Beckhoff EP1518-0002 User Manual

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EP1518-0002

EtherCAT Box with 8 digital inputs and 2 counters

2020-09-22 | Version: 2.2

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 EtherCAT Box - Introduction ....................................................................................................................8

3 Product overview.....................................................................................................................................10

3.1 Introduction......................................................................................................................................10

3.2 Technical data .................................................................................................................................11

3.3 Process image.................................................................................................................................12

4 Installation................................................................................................................................................14

4.1 Mounting..........................................................................................................................................14

4.1.1 Dimensions ...................................................................................................................... 14

4.1.2 Fixing ............................................................................................................................... 15

4.1.3 Tightening torques for plug connectors ........................................................................... 15

4.2 Connection ......................................................................................................................................16

4.2.1 EtherCAT ......................................................................................................................... 16

4.2.2 Supply voltages ............................................................................................................... 18

4.2.3 Signal connection ............................................................................................................ 21

4.2.4 Status LEDs at the signal connections ............................................................................ 22

4.3 UL Requirements.............................................................................................................................23

4.4 ATEX notes .....................................................................................................................................24

4.4.1 ATEX - Special conditions ............................................................................................... 24

4.4.2 BG2000 - EtherCAT Box protection enclosures .............................................................. 25

4.4.3 ATEX Documentation ...................................................................................................... 26

5 Commissioning and configuration ........................................................................................................27

5.1 Integration in TwinCAT ....................................................................................................................27

5.2 Distributed Clocks (DC) ...................................................................................................................28

5.3 Distributed Clocks and EP1518.......................................................................................................30

5.4 Configuration of the EP1518 ...........................................................................................................31

5.4.1 Basic Function Principles................................................................................................. 31

5.4.2 Operation modes ............................................................................................................. 34

5.4.3 Counter settings............................................................................................................... 37

5.4.4 Restoring the delivery state ............................................................................................. 39

5.5 CoE objects .....................................................................................................................................40

5.5.1 Object overview ............................................................................................................... 40

5.5.2 Object description and parameterization ......................................................................... 45

6 Appendix ..................................................................................................................................................54

6.1 General operating conditions...........................................................................................................54

6.2 Accessories .....................................................................................................................................55

6.3 Version identification of EtherCAT devices .....................................................................................56

6.3.1 Beckhoff Identification Code (BIC)................................................................................... 60

6.4 Support and Service ........................................................................................................................62

EP1518-0002 3Version: 2.2

Table of contents

EP1518-00024 Version: 2.2

Foreword

1 Foreword

1.1 Notes on the documentation

Intended audience

This description is only intended for the use of trained specialists in control and automation engineering who are familiar with the applicable national standards. It is essential that the documentation and the following notes and explanations are followed when installing and commissioning these components. It is the duty of the technical personnel to use the documentation published at the respective time of each installation and commissioning.

The responsible staff must ensure that the application or use of the products described satisfy all the requirements for safety, including all the relevant laws, regulations, guidelines and standards.

Disclaimer

The documentation has been prepared with care. The products described are, however, constantly under development.

We reserve the right to revise and change the documentation at any time and without prior announcement.

No claims for the modification of products that have already been supplied may be made on the basis of the data, diagrams and descriptions in this documentation.

Trademarks

Beckhoff®, TwinCAT®, EtherCAT®, EtherCATG®, EtherCATG10®, EtherCATP®, SafetyoverEtherCAT®, TwinSAFE®, XFC®, XTS® and XPlanar® are registered trademarks of and licensed by Beckhoff Automation GmbH. Other designations used in this publication may be trademarks whose use by third parties for their own purposes could violate the rights of the owners.

Patent Pending

The EtherCAT Technology is covered, including but not limited to the following patent applications and patents: EP1590927, EP1789857, EP1456722, EP2137893, DE102015105702 with corresponding applications or registrations in various other countries.

EtherCAT® is registered trademark and patented technology, licensed by Beckhoff Automation GmbH, Germany.

© 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.

EP1518-0002 5Version: 2.2

Foreword

1.2 Safety instructions

Safety regulations

Please note the following safety instructions and explanations! Product-specific safety instructions can be found on following pages or in the areas mounting, wiring, commissioning etc.

Exclusion of liability

All the components are supplied in particular hardware and software configurations appropriate for the application. Modifications to hardware or software configurations other than those described in the documentation are not permitted, and nullify the liability of Beckhoff Automation GmbH & Co. KG.

