manualshive.com logo in svg

Kuhnke FIO (V2), Руководство пользователя

Поделиться
Скачать
Kuhnke FIO (V2) Скачать руководство пользователя страница 71

Kendrion Kuhnke Automation GmbH 

Mix 02

 

(E 747-1 GB)  

 

 

71 

11/25/2016

 

4.15.3.4 AnalogIn2 

In the AnalogIn2 group, see the following input values: 

Variable 

Data type  Meaning 

AnalogIn2_Sample0 

UINT 

Analog Input 2, Sample n 

AnalogIn2_Sample1 

UINT 

Analog Input 2, Sample n+1 

AnalogIn2_Sample2 

UINT 

Analog Input 2, Sample n+2 

AnalogIn2_Sample3 

UINT 

Analog Input 2, Sample n+3 

AnalogIn2_Sample4 

UINT 

Analog Input 2, Sample n+4 

4.15.3.5 AnalogIn3 

In the AnalogIn3 group, see the following input values: 

Variable 

Data type  Meaning 

AnalogIn3_Sample0 

UINT 

Analog Input 3, Sample n 

AnalogIn3_Sample1 

UINT 

Analog Input 3, Sample n+1 

AnalogIn3_Sample2 

UINT 

Analog Input 3, Sample n+2 

AnalogIn3_Sample3 

UINT 

Analog Input 3, Sample n+3 

AnalogIn3_Sample4 

UINT 

Analog Input 3, Sample n+4 

4.15.3.6 Outputs 

In the Output group, see the following output values: 

Variable 

Data type  Meaning 

ControlWord 

UINT 

Bit 0 

Error message Reset 

Bit 1 

Counter Reset (Function by 0->1 edge) 

Bit 2..15  unused 

DigitalOutput0 

BOOL 

Digital Output 0 

DigitalOutput1 

BOOL 

Digital Output 1 

DigitalOutput2 

BOOL 

Digital Output 2 

DigitalOutput3 

BOOL 

Digital Output 3 

DigitalOutput4 

BOOL 

Digital Output 4 

DigitalOutput5 

BOOL 

Digital Output 5 

DigitalOutput6 

BOOL 

Digital Output 6 

DigitalOutput7 

BOOL 

Digital Output 7 

DigitalOutput8 

BOOL 

Digital Output 8 

DigitalOutput9 

BOOL 

Digital Output 9 

DigitalOutput10 

BOOL 

Digital Output 10 

DigitalOutput11 

BOOL 

Digital Output 11 

DigitalOutput12 

BOOL 

Digital Output 12 

DigitalOutput13 

BOOL 

Digital Output 13 

DigitalOutput14 

BOOL 

Digital Output 14 

DigitalOutput15 

BOOL 

Digital Output 15 

DigitalOutput16 

BOOL 

Digital Output 16 

DigitalOutput17 

BOOL 

Digital Output 17 

DigitalOutput18 

BOOL 

Digital Output 18 

DigitalOutput19 

BOOL 

Digital Output 19 

DigitalOutput20 

BOOL 

Digital Output 20 

DigitalOutput21 

BOOL 

Digital Output 21 

DigitalOutput22 

BOOL 

Digital Output 22 

Содержание FIO (V2)

Страница 1: ...Instruction Manual Kendrion Kuhnke Automation GmbH Manual Kuhnke FIO V2 EtherCAT I O modules in IP20 E 747 1 GB 11 25 2016 ...

Страница 2: ...atibility 10 2 Introduction 13 2 1 EtherCAT Ethernet Control Automation Technology 13 2 2 Kuhnke FIO Fast Input Output 13 2 3 Kuhnke FIO Ventura FIO 14 3 System Description 15 3 1 General conditions of use 15 3 2 Mechanical Design 15 3 2 1 Earth 15 3 2 2 Installation 16 3 3 System power supply 18 3 3 1 General 18 3 3 2 Bus coupler 19 3 3 3 I O Modules 19 3 4 Status LEDs 21 3 4 1 LED EtherCAT Run 2...

Страница 3: ...cal data 34 4 7 DI32 35 4 7 1 Terminals 35 4 7 2 Status LEDs 35 4 7 3 Function 36 4 7 4 Technical data 36 4 8 DI16 37 4 8 1 Terminals 37 4 8 2 Status LEDs 37 4 8 3 Function 38 4 8 4 Technical data 38 4 9 DO16 39 4 9 1 Terminals 39 4 9 2 Status LEDs 39 4 9 3 Function 40 4 9 4 Technical data 40 4 10 DO8 41 4 10 1 Terminals 41 4 10 2 Status LEDs 41 4 10 3 Function 42 4 10 4 Technical data 42 4 11 DO8...

Страница 4: ... Kuhnke FIO AO4 16Bit 81 4 16 6 Technical data 86 4 17 AI4 8 U 87 4 17 1 Terminals 87 4 17 2 Status LEDs 87 4 17 3 Function 88 4 17 4 Function 694 441 52 Kuhnke FIO AI4 8 U 89 4 17 5 Technical data 94 4 18 AI8 16 U 95 4 18 1 Terminals 95 4 18 2 Status LEDs 95 4 18 3 Function 96 4 18 4 Function 694 441 53 Kuhnke FIO AI8 16 U 97 4 18 5 Technical data 103 4 19 AI4 I 104 4 19 1 Terminals 104 4 19 2 St...

Страница 5: ...ta 141 5 2 Shield connection terminal block 142 5 2 1 Terminals 142 5 2 2 Function 142 5 2 3 Technical data 142 6 Configuration 143 6 1 CoDeSys V2 Beckhoff Configurator 143 6 1 1 Offline Configuration 143 6 1 2 Online Configuration 146 6 2 CODESYS V3 CODESYS Configurator 147 6 2 1 Offline Configuration 147 6 2 2 Online Configuration 150 7 Appendix 153 7 1 Technical data Overview 153 7 1 1 System p...

Страница 6: ... 2016 Revision of the measured value tables Figure 47 Analog values voltage and Figure 44 Analog values voltage current 10 11 2016 Revision of 4 21 4 Function 694 443 57 Kuhnke FIO AI4 Pt Ni TC and 4 22 4 Function 694 443 58 Kuhnke FIO AI8 Pt Ni TC 25 11 2016 Data type adaptation in the chapter 4 13 CounterPosi2 5V 1 2 About this Manual 1 2 1 Target group This technical information is primarily di...

Страница 7: ...ol program depends on the used EtherCAT master controller This guide aims to familiarize you with the use of the modules In examples preferably CODESYS Version 3 is used which contains an EtherCAT Master and configurator Use of other tools may need to be acted differently Further knowledge of the programming in accordance with IEC 611131 3 please refer to the CoDeSys online help or the literature ...

Страница 8: ...d manufactured for standard industrial use They must not be used for any other purposes than the ones specified in the catalogue or the associated technical documentation Proper and safe operation depends on the products being transported stored lined up mounted installed put into service operated and serviced correctly Ambient conditions must be within the admissible limits Notes and information ...

Страница 9: ...ot observed WARNING A WARNING makes you aware of a potentially hazardous situation which MAY cause a serious or fatal accident or damage to this or other devices if not observed CAUTION A CAUTION alert makes you aware of a potentially hazardous situation which MAY cause an accident or damage to this or other devices if not observed NOTE A NOTE makes you aware of a potentially hazardous situation w...

Страница 10: ...installed in such a way as to exclude unintended operation Lay control cables such that interference inductive or capacitive is excluded if this interference could influence controller operation or its functionality Maintenance and Servicing Precautions regulation BGV A3 Elektrische Anlagen und Betriebsmittel to be observed when measuring or checking a controller after power up This applies to sec...

Страница 11: ...s must comply with valid rules and regulations depending on their field of application General requirements concerning the electrical equipment of machines and aiming at the safety of these machines are contained in Part 1 of European Standard EN 60204 corresponds to VDE 0113 Electrical Immission Safeguard To eliminate electromagnetic interference connect the control system to the protective earth...

Страница 12: ...rference from various local sources motors switching devices switching thyristors radio controlled devices welding equipment arcing switched mode power supplies converters inverters Particular Sources of Interference Inductive Actuators Switching off inductances such as from relays contactors solenoids or switching magnets produces surge voltages It is necessary to reduce these extra voltages to a...

Страница 13: ... systems are burdened with 2 2 Kuhnke FIO Fast Input Output Kuhnke FIO is a system of I O modules for connecting the process signals to an EtherCAT network Kuhnke FIO consists of the Ventura FIO bus coupler and a range of Ventura FIO I O modules The Ventura FIO bus coupler converts the physical transfer technology twisted pair to LVDS E bus and generates the system voltages required by the LVDS mo...

Страница 14: ...ered both to the Ventura FIO modules compatible versions with process image control as well as variants with object control CoE CAN over EtherCAT Exceptions such as the signal range in case of the AO4 module are noted in this manual in the respective module description The externally visible differences between Ventura FIO and Kuhnke FIO are listed in the following table Characteristic Ventura FIO...

