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EP3184-0002
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Beckhoff EP3162, EP3182, EP3174-0092, EP3184-0002, EP3184-1002 Documentation

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Documentation
EP31xx
EtherCAT Box modules with analog inputs
Version: Date:
2.4 2019-12-18

Table of contents

Table of contents
1 Foreword ....................................................................................................................................................7
1.1 Notes on the documentation..............................................................................................................7
1.2 Safety instructions .............................................................................................................................8
1.3 Documentation issue status ..............................................................................................................9
2 Product overview.....................................................................................................................................11
2.1 EtherCAT Box - Introduction............................................................................................................11
2.2 Module overview..............................................................................................................................13
2.3 EP3162............................................................................................................................................14
2.3.1 EP3162 - Introduction ...................................................................................................... 14
2.3.2 EP3162 - Technical data ................................................................................................. 15
2.3.3 EP3162 - Scope of supply ............................................................................................... 17
2.3.4 EP3162 - Process image ................................................................................................. 17
2.4 EP3182............................................................................................................................................18
2.4.1 EP3182 - Introduction ...................................................................................................... 18
2.4.2 EP3182 - Technical data ................................................................................................. 19
2.4.3 EP3182 - Scope of supply ............................................................................................... 21
2.4.4 EP3182 - Process image ................................................................................................. 22
2.5 EP31x4 ............................................................................................................................................24
2.5.1 EP3174-0002 - Introduction............................................................................................. 24
2.5.2 EP3174-0092 - Introduction............................................................................................. 25
2.5.3 EP3184-0002 - Introduction............................................................................................. 26
2.5.4 EP3184-1002 - Introduction............................................................................................. 27
2.5.5 EP31x4 - Technical data.................................................................................................. 28
2.5.6 EP31x4 - Scope of supply ............................................................................................... 30
2.5.7 EP31x4 - Process image ................................................................................................. 30
2.5.8 EP3174-0092 – Process image (with TwinSAFE SC modules)....................................... 31
3 Mounting and cabling..............................................................................................................................32
3.1 Mounting..........................................................................................................................................32
3.1.1 Dimensions ...................................................................................................................... 32
3.1.2 Fixing ............................................................................................................................... 33
3.1.3 Tightening torques for plug connectors ........................................................................... 33
3.2 EtherCAT.........................................................................................................................................34
3.2.1 Connectors ...................................................................................................................... 34
3.2.2 Status LEDs..................................................................................................................... 35
3.2.3 Cables.............................................................................................................................. 35
3.3 Supply voltages ...............................................................................................................................36
3.3.1 Connectors ...................................................................................................................... 36
3.3.2 Status LEDs..................................................................................................................... 37
3.3.3 Conductor losses ............................................................................................................. 37
3.4 UL Requirements.............................................................................................................................38
3.5 ATEX notes .....................................................................................................................................39
3.5.1 ATEX - Special conditions ............................................................................................... 39
3.5.2 BG2000 - EtherCAT Box protection enclosures .............................................................. 40
3.5.3 ATEX Documentation ...................................................................................................... 41
Table of contents
3.6 EP3162-0002 - Electrical isolation of the channels .........................................................................42
3.7 EP3162-0002 – Signal connection and Status LEDs ......................................................................43
3.7.1 Analog voltage inputs M12, one single-ended input per socket ...................................... 43
3.7.2 M12 analog current inputs, one single-ended input per socket ....................................... 44
3.7.3 Status LEDs at the M12 connections............................................................................... 45
3.8 EP3174-00x2 - Signal connection and Status LEDs .......................................................................46
3.8.1 M12 analog voltage inputs, one differential input per socket........................................... 46
3.8.2 M12 analog current inputs, one differential input per socket ........................................... 46
3.8.3 Status LEDs at the M12 connections............................................................................... 47
3.9 EP3182-1002 – Signal connection and Status LEDs ......................................................................48
3.9.1 Analog voltage inputs, M12 digital output, one single-ended input and one digital output
per socket ........................................................................................................................ 48
3.9.2 Analog current inputs, M12 digital output, one single-ended input and one digital output
per socket ........................................................................................................................ 48
3.9.3 Status LEDs at the M12 connections............................................................................... 49
3.10 EP3184-0002 – Signal connection and Status LEDs ......................................................................49
3.10.1 Analog voltage inputs M12, one single-ended input per socket ...................................... 49
3.10.2 M12 analog current inputs, one single-ended input per socket ....................................... 50
3.10.3 Status LEDs at the M12 connections............................................................................... 50
3.11 EP3184-1002 – Signal connection and Status LEDs ......................................................................51
3.11.1 M12 analog voltage inputs, two single-ended inputs per socket ..................................... 51
3.11.2 M12 analog current inputs, two single-ended inputs per socket...................................... 51
3.11.3 Status LEDs at the M12 connections............................................................................... 52
4 Configuration ...........................................................................................................................................53
4.1 Inserting into the EtherCAT network................................................................................................53
4.2 Configuration via TwinCAT..............................................................................................................56
4.3 EtherCAT State Machine.................................................................................................................64
4.4 CoE interface...................................................................................................................................66
4.5 Notices on analog specifications .....................................................................................................71
4.6 EP31xx - Settings and operating modes .........................................................................................76
4.6.1 Settings............................................................................................................................ 76
4.6.2 Operation modes ............................................................................................................. 81
4.7 Data stream .....................................................................................................................................83
4.8 Measuring ranges............................................................................................................................84
4.9 Calibration .......................................................................................................................................85
4.10 Calculation of process data .............................................................................................................86
4.11 TwinSAFE SC..................................................................................................................................86
4.11.1 TwinSAFE SC - operating principle ................................................................................. 86
4.11.2 TwinSAFE SC - configuration.......................................................................................... 86
4.12 EP3174-0092 - TwinSAFE SC process data...................................................................................90
4.13 EP3162-0002 - Object overview......................................................................................................91
4.14 EP3182-1002 - Object overview......................................................................................................94
4.15 EP31x4-x002 - Object overview ......................................................................................................97
4.16 EP3174-0092 - Object overview....................................................................................................103
4.17 EP31x2 - Object description and parameterization .......................................................................109
4.18 EP31x4 - Object description and parameterization .......................................................................123
EP31xx4 Version: 2.4
Table of contents
4.19 Objects TwinSAFE Single Channel (EP3174-0092)......................................................................139
4.20 Restoring the delivery state ...........................................................................................................141
4.21 Decommissioning ..........................................................................................................................142
5 Appendix ................................................................................................................................................143
5.1 General operating conditions.........................................................................................................143
5.2 EtherCAT Box- / EtherCATPBox - Accessories ..........................................................................144
5.3 General note on the introduction of the Beckhoff Identification Code (BIC) ..................................145
5.4 Support and Service ......................................................................................................................147
Table of contents
EP31xx6 Version: 2.4
Foreword