Personnel qualification

This description is only intended for trained specialists in control, automation and drive engineering who are familiar with the applicable national standards.

Description of instructions

In this documentation the following instructions are used. These instructions must be read carefully and followed without fail!

DANGER

Serious risk of injury!

Failure to follow this safety instruction directly endangers the life and health of persons.

WARNING

Risk of injury!

Failure to follow this safety instruction endangers the life and health of persons.

CAUTION

Personal injuries!

Failure to follow this safety instruction can lead to injuries to persons.

NOTE

Damage to environment/equipment or data loss

Failure to follow this instruction can lead to environmental damage, equipment damage or data loss.

Tip or pointer

This symbol indicates information that contributes to better understanding.

EP1518-00026 Version: 2.2

1.3 Documentation Issue Status

Version Comment

2.2 • Front page updated

• Scope of supply added

• Structure update

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.

Foreword

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

2.2 04 08

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:

Firmware Hardware

55 - week of production 55 09 - year of production 2009 01 - firmware version 01 00 - hardware version 001

Further information on this topic: Version identification of EtherCAT devices [}56].

EP1518-0002 7Version: 2.2

EtherCAT Box - Introduction

2 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: 2.2

Fig.2: EtherCAT Box with M8 connections for sensors/actuators

EtherCAT Box - Introduction

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.

EP1518-0002 9Version: 2.2

Product overview

3 Product overview

3.1 Introduction

Fig.4: 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

Technical data [}11] Process image [}12] Dimensions [}14] Signal connection [}21]

EP1518-000210 Version: 2.2

Product overview

3.2 Technical data

Technical data 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 [}21]

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

M12

Onward connection: 1 x M8 socket, 4-pole

-25°C ... +60°C 0°C ... +55°C (conforms to cULus, see UL requirements [}23])

0°C ... +55°C (conforms to ATEX, see special conditions [}24])

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 [}23], ATEX [}24]

EP1518-0002 11Version: 2.2

Product overview

3.3 Process image

The process image depends on the selected operation mode [}34].

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: 2.2

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.

EP1518-0002 13Version: 2.2

Installation

119

126

26.5

13.5

Ø 3.5

4 Installation

4.1 Mounting

4.1.1 Dimensions

Fig.5: Dimensions

All dimensions are given in millimeters.

Housing features

Housing material PA6 (polyamide) Sealing compound polyurethane Mounting two fastening holes Ø 3.5 mm for M3 Metal parts brass, nickel-plated Contacts CuZn, gold-plated Power feed through max. 4A Installation position variable Protection class IP65, IP66, IP67 (conforms to EN 60529) when screwed together Dimensions (H x W x D) approx. 126 x 30 x 26.5 mm (without connectors)

EP1518-000214 Version: 2.2

Installation

4.1.2 Fixing

NOTE

Dirt during assembly

Dirty connectors can lead to malfunctions. Protection class IP67 can only be guaranteed if all cables and connectors are connected.

• Protect the plug connectors against dirt during the assembly.

Mount the module with two M3 screws on the fastening holes in the corners of the module. The fastening holes have no thread.

4.1.3 Tightening torques for plug connectors

Screw connectors tight with a torque wrench. (e.g. ZB8801 from Beckhoff)

Connector diameter Tightening torque

M8 0.4Nm M12 0.6Nm

EP1518-0002 15Version: 2.2

Installation

3 1

4.2 Connection

4.2.1 EtherCAT

4.2.1.1 Connectors

NOTE

Risk of confusion: supply voltages and EtherCAT

Defect possible through incorrect insertion.

• Observe the color coding of the connectors: black: Supply voltages green: EtherCAT

EtherCAT Box Modules have two green M8 sockets for the incoming and downstream EtherCAT connections.

Fig.6: EtherCAT connectors

Connection

Fig.7: M8 socket

EtherCAT M8

Signal Contact ZB9010, ZB9020, ZB9030, ZB9032,

Tx + 1 yellow

Tx - 4 orange

Rx + 2 white

Rx - 3 blue

Shield Housing Shield Shield Shield

Core colors according to EN61918

connector

Core colors

ZK1090-6292, ZK1090-3xxx-xxxx

ZB9031 and old versions of ZB9030, ZB9032, ZK1090-3xxxxxxx

orange/white white/orange

orange orange

blue/white white/green

blue green

TIA-568B

Adaptation of core colors for cables ZB9030, ZB9032 and ZK1090-3xxxx-xxxx

For standardization, the core colors of the ZB9030, ZB9032 and ZK1090-3xxx-xxxx cables have been changed to the EN61918 core colors: yellow, orange, white, blue. So there are different color codes in circulation. The electrical properties of the cables have been retained when the core colors were changed.

