sub 0x02 Name Event Counter Channel 2 Data Type UNSIGNED32 Access ro Defaultvalue PDO Mapping optional TPDO only Accessname EventCounterCount Even...

Страница 266: ...a Type UNSIGNED32 Access ro Defaultvalue PDO Mapping optional TPDO only Accessname EventCounterCount EventCounterChannel6 0x2801 Enc2 Error Register Object Code Variable Sub 0x00 Name Enc2 Error Regis...

Страница 267: ...igned 0x2808 Enc2 High Resolution Position Value Signed Object Code Variable Sub 0x00 Name Enc2 High Resolution Position Value Signed Data Type INTEGER64 Access ro Defaultvalue PDO Mapping optional TP...

Страница 268: ...ble Sub 0x00 Name Enc2 Linear Position Preset Value Data Type REAL32 Access rw Defaultvalue PDO Mapping no Accessname Enc2LinearPositionPresetValue 0x2830 Enc2 High Resolution Speed Value Object Code...

Страница 269: ...lterSelect 0x288f Enc2 Position Encoder Resolution Object Code Record Sub 0x00 Name SubIndex 000 Data Type UNSIGNED8 Access ro Defaultvalue 2 PDO Mapping no Sub 0x01 Name Encoder Increments Data Type...

Страница 270: ...UNSIGNED8 Access ro Defaultvalue 2 PDO Mapping no Sub 0x01 Name Motor Shaft Revolutions Data Type UNSIGNED32 Access rw Defaultvalue 0x00000001 PDO Mapping no Accessname Enc2GearRatio MotorShaftRevolu...

Страница 271: ...e SubIndex 000 Data Type UNSIGNED8 Access ro Defaultvalue 2 PDO Mapping no Sub 0x01 Name Feed Data Type UNSIGNED32 Access rw Defaultvalue 0x00000001 PDO Mapping no Accessname Enc2FeedConstant Feed Sub...

Страница 272: ...ttings of the connected encoder 64 Encoder 65 SSI 69 EnDat 80 Event counter 0x2901 Enc2 Digital Interface Control Object Code Variable Sub 0x00 Name Enc2 Digital Interface Control Data Type UNSIGNED16...

Страница 273: ...atus Ref 0 Encoder is not referenced 1 Encoder is referenced Dir 0 Clockwise 1 Counter clockwise 0x2903 Enc2 Digital Interface Config Object Code Record Sub 0x00 Name Highest sub index supported Data...

Страница 274: ...cessname Enc2DigitalInterfaceConfig Enc2SSI Usegreycode Sub 0x05 Name Enc2 Event Counter Sensitivity Data Type UNSIGNED8 Access ro Defaultvalue 0 PDO Mapping no Accessname Enc2DigitalInterfaceConfig E...

Страница 275: ...0 Name Enc1 Digital Interface Bit Size Data Type UNSIGNED8 Access ro Defaultvalue PDO Mapping no Accessname Enc2DigitalInterfaceBitSize SSI EnDat Resolution of the encoder according to data sheet 0x29...

Страница 276: ...Code Variable Sub 0x00 Name Enc2 Capture Input Value Data Type INTEGER64 Access ro Defaultvalue PDO Mapping optional TPDO only Accessname Enc2CaptureInputValue 0x2922 Enc2 Encoder Track ABRef Object...

Страница 277: ...Defaultvalue PDO Mapping no Accessname Enc1OperatingParameters 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 DIR Bit 3 DIR 0 Clockwise 1 Counter clockwise 0x6002 Enc1 Total Measuring Range Object Code Variab...

Страница 278: ...g optional TPDO only Accessname Enc1PositionValue 0x6008 Enc1 High Resolution Position Value Object Code Variable Sub 0x00 Name Enc1 High Resolution Position Value Data Type UNSIGNED64 Access ro Defau...

Страница 279: ...index 0x600c Enc1 Position Raw Value Object Code Variable Sub 0x00 Name Enc1 Position Raw Value Data Type UNSIGNED32 Access ro Defaultvalue PDO Mapping optional TPDO only Accessname Enc1PositionRawVal...

Страница 280: ...no Accessname Enc1SpeedParameters Enc1SpeedSourceSelector Sub 0x02 Name Enc1 Speed Integration Time Data Type UNSIGNED16 Access ro Defaultvalue 100 PDO Mapping no Accessname Enc1SpeedParameters Enc1S...

Страница 281: ...500 Enc1 Operating Status Object Code Variable Sub 0x00 Name Enc1 Operating Status Data Type UNSIGNED16 Access ro Defaultvalue PDO Mapping no Accessname Enc1OperatingStatus 15 14 13 12 11 10 9 8 7 6 5...

Страница 282: ...Enc2TotalMeasuringRange Encoder resolution With setting Single Turn relevant for the overflow 0x6803 Enc2 Preset Value Object Code Variable Sub 0x00 Name Enc2 Preset Value Data Type UNSIGNED32 Access...

Страница 283: ...alue 5 5 2 1 1 0x6809 Enc2 High Resolution Preset Value Object Code Variable Sub 0x00 Name Enc2 High Resolution Preset Value Data Type UNSIGNED64 Access rw Defaultvalue PDO Mapping no Accessname Enc2H...

Страница 284: ...PDO Mapping optional TPDO only Accessname Enc2PositionRawValue 32 Bit raw encoder value without offsets and homing and index 0x6830 Enc2 Speed Value Object Code Record Sub 0x00 Name SubIndex 000 Data...

Страница 285: ...ue 4 PDO Mapping no Accessname Enc2SpeedParameters Enc2SpeedSourceSelector Sub 0x02 Name Enc2 Speed Integration Time Data Type UNSIGNED16 Access ro Defaultvalue 100 PDO Mapping no Accessname Enc2Speed...

Страница 286: ...on time in ms Sub 03 Conversion factor for velocity calculation result in 0x6830 Sub 04 Conversion devider for velocity calculation result in 0x6830 0x6d00 Enc2 Operating Status Object Code Variable S...

Страница 287: ...dewing Protection IP20 Interference immunity Zone B DIN EN 61131 2 Fieldbus System Type EtherCAT 100 Mbit s Connection 10 pole system plug at the side Logic supply from EtherCAT Coupler via E Bus plug...

Страница 288: ...current 5 A max 55 C 5A 12 24 VDC 4A 48 VDC Peak current stepper motor 10 A brushless DC motor 15 A Incremental encoder 5V 24V A A B B Z Z Hall generator 24 V H1 H2 H3 or 3 extra low side switching d...

Страница 289: ...software tracks 8 cams per track Total output current Itot 4 5 A Inputs 1x 24 VDC 1 ms 4x 24 VDC or 0 10 V configurable Encoder interface incremental 24 VDC A B Ref absolute via CAN or EtherCAT Cam p...

Страница 290: ...supply to CPU right 0 7 DO0 DO7 digital outputs 1 7 8 11 AI0 AI3 DI0 DI3 analogue inputs optionally used as DI 12 DI4 digital input DI 13 DI5 C_cycle DI counting cycle input rising edge 14 DI6 C_Dir D...