1 Foreword

1.1 Notes on the documentation

Intended audience
This description is only intended for the use of trained specialists in control and automation engineering who are familiar with the applicable national standards. It is essential that the documentation and the following notes and explanations are followed when installing and commissioning these components. It is the duty of the technical personnel to use the documentation published at the respective time of each installation and commissioning.
The responsible staff must ensure that the application or use of the products described satisfy all the requirements for safety, including all the relevant laws, regulations, guidelines and standards.
Disclaimer
The documentation has been prepared with care. The products described are, however, constantly under development.
We reserve the right to revise and change the documentation at any time and without prior announcement.
No claims for the modification of products that have already been supplied may be made on the basis of the data, diagrams and descriptions in this documentation.
Trademarks
Beckhoff®, TwinCAT®, EtherCAT®, EtherCATG®, EtherCATG10®, EtherCATP®, SafetyoverEtherCAT®, TwinSAFE®, XFC®, XTS® and XPlanar® are registered trademarks of and licensed by Beckhoff Automation GmbH. Other designations used in this publication may be trademarks whose use by third parties for their own purposes could violate the rights of the owners.
Patent Pending
The EtherCAT Technology is covered, including but not limited to the following patent applications and patents: EP1590927, EP1789857, EP1456722, EP2137893, DE102015105702 with corresponding applications or registrations in various other countries.
EtherCAT® is registered trademark and patented technology, licensed by Beckhoff Automation GmbH, Germany.
Copyright
© Beckhoff Automation GmbH & Co. KG, Germany. The reproduction, distribution and utilization of this document as well as the communication of its contents to others without express authorization are prohibited. Offenders will be held liable for the payment of damages. All rights reserved in the event of the grant of a patent, utility model or design.
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.
EP31xx8 Version: 2.4

1.3 Documentation issue status

Version Modifications
2.4 • EP3184-x002 - Introduction: graphics corrected
• Structural update
2.3.0 • Nut torques for connectors updated
• EP3174-0092 added
• Chapter Mounting updated
• Chapter Operation modes updated
• Structural update
2.2.0 • EP3162-0002 - M12 analog voltage inputs updated
• EP3162-0002 - M12 analog current inputs updated
• EP3162-0002 - Electrical isolation of the channels updated
• Notes on the analog specification added
• Cabling updated
2.1.0 • EP3162-0002 added
• EP31x4 - Object description and parameterization updated
• EP31x2 - Object description and parameterization added
• EP31x4 - Object overview updated
• EP31x2 - Object overview added
• Nut torques for connectors updated
• Power supply added
2.0.0 • Migration
1.5.0 • Connection description for analog current inputs (M12) revised
• Chapter "Settings and operation modes" updated
1.4.0 • Signal settings amended
• Connection of the sensors updated
1.3.0 • Object description updated
1.2.0 • Technical data updated
• Overview of EtherCAT cables extended
• Mounting and Cabling updated
1.1.0 • Description of the Power LEDs expanded
• Object description extended
• Technical data updated
1.0.1 • Object description corrected
1.0.0 • Description of the Status LEDs revised
0.6 • EP3182-1002 added
• Accessories added
• Nut torque for connectors added
• Object description corrected
0.5 • First preliminary version
Foreword
Foreword
Firm and hardware version
The documentation refers to the firm and hardware status that was valid at the time it was prepared.
The properties of the modules are subject to continuous development and improvement. Modules having earlier production statuses cannot have the same properties as modules with the latest status. Existing properties, however, are always retained and are not changed, so that these modules can always be replaced by new ones.
The firmware and hardware version (delivery state) can be found in the batch number (D number) printed at the side of the EtherCAT Box.
Syntax of the batch number (D number)
D: WW YY FF HH Example with D No. 29 10 02 01:
WW - week of production (calendar week) 29 - week of production 29 YY - year of production 10 - year of production 2010 FF - firmware version 02 - firmware version 02 HH - hardware version 01 - hardware version 01
Beckhoff Identification Code (BIC)
The Beckhoff Identification Code contains additional information about the delivery state of the module: General note on the introduction of the Beckhoff Identification Code (BIC) [}145].
EP31xx10 Version: 2.4
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.
Product overview
Fig.2: EtherCAT Box with M8 connections for sensors/actuators
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.
EP31xx12 Version: 2.4

2.2 Module overview

Product overview
Analog input modules, 24V
Module Number of
EP3162-0002 [}14]
EP3174-0002 [}24]
EP3174-0092 [}25]
EP3182-1002 [}18]
EP3184-0002 [}26]
EP3184-1002 [}27]
analog inputs
2 0 2 x M12 Single-ended inputs 4 0 4 x M12 Differential inputs 4 0 4 x M12 Differential inputs, TwinSAFE Single Channel 2 2 2 x M12 Single-ended inputs, digital outputs 4 0 4 x M12 Single-ended inputs 4 0 2 x M12 Single-ended inputs, two inputs per connection
DC
Number of digital outputs
Signal connection
Comment
Product overview

2.3 EP3162

2.3.1 EP3162 - Introduction

Fig.4: EP3162-0002
2-channel analog input ± 10V or 0/4...20mA, electrically isolated, single-ended, 16-bit
The EP3162 EtherCAT Box has two analog inputs that can be individually parameterized to process signals either in the range from -10V to +10V or from 0/4mA to 20mA. The voltage or input current is digitized with a resolution of 16bits, and is transmitted (electrically isolated) to the higher-level automation device.
The two input channels are electrically isolated from each other. The input filter and therefore the conversion times are configurable in a wide range. The inputs can, if required, be scaled differently, and automatic limit value monitoring is also available. EtherCAT is used for parameterization purposes. The parameters are stored in the module.
Quick Links
Installation [}32] Configuration [}56]
EP31xx14 Version: 2.4