EP1518-000216 Version: 2.2

Installation

4.2.1.2 Status LEDs

Fig.8: EtherCAT status LEDs

L/A (Link/Act)

A green LED labelled "L/A" is located next to each EtherCAT socket. The LED indicates the communication state of the respective socket:

LED Meaning

off no connection to the connected EtherCAT device lit LINK: connection to the connected EtherCAT device flashes ACT: communication with the connected EtherCAT device

Run

Each EtherCAT slave has a green LED labelled "Run". The LED signals the status of the slave in the EtherCAT network:

LED Meaning

off Slave is in "Init" state flashes uniformly Slave is in "Pre-Operational“ state flashes sporadically Slave is in "Safe-Operational" state lit Slave is in "Operational" state

Description of the EtherCAT slave states

4.2.1.3 Cables

For connecting EtherCAT devices only shielded Ethernet cables that meet the requirements of at least category5 (CAT5) according to EN50173 or ISO/IEC11801 should be used.

EtherCAT uses four wires for signal transmission. Thanks to automatic line detection ("Auto MDI-X"), both symmetrical (1:1) or cross-over cables can be used between Beckhoff EtherCAT.

Detailed recommendations for the cabling of EtherCAT devices

EP1518-0002 17Version: 2.2

Installation

Plug

Input

Socket

Forwarding

3 1

4.2.2 Supply voltages

The EtherCAT Box is supplied with two supply voltages. The ground potentials of the supply voltages are galvanically connected together.

• Control voltage U

• Peripheral voltage U

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!

4.2.2.1 Connectors

NOTE

Risk of confusion: supply voltages and EtherCAT

Defect possible through incorrect insertion.

• Observe the color coding of the connectors: black: Supply voltages green: EtherCAT

Fig.9: Connectors for supply voltages

Fig.10: M8 connector

Contact Function Description Core color

1 U 2 U 3 GND 4 GND

The core colors apply to cables of the type: Beckhoff ZK2020-3xxx-xxxx

Control voltage Brown Peripheral voltage White GND to U GND to U

Blue Black

EP1518-000218 Version: 2.2

4.2.2.2 Status LEDs for the power supply

Fig.11: Status LEDs for the power supply

Installation

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

EP1518-0002 19Version: 2.2

Installation

Vert. Faktor: 0,45 cm / V

5 10 15 20

250

Vert. Faktor: 0,45 cm / V

Voltage drop (V)

Cable length (m)

0,25 mm²

0,34 mm²

0,5 mm² 0,75 mm²

I = 2 A

Vert. Faktor: 0,45 cm / V

5 10 15 20

250

Vert. Faktor: 0,45 cm / V

Voltage drop (V)

Cable length (m)

0,25 mm²

0,34 mm²

0,5 mm²

0,75 mm²

I = 4 A

4.2.2.3 Conductor losses

Take into account the voltage drop on the supply line when planning a system. Avoid the voltage drop being so high that the supply voltage at the box lies below the minimum nominal voltage.

Variations in the voltage of the power supply unit must also be taken into account.

Voltage drop on the supply line

EP1518-000220 Version: 2.2

Installation

4.2.3 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.12: 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.

EP1518-0002 21Version: 2.2

Installation

4.2.4 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.13: 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

EP1518-000222 Version: 2.2

Installation

4.3 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.14: UL label

EP1518-0002 23Version: 2.2

Installation

4.4 ATEX notes

4.4.1 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 with a BG2000-0000 or BG2000-0010 protection enclosure [}25] 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!

• Observe the permissible ambient temperature range of 0 to 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

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

Example with batch number 29 10 02 01:

29 - week of production 29 10 - year of production 2010 02 - firmware version 02 01 - hardware version 01

EP1518-000224 Version: 2.2

Installation

4.4.2 BG2000 - EtherCAT Box protection enclosures

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

WARNING

Mount a protection enclosure!

To fulfill the special conditions according to ATEX [}24], a BG2000-0000 or BG2000-0010 protection enclosure has to be mounted over the EtherCAT Box.

Installation

Put the cables for EtherCAT, power supply and sensors/actuators through the hole of the protection enclosure.

