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EP1518-0001
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Beckhoff EP1518-0001, EP1518-0002 Documentation

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Page 1
Documentation
EP1518-0002
EtherCAT Box with 8 digital inputs and 2 counters
Version: Date:
2.1.0 2018-12-05
Page 2
Page 3

Table of contents

Table of contents
1 Foreword ....................................................................................................................................................5
1.1 Notes on the documentation..............................................................................................................5
1.2 Safety instructions .............................................................................................................................6
1.3 Documentation Issue Status..............................................................................................................7
2 Product overview.......................................................................................................................................8
2.1 EtherCAT Box - Introduction..............................................................................................................8
2.2 EP1518 - Introduction......................................................................................................................10
2.3 EP1518 - Technical data .................................................................................................................11
2.4 EP1518 – Process image ................................................................................................................12
3 Installation................................................................................................................................................14
3.1 Mounting..........................................................................................................................................14
3.1.1 Dimensions ...................................................................................................................... 14
3.1.2 Fixing ............................................................................................................................... 15
3.1.3 Nut torque for connectors ................................................................................................ 16
3.2 Connection ......................................................................................................................................18
3.2.1 EtherCAT connection....................................................................................................... 18
3.2.2 EtherCAT - Fieldbus LEDs .............................................................................................. 19
3.2.3 Power Connection ........................................................................................................... 21
3.2.4 EP1518 - Status LEDs for the power supply ................................................................... 24
3.2.5 Power cables ................................................................................................................... 25
3.2.6 Power cable conductor losses M8 ................................................................................... 26
3.2.7 Signal connection ............................................................................................................ 27
3.2.8 Status LEDs at the signal connections ............................................................................ 28
3.3 UL Requirements.............................................................................................................................29
3.4 ATEX notes .....................................................................................................................................30
3.4.1 ATEX - Special conditions ............................................................................................... 30
3.4.2 BG2000-0000 - EtherCAT Box protection enclosure....................................................... 31
3.4.3 ATEX Documentation ...................................................................................................... 32
4 Commissioning and configuration ........................................................................................................33
4.1 Integration in TwinCAT ....................................................................................................................33
4.1.1 Inserting into the EtherCAT network................................................................................ 33
4.1.2 Configuration via TwinCAT .............................................................................................. 36
4.1.3 Distributed Clocks (DC) ................................................................................................... 44
4.1.4 Distributed Clocks and EP1518 ....................................................................................... 46
4.2 Configuration of the EP1518 ...........................................................................................................47
4.2.1 Basic Function Principles................................................................................................. 47
4.2.2 Operation modes ............................................................................................................. 49
4.2.3 Counter settings............................................................................................................... 53
4.2.4 Restoring the delivery state ............................................................................................. 55
4.3 CoE objects .....................................................................................................................................56
4.3.1 Object overview ............................................................................................................... 56
4.3.2 Object description and parameterization ......................................................................... 60
5 Appendix ..................................................................................................................................................69
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Table of contents
5.1 General operating conditions...........................................................................................................69
5.2 EtherCAT Box- / EtherCATPBox - Accessories ............................................................................70
5.3 Support and Service ........................................................................................................................71
EP1518-00024 Version: 2.1.0
Page 5
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P®, SafetyoverEtherCAT®, TwinSAFE®, XFC® and XTS® 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, DE102004044764, DE102007017835 with corresponding applications or registrations in various other countries.
The TwinCAT Technology is covered, including but not limited to the following patent applications and patents: EP0851348, US6167425 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.
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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.
EP1518-00026 Version: 2.1.0
Page 7
Foreword

1.3 Documentation Issue Status

Version Comment
2.1.0 • Update Safety instructions
• Correction chapter Power cable
• Update chapter Mounting
2.0.0 • Migration
• Basic function principles chapter corrected
1.1.0 • Power Connection updated
1.0.0 • First release
Firmware and hardware versions
This documentation refers to the firmware and hardware version that was applicable at the time the documentation was written.
The module features are continuously improved and developed further. Modules having earlier production statuses cannot have the same properties as modules with the latest status. However, existing properties are retained and are not changed, so that older modules can always be replaced with new ones.
Documentation Version
2.1 04 06
2.0.0 04 05
1.0.0 02 00
The firmware and hardware version (delivery state) can be found in the batch number (D-number) printed on the side of the EtherCATBox.
Syntax of the batch number (D-number)
WWYYFFHH
WW - week of production (calendar week) YY - year of production FF - firmware version HH - hardware version
Example with D no.: 55 09 01 00:
55 - week of production 55 09 - year of production 2009 01 - firmware version 01 00 - hardware version 001
EP1518-0002
Firmware Hardware
Page 8
Product overview

2 Product overview

2.1 EtherCAT Box - Introduction

The EtherCAT system has been extended with EtherCAT Box modules with protection class IP67. Through the integrated EtherCAT interface the modules can be connected directly to an EtherCAT network without an additional Coupler Box. The high-performance of EtherCAT is thus maintained into each module.
The extremely low dimensions of only 126x30x26.5 mm (hxw xd) are identical to those of the Fieldbus Box extension modules. They are thus particularly suitable for use where space is at a premium. The small mass of the EtherCAT modules facilitates applications with mobile I/O interface (e.g. on a robot arm). The EtherCAT connection is established via screened M8connectors.
Fig.1: EtherCAT Box Modules within an EtherCAT network
The robust design of the EtherCAT Box modules enables them to be used directly at the machine. Control cabinets and terminal boxes are now no longer required. The modules are fully sealed and therefore ideally prepared for wet, dirty or dusty conditions.
Pre-assembled cables significantly simplify EtherCAT and signal wiring. Very few wiring errors are made, so that commissioning is optimized. In addition to pre-assembled EtherCAT, power and sensor cables, field­configurable connectors and cables are available for maximum flexibility. Depending on the application, the sensors and actuators are connected through M8 or M12connectors.
The EtherCAT modules cover the typical range of requirements for I/O signals with protection class IP67:
• digital inputs with different filters (3.0ms or 10μs)
• digital outputs with 0.5 or 2A output current
• analog inputs and outputs with 16bit resolution
• Thermocouple and RTD inputs
• Stepper motor modules
XFC (eXtreme Fast Control Technology) modules, including inputs with time stamp, are also available.
EP1518-00028 Version: 2.1.0
Page 9
Fig.2: EtherCAT Box with M8 connections for sensors/actuators
Product overview
Fig.3: EtherCAT Box with M12 connections for sensors/actuators
Basic EtherCAT documentation
You will find a detailed description of the EtherCAT system in the Basic System Documentation for EtherCAT, which is available for download from our website (www.beckhoff.com) under Downloads.
EtherCAT XML Device Description
You will find XML files (XML Device Description Files) for Beckhoff EtherCAT modules on our web­site (www.beckhoff.com) under Downloads, in the Configuration Files area.
Page 10
Product overview

2.2 EP1518 - Introduction

Fig.4: EP1518-0001 and EP1518-0002
8 digital inputs (24VDC), 2 counters
The EP1518-0002 EtherCAT Box with digital inputs acquires binary control signals from the process level and transfers them, with electrical isolation, to the controller. The signal state is indicated by means of light emitting diodes. Connection is via M12 connectors. The input filters can be set between 0and 100ms via EtherCAT. Inputs 0 and 4 can be used as up/down counters (32-bit). Inputs 1 and 5 operate as GATES and inputs 2 and 6 control Up/Down. The EP1518 has three modes of operation that can be selected via the PDOs using the Sync-Manager:
• 2 digital inputs and 2 counters (delivery state)
• 5 digital inputs and 1 counter
• 8 digital inputs
All inputs continue to be shown in the process image even in the counter operation modes. Signal acquisition takes place with the filter times set via CoE. Irrespective of that, the counter pulses are always counted with a filter of 150µs. Further parameters can be set via the CoE objects. The sensors are supplied via the control voltage US in two groups of four sensors each. Any short circuits on the sensor side are detected and reported to the controller. The load voltage Up is not used in the input module, but may optionally be connected in order to be relayed downstream.
Quick links
• Installation [}14]
• Configuration [}36]
EP1518-000210 Version: 2.1.0
Page 11
Product overview

2.3 EP1518 - Technical data

Technical data EP1518-0001 EP1518-0002
Fieldbus EtherCAT Fieldbus connection 2 x M8 socket (green) Number of inputs 8, 2 of which can be used as 32-bit up/down counters
Input connections [}27]
Nominal input voltage 24VDC (-15%/+20%) Input filter (binary inputs) adjustable 10µs…100ms Input filter (counter input) 150µs "0" signal voltage -3...+5V (EN61131-2, type3) "1" signal voltage +11...+30V (EN61131-2, type3) Input current typically 3mA (EN61131-2, type3) Module electronic supply derived from control voltage Us Module electronic current consumption typically 120mA Sensor supply derived from control voltage Us Sensor current consumption max. 0.5A per 4 sensors, short-circuit proof Power supply connection Power supply: 1 x M8 plug, 4-pole
Input process image 8 bits data, 8 bits diagnostics, 48 bits counter Output process image 48 bits counter Distributed clocks yes Electrical isolation control voltage/fieldbus 500V Weight approx. 165g Permissible ambient temperature during
operation
M8 M12
Onward connection: 1 x M8 socket, 4-pole
-25°C ... +60°C 0°C ... +55°C (conforms to cULus, see UL requirements [}29])
0°C ... +55°C (conforms to ATEX, see special conditions [}30])
Permissible ambient temperature during storage
Vibration/ shock resistance conforms to EN60068-2-6/ EN60068-2-27 EMC immunity/emission conforms to EN61000-6-2/ EN61000-6-4 Protection class IP65, IP66, IP67 (conforms to EN 60529) Installation position variable Approvals
-40°C ... +85°C
CE, cULus [}29], ATEX [}30]
Page 12
Product overview

2.4 EP1518 – Process image

The process image depends on the selected operation mode [}49].
Operation mode: 2 counters and 2 digital inputs (delivery state)
The input data of the 1st counter can be found under CNT Input Channel1.
The adoption of the Set counter bit from CNT Output Channel 1 is displayed with Set counter done.
The adoption of the Inhibit counter bit from CNT Output Channel 1 is displayed with Counter inhibited.
Status of input UD shows the status of the Up/Down counter
input of the 1st counter.
Status of input clock shows the status of the input clock input of the 1st counter.
Sync Error, TxPDO State and TxPDO Toggle are standard EtherCAT process data.
The input data of the 2nd counter can be found under CNT Input Channel2. Their structure corresponds to that of the 1st counter.
DIG Inputs shows the states of the individual inputs irrespective of the selected operation mode.
Error channel 1 displays a short circuit of the supply voltage Us to digital inputs 0 to 3. Error channel 2 displays a short circuit of the supply voltage Us to digital inputs 4 to 7.
The output data of the 1st counter can be found under CNT Output Channel1. The setting of Set counter activates the adoption of the Set Counter Value into the Counter Value of the 1st counter. The setting of Inhibit Counter disables the 1st counter. Alternatively the counter can be disabled or enabled by the physical GATE input. The two values are XORed.
The output data of the 2nd counter can be found under CNT Output Channel1. Their structure corresponds to that of the 1st counter.
EP1518-000212 Version: 2.1.0
Page 13
Operation mode: 1 counter and 5 digital inputs
The input data of the 1st counter can be found under CNT Input Channel1.
The adoption of the Set counter bit from CNT Output Channel 1 is displayed with Set counter done.
The adoption of the Inhibit counter bit from CNT Output Channel 1 is displayed with Counter inhibited.
Status of input UD shows the status of the Up/Down counter
input of the 1st counter.
Status of input clock shows the status of the input clock input of the 1st counter.
Sync Error, TxPDO State and TxPDO Toggle are standard EtherCAT process data.
DIG Inputs shows the states of the individual inputs irrespective of the selected operation mode.
Error channel 1 displays a short circuit of the supply voltage Us to digital inputs 0 to 3. Error channel 2 displays a short circuit of the supply voltage Us to digital inputs 4 to 7.
Product overview
Operation mode: 8 digital inputs
The output data of the 1st counter can be found under CNT Output Channel1. The setting of Set counter activates the adoption of the Set Counter Value into the Counter Value of the 1st counter.
The setting of Inhibit Counter disables the 1st counter. Alternatively the counter can be disabled or enabled by the physical GATE input. The two values are XORed.
DIG Inputs shows the states of the individual inputs irrespective of the selected mode.
Error channel 1 displays a short circuit of the supply voltage Us to digital inputs 0 to 3.
Error channel 2 displays a short circuit of the supply voltage Us to digital inputs 4 to 7.
Page 14
Installation