Страница 15: ...an integral snap on device used to snap the module to a 35mm DIN rail The housing trough including the optical fibers for the status indicators the side face and the front is made of plastic and contains the module The optical fibers for the signal state indicators LEDs are located next to the spring assisted combi plug They slightly protrude from the housing and allow a clear diagnosis at a glanc...

Страница 16: ...5 mm 3 2 2 1 Installation position The mounting rail is placed horizontally and the female connector strip of the modules face forward For a sufficient ventilation of the convection slits the minimum distance must not fall below 20mm upward and 35mm to adjacent equipment and control cabinets The lateral distance to external devices and cabinet controls must not fall below 20mm Figure 3 Aluminium p...

Страница 17: ...ted 2 Push the module against the mounting wall until is snaps in 3 2 2 4 To interconnect two modules After snapping on the first module to the rail snap on the second module 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 3 2 2 5 To disconnect two modules Push down the unlock button see F...

Страница 18: ...DIN 46 228 1 8 10 8 10 8 10 Stripping length mm sleeve length mm The Push in spring connector enables fast tool free wire connection by direct plug in technology The stripped solid wires or flexible wires with crimped ferrules are plugged all the way into the terminal point 2 rows Wires 320V 13 4 A 0 14 1 5 mm IEC Rated current 300V 9 5A 26 16 AWG UL Connectable conductors with ferrules Conductor ...

Страница 19: ...can be used with different numbers of poles The logic of I O modules without own microcontroller is powered by the bus coupler Modules with microcontroller can have its own power supply which is then supplied via the IO connector Figure 8 Spring assisted terminal block 1 row with release latch for I O modules Figure 9 Push In terminal block 2 rows with release latch for I O modules A rapid shut do...

Страница 20: ...ly of the outputs is switched This is the case if the system continues to be supplied with power Outputs that are set forth by the program can be supplied via the protection diode of a reverse supplied output and in this way set the switch off function for these outputs overridden In addition the protection diode of the feeding output can be destroyed at high load ...

Страница 21: ...on Not connected Off No Ethernet connection Connected Green on Connected to Ethernet Traffic Green flashing Exchanging telegrams 3 4 3 LED IO Every I O module has an LED labeled IO It indicates the state of the module s I Os Refer to the I O module sections in this manual to know which states of a module are monitored and indicated 3 4 4 LED Power An LED labeled Power is located on every module th...

Страница 22: ...did another 100 Base Tx line can be plugged in to connect the next EtherCAT unit to the second bus coupler port You will get the best results concerning disturbing emission if you put the shielding of the EtherCAT cable on the function earth Use for it e g Shield connection terminal block see section 5 2 4 1 1 Terminals Module power supply L 24 VDC L 0 V EtherCAT IN RJ45 socket input from previous...

Страница 23: ...1 3 Function See page 22 4 1 3 1 Module state Variable Data type Explanation Undervoltage BOOL Low voltage supplied power 19 2V 4 1 4 Technical Data Function Connects a 100 Base TX EtherCAT with the Ventura FIO I O modules Generates the LVDS system voltages Controller ASIC ET1100 Baud rate 100 Mbit s Cable CAT5 Length of cable max 100m between 2 bus couplers Ports 2x RJ45 Power supply 24 VDC 20 25...

Страница 24: ...d the generation of the voltage for the LVDS modules takes place In addition the module has 16 digital inputs and 16 digital outputs About the lateral E bus connection the bus coupler DI16 DO16 can also be flexibly extended with EtherCAT I O modules of the series Kuhnke FIO You will get the best results concerning disturbing emission if you put the shielding of the EtherCAT cable on the function e...

Страница 25: ... turn off any short circuited outputs In case the short circuit prevails the outputs are allowed to cool down to be turned back on until the thermal fuse blows again 4 2 2 3 LED Power The LED labeled Power indicates the state of the I O module s I O power supply State LED flash code Explanation On Green on 24 VDC supply ok Off Off 24 VDC supply not ok The module is monitored for low voltage states...

Страница 26: ...s the LVDS system voltages E bus IO module Controller ASIC ET1100 Baud rate 100 Mbit s Cable CAT5 Length of cable max 100m between 2 bus couplers Ports 2x RJ45 Power supply 24 VDC 20 25 Connector Power Plug 2 pole part of the module Input current 40mA E bus power supply E bus power supply max 2A approx 11 modules E Bus Connector 10 pole system plug in the side wall End module not necessary Digital...

Страница 27: ...ta exchange Safe Op Off green 5 1 Safe operation inputs readable Op Green on Operational unrestricted data exchange 4 3 2 2 LED IO The LED labeled IO indicates the state of the module s I Os State LED flash code Explanation Ok Off No error SC Red on Short circuited digital output The output drivers have a thermal fuse to automatically turn off any short circuited outputs In case the short circuit ...

Страница 28: ...6 module features 16 digital inputs and 16 digital outputs 4 3 3 1 Variable Variable Data type Explanation DigitalInputn BOOL Digital input n 0 7 DigitalOutputn BOOL Digital output n 0 7 4 3 4 Technical data Digital inputs 8 Input delay 1ms 5ms typically Signal level Off 3 5V EN 61131 3 type1 On 15V 30V Digital outputs 8 Max current 0 5A per output Total current max 8A Connector IO Power Plug 18 p...

Страница 29: ...lization no 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 4 4 2 2 LED IO The LED labeled IO indicates the state of the module s I Os State LED flash code Explanation Ok Off No error SC Red on Short circuited digital output The output drivers have a thermal fuse to automatic...

Страница 30: ...16 module features 16 digital inputs and 16 digital outputs 4 4 3 1 Variable Variable Data type Explanation DigitalInputn BOOL Digital input n 0 15 DigitalOutputn BOOL Digital output n 0 15 4 4 4 Technical Data Digital inputs 16 Input delay 1ms 5ms typically Input delay Off 3 5V EN 61131 3 Typ1 On 15V 30V Digital outputs 16 Max current 0 5A per output Total current max 8A Connector IO Power Plug 3...

Страница 31: ...nge 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 4 5 2 2 LED IO The LED labeled IO indicates the state of the module s I Os State LED flash code Explanation Ok Off No error SC Red on Short circuited digital output The output drivers have a thermal fuse to automatically turn off any shor...

Страница 32: ...nction The DI16 DO16 module features 16 digital inputs and 16 digital outputs 4 5 3 1 Variable Variable Data type Explanation DigitalInputn BOOL Digital input n 0 15 DigitalOutputn BOOL Digital output n 0 7 reserved BOOL Unused output addresses 4 5 4 Technical data Digital inputs 16 Input delay 1ms typically Signal level Off 3 5V EN 61131 3 Typ1 On 15V 30V Digital Outputs 8 Max current 1 0A per ou...

Страница 33: ...ates the state of the EtherCAT ASIC State LED flash code Explanation Init Off Initialization no 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 4 6 2 2 LED IO There is no LED labeled IO 4 6 2 3 LED Power The LED labeled Power indicates the state of the I O module s I O power ...

Страница 34: ...wed to cool down to be turned back on until the thermal fuse blows again The module is not monitored for low voltage states 4 6 3 1 Variable Variable Data type Explanation DigitalInputn BOOL Digital input n 0 15 DigitalOutputn BOOL Digital output n 0 15 4 6 4 Technical data Digital inputs 16 Input delay 1ms typically Signal level On 3 5V Off 15V 30V Input current 2mA typically Digital outputs 16 m...

Страница 35: ...ialization no 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 4 7 2 2 LED IO There is no LED labeled IO 4 7 2 3 LED Power There is no LED labeled Power because a separate power feed is not required 4 7 2 4 LEDs Channel State LED Explanation On Green on Input signal TRUE Off O...

Страница 36: ...BOOL Digital input n 0 31 4 7 4 Technical data Digital inputs 32 Input delay 1ms typically Signal level Off 3 5V EN 61131 3 Typ1 On 15V 30V Connector IO Power Plug 36 pole Controller ASIC ET1100 Baud rate 100 Mbit s Connector E Bus 10 pin system plug in side wall End module not required Power supply 24V DC 20 25 E bus load 85mA Part no Kuhnke FIO DI32 1ms 694 451 02 Approvals ...

Страница 37: ...ialization no 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 4 8 2 2 LED IO There is no LED labeled IO 4 8 2 3 LED Power There is no LED labeled Power because a separate power feed is not required 4 8 2 4 LEDs Channel State LED Explanation On Green on Input signal TRUE Off O...

Страница 38: ...BOOL Digital input n 0 15 4 8 4 Technical data Digital inputs 16 Input delay 1ms typically Signal level Off 3 5V EN 61131 3 Typ1 On 15V 30V Connector IO Power Plug 18 pole Controller ASIC ET1200 Baud rate 100 Mbit s Connector E Bus 10 pin system plug in side wall End module not required Power supply 24V DC 20 25 E bus load 100mA Part no Kuhnke FIO DI16 1ms 694 451 03 Approvals ...