Страница 291: ...e LED labelled IO indicates the state of the module s I Os State LED flash code Explanation Ok Green on No error Error Red flashing 1x short circuit 2x low voltage Start defective Red Module not initi...

Страница 292: ...AT master s control program are used to access the IOs and the module state Service data objects SDO are available for details and settings You may run the configuration tool offline to change some se...

Страница 293: ...gital input 6 DigitalInput7 BOOL Digital input 7 Counter UDINT Reading of event counter at DI5 SampleCycleCounter UINT Increments when new analogue values are available AnalogIn0 The following input v...

Страница 294: ...or message Bit 1 Reset counter started by edge 0 1 Bits 2 15 Not used DigitalOutput0 BOOL Digital output 0 DigitalOutput1 BOOL Digital output 1 DigitalOutput2 BOOL Digital output 2 DigitalOutput3 BOOL...

Страница 295: ...1 5 Sample0 4 UINT16 RO P 6402 AnalogIn1 Array 6402 1 Sample0 UINT16 RO P 6402 2 Sample1 UINT16 RO P 6402 3 Sample2 UINT16 RO P 6402 4 Sample3 UINT16 RO P 6402 5 Sample4 UINT16 RO P 6403 AnalogIn2 Ar...

Страница 296: ...econd already Values will be entered in Sample0 only Sample 1 4 are left blank Oversampling Synchronised with DC Interrupt SYNC0 is used for analogue sampling whereas interrupt SYNC1 is used to transf...

Страница 297: ...d Every SDO transfer to and from the object contain 10 bytes Bit0 of the StateWord indicates that there is data in the in queue The data in buffer contains not more than 1024 bytes Bit1 of the StateWo...

Страница 298: ...hether the EtherCAT master s values are up to date Ideal EtherCAT cycles for this module are 1 ms to 5 ms long Information Consistent analogue values The module provide consistent sets of analogue val...

Страница 299: ...lution 12 bit Sampling rate 1ms RS485 Electrically insulated Baud rate 2 4 921 6 kBit s Connection e g 4 x KDT 621 9 6 or 19 2 kBit s IO power connection 36 pin plug Controller ASIC ET1200 Baud rate 1...

Страница 300: ...MIX 04 694 444 64 Kendrion Kuhnke Automation GmbH 300 E 747GB V2 17 May 2021 5 6 2 MIX 04 Front view and I O connection Front view I O Module MIX 04 I O connection...

Страница 301: ...LED labelled IO indicates the state of the module s I Os State LED flash code Explanation Ok Green on No Error Error Off Malfunction of module if E bus LED On Inoperative if E bus LED Off Red 2 x Unde...

Страница 302: ...input A CLK A CLK B DAT B DAT B DAT B DAT Z Z Z Z AO0 AO2 Analogue output activated and without error AO0 AO2 AO1 AO3 Analogue output activated and without error AO1 AO3 Function The Kuhnke FIO MIX 04...

Страница 303: ...aces is done via pluggable modules that are inserted into the corresponding slots One slot corresponds to one analogue channel or one counter encoder interface Only suitable modules can be plugged int...

Страница 304: ...20mA 192361012 AI3 Current 4 20mA 5 Enc1 Encoder 1 192361013 Enc1 Counter 192361014 Enc1 SSI 192361015 Enc1 EnDat 192361016 Enc event counter 6 Enc2 Encoder 2 192361017 Enc2 Counter 192361018 Enc2 SSI...

Страница 305: ...he configuration options with the associated objects These are linked to the object directory Encoder interface configuration Incremental encoder Object overview Slot Object Explanation Enc1 0x2100 En...

Страница 306: ...Level 0 Reference on rising edge 1 Reference on falling edge Sub 04 SSI 0 Straight binary 1 Grey coded binary Sub 05 event counter 0 Count rising edges 1 Count falling edges 3 Count both edges Enc2 0x...

Страница 307: ...x Level 0 Reference on rising edge 1 Reference on falling edge Sub 04 SSI 0 Straight binary 1 Grey coded binary Sub 05 event counter 0 Count rising edges 1 Count falling edges 3 Count both edges Enc2...

Страница 308: ...edge Sub 04 SSI 0 Straight binary 1 Grey coded binary Sub 05 event counter 0 Count rising edges 1 Count falling edges 3 Count both edges Enc2 0x2903 Enc2 Digital Interface Config Enc1 0x2110 Enc1 Digi...

Страница 309: ...ncoders The following objects are available for the output of the position value in user defined units 0x2014 Enc1 Linear Position Value 0x2814 Enc2 Linear Position Value Add these objects to the PDO...

Страница 310: ...the object to the mapping AI1 02 AI2 03 AI3 04 AI0 0x7126 AIScalingFactor 0x7127 AIScalingOffset 01 Scaling of the analogue input values by setting the scaling factor and offset To output the scaled v...

Страница 311: ...scaled output values the automatic configuration in the slot must be adjusted AO1 02 AO2 03 AO3 04 AO0 0x7320 AOOutputScaling1FV 0x7321 AOOutputScaling1PV 0x7322 AOOutputScaling2FV 0x7323 AOOutputScal...

Страница 312: ...rtual Device Analogue Input Output 0x1000 Device type Object Code Variable Sub 0x00 Name Device type Data Type UNSIGNED32 Access ro Defaultvalue 5001 0x1389 PDO Mapping No 5001 Modular Device Profile...

Страница 313: ...ow Limit 0 High Limit 0 PDO Mapping no Sub 0x01 Name Standard error field 1 Data Type UNSIGNED32 Access ro Defaultvalue PDO Mapping no Accessname Pre definederrorfield 0 Sub 0x02 Name Standard error f...

Страница 314: ...efinederrorfield 5 Sub 0x07 Name Standard error field 7 Data Type UNSIGNED32 Access ro Defaultvalue PDO Mapping no Accessname Pre definederrorfield 6 Sub 0x08 Name Standard error field 8 Data Type UNS...

Страница 315: ...driver 0x2330 0x0 AI AO AO0 Output is set to zero Open Circuit Overvoltage 0x2330 0x1 AI AO AO1 Output is set to zero Open Circuit Overvoltage 0x2330 0x2 AI AO AO2 Output is set to zero Open Circuit O...

Страница 316: ...Access ro Defaultvalue Mix04 694 444 64 PDO Mapping no 0x1009 Manufacturer hardware version Object Code Variable Sub 0x00 Name Manufacturer hardware version Data Type VISIBLE_STRING Access ro Defaultv...

Страница 317: ...0x04 PDO Mapping no Sub 0x01 Name Vendor ID Data Type UNSIGNED32 Access ro Defaultvalue 0x48554B PDO Mapping no Sub 0x02 Name Product code Data Type UNSIGNED32 Access ro Defaultvalue 0x2F144 PDO Mappi...