3 Installation

3.1 Mounting

3.1.1 Dimensions

Fig.5: Dimensions of the EtherCAT Box Modules
All dimensions are given in millimeters.
Housing properties
EtherCAT Box lean body wide bodies
Housing material PA6 (polyamide) Casting compound Polyurethane Mounting two fastening holes Ø3mm for M3 two fastening holes Ø3mm for M3
two fastening holes Ø4.5mm for M4 Metal parts Brass, nickel-plated Contacts CuZn, gold-plated Power feed through max. 4A (M8)
max. 16A (7/8“)
max. 15.5A (B17 5G 1.5mm2) Installation position variable Protection class IP65, IP66, IP67 (conforms to EN 60529) when screwed together Dimensions
(HxWxD)
app. 126 x 30 x 26.5mm app. 126 x 60 x 26,5mm
app. 150 x 60 x 26.5mm (without 7/8", B17)
EP1518-000214 Version: 2.1.0
Page 15
Installation

3.1.2 Fixing

Note or pointer
While mounting the modules, protect all connectors, especially the IP-Link, against contamination! Only with connected cables or plugs the protection class IP67 is guaranteed! Unused connectors have to be protected with the right plugs! See for plug sets in the catalogue.
Modules with narrow housing are mounted with two M3 bolts. Modules with wide housing are mounted with two M3 bolts to the fixing holes located at the corners or mounted with two M4 bolts to the fixing holes located centrally.
The bolts must be longer than 15 mm. The fixing holes of the modules are not threaded.
When assembling, remember that the fieldbus connectors increases the overall height. See chapter accessories.
Mounting Rail ZS5300-0001
The mounting rail ZS5300-0001 (500 mm x 129 mm) allows the time saving assembly of modules.
The rail is made of stainless steel, 1.5 mm thick, with already pre-made M3 threads for the modules. The rail has got 5.3 mm slots to mount it via M5 screws to the machine.
Fig.6: Mounting Rail ZS5300-000
The mounting rail is 500 mm long, that way 15 narrow modules can be mounted with a distance of 2 mm between two modules. The rail can be cut to length for the application.
Mounting Rail ZS5300-0011
The mounting rail ZS5300-0011 (500 mm x 129 mm) has in addition to the M3 treads also pre-made M4 treads to fix 60 mm wide modules via their middle holes.
Up to 14 narrow or 7 wide modules may be mixed mounted.
Page 16
Installation

3.1.3 Nut torque for connectors

M8 connectors
It is recommended to pull the M8 connectors tight with a nut torque of 0.4 Nm. When using the torque control screwdriver ZB8800 is also a max. torque of 0.5Nm permissible.
Fig.7: EtherCAT Box with M8 connectors
M12 connectors
It is recommended to pull the M12 connectors tight with a nut torque of 0.6 Nm.
Fig.8: EtherCAT Box with M8 and M12 connectors
EP1518-000216 Version: 2.1.0
Page 17
7/8" plug connectors
We recommend fastening the 7/8" plug connectors with a torque of 1.5Nm.
Fig.9: 7/8" plug connectors
Torque socket wrenches
Installation
Fig.10: ZB8801 torque socket wrench
Ensure the right torque
Use the torque socket wrenches available by Beckhoff to pull the connectors tight (ZB8800, ZB8801-0000)!
Page 18
Installation

3.2 Connection

3.2.1 EtherCAT connection

For the incoming and ongoing EtherCAT connection,
• the EtherCAT Box (EPxxxx) has two M8 sockets, marked in green
• the Coupler Box (FBB-x110) has two M12 sockets
Fig.11: EtherCAT Box: M8, 30mm housing
Fig.12: EtherCAT Box: M860mm housing (example: EP9214)
Fig.13: Coupler Box: M12
Assignment
There are various different standards for the assignment and colors of connectors and cables for Ethernet/ EtherCAT.
EP1518-000218 Version: 2.1.0
Page 19
Installation
Ethernet/EtherCAT Plug connector Cable Standard
Signal Description M8 M12 RJ45
Tx + Transmit Data+ Pin 1 Pin 1 Pin 1 yellow
Tx - Transmit Data- Pin 4 Pin 3 Pin 2 orange
Rx + Receive Data+ Pin 2 Pin 2 Pin 3 white
Rx - Receive Data- Pin 3 Pin 4 Pin 6 blue
Shield Shield Housing Shroud Screen Screen Screen
1
) colored markings according to EN 61918 in the four-pin RJ45 connector ZS1090-0003
2
) wire colors according to EN 61918
3
) wire colors
1
ZB9010, ZB9020, ZB9030, ZB9032, ZK1090-6292, ZK1090-3xxx-xxxx
2
2
2
2
ZB9031 and old ver­sions of ZB9030, ZB9032, ZK1090-3xxx-xxxx
orange/white
orange
blue/white
3
blue
3
3
3
TIA-568B
white/orange
orange
white/green
green
Assimilation of color coding for cable ZB9030, ZB9032 and ZK1090-3xxxx-xxxx (with M8 connectors)
For unification the prevalent cables ZB9030, ZB9032 and ZK1090-3xxx-xxxx this means the pre as­sembled cables with M8 connectors were changed to the colors of EN61918 (yellow, orange, white, blue).So different color coding exists. But the electrical properties are absolutely identical.
EtherCAT connector
The following connectors can be supplied for use in Beckhoff EtherCAT systems.
Name Connector Comment
ZS1090-0003 RJ45 four-pole, IP20, field-configurable ZS1090-0004 M12, male four-pin, IP67, for field assembly ZS1090-0005 RJ45 eight-pole, IP20, field-configurable, suitable for gigabit Ethernet ZS1090-0006 M8 plug connector four-pole, IP67, field-configurable, for cable type ZB903x ZS1090-0007 M8 socket four-pole, IP67, field-configurable, for cable type ZB903x ZS1090-1006 M8 plug connector four-pole, IP67, field-configurable up to OD=6.5mm ZS1090-1007 M8 socket four-pole, IP67, field-configurable up to OD=6.5mm

3.2.2 EtherCAT - Fieldbus LEDs

Fig.14: EtherCAT-LEDs
Page 20
Installation
LED display
LED Display Meaning
IN L/A off no connection to the preceding EtherCAT module
Lit LINK: connection to the preceding EtherCAT module flashing ACT: Communication with the preceding EtherCAT module
OUT L/A off no connection to the following EtherCAT module
Lit LINK: connection to the following EtherCAT module flashing ACT: Communication with the following EtherCAT module
Run off Status of the EtherCAT module is Init
flashes quickly Status of the EtherCAT module is pre-operational flashes slowly Status of the EtherCAT module is safe-operational Lit Status of the EtherCAT module is operational
EtherCAT statuses
The various statuses in which an EtherCAT module may be found are described in the Basic Sys­tem Documentation for EtherCAT, which is available for download from our website (www.beck- hoff.com) under Downloads.
EP1518-000220 Version: 2.1.0
Page 21
Installation

3.2.3 Power Connection

The feeding and forwarding of supply voltages is done via two M8 connectors at the bottom end of the modules:
• IN: left M8 connector for feeding the supply voltages
• OUT: right M8 connector for forwarding the supply voltages
Fig.15: EtherCAT Box, Connectors for power supply
Fig.16: Pin assignment M8, Power In and Power Out
Table1: PIN assignment
Pin Voltage
1 Control voltage Us, +24V 2 Auxiliary voltage Up, +24V
DC
DC
3 GNDs* *) may be connected internally to each other depending on the module: see specific 4 GNDp*
module descriptions
The pins M8 connectors carry a maximum current of 4A.
Two LEDs display the status of the supply voltages.
NOTE
Don't confuse the power connectors with the EtherCAT connectors!
Never connect the power cables (M8, 24VDC) with the green marked EtherCAT sockets of the EtherCAT Box Modules! This can damage the modules!
Control voltage Us: 24V
Power is supplied to the fieldbus, the processor logic, the inputs and the sensors from the 24VDC control voltage Us. The control voltage is electrically isolated from the fieldbus circuitry.
DC
Auxiliary voltage Up 24V
DC
The Auxiliary voltage Up supplies the digital outputs; it can be brought in separately. If the load voltage is switched off, the fieldbus functions and the power supply and functionality of the inputs are retained.
Page 22
Installation
Redirection of the supply voltages
The IN and OUT power connections are bridged in the module (not IP204x-Bxxx and IE204x). The supply voltages Us and Up can thus easily be transferred from EtherCATBox to EtherCATBox.
NOTE
Pay attention to the maximum permissible current!
Pay attention also for the redirection of the supply voltages Us and Up, the maximum permissible current for M8 connectors of 4A must not be exceeded!
EP1518-000222 Version: 2.1.0
Page 23
Installation
Supply via EP92x4-0023 PowerBox modules
If the machine requires higher current or if the EtherCAT Box Modules are installed far away from the control cabinet with included power supply, the usage of four cannel power distribution modules EP9214 or EP9224
(with integrated data logging, see www.beckhoff.com/EP9224) is recommended.
With these modules intelligent power distribution concepts with up to 2x16A and a maximum of 2.5mm² cable cross-section can be realized.
Fig.17: EP92x4-0023, Connectors for Power In and Power Out
Fig.18: Pin assignment 7/8”, Power In and Power Out
Page 24
Installation
Electrical isolation
Digital modules
In the digital input/output modules, the grounds of the control voltage (GNDs) and the auxiliary voltage (GNDp) are connected to each other!
Check this at the documentation of each used EtherCAT Box.
Analog modules
In the analog input/output modules the grounds of the control voltage (GNDs) and the auxiliary voltage (GNDp) are separated from each other in order to ensure electrical isolation of the analog signals from the control voltage.
In some of the analog modules the sensors or actuators are supplied by Up - this means, for instance, that in the case of 0...10 V inputs, any reference voltage (0...30 V) may be connected to Up; this is then available to the sensors (e.g. smoothed 10 V for measuring potentiometers).
Details of the power supply may be taken from the specific module descriptions.
NOTE
Electrical isolation may be cancelled!
If digital and analog fieldbus boxes are connected directly via four-core power leads, the analog signals in the fieldbus boxes may be no longer electrically isolated from the control voltage!

3.2.4 EP1518 - Status LEDs for the power supply

Fig.19: Status LEDs for the power supply
All LEDs, green and red, are activated once briefly during the initialization phase of the box.
LED Display Meaning
Us (control voltage) off The supply voltage, Us, is not present
green illuminated The supply voltage, Us, is present red illuminated Due to overload (current > 0.5 A), the sensor supply generated
from the supply voltage Us is switched off for all sensors in group 1 (inputs 0 to 3) or group 2 (inputs 4 to 7) that it supplies.
Up (peripheral voltage)
off The supply voltage, Up, is not present green illuminated The supply voltage, Up, is present
EP1518-000224 Version: 2.1.0
Page 25
Installation

3.2.5 Power cables

Ordering data
Order designation Power cable Screw-in connector Contacts Cross-section Length
ZK2020-3200-0020 Straight socket, open end M8 4-pin 0.34 mm ZK2020-3200-0050 5.00 m ZK2020-3200-0100 10.00 m ZK2020-3400-0020 Angled socket, open end 2.00 m ZK2020-3400-0050 5.00 m ZK2020-3400-0100 10.00 m ZK2020-3132-0001 Straight socket, straight ZK2020-3132-0005 0.50 m
socket
ZK2020-3132-0010 1.00 m ZK2020-3132-0020 2.00 m ZK2020-3132-0050 5.00 m ZK2020-3334-0001 Angled socket, angled ZK2020-3334-0005 0.50 m
socket
ZK2020-3334-0010 1.00 m ZK2020-3334-0020 2.00 m ZK2020-3334-0050 5.00 m
2
2.00 m
0.15 m
0.15 m
Further available power cables may be found in the Beckhoff catalog or on our internet pages (http:// www.beckhoff.com).
Technical data
Technical data
Rated voltage according to IEC61076-2-101 30V
DC
Contamination level according to IEC 60 664-1 3/2 Insulation resistance IEC 60 512-2 >109Ω Current carrying capacity according to IEC 60512-3 4A Volume resistance according to IEC 60512-2 <5mΩ Protection class according to IEC 60529 IP65/66/67, when screwed together Ambient temperature -30°C to +80°C
Page 26
Installation

3.2.6 Power cable conductor losses M8

The ZK2020-xxxx-yyyy power cables should not exceed the total length of 15m at 4A (with continuation). When planning the cabling, note that at 24V nominal voltage, the functionality of the module can no longer be assured if the voltage drop reaches 6V. Variations in the output voltage from the power supply unit must also be taken into account.
Fig.20: Power cable conductor losses
Example
8m power cable with 0.34mm² cross-section has a voltage drop of 3.2V at 4A.
EP92x4 Power Distribution Modules
With EP9214 and EP9224 Power Distribution Modules intelligent concepts for voltage supply are available. Further information may be found under www.beckhoff.com/EP9224.
EP1518-000226 Version: 2.1.0
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Installation

3.2.7 Signal connection

Digital inputs M8 and M12
The digital input modules acquire the binary control signals from the process level and transmit them to the higher-level automation device.
The signals are connected via M8 connectors (EPxxxx-0001) or M12 connectors (EPxxxx-0002).
Fig.21: Signal connection - digital inputs M8 and M12
The sensors are supplied with a common maximum current of 0.5Afrom the control voltage Us.
Light emitting diodes indicate the signal state of the inputs.
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Installation