Страница 39: ...ta exchange Safe Op Off green 5 1 Safe operation inputs readable Op Green on Operational unrestricted data exchange 4 9 2 2 LED IO The LED labeled IO indicates the state of the module s I Os State LED flash code Explanation Ok Off No error SC Red on Short circuited digital output The output drivers have a thermal fuse to automatically turn off any short circuited outputs In case the short circuit ...

Страница 40: ...tate LED Explanation On Green on Output enabled Off Off Output disabled 4 9 3 Function The DO16 module has 16 digital outputs 4 9 3 1 Variable Variable Data type Explanation DigitalOutputn BOOL Digital output n 0 15 4 9 4 Technical data Digital outputs 16 max Current 0 5A per output Total current max 8A Connector IO Power Plug 18 pole Controller ASIC ET1200 Baud rate 100 Mbit s Connector E Bus 10 ...

Страница 41: ...f green 5 1 Safe operation inputs readable Op Green on Operational unrestricted data exchange 4 10 2 2 LED IO The LED labeled IO indicates the state of the module s I Os State LED flash code Explanation Ok Off No error SC Red on Short circuited digital output The output drivers have a thermal fuse to automatically turn off any short circuited outputs In case the short circuit prevails the outputs ...

Страница 42: ...on On Green on Output enabled Off Off Output disabled 4 10 3 Function The DO8 module has 8 digital outputs 4 10 3 1 Variable Variable Data type Explanation DigitalOutputn BOOL Digital output n 0 7 reserved BOOL Unused output addresses 4 10 4 Technical data Digital outputs 8 max Current 1 0A per output Total current max 8A Connector IO Power Plug 18 pole Controller ASIC ET1200 Baud rate 100 Mbit s ...

Страница 43: ...change Safe Op Off green 5 1 Safe operation inputs readable Op Green on Operational unrestricted data exchange 4 11 2 2 LED IO The LED labeled IO is not used 4 11 2 3 LED Power The LED labeled Power indicates the state of the I O module s I O power supply State LED flash code Explanation On Green on 24 VDC supply ok Off Off 24 VDC supply not ok The module is not monitored for low voltage states Fi...

Страница 44: ...L Unused output addresses 4 11 4 Technical data Digital outputs 8 relay NO max switching current ohmic 5 0A per output max switching current inductive 2 0A per output min permitted Load 10nA 5 VDC Operating cycles mech min 2 x 10 7 Operating cycles electr min 3 x 10 5 2A 30VDC Switching voltage max 24 VDC VAC Connector IO Power Plug 18 pole Controller ASIC ET1200 Baud rate 100 Mbit s Connector E B...

Страница 45: ... exchange Safe Op Off green 5 1 Safe operation inputs readable Op Green on Operational unrestricted data exchange 4 12 2 2 LED IO The LED labeled IO is not used 4 12 2 3 LED Power The LED labeled Power indicates the state of the I O module s I O power supply State LED flash code Explanation On Green on 24 VDC supply ok Off Off 24 VDC supply not ok The module is not monitored for low voltage states...

Страница 46: ...nused output addresses 4 12 4 Technical data Digital outputs 8 relay NO max switching current ohmic 5 0A per output max switching current inductive 2 0A per output min permitted load 10nA 5 VDC Operating cycles mech min 2 x 10 7 Operating cycles electr min 3 x 10 5 2A 30VDC Switching voltage max 24 VDC 230 VAC Connector IO Power Plug 18 pole Controller ASIC ET1200 Baud rate 100 Mbit s Connector E ...

Страница 47: ...tput Counter Posi2 only 7 12 A B Ref Encoder signals 13 14 5V Encoder supply 5V 0 2A fuse 15 n c Initiator supply 0 2A fuse 16 17 24V Module supply 24V encoders for 25kHz not used encoder signals connected to 5V Operative earth shielding of analog wires chapter 3 2 1 page 15 Figure 33 Pinning Counter Posi2 Figure 34 Front view of the Counter2 module Figure 35 Pinning Counter2 Figure 36 Front view ...

Страница 48: ... Ok Green on No error Error Off Malfunction of module if E bus LED On Inoperative if E bus LED Off Red 2 x Low voltage Red 3 x Watchdog internal Red 4 x EtherCAT watchdog control Red 7 x Configuration error E bus pre operational no of process data differs from that in the module Defective Red on Module defective 4 13 2 3 LED Power The LED labeled IO indicates the state of the I O supply of the mod...

Страница 49: ...set the status bit FALSE In the following the functions of the counter module are described by counter 1 For counter 2 the data are valid accordingly 4 13 3 1 Frame or DC synchronous mode Dependent on whether Distributed Clocks DC are used or not the module adjusts itself independently on the suitable mode of operation The module is preset on Frame synchronous mode With the receipt of the first DC...

Страница 50: ...re stored They can be reset only then if the fault is not there any more Send a rising edge to ResetError to reset the Modul Status bits Variable Data type Explanation ResetError BOOL rising edge error confirmation 4 13 3 2 2 Modul Status Module State The following module status bits are indicated Variable Data type Explanation LowSupplyVoltage BOOL Low voltage Watchdog BOOL module internal Watchd...

Страница 51: ...ital output 1 Output_0_0 is controlled by the compare function OnErrorForceOutputsOff_1 since release 3 BOOL 0 In case of module error all digital and analog outputs are continued to update 1 In case of module error all digital and analog outputs are forced to 0 4 13 3 3 2 Zähler 1 Kontrolle Counter 1 Control Enabling and disabling of counting and referencing are determined by the state of the con...

Страница 52: ...f error since release 3 4 13 3 3 4 Zähler 1 Fehler Counter 1 Errors The variables are provided for the indication of error states Variable Data type Explanation OutputsForcedOff_1 BOOL Outputs have been forced to 0 because of a module error since version 3 Err_Reserved_1_x BOOL reserved error bits 4 13 3 4 Counter values of Counter 1 4 13 3 4 1 Zähler 1 Sollwerte Counter 1 Set Values The counter c...

Страница 53: ... Counter 1 Actual Values These variables display the current counter value and the current set values The set values are represented multiplexedly in the variable SelectedValue Selection by Select_1 Variable Data type Explanation Counter_1 UDINT Current value of counter 1 Selected_1 UINT Selection of that value of counter 1 which is displayed in the variable SelectedValue Value of Select_1 read fr...

Страница 54: ...e Timestamp The variables indicate the time on which the status of the digital input has changed When the time measurement is started depends on the mode of operation See also chapter 4 13 3 1 at page 49 Variable Data type Explanation Input_0_0_TS UINT Time stamp for Digital Input 0 Hardware Trigger Input_0_1_TS UINT Time stamp for Digital Input 1 Software Polling Input_0_2_TS UINT Time stamp for ...

Страница 55: ...ut Variable Timestamp n 1 TRUE Timestamp n n 2 FALSE Timestamp n 1 in DC synchronous mode The time from the last DC interrupt to the status change of the input is stored in the time stamp and sent in the following frame to the EtherCAT master Frame Digital Input Variable Timestamp n 1 TRUE Timestamp n n 2 FALSE Timestamp n 1 t Digital Input DC Interrupts Timestamp n n Off On n 1 n 2 Timestamp n 1 ...

Страница 56: ...put Set Delay in preparation This variable defines the time when the output is set Variable Data type Explanation Output_0_0_Del UINT Output set delay in µs im Frame synchronen Betrieb Frame Digital Output Variable Output set delay n TRUE Output set delay n n 1 FALSE Output set delay n 1 im DC synchronen Betrieb t Digital Output DC Interrupts Output set delay n n Off On n 1 n 2 Output set delay n ...

Страница 57: ...tput set delay n TRUE Output set delay n n 1 FALSE Output set delay n 1 4 13 3 6 Analoge Ausgänge Analog Outputs Counter Posi2 5V only The variables define the Voltage of the analog outputs Variable Data type Explanation AnalogOutput_1 UINT Analog Output 1 Output values See Figure 50 Analog values voltage page 96 ...

Страница 58: ...if set 4 13 4 3 Set Compare Value Configuration settings set in Zähler 1 Optionen are activated by the rising edge of the control bit SetOptions_1 The successful take over of the options is confirmed with the status bit OptionsSet_1 e g Set compare function PROGRAM Initialization VAR bInit BOOL TRUE Step USINT END_VAR IF bInit THEN CASE Step OF Select options activate them by a rising edge to Set_...

Страница 59: ...cuted by a rising edge to SetMax_1 The execution is indicated by MaxSet_1 TRUE If SetMax_1 is reset FALSE again MaxSet_1 becomes also again FALSE Term2_SetValue_1 diMaxValue Copy a number into the source var Term2_SetMax_1 TRUE Copy to the maximum value Term2_MaxSet_1 TRUE if set 4 13 4 6 Digital Output See also page 51 Zähler 1 Optionen Counter 1 Options The digital output can be controlled optio...