Страница 318: ...de Record Sub 0x00 Name Highest sub index supported Data Type UNSIGNED8 Access ro Defaultvalue 2 PDO Mapping no Sub 0x01 Name Local Error Reaction Data Type UNSIGNED32 Access rw Defaultvalue 1 PDO Map...

Страница 319: ...0x00 Name SubIndex 000 Data Type UNSIGNED8 Access ro Defaultvalue 1 Low Limit 0 High Limit 64 PDO Mapping no Sub 0x01 Name Mapping Entry 1 Data Type UNSIGNED32 Access ro Defaultvalue 0x32010010 PDO M...

Страница 320: ...entry consists of four bytes which are composed as follows Index 16 Bit 31 16 Index of the object to be mapped SubIndex 8 Bit 15 8 Subindex of the object to be mapped Length 8 Bit 7 0 Length of the ob...

Страница 321: ...me Mapping Entry 1 Data Type UNSIGNED32 Access ro Defaultvalue 0x73300108 PDO Mapping no Each subindex 1 8 describes one mapped object A mapping entry consists of four bytes which are composed as foll...

Страница 322: ...x 000 Data Type UNSIGNED8 Access ro Defaultvalue 1 Low Limit 0 High Limit 64 PDO Mapping no Sub 0x01 Name Mapping Entry 1 Data Type UNSIGNED32 Access ro Defaultvalue 0x73300308 PDO Mapping no Each sub...

Страница 323: ...ogue Interface Status Object Code Record Sub 0x00 Name SubIndex 000 Data Type UNSIGNED8 Access ro Defaultvalue 1 Low Limit 0 High Limit 64 PDO Mapping no Sub 0x01 Name Mapping Entry 1 Data Type UNSIGN...

Страница 324: ...the object to be mapped Length 8 Bit 7 0 Length of the object to be mapped 0x1a02 AI1 Input Value Object Code Record Sub 0x00 Name SubIndex 000 Data Type UNSIGNED8 Access ro Defaultvalue 1 Low Limit...

Страница 325: ...entry consists of four bytes which are composed as follows Index 16 Bit 31 16 Index of the object to be mapped SubIndex 8 Bit 15 8 Subindex of the object to be mapped Length 8 Bit 7 0 Length of the ob...

Страница 326: ...PDO Mapping no Sub 0x01 Name Mapping Entry 1 Data Type UNSIGNED32 Access ro Defaultvalue 0x60040020 PDO Mapping no Sub 0x02 Name Mapping Entry 2 Data Type UNSIGNED32 Access ro Defaultvalue 0x20300020...

Страница 327: ...1 Data Type UNSIGNED32 Access ro Defaultvalue 0x24080120 PDO Mapping no Sub 0x02 Name Mapping Entry 2 Data Type UNSIGNED32 Access ro Defaultvalue 0x24080220 PDO Mapping no Sub 0x03 Name Mapping Entry...

Страница 328: ...pping no Sub 0x07 Name Mapping Entry 7 Data Type UNSIGNED32 Access ro Defaultvalue 0x20010008 PDO Mapping no Each subindex 1 8 describes one mapped object A mapping entry consists of four bytes which...

Страница 329: ...ultvalue 0x68040020 PDO Mapping no Sub 0x02 Name Mapping Entry 2 Data Type UNSIGNED32 Access ro Defaultvalue 0x28300020 PDO Mapping no Sub 0x03 Name Mapping Entry 3 Data Type UNSIGNED32 Access ro Defa...

Страница 330: ...s ro Defaultvalue 4 Low Limit 0 High Limit 8 PDO Mapping no Sub 0x01 Name Subindex 1 Data Type UNSIGNED8 Access ro Defaultvalue 1 PDO Mapping no Sub 0x02 Name Subindex 2 Data Type UNSIGNED8 Access ro...

Страница 331: ...t Code Array Sub 0x00 Name Highest subindex supported Data Type UNSIGNED8 Access ro Defaultvalue 2 Low Limit 0 High Limit 2 PDO Mapping no Sub 0x01 Name Subindex Data Type UNSIGNED16 Access rw Default...

Страница 332: ...t Code Array Sub 0x00 Name Highest subindex supported Data Type UNSIGNED8 Access ro Defaultvalue 2 Low Limit 0 High Limit 4 PDO Mapping no Sub 0x01 Name Subindex Data Type UNSIGNED16 Access rw Default...

Страница 333: ...Name Synchronization Type Data Type UNSIGNED16 Access ro Defaultvalue 0x10 PDO Mapping no Sub 0x02 Name Cycle Time Data Type UNSIGNED32 Access ro Defaultvalue 0x20 PDO Mapping no Sub 0x04 Name Synchr...

Страница 334: ...GNED32 Access ro Defaultvalue 0x20 PDO Mapping no Sub 0x0a Name Sync0 Cycle Time Data Type UNSIGNED32 Access rw Defaultvalue 0x20 PDO Mapping no Sub 0x0b Name SM Event missed Data Type UNSIGNED16 Acce...

Страница 335: ...Name Synchronization Type Data Type UNSIGNED16 Access ro Defaultvalue 0x10 PDO Mapping no Sub 0x02 Name Cycle Time Data Type UNSIGNED32 Access ro Defaultvalue 0x20 PDO Mapping no Sub 0x04 Name Synchr...

Страница 336: ...GNED32 Access ro Defaultvalue 0x10 PDO Mapping no Sub 0x0a Name Sync0 Cycle Time Data Type UNSIGNED32 Access rw Defaultvalue 0x20 PDO Mapping no Sub 0x0b Name SM Event missed Data Type UNSIGNED16 Acce...

Страница 337: ...0x00 Name Enc1 Error Register Data Type UNSIGNED8 Access ro Defaultvalue PDO Mapping optional TPDO only Accessname Enc1ErrorRegister 0x2003 Enc1 Preset Value Signed Object Code Variable Sub 0x00 Name...

Страница 338: ...Signed Data Type INTEGER32 Access ro Defaultvalue PDO Mapping optional TPDO only Accessname Enc1PositionValueSigned 0x2008 Enc1 High Resolution Position Value Signed Object Code Variable Sub 0x00 Name...

Страница 339: ...reset Value Signed Data Type INTEGER64 Access rw Defaultvalue PDO Mapping no Accessname Enc1HighResolutionPresetValueSigned High Resolution Offset Wert 0x2014 Enc1 Linear Position Value Object Code Va...

Страница 340: ...t Code Variable Sub 0x00 Name Enc1 High Resolution Speed Value Data Type INTEGER32 Access ro Defaultvalue PDO Mapping optional TPDO only Accessname Enc1HighResolutionSpeedValue Speed Value 0x2031 Enc1...

Страница 341: ...n Object Code Record Sub 0x00 Name SubIndex 000 Data Type UNSIGNED8 Access ro Defaultvalue 2 PDO Mapping no Sub 0x01 Name Encoder Increments Data Type UNSIGNED32 Access rw Defaultvalue 0x000003E8 PDO...