2.3.2 EP3162 - Technical data

Technical data EP3162-0002
Fieldbus
Fieldbus EtherCAT Connection 2x M8 socket, green Electrical isolation 500V (fieldbus/ IO) Distributed Clocks Yes
Supply voltages
Connection Feed: 1 x M8 plug, 4-pin, black
Downstream connection: 1 x M8 socket, 4-pin, black Control voltage U Nominal voltage 24VDC (-15%/ +20%) Sum current max. 4A Consumers • Module electronics: 120mA
Peripheral voltage U Nominal voltage 24VDC (-15%/ +20%) Sum current max. 4A Consumers None. UP is only forwarded.
Analog inputs
Number 2 Connection 2x M12 socket, 5-pin Input type Single-ended Signal range Parameterizable:
Digital resolution 16-bit, including sign Measuring error max 0.3%, relative to the full scale value Input resistance Voltage measurement: min. 200kΩ
Dielectric strength max. 30V Electrical isolation 300V between the input channels Conversion time approx. 100µs Input filter limit frequency 5kHz Input filter characteristic
Sensor supply voltage UA
S
1)
• Sensors
P
2)
1)
• -10.. +10V (default)
• 0.. 10V
• 0.. 20mA
• 4.. 20mA
• -20.. +20mA
Current measurement: 85Ω + diode voltage
Parameterizable [}82]
3)
24VDC, isolated potential.
Output current per channel:
max. continuous current 50mA
max. peak current 100mA
Product overview
1)
Sum current of consumers and power transmission. This value corresponds to the
current carrying capacity of the connections for the supply voltages.
2)
"Sensors": devices connected to the input connections.
3)
Supply voltage available at the input connections.
Product overview
Technical data EP3162-0002
Environmental conditions
Ambient temperature during operation
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
Mechanics
Weight approx. 165g Installation position variable
Approvals and conformity
Approvals CE, cURus
-25 .. +60°C
-25 .. +55°C according to cURus
-40.. +85°C
EP31xx16 Version: 2.4

2.3.3 EP3162 - Scope of supply

Make sure that the following components are included in the scope of delivery:
• 1x EtherCAT Box EP3162-0002
• 1x protective cap for supply voltage input, M8, transparent (pre-assembled)
• 1x protective cap for supply voltage output, M8, black (pre-assembled)
• 2x protective cap for EtherCAT socket, M8, green (pre-assembled)
• 10x labels, blank (1 strip of 10)
Pre-assembled protective caps do not ensure IP67 protection
Protective caps are pre-assembled at the factory to protect connectors during transport. They may not be tight enough to ensure IP67 protection.
Ensure that the protective caps are correctly seated to ensure IP67 protection.

2.3.4 EP3162 - Process image

Product overview
AI Standard Channel 1 and 2
You will find the data of the 1st analog channel under AI Standard Channel 1.
The data of the 2nd channel (AI Standard Channel 2) are structured identically to those of the 1st channel.
Product overview

2.4 EP3182

2.4.1 EP3182 - Introduction

Fig.5: EP3182-1002
2-channel analog input ±10V or 0/4...20mA, parameterizable, single-ended, 16-bit, 2 digital control outputs 24VDC, short-circuit proof
Analog inputs (single-ended)
The EP3182-1002 EtherCAT Box has two analog inputs which can be individually parameterized, so that they process signals either in the -10V to +10V range or the 0/4mA…20mA range.
The voltage or input current is digitized with a resolution of 16bits, and is transmitted (electrically isolated) to the higher-level automation device.
The two input channels are single-ended and share a common internal ground potential. The input filter and therefore the conversion times are configurable in a wide range.
The inputs can, if required, be scaled differently, and automatic limit value monitoring is also available. EtherCAT is used for parameterization purposes. The parameters are stored in the module.
Digital outputs
In addition, the EP3182-1002 EtherCAT Box has two digital outputs via which it forwards the binary control signals from the controller to the actuators at the process level.
These two outputs (sink/source type) are intended for the switching of logic inputs or outputs with a minimum impedance of 10kOhm (e.g. reset inputs of digital sensors) and can process currents up to 2mA. They indicate their signal state by LEDs and are short-circuit proof.
The signals are also connected via the two M12 connectors.
Quick-Links
Installation [}32] Configuration [}56]
EP31xx18 Version: 2.4

2.4.2 EP3182 - Technical data

Technical data EP3182-1002
Fieldbus
Fieldbus EtherCAT Connection 2x M8 socket, green Electrical isolation 500V (fieldbus/ IO)
Supply voltages
Connection Feed: 1 x M8 plug, 4-pin, black
Downstream connection: 1 x M8 socket, 4-pin, black Control voltage U Nominal voltage 24VDC (-15%/ +20%) Sum current max. 4A Consumers Module electronics: 120mA Peripheral voltage U Nominal voltage 24VDC (-15%/ +20%) Sum current max. 4A Consumers • Sensors
Analog inputs
Number 2 Connection 2x M12 socket, 5-pin Input type Single-ended Signal range Parameterizable:
Digital resolution 16-bit, including sign Measuring error max 0.3%, relative to the full scale value Input resistance Voltage measurement: min. 200kΩ
Dielectric strength max. 30V Conversion time approx. 100µs Input filter limit frequency 5kHz Input filter characteristic
Sensor supply voltage UA
S
1)
P
1)
2)
• Loads at digital outputs
• -10.. +10V (default)
• 0.. 10V
• 0.. 20mA
• 4.. 20mA
Current measurement: 85Ω + diode voltage
Parameterizable [}82]
3)
24VDC taken from the peripheral voltage UP,
not short-circuit proof
Product overview
1)
Sum current of consumers and power transmission. This value corresponds to the
current carrying capacity of the connections for the supply voltages.
2)
"Sensors": devices connected to the input connections.
3)
Supply voltage available at the input connections.
Product overview
Technical data EP3182-1002
Digital outputs
Number 2 Connection M12 sockets of the analog inputs Nominal voltage 24VDC from peripheral voltage U Output current I
OUT
2mA per output, short-circuit proof
P
Internal resistance approx. 2350Ω (high level) Impedance of connected inputs min. 10kΩ
Environmental conditions
Ambient temperature
0 .. +55°C during operation
Ambient temperature
-40.. +85°C
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)
Mechanics
Weight approx. 165g Installation position variable
Approvals and conformity
Approvals CE, cURus
EP31xx20 Version: 2.4

2.4.3 EP3182 - Scope of supply

Make sure that the following components are included in the scope of delivery:
• 1x EtherCAT Box EP3182-1002
• 1x protective cap for supply voltage input, M8, transparent (pre-assembled)
• 1x protective cap for supply voltage output, M8, black (pre-assembled)
• 2x protective cap for EtherCAT socket, M8, green (pre-assembled)
• 10x labels, blank (1 strip of 10)
Pre-assembled protective caps do not ensure IP67 protection
Protective caps are pre-assembled at the factory to protect connectors during transport. They may not be tight enough to ensure IP67 protection.
Ensure that the protective caps are correctly seated to ensure IP67 protection.
Product overview
Product overview

2.4.4 EP3182 - Process image

Analog inputs
Table1: AI Standard Channel1
You will find the data of the 1st analog channel under AI Standard Channel1.
AI Standard Channel2
The data of the second analog channelhave the same structure as those of the first channel.
EP31xx22 Version: 2.4
Digital outputs
Table2: DO Outputs
Product overview
The digital outputs of the module can be found under DO Outputs.
Product overview