Страница 60: ... 1 Optionen Counter 1 Options The counter can count edges all rising and falling edges or pulses only the rising edges The selection is done by the variable SetResolution_1 Set Options see also page 58 Term2_SetResolution_1 FALSE all edges Term2_SetResolution_1 TRUE Pulses 4 13 4 9 Referencing The counter can be set to preset value when a pulse occurs at the Ref input The preset value can be 0 but...

Страница 61: ..._IF Reset Set_Options und Set_Preset into the start position 2 Term2_SetOptions_1 FALSE Term2_SetPreset_1 FALSE StepInit 0 bInit FALSE bInitReady TRUE END_CASE END_IF 2 Controlling of the referencing IF bInitReady THEN CASE Step OF Switch on the referencing mode 0 Term2_EnableReferencing_1 TRUE Step 1 Wait for a referencing pulse 1 IF Term2_Referenced_1 THEN Step 2 END_IF Reset of the referencing ...

Страница 62: ... capture value Term2_Captured_1 A capture event has appeared Term2_ResetCaptured_1 Reset of Term2_Captured_1 4 13 4 11 Digital Inputs Input_0_x The status of the digital inputs is indicated in the variables Input_0_x Permanente additional function The current counter value is saved in the capture register when a falling edge appears at Input_0_1 Term2_Input_0_0 Status of Input 0 Term2_Input_0_1 St...

Страница 63: ...eCounterPosiModul xml WxHxD 25x120x90 mm Montage 35mm DIN Hutschiene Controller ASIC ET1200 E Bus port 10 pin system plug in side wall Term module not required E Bus Load 300mA Power supply Logic by EtherCAT Coupler via E Bus plug Connector IO Power Plug 36 pole not part of the module Power24V DC 20 25 Galvanic separation Separated from one another and versus the bus Storage temperature 25 C 70 C ...

Страница 64: ...n Twisted pair The module is usually arranged thereby at the end of the block In addition the Extender can be used in arbitrary place behind the bus coupler and or the FIO Control module Thus EtherCAT Slaves can also be connected in star topology 4 14 1 Terminals Supply of the module via E Bus EtherCAT OUT1 RJ45 Buchse Output port to the next EtherCAT device OUT2 RJ45 Buchse Output port to the nex...

Страница 65: ...Out2 and Out1 LEDs indicate the physical state of the Ethernets port they are allocated to State LED flash code Explanation Not connected Off No Ethernet connection Connected Green on Connected to Ethernet Traffic Green flashing Exchanging telegrams 4 14 3 Function The Extender 2 port module has actually 4 ports Name 2 port module was chosen because of the 2 standard 100 base TX OUT1 OUT2 RJ45 con...

Страница 66: ...hnke FIO block resp a Kuhnke FIO Control Embedded PC Transformation of transmission physics from LVDS E Bus to 100Base TX Controller ASIC ET1100 Baud rate 100Mbit s Cable CAT5 Cable length max 100m Connector EtherCAT 2 x RJ45 Power supply via E Bus E bus load 160mA for Out1 210mA for Out1 Out2 Part no 694 400 02 Approvals ...

Страница 67: ...ply CPU right 0 7 DO0 DO7 Digital Outputs 1 7 8 11 AI0 AI3 DI0 DI3 Analog Inputs Use as DI too 12 DI4 Digital Input DI 13 DI5 C_Clock DI Counter clock input rising edge 14 DI6 C_Dir DI Counter Direction FALSE up TRUE down 15 DI7 C_Clear DI Counter Clear rising edge 16 17 24VDC 0V IO supply Operative earth shielding of analog and clock wires chapter 3 2 1 Figure 39 I O connection Figure 40 Front vi...

Страница 68: ...on Operational unrestricted data exchange 4 15 2 2 LED IO The LED labeled IO indicates the state of the module s I Os State LED flash code Explanation Ok Green on No error Error Red flashlight 1x Shortcut 2x Undervoltage Start Defect Red Module is not initialised 4 15 2 3 LED PW The LED labeled Pwr indicates the state of the I O supply of the module State LED flash code Explanation On Green on 24 ...

Страница 69: ...s place via Process Data Objects which are reflected in the control program of the EtherCAT master in variables Service Data Objects are created for settings and information Settings for the MIX 02 module for example the RS485 baud rate can be already made in the offline configurator These are then executed by the EtherCAT master at startup With the SDO transfer blocks available for the EtherCAT m...

Страница 70: ...OOL Digital Input7 Counter UDINT Value of the event counter associated to DI5 7 SampleCycleCounter UINT is incremented when new analog values are present 4 15 3 2 AnalogIn0 In the AnalogIn1 group see the following input values Variable Data type Meaning AnalogIn0_Sample0 UINT Analog Input 0 Sample n AnalogIn0_Sample1 UINT Analog Input 0 Sample n 1 AnalogIn0_Sample2 UINT Analog Input 0 Sample n 2 A...

Страница 71: ...t values Variable Data type Meaning ControlWord UINT Bit 0 Error message Reset Bit 1 Counter Reset Function by 0 1 edge Bit 2 15 unused DigitalOutput0 BOOL Digital Output 0 DigitalOutput1 BOOL Digital Output 1 DigitalOutput2 BOOL Digital Output 2 DigitalOutput3 BOOL Digital Output 3 DigitalOutput4 BOOL Digital Output 4 DigitalOutput5 BOOL Digital Output 5 DigitalOutput6 BOOL Digital Output 6 Digit...

Страница 72: ...UINT32 0 RO 2000 OversamplingCount UINT8 5 1 5 RW 2001 Rs485Baud rate UINT8 2 0 9 RW 2002 Rs485Data Octet String 10 RW 6000 Counter UINT32 RO P 6001 Digital Inputs Array 6001 1 8 DigitalIn0 7 BOOL RO P 6010 SampleCycleCounter UINT16 RO P 6401 AnalogIn0 Array 6401 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 S...

Страница 73: ...easured values are respectively in Sample0 4 of the variables from AnalogIn0 AnalogIn4 If the parameter is smaller the process image is updated accordingly faster and the unused sample values remain empty Example If the oversampling parameter is 1 a new process image is generated after 1 millisecond The values are then only on Sample0 Sample 1 4 are unused 4 15 3 8 2 Oversampling DC Synchronous Th...

Страница 74: ...I6 FALSE each rising edge at DI5 leads for incrementing of Inputs Counter If DI6 TRUE each rising edge at DI5 executes the decrementing of input data position counter Rising edge at DI7 sets Inputs Counter to the value 0 The counter value can be reset by software rising edge at Outputs ControlWord Bit 1 4 15 3 11 Analog Inputs Oversampling The analog conversions occur cyclically every 1ms and asyn...

Страница 75: ...f you apply the shield of the signal cable to the ground terminal 4 15 3 12 Undervoltage When undervoltage CPU or undervoltage load occurs the outputs are switched off the bits 3 and 4 in Inputs StateWord are set and the module IO LED flashes 2x If the voltage is again within the permissible range 24V 20 25 the error state can be reset by Outputs Control Word Bit 0 Then the outputs are turned on a...

Страница 76: ...x 0 10V Resolution 12 Bit Sampling rate 1ms RS485 electrically isolated Baud rate 2 4 921 6 kBit s Termination e g 4 x KDT 621 9 6 or 19 2 kBit s Connector IO Power Plug 36 pole Controller ASIC ET1200 Baud rate 100 Mbit s Connector E Bus 10 pin system plug in side wall End module not required Power supply 24V DC 20 25 E bus load 90mA Part no 694 444 62 CoE Variant Approvals 3 Value in brackets wit...

Страница 77: ...nputs readable Op Green on Operational unrestricted data exchange 4 16 2 2 LED IO The LED labeled 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 1x Short circuit Red 2x Low voltage Red 4x EtherCAT watchdog control Red 6x Module specific fault Red 7x Configuration erro...

Страница 78: ...ritten in 2 byte two s complement format in the corresponding output variables The letter n in the tables below represents the channel number n 0 3 Measured value Variable value if 16Bit 20 0 20 4 20 0 24 Bipolar UINT Unipolar UINT Volt mA mA mA mA decimal hexadezimal decimal hexadecimal 10 20 32768 16 8000 9 18 36044 16 8CCC 8 16 39321 16 9999 7 14 42598 16 A666 6 12 45875 16 B333 5 10 49152 16 C...

Страница 79: ...ntrol bit SetOptions to a rising edge The module will confirm by returning OptionsSet There are various module error bits that the module uses to indicate errors The states of the error bits are retained and also used for error indication by the IO LED To reset the error bits set control bit ResetError to a rising edge Variable Data type Explanation SetOptions BOOL Rising edge accepts module optio...