Страница 342: ...Defaultvalue 2 PDO Mapping no Sub 0x01 Name Motor Shaft Revolutions Data Type UNSIGNED32 Access rw Defaultvalue 0x00000001 PDO Mapping no Accessname Enc1GearRatio MotorShaftRevolutions Sub 0x02 Name D...

Страница 343: ...ype UNSIGNED8 Access ro Defaultvalue 2 PDO Mapping no Sub 0x01 Name Feed Data Type UNSIGNED32 Access rw Defaultvalue 0x00000064 PDO Mapping no Accessname Enc1FeedConstant Feed Sub 0x02 Name Shaft Revo...

Страница 344: ...gital Interface Control Object Code Variable Sub 0x00 Name Enc1 Digital Interface Control Data Type UNSIGNED16 Access rw Defaultvalue 0 PDO Mapping optional RPDO only Accessname Enc1DigitalInterfaceCo...

Страница 345: ...ecord Sub 0x00 Name Highest sub index supported Data Type UNSIGNED8 Access ro Defaultvalue 5 PDO Mapping no Sub 0x01 Name Enc1 Encoder Level Data Type UNSIGNED8 Access ro Defaultvalue 0 PDO Mapping no...

Страница 346: ...PDO Mapping no Accessname Enc1DigitalInterfaceConfig Enc1EventCou nter Sensitivity Object for configuration of the counter encoder interface Subindex 01 Encoder Level 0 HTL default 1 TTL 2 RS422 Subi...

Страница 347: ...faultvalue PDO Mapping no Accessname Enc1DigitalInterfaceBitSize SSI ENDAT Resolution of the encoder according to data sheet 0x2111 Enc1 Digital Interface Baud Rate Object Code Variable Sub 0x00 Name...

Страница 348: ...0x2122 Enc1 Encoder Track ABRef Object Code Variable Sub 0x00 Name Enc1 Encoder Track ABRef Data Type UNSIGNED8 Access ro Defaultvalue PDO Mapping optional TPDO only Accessname Enc1EncoderTrackABRef...

Страница 349: ...Accessname EventCounterCount EventCounterChannel1 Sub 0x02 Name Event Counter Channel 2 Data Type UNSIGNED32 Access ro Defaultvalue PDO Mapping optional TPDO only Accessname EventCounterCount EventCou...

Страница 350: ...pe UNSIGNED32 Access ro Defaultvalue PDO Mapping optional TPDO only Accessname EventCounterCount EventCounterChannel6 0x2801 Enc2 Error Register Object Code Variable Sub 0x00 Name Enc2 Error Register...

Страница 351: ...0x2808 Enc2 High Resolution Position Value Signed Object Code Variable Sub 0x00 Name Enc2 High Resolution Position Value Signed Data Type INTEGER64 Access ro Defaultvalue PDO Mapping optional TPDO on...

Страница 352: ...Sub 0x00 Name Enc2 Linear Position Preset Value Data Type REAL32 Access rw Defaultvalue PDO Mapping no Accessname Enc2LinearPositionPresetValue 0x2830 Enc2 High Resolution Speed Value Object Code Vari...

Страница 353: ...elect 0x288f Enc2 Position Encoder Resolution Object Code Record Sub 0x00 Name SubIndex 000 Data Type UNSIGNED8 Access ro Defaultvalue 2 PDO Mapping no Sub 0x01 Name Encoder Increments Data Type UNSIG...

Страница 354: ...0x00000001 PDO Mapping no Accessname Enc2GearRatio MotorShaftRevolutions Sub 0x02 Name Driving Shaft Revolutions Data Type UNSIGNED32 Access rw Defaultvalue 0x00000001 PDO Mapping no Accessname Enc2G...

Страница 355: ...Defaultvalue 64 PDO Mapping no Accessname Enc2DigitalInterfaceType Settings of the connected encoder 64 Encoder 65 SSI 69 EnDat 80 Event counter 0x2901 Enc2 Digital Interface Control Object Code Varia...

Страница 356: ...Ref 0 Encoder is not referenced 1 Encoder is referenced Dir 0 Clockwise 1 Counter clockwise 0x2903 Enc2 Digital Interface Config Object Code Record Sub 0x00 Name Highest sub index supported Data Type...

Страница 357: ...gitalInterfaceConfig Enc2SSI Usegreycode Sub 0x05 Name Enc2 Event Counter Sensitivity Data Type UNSIGNED8 Access ro Defaultvalue 0 PDO Mapping no Accessname Enc2DigitalInterfaceConfig Enc2EventCounter...

Страница 358: ...italInterfaceBitSize SSI EnDat Resolution of the encoder according to data sheet 0x2911 Enc2 Digital Interface Baud Rate Object Code Variable Sub 0x00 Name Enc2 Digital Interface Baud Rate Data Type U...

Страница 359: ...0x2922 Enc2 Encoder Track ABRef Object Code Variable Sub 0x00 Name Enc2 Encoder Track ABRef Data Type UNSIGNED8 Access ro Defaultvalue PDO Mapping optional TPDO only Accessname Enc2EncoderTrackABRef...

Страница 360: ...0x00 Name SubIndex 000 Data Type UNSIGNED8 Access ro Defaultvalue 4 PDO Mapping no Sub 0x01 Name Channel Control AI0 Data Type UNSIGNED8 Access rw Defaultvalue PDO Mapping optional RPDO only Accessnam...

Страница 361: ...t values with faktor and offset 1 Scale input values with interpolation pointsn COMP 0 Comparator not active 1 Comparator active 0x3012 AIChannelStatus Object Code Array Sub 0x00 Name Highest sub inde...

Страница 362: ...Channel Status AI3 Data Type UNSIGNED8 Access ro Defaultvalue PDO Mapping optional TPDO only Accessname AIChannelStatus 3 7 6 5 4 3 2 1 0 UpLim LoLim LoLim Lower Limit bzw UpLim Upper Limit 0 Limit ni...

Страница 363: ...name AIInputCalibrationGain AIInputcalibrationgain0 Sub 0x02 Name AI Input calibration gain 1 Data Type REAL32 Access rw Defaultvalue PDO Mapping no Accessname AIInputCalibrationGain AIInputcalibratio...

Страница 364: ...ro Defaultvalue PDO Mapping optional TPDO only Accessname AI AOErrorCode See table object 0x1003 Pre defined error field 0x3201 AI AO DeviceControl Object Code Variable Sub 0x00 Name AI AO DeviceContr...

Страница 365: ...ect Code Variable Sub 0x00 Name Enc1 Operating Parameters Data Type UNSIGNED16 Access rw Defaultvalue PDO Mapping no Accessname Enc1OperatingParameters 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 DIR Bit 3...

Страница 366: ...Data Type UNSIGNED32 Access ro Defaultvalue PDO Mapping optional TPDO only Accessname Enc1PositionValue 0x6008 Enc1 High Resolution Position Value Object Code Variable Sub 0x00 Name Enc1 High Resolut...