3.2.8 Status LEDs at the signal connections

Irrespective of the operation mode set, each channel indicates the status of its connected sensor by a green LED adjacent to the signal socket.
Fig.22: Status LEDs at the signal connections
Connection LED Display Meaning
M12 socket no.1 channel 0, channel 1 off input not set
green input set
M12 socket no.2 channel 2, channel 3 off input not set
green input set
M12 socket no.3 channel 4, channel 5 off input not set
green input set
M12 socket no.4 channel 6, channel 7 off input not set
green input set
EP1518-000228 Version: 2.1.0
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Installation

3.3 UL Requirements

The installation of the EtherCAT Box Modules certified by UL has to meet the following requirements.
Supply voltage
CAUTION
CAUTION!
This UL requirements are valid for all supply voltages of all marked EtherCAT Box Modules! For the compliance of the UL requirements the EtherCAT Box Modules should only be supplied
• by a 24 VDC supply voltage, supplied by an isolating source and protected by means of a fuse (in accor­dance with UL248), rated maximum 4 Amp, or
• by a 24 VDC power source, that has to satisfy NEC class 2. A NEC class 2 power supply shall not be connected in series or parallel with another (class 2) power source!
CAUTION
CAUTION!
To meet the UL requirements, the EtherCAT Box Modules must not be connected to unlimited power sources!
Networks
CAUTION
CAUTION!
To meet the UL requirements, EtherCAT Box Modules must not be connected to telecommunication net­works!
Ambient temperature range
CAUTION
CAUTION!
To meet the UL requirements, EtherCAT Box Modules has to be operated only at an ambient temperature range of 0 to 55°C!
Marking for UL
All EtherCAT Box Modules certified by UL (Underwriters Laboratories) are marked with the following label.
Fig.23: UL label
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Installation

3.4 ATEX notes

3.4.1 ATEX - Special conditions

WARNING
Observe the special conditions for the intended use of EtherCAT Box modules in poten­tially explosive areas – directive 94/9/EU.
• The certified components are to be installed in the BG2000-0000 protection enclosure [}31] that guar­antees a protection against mechanical hazards!
• If the temperatures during rated operation are higher than 70°C at the feed-in points of cables, lines or pipes, or higher than 80°C at the wire branching points, then cables must be selected whose tempera­ture data correspond to the actual measured temperature values!
• Observethe permissible ambient temperature range of 0 - 55°C for the use of EtherCAT Box modules in potentially explosive areas!
• Measures must be taken to protect against the rated operating voltage being exceeded by more than 40% due to short-term interference voltages!
• The connections of the certified components may only be connected or disconnected if the supply volt­age has been switched off or if a non-explosive atmosphere is ensured!
Standards
The fundamental health and safety requirements are fulfilled by compliance with the following standards:
• EN 60079-0: 2006
• EN 60079-15: 2005
Marking
The EtherCAT Box modules certified for potentially explosive areas bear the following marking:
II 3 GEx nA II T4DEKRA 11ATEX0080 XTa: 0 - 55°C
or
II 3 GEx nA nC IIC T4DEKRA 11ATEX0080 XTa: 0 - 55°C
Batch number (D number)
The EtherCAT Box modules bear a batch number (D number) that is structured as follows:
D: WW YY FF HH
WW - week of production (calendar week) YY - year of production FF - firmware version HH - hardware version
Beispiel mit Ser. Nr.: 29 10 02 01:
29 - week of production 29 10 - year of production 2010 02 - firmware version 02 01 - hardware version 01
EP1518-000230 Version: 2.1.0
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Installation

3.4.2 BG2000-0000 - EtherCAT Box protection enclosure

WARNING
Risk of electric shock and damage of device!
Bring the EtherCAT system into a safe, powered down state before starting installation, disassembly or wiring of the modules!
ATEX
The BG2000-0000 protection enclosure has to be mounted over a single EtherCAT Box to fulfill the special conditions according to ATEX [}30].
Installation
Put the cables for EtherCAT, power supply and sensors/actuators through the hole of the BG2000-0000 protection enclosure.
Fig.24: BG2000-0000, putting the cables
Fix the wires for EtherCAT, power supply and sensors/actuators to the EtherCAT Box.
Fig.25: BG2000-0000, fixing the cables
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Installation
Mount the BG2000-0000 protection enclosure over the EtherCAT Box.
Fig.26: BG2000-0000, mounting the protection enclosure

3.4.3 ATEX Documentation

Notes about operation of EtherCAT Box Modules (EPxxxx-xxxx) in potentially explo­sive areas (ATEX)
Pay also attention to the continuative documentationNotes about operation of EtherCAT Box Mod­ules (EPxxxx-xxxx) in potentially explosive areas (ATEX) that is available in the download area of the Beckhoff homepage http:\\www.beckhoff.com!
EP1518-000232 Version: 2.1.0
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Commissioning and configuration

4 Commissioning and configuration

4.1 Integration in TwinCAT

4.1.1 Inserting into the EtherCAT network

Installation of the latest XML device description
Please ensure that you have installed the latest XML device description in TwinCAT. This can be downloaded from the Beckhoff website (http://www.beckhoff.de/english/download/elconfg.htm? id=1983920606140) and installed according to the installation instructions.
At the Beckhoff TwinCAT System Manager the configuration tree can be build in two different ways:
• by scanning [}33] for existing hardware (called "online") and
• by manual inserting/appending [}33] of fieldbus devices, couplers and slaves.
Automatic scanning in of the box
• The EtherCAT system must be in a safe, de-energized state before the EtherCAT modules are
connected to the EtherCAT network!
• Switch on the operating voltage, open the TwinCAT System Manager [}36] (Config mode), and scan
in the devices (see Fig. 1). Acknowledge all dialogs with "OK", so that the configuration is in "FreeRun" mode.
Fig.27: Scanning in the configuration (I/O Devices -> right-click -> Scan Devices...)
Appending a module manually
• The EtherCAT system must be in a safe, de-energized state before the EtherCAT modules are
connected to the EtherCAT network!
• Switch on the operating voltage, open the TwinCAT System Manager [}36] (Config mode)
• Append a new I/O device. In the dialog that appears select the device EtherCAT (Direct Mode), and
confirm with OK.
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Commissioning and configuration
Fig.28: Appending a new I/O device (I/O Devices -> right-click -> Append Device...)
Fig.29: Selecting the device EtherCAT
• Append a new box.
Fig.30: Appending a new box (Device -> right-click -> Append Box...)
• In the dialog that appears select the desired box (e.g. EP2816-0008), and confirm with OK.
EP1518-000234 Version: 2.1.0
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Commissioning and configuration
Fig.31: Selecting a Box (e.g. EP2816-0008)
Fig.32: Appended Box in the TwinCAT tree
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Commissioning and configuration

4.1.2 Configuration via TwinCAT

In the left-hand window of the TwinCAT System Manager, click on the branch of the EtherCAT Box you wish to configure (EP2816-0008 in this example).
Fig.33: Branch of the EtherCAT box to be configured
In the right-hand window of the TwinCAT System manager, various tabs are now available for configuring the EtherCAT Box.
General tab
Fig.34: General tab
Name Name of the EtherCAT device Id Number of the EtherCAT device Type EtherCAT device type Comment Here you can add a comment (e.g. regarding the system). Disabled Here you can deactivate the EtherCAT device. Create symbols Access to this EtherCAT slave via ADS is only available if this checkbox is
activated.
EP1518-000236 Version: 2.1.0
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Commissioning and configuration
EtherCAT tab
Fig.35: EtherCAT tab
Type EtherCAT device type Product/Revision Product and revision number of the EtherCAT device Auto Inc Addr. Auto increment address of the EtherCAT device. The auto increment address can
be used for addressing each EtherCAT device in the communication ring through its physical position. Auto increment addressing is used during the start-up phase when the EtherCAT master allocates addresses to the EtherCAT devices. With auto increment addressing the first EtherCAT slave in the ring has the address 0000
. For each further slave the address is decremented by 1 (FFFF
hex
, FFFE
hex
etc.).
EtherCAT Addr. Fixed address of an EtherCAT slave. This address is allocated by the EtherCAT
master during the start-up phase. Tick the checkbox to the left of the input field in order to modify the default value.
Previous Port Name and port of the EtherCAT device to which this device is connected. If it is
possible to connect this device with another one without changing the order of the EtherCAT devices in the communication ring, then this combobox is activated and the EtherCAT device to which this device is to be connected can be selected.
Advanced Settings This button opens the dialogs for advanced settings.
hex
The link at the bottom of the tab points to the product page for this EtherCAT device on the web.
Process Data tab
Indicates the configuration of the process data. The input and output data of the EtherCAT slave are represented as CANopen process data objects (PDO). The user can select a PDO via PDO assignment and modify the content of the individual PDO via this dialog, if the EtherCAT slave supports this function.
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Commissioning and configuration
Fig.36: Process Data tab
Sync Manager
Lists the configuration of the Sync Manager (SM). If the EtherCAT device has a mailbox, SM0 is used for the mailbox output (MbxOut) and SM1 for the mailbox input (MbxIn). SM2 is used for the output process data (outputs) and SM3 (inputs) for the input process data.
If an input is selected, the corresponding PDO assignment is displayed in the PDO Assignment list below.
PDO Assignment
PDO assignment of the selected Sync Manager. All PDOs defined for this Sync Manager type are listed here:
• If the output Sync Manager (outputs) is selected in the Sync Manager list, all RxPDOs are displayed.
• If the input Sync Manager (inputs) is selected in the Sync Manager list, all TxPDOs are displayed.
The selected entries are the PDOs involved in the process data transfer. In the tree diagram of the System Manager these PDOs are displayed as variables of the EtherCAT device. The name of the variable is identical to the Name parameter of the PDO, as displayed in the PDO list. If an entry in the PDO assignment list is deactivated (not selected and greyed out), this indicates that the input is excluded from the PDO assignment. In order to be able do select a greyed out PDO, the currently selected PDO has to be deselected first.
EP1518-000238 Version: 2.1.0
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Commissioning and configuration
Activation of PDO assignment
• the EtherCAT slave has to run through the PS status transition cycle (from pre-operational to
safe-operational) once (see Online tab [}42]),
• and the System Manager has to reload the EtherCAT slaves ( button)
PDO list
List of all PDOs supported by this EtherCAT device. The content of the selected PDOs is displayed in the PDO Content list. The PDO configuration can be modified by double-clicking on an entry.
Column Description
Index PDO index. Size Size of the PDO in bytes. Name Name of the PDO.
If this PDO is assigned to a Sync Manager, it appears as a variable of the slave with this parameter as the name.
Flags F Fixed content: The content of this PDO is fixed and cannot be changed by the System
Manager.
M Mandatory PDO. This PDO is mandatory and must therefore be assigned to a Sync Manager!
Consequently, this PDO cannot be deleted from the PDO Assignment list
SM Sync Manager to which this PDO is assigned. If this entry is empty, this PDO does not take part in
the process data traffic.
SU Sync unit to which this PDO is assigned.
PDO Content
Indicates the content of the PDO. If flag F (fixed content) of the PDO is not set the content can be modified.
Download
If the device is intelligent and has a mailbox, the configuration of the PDO and the PDO assignments can be downloaded to the device. This is an optional feature that is not supported by all EtherCAT slaves.
PDO Assignment
If this check box is selected, the PDO assignment that is configured in the PDO Assignment list is downloaded to the device on startup. The required commands to be sent to the device can be viewed in the
Startup [}39] tab.
PDO Configuration
If this check box is selected, the configuration of the respective PDOs (as shown in the PDO list and the PDO Content display) is downloaded to the EtherCAT slave.
Startup tab
The Startup tab is displayed if the EtherCAT slave has a mailbox and supports the CANopen over EtherCAT (CoE) or Servo drive over EtherCAT protocol. This tab indicates which download requests are sent to the mailbox during startup. It is also possible to add new mailbox requests to the list display. The download requests are sent to the slave in the same order as they are shown in the list.
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Commissioning and configuration
Fig.37: Startup tab
Column Description
Transition Transition to which the request is sent. This can either be
• the transition from pre-operational to safe-operational (PS), or
• the transition from safe-operational to operational (SO).
If the transition is enclosed in "<>" (e.g. <PS>), the mailbox request is fixed and cannot be
modified or deleted by the user. Protocol Type of mailbox protocol Index Index of the object Data Date on which this object is to be downloaded. Comment Description of the request to be sent to the mailbox
Move Up This button moves the selected request up by one position in the list. Move Down This button moves the selected request down by one position in the list. New This button adds a new mailbox download request to be sent during startup. Delete This button deletes the selected entry. Edit This button edits an existing request.
CoE - Online tab
The additional CoE - Online tab is displayed if the EtherCAT slave supports the CANopen over EtherCAT (CoE) protocol. This dialog lists the content of the object directory of the slave (SDO upload) and enables the user to modify the content of an object from this list. Details for the objects of the individual EtherCAT devices can be found in the device-specific object descriptions.
EP1518-000240 Version: 2.1.0
Page 41
Commissioning and configuration
Fig.38: CoE - Online tab
Object list display
Column Description
Index Index and subindex of the object Name Name of the object Flags RW The object can be read, and data can be written to the object (read/write)
RO The object can be read, but no data can be written to the object (read only) P An additional P identifies the object as a process data object.
Value Value of the object
Update List The Update list button updates all objects in the displayed list Auto Update If this check box is selected, the content of the objects is updated automatically. Advanced The Advanced button opens the Advanced Settings dialog. Here you can specify which
objects are displayed in the list.
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Commissioning and configuration
Fig.39: Advanced settings
Online
- via SDO information
Offline
- via EDS file
Online tab
If this option button is selected, the list of the objects included in the object directory of the slave is uploaded from the slave via SDO information. The list below can be used to specify which object types are to be uploaded.
If this option button is selected, the list of the objects included in the object directory is read from an EDS file provided by the user.
Fig.40: Online tab
EP1518-000242 Version: 2.1.0
Page 43
Commissioning and configuration
State Machine
Init This button attempts to set the EtherCAT device to the Init state. Pre-Op This button attempts to set the EtherCAT device to the pre-operational state. Op This button attempts to set the EtherCAT device to the operational state. Bootstrap This button attempts to set the EtherCAT device to the Bootstrap state. Safe-Op This button attempts to set the EtherCAT device to the safe-operational state. Clear Error This button attempts to delete the fault display. If an EtherCAT slave fails during
change of state it sets an error flag.
Example: An EtherCAT slave is in PREOP state (pre-operational). The master now requests the SAFEOP state (safe-operational). If the slave fails during change of state it sets the error flag. The current state is now displayed as ERR PREOP. When the Clear Error button is pressed the error flag is cleared, and the current state is displayed as PREOP again.
Current State Indicates the current state of the EtherCAT device. Requested State Indicates the state requested for the EtherCAT device.
DLL Status
Indicates the DLL status (data link layer status) of the individual ports of the EtherCAT slave. The DLL status can have four different states:
Status Description
No Carrier / Open No carrier signal is available at the port, but the port is open. No Carrier / Closed No carrier signal is available at the port, and the port is closed. Carrier / Open A carrier signal is available at the port, and the port is open. Carrier / Closed A carrier signal is available at the port, but the port is closed.
File Access over EtherCAT
Download With this button a file can be written to the EtherCAT device. Upload With this button a file can be read from the EtherCAT device.
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Commissioning and configuration