Fig.15: BG2000 - putting the cables

Fix the wires for EtherCAT, power supply and sensors/actuators to the EtherCAT Box.

EP1518-0002 25Version: 2.2

Installation

Fig.16: BG2000 - fixing the cables

Mount the protection enclosure over the EtherCAT Box.

Fig.17: BG2000 - mounting the protection enclosure

4.4.3 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!

EP1518-000226 Version: 2.2

Commissioning and configuration

5 Commissioning and configuration

5.1 Integration in TwinCAT

The procedure for integration in TwinCAT is described in this Quick start guide.

EP1518-0002 27Version: 2.2

Commissioning and configuration

5.2 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.18: 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.

EP1518-000228 Version: 2.2

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.19: 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.

EP1518-0002 29Version: 2.2

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.20: EtherCAT Master, EtherCAT tab, Advanced Settings

5.3 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.

EP1518-000230 Version: 2.2

Commissioning and configuration

5.4 Configuration of the EP1518

5.4.1 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:

Operation mode Number of

counter channels

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.

EP1518-0002 31Version: 2.2

Commissioning and configuration

Fig.21: 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.22: 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.

EP1518-000232 Version: 2.2

Fig.23: Counting mode with inverted GATE input

Commissioning and configuration

Fig.24: CoE for inverting the GATE input

EP1518-0002 33Version: 2.2

Commissioning and configuration

5.4.2 Operation modes

Operation mode selection

The EP1518 can be operated in 3 modes:

• Two up/down counters [}34](delivery state)

• One up/down counter [}36]

• 8 digital inputs [}37]

The setting takes place by selecting the PDOs in the Sync-Manager:

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

Operation mode settings of the PDOs

2 up/down counters (32-bit)

1 up/down counters (32-bit)

8 digital inputs, no counter

- 8 digital inputs:

0x1600 0x1601 0x1A00 0x1A01 0x1A02 0x1A03 Comments

1 1 1 1 0/1 0/1 2 counters, digital inputs,

1 0 1 0 0/1 0/1

0 0 0 0 0/1 0/1 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.

diagnosis of Us

Filter for inputs 0 and 4 permanently set to 150µs. The filter setting for the other inputs is configurable by software.

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)

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.

EP1518-000234 Version: 2.2

Commissioning and configuration

Fig.25: Setting of the PDOs 0x1600 and 0x1601, default settings of the objects 0x8000 to 0x8022:0

Fig.26: Setting of the PDOs 0x1A00 to 0x1A03, default settings of the objects 0x8000 to 0x8002:0

The PDOs 0x1600 [}47], 0x1601 [}48] as well as 0x1A00 [}48], 0x1A01 [}48], 0x1A02 [}49] and 0x1A03 [}49] are activated. The meaning of the individual objects is explained in the object description.

EP1518-0002 35Version: 2.2

Commissioning and configuration

One up/down counter (0x1601 deactivated, 0x1A01 deactivated)

This mode can be set as follows:

Fig.27: Setting the PDOs 0x1600

Fig.28: Setting the PDOs 0x1A00, 0x1A02 and 0x1A03

The PDOs 0x1600 [}47] as well as 0x1A00 [}48], 0x1A02 [}49] and 0x1A03 [}49] are activated. The CoE objects are identical to the 2 x 32-bit counter operation mode.

EP1518-000236 Version: 2.2

8 digital inputs, no counter

This mode can be set as follows:

Commissioning and configuration

Fig.29: Setting the PDOs 0x1A02 and 0x1A03

The PDOs 0x1A02 [}49] and 0x1A03 [}49] are activated.The meaning of the individual objects is explained in the object description.

5.4.3 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.30: Enabling the inputs

EP1518-0002 37Version: 2.2

Commissioning and configuration

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.

Fig.31: 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).

EP1518-000238 Version: 2.2

Commissioning and configuration

Fig.32: Automatic setting of the counter

5.4.4 Restoring the delivery state

To restore the delivery state for backup objects in ELxxxx terminals / EPxxxx- and EPPxxxx boxes, the CoE object Restore default parameters, SubIndex 001 can be selected in the TwinCAT System Manager (Config mode).

Fig.33: Selecting the Restore default parameters PDO

EP1518-0002 39Version: 2.2

Commissioning and configuration

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.34: 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.

5.5 CoE objects

5.5.1 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.