Страница 367: ...x 0x600c Enc1 Position Raw Value Object Code Variable Sub 0x00 Name Enc1 Position Raw Value Data Type UNSIGNED32 Access ro Defaultvalue PDO Mapping optional TPDO only Accessname Enc1PositionRawValue 3...

Страница 368: ...ccessname Enc1SpeedParameters Enc1SpeedSourceSelector Sub 0x02 Name Enc1 Speed Integration Time Data Type UNSIGNED16 Access ro Defaultvalue 100 PDO Mapping no Accessname Enc1SpeedParameters Enc1SpeedI...

Страница 369: ...Conversion factor for velocity calculation result in 0x6030 Sub 04 Conversion devider for velocity calculation result in 0x6030 0x6500 Enc1 Operating Status Object Code Variable Sub 0x00 Name Enc1 Op...

Страница 370: ...3 2 1 0 DIR Bit 3 DIR 0 Clockwise 1 Counter clockwise 0x6802 Enc2 Total Measuring Range Object Code Variable Sub 0x00 Name Enc2 Total Measuring Range Data Type UNSIGNED32 Access rw Defaultvalue 4000 P...

Страница 371: ...NED64 Access ro Defaultvalue PDO Mapping optional TPDO only Accessname Enc2HighResolutionPositionValue 0x6809 Enc2 High Resolution Preset Value Object Code Variable Sub 0x00 Name Enc2 High Resolution...

Страница 372: ...homing and index 0x6830 Enc2 Speed Value Object Code Record Sub 0x00 Name SubIndex 000 Data Type UNSIGNED8 Access ro Defaultvalue 1 PDO Mapping no Sub 0x01 Name Enc2 Speed Value Channel 1 Data Type I...

Страница 373: ...Name Enc2 Multiplier Value Data Type UNSIGNED16 Access ro Defaultvalue 1 Low Limit 1 High Limit 65535 PDO Mapping no Accessname Enc2SpeedParameters Enc2MultiplierValue Sub 0x04 Name Enc2 Divider valu...

Страница 374: ...May 2021 0x6d00 Enc2 Operating Status Object Code Variable Sub 0x00 Name Enc2 Operating Status Data Type UNSIGNED16 Access ro Defaultvalue PDO Mapping no Accessname Enc2OperatingStatus 15 14 13 12 11...

Страница 375: ...AIInputFV_Real 0 Sub 0x02 Name AI Input FV 1 Data Type UNSIGNED8 Access ro Defaultvalue PDO Mapping optional TPDO only Accessname AIInputFV_Real 1 Sub 0x03 Name AI Input FV 2 Data Type UNSIGNED8 Acces...

Страница 376: ...ensorType AIsensortype0 Sub 0x02 Name AI sensor type 1 Data Type UNSIGNED16 Access ro Defaultvalue 42 PDO Mapping no Accessname AISensorType AIsensortype1 Sub 0x03 Name AI sensor type 2 Data Type UNSI...

Страница 377: ...PDO Mapping no Accessname AIInputScaling1FV AIInputscaling1FV0 Sub 0x02 Name AI Input scaling 1 FV 1 Data Type REAL32 Access ro Defaultvalue PDO Mapping no Accessname AIInputScaling1FV AIInputscaling1...

Страница 378: ...PDO Mapping no Accessname AIInputScaling1PV AIInputscaling1PV0 Sub 0x02 Name AI Input scaling 1 PV 1 Data Type REAL32 Access ro Defaultvalue PDO Mapping no Accessname AIInputScaling1PV AIInputscaling1...

Страница 379: ...PDO Mapping no Accessname AIInputScaling2FV AIInputscaling2FV0 Sub 0x02 Name AI Input scaling 2 FV 1 Data Type REAL32 Access ro Defaultvalue PDO Mapping no Accessname AIInputScaling2FV AIInputscaling2...

Страница 380: ...PDO Mapping no Accessname AIInputScaling2PV AIInputscaling2PV0 Sub 0x02 Name AI Input scaling 2 PV 1 Data Type REAL32 Access ro Defaultvalue PDO Mapping no Accessname AIInputScaling2PV AIInputscaling2...

Страница 381: ...e PDO Mapping no Accessname AIInputOffset AIInputoffset0 Sub 0x02 Name AI Input offset 1 Data Type REAL32 Access ro Defaultvalue PDO Mapping no Accessname AIInputOffset AIInputoffset1 Sub 0x03 Name AI...

Страница 382: ...ng no Accessname AIScalingFactor AIscalingfactor0 Sub 0x02 Name AI scaling factor 1 Data Type REAL32 Access ro Defaultvalue PDO Mapping no Accessname AIScalingFactor AIscalingfactor1 Sub 0x03 Name AI...

Страница 383: ...Mapping no Accessname AIScalingOffset AIscalingoffset0 Sub 0x02 Name AI scaling offset 1 Data Type REAL32 Access ro Defaultvalue PDO Mapping no Accessname AIScalingOffset AIscalingoffset1 Sub 0x03 Nam...

Страница 384: ...V 0 Sub 0x02 Name AI Input PV 1 Data Type REAL32 Access ro Defaultvalue PDO Mapping optional TPDO only Accessname AIInputPV 1 Sub 0x03 Name AI Input PV 2 Data Type REAL32 Access ro Defaultvalue PDO Ma...

Страница 385: ...O Mapping no Accessname AIFilterType AI0lowpassfiltertype Sub 0x02 Name AI1 low pass filter type Data Type UNSIGNED8 Access ro Defaultvalue 0 PDO Mapping no Accessname AIFilterType AI1lowpassfiltertyp...

Страница 386: ...DO Mapping no Accessname AIFilterType AI1notchfiltertype Sub 0x07 Name AI2 notch filter type Data Type UNSIGNED8 Access ro Defaultvalue 0 PDO Mapping no Accessname AIFilterType AI2notchfiltertype Sub...

Страница 387: ...ing no Accessname AIFilterConstant AIfilterconstant0 Sub 0x02 Name AI filter constant 1 Data Type UNSIGNED16 Access rw Defaultvalue PDO Mapping no Accessname AIFilterConstant AIfilterconstant1 Sub 0x0...

Страница 388: ...EAL32 Access rw Defaultvalue PDO Mapping optional RPDO only Accessname AOOutputPV 0 Sub 0x02 Name AO Output PV 1 Data Type REAL32 Access rw Defaultvalue PDO Mapping optional RPDO only Accessname AOOut...

Страница 389: ...tType AOoutputtype0 Sub 0x02 Name AO output type 1 Data Type UNSIGNED8 Access ro Defaultvalue 10 PDO Mapping no Accessname AOOutputType AOoutputtype1 Sub 0x03 Name AO output type 2 Data Type UNSIGNED8...

Страница 390: ...b 0x02 Name AO operating mode 1 Data Type UNSIGNED8 Access ro Defaultvalue 0 PDO Mapping no Accessname AOOperatingMode AOoperatingmode1 Sub 0x03 Name AO operating mode 2 Data Type UNSIGNED8 Access ro...

