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EJ6002
User Manual
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Beckhoff EJ6002 User Manual

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Documentation | EN
EJ6002
2-channel serial interface RS232, RS422 or RS485
2021-04-08 | Version: 1.2

Table of contents

Table of contents
1 Foreword ....................................................................................................................................................5
1.7.1 Beckhoff Identification Code (BIC)................................................................................... 11
1.7.2 Certificates....................................................................................................................... 13
2 System overview .....................................................................................................................................14
3 Product overview.....................................................................................................................................15
3.1 EJ6002 - Introduction ......................................................................................................................15
3.2 EJ6002 - Technical Data .................................................................................................................16
3.3 EJ6002 - Pinout RS232 ...................................................................................................................17
3.4 EJ6002 - Pinout RS422 ...................................................................................................................18
3.5 EJ6002 - Pinout RS485 ...................................................................................................................19
3.6 EJ6002 - LEDs ................................................................................................................................20
4 Installation of EJ modules ......................................................................................................................21
4.1 Power supply for the EtherCAT plug-in modules.............................................................................21
4.2 EJxxxx - dimensions........................................................................................................................23
4.3 Installation positions and minimum distances .................................................................................24
4.3.1 Minimum distances for ensuring installability................................................................... 24
4.3.2 Installation positions ........................................................................................................ 25
4.4 Codings ...........................................................................................................................................27
4.4.1 Color coding..................................................................................................................... 27
4.4.2 Mechanical position coding.............................................................................................. 28
4.5 Installation on the signal distribution board .....................................................................................29
4.6 Extension options ............................................................................................................................31
4.6.1 Using placeholder modules for unused slots ................................................................... 31
4.6.2 Linking with EtherCAT Terminals and EtherCAT Box modules via an Ethernet/EtherCAT
connection ....................................................................................................................... 32
4.7 IPC integration.................................................................................................................................33
4.8 Disassembly of the signal distribution board ...................................................................................35
5 EtherCAT basics......................................................................................................................................36
6 Commissioning........................................................................................................................................37
6.1 Reference to documentation EL600x ..............................................................................................37
6.2 EJ6002 - object description and parameterization ..........................................................................37
6.2.1 Restore object.................................................................................................................. 38
6.2.2 Configuration data ........................................................................................................... 38
6.2.3 Input data......................................................................................................................... 40
6.2.4 Information and diagnostic data....................................................................................... 40
6.2.5 Standard objects (0x1000-0x1FFF) ................................................................................. 41
EJ6002 3Version: 1.2
Table of contents
6.2.6 Command object (0xFB00).............................................................................................. 53
7 Appendix ..................................................................................................................................................54
7.1 EtherCAT AL Status Codes.............................................................................................................54
7.2 EJ6002 - Firmware compatibility .....................................................................................................54
7.3 Firmware Update EL/ES/EM/ELM/EPxxxx ......................................................................................54
7.3.1 Device description ESI file/XML....................................................................................... 55
7.3.2 Firmware explanation ...................................................................................................... 58
7.3.3 Updating controller firmware *.efw................................................................................... 59
7.3.4 FPGA firmware *.rbf......................................................................................................... 61
7.3.5 Simultaneous updating of several EtherCAT devices...................................................... 65
7.4 Restoring the delivery state .............................................................................................................66
7.5 Support and Service ........................................................................................................................67
EJ60024 Version: 1.2
Foreword

1 Foreword

1.1 Notes on the documentation

Intended audience
This description is only intended for the use of trained specialists in control and automation engineering who are familiar with the applicable national standards. It is essential that the documentation and the following notes and explanations are followed when installing and commissioning these components. It is the duty of the technical personnel to use the documentation published at the respective time of each installation and commissioning.
The responsible staff must ensure that the application or use of the products described satisfy all the requirements for safety, including all the relevant laws, regulations, guidelines and standards.
Disclaimer
The documentation has been prepared with care. The products described are, however, constantly under development.
We reserve the right to revise and change the documentation at any time and without prior announcement.
No claims for the modification of products that have already been supplied may be made on the basis of the data, diagrams and descriptions in this documentation.
Trademarks
Beckhoff®, TwinCAT®, EtherCAT®, EtherCATG®, EtherCATG10®, EtherCATP®, SafetyoverEtherCAT®, TwinSAFE®, XFC®, XTS® and XPlanar® are registered trademarks of and licensed by Beckhoff Automation GmbH. Other designations used in this publication may be trademarks whose use by third parties for their own purposes could violate the rights of the owners.
Patent Pending
The EtherCAT Technology is covered, including but not limited to the following patent applications and patents: EP1590927, EP1789857, EP1456722, EP2137893, DE102015105702 with corresponding applications or registrations in various other countries.
EtherCAT® is registered trademark and patented technology, licensed by Beckhoff Automation GmbH, Germany.
Copyright
© Beckhoff Automation GmbH & Co. KG, Germany. The reproduction, distribution and utilization of this document as well as the communication of its contents to others without express authorization are prohibited. Offenders will be held liable for the payment of damages. All rights reserved in the event of the grant of a patent, utility model or design.
EJ6002 5Version: 1.2
Foreword

1.2 Safety instructions

Safety regulations
Please note the following safety instructions and explanations! Product-specific safety instructions can be found on following pages or in the areas mounting, wiring, commissioning etc.
Exclusion of liability
All the components are supplied in particular hardware and software configurations appropriate for the application. Modifications to hardware or software configurations other than those described in the documentation are not permitted, and nullify the liability of Beckhoff Automation GmbH & Co. KG.
Personnel qualification
This description is only intended for trained specialists in control, automation and drive engineering who are familiar with the applicable national standards.
Description of instructions
In this documentation the following instructions are used. These instructions must be read carefully and followed without fail!
DANGER
Serious risk of injury!
Failure to follow this safety instruction directly endangers the life and health of persons.
WARNING
Risk of injury!
Failure to follow this safety instruction endangers the life and health of persons.
CAUTION
Personal injuries!
Failure to follow this safety instruction can lead to injuries to persons.
NOTE
Damage to environment/equipment or data loss
Failure to follow this instruction can lead to environmental damage, equipment damage or data loss.
Tip or pointer
This symbol indicates information that contributes to better understanding.
EJ60026 Version: 1.2
Foreword

1.3 Intended use

WARNING
Caution - Risk of injury!
EJ components may only be used for the purposes described below!

1.4 Signal distribution board

NOTE
Signal distribution board
Make sure that the EtherCAT plug-in modules are used only on a signal distribution board that has been developed and manufactured in accordance with the Design Guide.

1.5 Documentation issue status

Version Comment
1.2 • New title page
• Update Technical data
• Update chapter EJ6002 - Connection
• Chapters Basics communication, TwinCAT Quick Start , TwinCAT development environment and General Notes - EtherCAT Slave Application replaced by references in the chapter Guide
through the documentation
• Chapter EJ6002 - Object description and parameterization added
• Update revision status
• Structural update
1.1 • Note Signal Distribution Board added
• Chapter Version identification of EtherCAT devices replaced by Marking of EtherCAT plug-in
modules
• Update Technical data
• Update chapter Connection
1.0 • First publication EJ6002

1.6 Guide through documentation

NOTE
Further components of documentation
The documentations named in the following table are further compontents of the complete documentation. These documentations are required for the use of EtherCAT plug-in mod­ules.
EJ6002 7Version: 1.2
Foreword
No. Title Description
[1]
[2]
[3]
[4] Documentation of the corresponding terminal
EtherCAT System Documentation
Infrastructure for EtherCAT/Ethernet
Design GuideSignal-Distribution-Board for standard EtherCAT plug-in modules
ELxxxx
• System overview
• EtherCAT basics
• Cable redundancy
• Hot Connect
• Distributed Clocks
• Configuration of EtherCAT-Components
• Technical recommendations and notes for design, implementation an testing
Requirements for the design of a Signal­Distribution-Board for standard EtherCAT plug-in modules
• Backplane mounting guidelines
• Module placement
• Routing guidelines
• Notes on the principle of operation and
• Descriptions for configuration and parameterization
are transferable to the corresponding Module EJxxxx (s. note on documentation of ELxxxx [}37]).

1.7 Marking of EtherCAT plug-in modules

Designation
A Beckhoff EtherCAT device has a 14-digit technical designation, made up as follows (e.g. EJ1008-0000-0017)
• Order identifier
◦ family key: EJ
◦ product designation: The first digit of product designation is used for assignment to a product
group (e.g. EJ2xxx = digital output module).
◦ Version number: The four digit version number identifies different product variants.
• Revision number: It is incremented when changes are made to the product.
The Order identifier and the revision number are printed on the side of EtherCAT plug-in modules (s. following illustration (A and B).
EJ60028 Version: 1.2
Foreword
Fig.1: Order identifier (A), Revision number (B) and serial number (C) using the example of EJ1008
Product group Example
Product designation Version Revision
EtherCAT Coupler EJ11xx
Digital input modules EJ1xxx
Digital output modules EJ2xxx
Analog input modules EJ3xxx
Analog output modules EJ4xxx
Special function modules EJ5xxx, EJ6xxx
Motion modules EJ7xxx
EJ1101 -0022
EJ1008 8-channel
EJ2521 1-channel
EJ3318 8-channel thermocouple
EJ4134 4-channel
EJ6224 IO-Link master
EJ7211 servomotor
(Coupler with external connectors, power supply module and optional ID switches
-0000 (basic type)
-0224 (2 x 24V outputs)
-0000 (basic type)
-0000 (basic type)
-0090 (with TwinSAFE SC)
-9414 (with ECT, STO and TwinSAFE SC)
Notes
• The elements mentioned above result in the technical designation. EJ1008-0000-0017 is used in the example below.
• EJ1008-0000 is the order identifier, in the case of “-0000” usually abbreviated to EJ1008.
• The revision -0017 shows the technical progress, such as the extension of features with regard to the EtherCAT communication, and is managed by Beckhoff. In principle, a device with a higher revision can replace a device with a lower revision, unless specified otherwise, e.g. in the documentation. Associated and synonymous with each revision there is usually a description (ESI, EtherCAT Slave
Information) in the form of an XML file, which is available for download from the Beckhoff web site.
• The product designation, version and revision are read as decimal numbers, even if they are technically saved in hexadecimal.
-0016
-0017
-0016
-0017
-0019
-0016
-0029
Serial number
The serial number for EtherCAT plug-in modules is usually the 8-digit number printed on the side of the module (see following illustration C). The serial number indicates the configuration in delivery state and therefore refers to a whole production batch, without distinguishing the individual modules of a batch.
EJ6002 9Version: 1.2
Foreword
Fig.2: Order identifier (A), revision number (B) and serial number (C) using the example of EJ1008
Serial number Example serial number: 08 15 08 16
KK - week of production (CW, calendar week) 08 - week of production: 08
YY - year of production 15 - year of production: 2015
FF - firmware version 08 -f irmware version: 08
HH - hardware version 16 - hardware version: 16
EJ600210 Version: 1.2
Foreword