Страница 80: ...ation Channel_n_Overtemp BOOL Temperature of output driver of channel n is 140 C automatic switch off i e shortcut See Module options Outputs_Active_Shortcut Undervoltage_24 BOOL Power supply to module is 19 2V See Module options Outputs_Active_Undervoltage Channel_n_Open BOOL Current mode channel n load is 500Ω Specific_Error TRUE Channel_n_Shortcut BOOL Voltage mode channel n load is 600Ω Specif...

Страница 81: ...ram of the EtherCAT master must be changed Note the following differences Ventura FIO AO4 12Bit old Kuhnke FIO AO4 16Bit new Current 0 20mA Current 0 20mA Short circuit is detected Short circuit is not detected but outputs are protected against short circuit Output asynchronous to EtherCAT Output SM or DC synchronous The output of the analog signals can be executed DC synchronous Distributed Clock...

Страница 82: ...dule such as the properties of the individual outputs can be made in the configurator already offline These are then executed by the EtherCAT master at startup It is also possible to make adjustments during runtime by executing the SDO transfer blocks of the EtherCAT master control Press the button Hinzufügen select the object and set the desired value ...

Страница 83: ...Overtemp Output driver has recognized overtemperature independent shutdown 11 Output 3 Overtemp Output driver has recognized overtemperature independent shutdown 12 Output 0 Open no current detected in current mode broken wire 13 Output 1 Open no current detected in current mode broken wire 14 Output 2 Open no current detected in current mode broken wire 15 Output 3 Open no current detected in cur...

Страница 84: ...ntries UINT8 4 RO 2000 1 Properties Output 0 UINT8 0 10V Off 0 0 10V 1 10V 3 0 20mA 6 4 20mA 5 0 24mA 7 RW 2000 2 Properties Output 1 UINT8 0 10V Off 0 10V 10V 0 20mA 4 20mA 0 24mA RW 2000 3 Properties Output 2 UINT8 0 10V Off 0 10V 10V 0 20mA 4 20mA 0 24mA RW 2000 4 Properties Output 3 UINT8 0 10V Off 0 10V 10V 0 20mA 4 20mA 0 24mA RW 2001 ErrorBehavior Output 0 Array 2001 0 Number of Entries UIN...

Страница 85: ...T16 RW P 6411 4 Analog Output 3 UINT16 RW P 6500 State Word Array 6500 0 Number of Entries UINT8 16 RO 6500 1 Reset Error Ack BOOL RO P 6500 2 Undervoltage24 BOOL RO P 6500 3 EtherCAT Error BOOL RO P 6500 4 ConfigError BOOL RO P 6500 5 BOOL RO P 6500 6 BOOL RO P 6500 7 BOOL RO P 6500 8 BOOL RO P 6500 9 Output 0 Overtemp BOOL RO P 6500 10 Output 1 Overtemp BOOL RO P 6500 11 Output 2 Overtemp BOOL R...

Страница 86: ...ction yes Shot circuit current max 30mA Load resistance min 1kΩ Settling time 0 10V 22µs when 2kΩ 200pF Current Measuring range 16 Bit 0 20mA 4 20mA 4 24mA Measuring range 12 Bit 0 20mA Load resistance max 500Ω max 1mH inductive Settling time 0 16V 25µs when 300Ω 1mH Baud rate 100 Mbit s Controller ASIC ET1200 Connector E Bus 10 pin system plug in side wall End module not required Connector IO Pow...

Страница 87: ...operational no data exchange Safe Op Off green 5 1 Safe operation inputs readable Op Green on Operational unrestricted data exchange 4 17 2 2 LED IO The LED labeled 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 4 x EtherCAT watchdog control Red 7 x Configuration erro...

Страница 88: ...anation Channel_n INT Value measured on channel n n 0 7 4 17 3 2 Measuring value Measuring value Variable value if 16Bit 10V 5V 5V Bipolar Unipolar UINT Datatype conversion required Volt Volt Volt decimal hexadecimal decimal hexadecimal 10 5 2 5 32768 16 8000 9 4 5 2 25 29492 16 8CCC 8 4 2 26215 16 9999 7 3 5 1 75 22938 16 A666 6 3 1 5 19661 16 B333 5 2 5 1 5 16384 16 C000 4 2 1 13108 16 CCCC 3 1 ...

Страница 89: ...ransformation of the analog signals can be executed DC synchronous Distributed Clocks or SM synchronous Sync Manager The access to the input values and the module status is done via process data objects that are mapped in variables of the control program of the EtherCAT master For information and settings Service data objects are designed Settings for the AI4 8 U module such as the properties of t...

Страница 90: ...erential Average n 1 255 Inputn Average after n cycles default 1 4 17 4 4 StateWord In the StateWord you can watch the state of the module Bit Name Explanation 0 ResetErrorAck Acknowledge of Reset Error in Module Control 1 not used 2 EtherCATError Sync Manager Watchdog 3 ConfigError Sync Manager quantity structure does not match 4 15 not used 4 17 4 5 Analog inputs You find the digitalized input v...

Страница 91: ...0 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 185340 RO 1018 3 Revision Number UINT32 2 RO 1018 4 Serial Number UINT32 0 RO 2000 Analog Input Properties Array 2000 0 Number of Entries UINT8 8 RO 2000 1 Input 0 UINT8 Off Off 0 0 10V 1 5V 2 10V 3 2 5V 4 RW 2000 2 Input 1 UINT8 ...

Страница 92: ... 2003 1 Input 0 Average UINT8 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 2003 5 Input 4 Average UINT8 1 1 255 RW 2003 6 Input 5 Average UINT8 1 1 255 RW 2003 7 Input 6 Average UINT8 1 1 255 RW 2003 8 Input 7 Average UINT8 1 1 255 RW 6401 Analog Input Array 6401 0 Number of Entries UINT8 8 RO 6401 1 Analog Input...

Страница 93: ...Kendrion Kuhnke Automation GmbH AI4 8 U E 747 1 GB 93 11 25 2016 7001 0 Number of Entries UINT8 1 RO 7001 1 Reset Error BOOL RW P RO Read only RW Read Write P Process image ...

Страница 94: ...us Conversion time 464 µs if all channels are active Internal resistance 1MΩ Limit frequency Input filter typically 1kHz Measuring error 0 4 typically 0 2 of the end value Baud rate 100 Mbit s Controller ASIC ET1200 Connector E Bus 10 pin system plug in side wall End module not required Connector IO Power Plug 18 pole Power supply 24V DC 20 25 E bus load 190mA Part no 694 441 52 13 Bit CoE Part no...

Страница 95: ...operational no data exchange Safe Op Off green 5 1 Safe operation inputs readable Op Green on Operational unrestricted data exchange 4 18 2 2 LED IO The LED labeled 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 4 x EtherCAT watchdog control Red 7 x Configuration erro...

Страница 96: ...ta type Explanation Channel_n INT Value measured on channel n n 0 15 4 18 3 2 Measuring value Measuring value Variable value if 16Bit 10V 5V 5V Bipolar Unipolar UINT Datatype conversion required Volt Volt Volt decimal hexadecimal decimal hexadecimal 10 5 2 5 32768 16 8000 9 4 5 2 25 29492 16 8CCC 8 4 2 26215 16 9999 7 3 5 1 75 22938 16 A666 6 3 1 5 19661 16 B333 5 2 5 1 5 16384 16 C000 4 2 1 13108...

Страница 97: ...e EtherCAT master must be changed 4 18 4 2 Setting Options The transformation of the analog signals can be executed DC synchronous Distributed Clocks or SM synchronous Sync Manager The access to the input values and the module status is done via process data objects that are mapped in variables of the control program of the EtherCAT master For information and settings Service data objects are desi...

Страница 98: ...0V 2 5V 3 10V 4 2 5V InputSwitch 0 Single Ended default 1 Differential Average n 1 255 Inputn Average after n cycles default 1 4 18 4 4 StateWord In the StateWord you can watch the state of the module Bit Name Explanation 0 ResetErrorAck Acknowledge of Reset Error in Module Control 1 not used 2 EtherCATError Sync Manager Watchdog 3 ConfigError Sync Manager quantity structure does not match 4 15 no...

Страница 99: ...re Version String 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 185341 RO 1018 3 Revision Number UINT32 1 RO 1018 4 Serial Number UINT32 0 RO 2000 Analog Input Properties Array 2000 0 Number of Entries UINT8 16 RO 2000 1 Input 0 UINT8 Off Off 0 0 10V 1 5V 2 10V 3 2 5V 4 RW...