Страница 391: ...Mapping no Accessname AOOutputScaling1FV AOoutputscaling1FV0 Sub 0x02 Name AO output scaling 1 FV 1 Data Type REAL32 Access rw Defaultvalue PDO Mapping no Accessname AOOutputScaling1FV AOoutputscaling...

Страница 392: ...Mapping no Accessname AOOutputScaling1PV AOoutputscaling1PV0 Sub 0x02 Name AO output scaling 1 PV 1 Data Type REAL32 Access rw Defaultvalue PDO Mapping no Accessname AOOutputScaling1PV AOoutputscaling...

Страница 393: ...Mapping no Accessname AOOutputScaling2FV AOoutputscaling2FV0 Sub 0x02 Name AO output scaling 2 FV 1 Data Type REAL32 Access rw Defaultvalue PDO Mapping no Accessname AOOutputScaling2FV AOoutputscaling...

Страница 394: ...Mapping no Accessname AOOutputScaling2PV AOoutputscaling2PV0 Sub 0x02 Name AO output scaling 2 PV 1 Data Type REAL32 Access rw Defaultvalue PDO Mapping no Accessname AOOutputScaling2PV AOoutputscaling...

Страница 395: ...Defaultvalue PDO Mapping optional RPDO only Accessname AOOutputFV_Dec 0 Sub 0x02 Name AO Output FV 1 Data Type UNSIGNED8 Access rw Defaultvalue PDO Mapping optional RPDO only Accessname AOOutputFV_De...

Страница 396: ...ssname AIInputFV_Int 0 Sub 0x02 Name AI Input FV 1 Data Type INTEGER16 Access ro Defaultvalue PDO Mapping optional TPDO only Accessname AIInputFV_Int 1 Sub 0x03 Name AI Input FV 2 Data Type INTEGER16...

Страница 397: ...PDO Mapping optional RPDO only Accessname AOOutputFV_Inc 0 Sub 0x02 Name AO Output FV 1 Data Type INTEGER16 Access rw Defaultvalue PDO Mapping optional RPDO only Accessname AOOutputFV_Inc 1 Sub 0x03 N...

Страница 398: ...EtherCAT Coupler via E Bus plug E Bus Last 100mA Galvanic separation Separated from one another and versus the bus Analogue inputs Number 4 Type 0 10 V 0 4 20 mA Internal resistance Voltage 200 k Inte...

Страница 399: ...module Terminals IO Connection Male 18 pin Trm Signal Explanation 0 4 Not used 5 D Data 6 D Data 7 GND earth potential 8 D Term Bus termination Data 9 D Term Bus termination Data 10 15 Not used Statu...

Страница 400: ...direction Use PDO Assignment objects 1C12 and 1C13 to vary the volume of data Taken together with the mailboxes 32 bytes each this is the maximum configuration of ET1200 Output Data PLC IO 0 160 Bytes...

Страница 401: ...tchdog triggered watchdog control Unused 0 Bit 1 Unused 1 Bit 1 TxCounterMiss Bit 1 The gateway checks the TxCounter for steady increments This error indicates a skipped increment Best use TxCounterCo...

Страница 402: ...mation GmbH 402 E 747GB V2 17 May 2021 Now go to ComParameter and change the Baud Rate or other settings as appropriate or enable disable data synchronisation Your settings are then displayed on tab S...

Страница 403: ...Data1 3 l TxData1 4 o TxData1 5 Increment TxCounter by 1 TxCounter 1 TxCounterCon 0 Slave module accepts data into a an out data queue TxCounterCon TxCounter acknowledges Data has not necessarily been...

Страница 404: ...ontroller wrror COM_CtrlErr Indicates bit errors or overruns of the control unit concerned The applicable LED COM State is red and flashes rapidly or alternates green red while communicating Use Reset...

Страница 405: ...5 0 Number of Entries UINT8 1 RO 1605 1 Subindex 001h UINT32 0x70050040 RO 1606 ReceivePDO6 Mapping Parameter Array 1606 0 Number of Entries UINT8 1 RO 1606 1 Subindex 001h UINT32 0x70060040 RO 1607 R...

Страница 406: ...O 1612 1 Subindex 001h UINT32 0x70120040 RO 1613 ReceivePDO19 Mapping Parameter Array 1613 0 Number of Entries UINT8 1 RO 1613 1 Subindex 001h UINT32 0x70130040 RO 1A00 Receive PDO0 Mapping Parameter...

Страница 407: ...ping Parameter Array 1A06 0 Number of Entries UINT8 1 RO 1A06 1 Subindex 001h UINT32 0x75060040 RO 1A07 Receive PDO7 Mapping Parameter Array 1A07 0 Number of Entries UINT8 1 RO 1A07 1 Subindex 001h UI...

Страница 408: ...0040 RO 1A13 Receive PDO19 Mapping Parameter Array 1A13 0 Number of Entries UINT8 1 RO 1A13 1 Subindex 001h UINT32 0x75130040 RO 1C00 Sync Manager Type Array 1C00 0 Number of Entries UINT8 4 RO 1C00 1...

Страница 409: ...UINT16 0x1A0B RO 1C13 13 SubIndex 013 UINT16 0x1A0C RO 1C13 14 SubIndex 014 UINT16 0x1A0D RO 1C13 15 SubIndex 015 UINT16 0x1A0E RO 1C13 16 SubIndex 016 UINT16 0x1A0F RO 1C13 17 SubIndex 017 UINT16 0x1...

Страница 410: ...0 Odd 1 Even 2 2001 4 StopBits UINT32 1 1 1 1 2 stop bits 2 2010 DataSync UINT8 NoSync NoSync 0 RxSync 1 RW 6500 StateWord Array 6500 0 Number of Entries UINT8 16 RO 6500 1 ResetErrorAck BOOL RO P 65...

Страница 411: ...UINT64 0 RW P 7100 TxCounter UINT16 0 65535 RW P 7101 RxCounterCon UINT16 0 65535 RW P 7102 TxNrOfMsg UINT16 0 152 RW P 7110 ControlWord Array 7110 0 Number of Entries UINT8 16 RO 7110 1 ResetError BO...

Страница 412: ...P 750E RxData14 UINT64 RO P F 750 RxData15 UINT64 RO P 7510 RxData16 UINT64 RO P 7511 RxData17 UINT64 RO P 7512 RxData18 UINT64 RO P 7513 RxData19 UINT64 RO P Technical Data RS485 Electrically insulat...

Страница 413: ...lanation 0 9 Not used 10 RxD1 Channel 1 Rx data 11 TxD1 Channel 1 Tx data 12 GND1 Channel 1 earth potential 13 RxD2 Channel 2 Rx data 14 TxD2 Channel 2 Tx data 15 GND2 Channel 2 earth potential Status...

Страница 414: ...O Assignment objects 1C12 and 1C13 to vary the volume of data Taken together with the mailboxes 32 bytes each this is the maximum configuration of ET1200 Output Data PLC IO 0 160 Bytes Name Size Sourc...