EP1518-000240 Version: 2.2

Commissioning and configuration

Index (hex) Name Flags Default value

1000 [}47]

1008 [}47]

1009 [}47]

100A [}47]

1011:0 [}45]

1018:0 [}47]

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

Device type RO 0x00001389 (5001

Device name RO EP1518-0002

Hardware version RO 00

Software version RO 01.03

)

dec

)

dec

1018:02 Product code RO 0x05EE4052 (99500114 1018:03 Revision RO 0x00100002 (1048578 1018:04 Serial number RO 0x00000000 (0

10F0:0 [}47]

1600:0 [}47]

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

dec

)

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

1601:0 [}48]

Subindex CNT RxPDO-Map Outputs Ch.2 RO 0x05 (5 1601:01 SubIndex 001 RO 0x0000:00, 2

dec

)

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

1A00:0 [}48]

Subindex CNT TxPDO-Map InputsCh.1 RO 0x0A (10 1A00:01 SubIndex 001 RO 0x0000:00, 2

dec

)

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

dec

)

dec

)

dec

)

dec

)

EP1518-0002 41Version: 2.2

Commissioning and configuration

Index (hex) Name Flags Default value

1A01:0 [}48]

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 [}49]

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 [}49]

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 [}49]

1C12:0 [}49]

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

) ) ) ) ) )

1C12:02 SubIndex 002 RW 0x1601 (5633

1C13:0 [}50]

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

) )

) ) ) )

EP1518-000242 Version: 2.2

Commissioning and configuration

Index (hex) Name Flags Default value

1C32:0 [}50]

Subindex SM output parameter RO 0x20 (32 1C32:01 Sync mode RW 0x0001 (1

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 [}51]

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

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 [}52]

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

)

) ) ) ) ) ) ) )

6000:11 Counter value RO 0x00000000 (0

6010:0 [}52]

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

) ) ) ) ) ) ) )

6010:11 Counter value RO 0x00000000 (0

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

EP1518-0002 43Version: 2.2

Commissioning and configuration

Index (hex) Name Flags Default value

6020:0 [}52]

7000:0 [}52]

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

) ) ) ) ) ) ) ) )

) ) )

7000:11 Set counter value RO 0x00000000 (0

7010:0 [}53]

Subindex CNT Outputs RO 0x11 (17 7010:03 Set counter RO 0x00 (0 7010:04 Inhibit counter RO 0x00 (0

dec

) ) )

7010:11 Set counter value RO 0x00000000 (0

8000:0 [}46]

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

) ) ) )

8000:13 Counter reload value RW 0x00000000 (0

8010:0 [}46]

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

) ) ) )

8010:13 Counter reload value RW 0x00000000 (0

8022:0 [}46]

F000:0 [}53]

F008 [}53]

F010:0 [}53]

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

)

F010:02 SubIndex 002 RW 0x00000096 (150 F010:03 SubIndex 003 RW 0x00000118 (280

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

EP1518-000244 Version: 2.2

Commissioning and configuration

Index (hex) Name Flags Default value

F600:0 [}53]

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

) ) ) ) ) )

Key

Flags: RO (Read Only): this object can be read only RW (Read/Write): this object can be read and written to

5.5.2 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 [}45] during commissioning

• Objects intended for regular operation, e.g. through ADS access.

• Objects for indicating internal settings (may be fixed)

• Further profile-specific objects [}52] 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

5.5.2.1 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

)

dec

EP1518-0002 45Version: 2.2

)

dec

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

[}46]

8000:04 Count down Counting direction: BOOLEAN RW 0x00 (0

bin

Forward

Down

8000:05 Operating mode Operation mode BIT2 RW 0x01 (1

bin

8000:13 Counter reload value The limit that can be activated via "Enable reload" (index

0x8000:03 [}46]).

Enable pos. gate (gate inhibits with positive level)

Enable neg. gate (gate inhibits with negative level)

UINT32 RW 0x00000000

)

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

[}46]

8010:04 Count down Counting direction: BOOLEAN RW 0x00 (0

bin

Forward

Down

8010:05 Operating mode Operation mode BIT2 RW 0x01 (1

8010:13 Counter reload value

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 [}46]). 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

)

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

dec

see 0x8022:01 [}46]