1.7.1 Beckhoff Identification Code (BIC)

The Beckhoff Identification Code (BIC) is increasingly being applied to Beckhoff products to uniquely identify the product. The BIC is represented as a Data Matrix Code (DMC, code scheme ECC200), the content is based on the ANSI standard MH10.8.2-2016.
Fig.3: BIC as data matrix code (DMC, code scheme ECC200)
The BIC will be introduced step by step across all product groups.
Depending on the product, it can be found in the following places:
• on the packaging unit
• directly on the product (if space suffices)
• on the packaging unit and the product
The BIC is machine-readable and contains information that can also be used by the customer for handling and product management.
Each piece of information can be uniquely identified using the so-called data identifier (ANSI MH10.8.2-2016). The data identifier is followed by a character string. Both together have a maximum length according to the table below. If the information is shorter, it shall be replaced by spaces. The data under positions 1-4 are always available.
The following information is contained:
EJ6002 11Version: 1.2
Foreword
Item no.
1 Beckhoff order
2 Beckhoff Traceability
3 Article description Beckhoff article
4 Quantity Quantity in packaging
5 Batch number Optional: Year and week
6 ID/serial number Optional: Present-day
7 Variant number Optional: Product variant
...
Further types of information and data identifiers are used by Beckhoff and serve internal processes.
Structure of the BIC
Type of informa­tion
number
Number (BTN)
Explanation Data iden-
tifier
Beckhoff order number 1P 8 1P072222
Unique serial number, see note below
description, e.g. EL1008
unit, e.g. 1, 10, etc.
of production
serial number system, e.g. with safety products
number on the basis of standard products
S 12 SBTNk4p562d7
1K 32 1KEL1809
Q 6 Q1
2P 14 2P4015031800
51S 12 51S678294104
30P 32 30PF971 ,
Number of digits incl. data identifier
Example
16
2*K183
Example of composite information from items 1 - 4 and 6. The data identifiers are marked in red for better display:
BTN
An important component of the BIC is the Beckhoff Traceability Number (BTN, item no. 2). The BTN is a unique serial number consisting of eight characters that will replace all other serial number systems at Beckhoff in the long term (e.g. batch designations on IO components, previous serial number range for safety products, etc.). The BTN will also be introduced step by step, so it may happen that the BTN is not yet coded in the BIC
Notice
This information has been carefully prepared. However, the procedure described is constantly being further developed. We reserve the right to revise and change procedures and documentation at any time and without prior notice. No claims for changes can be made from the information, illustrations and descriptions in this information.
EJ600212 Version: 1.2

1.7.2 Certificates

• The EhterCAT plug-in modules meet the requirements of the EMC and Low Voltage Directive. The CE mark is printed on the side of the modules.
• The cRUus imprint identifies devices that meet product safety requirements according to U.S. and Canadian regulations.
• The warning symbol is a request to read the corresponding documentation. The documentations for EtherCAT plug-in modules can be downloaded from the Beckhoff homepage.
Foreword
Fig.4: Marking for CE and UL using EJ1008 as an example
EJ6002 13Version: 1.2
System overview

2 System overview

Electronically, the EJxxxx EtherCAT plug-in modules are based on the EtherCAT I/O system. The EJ system consists of the signal distribution board and EtherCAT plug-in modules. It is also possible to connect an IPC to the EJ system. The EJ system is suitable for mass production applications, applications with small footprint and applications requiring a low total weight. The machine complexity can be extended by means of the following:
• reserve slots,
• the use of placeholder modules,
• linking of EtherCAT Terminals and EtherCAT Boxes via an EtherCAT connection.
The following diagram illustrates an EJ system. The components shown are schematic, to illustrate the functionality.
Fig.5: EJ system sample
Signal distribution board
The signal distribution board distributes the signals and the power supply to individual application-specific plug connectors, in order to connect the controller to further machine modules. Using pre-assembled cable harnesses avoids the need for time-consuming connection of individual wires. Coded components reduce the unit costs and the risk of miswiring. Beckhoff offers development of signal distribution boards as an engineering service. Customers have the option to develop their own signal distribution board, based on the design guide.
EtherCAT plug-in modules
Similar to the EtherCAT terminal system, a module strand consists of a Bus Coupler and I/O modules. Almost all of the EtherCAT Terminals can also be manufactured in the EJ design as EtherCAT plug-in modules. The EJ modules are directly attached to the signal distribution board. The communication, signal distribution and supply take place via the contact pins at the rear of the modules and the PCB tracks of the signal distribution board. The coding pins at the rear serve as mechanical protection against incorrect connection. Color coding on the housing facilitates distinguishing of the modules.
EJ600214 Version: 1.2

3 Product overview

3.1 EJ6002 - Introduction

Product overview
Fig.6: EJ6002
2-channel serial interface RS232, RS422 or RS485
The serial interface EJ6002 allows the connection of up to two devices with RS232, RS422 or RS485 interfaces. The interfaces are electrically isolated from each other and from the EtherCAT.
Different operation modes (RS232, RS422 and RS485), baud rates and modes (e.g. termination, BIAS failsafe) can be configured via software.
The devices connected to the EJ6002 EtherCAT plug-in module communicate with the automation device via the coupler in an electrically isolated manner and thus guarantee a high level of interference immunity.
The active communication channel operates independently of the higher-level EtherCAT system in full duplex mode with 300baud up to 256kbaud.
In conjunction with the TwinCAT Virtual Serial COM Driver the EJ6002 can be used as a normal Windows COM interface.
EJ6002 15Version: 1.2
Product overview

3.2 EJ6002 - Technical Data

Technical data EJ6002
Technology Serial interface
Interfaces Individually selectable RS232, RS422 or RS485
Termination settings via software configuration
Data transfer channels 2
Data transfer rate 300..256000Baud (freely configurable)
Distributed Clocks -
Data buffer 864 byte receive buffer, 128 byte transmit buffer per channel
Electrical isolation 500V (E-bus/field voltage)
Current consumption via E-bus 190mA
Permissible ambient temperature range during operation
Permissible ambient temperature range during storage
Permissible relative air humidity 95%, no condensation
Operating altitude max. 2,000m
Dimensions (WxHxD) approx. 12mm x 66mm x 55mm
Weight approx.30g
Mounting on signal distribution board
Pollution degree 2
Mounting position
Position of the coding pins [}28]
Color coding grey
Vibration / shock resistance according to EN60068-2-6/EN60068-2-27 (with corresponding signal
EMC immunity/emission conforms to EN61000-6-2/EN61000-6-4 (with corresponding signal
Protection class EJ module: IP20
Approval CE, UL
-25°C .. +60°C
-40°C .. +85°C
Standard [}25]
2 and 5
distribution board)
distribution board)
EJ system: dependent on the signal distribution board and housing
CE approval
The CE Marking refers to the EtherCAT plug-in module mentioned above. If the EtherCAT plug-in module is used in the production of a ready-to-use end product (PCB in con­junction with a housing), the manufacturer of the end product must check compliance of the overall system with relevant directives and CE certification. To operate the EtherCAT plug-in modules, they must be installed in a housing.
EJ600216 Version: 1.2

3.3 EJ6002 - Pinout RS232

Product overview
Fig.7: EJ6002 - Pinout RS232
The PCB footprint can be downloaded from the Beckhoff homepage.
NOTE
Damage to devices possible!
• The pins named with “NC” must not be connected.
• Before installation and commissioning read the chapters Installation of EJ modules [}21] and Commissioning [}37]!
EJ6002 17Version: 1.2
Product overview

3.4 EJ6002 - Pinout RS422

Fig.8: EJ6002 - Pinout RS422
The PCB footprint can be downloaded from the Beckhoff homepage.
NOTE
Damage to devices possible!
• The pins named with “NC” must not be connected.
• Before installation and commissioning read the chapters Installation of EJ modules [}21] and Commissioning [}37]!
EJ600218 Version: 1.2

3.5 EJ6002 - Pinout RS485

Product overview
Fig.9: EJ6002 - Pinout RS485
The PCB footprint can be downloaded from the Beckhoff homepage.
NOTE
Damage to devices possible!
• The pins named with “NC” must not be connected.
• Before installation and commissioning read the chapters Installation of EJ modules [}21] and Commissioning [}37]!
EJ6002 19Version: 1.2
Product overview

3.6 EJ6002 - LEDs

Fig.10: EJ6002 - LEDs
LED Color Display State Description
RUN green off Init State of the EtherCAT State Machine: INIT =
initialization of the plug-in module
flashing Pre-Operational State of the EtherCAT State Machine: PREOP = function
for mailbox communication and different default settings set
single flash Safe-Operational State of the EtherCAT State Machine: SAFEOP =
verification of the Sync Manager channels and the distributed clocks. Outputs remain in safe state
on Operational State of the EtherCAT State Machine: OP = normal
operating state; mailbox and process data communication is possible
flickering Bootstrap State of the EtherCAT State Machine: BOOTSTRAP =
function for firmware updates [}54] of the plug-in module
TX1, TX2 green on - Data is transmitted via the respective signal line
(channel 1, channel 2)
off - No activity on the transmission line
RX1, RX2 green on - Data are received via the respective signal line (channel
1, channel 2)
off - No activity on the receive line
ERR1 ERR2
red off - No error
on - An error has occurred.
EJ600220 Version: 1.2
Installation of EJ modules

4 Installation of EJ modules

4.1 Power supply for the EtherCAT plug-in modules

WARNING
Power supply
A SELV/PELV power supply must be used to supply power for the EJ coupler and modules. Couplers and modules have to be connected to SELV/PELV circuits exclusively.
The signal distribution board should have a power supply designed for the maximum possible current load of the module string. Information on the current required from the E-bus supply can be found for each module in the respective documentation in section “Technical data”, online and in the catalog. The power requirement of the module string is displayed in the TwinCAT System Manager.
E-bus power supply with EJ1100 or EJ1101-0022 and EJ940x
The EJ1100 Bus Coupler supplies the connected EJ modules with the E-bus system voltage of 3.3V. The Coupler can accommodate a load up to 2.2A. If a higher current is required, a combination of the coupler EJ1101-0022 and the power supply units EJ9400 (2.5A) or EJ9404 (12A) should be used. The EJ940x power supply units can be used as additional supply modules in the module string.
Depending on the application, the following combinations for the E-bus supply are available:
Fig.11: E-bus power supply with EJ1100 or EJ1101-0022 + EJ940x
In the EJ1101-0022 coupler, the RJ45 connectors and optional ID switches are external and can be positioned anywhere on the signal distribution board, as required. This facilitates feeding through a housing.
The EJ940x power supply plug-in modules provide an optional reset function (see chapter Connection of the documentation for EJ9400 and EJ9404)
EJ6002 21Version: 1.2
Installation of EJ modules
E-bus power supply with CXxxxx and EK1110-004x
The Embedded PC supplies the attached EtherCAT terminals and the EtherCAT EJ coupler
• with a supply voltage of 24VDC (-15 %/+20%). This voltage supplies the E-bus and the bus terminal electronics. The CXxxxx units supply the E-bus with up to 2,000mA E-bus current. If a higher current is required due to the attached terminals, power feed terminals or power supply plug-in modules must be used for the E-bus supply.
• with a peripheral voltage Up of 24VDC to supply the field electronics.
The EK1110-004x EtherCAT EJ couplers relay the following parameters to the signal distribution board via the rear connector:
• the E-bus signals,
• the E-bus voltage U
(3.3V) and
EBUS
• the peripheral voltage UP (24VDC).
Fig.12: PCB with Embedded PC, EK1110-0043 and EJxxxx, rear view EK1110-0043
EJ600222 Version: 1.2
Installation of EJ modules

4.2 EJxxxx - dimensions

The EJ modules are compact and lightweight thanks to their design. Their volume is approx. 50% smaller than the volume of the EL terminals. A distinction is made between four different module types, depending on the width and the height:
Module type Dimensions (W x H x D) Sample in figure below
Coupler 44mm x 66mm x 55mm EJ1100 (ej_44_2xrj45_coupler)
Single module 12mm x 66mm x 55mm EJ1809 (ej_12_16pin_code13)
Double module 24mm x 66mm x 55mm EJ7342 (ej_24_2x16pin_code18)
Single module (long) 12mm x 152mm x 55mm EJ1957 (ej_12_2x16pin_extended_code4747)
Fig.13: EJxxxx - Dimensions
The technical drawings can be downloaded from the Beckhoff homepage. The drawings are named as described in the drawing below.
Fig.14: Naming of the technical drawings
EJ6002 23Version: 1.2
Installation of EJ modules

4.3 Installation positions and minimum distances

4.3.1 Minimum distances for ensuring installability

Note the dimensions shown in the following diagram for the design of the signal distribution board to ensure safe latching and simple assembly / disassembly of the modules.
Fig.15: Mounting distances EJ module - PCB
Observing the reaching area
A minimum reaching area of 92mm is required for assembly / disassembly, in order to be able to reach the mounting tabs with the fingers.
Adherence to the recommended minimum distances for ventilation (see section Installation position [}25]) ensures an adequate reaching area.
The signal distribution board must have a thickness of 1.6mm and a minimum distance of 4mm from the mounting surface, in order to ensure latching of the modules on the board.
EJ600224 Version: 1.2
Installation of EJ modules