4.1.3 Distributed Clocks (DC)

EtherCAT System Documentation
A basic introduction to the topic of EtherCAT and Distributed Clocks is available in the Download area on the Beckhoff homepage:EtherCAT System Documentation.
The EtherCAT Box supports Distributed Clocks functionality. In order for the Box to be able to make the current counter value available in the designated process data in time before the arrival of the querying EtherCAT datagram, a suitable signal must be generated cyclically within the terminal. This signal can be triggered in the Box through 2 events: the SyncManager (SM) and the distributed clock (DC). Under operation mode selection the following options are available (see Fig. "DC" (Disributed Clocks) tab)
• SM-synchron The SynManager event occurs when an EtherCAT frame successfully exchanges process data with the EP1518. Frame-triggered, the current counter value is thus cyclically determined, but with the low temporal jitter of the Ethernet frame.
• DC-synchron In DC operation mode determination of the counter value is triggered cyclically at constant intervals through the integrated DC unit, synchronous with the bus cycle as standard. More uniform polling offers higher-quality position data for a higher-level control algorithm, for example. In the EP1518 the SYNC0 signal acts as trigger.
Fig.41: DC tab (Distributed Clocks)
When DC-Synchron operation mode is activated TwinCAT selects settings that ensure reliable operation of the Box with current position data. This means that determination of the current counter value is triggered by the SYNC0 signal at highly constant intervals and in good time (i.e. with an adequate safety buffer) before retrieving EtherCAT datagram is started.
If necessary, the SYNC0 signal can be shifted along the time axis to the right/later or left/earlier in associated dialogs by specifying a user-defined shift time, see Fig. Advanced Distributed Clock (DC) settings.
• A right-shift (positive shift value) will delay the counter value query, which means the position value becomes more current from the PLC perspective. However, this increases the risk that the position determination may not be finished in time before the arrival of EtherCAT frame, so that no current position value is available in this cycle.
• A left-shift (negative shift value) means the counter value will be queried earlier, resulting in older position values, with an associated increase in the safety buffer before the arrival of the EtherCAT datagram. This setting may be useful in systems with high real-time jitter, if no Industrial PCs from Beckhoff are used for control purposes, for example.
EP1518-000244 Version: 2.1.0
Page 45
Commissioning and configuration
NOTE
Risk of device damage
The mentioned notes and information should be used advisedly. The EtherCAT master automatically allocates SYNC0 and SYNC1 settings that support reliable and timely process data acquisition. User intervention at this point may lead to undesired behavior. If these settings are changed in the System Manager, no plausibility checks are carried out on the software side. Correct function of the terminal with all conceivable setting options cannot be guaranteed.
Default setting
The cyclic reading of the inputs is triggered by the SYNC0 pulse (interrupt) of the DC in the EtherCAT Box. The EtherCAT master sets the Sync Unit Cycle time value to the PLC cycle time and therefore the EtherCAT cycle time as standard. See Fig. Advanced Distributed Clock (DC) settings: 4000µs = 4ms, as TwinCAT is in configuration mode.
DC settings
Fig.42: Advanced settings for Distributed Clocks (DC)
SYNC0
Sync Unit cycle: a multiple of the bus cycle time. The counter value is periodically determined at this interval (in µs).
User defined
Any number up to 232 ns, or about 4.3 seconds. Use of decimal points is allowed.
Page 46
Commissioning and configuration
Shift Time
The Shift Time can be used to shift the SYNC0 pulse for this EtherCAT Box relative to other Boxes/ Terminals and the global SYNC pulse in nanosecond steps. If the inputs of several Boxes are read simultaneously, the same value must be entered here.
Based on input reference
If this option is activated an additional Input Shift is added to the configurable terminal-specific SYNC0 shift (user defined). This value is calculated and made available by the EtherCAT master (SysMan/Device EtherCAT/Tab EtherCAT/Advanced Settings/Distributed Clocks/Input Shift Time). As a result, all the input terminals in the system (EL1xxx, EL3xxx, EP1xxx, EP3xxx) read their inputs as close as possible to the time of the EtherCAT frame that will fetch them, thereby supplying the most recent possible input data to the controller.
Enable SYNC0
Automatically activated in DC-synchron operation mode.
SYNC1
Additional SYNC pulse, derived from SYNC0 or from the DC itself.
DC settings for EtherCAT master
Higher-level distributed clock parameters can be modified under advanced settings for the EtherCAT master. Refer also to the basic introduction to the topic of EtherCAT and Distributed Clocks; download: the
Distributed Clocks system description.
Fig.43: EtherCAT Master, EtherCAT tab, Advanced Settings

4.1.4 Distributed Clocks and EP1518

Digital inputs and Distributed Clocks
If the Distributed Clock of the EP1518 is activated, the digital inputs are read in without the set filter promptly before the arrival of the querying EtherCAT datagram.
EP1518-000246 Version: 2.1.0
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Commissioning and configuration

4.2 Configuration of the EP1518

4.2.1 Basic Function Principles

The EP1518 EtherCAT Box has 8 digital inputs. Of these, inputs 0, 1 and 2 as well as 4, 5 and 6 can each be used for one counter. The states of the individual inputs are always illustrated in the process image, irrespective of their use.
Input M8 M12 Properties
0 Socket 1, pin 4 Socket 1, pin 4 Digital input or counter input 1 1 Socket 2, pin 4 Socket 1, pin 2 Digital input or Gate 1 2 Socket 3, pin 4 Socket 2, pin 4 Digital input or Up/Down 1 3 Socket 4, pin 4 Socket 2, pin 2 Digital input 4 Socket 5, pin 4 Socket 3, pin 4 Digital input or counter input 2 5 Socket 6, pin 4 Socket 3, pin 2 Digital input or Gate 2 6 Socket 7, pin 4 Socket 4, pin 4 Digital input or Up/Down 2 7 Socket 8, pin 4 Socket 4, pin 2 Digital input
Operation modes
The EP1518 can be operated in 3 modes; the mode is set by selecting the PDOs in the Sync-Manager [}38]:
Operation mode Number of
counter channels
2 up/down counters (32­bit)
2 up/down counters (32­bit)
8 digital inputs, no counter
The GATE and Up/Down inputs can be converted to standard inputs.
Counting mode
The following settings for GATE and Up/Down can be combined and apply independently to each counter.
Counting mode with standard setting (up counter)
In the delivery state the CounterValue is incremented on each rising edge. The count direction is up.
2 2 Single pulses are counted at the counter
1 5
- 8 digital inputs:
Number of "free" digital inputs
Properties
inputs. The gate input or the software gate enables the counter. The count direction is specified via CoE.
Filter for inputs 0 and 4 permanently set to 150µs. The filter setting for the other inputs is configurable by software.
The counter is disabled by applying a high level to the GATE input or by setting the InhibitCounters bit.
Page 48
Commissioning and configuration
Fig.44: Counting mode with standard setting
Counting mode with reversed count direction (down counter)
The count direction is changed by applying a high level to the Up/Down input or by setting the CoE object 0x80x0:04 Count down. The count direction is down.
Fig.45: Counting mode with reversed counting direction
Counting mode with inverted (negated) GATE input
In the default setting the counter is disabled by applying a high level to the GATE input or by setting the Inhibit Counters bit
Setting the CoE object 0x80x0:05 Enableinputgate activates the counter if GATE is set and deactivates it if GATE is not set.
EP1518-000248 Version: 2.1.0
Page 49
Fig.46: Counting mode with inverted GATE input
Commissioning and configuration
Fig.47: CoE for inverting the GATE input

4.2.2 Operation modes

Operation mode selection
The EP1518 can be operated in 3 modes:
• Two up/down counters [}50](delivery state)
• One up/down counter [}51]
• 8 digital inputs [}52]
The setting takes place by selecting the PDOs in the Sync-Manager [}38]:
Operation mode Number of
32-bit coun­ters
2 up/down counters 2 2 Single pulses at the counter inputs are 1 up/down counters 1 5
8 digital inputs, no counter
- 8 digital inputs:
Number of "free" digital inputs
Properties
counted; the Gate input or the software gate enables the counter; count direction via CoE
Filter for inputs 0 and 4 permanently set to 150µs. The filter setting for the other inputs is configurable by software.
Page 50
Commissioning and configuration
Operation mode set­tings of the PDOs
2 up/down counters (32-bit)
1 up/down counters (32-bit)
8 digital inputs, no counter
The module parameters are set in the CoE objects 0x8000:0 for counter 1, 0x8010:0 for counter 2 and 0x8022:0 for the digital inputs. (integrate links)
0x1600 0x1601 0x1A00 0x1A01 0x1A02 0x1A03 Comments
1 1 1 1 0/1 0/1 2 counters, digital inputs,
diagnosis of Us
1 0 1 0 0/1 0/1
0 0 0 0 0/1 0/1 digital inputs:
Filter for inputs 0 and 4 permanently set to 150µs. The filter setting for the other inputs is configurable by software.
The second counter is always active internally
Internally the second counter is always active, so that when switching from one 32-bit counter to two 32-bit counters the previous incoming pulses were counted in the second counter and saved in the Counter Value.
Two up/down counters
This is the delivery mode of the EP1518.
Fig.48: Setting of the PDOs 0x1600 and 0x1601, default settings of the objects 0x8000 to 0x8022:0
EP1518-000250 Version: 2.1.0
Page 51
Commissioning and configuration
Fig.49: Setting of the PDOs 0x1A00 to 0x1A03, default settings of the objects 0x8000 to 0x8002:0
The PDOs 0x1600 [}62], 0x1601 [}63] as well as 0x1A00 [}63], 0x1A01 [}63], 0x1A02 [}64] and 0x1A03 [}64] are activated. The meaning of the individual objects is explained in the object description.
One up/down counter (0x1601 deactivated, 0x1A01 deactivated)
This mode can be set as follows:
Page 52
Commissioning and configuration
Fig.50: Setting the PDOs 0x1600
Fig.51: Setting the PDOs 0x1A00, 0x1A02 and 0x1A03
The PDOs 0x1600 [}62] as well as 0x1A00 [}63], 0x1A02 [}64] and 0x1A03 [}64] are activated. The CoE objects are identical to the 2 x 32-bit counter operation mode.
8 digital inputs, no counter
This mode can be set as follows:
EP1518-000252 Version: 2.1.0
Page 53
Commissioning and configuration
Fig.52: Setting the PDOs 0x1A02 and 0x1A03
The PDOs 0x1A02 [}64] and 0x1A03 [}64] are activated.The meaning of the individual objects is explained in the object description.