10µs

200µs

1ms

3ms

10ms

100ms

UINT8 RW 0x00 (0

EP1518-000246 Version: 2.2

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

Commissioning and configuration

5.5.2.2 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

UINT32 RO 0x00001389

(5001

)

dec

Index (hex) Name Meaning Data type Flags Default

100A:0 Software version Firmware version of the EtherCAT slave STRING RO 01.03

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

)

dec

1018:02 Product code Product code of the EtherCAT slave UINT32 RO 0x05EE4052

(99500114

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

UINT32 RO 0x00100002

(1048578

dec

UINT32 RO 0x00000000

)

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

)

dec

)

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-

PDO Mapping RxPDO 1 UINT8 RO 0x05 (5

UINT32 RO 0x0000:00, 2

)

dec

try 0x01 (Output 0))

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),

UINT32 RO 0x7000:04, 1

entry 0x03 (Set counter))

1600:04 SubIndex 004 4. PDO Mapping entry (object 0x7010 (CNT Outputs),

UINT32 RO 0x0000:00, 12

entry 0x04 (Inhibit counter))

1600:05 SubIndex 005 5. PDO Mapping entry (12bits align) UINT32 RO 0x7000:11, 32

EP1518-0002 47Version: 2.2

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

)

EP1518-000248 Version: 2.2

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

EP1518-0002 49Version: 2.2

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

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 [}50])

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

UINT16 RW 0x0000 (0

• 1: Measurement of the local cycle time is started

The entries 0x1C32:03 [}50], 0x1C32:05 [}50],

0x1C32:06 [}50], 0x1C32:07 [}50], 0x1C32:09 [}50], 0x1C33:03 [}51], 0x1C33:06 [}50], 0x1C33:07 [}50]

and 0x1C33:09 [}51] 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

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

EP1518-000250 Version: 2.2

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 [}50]

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 [}50] or 0x1C33:08 [}51])

1C33:05 Minimum cycle time

as 0x1C32:05 [}50]

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 [}50]

as 0x1C32:08 [}50]

as 0x1C32:09 [}50]

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

)

dec

UINT16 RO 0xC007

(49159

UINT32 RO 0x0003D090

(250000

UINT32 RO 0x00000000

)

dec

UINT32 RO 0x00000000

)

dec

UINT16 RW 0x0000 (0

UINT32 RO 0x00000000

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

EP1518-0002 51Version: 2.2

Commissioning and configuration

5.5.2.3 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

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

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 [}52]).

BOOLEAN RO 0x00 (0

UINT32 RO 0x00000000

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

EP1518-000252 Version: 2.2

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 [}53]).

UINT32 RO 0x00000000

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

)

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

)

EP1518-0002 53Version: 2.2

Appendix

6 Appendix

6.1 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 IP 67 modules 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

EP1518-000254 Version: 2.2

6.2 Accessories

Mounting

Ordering information Description

ZS5300-0001 Mounting rail (500mmx129mm)

Cables

Ordering information Description

ZK1090-3xxx-xxxx

ZK1093-3xxx-xxxx

ZK2000-5xxx-xxxx ZK2000-71xx-xxxx

ZK2000-6xxx-xxxx

A complete overview of pre-assembled cables for EtherCAT Box modules can be found here.

Labeling material, protective caps

EtherCAT cable M8, green link to the website

EtherCAT cable M8, yellow link to the website

Sensor cable M12 5-wire Link to website

Sensor cable M12 4-wire Link to website

Appendix

Ordering information Description

ZS5000-0010 Protective cap for M8 sockets, IP67 (50 pieces) ZS5000-0020 Protective cap M12, IP67 (50 pieces) ZS5100-0000 Inscription labels, unprinted, 4 strips of 10 ZS5000-xxxx Printed inscription labels on enquiry

Tools

Ordering information Description

ZB8801-0000 Torque wrench for plugs, 0.4…1.0Nm ZB8801-0001 Torque cable key for M8/ wrench size 9 for ZB8801-0000 ZB8801-0002 Torque cable key for M12/ wrench size 13 for ZB8801-0000 ZB8801-0003 Torque cable key for M12 field assembly/ wrench size 18 for ZB8801-0000

Further accessories

Further accessories can be found in the price list for fieldbus components from Beckhoff and online at https://www.beckhoff.com.

EP1518-0002 55Version: 2.2

Appendix

6.3 Version identification of EtherCAT devices

Designation

A Beckhoff EtherCAT device has a 14-digit designation, made up of

• family key

• type

• version

• revision

Example Family Type Version Revision

EL3314-0000-0016 EL terminal

(12 mm, nonpluggable connection level)

ES3602-0010-0017 ES terminal

(12 mm, pluggable connection level)

CU2008-0000-0000 CU device 2008 (8-port fast ethernet switch) 0000 (basic type) 0000

3314 (4-channel thermocouple terminal)

3602 (2-channel voltage measurement)

0000 (basic type) 0016

0010 (highprecision version)

0017

Notes

• The elements mentioned above result in the technical designation. EL3314-0000-0016 is used in the example below.