4.3.2 Installation positions

NOTE
Constraints regarding installation position and operating temperature range
Please refer to the technical data [}16] for the installed components to ascertain whether any restrictions regarding the mounting position and/or the operating temperature range have been specified. During instal­lation of modules with increased thermal dissipation, ensure adequate distance above and below the mod­ules to other components in order to ensure adequate ventilation of the modules during operation!
The standard installation position is recommended. If a different installation position is used, check whether additional ventilation measures are required.
Ensure that the specified conditions (see Technical data) are adhered to!
Optimum installation position (standard)
For the optimum installation position the signal distribution board is installed horizontally, and the fronts of the EJ modules face forward (see Fig. Recommended distances for standard installation position). The modules are ventilated from below, which enables optimum cooling of the electronics through convection. “From below” is relative to the acceleration of gravity.
Fig.16: Recommended distances for standard installation position
Compliance with the distances shown in Fig. Recommended distances for standard installation position is recommend. The recommended minimum distances should not be regarded as restricted areas for other components. The customer is responsible for verifying compliance with the environmental conditions described in the technical data. Additional cooling measures must be provided, if required.
EJ6002 25Version: 1.2
Installation of EJ modules
Other installation positions
All other installation positions are characterized by a different spatial position of the signal distribution board, see Fig. Other installation positions.
The minimum distances to ambient specified above also apply to these installation positions.
Fig.17: Other installation positions
EJ600226 Version: 1.2

4.4 Codings

4.4.1 Color coding

Installation of EJ modules
Fig.18: EJ modules color code; sample: EJ1809
The EJ modules are color-coded for a better overview in the control cabinet (see diagram above). The color code indicates the signal type. The following table provides an overview of the signal types with corresponding color coding.
Signal type Modules Color
Coupler EJ11xx No color coding
Digital input EJ1xxx Yellow
Digital output EJ2xxx Red
Analog input EJ3xxx Green
Analog output EJ4xxx Blue
Motion EJ7xxx orange
System EJ9xxx grey
EJ6002 27Version: 1.2
Installation of EJ modules

4.4.2 Mechanical position coding

The modules have two signal-specific coding pins on the underside (see Figs. B1 and B2 below). In conjunction with the coding holes in the signal distribution board (see Figs. A1 and A2 below), the coding pins provide an option for mechanical protection against incorrect connection. This significantly reduces the risk of error during installation and service. Couplers and placeholder modules have no coding pins.
Fig.19: Mechanical position coding with coding pins (B1 and B2) and coding holes (A1 and A2)
The following diagram shows the position of the position coding with position numbers on the left-hand side. Modules with the same signal type have the same coding. For sample, all digital input modules have the coding pins at positions one and three. There is no plug protection between modules with the same signal type. During installation the module type should therefore be verified based on the device name.
Fig.20: Pin coding; sample: digital input modules
EJ600228 Version: 1.2
Installation of EJ modules

4.5 Installation on the signal distribution board

EJ modules are installed on the signal distribution board. The electrical connections between coupler and EJ modules are realized via the pin contacts and the signal distribution board.
The EJ components must be installed in a control cabinet or enclosure which must provide protection against fire hazards, environmental conditions and mechanical impact.
WARNING
Risk of injury through electric shock and damage to the device!
Bring the module system into a safe, de-energized state before starting installation, disassembly or wiring of the modules.
NOTE
Risk of damage to components through electrostatic discharge!
Observe the regulations for ESD protection.
Fig.21: Installation of EJ modules
A1 / A2 Latching lugs top / bottom C1 / C2 Mounting holes
B1 / B2 Coding pins D1 / D2 Coding holes
To install the modules on the signal distribution board proceed as follows:
1. Before the installation, ensure that the signal distribution board is securely connected to the mounting surface. Installation on an unsecured signal distribution board may result in damage to the board.
2. If necessary, check whether the positions of the coding pins (B) match the corresponding holes in the signal distribution board (D).
3. Compare the device name on the module with the information in the installation drawing.
4. Press the upper and the lower mounting tabs simultaneously and push the module onto the board while gently moving it up and down, until the module is latched securely. The required contact pressure can only be established and the maximum current carrying capacity en­sured if the module is latched securely.
5. Use placeholder modules (EJ9001) to fill gaps in the module strand.
EJ6002 29Version: 1.2
Installation of EJ modules
NOTE
• During installation ensure safe latching of the modules on the signal distribution board! The conse­quences of inadequate contact pressure include:
ð loss of quality of the transferred signals,
ð increased power dissipation of the contacts,
ð impairment of the service life.
EJ600230 Version: 1.2
Installation of EJ modules

4.6 Extension options

Three options are available for modifications and extensions of the EJ system.
• Replacing the placeholder modules with the function modules provided for the respective slot
• Assigning function modules specified for the respective slots for the reserve slots at the end of the
module string
• Linking with EtherCAT Terminals and EtherCAT Box modules via an Ethernet/EtherCAT connection

4.6.1 Using placeholder modules for unused slots

The EJ9001 placeholder modules are used to close temporary gaps in the module strands (see Fig. A1 below). Gaps in the module strand cause interruption in EtherCAT communication and must be equipped with placeholder modules. In contrast to the passive terminals of the EL series, the placeholder modules actively participate in the data exchange. Several placeholder modules can therefore be connected in series, without impairing the data exchange. Unused slots at the end of the module strand can be left as reserve slots (see Fig. B1 below).
The machine complexity is extended (extended version) by allocating unused slots (see Figs. A2 below ­Exchanging placeholder modules and B2 - Assigning reserve slots) according to the specifications for the signal distribution board.
Fig.22: Sample: Exchanging placeholder modules and assigning reserve slots
E-bus supply
Exchange the placeholder modules with other modules changes the current input from the E-Bus. Ensure that adequate power supply is provided.
EJ6002 31Version: 1.2
Installation of EJ modules

4.6.2 Linking with EtherCAT Terminals and EtherCAT Box modules via an Ethernet/EtherCAT connection

Fig.23: Example of extension via an Ethernet/EtherCAT connection
EJ600232 Version: 1.2
Installation of EJ modules

4.7 IPC integration

Connection of CX and EL terminals via the EK1110-004x EtherCAT EJ Coupler
The EK1110-0043 and EK1110-0044 EtherCAT EJ couplers connect the compact DIN-rail PCs of the CX series and attached EtherCAT terminals (ELxxxx) with the EJ modules on the signal distribution board.
The EK1110-004x are supplied from the power supply unit of the Embedded PC. The E-bus signals and the supply voltage of the field side UP are routed directly to the PCB via a plug connector at the rear of the EtherCAT EJ couplers.
Due to the direct coupling of the Embedded PC and the EL terminals with the EJ modules on the PCB, no EtherCAT extension (EK1110) or EtherCAT coupler (EJ1100) is required.
The Embedded PC can be expanded with EtherCAT terminals that are not yet available in the EJ system, forexample.
Fig.24: Example PCB with Embedded PC, EK1110-0043 and EJxxxx, rear view EK1110-0043
EJ6002 33Version: 1.2
Installation of EJ modules
Connection of C6015 / C6017 via the EJ110x-00xx EtherCAT Coupler
Thanks to their ultra-compact design and versatile mounting options, the C6015 and C6017 IPCs are ideally suited for connection to an EJ system.
In combination with the ZS5000-0003 mounting set, it is possible to place the C6015 and C6017 IPCs compactly on the signal distribution board. The EJ system is optimally connected to the IPC via the corresponding EtherCAT cable (see following Fig. [A]). The IPC can be supplied directly via the signal distribution board using the enclosed power plug (see Fig. [B] below).
NOTE
Positioning on the signal distribution board
The dimensions and distances for placement and other details can be found in the Design Guide and the documentation for the individual components.
The figure below shows the connection of a C6015 IPC to an EJ system as an example. The components shown are schematic, to illustrate the functionality.
Fig.25: Example for the connection of a C6015 IPC to an EJ system
EJ600234 Version: 1.2
Installation of EJ modules

4.8 Disassembly of the signal distribution board

WARNING
Risk of injury through electric shock and damage to the device!
Bring the module system into a safe, de-energized state before starting installation, disassembly or wiring of the modules.
NOTE
Risk of damage to components through electrostatic discharge!
Observe the regulations for ESD protection.
Each module is secured through latching on the distribution board, which has to be released for disassembly.
Fig.26: Disassembly of EJ modules
To disassemble the module from the signal distribution board proceed as follows:
1. Before disassembly, ensure that the signal distribution board is securely connected to the mounting surface. Disassembly of an unsecured signal distribution board may result in damage to the board.
2. Press the upper and lower mounting tabs simultaneously and pull the module from board while gently moving it up and down.
EJ6002 35Version: 1.2
EtherCAT basics

5 EtherCAT basics

Please refer to the EtherCAT System Documentation for the EtherCAT fieldbus basics.
EJ600236 Version: 1.2
Commissioning

6 Commissioning

6.1 Reference to documentation EL600x

Detailed documentation on the commissioning of the EJ6002 module is being prepared.
NOTE
Damage to devices or loss of data
The descriptions and notes on the commissioning of the EL600x EtherCAT Terminals are transferable to the EJ6002 EtherCAT plug-in module.
Before commissioning, read the detailed description of the process data, operation modes and parameterization in the EL600x documentation.

6.2 EJ6002 - object description and parameterization

EtherCAT XML Device Description
The display matches that of the CoE objects from the EtherCAT XML Device Description. We rec­ommend downloading the latest XML file from the download area of the Beckhoff website and in­stalling it according to installation instructions.
Parameterization via the CoE list (CAN over EtherCAT)
The EtherCAT device is parameterized via the CoE - Online tab (with a double click on the respec­tive object) or via the Process Data tab (assignment of PDOs). A detailed description can be found
in the EtherCAT System-Documentation in chapter “EtherCAT subscriber configuration” Please note the general CoE notes in the EtherCAT System Documentation in chapter “CoE-inter- face” when using/manipulating the CoE parameters:
- Keep a startup list if components have to be replaced
- Differentiation between online/offline dictionary, existence of current XML description
- use "CoE reload" for resetting changes
Introduction
The CoE overview contains objects for different intended applications:
• Objects required for parameterization during commissioning:
◦ Restore object index 0x1011
◦ Configuration data index 0x80n0
• Profile-specific objects:
◦ Input data index 0x60n0
◦ Information and diagnostic data Index 0xF000, 0xF008, 0xF010
• Standard objects
The following section first describes the objects required for normal operation, followed by a complete overview of missing objects.
EJ6002 37Version: 1.2
Commissioning

6.2.1 Restore object

Index 1011 Restore default parameters
Index
Name Meaning Data type Flags Default
(hex)
1011:0
Restore default parame-
Restore default parameters UINT8 RO 0x01 (1
ters [}66]
1011:01 SubIndex 001 If this object is set to “0x64616F6C” in the set value dia-
UINT32 RW 0x00000000 (0
log, all backup objects are reset to their delivery state.