4.2.3 Counter settings

Enabling the GATE and Up/Down inputs as standard inputs
By setting the CoE objects EnableInputgate and EnableinputUD, the inputs are no longer allocated to the counters, but are used as standard inputs.
Fig.53: Enabling the inputs
Setting the counter to a value specified by the process data
The counter (counter value) can be set to any desired value by the controller.
To do this, set the desired value in Setcountervalue. The value is then adopted by Counter value on a rising edge of the Set counter control bit.
Page 54
Commissioning and configuration
Fig.54: Setting the counter
Automatic setting/resetting of the counter to a defined value
If a desired value is set in Counterreloadvalue and the Enable reload bit is activated, the counter is set to 0 or to the set value if the specified value is exceeded or fallen below (depending on the counting direction).
Fig.55: Automatic setting of the counter
EP1518-000254 Version: 2.1.0
Page 55
Commissioning and configuration

4.2.4 Restoring the delivery state

To restore the delivery state for backup objects in ELxxxx terminals / EPxxxx boxes, the CoE object Restore default parameters, SubIndex 001 can be selected in the TwinCAT System Manager (Config mode).
Fig.56: 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.
All backup objects are reset to the delivery state.
Fig.57: Entering a restore value in the Set Value dialog
Alternative restore value
In some older terminals / boxes the backup objects can be switched with an alternative restore value: Decimal value: 1819238756 Hexadecimal value: 0x6C6F6164
An incorrect entry for the restore value has no effect.
Page 56
Commissioning and configuration

4.3 CoE objects

4.3.1 Object overview

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.
Index (hex) Name Flags Default value
1000 [}62]
1008 [}62]
1009 [}62]
100A [}62]
1011:0 [}60]
1018:0 [}62]
10F0:0 [}62]
1600:0 [}62]
1601:0 [}63]
1A00:0 [}63]
Subindex Restore default parameters RO 0x01 (1 1011:01 SubIndex 001 RW 0x00000000 (0
Subindex Identity RO 0x04 (4 1018:01 Vendor ID RO 0x00000002 (2 1018:02 Product code RO 0x05EE4052 (99500114 1018:03 Revision RO 0x00100002 (1048578 1018:04 Serial number RO 0x00000000 (0 Subindex Backup parameter handling RO 0x01 (1 10F0:01 Checksum RO 0x00000000 (0
Subindex CNT RxPDO-Map Outputs Ch.1 RO 0x05 (5 1600:01 SubIndex 001 RO 0x0000:00, 2 1600:02 SubIndex 002 RO 0x7000:03, 1 1600:03 SubIndex 003 RO 0x7000:04, 1 1600:04 SubIndex 004 RO 0x0000:00, 12 1600:05 SubIndex 005 RO 0x7000:11, 32 Subindex CNT RxPDO-Map Outputs Ch.2 RO 0x05 (5 1601:01 SubIndex 001 RO 0x0000:00, 2 1601:02 SubIndex 002 RO 0x7010:03, 1 1601:03 SubIndex 003 RO 0x7010:04, 1 1601:04 SubIndex 004 RO 0x0000:00, 12 1601:05 SubIndex 005 RO 0x7010:11, 32 Subindex CNT TxPDO-Map InputsCh.1 RO 0x0A (10 1A00:01 SubIndex 001 RO 0x0000:00, 2 1A00:02 SubIndex 002 RO 0x6000:03, 1 1A00:03 SubIndex 003 RO 0x6000:04, 1 1A00:04 SubIndex 004 RO 0x6000:05, 1 1A00:05 SubIndex 005 RO 0x6000:06, 1 1A00:06 SubIndex 006 RO 0x0000:00, 7 1A00:07 SubIndex 007 RO 0x6000:0E, 1 1A00:08 SubIndex 008 RO 0x6000:0F, 1 1A00:09 SubIndex 009 RO 0x6000:10, 1 1A00:0A SubIndex 010 RO 0x6000:11, 32
Device type RO 0x00001389 (5001
Device name RO EP1518-0002
Hardware version RO 00
Software version RO 01.03
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
dec
dec
dec
dec
)
dec
)
)
)
dec
)
dec
)
)
EP1518-000256 Version: 2.1.0
Page 57
Commissioning and configuration
Index (hex) Name Flags Default value
1A01:0 [}63]
Subindex CNT TxPDO-Map Inputs Ch.2 RO 0x0A (10 1A01:01 SubIndex 001 RO 0x0000:00, 2
dec
)
1A01:02 SubIndex 002 RO 0x6010:03, 1 1A01:03 SubIndex 003 RO 0x6010:04, 1 1A01:04 SubIndex 004 RO 0x6010:05, 1 1A01:05 SubIndex 005 RO 0x6010:06, 1 1A01:06 SubIndex 006 RO 0x0000:00, 7 1A01:07 SubIndex 007 RO 0x6010:0E, 1 1A01:08 SubIndex 008 RO 0x6010:0F, 1 1A01:09 SubIndex 009 RO 0x6010:10, 1 1A01:0A SubIndex 010 RO 0x6010:11, 32
1A02:0 [}64]
Subindex DIG TxPDO-Map Inputs RO 0x09 (9 1A02:01 SubIndex 001 RO 0x6020:01, 1
dec
)
1A02:02 SubIndex 002 RO 0x6020:02, 1 1A02:03 SubIndex 003 RO 0x6020:03, 1 1A02:04 SubIndex 004 RO 0x6020:04, 1 1A02:05 SubIndex 005 RO 0x6020:05, 1 1A02:06 SubIndex 006 RO 0x6020:06, 1 1A02:07 SubIndex 007 RO 0x6020:07, 1 1A02:08 SubIndex 008 RO 0x6020:08, 1 1A02:09 SubIndex 009 RO 0x0000:00, 8
1A03:0 [}64]
Subindex DIG TxPDO-Map Inputs Device RO 0x07 (7 1A03:01 SubIndex 001 RO 0x0000:00, 1
dec
)
1A03:02 SubIndex 002 RO 0xF600:02, 1 1A03:03 SubIndex 003 RO 0xF600:03, 1 1A03:04 SubIndex 004 RO 0x0000:00, 10 1A03:05 SubIndex 005 RO 0xF600:0E, 1 1A03:06 SubIndex 006 RO 0xF600:0F, 1 1A03:07 SubIndex 007 RO 0xF600:10, 1
1C00:0 [}64]
1C12:0 [}64]
Subindex Sync manager type RO 0x04 (4 1C00:01 SubIndex 001 RO 0x01 (1 1C00:02 SubIndex 002 RO 0x02 (2 1C00:03 SubIndex 003 RO 0x03 (3 1C00:04 SubIndex 004 RO 0x04 (4 Subindex RxPDO assign RW 0x02 (2 1C12:01 SubIndex 001 RW 0x1600 (5632
dec
dec
dec
dec
dec
dec
) ) ) ) ) )
1C12:02 SubIndex 002 RW 0x1601 (5633
1C13:0 [}65]
Subindex TxPDO assign RW 0x04 (4 1C13:01 SubIndex 001 RW 0x1A00 (6656
dec
)
1C13:02 SubIndex 002 RW 0x1A01 (6657 1C13:03 SubIndex 003 RW 0x1A02 (6658 1C13:04 SubIndex 004 RW 0x1A03 (6659
dec
dec
dec
dec
dec
dec
) )
) ) ) )
Page 58
Commissioning and configuration
Index (hex) Name Flags Default value
1C32:0 [}65]
Subindex SM output parameter RO 0x20 (32 1C32:01 Sync mode RW 0x0001 (1
dec
)
dec
1C32:02 Cycle time RW 0x000F4240 (1000000 1C32:03 Shift time RO 0x00000000 (0 1C32:04 Sync modes supported RO 0xC007 (49159 1C32:05 Minimum cycle time RO 0x0003D090 (250000 1C32:06 Calc and copy time RO 0x00000000 (0 1C32:07 Minimum delay time RO 0x00000000 (0 1C32:08 Command RW 0x0000 (0
dec
1C32:09 Maximum delay time RO 0x00000000 (0
1C33:0 [}66]
1C32:0B SM event missed counter RO 0x0000 (0 1C32:0C Cycle exceeded counter RO 0x0000 (0 1C32:0D Shift too short counter RO 0x0000 (0 1C32:20 Sync error RO 0x00 (0 Subindex SM input parameter RO 0x20 (32 1C33:01 Sync mode RW 0x0022 (34
dec
dec
dec
dec
dec
)
)
dec
1C33:02 Cycle time RW 0x000F4240 (1000000 1C33:03 Shift time RO 0x00000000 (0 1C33:04 Sync modes supported RO 0xC007 (49159 1C33:05 Minimum cycle time RO 0x0003D090 (250000 1C33:06 Calc and copy time RO 0x00000000 (0 1C33:07 Minimum delay time RO 0x00000000 (0 1C33:08 Command RW 0x0000 (0
dec
1C33:09 Maximum delay time RO 0x00000000 (0
6000:0 [}67]
1C33:0B SM event missed counter RO 0x0000 (0 1C33:0C Cycle exceeded counter RO 0x0000 (0 1C33:0D Shift too short counter RO 0x0000 (0 1C33:20 Sync error RO 0x00 (0 Subindex CNT Inputs RO 0x11 (17 6000:03 Set counter done RO 0x00 (0 6000:04 Counter inhibited RO 0x00 (0 6000:05 Status of input UD RO 0x00 (0 6000:06 Status of input clock RO 0x00 (0 6000:0E Sync error RO 0x00 (0 6000:0F TxPDO State RO 0x00 (0 6000:10 TxPDO Toggle RO 0x00 (0
dec
dec
dec
dec
dec
dec
dec
dec
dec
dec
dec
dec
)
) ) ) ) ) ) ) )
6000:11 Counter value RO 0x00000000 (0
6010:0 [}67]
Subindex CNT Inputs RO 0x11 (17 6010:03 Set counter done RO 0x00 (0 6010:04 Counter inhibited RO 0x00 (0 6010:05 Status of input UD RO 0x00 (0 6010:06 Status of input clock RO 0x00 (0 6010:0E Sync error RO 0x00 (0 6010:0F TxPDO State RO 0x00 (0 6010:10 TxPDO Toggle RO 0x00 (0
dec
dec
dec
dec
dec
dec
dec
dec
) ) ) ) ) ) ) )
6010:11 Counter value RO 0x00000000 (0
)
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
)
dec
) ) )
)
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
)
dec
) ) )
)
dec
)
dec
EP1518-000258 Version: 2.1.0
Page 59
Commissioning and configuration
Index (hex) Name Flags Default value
6020:0 [}67]
7000:0 [}67]
Subindex DIG Inputs RO 0x08 (8 6020:01 Input 0 RO 0x00 (0 6020:02 Input 1 RO 0x00 (0 6020:03 Input 2 RO 0x00 (0 6020:04 Input 3 RO 0x00 (0 6020:05 Input 4 RO 0x00 (0 6020:06 Input 5 RO 0x00 (0 6020:07 Input 6 RO 0x00 (0 6020:08 Input 7 RO 0x00 (0 Subindex CNT Outputs RO 0x11 (17 7000:03 Set counter RO 0x00 (0 7000:04 Inhibit counter RO 0x00 (0
dec
dec
dec
dec
dec
dec
dec
dec
dec
dec
dec
dec
) ) ) ) ) ) ) ) )
) ) )
7000:11 Set counter value RO 0x00000000 (0
7010:0 [}68]
Subindex CNT Outputs RO 0x11 (17 7010:03 Set counter RO 0x00 (0 7010:04 Inhibit counter RO 0x00 (0
dec
dec
dec
) ) )
7010:11 Set counter value RO 0x00000000 (0
8000:0 [}61]
Subindex CNT Settings RW 0x13 (19 8000:03 Enable reload RW 0x00 (0 8000:04 Count down RW 0x00 (0 8000:05 Operating mode RW 0x01 (1
dec
dec
dec
dec
) ) ) )
8000:13 Counter reload value RW 0x00000000 (0
8010:0 [}61]
Subindex CNT Settings RW 0x13 (19 8010:03 Enable reload RW 0x00 (0 8010:04 Count down RW 0x00 (0 8010:05 Operating mode RW 0x01 (1
dec
dec
dec
dec
) ) ) )
8010:13 Counter reload value RW 0x00000000 (0
8022:0 [}61]
F000:0 [}68]
F008 [}68]
F010:0 [}68]
Subindex DIG Filter Settings RW 0x08 (8 8022:01 Input 0 RW 0x00 (0 8022:02 Input 1 RW 0x00 (0 8022:03 Input 2 RW 0x00 (0 8022:04 Input 3 RW 0x00 (0 8022:05 Input 4 RW 0x00 (0 8022:06 Input 5 RW 0x00 (0 8022:07 Input 6 RW 0x00 (0 8022:08 Input 7 RW 0x00 (0 Subindex Modular device profile RO 0x02 (2 F000:01 Module index distance RO 0x0010 (16 F000:02 Maximum number of modules RO 0x0003 (3
Code word RW 0x00000000 (0
Subindex Module list RW 0x03 (3 F010:01 SubIndex 001 RW 0x00000096 (150
dec
dec
dec
dec
dec
dec
dec
dec
dec
dec
dec
) ) ) ) ) ) ) ) ) )
dec
)
dec
)
F010:02 SubIndex 002 RW 0x00000096 (150 F010:03 SubIndex 003 RW 0x00000118 (280
)
dec
)
dec
)
dec
)
dec
)
)
dec
)
dec
)
dec
)
dec
Page 60
Commissioning and configuration
Index (hex) Name Flags Default value
F600:0 [}68]
Subindex DIG Inputs RO 0x10 (16 F600:02 Error channel 1 RO 0x00 (0 F600:03 Error channel 2 RO 0x00 (0 F600:0E Sync error RO 0x00 (0 F600:0F TxPDO State RO 0x00 (0 F600:10 TxPDO Toggle RO 0x00 (0
dec
dec
dec
dec
dec
dec
) ) ) ) ) )
Key
Flags: RO (Read Only): this object can be read only RW (Read/Write): this object can be read and written to