2.5 EP31x4

2.5.1 EP3174-0002 - Introduction

Fig.6: EP3174-0002
4-channel analog input ±10V or 0/4...20mA, parameterizable, differential input, 16-bit
The EP3174-0002 EtherCAT Box has four analog inputs which can be individually parameterized, so that they process signals either in the -10V to +10V range or the 0/4mA…20mA range.
The voltage or input current is digitized with a resolution of 16bits, and is transmitted (electrically isolated) to the higher-level automation device.
The four input channels have differential inputs and possess a common, internal ground potential. The input filter and therefore the conversion times are configurable in a wide range.
The inputs can, if required, be scaled differently, and automatic limit value monitoring is also available. EtherCAT is used for parameterization purposes. The parameters are stored in the module.
Quick-Links
Installation [}32] Configuration [}56]
EP31xx24 Version: 2.4

2.5.2 EP3174-0092 - Introduction

Product overview
Fig.7: EP3174-0092
4-channel analog input ±10V or 0/4...20mA, differential input, 16-bit, TwinSAFE Single Channel
In addition to the full range of functions of the EP3174-0002, the EP3174-0092 supports the TwinSAFE SC technology (TwinSAFE Single Channel). This enables the use of standard signals for safety tasks in any networks of fieldbuses.
Quick-Links
Installation [}32] Configuration [}56] Object description and parameterization [}123] Objects TwinSAFE Single Channel [}139] TwinSAFE SC process data [}90]
Product overview
Channel 1
Channel 2
Channel 3
Channel 4

2.5.3 EP3184-0002 - Introduction

Fig.8: EP3184-0002
4-channel analog input ±10V or 0/4...20mA, parameterizable, single-ended, 16-bit
The EP3184-0002 EtherCAT Box has four analog inputs which can be individually parameterized, so that they process signals either in the -10V to +10V range or the 0/4mA…20mA range.
The voltage or input current is digitized with a resolution of 16bits, and is transmitted (electrically isolated) to the higher-level automation device.
The four input channels are single-ended and share a common internal ground potential. The input filter and therefore the conversion times are configurable in a wide range.
The inputs can, if required, be scaled differently, and automatic limit value monitoring is also available. EtherCAT is used for parameterization purposes. The parameters are stored in the module.
Quick-Links
Installation [}32] Configuration [}56]
EP31xx26 Version: 2.4

2.5.4 EP3184-1002 - Introduction

Channel 1 Channel 2
Channel 3 Channel 4
Product overview
Fig.9: EP3184-1002
4-channel analog input ±10V or 0/4...20mA, parameterizable, single-ended, 16-bit
The EP3184-1002 EtherCAT Box has four analog inputs which can be individually parameterized, so that they process signals either in the -10V to +10V range or the 0/4mA…20mA range.
Two inputs are combined in each case on sockets 1 and 3. Sockets 2 and 4 have no function.
The voltage or input current is digitized with a resolution of 16bits, and is transmitted (electrically isolated) to the higher-level automation device.
The four input channels are single-ended and share a common internal ground potential. The input filter and therefore the conversion times are configurable in a wide range.
The inputs can, if required, be scaled differently, and automatic limit value monitoring is also available. EtherCAT is used for parameterization purposes. The parameters are stored in the module.
Quick-Links
Installation [}32] Configuration [}56]
Product overview

2.5.5 EP31x4 - Technical data

Technical data EP3174-0002 EP3174-0092 EP3184-0002 EP3184-1002
MTBF - >600,000h - -
Fieldbus
Fieldbus EtherCAT Connection 2x M8 socket, green Electrical isolation 500V (fieldbus/ IO) Distributed Clocks Yes
Supply voltages
Connection Feed: 1 x M8 plug, 4-pin, black
Downstream connection: 1 x M8 socket, 4-pin, black Control voltage U Nominal voltage 24VDC (-15%/ +20%) Sum current max. 4A Consumers Module electronics: 120mA Peripheral voltage U Nominal voltage 24VDC (-15%/ +20%) Sum current max. 4A Consumers Sensors
Analog inputs
Number 4 Connection 4x M12 socket, 5-pin 2x M12
Input type Differential Single-ended Signal range Parameterizable:
Digital resolution 16-bit, including sign Measuring error max 0.3%, relative to the full scale value Input resistance Voltage measurement: min. 200kΩ
Common-mode voltage U Dielectric strength max. 30V Conversion time approx. 100µs Input filter limit frequency 5kHz Input filter characteristic
Sensor supply voltage UA
S
1)
P
1)
2)
socket, 5-pin
• -10.. +10V (default)
• 0.. 10V
• 0.. 20mA
• 4.. 20mA
Current measurement: 85Ω + diode voltage
CM
max. 35V -
Parameterizable [}82]
3)
24VDC from peripheral voltage U
P
1)
Sum current of consumers and power transmission. This value corresponds to the
current carrying capacity of the connections for the supply voltages.
2)
"Sensors": devices connected to the input connections.
3)
Supply voltage available at the input connections.
EP31xx28 Version: 2.4
Product overview
Technical data EP3174-0002 EP3174-0092 EP3184-0002 EP3184-1002
Environmental conditions
Ambient temperature during operation -25 .. +60°C
-25 .. +55°C conforms to cURus [}38]
0 .. +55°C conforms to ATEX [}39] Ambient temperature during storage -40 .. +85°C 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
Mechanics
Weight approx. 165g Installation position variable
Approvals and conformity
Approvals CE, cURus, ATEX
Product overview

2.5.6 EP31x4 - Scope of supply

Make sure that the following components are included in the scope of delivery:
• 1x EtherCAT Box EP3174-0002 / EP3174-0092 / EP3184-0002 / EP3184-1002
• 1x protective cap for supply voltage input, M8, transparent (pre-assembled)
• 1x protective cap for supply voltage output, M8, black (pre-assembled)
• 2x protective cap for EtherCAT socket, M8, green (pre-assembled)
• 10x labels, blank (1 strip of 10)
Pre-assembled protective caps do not ensure IP67 protection
Protective caps are pre-assembled at the factory to protect connectors during transport. They may not be tight enough to ensure IP67 protection.
Ensure that the protective caps are correctly seated to ensure IP67 protection.

2.5.7 EP31x4 - Process image

The process data of the EP3174-0002, EP3174-0092, EP3184-0002 and EP3184-1002 modules are identical in the default setting and are illustrated here taking the EP3174-0002 as an example.
AI Standard Channel1
You will find the data of the 1st analog channel under AI Standard Channel1.
AIStandard Channel 2 to 4
The data of analog channels 2 to 4 have the same structure as those of the 1st channel.
EP31xx30 Version: 2.4
Product overview

2.5.8 EP3174-0092 – Process image (with TwinSAFE SC modules)

In the following illustration the process data are shown after inserting the TwinSAFE SC module as described in the chapter TwinSAFE SC configuration [}86].
Under Module 1 (EP3174-0092) you will find
• the TSC input data and
• the TSC output data.
You will find the data of the 1st analog channel under AI Standard Channel1.
AIStandard Channel 2 to 4
The data of analog channels 2 to 4 have the same structure as those of the 1st channel.
Mounting and cabling
119
126
23
30
26.5
13.5
Ø 3.5

3 Mounting and cabling

3.1 Mounting

3.1.1 Dimensions

Fig.10: 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)
EP31xx32 Version: 2.4
Mounting and cabling

3.1.2 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.