6.2.2 Configuration data

Index 80n0 COM Settings Ch.1 (n = 0), Ch.2 (n = 1)
Index (hex)
80n0:0 COM Settings Ch.(n+1) Max. Subindex (hex) UINT8 RO 0x1D (29
80n0:01 Enable RTS/CTS FALSE:
80n0:02 Enable XON/XOFF sup-
80n0:03 Enable XON/XOFF sup-
80n0:04 Enable send FIFO data
80n0:05 Enable transfer rate op-
80n0:06 Enable half duplex FALSE:
Name Meaning Data type Flags Default
BOOLEAN RW 0x01 (1
RTS/CTS not enabled
TRUE: enabled
ported tx data
FALSE: XON/XOFF is not supported for send data
BOOLEAN RW 0x00 (0
TRUE: XON/XOFF is supported for send data
ported rx data
FALSE: XON/XOFF is not supported for input data
BOOLEAN RW 0x00 (0
TRUE: XON/XOFF is supported for input data
continuous
FALSE: No continuous sending of data from the FIFO
BOOLEAN RW 0x00 (0
TRUE: Continuous sending of data from the FIFO enabled:
• The send buffer is filled (up to 128bytes) by the controller.
• The filled buffer content is sent with a rising edge of the bit "Send continuous" (0x70n0:04).
• The terminal acknowledges the data transfer to the controller by setting the bit "Init accepted" (0x60n0:03 ). ""Init accepted" is reset with "Send continuous".
timization
FALSE: Transfer rate optimization switched off
BOOLEAN RW 0x01 (1
TRUE: Transfer rate optimization switched on: The content of the input buffer is automatically trans­ferred into the process image if
• no further byte was received for approx. 16 bit times (the time it would have taken to receive 2bytes) after receiving data.
• the process image is filled
BOOLEAN RW 0x00 (0
Full-duplex mode
TRUE: Half-duplex mode
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
EJ600238 Version: 1.2
Commissioning
Index
Name Meaning Data type Flags Default
(hex)
80n0:11 Baud rate Configurable baud rates:
1
: 300baud
dec
2
: 600baud
dec
3
: 1200baud
dec
4
: 2400baud
dec
5
: 4800baud
dec
6
: 9600baud (default)
dec
7
: 19.2kbaud
dec
8
: 38.4kbaud
dec
9
: 57.6kbaud
dec
10
: 115.2kbaud
dec
80n0:15 Data frame Available coding
1
: 7E1
dec
2
: 701
dec
3
: 8N1 (default)
dec
4
: 8E1
dec
5
: 801
dec
8
: 7N2
dec
9
: 7E2
dec
10
: 702
dec
11
: 8N2
dec
12
: 8E2
dec
13
: 802
dec
80n0:1A Rx buffer full notification The value specifies the number of data in the receive
FIFO from which the bit in index 0x60n0:04 "buffer full" is set.
80n0:1B Explicit baud rate The desired baud rate can be entered here as a number
Only the baud rates specified in index 0x80n0:11 are supported.
The settings in this index are also adopted in 0x80n0:11.
80n0:1D Mode of operation Selection of the communication standard:
16
: RS232 (default)
dec
17
: RS232, manual operation
dec
18
: RS232, manual flow control
dec
32
: RS422 (bus device)
dec
33
: RS422, terminated RX
dec
34
: RS422, BIAS/failsafe RX
dec
35
: RS422, terminated and BIAS/failsafe RX (end de-
dec
vice) 64
: RS485 (bus device)
dec
65
: RS485, terminated
dec
66
: RS485, BIAS/failsafe
dec
67
: RS485, terminated and BIAS/failsafe (end device)
dec
BIT4 RW 0x06 (6
BIT4 RW 0x03 (3
)
dec
)
dec
UINT16 RW 0x0360 (864
UINT32 RW 0x00000384
(9600
)
dec
UINT32 RW 0x00000010
(16
)
dec
)
dec
EJ6002 39Version: 1.2
Commissioning

6.2.3 Input data

Index 60n0 COM Inputs Ch. 1 (n = 0), Ch. 2 (n = 1)
Index
Name Meaning Data type Flags Default
(hex)
60n0:0 COM Inputs Ch. (n+1) Length of this object UINT8 RO 0x26 (38
60n0:01 Transmit accepted The module acknowledges the receipt of data with a
BOOLEAN RO 0x00 (0
change of state of this bit.
Only then are new data transferred from the controller to the module.
60n0:02 Receive request By changing the state of this bit, the module notifies the
BOOLEAN RO 0x00 (0 controller that the number of bytes indicated in index 0x60n0:09 "Input length" are located in the DataIn bytes.
The controller must acknowledge receipt of the data with a change of state of the "Receive accepted" bit (index 0x70n0:02).
Only then is new data transferred from the module to the controller.
60n0:03 Init Accepted FALSE:
BOOLEAN RO 0x00 (0 The module is once again ready for serial data ex­change.
TRUE: The initialization was executed by the module.
60n0:04 Buffer full The receive FIFO is full.
BOOLEAN RO 0x00 (0
NoteAll incoming data will be lost from this point on!
60n0:05 Parity error A parity error has occurred. BOOLEAN RO 0x00 (0
60n0:06 Framing error A framing error has occurred. BOOLEAN RO 0x00 (0
60n0:07 Overrun error An overrun error has occurred. BOOLEAN RO 0x00 (0
60n0:09 Input length Number of input bytes ready for transfer from the module
UINT8 RO 0x00 (0 to the controller.
60n0:11 Data In 0 Input byte 0 UINT8 RO 0x00 (0
… … … … … …
60n0:26 Data In 21 Input byte 21 UINT8 RO 0x00 (0
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
Index 60n1 Com Ext. Inputs Ch. 1 (n = 0), Ch.2 (n = 1)
Index (hex)
60n1:0 Com Ext. Inputs Ch.
60n1:01 Rx BOOLEAN RO 0x00 (0
60n1:02 CTS BOOLEAN RO 0x00 (0
Name Meaning Data type Flags Default
Length of this object UINT8 RO 0x02 (2
(n+1)
)
dec
)
dec
)
dec

6.2.4 Information and diagnostic data

Index F000 Modular device profile
Index (hex)
F000:0 Modular device profile General information for the modular device profile UINT8 RO 0x02 (2
F000:01 Module index distance Index distance of the objects of the individual channels UINT16 RO 0x0010 (16
F000:02 Maximum number of
Index F008 Code word
Index (hex)
F008:0 Code word reserved UINT32 RW 0x00000000 (0
Name Meaning Data type Flags Default
Number of channels UINT16 RO 0x0002 (2
modules
Name Meaning Data type Flags Default
)
dec
dec
dec
)
)
)
dec
EJ600240 Version: 1.2
Commissioning
Index F010 Module list
Index (hex) Name Meaning Data type Flags Default
F010:0 Module list Length of this object UINT8 RW 0x01 (1
dec
F010:01 SubIndex 001 Revision UINT32 RW 0x00000258
(600
)
dec
F010:02 SubIndex 002 - UINT32 RW 0x00000258
(600
)
dec
Index F081 Download revision
Index (hex) Name Meaning Data type Flags Default
F010:0 Module list Max. Subindex UINT8 RW 0x02 (2
F010:01 SubIndex 001
Configured module revision (see note [}55])
UINT32 RW 0x00000258
(600
dec
)
dec