4.3.2 Object description and parameterization

Parameterization
The terminal is parameterized via the CoE - Online tab (double-click on the respective object) or via the Process Data tab (assignment of PDOs).
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 on the Beckhoff website (http:// www.beckhoff.de/german/default.htm?download/elconfg.htm) and installing it according to the in­stallation instructions.
Introduction
The CoE overview contains objects for different intended applications:
• Objects required for parameterization [}60] during commissioning
• Objects intended for regular operation, e.g. through ADS access.
• Objects for indicating internal settings (may be fixed)
• Further profile-specific objects [}67] indicating inputs, outputs and status information
The following section first describes the objects required for normal operation, followed by a complete overview of missing objects.
Additional objects
4.3.2.1 Objects to be parameterized during commissioning
Index 1011 Restore default parameters
Index (hex) Name Meaning Data type Flags Default
1011:0 Restore default pa-
rameters
1011:01 SubIndex 001 If this object is set to "0x64616F6C" in the set value dia-
Restore default parameters UINT8 RO 0x01 (1
log, all backup objects are reset to their delivery state.
UINT32 RW 0x00000000
(0
)
dec
)
dec
EP1518-000260 Version: 2.1.0
Page 61
Commissioning and configuration
Index 8000 CNT Settings
Index (hex) Name Meaning Data type Flags Default
8000:0 CNT Settings Maximum subindex UINT8 RO 0x13 (19
8000:03 Enable reload
The counter counts to the value in index 0x8000:13
BOOLEAN RW 0x00 (0
[}61]
8000:04 Count down Counting direction: BOOLEAN RW 0x00 (0
0
bin
1
bin
Forward
Down
8000:05 Operating mode Operation mode BIT2 RW 0x01 (1
01
bin
10
bin
8000:13 Counter reload value The limit that can be activated via "Enable reload" (index
0x8000:03 [}61]).
Enable pos. gate (gate inhibits with positive level)
Enable neg. gate (gate inhibits with negative level)
UINT32 RW 0x00000000
(0
)
dec
If counting upward, the counter counts up to this limit and, on exceeding it, starts again from zero. If counting downward, the counter counts down to 0 and, on falling below 0, is reloaded with the value from this register.
Index 8010 CNT Settings
Index (hex) Name Meaning Data type Flags Default
8010:0 CNT Settings Maximum subindex UINT8 RO 0x13 (19
8010:03 Enable reload
The counter counts to the value in index 0x8010:13
[}61]
8010:04 Count down Counting direction: BOOLEAN RW 0x00 (0
0
bin
1
bin
Forward
Down
8010:05 Operating mode Operation mode BIT2 RW 0x01 (1
8010:13 Counter reload value
01
bin
10
bin
The limit that can be activated via "Enable reload" (index
Enable pos. gate (gate inhibits with positive level)
Enable neg. gate (gate inhibits with negative level)
0x8010:03 [}61]). If counting upward, the counter counts up to this limit and, on exceeding it, starts again from zero. If counting downward, the counter counts down to 0 and, on falling below 0, is reloaded with the value from this register.
BOOLEAN RW 0x00 (0
UINT32 RW 0x00000000
(0
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
Index 8022 DIG Filter Settings
Index (hex) Name Meaning Data type Flags Default
8022:0 DIG Filter Settings Maximum subindex UINT8 RO 0x08 (8
8022:01 Input 0 Filter time for the input UINT8 RW 0x00 (0
8022:02 Input 1
8022:03 Input 2
8022:04 Input 3
8022:05 Input 4
8022:06 Input 5
8022:07 Input 6
8022:08 Input 7
0
dec
1
dec
2
dec
3
dec
4
dec
5
dec
see 0x8022:01 [}61]
see 0x8022:01 [}61]
see 0x8022:01 [}61]
see 0x8022:01 [}61]
see 0x8022:01 [}61]
see 0x8022:01 [}61]
see 0x8022:01 [}61]
10µs
200µs
1ms
3ms
10ms
100ms
UINT8 RW 0x00 (0
UINT8 RW 0x00 (0
UINT8 RW 0x00 (0
UINT8 RW 0x00 (0
UINT8 RW 0x00 (0
UINT8 RW 0x00 (0
UINT8 RW 0x00 (0
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
Page 62
Commissioning and configuration
4.3.2.2 Standard objects (0x1000-0x1FFF)
The standard objects have the same meaning for all EtherCAT slaves.
Index 1000 Device type
Index (hex) Name Meaning Data type Flags Default
1000:0 Device type Device type of the EtherCAT slave: The Lo-Word con-
tains the CoE profile used (5001). The Hi-Word contains the module profile according to the modular device pro­file.
Index 1008 Device name
Index (hex) Name Meaning Data type Flags Default
1008:0 Device name Device name of the EtherCAT slave STRING RO EP1518-0002
Index 1009 Hardware version
Index (hex) Name Meaning Data type Flags Default
1009:0 Hardware version Hardware version of the EtherCAT slave STRING RO 00
Index 100A Software Version
Index (hex) Name Meaning Data type Flags Default
100A:0 Software version Firmware version of the EtherCAT slave STRING RO 01.03
UINT32 RO 0x00001389
(5001
)
dec
Index 1018 Identity
Index (hex) Name Meaning Data type Flags Default
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
)
dec
1018:02 Product code Product code of the EtherCAT slave UINT32 RO 0x05EE4052
1018:03 Revision Revision numberof the EtherCAT slave; the low word (bit
0-15) indicates the special terminal number, the high word (bit 16-31) refers to the device description
1018:04 Serial number Serial number of the EtherCAT slave; the low byte (bit
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
(99500114
UINT32 RO 0x00100002
(1048578
UINT32 RO 0x00000000
(0
dec
dec
dec
)
production, the high word (bit 16-31) is 0
Index 10F0 Backup parameter handling
Index (hex) Name Meaning Data type Flags Default
10F0:0 Backup parameter
handling
10F0:01 Checksum Checksum across all backup entries of the EtherCAT
Information for standardized loading and saving of backup entries
slave
UINT8 RO 0x01 (1
)
dec
UINT32 RO 0x00000000
(0
)
dec
Index 1600 CNT RxPDO-Map Outputs Ch.1
Index (hex) Name Meaning Data type Flags Default
1600:0 CNT RxPDO-Map
Outputs Ch.1
1600:01 SubIndex 001 1. PDO Mapping entry (object 0x7040 (DO Outputs), en-
1600:02 SubIndex 002 2. PDO Mapping entry (15bits align) UINT32 RO 0x7000:03, 1
1600:03 SubIndex 003 3. PDO Mapping entry (object 0x7010 (CNT Outputs),
1600:04 SubIndex 004 4. PDO Mapping entry (object 0x7010 (CNT Outputs),
1600:05 SubIndex 005 5. PDO Mapping entry (12bits align) UINT32 RO 0x7000:11, 32
PDO Mapping RxPDO 1 UINT8 RO 0x05 (5
UINT32 RO 0x0000:00, 2
try 0x01 (Output 0))
UINT32 RO 0x7000:04, 1
entry 0x03 (Set counter))
UINT32 RO 0x0000:00, 12
entry 0x04 (Inhibit counter))
)
dec
)
)
EP1518-000262 Version: 2.1.0
Page 63
Commissioning and configuration
Index 1601 CNT RxPDO-Map OutputsCh.2
Index (hex) Name Meaning Data type Flags Default
1601:0 CNT RxPDO-Map
Outputs Ch.2
1601:01 SubIndex 001 1. PDO Mapping entry (object 0x7020 (CNT Outputs),
PDO Mapping RxPDO 2 UINT8 RO 0x05 (5
UINT32 RO 0x0000:00, 2
)
dec
entry 0x01 (Enable output functions))
1601:02 SubIndex 002 2. PDO Mapping entry (object 0x7020 (CNT Outputs),
UINT32 RO 0x7010:03, 1
entry 0x02 (Set output))
1601:03 SubIndex 003 3. PDO Mapping entry (object 0x7020 (CNT Outputs),
UINT32 RO 0x7010:04, 1
entry 0x03 (Set counter))
1601:04 SubIndex 004 4. PDO Mapping entry (object 0x7020 (CNT Outputs),
UINT32 RO 0x0000:00, 12
entry 0x04 (Inhibit counter))
1601:05 SubIndex 005 5. PDO Mapping entry (12bits align) UINT32 RO 0x7010:11, 32
Index 1A00 CNT TxPDO-Map InputsCh.1
Index (hex) Name Meaning Data type Flags Default
1A00:0 CNT TxPDO-Map In-
putsCh.1
1A00:01 SubIndex 001 1. PDO Mapping entry (object 0x6000 (DI Inputs Ch.1),
1A00:02 SubIndex 002 2. PDO Mapping entry (object 0x6000 (DI Inputs Ch.1),
1A00:03 SubIndex 003 3. PDO Mapping entry (object 0x6000 (DI Inputs Ch.1),
1A00:04 SubIndex 004 4. PDO Mapping entry (object 0x6000 (DI Inputs Ch.1),
1A00:05 SubIndex 005 5. PDO Mapping entry (object 0x6000 (DI Inputs Ch.1),
1A00:06 SubIndex 006 6. PDO Mapping entry (object 0x6000 (DI Inputs Ch.1),
1A00:07 SubIndex 007 7. PDO Mapping entry (object 0x6000 (DI Inputs Ch.1),
1A00:08 SubIndex 008 8. PDO Mapping entry (object 0x6000 (DI Inputs Ch.1),
1A00:09 SubIndex 009 9. PDO Mapping entry (8 bits align) UINT32 RO 0x6000:10, 1
1A00:0A SubIndex 010 10. PDO Mapping entry (object 0x6000 (CNT Inputs), en-
PDO Mapping TxPDO 1 UINT8 RO 0x0A (10
UINT32 RO 0x0000:00, 2
entry 0x01 (Input 0))
UINT32 RO 0x6000:03, 1
entry 0x02 (Input 1))
UINT32 RO 0x6000:04, 1
entry 0x03 (Input 2))
UINT32 RO 0x6000:05, 1
entry 0x04 (Input 3))
UINT32 RO 0x6000:06, 1
entry 0x05 (Input 4))
UINT32 RO 0x0000:00, 7
entry 0x06 (Input 5))
UINT32 RO 0x6000:0E, 1
entry 0x06 (Input 6))
UINT32 RO 0x6000:0F, 1
entry 0x08 (Input 7))
UINT32 RO 0x6000:11, 32
try 0x11 (Counter value))
)
dec
Index 1A01 CNT TxPDO-Map InputsCh.2
Index (hex) Name Meaning Data type Flags Default
1A01:0 CNT TxPDO-Map In-
puts Ch.2
1A01:01 SubIndex 001 1. PDO Mapping entry (15 bits align) UINT32 RO 0x0000:00, 2
1A01:02 SubIndex 002 2. PDO Mapping entry (object 0x6020 (CNT Inputs), en-
1A01:03 SubIndex 003 3. PDO Mapping entry (object 0x6020 (CNT Inputs), en-
1A01:04 SubIndex 004 4. PDO Mapping entry (object 0x6020 (CNT Inputs), en-
1A01:05 SubIndex 005 5. PDO Mapping entry (object 0x6020 (CNT Inputs), en-
1A01:06 SubIndex 006 6. PDO Mapping entry (object 0x6020 (CNT Inputs), en-
1A01:07 SubIndex 007 7. PDO Mapping entry (8 bits align) UINT32 RO 0x6010:0E, 1
1A01:08 SubIndex 008 8. PDO Mapping entry (object 0x6020 (CNT Inputs), en-
1A01:09 SubIndex 009 9. PDO Mapping entry (object 0x6020 (CNT Inputs), en-
1A01:0A SubIndex 010 10. PDO Mapping entry (object 0x6010 (CNT Inputs), en-
PDO Mapping TxPDO 2 UINT8 RO 0x0A (10
UINT32 RO 0x6010:03, 1
try 0x10 (TxPDO Toggle))
UINT32 RO 0x6010:04, 1
try 0x11 (Counter value))
UINT32 RO 0x6010:05, 1
try 0x04 (Counter inhibited))
UINT32 RO 0x6010:06, 1
try 0x05 (Status of input UD))
UINT32 RO 0x0000:00, 7
try 0x06 (Status of input clock))
UINT32 RO 0x6010:0F, 1
try 0x0F (TxPDO State))
UINT32 RO 0x6010:10, 1
try 0x10 (TxPDO Toggle))
UINT32 RO 0x6010:11, 32
try 0x11 (Counter value))
dec
)
Page 64
Commissioning and configuration
Index 1A02 DIG TxPDO-Map Inputs
Index (hex) Name Meaning Data type Flags Default
1A02:0 DIG TxPDO-Map In-
puts
PDO Mapping TxPDO 3 UINT8 RO 0x09 (9
)
dec
1A02:01 SubIndex 001 1. PDO Mapping entry (2 bits align) UINT32 RO 0x6020:01, 1
1A02:02 SubIndex 002 2. PDO Mapping entry (object 0x6030 (ENC Inputs), en-
UINT32 RO 0x6020:02, 1
try 0x03 (Set counter done))
1A02:03 SubIndex 003 3. PDO Mapping entry (object 0x6030 (ENC Inputs), en-
UINT32 RO 0x6020:03, 1
try 0x04 (Counter underflow))
1A02:04 SubIndex 004 4. PDO Mapping entry (object 0x6030 (ENC Inputs), en-
UINT32 RO 0x6020:04, 1
try 0x05 (Counter overflow))
1A02:05 SubIndex 005 5. PDO Mapping entry (3 bits align) UINT32 RO 0x6020:05, 1
1A02:06 SubIndex 006 6. PDO Mapping entry (object 0x6030 (ENC Inputs), en-
UINT32 RO 0x6020:06, 1
try 0x09 (Status of input A))
1A02:07 SubIndex 007 7. PDO Mapping entry (object 0x6030 (ENC Inputs), en-
UINT32 RO 0x6020:07, 1
try 0x0A (Status of input B))
1A02:08 SubIndex 008 8. PDO Mapping entry (object 0x6030 (ENC Inputs), en-
UINT32 RO 0x6020:08, 1
try 0x0B (Status of input C))
1A02:09 SubIndex 009 9. PDO Mapping entry (4 bits align) UINT32 RO 0x0000:00, 8
Index 1A03 DIG TxPDO-Map Inputs Device
Index (hex) Name Meaning Data type Flags Default
1A03:0 DIG TxPDO-Map In-
puts Device
1A03:01 SubIndex 001 1. PDO Mapping entry (1 bits align) UINT32 RO 0x0000:00, 1
1A03:02 SubIndex 002 2. PDO Mapping entry (object 0xF600 (DIG Inputs), entry