3.1.3 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
Mounting and cabling
3 1
24

3.2 EtherCAT

3.2.1 Connectors

EtherCAT Box Modules have two green M8 sockets for the incoming and downstream EtherCAT connections.
Fig.11: EtherCAT connector
Connection
Fig.12: 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
1)
Core colors according to EN61918
connector
Core colors
ZK1090-6292, ZK1090-3xxx-xxxx
1)
1)
1)
1)
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.
EP31xx34 Version: 2.4
Mounting and cabling

3.2.2 Status LEDs

Fig.13: 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

3.2.3 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
Mounting and cabling
Plug
Feed-in
Socket
Forwarding
3 1
24
3 1
24

3.3 Supply voltages

The EtherCAT Box is supplied with two supply voltages. The supply voltages are electrically isolated in the EtherCAT Box.
• Control voltage U
• Peripheral voltage U
S
P
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!

3.3.1 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.14: Connectors for supply voltages
Fig.15: M8 connector
Contact Function Description Core color
1 U 2 U 3 GND 4 GND
1)
The core colors apply to cables of the type: Beckhoff ZK2020-xxxx-xxxx
S
P
S
P
Control voltage Brown Peripheral voltage White GND to U GND to U
S
P
Blue Black
1)
EP31xx36 Version: 2.4
Mounting and cabling
Vert. Faktor: 0,45 cm / V
5 10 15 20
2
4
6
8
10
250
0
12
30
Vert. Faktor: 0,45 cm / V
Voltage drop (V)
Cable length (m)
35
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
2
4
6
8
10
250
0
12
30
Vert. Faktor: 0,45 cm / V
Voltage drop (V)
Cable length (m)
35
0,25 mm²
0,34 mm²
0,5 mm²
0,75 mm²
I = 4 A

3.3.2 Status LEDs

Fig.16: Status LEDs for the power supply
LED Display Meaning
US (control voltage) off Supply voltage, US, is not present
green illuminated Supply voltage, US, is present
UP (peripheral voltage) off Supply voltage, UP, is not present
green illuminated Supply voltage, UP, is present

3.3.3 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
Mounting and cabling

3.4 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.17: UL label
EP31xx38 Version: 2.4
Mounting and cabling

3.5 ATEX notes

3.5.1 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 [}40] 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
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
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
Mounting and cabling

3.5.2 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 [}39], 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.18: BG2000 - putting the cables
Fix the wires for EtherCAT, power supply and sensors/actuators to the EtherCAT Box.
EP31xx40 Version: 2.4
Fig.19: BG2000 - fixing the cables
Mount the protection enclosure over the EtherCAT Box.
Mounting and cabling
Fig.20: BG2000 - mounting the protection enclosure

3.5.3 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!
Mounting and cabling

3.6 EP3162-0002 - Electrical isolation of the channels

The block diagram shown below illustrates the principle of the electrical isolation of the two channels. The 24V with which the channels are supplied come from an electrically isolated DC/DC and are thus UA instead of US.
Fig.21: Block diagram: electrical isolation
Electrical isolation of GND
The GNDs of channel 1 (GNDA) and channel 2 (GNDB) are electrically isolated from each other.
EP31xx42 Version: 2.4
Mounting and cabling

3.7 EP3162-0002 – Signal connection and Status LEDs

3.7.1 Analog voltage inputs M12, one single-ended input per socket

Analog input, -10V to +10V or 0V to +10V
Fig.22: M12 analog voltage input, channel 1
Fig.23: M12 analog voltage input, channel 2
Refer to the chapter EP3162-0002 - Electrical isolation of the channels [}42] for additional information.
Mounting and cabling

3.7.2 M12 analog current inputs, one single-ended input per socket

Analog input, 0mA to 20mA, 4 to 20mA or -20mA to 20mA
Fig.24: M12 analog current inputs, channel 1
Fig.25: M12 analog current inputs, channel 2
Refer to the chapter EP3162-0002 - Electrical isolation of the channels [}42] for additional information.
EP31xx44 Version: 2.4

3.7.3 Status LEDs at the M12 connections

Fig.26: Status LEDs at the M12 connections
Connection LED Display Meaning
M12 socket no. 0-1 R
left E
right
Correct function is indicated if the green RUN LED is on and the red Error LED is off.
off No data transfer to the A/D converter green Data transfer to A/D converter
off Function OK red Error: Broken wire or measured value outside the measuring
range
Mounting and cabling
Mounting and cabling

3.8 EP3174-00x2 - Signal connection and Status LEDs

3.8.1 M12 analog voltage inputs, one differential input per socket

Analog inputs, -10 V to +10 V differential
Fig.27: M12 analog voltage inputs, one differential input per socket
GND connections
If several sensors are connected to a box whose GND connections are not electrically isolated, GND must be connected to GNDp.

3.8.2 M12 analog current inputs, one differential input per socket

Analog inputs, 0 mA to 20 mA or 4 mA to 20 mA differential
Fig.28: M12 analog current inputs, one differential input per socket
GND connections
If several sensors are connected to a box whose GND connections are not electrically isolated, GND must be connected to GNDp.
EP31xx46 Version: 2.4

3.8.3 Status LEDs at the M12 connections

Fig.29: Status LEDs at the M12 connections
Connection LED Display Meaning
M12 socket no. 1-4 R
left E
right
Correct function is indicated if the green RUN LED is on and the red Error LED is off.
off No data transfer to the A/D converter green Data transfer to A/D converter
off Function OK red Error: Broken wire or measured value outside the measuring
range
Mounting and cabling
Mounting and cabling

3.9 EP3182-1002 – Signal connection and Status LEDs

3.9.1 Analog voltage inputs, M12 digital output, one single-ended input and one digital output per socket

Analog input, -10 to +10V, digital output
Fig.30: M12 analog voltage inputs

3.9.2 Analog current inputs, M12 digital output, one single-ended input and one digital output per socket

Analog input, 0 to 20mA, 4 to 20mA, digital output
Fig.31: M12 current inputs
EP31xx48 Version: 2.4

3.9.3 Status LEDs at the M12 connections

Fig.32: Status LEDs at the M12 connections
Connection LED Display Meaning
M12 socket no. 1-2 R
left
1 right
off Analog input: No data transfer to the A/D converter green Analog input: Data transfer to A/D converter red Error at the analog input: Broken wire or measured value outside
the measuring range off Digital output switched off green Digital output switched on
Mounting and cabling
Function is without error if the left-hand LED is green.