6.2.5 Standard objects (0x1000-0x1FFF)

The standard objects have the same meaning for all EtherCAT slaves.
Index 1000 Device type
)
)
Index
Name Meaning Data type Flags Default
(hex)
1000:0 Device type Device type of the EtherCAT slave: The Lo-Word con-
tains the CoE profile used (5001). The Hi-Word contains
UINT32 RO 0x02581389
(39326601 the module profile according to the modular device pro­file.
Index 1008 Device name
Index (hex)
1008:0 Device name Device name of the EtherCAT slave STRING RO EJ6002
Name Meaning Data type Flags Default
Index 1009 Hardware version
Index (hex)
1009:0 Hardware version Hardware version of the EtherCAT slave STRING RO 00
Name Meaning Data type Flags Default
Index 100A Software version
Index (hex)
100A:0 Software version Firmware version of the EtherCAT slave STRING RO 01
Name Meaning Data type Flags Default
Index 1018 Identity
)
dec
Index
Name Meaning Data type Flags Default
(hex)
1018:0 Identity Information for identifying the slave UINT8 RO 0x04 (4
)
dec
1018:01 Vendor ID Vendor ID of the EtherCAT slave UINT32 RO 0x00000002 (2
1018:02 Product code Product code of the EtherCAT slave UINT32 RO 0x177222852
(393357394
1018:03 Revision Revision numberof the EtherCAT slave; the Low Word
UINT32 RO 0x00000000 (0 (bit 0-15) indicates the special terminal number, the High Word (bit 16-31) refers to the device description
1018:04 Serial number Serial number of the EtherCAT slave; the Low Byte (bit
UINT32 RO 0x00000000 (0 0-7) of the Low Word contains the year of production, the High Byte (bit 8-15) of the Low Word contains the week of production, the High Word (bit 16-31) is 0
EJ6002 41Version: 1.2
)
dec
)
dec
)
dec
)
dec
Commissioning
Index 10F0 Backup parameter handling
Index
Name Meaning Data type Flags Default
(hex)
10F0:0 Backup parameter han-
dling
Information for standardized loading and saving of backup entries
10F0:01 Checksum Checksum across all backup entries of the EtherCAT
slave
UINT8 RO 0x01 (1
)
dec
UINT32 RO 0x00000000 (0
)
dec
EJ600242 Version: 1.2
Index 1600 COM RxPDO-Map Outputs Ch.1
Commissioning
Index (hex)
1600:0 COM RxPDO-Map Out-
1600:01 SubIndex 001 1. PDO Mapping entry (object 0x7000 (COM Outputs
1600:02 SubIndex 002 2. PDO Mapping entry (object 0x7000 (COM Outputs
1600:03 SubIndex 003 3. PDO Mapping entry (object 0x7000 (COM Outputs
1600:04 SubIndex 004 4. PDO Mapping entry (object 0x7000 (COM Outputs
1600:05 SubIndex 005 5. PDO Mapping entry (4 bits align) UINT32 RO 0x0000:00, 4
1600:06 SubIndex 006 6. PDO Mapping entry (object 0x7000 (COM Outputs
1600:07 SubIndex 007 7. PDO Mapping entry (object 0x7000 (COM Outputs
1600:08 SubIndex 008 8. PDO Mapping entry (object 0x7000 (COM Outputs
1600:09 SubIndex 009 9. PDO Mapping entry (object 0x7000 (COM Outputs
1600:0A SubIndex 010 10. PDO Mapping entry (object 0x7000 (COM Outputs
1600:0B SubIndex 011 11. PDO Mapping entry (object 0x7000 (COM Outputs
1600:0C SubIndex 012 12. PDO Mapping entry (object 0x7000 (COM Outputs
1600:0D SubIndex 013 13. PDO Mapping entry (object 0x7000 (COM Outputs
1600:0E SubIndex 014 14. PDO Mapping entry (object 0x7000 (COM Outputs
1600:0F SubIndex 015 15. PDO Mapping entry (object 0x7000 (COM Outputs
1600:10 SubIndex 016 16. PDO Mapping entry (object 0x7000 (COM Outputs
1600:11 SubIndex 017 17. PDO Mapping entry (object 0x7000 (COM Outputs
1600:12 SubIndex 018 18. PDO Mapping entry (object 0x7000 (COM Outputs
1600:13 SubIndex 019 19. PDO Mapping entry (object 0x7000 (COM Outputs
1600:14 SubIndex 020 20. PDO Mapping entry (object 0x7000 (COM Outputs
1600:15 SubIndex 021 21. PDO Mapping entry (object 0x7000 (COM Outputs
1600:16 SubIndex 022 22. PDO Mapping entry (object 0x7000 (COM Outputs
1600:17 SubIndex 023 23. PDO Mapping entry (object 0x7000 (COM Outputs
1600:18 SubIndex 024 24. PDO Mapping entry (object 0x7000 (COM Outputs
1600:19 SubIndex 025 25. PDO Mapping entry (object 0x7000 (COM Outputs
1600:1A SubIndex 026 26. PDO Mapping entry (object 0x7000 (COM Outputs
1600:1B SubIndex 027 27. PDO Mapping entry (object 0x7000 (COM Outputs
1600:1C SubIndex 028 28. PDO Mapping entry (object 0x7000 (COM Outputs
Name Meaning Data type Flags Default
PDO Mapping RxPDO 1 UINT8 RO 0x1C (28
puts Ch.1
UINT32 RO 0x7000:01, 1 Ch.1), entry 0x01 (Transmit request))
UINT32 RO 0x7000:02, 1 Ch.1), entry 0x02 (Receive accepted))
UINT32 RO 0x7000:03, 1 Ch.1), entry 0x03 (Init request))
UINT32 RO 0x7000:04, 1 Ch.1), entry 0x04 (Send continuous))
UINT32 RO 0x7000:09, 8 Ch.1), entry 0x09 (Output length))
UINT32 RO 0x7000:11, 8 Ch.1) entry 0x11 (Data Out 0))
UINT32 RO 0x7000:12, 8 Ch.1) entry 0x12 (Data Out 1))
UINT32 RO 0x7000:13, 8 Ch.1) entry 0x13 (Data Out 2))
UINT32 RO 0x7000:14, 8 Ch.1) entry 0x14 (Data Out 3))
UINT32 RO 0x7000:15, 8 Ch.1) entry 0x15 (Data Out 4))
UINT32 RO 0x7000:16, 8 Ch.1) entry 0x16 (Data Out 5))
UINT32 RO 0x7000:17, 8 Ch.1) entry 0x17 (Data Out 6))
UINT32 RO 0x7000:18, 8 Ch.1) entry 0x18 (Data Out 7))
UINT32 RO 0x7000:19, 8 Ch.1) entry 0x19 (Data Out 8))
UINT32 RO 0x7000:1A, 8 Ch.1) entry 0x1A (Data Out 9))
UINT32 RO 0x7000:1B, 8 Ch.1) entry 0x1B (Data Out 10))
UINT32 RO 0x7000:1C, 8 Ch.1) entry 0x1C (Data Out 11))
UINT32 RO 0x7000:1D, 8 Ch.1) entry 0x1D (Data Out 12))
UINT32 RO 0x7000:1E, 8 Ch.1) entry 0x1E (Data Out 13))
UINT32 RO 0x7000:1F, 8 Ch.1) entry 0x1F (Data Out 14))
UINT32 RO 0x7000:20, 8 Ch.1) entry 0x20 (Data Out 15))
UINT32 RO 0x7000:21, 8 Ch.1) entry 0x21 (Data Out 16))
UINT32 RO 0x7000:22, 8 Ch.1) entry 0x22 (Data Out 17))
UINT32 RO 0x7000:23, 8 Ch.1) entry 0x23 (Data Out 18))
UINT32 RO 0x7000:24, 8 Ch.1) entry 0x24 (Data Out 19))
UINT32 RO 0x7000:25, 8 Ch.1) entry 0x25 (Data Out 20))
UINT32 RO 0x7000:26, 8 Ch.1) entry 0x26 (Data Out 21))
dec
)
EJ6002 43Version: 1.2
Commissioning
Index 1601 COM RxPDO-Map Ext. Outputs Ch.1
Index (hex)
1601:0 COM RxPDO-Map Ext.
1601:01 SubIndex 001 1. PDO Mapping entry (object 0x7001 (COM Ext. Out-
1601:02 SubIndex 002 2. PDO Mapping entry (object 0x7001 (COM Ext. Out-
1601:03 SubIndex 003 3. PDO Mapping entry (14 bits align) UINT32 RO 0x0000:00, 14
Name Meaning Data type Flags Default
PDO Mapping RxPDO 2 UINT8 RO 0x03 (03
Outputs Ch.1
UINT32 RO 0x7001:01, 1 puts Ch.1), entry 0x01 (Tx))
UINT32 RO 0x7001:02, 1 puts Ch.1) entry 0x02 (RTS))
)
dec
EJ600244 Version: 1.2
Index 1602 COM RxPDO-Map Outputs Ch.2
Commissioning
Index (hex)
1602:0 COM RxPDO-Map Out-
1602:01 SubIndex 001 1. PDO Mapping entry (object 0x7010 (COM Outputs
1602:02 SubIndex 002 2. PDO Mapping entry (object 0x7010 (COM Outputs
1602:03 SubIndex 003 3. PDO Mapping entry (object 0x7010 (COM Outputs
1602:04 SubIndex 004 4. PDO Mapping entry (object 0x7010 (COM Outputs
1602:05 SubIndex 005 5. PDO Mapping entry (4 bits align) UINT32 RO 0x0000:00, 4
1602:06 SubIndex 006 6. PDO Mapping entry (object 0x7010 (COM Outputs
1602:07 SubIndex 007 7. PDO Mapping entry (object 0x7010 (COM Outputs
1602:08 SubIndex 008 8. PDO Mapping entry (object 0x7010 (COM Outputs
1602:09 SubIndex 009 9. PDO Mapping entry (object 0x7010 (COM Outputs
1602:0A SubIndex 010 10. PDO Mapping entry (object 0x7010 (COM Outputs
1602:0B SubIndex 011 11. PDO Mapping entry (object 0x7010 (COM Outputs
1602:0C SubIndex 012 12. PDO Mapping entry (object 0x7010 (COM Outputs
1602:0D SubIndex 013 13. PDO Mapping entry (object 0x7010 (COM Outputs
1602:0E SubIndex 014 14. PDO Mapping entry (object 0x7010 (COM Outputs
1602:0F SubIndex 015 15. PDO Mapping entry (object 0x7010 (COM Outputs
1602:10 SubIndex 016 16. PDO Mapping entry (object 0x7010 (COM Outputs
1602:11 SubIndex 017 17. PDO Mapping entry (object 0x7010 (COM Outputs
1602:12 SubIndex 018 18. PDO Mapping entry (object 0x7010 (COM Outputs
1602:13 SubIndex 019 19. PDO Mapping entry (object 0x7010 (COM Outputs
1602:14 SubIndex 020 20. PDO Mapping entry (object 0x7010 (COM Outputs
1602:15 SubIndex 021 21. PDO Mapping entry (object 0x7010 (COM Outputs
1602:16 SubIndex 022 22. PDO Mapping entry (object 0x7010 (COM Outputs
1602:17 SubIndex 023 23. PDO Mapping entry (object 0x7010 (COM Outputs
1602:18 SubIndex 024 24. PDO Mapping entry (object 0x7010 (COM Outputs
1602:19 SubIndex 025 25. PDO Mapping entry (object 0x7010 (COM Outputs
1602:1A SubIndex 026 26. PDO Mapping entry (object 0x7010 (COM Outputs
1602:1B SubIndex 027 27. PDO Mapping entry (object 0x7010 (COM Outputs
1602:1C SubIndex 028 28. PDO Mapping entry (object 0x7010 (COM Outputs
Name Meaning Data type Flags Default
PDO Mapping RxPDO 3 UINT8 RO 0x1C (28
puts Ch.2
UINT32 RO 0x7010:01, 1 Ch.2), entry 0x01 (Transmit request))
UINT32 RO 0x7010:02, 1 Ch.2), entry 0x02 (Receive accepted))
UINT32 RO 0x7010:03, 1 Ch.2), entry 0x03 (Init request))
UINT32 RO 0x7010:04, 1 Ch.2), entry 0x04 (Send continuous))
UINT32 RO 0x7010:09, 8 Ch.2), entry 0x09 (Output length))
UINT32 RO 0x7010:11, 8 Ch.2) entry 0x11 (Data Out 0))
UINT32 RO 0x7010:12, 8 Ch.2) entry 0x12 (Data Out 1))
UINT32 RO 0x7010:13, 8 Ch.2) entry 0x13 (Data Out 2))
UINT32 RO 0x7010:14, 8 Ch.2) entry 0x14 (Data Out 3))
UINT32 RO 0x7010:15, 8 Ch.2) entry 0x15 (Data Out 4))
UINT32 RO 0x7010:16, 8 Ch.2) entry 0x16 (Data Out 5))
UINT32 RO 0x7010:17, 8 Ch.2) entry 0x17 (Data Out 6))
UINT32 RO 0x7010:18, 8 Ch.2) entry 0x18 (Data Out 7))
UINT32 RO 0x7010:19, 8 Ch.2) entry 0x19 (Data Out 8))
UINT32 RO 0x7010:1A, 8 Ch.2) entry 0x1A (Data Out 9))
UINT32 RO 0x7010:1B, 8 Ch.2) entry 0x1B (Data Out 10))
UINT32 RO 0x7010:1C, 8 Ch.2) entry 0x1C (Data Out 11))
UINT32 RO 0x7010:1D, 8 Ch.2) entry 0x1D (Data Out 12))
UINT32 RO 0x7010:1E, 8 Ch.2) entry 0x1E (Data Out 13))
UINT32 RO 0x7010:1F, 8 Ch.2) entry 0x1F (Data Out 14))
UINT32 RO 0x7010:20, 8 Ch.2) entry 0x20 (Data Out 15))
UINT32 RO 0x7010:21, 8 Ch.2) entry 0x21 (Data Out 16))
UINT32 RO 0x7010:22, 8 Ch.2) entry 0x22 (Data Out 17))
UINT32 RO 0x7010:23, 8 Ch.2) entry 0x23 (Data Out 18))
UINT32 RO 0x7010:24, 8 Ch.2) entry 0x24 (Data Out 19))
UINT32 RO 0x7010:25, 8 Ch.2) entry 0x25 (Data Out 20))
UINT32 RO 0x7010:26, 8 Ch.2) entry 0x26 (Data Out 21))
dec
)
EJ6002 45Version: 1.2
Commissioning
Index 1603 COM RxPDO-Map Ext. Outputs Ch.2
Index (hex)
1603:0 COM RxPDO-Map Ext.
1603:01 SubIndex 001 1. PDO Mapping entry (object 0x7011 (COM Ext. Out-
1603:02 SubIndex 002 2. PDO Mapping entry (object 0x7011 (COM Ext. Out-
1603:03 SubIndex 003 3. PDO Mapping entry (14 bits align) UINT32 RO 0x0000:00, 14
Name Meaning Data type Flags Default
PDO Mapping RxPDO 4 UINT8 RO 0x03 (03
Outputs Ch.2
UINT32 RO 0x7011:01, 1 puts Ch.2), entry 0x01 (Tx))
UINT32 RO 0x7011:02, 1 puts Ch.2) entry 0x02 (RTS))
)
dec
EJ600246 Version: 1.2
Index 1A00 COM TxPDO-Map Inputs Ch.1
Commissioning
Index (hex)
1A00:0 COM TxPDO-Map In-
1A00:01 SubIndex 001 1. PDO Mapping entry (object 0x6000 (COM Inputs
1A00:02 SubIndex 002 2. PDO Mapping entry (object 0x6000 (COM Inputs
1A00:03 SubIndex 003 3. PDO Mapping entry (object 0x6000 (COM Inputs
1A00:04 SubIndex 004 4. PDO Mapping entry (object 0x6000 (COM Inputs
1A00:05 SubIndex 005 5. PDO Mapping entry (object 0x6000 (COM Inputs
1A00:06 SubIndex 006 6. PDO Mapping entry (object 0x6000 (COM Inputs
1A00:07 SubIndex 007 7. PDO Mapping entry (object 0x0x6000 (COM Inputs
1A00:08 SubIndex 008 8. PDO Mapping entry (1 bits align) UINT32 RO 0x0000:00, 1
1A00:09 SubIndex 009 9. PDO Mapping entry (object 0x0x6000 (COM Inputs
1A00:0A SubIndex 010 10. PDO Mapping entry (object 0x0x6000 (COM Inputs
1A00:0B SubIndex 011 11. PDO Mapping entry (object 0x0x6000 (COM Inputs
1A00:0C SubIndex 012 12. PDO Mapping entry (object 0x0x6000 (COM Inputs
1A00:0D SubIndex 013 13. PDO Mapping entry (object 0x0x6000 (COM Inputs
1A00:0E SubIndex 014 14. PDO Mapping entry (object 0x0x6000 (COM Inputs
1A00:0F SubIndex 015 15. PDO Mapping entry (object 0x0x6000 (COM Inputs
1A00:10 SubIndex 016 16. PDO Mapping entry (object 0x0x6000 (COM Inputs
1A00:11 SubIndex 017 17. PDO Mapping entry (object 0x0x6000 (COM Inputs
1A00:12 SubIndex 018 18. PDO Mapping entry (object 0x0x6000 (COM Inputs
1A00:13 SubIndex 019 19. PDO Mapping entry (object 0x0x6000 (COM Inputs
1A00:14 SubIndex 020 20. PDO Mapping entry (object 0x0x6000 (COM Inputs
1A00:15 SubIndex 021 21. PDO Mapping entry (object 0x0x6000 (COM Inputs
1A00:16 SubIndex 022 22. PDO Mapping entry (object 0x0x6000 (COM Inputs
1A00:17 SubIndex 023 23. PDO Mapping entry (object 0x0x6000 (COM Inputs
1A00:18 SubIndex 024 24. PDO Mapping entry (object 0x0x6000 (COM Inputs
1A00:19 SubIndex 025 25. PDO Mapping entry (object 0x0x6000 (COM Inputs
1A00:1A SubIndex 026 26. PDO Mapping entry (object 0x0x6000 (COM Inputs
1A00:1B SubIndex 027 27. PDO Mapping entry (object 0x0x6000 (COM Inputs
1A00:1C SubIndex 028 28. PDO Mapping entry (object 0x0x6000 (COM Inputs
1A00:1D SubIndex 029 29. PDO Mapping entry (object 0x0x6000 (COM Inputs
1A00:1E SubIndex 030 30. PDO Mapping entry (object 0x0x6000 (COM Inputs
1A00:1F SubIndex 031 31. PDO Mapping entry (object 0x0x6000 (COM Inputs
Name Meaning Data type Flags Default
PDO Mapping TxPDO 1 UINT8 RO 0x1F (31
puts Ch.1
UINT32 RO 06000:01, 1 Ch.1), entry 0x01 (Transmit accepted))
UINT32 RO 06000:02, 1 Ch.1), entry 0x02 (Receive request))
