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Counter / Encoder (694 454 53)

Kendrion Kuhnke Automation GmbH

48

17 May 2021

Encoder interface configuration

– User-defined units

Besides the output of the position value in increments, the position value can also be output in user-defined
units in REAL format. This applies to the use of incremental, SSI and ENDAT 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 PDO mapping if required.

The position value is calculated as follows:

𝐿𝑖𝑛𝑒𝑎𝑟 𝑃𝑜𝑠𝑖𝑡𝑖𝑜𝑛 𝑉𝑎𝑙𝑢𝑒 = 𝐻𝑖𝑔ℎ 𝑅𝑒𝑠𝑜𝑙𝑢𝑡𝑖𝑜𝑛 𝑅𝑎𝑤 𝑉𝑎𝑙𝑢𝑒 ∗

𝐸𝑛𝑐𝑜𝑑𝑒𝑟 𝐼𝑛𝑐𝑟𝑒𝑚𝑒𝑛𝑡𝑠

𝑀𝑜𝑡𝑜𝑟 𝑅𝑒𝑣𝑜𝑙𝑢𝑡𝑖𝑜𝑛𝑠

∗

𝑀𝑜𝑡𝑜𝑟 𝑆ℎ𝑎𝑓𝑡 𝑅𝑒𝑣𝑜𝑙𝑢𝑡𝑖𝑜𝑛𝑠

𝐷𝑟𝑖𝑣𝑖𝑛𝑔 𝑆ℎ𝑎𝑓𝑡 𝑅𝑒𝑣𝑜𝑙𝑢𝑡𝑖𝑜𝑛𝑠

∗

𝐹𝑒𝑒𝑑

𝑆ℎ𝑎𝑓𝑡 𝑅𝑒𝑣𝑜𝑙𝑢𝑡𝑖𝑜𝑛𝑠

Object overview

Slot

Object

Explanation

Enc1

0x208f Enc1 Position Encoder Resolution

𝐸𝑛𝑐𝑜𝑑𝑒𝑟 𝐼𝑛𝑐𝑟𝑒𝑚𝑒𝑛𝑡𝑠

𝑀𝑜𝑡𝑜𝑟 𝑅𝑒𝑣𝑜𝑙𝑢𝑡𝑖𝑜𝑛𝑠

Enc2

0x288f Enc2 Position Encoder Resolution

Enc1

0x2091 Enc1 Gear Ratio

𝑀𝑜𝑡𝑜𝑟 𝑆ℎ𝑎𝑓𝑡 𝑅𝑒𝑣𝑜𝑙𝑢𝑡𝑖𝑜𝑛𝑠

𝐷𝑟𝑖𝑣𝑖𝑛𝑔 𝑆ℎ𝑎𝑓𝑡 𝑅𝑒𝑣𝑜𝑙𝑢𝑡𝑖𝑜𝑛𝑠

Enc2

0x2891 Enc2 Gear Ratio

Enc1

0x2092 Enc1 Feed Constant

𝐹𝑒𝑒𝑑

𝑆ℎ𝑎𝑓𝑡 𝑅𝑒𝑣𝑜𝑙𝑢𝑡𝑖𝑜𝑛𝑠

Enc2

0x2892 Enc2 Feed Constant

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Содержание Kuhnke FIO

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

Страница 2: ...finition 13 Interference Emission 13 General Notes on Installation 13 Electrical Immission Safeguard 13 Cable Routing and Wiring 13 Location of Installation 14 Temperature 14 Contamination 14 Impact a...

Страница 3: ...Overview of pluggable modules 43 Encoder interface 44 Encoder interface configuration Incremental encoder 44 Encoder interface configuration SSI Encoder 45 Encoder interface configuration ENDAT Encode...

Страница 4: ...Shield Terminal 217 Terminals 217 Function 217 Technical Data 218 Shield Terminal 2x8mm 218 Shield Terminal 14mm 218 7 Configuration 219 7 1 CODESYS V3 CODESYS Configurator 219 Offline Configuration 2...

Страница 5: ...229 Kuhnke FIO AI8 16 U 13 Bit 229 Kuhnke FIO AI4 I 12 Bit 229 Kuhnke FIO AI8 I 12 Bit 229 Kuhnke FIO AI4 Pt Ni TC 16 Bit 230 Kuhnke FIO AI8 Pt Ni TC 16 Bit 230 Mixed I O Modules 230 Kuhnke FIO MIX 0...