Страница 415: ...ing sent or the baud rate is too low COM1_RxQueueOvr Bit 1 In buffer overflow Com1 Data is being accepted too slowly Either speed up the EtherCAT task or reduce the volume of data lower baud rate TxCo...

Страница 416: ...le You can directly set the startup parameters Select the module and go to Startparameter startup parameters and Hinzuf gen add Now go to ComParameter and change the Baud Rate or other settings as app...

Страница 417: ...Data1 3 l TxData1 4 o TxData1 5 Increment TxCounter by 1 TxCounter 1 TxCounterCon 0 Slave module accepts data into a an out data queue TxCounterCon TxCounter acknowledges Data has not necessarily been...

Страница 418: ...ge the error Com controller error COM1_CtrlErr COM2_CtrlErr Indicates bit errors or overruns of the control unit concerned The applicable LED COM State is red and flashes rapidly or alternates green r...

Страница 419: ...1 Subindex 001h UINT32 0x70040040 RO 1605 ReceivePDO5 Mapping Parameter Array 1605 0 Number of Entries UINT8 1 RO 1605 1 Subindex 001h UINT32 0x70050040 RO 1606 ReceivePDO6 Mapping Parameter Array 160...

Страница 420: ...1612 ReceivePDO18 Mapping Parameter Array 1612 0 Number of Entries UINT8 1 RO 1612 1 Subindex 001h UINT32 0x70120040 RO 1613 ReceivePDO19 Mapping Parameter Array 1613 0 Number of Entries UINT8 1 RO 16...

Страница 421: ...1A05 1 Subindex 001h UINT32 0x75050040 RO 1A06 Receive PDO6 Mapping Parameter Array 1A06 0 Number of Entries UINT8 1 RO 1A06 1 SubIndex 001 UINT32 0x75060040 RO 1A07 Receive PDO7 Mapping Parameter Arr...

Страница 422: ...ber of Entries UINT8 1 RO 1A12 1 SubIndex 001 UINT32 0x75120040 RO 1A13 Receive PDO19 Mapping Parameter Array 1A13 0 Number of Entries UINT8 1 RO 1A13 1 SubIndex 001 UINT32 0x75130040 RO 1C00 Sync Man...

Страница 423: ...010 UINT16 0x1A09 RO 1C13 11 SubIndex 011 UINT16 0x1A0A RO 1C13 12 SubIndex 012 UINT16 0x1A0B RO 1C13 13 SubIndex 013 UINT16 0x1A0C RO 1C13 14 SubIndex 014 UINT16 0x1A0D RO 1C13 15 SubIndex 015 UINT16...

Страница 424: ...38400 57600 115200 RW 2000 2 WordLength UINT32 8 Bits 8 8 bit 2000 3 including the baud rate parity stop bits etc UINT32 None 0 None 0 Odd 1 Even 2 2000 4 StopBits UINT32 1 1 1 1 2 stop bits 2 2001 C...

Страница 425: ...ta2 UINT64 0 RW P 7003 TxData3 UINT64 0 RW P 7004 TxData4 UINT64 0 RW P 7005 TxData5 UINT64 0 RW P 7006 TxData6 UINT64 0 RW P 7007 TxData7 UINT64 0 RW P 7008 TxData8 UINT64 0 RW P 7009 TxData9 UINT64...

Страница 426: ...a5 UINT64 RO P 7506 RxData6 UINT64 RO P 7507 RxData7 UINT64 RO P 7508 RxData8 UINT64 RO P 7509 RxData9 UINT64 RO P 750A RxData10 UINT64 RO P 750B RxData11 UINT64 RO P 750C RxData12 UINT64 RO P 750D Rx...

Страница 427: ...CODESYS 3 the module provides a CANbus port that further configurations can be connected to A device description available for CODESYS 3 contains all the required details Mind that you also need the d...

Страница 428: ...estricted data exchange LED IO The LED labelled IO indicates the state of the module s I Os State LED flash code Explanation Ok Green on No error Error Red 4x EtherCAT watchdog Red 5x Transmit queue o...

Страница 429: ...data received has been processed Only then will the gateway send the next data TxNrOfMsg Word Number of CAN messages in the process image Range 0 9 ResetError Bit 1 Bit 0 1 Resets errors that have be...

Страница 430: ...iss Bit 1 The gateway checks the TxCounter for steady increments This error indicates a skipped increment Best use TxCounterCon to send new data CanWarning Bit 1 Indicates the CAN controller states CA...

Страница 431: ...ely underneath the Kuhnke FIO CAN Master Slave module Information The Kuhnke FIO CAN Master Slave module does NOT support all CODESYS baud rates refer to the object dictionary The following baud rates...

Страница 432: ...CAN Master Slave Kendrion Kuhnke Automation GmbH 432 E 747GB V2 17 May 2021 Your settings are then displayed on tab Startparameter startup parameters...

Страница 433: ...dicates the CAN controller states CAN Warning and Error Passive These states are retained unless several frames are sent and received without errors LED CAN is red and flashes rapidly or alternates be...

Страница 434: ...Entries UINT8 1 RO 1603 1 SubIndex 001 UINT32 0x70030040 RO 1604 ReceivePDO4 Mapping Parameter Array 1604 0 Number of Entries UINT8 1 RO 1604 1 SubIndex 001 UINT32 0x70040040 RO 1605 ReceivePDO5 Mapp...

Страница 435: ...ePDO16 Mapping Parameter Array 1610 0 Number of Entries UINT8 1 RO 1610 1 SubIndex 001 UINT32 0x70100040 RO 1611 ReceivePDO17 Mapping Parameter Array 1611 0 Number of Entries UINT8 1 RO 1611 1 SubInde...

Страница 436: ...f Entries UINT8 1 RO 1A04 1 SubIndex 001 UINT32 0x75040040 RO 1A05 Receive PDO5 Mapping Parameter Array 1A05 0 Number of Entries UINT8 1 RO 1A05 1 SubIndex 001 UINT32 0x75050040 RO 1A06 Receive PDO6 M...

Страница 437: ...1A11 Receive PDO17 Mapping Parameter Array 1A11 0 Number of Entries UINT8 1 RO 1A11 1 SubIndex 001 UINT32 0x75110040 RO 1A12 Receive PDO18 Mapping Parameter Array 1A12 0 Number of Entries UINT8 1 RO 1...

Страница 438: ...5 Subindex 005h UINT16 0x1A04 RO 1C13 6 Subindex 006h UINT16 0x1A05 RO 1C13 7 Subindex 007h UINT16 0x1A06 RO 1C13 8 SubIndex 008 UINT16 0x1A07 RO 1C13 9 SubIndex 009 UINT16 0x1A08 RO 1C13 10 SubIndex...

Страница 439: ...NT16 RO 1C33 32 Sync Error BOOL RO 2000 CAN Baud Rate UINT32 500 100 125 250 500 1000 RW 2010 DataSync UINT8 NoSync NoSync 0 RxSync 1 RW 6500 StateWord Array 6500 0 Number of Entries UINT8 16 RO 6500...