Страница 100: ... 5V 4 RW 2000 9 Input 8 UINT8 Off Off 0 0 10V 1 5V 2 10V 3 2 5V 4 RW 2000 10 Input 9 UINT8 Off Off 0 0 10V 1 5V 2 10V 3 2 5V 4 RW 2000 11 Input 10 UINT8 Off Off 0 0 10V 1 5V 2 10V 3 2 5V 4 RW 2000 12 Input 11 UINT8 Off Off 0 0 10V 1 5V 2 10V 3 2 5V 4 RW 2000 13 Input 12 UINT8 Off Off 0 0 10V 1 5V 2 10V 3 2 5V 4 RW 2000 14 Input 13 UINT8 Off Off 0 0 10V 1 5V 2 10V 3 2 5V 4 RW 2000 15 Input 14 UINT8...

Страница 101: ...e Array 2003 0 Number of Entries UINT8 16 RO 2003 1 Input 0 Average UINT8 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 2003 5 Input 4 Average UINT8 1 1 255 RW 2003 6 Input 5 Average UINT8 1 1 255 RW 2003 7 Input 6 Average UINT8 1 1 255 RW 2003 8 Input 7 Average UINT8 1 1 255 RW 2003 9 Input 8 Average UINT8 1 1 25...

Страница 102: ...16 RO P 6401 13 Analog Input 12 UINT16 RO P 6401 14 Analog Input 13 UINT16 RO P 6401 15 Analog Input 14 UINT16 RO P 6401 16 Analog Input 15 UINT16 RO P 6500 StateWord Array 6500 0 Number of Entries UINT8 16 RO 6500 1 ResetErrorAck BOOL RO P 6500 3 EtherCAT Error BOOL RO P 6500 4 ConfigError BOOL RO P 7001 Module Control Array 7001 0 Number of Entries UINT8 1 RO 7001 1 Reset Error BOOL RW P RO Read...

Страница 103: ...synchronous Conversion time 464 µs if all channels are active Internal resistance 1MΩ Limit frequency Input filter typically 1kHz Measuring error 0 4 typically 0 2 of the end value Baud rate 100 Mbit s Controller ASIC ET1200 Connector E Bus 10 pin system plug in side wall End module not required Connector IO Power Plug 36 pole Power supply 24V DC 20 25 Part no 694 441 53 13 Bit CoE Part no 694 441...

Страница 104: ...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 4 19 2 2 LED IO The LED labeled 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 4 x EtherCAT wa...

Страница 105: ...ionally in the CoE variant 694 441 51 Kuhnke FIO AI4 I 12Bit Fault Red 1x Current 20 5mA Red 2x Current 3 5mA 4 20mA Mode 4 19 3 Function The module AI4 I has 4 analog inputs for current signals The measuring range of each channel can be set separately to 0 20 mA or 4 20 mA 4 19 3 1 Analog inputs Check the following variable for the digitized input values Variable Data type Explanation Channel_n I...

Страница 106: ... master must be changed 4 19 4 2 Analog inputs Check the following variable for the digitized input values Variable Data type Explanation Inputn INT Value measured on channel n n 0 3 4 19 4 3 Measuring value Current mode 0 20mA Strom mA Value Hex 0 0x0 10 0x7FFF 20 0xFFFF Current mode 4 20mA Strom mA Value Hex 4 0x0 12 0x7FFF 20 0xFFFF For measuring range 0 20mA and 4 20mA Variable value if 16Bit ...

Страница 107: ...I4 I CoE 4 19 4 4 Setting Options The transformation of the analog signals can be executed DC synchronous Distributed Clocks or SM synchronous Sync Manager The access to the input values and the module status is done via process data objects that are mapped in variables of the control program of the EtherCAT master ...

Страница 108: ...already offline These are then executed by the EtherCAT master at startup It is also possible to make adjustments during runtime by executing the SDO transfer blocks of the EtherCAT master control Press the button Hinzufügen select the object and set the desired value 4 19 4 5 Options The following options can be set Name Value Explanation InputProperties 0 Off default 5 4 20mA 6 0 20mA Average n ...

Страница 109: ... 19 4 7 Analog inputs You find the digitalized input values in the following variables Variable Data type Explanation Input_n UINT Input value for channel n n 0 3 4 19 4 8 ControlWord There is a control bit to quit the error messages Bit Name Explanation 0 ResetError 0 error events are saved 1 errors are deleted after the event has gone 1 15 not used 4 19 4 9 Object directory Index Name Type Defau...

Страница 110: ...6401 3 Analog Input 2 UINT16 RO P 6401 4 Analog Input 3 UINT16 RO P 6500 StateWord Array 6500 0 Number of Entries UINT8 32 RO 6500 1 ResetErrorAck BOOL RO P 6500 2 Undervoltage24 BOOL RO P 6500 3 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 16 B...

Страница 111: ... Conversion time 235µs µs if all channels are active Internal resistance 300Ω Limit frequency Input filter 100kHz Measuring error 0 5 typically 0 4 of the end value Baud rate 100 Mbit s Controller ASIC ET1200 Connector E Bus 10 pin system plug in side wall End module not required Connector IO Power Plug 18 pole Power supply 24V DC 20 25 E bus load 190mA Part no 694 441 01 planned Part no 694 441 5...

Страница 112: ...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 4 20 2 2 LED IO The LED labeled 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 4 x EtherCAT wa...

Страница 113: ...Additionally in the CoE variant 694 441 51 Kuhnke FIO AI4 I 12Bit Fault Red Current 20 5mA Current 3 5mA 4 20mA Mode 4 20 3 Function The module AI8 I has 8 analog inputs for current signals The measuring range of each channel can be set separately to 0 20 mA or 4 20 mA 4 20 3 1 Analog inputs Check the following variable for the digitized input values Variable Data type Explanation Channel_n INT Va...

Страница 114: ... master must be changed 4 20 4 2 Analog inputs Check the following variable for the digitized input values Variable Data type Explanation Inputn INT Value measured on channel n n 0 7 4 20 4 3 Measuring value Current mode 0 20mA Strom mA Value Hex 0 0x0 10 0x7FFF 20 0xFFFF Current mode 4 20mA Strom mA Value Hex 4 0x0 12 0x7FFF 20 0xFFFF For measuring range 0 20mA and 4 20mA Variable value if 16Bit ...

Страница 115: ...I8 I CoE 4 20 4 4 Setting Options The transformation of the analog signals can be executed DC synchronous Distributed Clocks or SM synchronous Sync Manager The access to the input values and the module status is done via process data objects that are mapped in variables of the control program of the EtherCAT master ...

Страница 116: ...already offline These are then executed by the EtherCAT master at startup It is also possible to make adjustments during runtime by executing the SDO transfer blocks of the EtherCAT master control Press the button Hinzufügen select the object and set the desired value 4 20 4 5 Options The following options can be set Name Value Explanation InputProperties 0 Off default 5 4 20mA 6 0 20mA Average n ...

Страница 117: ... 5mA 17 Input1high Current 20 5mA 18 Input2high Current 20 5mA 19 Input3high Current 20 5mA 20 Input4high Current 20 5mA 21 Input5high Current 20 5mA 22 Input6high Current 20 5mA 23 Input7high Current 20 5mA 24 31 not used 4 20 4 7 Analog inputs You find the digitalized input values in the following variables Variable Data type Explanation Input_n UINT Input value for channel n n 0 7 4 20 4 8 Cont...

Страница 118: ... RW 2003 3 Input 2 Average UINT8 1 1 255 RW 2003 4 Input 3 Average UINT8 1 1 255 RW 2003 5 Input 4 Average UINT8 1 1 255 RW 2003 6 Input 5 Average UINT8 1 1 255 RW 2003 7 Input 6 Average UINT8 1 1 255 RW 2003 8 Input 7 Average UINT8 1 1 255 RW 6401 Analog Input Array 6401 0 Number of Entries UINT8 8 RO 6401 1 Analog Input 0 UINT16 RO P 6401 2 Analog Input 1 UINT16 RO P 6401 3 Analog Input 2 UINT16...

Страница 119: ...OOL RO P 6500 20 Input 3 high BOOL RO P 6500 21 Input 4 high BOOL RO P 6500 22 Input 5 high BOOL RO P 6500 23 Input 6 high BOOL RO P 6500 24 Input 7 high BOOL RO P 6500 25 32 BOOL RO P 6500 1 ResetErrorAck BOOL RO P 6500 3 EtherCAT Error BOOL RO P 6500 4 ConfigError BOOL RO P 7001 Module Control Array 7001 0 Number of Entries UINT8 1 RO 7001 1 Reset Error BOOL RW P RO Read only RW Read Write P Pro...

Страница 120: ...us Conversion time 290µs if all channels are active Internal resistance 300Ω Limit frequency Input filter 100kHz Measuring error 0 5 typically 0 4 of the end value Baud rate 100 Mbit s Controller ASIC ET1200 Connector E Bus 10 pin system plug in side wall End module not required Connector IO Power Plug 36 pole Power supply 24V DC 20 25 E bus load 190mA Part no 694 441 04 planned Part no 694 441 54...

Страница 121: ...lization no 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 4 21 2 2 LED IO The LED labeled 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 4 x E...