3.10 EP3184-0002 – Signal connection and Status LEDs

3.10.1 Analog voltage inputs M12, one single-ended input per socket

Analog input, -10V to +10V
Fig.33: Analog voltage inputs M12, one single-ended input per socket
GND connections
If several sensors are connected to a box whose GND connections are not electrically isolated, GND must be connected to GNDp.
Mounting and cabling

3.10.2 M12 analog current inputs, one single-ended input per socket

Analog input, 0 to 20mA, or 4 to 20mA
Fig.34: M12 analog current inputs, one single-ended input per socket
GND connections
If several sensors are connected to a box whose GND connections are not electrically isolated, GND must be connected to GNDp.

3.10.3 Status LEDs at the M12 connections

Fig.35: Status LEDs at the M12 connections
Connection LED Display Meaning
M12 socket no. 1-4 R
left E
right
off No data transfer to the A/D converter green Data transfer to A/D converter
off Function OK red Error: Broken wire or measured value outside the measuring
range
Correct function is indicated if the green RUN LED is on and the red Error LED is off.
EP31xx50 Version: 2.4
Mounting and cabling

3.11 EP3184-1002 – Signal connection and Status LEDs

3.11.1 M12 analog voltage inputs, two single-ended inputs per socket

Analog inputs, -10V to +10V
Fig.36: M12 analog voltage inputs, two single-ended inputs per socket
GND connections
If several sensors are connected to a box whose GND connections are not electrically isolated, GND must be connected to GNDp.

3.11.2 M12 analog current inputs, two single-ended inputs per socket

Analog inputs, 0mA to 20mA or 4mA to 20mA
Fig.37: M12 analog current inputs, two single-ended inputs per socket
GND connections
If several sensors are connected to a box whose GND connections are not electrically isolated, GND must be connected to GNDp.
Mounting and cabling

3.11.3 Status LEDs at the M12 connections

Fig.38: Status LEDs at the M12 connections
Connection LED Display Meaning
M12 socket no. 1, 3
Sockets 2 and 4 are not used.
Correct function is indicated if the green RUN LED is on and the red Error LED is off.
R left
E right
off No data transfer to the A/D converter green Data transfer to A/D converter
off Function OK red Error: Broken wire or measured value outside the measuring
range
EP31xx52 Version: 2.4
Configuration

4 Configuration

4.1 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 [}53] for existing hardware (called "online") and
• by manual inserting/appending [}53] 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 [}56] (Config mode), and scan in the devices (see Fig. 1). Acknowledge all dialogs with "OK", so that the configuration is in "FreeRun" mode.
Fig.39: 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 [}56] (Config mode)
• Append a new I/O device. In the dialog that appears select the device EtherCAT (Direct Mode), and confirm with OK.
Configuration
Fig.40: Appending a new I/O device (I/O Devices -> right-click -> Append Device...)
Fig.41: Selecting the device EtherCAT
• Append a new box.
Fig.42: 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.
EP31xx54 Version: 2.4
Configuration
Fig.43: Selecting a Box (e.g. EP2816-0008)
Fig.44: Appended Box in the TwinCAT tree
Configuration

4.2 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.45: 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.46: 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.
EP31xx56 Version: 2.4
Configuration
EtherCAT tab
Fig.47: 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.
Configuration
Fig.48: 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.
EP31xx58 Version: 2.4
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 [}62]),
• 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 [}59] 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.
Configuration
Fig.49: 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.
EP31xx60 Version: 2.4
Configuration
Fig.50: 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.
Configuration
Fig.51: 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.52: Online tab
EP31xx62 Version: 2.4
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.
Configuration

4.3 EtherCAT State Machine

The state of the EtherCAT slave is controlled via the EtherCAT State Machine (ESM). Depending upon the state, different functions are accessible or executable in the EtherCAT slave. Specific commands must be sent by the EtherCAT master to the device in each state, particularly during the bootup of the slave.
A distinction is made between the following states:
• Init
• Pre-Operational
• Safe-Operational and
• Operational
• Boot
The regular state of each EtherCAT slave after bootup is the OP state.
Fig.53: EtherCAT State Machine
Init
After switch-on the EtherCAT slave in the Init state. No mailbox or process data communication is possible. The EtherCAT master initializes sync manager channels 0 and 1 for mailbox communication.
Pre-Operational (Pre-Op)
During the transition between Init and Pre-Op the EtherCAT slave checks whether the mailbox was initialized correctly.
In Pre-Op state mailbox communication is possible, but not process data communication. The EtherCAT master initializes the sync manager channels for process data (from sync manager channel 2), the FMMU channels and, if the slave supports configurable mapping, PDO mapping or the sync manager PDO assignment. In this state the settings for the process data transfer and perhaps terminal-specific parameters that may differ from the default settings are also transferred.
Safe-Operational (Safe-Op)
During transition between Pre-Op and Safe-Op the EtherCAT slave checks whether the sync manager channels for process data communication and, if required, the distributed clocks settings are correct. Before it acknowledges the change of state, the EtherCAT slave copies current input data into the associated DP­RAM areas of the EtherCAT slave controller (ECSC).
EP31xx64 Version: 2.4
Configuration
Mailbox and process data communication is possible in the Safe-Op state, but the slave keeps its outputs in the safe state. However, the input data are cyclically updated.
Operational (Op)
Before the EtherCAT master switches the EtherCAT slave from Safe-Op to Op it must transfer valid output data.
In the Op state the slave copies the output data of the masters to its outputs. Process data and mailbox communication is possible.
Boot
In the Boot state the slave firmware can be updated. The Boot state can only be reached via the Init state.
In the Boot state mailbox communication via the file access over EtherCAT (FoE) protocol is possible, but no other mailbox communication and no process data communication.
Configuration