Страница 440: ...7013 TxData19 UINT64 0 RW P 7100 TxCounter UINT16 0 65535 RW P 7101 RxCounterCon UINT16 0 65535 RW P 7102 TxNrOfMsg UINT16 0 9 RW P 7110 ControlWord Array 7110 0 Number of Entries UINT8 16 RO 7110 1...

Страница 441: ...UINT64 RO P F 750 RxData15 UINT64 RO P 7510 RxData16 UINT64 RO P 7511 RxData17 UINT64 RO P 7512 RxData18 UINT64 RO P 7513 RxData19 UINT64 RO P Technical Data CAN Master Slave Electrically insulated B...

Страница 442: ...ULus T V Rheinland Runtime system CODESYS RT Safety Programming tool CODESYS v3 5 SP5 or higher with integrated safety function modules E bus power consumption 200 mA 300 mA Supply voltage From bus co...

Страница 443: ...ms read input write to E bus Error response time watchdog time configurable Extended diagnostic information Via CoE E bus power consumption 275 mA Supply voltage 24 VDC 15 20 Electrical interference E...

Страница 444: ...input write to E bus Error response time watchdog time configurable Extended diagnostic information Via CoE E bus power consumption Typ 210 mA max 300 mA Supply voltage 24 VDC 15 20 Electrical interf...

Страница 445: ...d input write to E bus Error response time watchdog time configurable Extended diagnostic information Via CoE E bus power consumption Typ 210 mA max 300 mA Supply voltage 24 VDC 15 20 Electrical inter...

Страница 446: ...rror response time watchdog time configurable Extended diagnostic information Via CoE E bus power consumption Typ 210 mA max 300 mA Supply voltage 24 VDC 15 20 Electrical interference EN 61000 6 2 EN...

Страница 447: ...e power lines It picks up the potential fed to connections L1 and L2 0 VDC or 24 VDC to the operator s discretion and distributes its among the connections 0 to 15 along the same line The E bus is fed...

Страница 448: ...e that you do not mount several potential distributors next to each other to prevent possible EMC problems Please note the following connection example Technical Data Power Distributor 2 x 16 Power co...

Страница 449: ...washers Use the 2 screws washers and spring washers to mount the terminal bracket on the housing mount of the Kuhnke FIO module Screw the screws into the 2 holes tapped into the bottom of the front s...

Страница 450: ...Kendrion Kuhnke Automation GmbH 450 E 747GB V2 17 May 2021 Technical Data Shield Terminal 2x8mm Shield terminals 8mm 2 pcs Part no 694 412 01 Shield Terminal 14mm Shield terminals 14mm 1 pcs Part no...

Страница 451: ...allows both a configuration offline and the scanning of station data via an Ethernet line online configuration The examples below are based around the standard ETG configuration tool EtherCAT configur...

Страница 452: ...GmbH 452 E 747GB V2 17 May 2021 Go down the list of devices pick EtherCAT_Master EtherCAT Master and add Kuhnke Automation s FIO Controller Go down the list of devices pick E Bus FIO Controller and ad...

Страница 453: ...settings on the right hand side see section AO4 16Bit Keep repeating the last two steps until your configuration is complete If the configuration is complete and all devices are connected to the progr...

Страница 454: ...ect Kuhnke Controller 113 to the Kuhnke FIO AI8 I module and the Kuhnke FIO AI8 Pt Ni Tc module and turn on the power supply Use a CAT5 cable to connect your PC s Ethernet port to your CoDeSys3 contro...

Страница 455: ...ork The software now scans the Ethernet network and finds the CoDeSys3 control unit connected to it Now select EtherCAT_Master and choose Netzwerk durchsuchen search network CoDeSys scans your EtherCA...

Страница 456: ...Configuration Kendrion Kuhnke Automation GmbH 456 E 747GB V2 17 May 2021 Test the EtherCAT IOs DANGER Set outputs only if you are sure that this will cause no harm...

Страница 457: ...insulation modules electrically insulated from one another and from the bus Length of analogue signal lines 30m Storage temperature 25 70 C Working temperature 0 55 C Rel humidity 5 95 non condensing...

Страница 458: ...state summarised state of every I O Digital inputs 8 3 ms delay Digital outputs 8 load 0 5 A high side semiconductor Kuhnke FIO Bus Coupler DI8 DO4 Part no 694 400 04 Fieldbus EtherCAT 100 Mbit s 100...

Страница 459: ...16 DO16 5ms 0 5A Part no 694 450 01 Digital inputs 16 5 ms delay Digital outputs 16 load 0 5 A high side semiconductor Kuhnke FIO DI16 DO16 1ms 0 5A LS Part no 694 450 13 Digital inputs 16 1 ms delay...

Страница 460: ...Kuhnke FIO DO16 0 5A Part no 694 452 01 Digital outputs 16 load 0 5 A high side semiconductor Kuhnke FIO DO16 2 wire Part no 694 452 41 Digital outputs 16 load 1 A high side semiconductor 16 Ground co...

Страница 461: ...4 442 02 Analogue outputs 4 Resolution 12 bit Output signal 0 10V 10V at loads 1k 1 F 0 20mA 4 20mA 0 24mA at loads 500 1mH configurable Output frequency 220 s constant Kuhnke FIO AI4 8 U 13 Bit Part...

Страница 462: ...Ni100 Ni1000DIN43760 thermalcouple types K J Conversion time 50 ms adjustable Mixed I O Modules Kuhnke FIO MIX 02 Part no 694 444 62 Digital inputs 4x 1ms 1x 0 1ms 3x 0 001 ms delay Digital outputs 8...

Страница 463: ...electrically insulated Baud rate 2400 115200 Bit s Payload data max 152 bytes In Out Kuhnke FIO RS232 2 Port Part no 694 455 04 Serial interface 2x RS232 electrically insulated Baud rate 2400 115200 B...

Страница 464: ...450 02 176 617 36 pin Kuhnke FIO DI8 DO8 5ms 0 5A 694 450 04 182 638 18 pin Kuhnke FIO DI8 DO8 1ms 0 5A 694 450 05 182 637 18 pin Kuhnke FIO DI16 1ms 694 451 03 182 639 18 pin Kuhnke FIO DI16 2 wire...

Страница 465: ...RS485 1 Port 694 455 02 187 270 18 pin Kuhnke FIO RS232 2 Port 694 455 04 185 725 18 pin Kuhnke FIO CAN Master Slave 694 455 06 187 272 18 pin Safety Modules Kuhnke FIO Safety PLC 694 330 00 178 779...

Страница 466: ...or 18 pin 20x 694 101 18 20 178 641 Spring return unlock button Kuhnke FIO connector 36 pin 20x 694 101 36 20 178 643 Push in unlock button Name Part no ID no Type Ventura FIO Connector black plug bla...

Страница 467: ...e overview of our sales and service network including all the relevant addresses Feel free to also contact us at our headquarters in Malente Germany Malente Headquarters Kendrion Kuhnke Automation Gmb...

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