UINT32 RO 06000:03, 1 Ch.1), entry 0x03 (Init accepted))
UINT32 RO 06000:04, 1 Ch.1), entry 0x04 (Buffer full))
UINT32 RO 06000:05, 1 Ch.1), entry 0x05 (Parity error))
UINT32 RO 06000:06, 1 Ch.1), entry 0x06 (Framing error))
UINT32 RO 06000:07, 1 Ch.1), entry 0x07 (Overrun error))
UINT32 RO 06000:09, 8 Ch.1), entry 0x09 (Input length))
UINT32 RO 06000:11, 8 Ch.1), entry 0x11 (Data In 0))
UINT32 RO 06000:12, 8 Ch.1), entry 0x12 (Data In 1))
UINT32 RO 06000:13, 8 Ch.1), entry 0x13 (Data In 2))
UINT32 RO 06000:14, 8 Ch.1), entry 0x14 (Data In 3))
UINT32 RO 06000:15, 8 Ch.1), entry 0x15 (Data In 4))
UINT32 RO 06000:16, 8 Ch.1), entry 0x16 (Data In 5))
UINT32 RO 06000:17, 8 Ch.1), entry 0x17 (Data In 6))
UINT32 RO 06000:18, 8 Ch.1), entry 0x18 (Data In 7))
UINT32 RO 06000:19, 8 Ch.1), entry 0x19 (Data In 8))
UINT32 RO 06000:1A, 8 Ch.1), entry 0x1A (Data In 9))
UINT32 RO 06000:1B, 8 Ch.1), entry 0x1B (Data In 10))
UINT32 RO 06000:1C, 8 Ch.1), entry 0x1C (Data In 11))
UINT32 RO 06000:1D, 8 Ch.1), entry 0x1C (Data In 12))
UINT32 RO 06000:1E, 8 Ch.1), entry 0x1E (Data In 13))
UINT32 RO 06000:1F, 8 Ch.1), entry 0x1F (Data In 14))
UINT32 RO 06000:20, 8 Ch.1), entry 0x20 (Data In 15))
UINT32 RO 06000:21, 8 Ch.1), entry 0x21 (Data In 16))
UINT32 RO 06000:22, 8 Ch.1), entry 0x22 (Data In 17))
UINT32 RO 06000:23, 8 Ch.1), entry 0x23 (Data In 18))
UINT32 RO 06000:24, 8 Ch.1), entry 0x24 (Data In 19))
UINT32 RO 06000:25, 8 Ch.1), entry 0x25 (Data In 20))
UINT32 RO 06000:26, 8 Ch.1), entry 0x26 (Data In 21))
dec
)
EJ6002 47Version: 1.2
Commissioning
Index 1A01 COM TxPDO-Map Ext. Inputs Ch.1
Index (hex)
1A01:0 COM TxPDO-Map Ext.
1A01:01 SubIndex 001 1. PDO Mapping entry (object 0x6001 (COM Ext. Inputs
1A01:02 SubIndex 002 2. PDO Mapping entry (object 0x6001 (COM Ext. Inputs
1A01:03 SubIndex 003 3. PDO Mapping entry (14 bits align) UINT32 RO 0x0000:00, 14
Name Meaning Data type Flags Default
PDO Mapping TxPDO 2 UINT8 RO 0x03 (3
Inputs Ch.1
UINT32 RO 0x6001:01, 1 Ch.1), entry 0x01 (Rx))
UINT32 RO 0x6001:02, 1 Ch.1), entry 0x02 (CTS))
)
dec
EJ600248 Version: 1.2
Index 1A02 COM TxPDO-Map Inputs Ch.2
Commissioning
Index (hex)
1A02:0 COM TxPDO-Map In-
1A02:01 SubIndex 001 1. PDO Mapping entry (object 0x6010 (COM Inputs
1A02:02 SubIndex 002 2. PDO Mapping entry (object 0x6010 (COM Inputs
1A02:03 SubIndex 003 3. PDO Mapping entry (object 0x6010 (COM Inputs
1A02:04 SubIndex 004 4. PDO Mapping entry (object 0x6010 (COM Inputs
1A02:05 SubIndex 005 5. PDO Mapping entry (object 0x6010 (COM Inputs
1A02:06 SubIndex 006 6. PDO Mapping entry (object 0x6010 (COM Inputs
1A02:07 SubIndex 007 7. PDO Mapping entry (object 0x0x6010 (COM Inputs
1A02:08 SubIndex 008 8. PDO Mapping entry (1 bits align) UINT32 RO 0x0000:00, 1
1A02:09 SubIndex 009 9. PDO Mapping entry (object 0x0x6010 (COM Inputs
1A02:0A SubIndex 010 10. PDO Mapping entry (object 0x0x6010 (COM Inputs
1A02:0B SubIndex 011 11. PDO Mapping entry (object 0x0x6010 (COM Inputs
1A02:0C SubIndex 012 12. PDO Mapping entry (object 0x0x6010 (COM Inputs
1A02:0D SubIndex 013 13. PDO Mapping entry (object 0x0x6010 (COM Inputs
1A02:0E SubIndex 014 14. PDO Mapping entry (object 0x0x6010 (COM Inputs
1A02:0F SubIndex 015 15. PDO Mapping entry (object 0x0x6010 (COM Inputs
1A02:10 SubIndex 016 16. PDO Mapping entry (object 0x0x6010 (COM Inputs
1A02:11 SubIndex 017 17. PDO Mapping entry (object 0x0x6010 (COM Inputs
1A02:12 SubIndex 018 18. PDO Mapping entry (object 0x0x6010 (COM Inputs
1A02:13 SubIndex 019 19. PDO Mapping entry (object 0x0x6010 (COM Inputs
1A02:14 SubIndex 020 20. PDO Mapping entry (object 0x0x6010 (COM Inputs
1A02:15 SubIndex 021 21. PDO Mapping entry (object 0x0x6010 (COM Inputs
1A02:16 SubIndex 022 22. PDO Mapping entry (object 0x0x6010 (COM Inputs
1A02:17 SubIndex 023 23. PDO Mapping entry (object 0x0x6010 (COM Inputs
1A02:18 SubIndex 024 24. PDO Mapping entry (object 0x0x6010 (COM Inputs
1A02:19 SubIndex 025 25. PDO Mapping entry (object 0x0x6010 (COM Inputs
1A02:1A SubIndex 026 26. PDO Mapping entry (object 0x0x6010 (COM Inputs
1A02:1B SubIndex 027 27. PDO Mapping entry (object 0x0x6010 (COM Inputs
1A02:1C SubIndex 028 28. PDO Mapping entry (object 0x0x6010 (COM Inputs
1A02:1D SubIndex 029 29. PDO Mapping entry (object 0x0x6010 (COM Inputs
1A02:1E SubIndex 030 30. PDO Mapping entry (object 0x0x6010 (COM Inputs
1A02:1F SubIndex 031 31. PDO Mapping entry (object 0x0x6010 (COM Inputs
Name Meaning Data type Flags Default
PDO Mapping TxPDO 3 UINT8 RO 0x1F (31
puts Ch.2
UINT32 RO 06010:01, 1 Ch.2), entry 0x01 (Transmit accepted))
UINT32 RO 06010:02, 1 Ch.2), entry 0x02 (Receive request))
UINT32 RO 06010:03, 1 Ch.2), entry 0x03 (Init accepted))
UINT32 RO 06010:04, 1 Ch.2), entry 0x04 (Buffer full))
UINT32 RO 06010:05, 1 Ch.2), entry 0x05 (Parity error))
UINT32 RO 06010:06, 1 Ch.2), entry 0x06 (Framing error))
UINT32 RO 06010:07, 1 Ch.2), entry 0x07 (Overrun error))
UINT32 RO 06010:09, 8 Ch.2), entry 0x09 (Input length))
UINT32 RO 06010:11, 8 Ch.2), entry 0x11 (Data In 0))
UINT32 RO 06010:12, 8 Ch.2), entry 0x12 (Data In 1))
UINT32 RO 06010:13, 8 Ch.2), entry 0x13 (Data In 2))
UINT32 RO 06010:14, 8 Ch.2), entry 0x14 (Data In 3))
UINT32 RO 06010:15, 8 Ch.2), entry 0x15 (Data In 4))
UINT32 RO 06010:16, 8 Ch.2), entry 0x16 (Data In 5))
UINT32 RO 06010:17, 8 Ch.2), entry 0x17 (Data In 6))
UINT32 RO 06010:18, 8 Ch.2), entry 0x18 (Data In 7))
UINT32 RO 06010:19, 8 Ch.2), entry 0x19 (Data In 8))
UINT32 RO 06010:1A, 8 Ch.2), entry 0x1A (Data In 9))
UINT32 RO 06010:1B, 8 Ch.2), entry 0x1B (Data In 10))
UINT32 RO 06010:1C, 8 Ch.2), entry 0x1C (Data In 11))
UINT32 RO 06010:1D, 8 Ch.2), entry 0x1D (Data In 12))
UINT32 RO 06010:1E, 8 Ch.2), entry 0x1E (Data In 13))
UINT32 RO 06010:1F, 8 Ch.2), entry 0x1F (Data In 14))
UINT32 RO 06010:20, 8 Ch.2), entry 0x20 (Data In 15))
UINT32 RO 06010:21, 8 Ch.2), entry 0x21 (Data In 16))
UINT32 RO 06010:22, 8 Ch.2), entry 0x22 (Data In 17))
UINT32 RO 06010:23, 8 Ch.2), entry 0x23 (Data In 18))
UINT32 RO 06010:24, 8 Ch.2), entry 0x24 (Data In 19))
UINT32 RO 06010:25, 8 Ch.2), entry 0x25 (Data In 20))
UINT32 RO 06010:26, 8 Ch.2), entry 0x26 (Data In 21))
dec
)
EJ6002 49Version: 1.2
Commissioning
Index 1A03 COM TxPDO-Map Ext. Inputs Ch.2
Index
Name Meaning Data type Flags Default
(hex)
1A03:0 COM TxPDO-Map Ext.
Inputs Ch.2
1A03:01 SubIndex 001 1. PDO Mapping entry (object 0x6011 (COM Ext. Inputs
PDO Mapping TxPDO 2 UINT8 RO 0x03 (3
UINT32 RO 0x6011:01, 1
)
dec
Ch.2), entry 0x01 (Rx))
1A03:02 SubIndex 002 2. PDO Mapping entry (object 0x6011 (COM Ext. Inputs
UINT32 RO 0x6011:02, 1 Ch.2), entry 0x02 (CTS))
1A03:03 SubIndex 003 3. PDO Mapping entry (14 bits align) UINT32 RO 0x0000:00, 14
Index 1C00 Sync manager type
Index (hex)
1C00:0 Sync manager type Using the Sync Managers UINT8 RO 0x04 (4
1C00:01 SubIndex 001 Sync-Manager Type Channel 1: Mailbox Write UINT8 RO 0x01 (1
1C00:02 SubIndex 002 Sync-Manager Type Channel 2: Mailbox Read UINT8 RO 0x02 (2
1C00:03 SubIndex 003 Sync-Manager Type Channel 3: Process Data Write
1C00:04 SubIndex 004 Sync-Manager Type Channel 4: Process Data Read (In-
Name Meaning Data type Flags Default
UINT8 RO 0x03 (3 (Outputs)
UINT8 RO 0x04 (4 puts)
)
dec
)
dec
)
dec
)
dec
)
dec
Index 1C12 RxPDO assign
Index (hex)
1C12:0 RxPDO assign PDO Assign Outputs UINT8 RW 0x00 (0
Name Meaning Data type Flags Default
)
dec
Index 1C13 TxPDO assign
Index (hex)
1C13:0 TxPDO assign PDO Assign Inputs UINT8 RO 0x00 (0
Name Meaning Data type Flags Default
)
dec
EJ600250 Version: 1.2
Index 1C32 SM output parameter
Commissioning
Index
Name Meaning Data type Flags Default
(hex)
1C32:0 SM output parameter Synchronization parameters for the inputs UINT8 RO 0x20 (32
1C32:01 Sync mode Current synchronization mode:
UINT16 RW 0x0000 (0
dec
dec
• 0: Free Run
• 1: Synchron with SM 3 Event (no outputs available)
• 2: DC - Synchron with SYNC0 Event
• 3: DC - Synchron with SYNC1 Event
• 34: Synchron with SM 2 Event (outputs available)
1C32:02 Cycle time Cycle time (in ns):
• Free Run: Cycle time of the local timer
UINT32 RW 0x0003D090
(250000
dec
• Synchron with SM 2 Event: Master cycle time
• DC mode: SYNC0/SYNC1 Cycle Time
1C32:03 Shift time Time between SYNC0 event and reading of the inputs (in
ns, only DC mode)
1C32:04 Sync modes supported Supported synchronization modes:
UINT32 RO 0x00000384
(900
)
dec
UINT16 RO 0x0001 (1
dec
• Bit 0: free run is supported
• Bit 1: Synchron with SM 2 Event is supported (outputs available)
• Bit 1: Synchron with SM 3 Event is supported (no outputs available)
• Bit 2-3 = 01: DC mode is supported
• Bit 4-5 = 01: Input Shift through local event (outputs available)
• Bit 4-5 = 10: Input Shift with SYNC1 Event (no outputs available)
• Bit 14 = 1: dynamic times (measurement through writing of 0x1C33:08)
1C32:05 Minimum cycle time Minimum cycle time (in ns) UINT32 RO 0x00002710
1C32:06 Calc and copy time Time between reading of the inputs and availability of the
(10000
UINT32 RO 0x00000000 (0
)
dec
inputs for the master (in ns, only DC mode)
1C32:07 Minimum delay time Min. time between SYNC1 event and the reading of the
inputs (in ns, DC mode only)
1C32:08 Command With this entry the real required process data provision
time can be measured.
UINT32 RO 0x00000384
(900
)
dec
UINT16 RW 0x0000 (0
dec
• 0: Measurement of the local cycle time is stopped
• 1: Measurement of the local cycle time is started
The entries 0x1C33:03, 0x1C33:06, 0x1C33:09 are up­dated with the maximum measured values. For a subsequent measurement the measured values are reset
1C32:09 Maximum Delay time Time between SYNC1 event and reading of the inputs (in
ns, only DC mode)
1C32:0B SM event missed
counter
Number of missed SM events in OPERATIONAL (DC mode only)
1C32:0C Cycle exceeded counter Number of occasions the cycle time was exceeded in
OPERATIONAL (cycle was not completed in time or the
UINT32 RO 0x00000384
(900
)
dec
UINT16 RO 0x0000 (0
UINT16 RO 0x0000 (0
dec
dec
next cycle began too early)
1C32:0D Shift too short counter Number of occasions that the interval between SYNC0
and SYNC1 event was too short (DC mode only)
1C32:20 Sync error The synchronization was not correct in the last cycle
(outputs were output too late; DC mode only)
UINT16 RO 0x0000 (0
BOOLEAN RO 0x00 (0
dec
dec
)
)
)
)
)
)
dec
)
)
)
)
EJ6002 51Version: 1.2
Commissioning
Index 1C33 SM input parameter
Index
Name Meaning Data type Flags Default
(hex)
1C33:0 SM input parameter Synchronization parameters for the inputs UINT8 RO 0x20 (32
1C33:01 Sync mode Current synchronization mode:
UINT16 RW 0x0022 (34
dec
• 0: Free Run
• 1: Synchron with SM 3 Event (no outputs available)
• 2: DC - Synchron with SYNC0 Event
• 3: DC - Synchron with SYNC1 Event
• 34: Synchron with SM 2 Event (outputs available)
1C33:02 Cycle time Cycle time (in ns):
• Free Run: Cycle time of the local timer
UINT32 RW 0x0003D090
(250000
dec
• Synchron with SM 2 Event: Master cycle time
• DC mode: SYNC0/SYNC1 Cycle Time
1C33:03 Shift time Time between SYNC0 event and reading of the inputs (in
ns, only DC mode)
1C33:04 Sync modes supported Supported synchronization modes:
UINT32 RO 0x00000384
(900
)
dec
UINT16 RO 0x0001 (1
dec
• Bit 0: free run is supported
• Bit 1: Synchron with SM 2 Event is supported (outputs available)
• Bit 1: Synchron with SM 3 Event is supported (no outputs available)
• Bit 2-3 = 01: DC mode is supported
• Bit 4-5 = 01: Input Shift through local event (outputs available)
• Bit 4-5 = 10: Input Shift with SYNC1 Event (no outputs available)
• Bit 14 = 1: dynamic times (measurement through writing of 0x1C33:08)
1C33:05 Minimum cycle time Minimum cycle time (in ns) UINT32 RO 0x00002710
1C33:06 Calc and copy time Time between reading of the inputs and availability of the
(10000
UINT32 RO 0x00000000 (0
)
dec
inputs for the master (in ns, only DC mode)
1C33:07 Minimum delay time Min. time between SYNC1 event and the reading of the
inputs (in ns, DC mode only)
1C33:08 Command With this entry the real required process data provision
time can be measured.
UINT32 RO 0x00000384
(900
)
dec
UINT16 RW 0x0000 (0
dec
• 0: Measurement of the local cycle time is stopped
• 1: Measurement of the local cycle time is started
The entries 0x1C33:03, 0x1C33:06, 0x1C33:09 are up­dated with the maximum measured values. For a subsequent measurement the measured values are reset
1C33:09 Maximum Delay time Time between SYNC1 event and reading of the inputs (in
ns, only DC mode)
1C33:0B SM event missed
counter
Number of missed SM events in OPERATIONAL (DC mode only)
1C33:0C Cycle exceeded counter Number of occasions the cycle time was exceeded in
OPERATIONAL (cycle was not completed in time or the
UINT32 RO 0x00000384
(900
)
dec
UINT16 RO 0x0000 (0
UINT16 RO 0x0000 (0
dec
dec
next cycle began too early)
1C33:0D Shift too short counter Number of occasions that the interval between SYNC0
and SYNC1 event was too short (DC mode only)
1C33:20 Sync error The synchronization was not correct in the last cycle
(outputs were output too late; DC mode only)
UINT16 RO 0x0000 (0
BOOLEAN RO 0x00 (0
dec
dec
)
)
)
dec
)
)
)
dec
)
)
)
)
EJ600252 Version: 1.2