Страница 6: ...n history Date Comments modifications 25 Aug 2017 Source version after separation of the instructions into categories and translation 14 Jan 2019 Mounting instructions for the potential distributor ad...

Страница 7: ...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 8: ...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 9: ...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 10: ...lude 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 inspection...

Страница 11: ...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 12: ...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 13: ...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 14: ...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 15: ...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 16: ...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 17: ...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 18: ...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 19: ...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 20: ...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 21: ...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 22: ...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 23: ...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 24: ...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 25: ...n 0 3 In_0 3 Digital inputs 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 suppl...

Страница 26: ...anation Ok Green on 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 Configurat...

Страница 27: ...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 firs...

Страница 28: ...ResetError 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 LowSupp...

Страница 29: ...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 error...

Страница 30: ...OOL 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 O...

Страница 31: ...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 Counter...

Страница 32: ...UINT 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 t...

Страница 33: ...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 Variable...

Страница 34: ...Counter 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...

Страница 35: ...ence 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 up th...

Страница 36: ...now 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 fun...

Страница 37: ...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_1 TH...

Страница 38: ...lue_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...

Страница 39: ...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 From...

Страница 40: ...Counter Encoder 694 454 53 Kendrion Kuhnke Automation GmbH 40 E 747GB V2 17 May 2021 5 1 2 Counter Encoder Front view and I O connection Front view I O Modul Counter Encoder I O connection...

Страница 41: ...ional 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 42: ...he 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 w...

Страница 43: ...ndently 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 44: ...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 45: ...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 46: ...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 47: ...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 48: ...AT 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 49: ...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 50: ...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 51: ...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 52: ...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 Defaultval...

Страница 53: ...cal 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 en...

Страница 54: ...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 55: ...lue 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 M...

Страница 56: ...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 57: ...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 e...

Страница 58: ...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 e...

Страница 59: ...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 60: ...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 61: ...onsists 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 object to...

Страница 62: ...f 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 Array Sub 0x00 N...

Страница 63: ...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 64: ...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 65: ...ltvalue 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 Defaultvalu...

Страница 66: ...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 67: ...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 68: ...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 Mappi...

Страница 69: ...c1 Position Value Signed Data Type INTEGER32 Access ro Defaultvalue PDO Mapping optional TPDO only Accessname Enc1PositionValueSigned 0x2008 Enc1 High Resolution Position Value Signed Object Code Vari...

Страница 70: ...nly 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 REAL32 Acces...

Страница 71: ...lue 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 obj...

Страница 72: ...GB V2 17 May 2021 Accessname Enc1PositionEncoderResolution EncoderIncrements Sub 0x02 Name Motor Revolutions Data Type UNSIGNED32 Access rw Defaultvalue 0x00000001 PDO Mapping no Accessname Enc1Positi...

Страница 73: ...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 Na...

Страница 74: ...ta 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 75: ...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 UNSIGNED...

Страница 76: ...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 77: ...seg 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 conf...

Страница 78: ...esolution 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 Defaultvalue...

Страница 79: ...a 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 Ob...

Страница 80: ...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 81: ...Defaultvalue PDO Mapping optional TPDO only Accessname EventCounterCount EventCounterChannel6 0x2801 Enc2 Error Register Object Code Variable Sub 0x00 Name Enc2 Error Register Data Type UNSIGNED8 Acce...

Страница 82: ...ution 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 only Accessname Enc2HighR...

Страница 83: ...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 84: ...terSelect 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 U...

Страница 85: ...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 MotorShaftRevolut...

Страница 86: ...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 87: ...tings 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 88: ...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 89: ...c2DigitalInterfaceConfig Enc2SSI Usegreycode Sub 0x05 Name Enc2 Event Counter Sensitivity Data Type UNSIGNED8 Access ro Defaultvalue 0 PDO Mapping no Accessname Enc2DigitalInterfaceConfig Enc2EventCou...

Страница 90: ...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 0x2911 Enc2 Dig...

Страница 91: ...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 Code V...

Страница 92: ...e 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 Variable Sub 0x00...