4.4 CoE interface

General description
The CoE interface (CANopen over EtherCAT) is used for parameter management of EtherCAT devices. EtherCAT slaves or the EtherCAT master manage fixed (read only) or variable parameters which they require for operation, diagnostics or commissioning.
CoE parameters are arranged in a table hierarchy. In principle, the user has read access via the fieldbus. The EtherCAT master (TwinCAT System Manager) can access the local CoE lists of the slaves via EtherCAT in read or write mode, depending on the properties.
Different CoE parameter types are possible, including string (text), integer numbers, Boolean values or larger byte fields. They can be used to describe a wide range of features. Examples of such parameters include manufacturer ID, serial number, process data settings, device name, calibration values for analog measurement or passwords.
Organization takes place on 2 levels by means of hexadecimal numbering: the (main) index is named first, then the subindex. The value ranges are:
• Index 0 to 65535
• Subindex: 0…255
A parameter localized in this way is normally written as 0x8010:07, with preceding "0x" to identify the hexadecimal numerical range and a colon between index and subindex.
The relevant ranges for EtherCAT fieldbus users are:
• 0x1000: This is where fixed identity information for the device is stored, including name, manufacturer, serial number etc., plus information about the current and available process data configurations.
• 0x8000: This is where the operational and functional parameters for all channels are stored, such as filter settings or output frequency.
Other important ranges are:
• 0x4000: In some EtherCAT devices the channel parameters are stored here (as an alternative to the 0x8000 range).
• 0x6000: Input PDOs ("input" from the perspective of the EtherCAT master)
• 0x7000: Output PDOs ("output" from the perspective of the EtherCAT master)
Availability
Not every EtherCAT device must have a CoE list. Simple I/O modules without dedicated processor usually have no variable parameters and therefore no CoE list.
If a device has a CoE list, it is shown in the TwinCAT System Manager as a separate tab with a listing of the elements:
EP31xx66 Version: 2.4
Configuration
Fig.54: CoE-Online tab
The CoE objects from 0x1000 to 0x1600, which are available in the example device "EL2502", can be seen in the above figure; the subindices from 0x1018 are expanded.
Data management
Some parameters, particularly the setting parameters of the slave, are configurable and writeable. This can be done in write or read mode
• via the System Manager (figure above) by clicking. This is useful for commissioning of the system/ slaves. Click on the row of the index to be parameterized and enter a value in the SetValue dialog.
• from the control system/PLC via ADS, e.g. through function blocks from the TcEtherCAT.lib library This is recommended for modifications while the system is running or if no System Manager or operating staff are available.
Data management
If CoE parameters on the slave are changed online, this is saved fail-safe in the device (EEPROM) in Beckhoff devices. This means that the changed CoE parameters are still retained after a restart. The situation may be different with other manufacturers.
Startup list
Startup list
Changes in the local CoE list of the terminal are lost if the terminal is replaced. If a terminal is re­placed with a new Beckhoff terminal, it will have the factory settings. It is therefore advisable to link all changes in the CoE list of an EtherCAT slave with the Startup list of the slave, which is pro­cessed whenever the EtherCAT fieldbus is started. In this way a replacement EtherCAT slave can automatically be parameterized with the specifications of the user.
If EtherCAT slaves are used which are unable to store local CoE values permanently, the Startup list must be used.
Recommended approach for manual modification of CoE parameters
• Make the required change in the System Manager. The values are stored locally in the EtherCAT slave
Configuration
• If the value is to be stored permanently, enter it in the Startup list. The order of the Startup entries is usually irrelevant.
Fig.55: Startup list in the TwinCAT System Manager
The Startup list may already contain values that were configured by the System Manager based on the ESI specifications. Additional application-specific entries can be created.
Online/offline directory
While working with the TwinCAT System Manager, a distinction has to be made whether the EtherCAT device is "available", i.e. switched on and linked via EtherCAT and therefore online, or whether a configuration is created offline without connected slaves.
In both cases a CoE directory is visible according to the figure "CoE-Online tab", but the connectivity is displayed as offline/online.
• If the slave is offline
◦ the offline list from the ESI file is displayed. In this case modifications are not meaningful or
possible. ◦ the configured status is shown under Identity ◦ no firmware or hardware version is displayed, since these are features of the physical device. ◦ Offline is shown in red
EP31xx68 Version: 2.4
Configuration
Fig.56: Offline list
• If the slave is online ◦ the actual current slave directory is read. This may take several seconds, depending on the size
and cycle time. ◦ the actual identity is displayed ◦ the firmware and hardware version of the equipment according to the electronic information is
displayed. ◦ Online is shown in green
Fig.57: Online list
Configuration
Channel-based order
The CoE directory is located in EtherCAT devices that usually encompass several functionally equivalent channels. e.g. a 4-channel 0 – 10 V analog input terminal also has 4 logical channels and thus 4 identical sets of parameter data for the channels. In order to avoid having to list each channel in the documentation, the placeholder "n" tends to be used for the individual channel numbers.
In the CoE system 16 indices, each with 255 subindices, are generally sufficient for representing all channel parameters. The channel-based order is therefore arranged in 16
dec
/10
steps. The parameter range
hex
0x8000 exemplifies this:
• Channel 0: parameter range 0x8000:00 ... 0x800F:255
• Channel 1: parameter range 0x8010:00 ... 0x801F:255
• Channel 2: parameter range 0x8020:00 ... 0x802F:255
• …
This is generally written as 0x80n0. Detailed information on the CoE interface can be found in the EtherCAT system documentation on the Beckhoff website.
EP31xx70 Version: 2.4
Configuration