1A03:03 SubIndex 003 3. PDO Mapping entry (object 0xF600 (DIG Inputs), entry
1A03:04 SubIndex 004 4. PDO Mapping entry (10 bits align) UINT32 RO 0x0000:00, 10
1A03:05 SubIndex 005 5. PDO Mapping entry (object 0xF600 (DIG Inputs), entry
1A03:06 SubIndex 006 6. PDO Mapping entry (1 bits align) UINT32 RO 0xF600:0F, 1
1A03:07 SubIndex 007 7. PDO Mapping entry (object 0xF600 (DIG Inputs), entry
PDO Mapping TxPDO 4 UINT8 RO 0x07 (7
UINT32 RO 0xF600:02, 1
0x02 (Error channel 1))
UINT32 RO 0xF600:03, 1
0x03 (Error channel 2))
UINT32 RO 0xF600:0E, 1
0x0E (Sync error))
UINT32 RO 0xF600:10, 1
0x10 (TxPDO Toggle))
)
dec
Index 1C00 Sync manager type
Index (hex) Name Meaning Data type Flags Default
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
UINT8 RO 0x03 (3
(Outputs)
1C00:04 SubIndex 004 Sync-Manager Type Channel 4: Process Data Read (In-
UINT8 RO 0x04 (4
puts)
Index 1C12 RxPDO assign
Index (hex) Name Meaning Data type Flags Default
1C12:0 RxPDO assign PDO Assign Outputs UINT8 RW 0x02 (2
1C12:01 Subindex 001 1. allocated RxPDO (contains the index of the associated
RxPDO mapping object)
1C12:02 Subindex 002 2. allocated RxPDO (contains the index of the associated
RxPDO mapping object)
UINT16 RW 0x1600
(5632
UINT16 RW 0x1601
(5633
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
EP1518-000264 Version: 2.1.0
Page 65
Commissioning and configuration
Index 1C13 TxPDO assign
Index (hex) Name Meaning Data type Flags Default
1C13:0 TxPDO assign PDO Assign Inputs UINT8 RW 0x04 (4
1C13:01 Subindex 001 1. allocated TxPDO (contains the index of the associated
TxPDO mapping object)
1C13:02 Subindex 002 2. allocated TxPDO (contains the index of the associated
TxPDO mapping object)
1C13:03 Subindex 003 3. allocated TxPDO (contains the index of the associated
TxPDO mapping object)
1C13:04 Subindex 004 4. allocated TxPDO (contains the index of the associated
TxPDO mapping object)
UINT16 RW 0x1A00
(6656
UINT16 RW 0x1A01
(6657
UINT16 RW 0x1A02
(6658
UINT16 RW 0x1A03
(6659
)
dec
)
dec
)
dec
)
dec
)
dec
Index 1C32 SM output parameter
Index (hex) Name Meaning Data type Flags Default
1C32:0 SM output parameter Synchronization parameters for the outputs UINT8 RO 0x20 (32
1C32:01 Sync mode • 0: Free Run
UINT16 RW 0x0001 (1
• 1: Synchronous with SM 2 event
• 2: DC-Mode - Synchronous with SYNC0 Event
• 3: DC-Mode - Synchronous with SYNC1 event
1C32:02 Cycle time Cycle time (in ns):
• Synchronous with SM 2 event: Master cycle time
UINT32 RW 0x000F4240
(1000000
• DC mode: SYNC0/SYNC1 Cycle Time
1C32:03 Shift time Time between SYNC0 event and output of the outputs (in
ns, DC mode only)
1C32:04 Sync modes sup-
ported
Supported synchronization modes:
• Bit 0 = 1: free run is supported
UINT32 RO 0x00000000
(0
UINT16 RO 0xC007
(49159
• Bit 1 = 1: synchronous with SM 2 event is supported
• Bit 2-3 = 01: DC mode is supported
• Bit 4-5 = 10: Output shift with SYNC1 event (only DC mode)
• Bit 14 = 1: dynamic times (measurement through writing of 0x1C32:08 [}65])
1C32:05 Minimum cycle time Minimum cycle time (in ns) UINT32 RO 0x0003D090
(250000
1C32:06 Calc and copy time Minimum time between SYNC0 and SYNC1 event (in ns,
DC mode only)
1C32:07 Minimum delay time Minimum time between SYNC1 event and output of the
outputs (in ns, DC mode only)
1C32:08 Command • 0: Measurement of the local cycle time is stopped
UINT32 RO 0x00000000
(0
UINT32 RO 0x00000000
(0
UINT16 RW 0x0000 (0
• 1: Measurement of the local cycle time is started
The entries 0x1C32:03 [}65], 0x1C32:05 [}65],
0x1C32:06 [}65], 0x1C32:07 [}65], 0x1C32:09 [}65], 0x1C33:03 [}66], 0x1C33:06 [}65], 0x1C33:07 [}65]
and 0x1C33:09 [}66] are updated with the maximum measured values. For a subsequent measurement the measured values are reset
1C32:09 Maximum delay time Minimum time between SYNC1 event and output of the
outputs (in ns, DC mode only)
1C32:0B SM event missed
counter
1C32:0C Cycle exceeded
counter
Number of missed SM events in OPERATIONAL (DC mode only)
Number of occasions the cycle time was exceeded in OPERATIONAL (cycle was not completed in time or the
UINT32 RO 0x00000000
(0
UINT16 RO 0x0000 (0
UINT16 RO 0x0000 (0
next cycle began too early)
1C32:0D Shift too short counter Number of occasions that the interval between SYNC0
UINT16 RO 0x0000 (0
and SYNC1 event was too short (DC mode only)
1C32:20 Sync error The synchronization was not correct in the last cycle
BOOLEAN RO 0x00 (0
(outputs were output too late; DC mode only)
dec
dec
)
dec
)
dec
dec
)
dec
)
dec
)
dec
)
dec
)
)
dec
)
)
)
dec
)
dec
)
dec
)
dec
Page 66
Commissioning and configuration
Index 1C33 SM input parameter
Index (hex) Name Meaning Data type Flags Default
1C33:0 SM input parameter Synchronization parameters for the inputs UINT8 RO 0x20 (32
1C33:01 Sync mode Current synchronization mode:
• 0: Free Run
• 1: Synchronous with SM 3 Event (no outputs available)
• 2: DC - Synchronous with SYNC0 Event
• 3: DC - Synchronous with SYNC1 Event
• 34: Synchronous with SM 2 event (outputs available)
1C33:02 Cycle time
as 0x1C32:02 [}65]
1C33:03 Shift time Time between SYNC0 event and reading of the inputs (in
ns, only DC mode)
1C33:04 Sync modes sup-
ported
Supported synchronization modes:
• Bit 0: free run is supported
• Bit 1: Synchronous with SM 2 Event is supported (outputs available)
• Bit 1: Synchronous 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 0x1C32:08 [}65] or 0x1C33:08 [}66])
1C33:05 Minimum cycle time
as 0x1C32:05 [}65]
1C33:06 Calc and copy time Time between reading of the inputs and availability of the
inputs for the master (in ns, only DC mode)
1C33:07 Minimum delay time
1C33:08 Command
1C33:09 Maximum delay time
1C33:0B SM event missed
as 0x1C32:07 [}65]
as 0x1C32:08 [}65]
as 0x1C32:09 [}65]
as 0x1C32:11 UINT16 RO 0x0000 (0
counter
1C33:0C Cycle exceeded
as 0x1C32:12 UINT16 RO 0x0000 (0
counter
1C33:0D Shift too short counter as 0x1C32:13 UINT16 RO 0x0000 (0
1C33:20 Sync error as 0x1C32:32 BOOLEAN RO 0x00 (0
UINT16 RW 0x0022 (34
UINT32 RW 0x000F4240
(1000000
UINT32 RO 0x00000000
(0
)
dec
UINT16 RO 0xC007
(49159
UINT32 RO 0x0003D090
(250000
UINT32 RO 0x00000000
(0
)
dec
UINT32 RO 0x00000000
(0
)
dec
UINT16 RW 0x0000 (0
UINT32 RO 0x00000000
(0
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
EP1518-000266 Version: 2.1.0
Page 67
Commissioning and configuration
4.3.2.3 Profile-specific objects (0x6000-0xFFFF)
The profile-specific objects have the same meaning for all EtherCAT slaves that support the profile 5001.
Index 6000 CNT Inputs
Index (hex) Name Meaning Data type Flags Default
6000:0 CNT Inputs Maximum subindex UINT8 RO 0x11 (17
6000:03 Set counter done The counter was set BOOLEAN RO 0x00 (0
6000:04 Counter inhibited The counter is stopped for as long as this bit is set BOOLEAN RO 0x00 (0
6000:05 Status of input UD The state of the up/down input BOOLEAN RO 0x00 (0
6000:06 Status of input clock The state of the clock input BOOLEAN RO 0x00 (0
6000:0E Sync error Synchronization error BOOLEAN RO 0x00 (0
6000:0F TxPDO State Validity of the data of the associated TxPDO (0 = valid, 1
BOOLEAN RO 0x00 (0
= invalid)
6000:10 TxPDO Toggle The TxPDO toggle is toggled by the slave when the data
BOOLEAN RO 0x00 (0
of the associated TxPDO is updated
6000:11 Counter value Counter value UINT32 RO 0x00000000
(0
Index 6010 CNT Inputs
Index (hex) Name Meaning Data type Flags Default
6010:0 CNT Inputs Maximum subindex UINT8 RO 0x11 (17
6010:03 Set counter done The counter was set BOOLEAN RO 0x00 (0
6010:04 Counter inhibited The counter is stopped for as long as this bit is set BOOLEAN RO 0x00 (0
6010:05 Status of input UD The state of the up/down input BOOLEAN RO 0x00 (0
6010:06 Status of input clock The state of the clock input BOOLEAN RO 0x00 (0
6010:0E Sync error Synchronization error BOOLEAN RO 0x00 (0
6010:0F TxPDO State Validity of the data of the associated TxPDO (0 = valid, 1
= invalid)
6010:10 TxPDO Toggle The TxPDO toggle is toggled by the slave when the data
of the associated TxPDO is updated
6010:11 Counter value Counter value UINT32 RO 0x00000000
BOOLEAN RO 0x00 (0
BOOLEAN RO 0x00 (0
(0
dec
dec
dec
dec
dec
dec
dec
dec
)
dec
dec
dec
dec
dec
dec
dec
dec
dec
)
dec
)
)
)
)
)
)
)
)
)
)
)
)
)
)
)
)
Index 6020 DIG Inputs
Index (hex) Name Meaning Data type Flags Default
6020:0 DIG Inputs Maximum subindex UINT8 RO 0x08 (8
6020:01 Input 0 Digital input 0 BOOLEAN RO 0x00 (0
6020:02 Input 1 Digital input 1 BOOLEAN RO 0x00 (0
6020:03 Input 2 Digital input 2 BOOLEAN RO 0x00 (0
6020:04 Input 3 Digital input 3 BOOLEAN RO 0x00 (0
6020:05 Input 4 Digital input 4 BOOLEAN RO 0x00 (0
6020:06 Input 5 Digital input 5 BOOLEAN RO 0x00 (0
6020:07 Input 6 Digital input 6 BOOLEAN RO 0x00 (0
6020:08 Input 7 Digital input 7 BOOLEAN RO 0x00 (0
Index 7000 CNT Outputs
Index (hex) Name Meaning Data type Flags Default
7000:0 CNT Outputs Maximum subindex UINT8 RO 0x11 (17
7000:03 Set counter Set counter value BOOLEAN RO 0x00 (0
7000:04 Inhibit counter The counter is stopped, as long as this bit is active. The
previous counter state is retained.
7000:11 Set counter value This is the counter value to be set via “Set counter” (in-
dex 0x7000:03 [}67]).
BOOLEAN RO 0x00 (0
UINT32 RO 0x00000000
(0
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
Page 68
Commissioning and configuration
Index 7010 CNT Outputs
Index (hex) Name Meaning Data type Flags Default
7010:0 CNT Outputs Maximum subindex UINT8 RO 0x11 (17
7010:03 Set counter Set counter value BOOLEAN RO 0x00 (0
7010:04 Inhibit counter The counter is stopped, as long as this bit is active. The
BOOLEAN RO 0x00 (0
previous counter state is retained.
7010:11 Set counter value This is the counter value to be set via “Set counter” (in-
dex 0x7000:03 [}68]).
UINT32 RO 0x00000000
(0
dec
dec
dec
)
dec
Index F000 Modular Device Profile
Index (hex) Name Meaning Data type Flags Default
F000:0 Modular device profile General information for the modular device profile UINT8 RO 0x02 (2
F000:01 Module index dis-
Index distance of the objects of the individual channels UINT16 RO 0x0010 (16
dec
tance
F000:02 Maximum number of
Number of channels UINT16 RO 0x0003 (3
modules
Index F008 Code word
Index (hex) Name Meaning Data type Flags Default
F008:0 Code word reserved UINT32 RW 0x00000000
(0
)
dec
)
)
)
)
)
dec
)
dec
Index F010 Module List
Index (hex) Name Meaning Data type Flags Default
F010:0 Module list Maximum subindex UINT8 RW 0x03 (3
dec
F010:01 SubIndex 001 reserved UINT32 RW 0x00000096
(150
)
dec
F010:02 SubIndex 002 reserved UINT32 RW 0x00000096
(150
)
dec
F010:03 SubIndex 003 reserved UINT32 RW 0x00000118
(280
)
dec
Index F600 DIG Inputs
Index (hex) Name Meaning Data type Flags Default
F600:0 DIG Inputs Maximum subindex UINT8 RO 0x10 (16
F600:02 Error channel 1 If this bit is set, a short circuit has been detected in the
BOOLEAN RO 0x00 (0
supply voltage to sensor group 1 (inputs 0 - 3).
F600:03 Error channel 2 If this bit is set, a short circuit has been detected in the
BOOLEAN RO 0x00 (0
supply voltage to sensor group 2 (inputs 4 - 7).
F600:0E Sync error Synchronization error BOOLEAN RO 0x00 (0
F600:0F TxPDO State Validity of the data of the associated TxPDO (0 = valid, 1
BOOLEAN RO 0x00 (0
= invalid)
F600:10 TxPDO Toggle The TxPDO toggle is toggled by the slave when the data
BOOLEAN RO 0x00 (0
of the associated TxPDO is updated
dec
dec
dec
dec
dec
dec
)
)
)
)
)
)
)
EP1518-000268 Version: 2.1.0
Page 69
Appendix