Страница 93: ...nal 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 Defaultvalue...

Страница 94: ...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 95: ...no Accessname Enc1SpeedParameters Enc1SpeedSourceSelector Sub 0x02 Name Enc1 Speed Integration Time Data Type UNSIGNED16 Access ro Defaultvalue 100 PDO Mapping no Accessname Enc1SpeedParameters Enc1Sp...

Страница 96: ...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 97: ...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 98: ...lue 5 1 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 Enc2Hi...

Страница 99: ...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 100: ...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 101: ...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 102: ...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 103: ...t 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 digital...

Страница 104: ...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 pr...

Страница 105: ...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 106: ...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 107: ...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 108: ...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 109: ...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 110: ...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 111: ...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 112: ...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 113: ...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 114: ...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 115: ...Kendrion Kuhnke Automation GmbH Mix 04 694 444 64 E 747GB V2 115 17 May 2021 5 2 2 MIX 04 Front view and I O connection Front view I O Module MIX 04 I O connection...

Страница 116: ...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 117: ...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 118: ...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 119: ...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 120: ...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 121: ...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 122: ...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 123: ...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 124: ...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 125: ...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 126: ...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 127: ...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 128: ...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 129: ...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 130: ...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 131: ...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 132: ...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 133: ...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 134: ...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 135: ...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 136: ...Sub 0x01 Name 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 comp...

Страница 137: ...x00 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 0x73300308 PDO Map...

Страница 138: ...x1a00 Analogue 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 T...

Страница 139: ...dex of 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...

Страница 140: ...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 141: ...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 142: ...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 143: ...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 144: ...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 145: ...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 146: ...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 147: ...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 148: ...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 149: ...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 150: ...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 151: ...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 152: ...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 153: ...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 154: ...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 155: ...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 Linear...

Страница 156: ...t 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 Mapping...

Страница 157: ...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 158: ...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 159: ...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 160: ...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 161: ...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 162: ...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 163: ...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 164: ...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 165: ...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 166: ...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 167: ...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 168: ...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 169: ...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 170: ...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 171: ...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 172: ...ame Enc2DigitalInterfaceConfig Enc2SSI Usegreycode Sub 0x05 Name Enc2 Event Counter Sensitivity Data Type UNSIGNED8 Access ro Defaultvalue 0 PDO Mapping no Accessname Enc2DigitalInterfaceConfig Enc2Ev...

Страница 173: ...me Enc2DigitalInterfaceBitSize 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 D...

Страница 174: ...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 175: ...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 176: ...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 177: ...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 178: ...name AIInputCalibrationGain AIInputcalibrationgain0 Sub 0x02 Name AI Input calibration gain 1 Data Type REAL32 Access rw Defaultvalue PDO Mapping no Accessname AIInputCalibrationGain AIInputcalibratio...

Страница 179: ...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 180: ...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 181: ...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 182: ...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 183: ...ccessname Enc1SpeedParameters Enc1SpeedSourceSelector Sub 0x02 Name Enc1 Speed Integration Time Data Type UNSIGNED16 Access ro Defaultvalue 100 PDO Mapping no Accessname Enc1SpeedParameters Enc1SpeedI...

Страница 184: ...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 185: ...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 186: ...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 187: ...Kendrion Kuhnke Automation GmbH Mix 04 694 444 64 E 747GB V2 187 17 May 2021...

Страница 188: ...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 189: ...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 190: ...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 191: ...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 192: ...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 193: ...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 194: ...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 195: ...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 196: ...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 197: ...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 198: ...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 199: ...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 200: ...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 201: ...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 202: ...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 203: ...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 204: ...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 205: ...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 206: ...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 207: ...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 208: ...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 209: ...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 210: ...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 211: ...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 212: ...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 213: ...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 214: ...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 215: ...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 216: ...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 217: ...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 218: ...Kendrion Kuhnke Automation GmbH 218 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 219: ...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 220: ...GmbH 220 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 221: ...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 222: ...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 223: ...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 224: ...Configuration Kendrion Kuhnke Automation GmbH 224 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 225: ...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 226: ...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 227: ...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 228: ...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 229: ...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 230: ...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 231: ...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 232: ...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 233: ...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 234: ...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 235: ...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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