6.2.6 Command object (0xFB00)

Index FB00 CMD command
Commissioning
Index (hex)
FB00:0 CMD command Max. Subindex (hex) UINT8 RO 0x03 (03
FB00:01 Request The Object command can be used to trigger various ac-
FB00:02 Status Status of the command currently being executed
FB00:03 Response Optional return value of the command
Name Meaning Data type Flags Default
tions. No commands are available at this time.
0: Command executed without error and without re­sponse
1: Command executed without error and with response
2: Command executed with error and without response
3: Command executed with error and with response
255: Command is being executed
Response: up to 48 bit
OCTET­STRING [16 bit]
UINT8 RO 0x00 (0
OCTET­STRING [48 bit]
RW
RO
)
dec
)
dec
EJ6002 53Version: 1.2
Appendix

7 Appendix

7.1 EtherCAT AL Status Codes

For detailed information please refer to the EtherCAT system description.

7.2 EJ6002 - Firmware compatibility

Beckhoff EtherCAT devices are delivered with the latest available firmware version. Compatibility of firmware and hardware is mandatory; not every combination ensures compatibility. The overview below shows the hardware versions on which a firmware can be operated.
Note
• It is recommended to use the newest possible firmware for the respective hardware
• Beckhoff is not under any obligation to provide customers with free firmware updates for delivered products.
NOTE
Risk of damage to the device!
Pay attention to the instructions for firmware updates on the separate page [}54]. If a device is placed in BOOTSTRAP mode for a firmware update, it does not check when downloading whether the new firmware is suitable. This can result in damage to the device! Therefore, always make sure that the firmware is suitable for the hardware version!
EJ6002
Hardware (HW) Firmware (FW) Revision no. Release date
00 - 03* 01* EJ6002-0000-0016 2018/03
*) This is the current compatible firmware/hardware version at the time of the preparing this documentation. Check on the Beckhoff website whether more up-to-date documentation is available.

7.3 Firmware Update EL/ES/EM/ELM/EPxxxx

This section describes the device update for Beckhoff EtherCAT slaves from the EL/ES, ELM, EM, EK and EP series. A firmware update should only be carried out after consultation with Beckhoff support.
NOTE
Only use TwinCAT 3 software!
A firmware update of Beckhoff IO devices must only be performed with a TwinCAT 3 installation. It is rec­ommended to build as up-to-date as possible, available for free download on the Beckhoff website https:// www.beckhoff.com/en-us/.
To update the firmware, TwinCAT can be operated in the so-called FreeRun mode, a paid license is not re­quired.
The device to be updated can usually remain in the installation location, but TwinCAT has to be operated in the FreeRun. Please make sure that EtherCAT communication is trouble-free (no LostFrames etc.).
Other EtherCAT master software, such as the EtherCAT Configurator, should not be used, as they may not support the complexities of updating firmware, EEPROM and other device components.
Storage locations
An EtherCAT slave stores operating data in up to three locations:
EJ600254 Version: 1.2
Appendix
• Depending on functionality and performance EtherCAT slaves have one or several local controllers for processing I/O data. The corresponding program is the so-called firmware in *.efw format.
• In some EtherCAT slaves the EtherCAT communication may also be integrated in these controllers. In this case the controller is usually a so-called FPGA chip with *.rbf firmware.
• In addition, each EtherCAT slave has a memory chip, a so-called ESI-EEPROM, for storing its own device description (ESI: EtherCAT Slave Information). On power-up this description is loaded and the EtherCAT communication is set up accordingly. The device description is available from the download
area of the Beckhoff website at (https://www.beckhoff.com). All ESI files are accessible there as zip files.
Customers can access the data via the EtherCAT fieldbus and its communication mechanisms. Acyclic mailbox communication or register access to the ESC is used for updating or reading of these data.
The TwinCAT System Manager offers mechanisms for programming all three parts with new data, if the slave is set up for this purpose. Generally the slave does not check whether the new data are suitable, i.e. it may no longer be able to operate if the data are unsuitable.
Simplified update by bundle firmware
The update using so-called bundle firmware is more convenient: in this case the controller firmware and the ESI description are combined in a *.efw file; during the update both the firmware and the ESI are changed in the terminal. For this to happen it is necessary
• for the firmware to be in a packed format: recognizable by the file name, which also contains the revision number, e.g. ELxxxx-xxxx_REV0016_SW01.efw
• for password=1 to be entered in the download dialog. If password=0 (default setting) only the firmware update is carried out, without an ESI update.
• for the device to support this function. The function usually cannot be retrofitted; it is a component of many new developments from year of manufacture 2016.
Following the update, its success should be verified
• ESI/Revision: e.g. by means of an online scan in TwinCAT ConfigMode/FreeRun – this is a convenient way to determine the revision
• Firmware: e.g. by looking in the online CoE of the device
NOTE
Risk of damage to the device!
ü Note the following when downloading new device files
a) Firmware downloads to an EtherCAT device must not be interrupted
b) Flawless EtherCAT communication must be ensured. CRC errors or LostFrames must be avoided.
c) The power supply must adequately dimensioned. The signal level must meet the specification.
ð In the event of malfunctions during the update process the EtherCAT device may become unusable and
require re-commissioning by the manufacturer.