• EL3314-0000 is the order identifier, in the case of “-0000” usually abbreviated to EL3314. “-0016” is the EtherCAT revision.

• The order identifier is made up of

- family key (EL, EP, CU, ES, KL, CX, etc.)

- type (3314)

- version (-0000)

• The revision -0016 shows the technical progress, such as the extension of features with regard to the EtherCAT communication, and is managed by Beckhoff. In principle, a device with a higher revision can replace a device with a lower revision, unless specified otherwise, e.g. in the documentation. Associated and synonymous with each revision there is usually a description (ESI, EtherCAT Slave Information) in the form of an XML file, which is available for download from the Beckhoff web site. From 2014/01 the revision is shown on the outside of the IP20 terminals, see Fig. “EL5021 EL terminal, standard IP20 IO device with batch number and revision ID (since 2014/01)”.

• The type, version and revision are read as decimal numbers, even if they are technically saved in hexadecimal.

Identification number

Beckhoff EtherCAT devices from the different lines have different kinds of identification numbers:

Production lot/batch number/serial number/date code/D number

The serial number for Beckhoff IO devices is usually the 8-digit number printed on the device or on a sticker. The serial number indicates the configuration in delivery state and therefore refers to a whole production batch, without distinguishing the individual modules of a batch.

Structure of the serial number: KKYYFFHH

KK - week of production (CW, calendar week) YY - year of production FF - firmware version HH - hardware version

EP1518-000256 Version: 2.2

Appendix

Example with Ser. no.: 12063A02: 12 - production week 12 06 - production year 2006 3A - firmware version 3A 02 hardware version 02

Exceptions can occur in the IP67 area, where the following syntax can be used (see respective device documentation):

Syntax: D ww yy x y z u

D - prefix designation ww - calendar week yy - year x - firmware version of the bus PCB y - hardware version of the bus PCB z - firmware version of the I/O PCB u - hardware version of the I/O PCB

Example: D.22081501 calendar week 22 of the year 2008 firmware version of bus PCB: 1 hardware version of bus PCB: 5 firmware version of I/O PCB: 0 (no firmware necessary for this PCB) hardware version of I/O PCB: 1

Unique serial number/ID, ID number

In addition, in some series each individual module has its own unique serial number.

See also the further documentation in the area

• IP67: EtherCAT Box

• Safety: TwinSafe

• Terminals with factory calibration certificate and other measuring terminals

Examples of markings

Fig.35: EL5021 EL terminal, standard IP20 IO device with serial/ batch number and revision ID (since 2014/01)

EP1518-0002 57Version: 2.2

Appendix

Fig.36: EK1100 EtherCAT coupler, standard IP20 IO device with serial/ batch number

Fig.37: CU2016 switch with serial/ batch number

Fig.38: EL3202-0020 with serial/ batch number 26131006 and unique ID-number 204418

EP1518-000258 Version: 2.2

Appendix

Fig.39: EP1258-00001 IP67 EtherCAT Box with batch number/ date code 22090101 and unique serial number 158102

Fig.40: EP1908-0002 IP67 EtherCAT Safety Box with batch number/ date code 071201FF and unique serial number 00346070

Fig.41: EL2904 IP20 safety terminal with batch number/ date code 50110302 and unique serial number 00331701

Fig.42: ELM3604-0002 terminal with unique ID number (QR code) 100001051 and serial/ batch number 44160201

EP1518-0002 59Version: 2.2

Appendix

6.3.1 Beckhoff Identification Code (BIC)

The Beckhoff Identification Code (BIC) is increasingly being applied to Beckhoff products to uniquely identify the product. The BIC is represented as a Data Matrix Code (DMC, code scheme ECC200), the content is based on the ANSI standard MH10.8.2-2016.

Fig.43: BIC as data matrix code (DMC, code scheme ECC200)

The BIC will be introduced step by step across all product groups.

Depending on the product, it can be found in the following places:

• on the packaging unit

• directly on the product (if space suffices)

• on the packaging unit and the product

The BIC is machine-readable and contains information that can also be used by the customer for handling and product management.