Страница 122: ...d If the wiring is correct 2 wire connection with bridge or 3 wire connection the faults are correctly detected displayed 4 21 3 Function The module AI4 Pt Ni TC has 4 analog inputs for temperature sensors The measuring range of each channel can be set separately to millivolts Pt100 Pt1000 Ni100 Ni1000 DIN43760 and thermo coupler 4 21 3 1 Analog inputs Check the following variable for the digitize...

Страница 123: ...k 694 443 01 Ventura FIO AI4 Pt Ni100 or 694 443 03 Ventura FIO AI4 Pt Ni1000 or 694 443 05 Ventura FIO AI4 TE shall be replaced by a module 694 443 57 Kuhnke FIO AI4 Pt Ni TC the control program of the EtherCAT master must be changed 4 21 4 2 Setting Options The transformation of the analog signals can be executed DC synchronous Distributed Clocks or SM synchronous Sync Manager The access to the ...

Страница 124: ...ies of the individual inputs can be made in the configurator already offline These are then executed by the EtherCAT master at startup It is also possible to make adjustments during runtime by executing the SDO transfer blocks of the EtherCAT master control Press the button Hinzufügen select the object and set the desired value ...

Страница 125: ...rage after n cycles default 1 4 21 4 4 StateWord In the StateWord you can watch the state of the module Bit Name Explanation 0 ResetErrorAck Acknowledge of Reset Error in Module Control 1 not used 2 EtherCATError Sync Manager Watchdog 3 ConfigError Sync Manager quantity structure does not match 4 7 not used 8 Input0low Attached measured value in the wrong area 9 Input1low Attached measured value i...

Страница 126: ...le Data type Explanation TempInputn INT Input value for channel n n 0 3 in 0 1 C Ω or 2µV 4 21 4 6 ControlWord There is a control bit to quit the error messages Bit Name Explanation 0 ResetError 0 error events are saved 1 errors are deleted after the event has gone 1 15 not used ...

Страница 127: ...INT32 RO 2000 Sensor Type Array 2000 0 Number of Entries UINT8 4 RO 2000 1 Sensor0 UINT8 Off Off 0 Internal 1 PT100 2 PT1000 3 NI100 4 NI1000 5 Thermo_K 6 Thermo_J 7 RW 2000 2 Sensor1 UINT8 Off Off Internal PT100 PT1000 NI100 NI1000 Thermo_K Thermo_J RW 2000 3 Sensor2 UINT8 Off Off Internal PT100 PT1000 NI100 NI1000 Thermo_K Thermo_J RW 2000 4 Sensor3 UINT8 Off Off Internal PT100 PT1000 NI100 NI10...

Страница 128: ...ilter UINT8 20 SPS 1000 SPS 600 SPS 330 SPS 175 SPS 90 SPS 45 SPS 20 SPS 20 SPS 50 60Hz 20 SPS 50Hz 20 SPS 60 Hz RO 2003 Average Array 2003 0 Number of Entries UINT8 4 RO 2003 1 Input 0 Average UINT8 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 Analog Input Array 6401 0 Number of Entries UINT8 4 RO 6401 1 An...

Страница 129: ...P 6500 13 16 BOOL RO P 6500 17 Input 0 high BOOL RO P 6500 18 Input 1 high BOOL RO P 6500 19 Input 2 high BOOL RO P 6500 20 Input 3 high BOOL RO P 6500 21 32 BOOL RO P 7001 Module Control Array 7001 0 Number of Entries UINT8 1 RO 7001 1 Reset Error BOOL RW P RO Read only RW Read Write P Process image ...

Страница 130: ...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 Measuring resistor 70 320Ω Measuring current 1mA typically Pt1000 Ni1000DIN43760 Measuring range Pt 75 C 670 C Measuring range Ni 60 C 250 C Measuring resistor 700 3200Ω Measuring current 0 1mA typically Baud rate 100 Mbit s Controller ASIC...

Страница 131: ...lization no 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 4 22 2 2 LED IO The LED labeled 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 4 x E...

Страница 132: ...d If the wiring is correct 2 wire connection with bridge or 3 wire connection the faults are correctly detected displayed 4 22 3 Function The module AI8 Pt Ni TC has 8 analog inputs for temperature sensors The measuring range of each channel can be set separately to millivolts Pt100 Pt1000 Ni100 Ni1000 DIN43760 and thermo coupler 4 22 3 1 Analog inputs Check the following variable for the digitize...

Страница 133: ...e FIO AI8 Pt Ni TC the control program of the EtherCAT master must be changed 4 22 4 2 Setting Options The transformation of the analog signals can be executed DC synchronous Distributed Clocks or SM synchronous Sync Manager The access to the input values and the module status is done via process data objects that are mapped in variables of the control program of the EtherCAT master For informatio...

Страница 134: ...000 DIN43760 6 Thermo K 7 Thermo J InputFormat 0 0 1 C 1 Ω V 2 Raw Raw value Data rate and Filter 0 1000 measurements per second 1 600 measurements per second 2 330 measurements per second 3 175 measurements per second 4 90 measurements per second 5 45 measurements per second 6 20 measurements per second 7 20 measurements per second 50 60Hz filter 8 20 measurements per second 50Hz filter 9 20 meas...

Страница 135: ...lue in the wrong area 15 Input7low Attached measured value in the wrong area 16 Input0high Attached measured value in the wrong area 17 Input1high Attached measured value in the wrong area 18 Input2high Attached measured value in the wrong area 19 Input3high Attached measured value in the wrong area 20 Input4high Attached measured value in the wrong area 21 Input5high Attached measured value in th...

Страница 136: ...85346 RO 1018 3 Revision Number UINT32 1 RO 1018 4 Serial Number UINT32 RO 2000 Sensor Type Array 2000 0 Number of Entries UINT8 8 RO 2000 1 Sensor0 UINT8 Off Off 0 Internal 1 PT100 2 PT1000 3 NI100 4 NI1000 5 Thermo_K 6 Thermo_J 7 RW 2000 2 Sensor1 UINT8 Off Off Internal PT100 PT1000 NI100 NI1000 Thermo_K Thermo_J RW 2000 3 Sensor2 UINT8 Off Off Internal PT100 PT1000 NI100 NI1000 Thermo_K Thermo_...

Страница 137: ...put2Format UINT8 0 1 C 0 1 C Ω V Raw RW 2001 4 Input3Format UINT8 0 1 C 0 1 C Ω V Raw RW 2001 5 Input4Format UINT8 0 1 C 0 1 C Ω V Raw RW 2001 6 Input5Format UINT8 0 1 C 0 1 C Ω V Raw RW 2001 7 Input6Format UINT8 0 1 C 0 1 C Ω V Raw RW 2001 8 Input Format UINT8 0 1 C 0 1 C Ω V Raw RW 2002 Data RateAndFilter Array 2002 0 Number of Entries UINT8 8 2002 1 Input0DataRateAnd Filter UINT8 20 SPS 1000 SP...

Страница 138: ...2002 5 Input4DataRateAndFilter UINT8 20SPS 1000SPS 600SPS 330SPS 175 SPS 90 SPS 45 SPS 20 SPS 20 SPS 50 60Hz 20 SPS 50Hz 20 SPS 60 Hz RO 2002 6 Input5DataRateAnd Filter UINT8 20 SPS 1000 SPS 600 SPS 330 SPS 175 SPS 90 SPS 45 SPS 20 SPS 20 SPS 50 60Hz 20 SPS 50Hz 20 SPS 60 Hz RO 2002 7 Input6DataRateAndFilter UINT8 20 SPS 1000 SPS 600 SPS 330 SPS 175 SPS 90 SPS 45 SPS 20 SPS 20 SPS 50 60Hz 20 SPS 5...

Страница 139: ...nalog Input 7 UINT16 RO P 6500 StateWord Array 6500 0 Number of Entries UINT8 32 RO 6500 1 ResetErrorAck BOOL RO P 6500 2 BOOL RO P 6500 3 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 Input 4 low BOOL RO P 6500 14 Input 5 low BOOL RO P 6500 15 I...

Страница 140: ...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 Measuring resistor 70 320Ω Measuring current 1mA typically Pt1000 Ni1000DIN43760 Measuring range Pt 75 C 670 C Measuring range Ni 60 C 250 C Measuring resistor 700 3200Ω Measuring current 0 1mA typically Baud rate 100 Mbit s Controller ASIC...

Страница 141: ... pins 0 to 15 of the same row The E bus is passed on from the previous one to the next module 5 1 2 Status LEDs The module has no Status LEDs 5 1 3 Function 2 wire or 3 wire potential distributor for digital IO modules 5 1 4 Technical data Potential distributor 2 x 16 Connector Potential Plug 36 pole E bus port 10 pin system plug in side wall E bus load no Part no 694 411 00 Approvals Figure 65 Co...