7.3.1 Device description ESI file/XML

NOTE
Attention regarding update of the ESI description/EEPROM
Some slaves have stored calibration and configuration data from the production in the EEPROM. These are irretrievably overwritten during an update.
The ESI device description is stored locally on the slave and loaded on start-up. Each device description has a unique identifier consisting of slave name (9 characters/digits) and a revision number (4 digits). Each slave configured in the System Manager shows its identifier in the EtherCAT tab:
EJ6002 55Version: 1.2
Appendix
Fig.27: Device identifier consisting of name EL3204-0000 and revision -0016
The configured identifier must be compatible with the actual device description used as hardware, i.e. the description which the slave has loaded on start-up (in this case EL3204). Normally the configured revision must be the same or lower than that actually present in the terminal network.
For further information on this, please refer to the EtherCAT system documentation.
Update of XML/ESI description
The device revision is closely linked to the firmware and hardware used. Incompatible combinations lead to malfunctions or even final shutdown of the device. Corresponding updates should only be carried out in consultation with Beckhoff support.
Display of ESI slave identifier
The simplest way to ascertain compliance of configured and actual device description is to scan the EtherCAT boxes in TwinCAT mode Config/FreeRun:
Fig.28: Scan the subordinate field by right-clicking on the EtherCAT device
If the found field matches the configured field, the display shows
EJ600256 Version: 1.2
Fig.29: Configuration is identical
otherwise a change dialog appears for entering the actual data in the configuration.
Appendix
Fig.30: Change dialog
In this example in Fig. Change dialog, an EL3201-0000-0017 was found, while an EL3201-0000-0016 was configured. In this case the configuration can be adapted with the Copy Before button. The Extended Information checkbox must be set in order to display the revision.
Changing the ESI slave identifier
The ESI/EEPROM identifier can be updated as follows under TwinCAT:
• Trouble-free EtherCAT communication must be established with the slave.
• The state of the slave is irrelevant.
• Right-clicking on the slave in the online display opens the EEPROM Update dialog, Fig. EEPROM
Update
EJ6002 57Version: 1.2
Appendix
Fig.31: EEPROM Update
The new ESI description is selected in the following dialog, see Fig. Selecting the new ESI. The checkbox Show Hidden Devices also displays older, normally hidden versions of a slave.
Fig.32: Selecting the new ESI
A progress bar in the System Manager shows the progress. Data are first written, then verified.
The change only takes effect after a restart.
Most EtherCAT devices read a modified ESI description immediately or after startup from the INIT. Some communication settings such as distributed clocks are only read during power-on. The Ether­CAT slave therefore has to be switched off briefly in order for the change to take effect.

7.3.2 Firmware explanation

Determining the firmware version
Determining the version on laser inscription
Beckhoff EtherCAT slaves feature serial numbers applied by laser. The serial number has the following structure: KK YY FF HH
KK - week of production (CW, calendar week) YY - year of production FF - firmware version HH - hardware version
EJ600258 Version: 1.2
Appendix
Example with ser. no.: 12 10 03 02:
12 - week of production 12 10 - year of production 2010 03 - firmware version 03 02 - hardware version 02
Determining the version via the System Manager
The TwinCAT System Manager shows the version of the controller firmware if the master can access the slave online. Click on the E-Bus Terminal whose controller firmware you want to check (in the example terminal 2 (EL3204)) and select the tab CoE Online (CAN over EtherCAT).
CoE Online and Offline CoE
Two CoE directories are available:
• online: This is offered in the EtherCAT slave by the controller, if the EtherCAT slave supports this. This CoE directory can only be displayed if a slave is connected and operational.
• offline: The EtherCAT Slave Information ESI/XML may contain the default content of the CoE. This CoE directory can only be displayed if it is included in the ESI (e.g. “Beckhoff EL5xxx.xml”).
The Advanced button must be used for switching between the two views.
In Fig. Display of EL3204 firmware version the firmware version of the selected EL3204 is shown as 03 in CoE entry 0x100A.
Fig.33: Display of EL3204 firmware version
In (A) TwinCAT 2.11 shows that the Online CoE directory is currently displayed. If this is not the case, the Online directory can be loaded via the Online option in Advanced Settings (B) and double-clicking on AllObjects.

7.3.3 Updating controller firmware *.efw

CoE directory
The Online CoE directory is managed by the controller and stored in a dedicated EEPROM, which is generally not changed during a firmware update.
Switch to the Online tab to update the controller firmware of a slave, see Fig. Firmware Update.
EJ6002 59Version: 1.2
Appendix
Fig.34: Firmware Update
Proceed as follows, unless instructed otherwise by Beckhoff support. Valid for TwinCAT2 and 3 as EtherCAT master.
• Switch TwinCAT system to ConfigMode/FreeRun with cycle time >= 1 ms (default in ConfigMode is 4ms). A FW-Update during real time operation is not recommended.
• Switch EtherCAT Master to PreOP
• Switch slave to INIT (A)
• Switch slave to BOOTSTRAP
EJ600260 Version: 1.2
• Check the current status (B, C)
• Download the new *efw file (wait until it ends). A pass word will not be neccessary usually.
• After the download switch to INIT, then PreOP
• Switch off the slave briefly (don't pull under voltage!)
• Check within CoE 0x100A, if the FW status was correctly overtaken.

7.3.4 FPGA firmware *.rbf

Appendix
If an FPGA chip deals with the EtherCAT communication an update may be accomplished via an *.rbf file.
• Controller firmware for processing I/O signals
• FPGA firmware for EtherCAT communication (only for terminals with FPGA)
The firmware version number included in the terminal serial number contains both firmware components. If one of these firmware components is modified this version number is updated.
Determining the version via the System Manager
The TwinCAT System Manager indicates the FPGA firmware version. Click on the Ethernet card of your EtherCAT strand (Device 2 in the example) and select the Online tab.
The Reg:0002 column indicates the firmware version of the individual EtherCAT devices in hexadecimal and decimal representation.
EJ6002 61Version: 1.2
Appendix
Fig.35: FPGA firmware version definition
If the column Reg:0002 is not displayed, right-click the table header and select Properties in the context menu.
Fig.36: Context menu Properties
The Advanced Settings dialog appears where the columns to be displayed can be selected. Under Diagnosis/Online View select the '0002 ETxxxx Build' check box in order to activate the FPGA firmware version display.
EJ600262 Version: 1.2
Fig.37: Dialog Advanced Settings
Update
For updating the FPGA firmware
• of an EtherCAT coupler the coupler must have FPGA firmware version 11 or higher;
• of an E-Bus Terminal the terminal must have FPGA firmware version 10 or higher.
Appendix
Older firmware versions can only be updated by the manufacturer!
Updating an EtherCAT device
The following sequence order have to be met if no other specifications are given (e.g. by the Beckhoff support):
• Switch TwinCAT system to ConfigMode/FreeRun with cycle time >= 1ms (default in ConfigMode is 4ms). A FW-Update during real time operation is not recommended.
EJ6002 63Version: 1.2
Appendix
• In the TwinCAT System Manager select the terminal for which the FPGA firmware is to be updated (in the example: Terminal 5: EL5001) and click the Advanced Settings button in the EtherCAT tab:
• The Advanced Settings dialog appears. Under ESC Access/E²PROM/FPGA click on Write FPGA button:
EJ600264 Version: 1.2
Appendix
• Select the file (*.rbf) with the new FPGA firmware, and transfer it to the EtherCAT device:
• Wait until download ends
• Switch slave current less for a short time (don't pull under voltage!). In order to activate the new FPGA firmware a restart (switching the power supply off and on again) of the EtherCAT device is required.
• Check the new FPGA status
NOTE
Risk of damage to the device!
A download of firmware to an EtherCAT device must not be interrupted in any case! If you interrupt this process by switching off power supply or disconnecting the Ethernet link, the EtherCAT device can only be recommissioned by the manufacturer!

7.3.5 Simultaneous updating of several EtherCAT devices

The firmware and ESI descriptions of several devices can be updated simultaneously, provided the devices have the same firmware file/ESI.
Fig.38: Multiple selection and firmware update
Select the required slaves and carry out the firmware update in BOOTSTRAP mode as described above.
EJ6002 65Version: 1.2
Appendix

7.4 Restoring the delivery state

To restore the delivery state for backup objects in ELxxxx terminals, the CoE object Restore default parameters, SubIndex 001 can be selected in the TwinCAT System Manager (Config mode) (see Fig. Selecting the Restore default parameters PDO)
Fig.39: Selecting the Restore default parameters PDO
Double-click on SubIndex 001 to enter the Set Value dialog. Enter the value 1684107116 in field Dec or the value 0x64616F6C in field Hex and confirm with OK (Fig. Entering a restore value in the Set Value dialog). All backup objects are reset to the delivery state.
Fig.40: Entering a restore value in the Set Value dialog
Alternative restore value
In some older terminals the backup objects can be switched with an alternative restore value: Deci­mal value: 1819238756, Hexadecimal value: 0x6C6F6164An incorrect entry for the restore value has no effect.
EJ600266 Version: 1.2
Appendix

7.5 Support and Service

Beckhoff and their partners around the world offer comprehensive support and service, making available fast and competent assistance with all questions related to Beckhoff products and system solutions.
Beckhoff's branch offices and representatives
Please contact your Beckhoff branch office or representative for local support and service on Beckhoff products!
The addresses of Beckhoff's branch offices and representatives round the world can be found on her internet pages: https://www.beckhoff.com
You will also find further documentation for Beckhoff components there.
Beckhoff Support
Support offers you comprehensive technical assistance, helping you not only with the application of individual Beckhoff products, but also with other, wide-ranging services:
• support
• design, programming and commissioning of complex automation systems
• and extensive training program for Beckhoff system components
Hotline: +49 5246 963 157 Fax: +49 5246 963 9157 e-mail: support@beckhoff.com
Beckhoff Service
The Beckhoff Service Center supports you in all matters of after-sales service:
• on-site service
• repair service
• spare parts service
• hotline service
Hotline: +49 5246 963 460 Fax: +49 5246 963 479 e-mail: service@beckhoff.com
Beckhoff Headquarters
Beckhoff Automation GmbH & Co. KG
Huelshorstweg 20 33415 Verl Germany
Phone: +49 5246 963 0 Fax: +49 5246 963 198 e-mail: info@beckhoff.com web:
EJ6002 67Version: 1.2
https://www.beckhoff.com
More Information:
www.beckhoff.com/EJ6002
Beckhoff Automation GmbH & Co. KG Hülshorstweg 20 33415 Verl Germany Phone: +49 5246 9630 info@beckhoff.com www.beckhoff.com
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