5 Appendix

5.1 General operating conditions

Protection degrees (IP-Code)
The standard IEC 60529 (DIN EN 60529) defines the degrees of protection in different classes.
1. Number: dust protection and touch guard
0 Non-protected
1 Protected against access to hazardous parts with the back of a hand. Protected against solid
2 Protected against access to hazardous parts with a finger. Protected against solid foreign ob-
3 Protected against access to hazardous parts with a tool. Protected against solid foreign objects
4 Protected against access to hazardous parts with a wire. Protected against solid foreign objects
5 Protected against access to hazardous parts with a wire. Dust-protected. Intrusion of dust is not
6 Protected against access to hazardous parts with a wire. Dust-tight. No intrusion of dust.
Definition
foreign objects of Ø50mm
jects of Ø12.5mm.
Ø2.5mm.
Ø1mm.
totally prevented, but dust shall not penetrate in a quantity to interfere with satisfactory operation of the device or to impair safety.
2. Number: water* protection Definition
0 Non-protected
1 Protected against water drops
2 Protected against water drops when enclosure tilted up to 15°.
3 Protected against spraying water. Water sprayed at an angle up to 60° on either side of the ver-
4 Protected against splashing water. Water splashed against the disclosure from any direction
5 Protected against water jets
6 Protected against powerful water jets
7 Protected against the effects of temporary immersion in water. Intrusion of water in quantities
tical shall have no harmful effects.
shall have no harmful effects
causing harmful effects shall not be possible when the enclosure is temporarily immersed in wa­ter for 30min. in 1m depth.
*) These protection classes define only protection against water!
Chemical Resistance
The Resistance relates to the Housing of the Fieldbus/EtherCAT Box and the used metal parts. In the table below you will find some typical resistance.
Character Resistance
Steam at temperatures >100°C: not resistant
Sodium base liquor (ph-Value > 12)
Acetic acid not resistant
Argon (technical clean) resistant
at room temperature: resistant > 40°C: not resistant
Key
• resistant: Lifetime several months
• non inherently resistant: Lifetime several weeks
• not resistant: Lifetime several hours resp. early decomposition
Page 70
Appendix
5.2 EtherCAT Box- / EtherCATPBox - Accessories
Fixing
Ordering information Description
ZS5300-0001 Mounting rail (500mmx129mm)
Marking material, plugs
Ordering information Description
ZS5000-0000 Fieldbus Box set M8 (contact labels, plugs) ZS5000-0002 Fieldbus Box set M12 (contact labels, plugs) ZS5000-0010 plugs M8, IP67 (50 pieces) ZS5000-0020 plugs M12, IP67 (50 pieces) ZS5100-0000 marking labels, not printed, 4 stripes at 10 pieces ZS5100-xxxx printed marking labels, on request
Tools
Ordering information Description
ZB8800 torque wrench for M8 cables with knurl, incl. ratchet ZB8800-0001 M12 ratchet for torque wrench ZB8800 ZB8800-0002 M8 ratchet (field assembly) for torque wrench ZB8800 ZB8801-0000 torque wrench for hexagonal plugs, adjustable ZB8801-0001 torque cable key, M8/wrench size 9, for torque wrench ZB8801-0000 ZB8801-0002 torque cable key, M12/wrench size 13, for torque wrench ZB8801-0000 ZB8801-0003 torque cable key, M12 field assembly/wrench size 13, for torque wrench
ZB8801-0000
Further accessories
Further accessories may be found at the price list for Beckhoff fieldbus components and at the inter­net under https://www.beckhoff.com
EP1518-000270 Version: 2.1.0
Page 71
Appendix

5.3 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:
http://www.beckhoff.com
You will also find further documentation for Beckhoff components there.
Beckhoff Headquarters
Beckhoff Automation GmbH & Co. KG
Huelshorstweg 20 33415 Verl Germany
Phone: +49(0)5246/963-0 Fax: +49(0)5246/963-198 e-mail: info@beckhoff.com
Beckhoff Support
Support offers you comprehensive technical assistance, helping you not only with the application of individual Beckhoff products, but also with other, wide-ranging services:
• support
• design, programming and commissioning of complex automation systems
• and extensive training program for Beckhoff system components
Hotline: +49(0)5246/963-157 Fax: +49(0)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(0)5246/963-460 Fax: +49(0)5246/963-479 e-mail: service@beckhoff.com
Page 72

List of illustrations

List of illustrations
Fig. 1 EtherCAT Box Modules within an EtherCAT network.................................................................. 8
Fig. 2 EtherCAT Box with M8 connections for sensors/actuators.......................................................... 9
Fig. 3 EtherCAT Box with M12 connections for sensors/actuators........................................................ 9
Fig. 4 EP1518-0001 and EP1518-0002................................................................................................. 10
Fig. 5 Dimensions of the EtherCAT Box Modules ................................................................................. 14
Fig. 6 Mounting Rail ZS5300-000.......................................................................................................... 15
Fig. 7 EtherCAT Box with M8 connectors.............................................................................................. 16
Fig. 8 EtherCAT Box with M8 and M12 connectors............................................................................... 16
Fig. 9 7/8" plug connectors .................................................................................................................... 17
Fig. 10 ZB8801 torque socket wrench ..................................................................................................... 17
Fig. 11 EtherCAT Box: M8, 30mm housing ............................................................................................ 18
Fig. 12 EtherCAT Box: M860mm housing (example: EP9214) .............................................................. 18
Fig. 13 Coupler Box: M12 ........................................................................................................................ 18
Fig. 14 EtherCAT-LEDs ........................................................................................................................... 19
Fig. 15 EtherCAT Box, Connectors for power supply .............................................................................. 21
Fig. 16 Pin assignment M8, Power In and Power Out ............................................................................. 21
Fig. 17 EP92x4-0023, Connectors for Power In and Power Out ............................................................. 23
Fig. 18 Pin assignment 7/8”, Power In and Power Out ............................................................................ 23
Fig. 19 Status LEDs for the power supply ............................................................................................... 24
Fig. 20 Power cable conductor losses ..................................................................................................... 26
Fig. 21 Signal connection - digital inputs M8 and M12 ............................................................................ 27
Fig. 22 Status LEDs at the signal connections ........................................................................................ 28
Fig. 23 UL label........................................................................................................................................ 29
Fig. 24 BG2000-0000, putting the cables ................................................................................................ 31
Fig. 25 BG2000-0000, fixing the cables................................................................................................... 31
Fig. 26 BG2000-0000, mounting the protection enclosure ...................................................................... 32
Fig. 27 Scanning in the configuration (I/O Devices -> right-click -> Scan Devices...).............................. 33
Fig. 28 Appending a new I/O device (I/O Devices -> right-click -> Append Device...)............................. 34
Fig. 29 Selecting the device EtherCAT .................................................................................................... 34
Fig. 30 Appending a new box (Device -> right-click -> Append Box...) ................................................... 34
Fig. 31 Selecting a Box (e.g. EP2816-0008) ........................................................................................... 35
Fig. 32 Appended Box in the TwinCAT tree ............................................................................................ 35
Fig. 33 Branch of the EtherCAT box to be configured ............................................................................. 36
Fig. 34 General tab .................................................................................................................................. 36
Fig. 35 EtherCAT tab ............................................................................................................................... 37
Fig. 36 Process Data tab ......................................................................................................................... 38
Fig. 37 Startup tab ................................................................................................................................... 40
Fig. 38 CoE - Online tab .......................................................................................................................... 41
Fig. 39 Advanced settings ....................................................................................................................... 42
Fig. 40 Online tab .................................................................................................................................... 42
Fig. 41 DC tab (Distributed Clocks) ......................................................................................................... 44
Fig. 42 Advanced settings for Distributed Clocks (DC)............................................................................ 45
Fig. 43 EtherCAT Master, EtherCAT tab, Advanced Settings ................................................................. 46
Fig. 44 Counting mode with standard setting ......................................................................................... 48
EP1518-000272 Version: 2.1.0
Page 73
List of illustrations
Fig. 45 Counting mode with reversed counting direction ......................................................................... 48
Fig. 46 Counting mode with inverted GATE input.................................................................................... 49
Fig. 47 CoE for inverting the GATE input ................................................................................................ 49
Fig. 48 Setting of the PDOs 0x1600 and 0x1601, default settings of the objects 0x8000 to 0x8022:0 ... 50
Fig. 49 Setting of the PDOs 0x1A00 to 0x1A03, default settings of the objects 0x8000 to 0x8002:0 ..... 51
Fig. 50 Setting the PDOs 0x1600 ............................................................................................................ 52
Fig. 51 Setting the PDOs 0x1A00, 0x1A02 and 0x1A03 ......................................................................... 52
Fig. 52 Setting the PDOs 0x1A02 and 0x1A03........................................................................................ 53
Fig. 53 Enabling the inputs ...................................................................................................................... 53
Fig. 54 Setting the counter....................................................................................................................... 54
Fig. 55 Automatic setting of the counter .................................................................................................. 54
Fig. 56 Selecting the Restore default parameters PDO........................................................................... 55
Fig. 57 Entering a restore value in the Set Value dialog.......................................................................... 55
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