Each piece of information can be uniquely identified using the so-called data identifier (ANSIMH10.8.2-2016). The data identifier is followed by a character string. Both together have a maximum length according to the table below. If the information is shorter, spaces are added to it. The data under positions 1 to 4 are always available.

The following information is contained:

EP1518-000260 Version: 2.2

Item

Type of

no.

information

1 Beckhoff order

number

2 Beckhoff Traceability

Number (BTN)

3 Article description Beckhoff article

4 Quantity Quantity in packaging

5 Batch number Optional: Year and week

6 ID/serial number Optional: Present-day

7 Variant number Optional: Product variant

...

Explanation Data

Beckhoff order number 1P 8 1P072222

Unique serial number, see note below

description, e.g. EL1008

unit, e.g. 1, 10, etc.

of production

serial number system, e.g. with safety products

number on the basis of standard products

Appendix

Number of digits

identifier

S 12 SBTNk4p562d7

1K 32 1KEL1809

Q 6 Q1

2P 14 2P401503180016

51S 12 51S678294104

30P 32 30PF971, 2*K183

incl. data identifier

Example

Further types of information and data identifiers are used by Beckhoff and serve internal processes.

Structure of the BIC

Example of composite information from item 1 to 4 and 6. The data identifiers are marked in red for better display:

BTN

An important component of the BIC is the Beckhoff Traceability Number (BTN, item no.2). The BTN is a unique serial number consisting of eight characters that will replace all other serial number systems at Beckhoff in the long term (e.g. batch designations on IO components, previous serial number range for safety products, etc.). The BTN will also be introduced step by step, so it may happen that the BTN is not yet coded in the BIC.

NOTE

This information has been carefully prepared. However, the procedure described is constantly being further developed. We reserve the right to revise and change procedures and documentation at any time and without prior notice. No claims for changes can be made from the information, illustrations and descriptions in this information.

EP1518-0002 61Version: 2.2

Appendix

6.4 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 5246 963 0 Fax: +49 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 5246 963 157 Fax: +49 5246 963 9157 e-mail: support@beckhoff.com

Beckhoff Service

The Beckhoff Service Center supports you in all matters of after-sales service:

• on-site service

• repair service

• spare parts service

• hotline service

Hotline: +49 5246 963 460 Fax: +49 5246 963 479 e-mail: service@beckhoff.com

EP1518-000262 Version: 2.2

More Information:

www.beckhoff.com/ep1518/

Beckhoff Automation GmbH & Co. KG Hülshorstweg 20 33415 Verl Germany Phone: +49 5246 9630 info@beckhoff.com www.beckhoff.com

Beckhoff EP1518-0002 User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

Table of contents

1 Foreword

1.1 Notes on the documentation

1.2 Safety instructions

1.3 Documentation Issue Status

2 EtherCAT Box - Introduction

3 Product overview

3.1 Introduction

3.2 Technical data

3.3 Process image

4 Installation

4.1 Mounting

4.1.1 Dimensions

4.1.2 Fixing

4.1.3 Tightening torques for plug connectors

4.2 Connection

4.2.1 EtherCAT

4.2.1.1 Connectors

4.2.1.2 Status LEDs

4.2.1.3 Cables

4.2.2 Supply voltages

4.2.2.1 Connectors

4.2.2.2 Status LEDs for the power supply

4.2.2.3 Conductor losses

4.2.3 Signal connection

4.2.4 Status LEDs at the signal connections

4.3 UL Requirements

4.4 ATEX notes

4.4.1 ATEX - Special conditions

4.4.2 BG2000 - EtherCAT Box protection enclosures

4.4.3 ATEX Documentation

5 Commissioning and configuration

5.1 Integration in TwinCAT

5.2 Distributed Clocks (DC)

5.3 Distributed Clocks and EP1518

5.4 Configuration of the EP1518

5.4.1 Basic Function Principles

5.4.2 Operation modes

5.4.3 Counter settings

5.4.4 Restoring the delivery state

5.5 CoE objects

5.5.1 Object overview

5.5.2 Object description and parameterization

5.5.2.1 Objects to be parameterized during commissioning

5.5.2.2 Standard objects (0x1000-0x1FFF)

5.5.2.3 Profile-specific objects (0x6000-0xFFFF)

6 Appendix

6.1 General operating conditions

6.2 Accessories

6.3 Version identification of EtherCAT devices

6.3.1 Beckhoff Identification Code (BIC)

6.4 Support and Service