Страница 142: ... block makes it easy to apply the cable shield directly to the Ventura FIO module The Shield connection terminal block conducts the potential of the cable screen on the DIN top hat rail on which the Ventura FIO module is picked up The mounting rail must have a suitable earth connection The Shield connection terminal may not be used as strain relief For earth see also chapter 3 2 1 5 2 3 Technical ...

Страница 143: ... an Ethernet line online configuration The examples below are based around the standard ETG configuration tool EtherCAT configuration tool supplied by Beckhoff Automation GmbH which accesses the XML device files for both offline and online configuration The file to use for Ventura FIO is called KuhnkeEtherCATModulesAll xml Copy the file KuhnkeEtherCATModules xml to folder C Programs EtherCAT Confi...

Страница 144: ...Select Term 1 Ventura FIO Bus Coupler and run Append Box Expand branch Kuhnke Automation GmbH Co KG and its sub branch Digital IO Modules and pick DI16 DO16 694 450 01 from it Expand branch Kuhnke Automation GmbH Co KG and its sub branch Digital IO Modules and pick DI16 DO16 694 450 01 from it Keep repeating this step until your configuration is complete ...

Страница 145: ...t for a Ventura EtherCAT master the file is called KuECAT esm If your PC is connected to the EtherCAT I O module via the Ethernet you can already run an online test of the FIO modules Choose Toggle Free Run State Ctrl F5 to enable the Operational Mode of the EtherCAT I O modules Select the variable you wish to test Read inputs and set outputs Set outputs only if you are sure that this will cause n...

Страница 146: ...You are free to attach either a patch cable or a cross cable Run the EtherCAT configuration tool Choose File New to create a new I O Configuration Select I O Devices and run Scan Devices Assuming your PC has several Ethernet ports you must first select the one that the EtherCAT line is attached to Click on Yes to answer prompt Scan for boxes This completes the configuration required by the EtherCA...

Страница 147: ...art CODESYS3 create a new project Standard project and select the device that shall become the EtherCAT master Here Kuhnke FIO Controller 113 WV Highlight the device and append via context menu the EtherCAT Master from 3S Highlight the EtherCAT_Master EtherCAT Master in the device view and append FIO Controller from Kuhnke Automation ...

Страница 148: ...8 11 25 2016 Highlight E Bus FIO Controller in the device view and append AO4 16Bit from Kendrion Kuhnke Automation Highlight now Kuhnke_FIO_AO4_16Bit in the device view and take on the right side the desired settings For AO4 16Bit see starting on page 81 ...

Страница 149: ...last two steps until the configuration is complete When the devices connected to the programming PC devices are fully configured you can login yourself and test and Kuhnke FIO modules with the help of the configurator Set outputs only if you are sure that this will cause no harm ...

Страница 150: ...I8 Pt Ni Tc module and switch on the power supply Connect the Ethernet interface of your PCs via CAT5 cable with your CoDeSys3 control Kuhnke Controller 113 The cable can be both a patch cable and a crossover cable Start CoDeSys V3 Open a project for your CoDeSys3 control Kuhnke Controller 113 Highlight Device Kuhnke FIO Controller 113 and select Append device Configure an EtherCAT master by appen...

Страница 151: ...7 1 GB 151 11 25 2016 Highlight now EtherCAT_Master and start Search network CoDeSys now scans your EtherCAT configuration Click on Copy all devices into project This gives you the actual EtherCAT configuration in the project Test the EtherCAT IOs ...

Страница 152: ...Kendrion Kuhnke Automation GmbH Software E 747 1 GB 152 11 25 2016 Set outputs only if you are sure that this will cause no harm ...

Страница 153: ...ler total max power consumption 3A Electrical insulation modules electrically insulated from one another and from the bus Storage temperature 25 C 70 C Operating temperature 0 C 55 C Rel humidity 5 95 non condensing Protection IP20 Susceptibility to noise zone B to EN 61131 2 Installation on an earthed top hat rail in the earthed control 7 1 2 Kuhnke FIO bus coupler Part no 694 400 00 Fieldbus Eth...

Страница 154: ...Digital inputs 8 delay 5ms Digital outputs 8 load 0 5 A semiconductor high side 7 1 4 2 Kuhnke FIO DI8 DO8 1ms 0 5A Part no 694 450 05 Digital inputs 8 delay 1ms Digital outputs 8 load 0 5 A semiconductor high side 7 1 4 3 Kuhnke FIO DI16 DO16 5ms 0 5A Part no 694 450 01 Digital inputs 16 delay 5ms Digital outputs 16 load 0 5 A semiconductor high side 7 1 4 4 Kuhnke FIO DI16 DO16 1ms 0 5A Part no ...

Страница 155: ...7 1 4 12 Kuhnke FIO DO8 Relay NO 230VAC Part no 694 452 04 Digital outputs 8 load 5 0 A ohmic 2 0 A inductive relay NO Switching current max 24 VDC 230 VAC 7 1 4 13 Kuhnke FIO Extender 2 Port Part no 694 400 02 Terminals 2 x RJ45 7 1 4 14 Kuhnke FIO MIX 02 Part no 694 444 62 Digital inputs 4 x 1ms 1 x 0 1ms 3 x 0 001ms delay Digital outputs 8 x 0 5A 16 x 0 1A Counter 1 Clock Direction Reset Counte...

Страница 156: ...e FIO AI8 16 U 13Bit Part no 694 441 53 Analogue inputs 8 differential signal or 16 single ended Resolution 13 Bit Measuring range 0 10V 10V 5V 2 5V Sampling time 580µs all channels 7 1 4 19 Kuhnke FIO AI4 I 12Bit Part no 694 441 51 Analogue inputs 4 Resolution 12 Bit Measuring range 0 20mA 4 20mA Sampling time 235µs 4 channels 7 1 4 20 Kuhnke FIO AI8 I 12Bit Part no 694 441 54 Analogue inputs 8 R...

Страница 157: ...upler type K J Sampling time 50ms adjustable 7 1 4 23 Kuhnke FIO Counter2 5V Part no 694 444 01 Encoder Inputs 2 Counting rate max 200kHz Digital inputs 8 1ms delay Digital outputs 2 2 0 A load high side semiconductor 7 1 4 24 Kuhnke FIO CounterPosi2 5V Part no 694 454 01 Encoder Inputs 2 Counting rate max 200kHz Digital inputs 8 1ms delay Digital outputs 2 2 0 A load high side semiconductor Analo...

Страница 158: ... page 36 36 pole Kuhnke FIO DI16 1ms 694 451 03 182 639 page 38 18 pole Kuhnke FIO DO16 0 5A 694 452 01 182 646 page 40 18 pole Kuhnke FIO DO8 1A 694 452 02 176 618 page 42 18 pole Kuhnke FIO DO8 Relay NO 24V 694 452 03 184 720 page 43 18 pole Kuhnke FIO DO8 Relay NO 230VAC 694 452 04 t b d page 45 18 pole Kuhnke FIO MIX 02 CoE 694 444 62 176 215 page 76 36 pole Kuhnke FIO AO4 16 Bit 694 442 52 18...

Страница 159: ...d terminal block with release latches Kuhnke FIO Connector 18 pole 1 Piece 694 100 18 01 155 375 Kuhnke FIO Connector 36 pole 1 Piece 694 100 36 01 155 377 Kuhnke FIO Connector 2 pole 20 Pieces 694 100 02 20 155 374 Kuhnke FIO Connector 18 pole 20 Pieces 694 100 18 20 155 376 Kuhnke FIO Connector 36 pole 20 Pieces 694 100 36 20 155 378 Name Part no ID no Type Kuhnke FIO Connector black plug black ...

Страница 160: ...rt no ID no PROFIBUS plug PROFIBUS D SUB plug terminating resistor is switchable 645 180 00 93 288 The 2 18 and 36 pole IO Power connector are part of the modules and will be automatically enclosed D SUB connectors are not part of the modules and have to be ordered separately ...

Страница 161: ...w 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 GmbH Industrial Control Systems Lütjenburger Straße 101 23714 Malente Germany Tel 49 4523 402 0 Fax 49 4523 402 201 Email sales ics kendrion com Web www kendrion de ...

Страница 162: ...ower 21 limiting value class 11 Mechanical design 15 modules Counter Posi2 5V 47 Counter2 5V 47 Modules AI4 8 U 88 AI4 I 105 AI4 Pt Ni TC 120 AI8 16 U 96 AI8 I 112 AI8 Pt Ni TC 130 AO4 U I 77 Bus coupler 22 Bus coupler DI16 DO16 24 DI16 37 DI16 DO16 29 DI16 DO16 LS 33 DI16 DO8 31 DI32 35 DI8 DO8 27 DO16 39 DO8 41 DO8 Relay NO 230 VAC 45 DO8 Relay NO 24V 43 Extender 2 Port 64 MIX 02 67 order specif...

Отзывы:

Нет отзывов

Бренды по названию

Популярные бренды

Загрузить еще бренды