4.5 Notices on analog specifications

Beckhoff I/O devices (terminals, boxes) with analog inputs are characterized by a number of technical characteristic data; refer to the technical data in the respective documents.
Some explanations are given below for the correct interpretation of these characteristic data.
Full scale value
An I/O device with an analog input measures over a nominal measuring range that is limited by an upper and a lower limit (initial value and end value); these can usually be taken from the terminal/box designation. The range between the two limits is called the measuring span and corresponds to the equation (end value ­initial value). Analogous to pointing devices this is the measuring scale (see IEC61131) or also the dynamic range. For analog I/O devices from Beckhoff the rule is that the limit with the largest value is chosen as the full scale value of the respective product (also called the reference value) and is given a positive sign. This applies to both symmetrical and asymmetrical measuring spans.
Fig.58: Measuring range
For the above examples this means:
• Measuring range 0 to 10V: asymmetric unipolar, full scale value = 10V, measuring span = 10V
• Measuring range 4 to 20mA: asymmetric unipolar, full scale value = 20mA, measuring span = 16mA
• Measuring range -200 to 1370°C: asymmetric bipolar, full scale value = 1370°C, measuring span = 1570°C
• Measuring range -10 to +10V: symmetric bipolar, full scale value = 10V, measuring span = 20V
This applies equally for analog output terminals/boxes.
± Measuring error [% of the full scale value] (also: measurement error)
The relative measuring error is referenced to the full scale value and is calculated as the quotient of the largest numerical deviation from the true value (‘measuring error’) referenced to the full scale value.
The measuring error is generally valid for the entire permitted operating temperature range, also called the ‘usage error limit’ and contains random and systematic portions of the referred device (i.e. ‘all’ influences such as temperature, inherent noise, aging, etc.).
It always to be regarded as a positive/negative span with ±, even if it is specified without ± in some cases.
The maximum deviation can also be specified directly.
Configuration
Example: Measuring range 0 to 10V and measuring error <±0.3% full scale value → maximum deviation ±30mV in the permissible operating temperature range.
Notice: since this specification also includes the temperature drift, a significantly lower measuring error can usually be assumed in case of a constant ambient temperature and thermal stabilization of the device. This applies equally for analog output terminals/boxes.
Single-ended/differential typification
For analog inputs Beckhoff makes a basic distinction between two types: single-ended (SE) and differential (DIFF), referring to the difference in electrical connection with regard to the potential difference.
The diagram shows two-channel versions of an SE module and a DIFF module as examples for all multi­channel versions.
Fig.59: Single-ended/differential typification
Notice: Dashed lines indicate that the respective connection may not necessarily be present in each SE or DIFF module.
The basic rule:
• Analog measurements always take the form of voltage measurements between two potential points. For voltage measurements a large R is used, in order to ensure a high impedance. For current measurements a small R is used as shunt. If the purpose is resistance measurement, corresponding considerations are applied.
◦ Beckhoff generally refers to these two points as input+/signal potential and input-/reference
potential. ◦ For measurements between two potential points two potentials have to be supplied. ◦ Regarding the terms "single-wire connection" or "three-wire connection", please note the following
for pure analog measurements: three- or four-wire connections can be used for sensor supply, but
are not involved in the actual analog measurement, which always takes place between two
potentials/wires. In particular this also applies to SE, even though the term suggest that only one
wire is required.
• The term "electrical isolation" should be clarified in advance. Beckhoff IO modules feature 1…8 or more analog channels; with regard to the channel connection a distinction is made in terms of:
◦ how the channels WITHIN a module relate to each other, or ◦ how the channels of SEVERAL modules relate to each other.
EP31xx72 Version: 2.4
Configuration
The property of electrical isolation indicates whether the channels are directly connected to each other.
• Beckhoff terminals/boxes always feature electrical isolation between the field/analog side and the bus/ EtherCAT side. In other words, if two analog terminals/boxes are not connected via the power contacts, the modules are effectively electrically isolated.
• If channels within a module are electrically isolated, or if a single-channel module has no power contacts, the channels are effectively always differential. See also explanatory notes below. Differential channels are not necessarily electrically isolated.
• Analog measuring channels are subject to technical limits, both in terms of the recommended operating range (continuous operation) and the destruction limit. Please refer to the respective terminal documentation for further details.
Explanation
• Differential
◦ Differential measurement is the most flexible concept. The user can freely choose both connection
points, input+/signal potential and input-/reference potential, within the framework of the technical specification.
◦ A differential channel can also be operated as SE, if the reference potential of several sensors is
linked. This interconnection may take place via the system GND.
◦ Since a differential is configured symmetrically internally (see diagram), there will be a mid-
potential (X) between the two supplied potentials that is the same as the internal ground/reference ground for this channel. If several DIFF channels are used in a module without electrical isolation, the technical property VCM (common-mode voltage) indicates the degree to which the mean voltage of the channels may differ.
◦ The internal reference ground may be accessible as connection point at the terminal/box, in order
to stabilize a defined GND potential in the terminal/box. In this case it is particularly important to pay attention to the quality of this potential (noiselessness, voltage stability). At this GND point a wire may be connected to make sure that V differential channels are not electrically isolated, usually only one V
is not exceeded in the differential sensor cable. If
CM,max
is permitted. If the
CM,max
channels are electrically isolated this limit should not apply, and the channels voltages may differ up to the specified separation limit.
◦ Differential measurement in combination with correct sensor wiring has the special advantage that
any interference affecting the sensor cable (ideally the feed and return line are arranged side by side, so that interference signals have the same effect on both wires) has very little effect on the measurement, since the potential of both lines varies jointly (hence the term common mode). In simple terms: Common-mode interference has the same effect on both wires in terms of amplitude and phasing.
◦ Nevertheless, the suppression of common-mode interference within a channel or between
channels is subject to technical limits, which are specified in the technical data.
• Single Ended
◦ If the analog circuit is designed as SE, the input/reference wire is internally fixed to a certain
potential that cannot be changed. This potential must be accessible from outside on at least one point for connecting the reference potential, e.g. via the power contacts.
◦ In other words, in situations with several channels SE offers users the option to avoid returning at
least one of the two sensor cables to the terminal/box (in contrast to DIFF). Instead, the reference wire can be consolidated at the sensors, e.g. in the system GND.
◦ A disadvantage of this approach is that the separate feed and return line can result in voltage/
current variations, which a SE channel may no longer be able to handle. See common-mode interference. A VCM effect cannot occur, since the module channels are internally always 'hard­wired' through the input/reference potential.
Typification of the 2/3/4-wire connection of current sensors
Current transducers/sensors/field devices (referred to in the following simply as ‘sensor’) with the industrial 0/4-20mA interface typically have internal transformation electronics for the physical measured variable (temperature, current, etc.) at the current control output. These internal electronics must be supplied with energy (voltage, current). The type of cable for this supply thus separates the sensors into self-supplied or externally supplied sensors:
Configuration
• Self-supplied sensors
◦ The sensor draws the energy for its own operation via the sensor/signal cable + and -. So that
enough energy is always available for the sensor’s own operation and open-circuit detection is possible, a lower limit of 4mA has been specified for the 4-20mA interface; i.e. the sensor allows
a minimum current of 4mA and a maximum current of 20mA to pass. ◦ For a 2-wire connection; see IEC60381-1 ◦ Such current transducers generally represent a current sink and thus like to sit between + and – as
a ‘variable load’. Refer also to the sensor manufacturer’s information.
Therefore, they are to be connected according to the Beckhoff terminology as follows:
• preferably to ‘single-ended’ inputs if the +Supply connections of the terminal/box are also to be used ­connect to +Supply and Signal
• the sensor draws the energy/operating voltage for its own operation from 2 supply cables of its own. One or two further sensor cables are used for the signal transmission of the current loop:
Externally supplied sensors
• 3- and 4-wire connection see Fig. Connection of externally supplied sensors, cf. IEC60381-1
• the sensor draws the energy/operating voltage for its own operation from 2 supply cables of its
own. One or two further sensor cables are used for the signal transmission of the current loop:
1. sensor cable: according to the Beckhoff terminology such sensors are to be connected to ‘single­ended’ inputs in 3 cables with +/-/Signal lines and if necessary FE/shield
2. sensor cables: In the case of sensors with 4-wire connection according to +-/+Signal/-Signal, you must check whether +Signal may be connected to +Supply or –Signal to –Supply.
◦ Yes: then you can connect accordingly to a Beckhoff ‘single-ended’ input. ◦ the Beckhoff ‘differential’ input for +Signal and –Signal is to be selected; +Supply and –Supply
are to be connected via additional cables.
Notice: expert organizations such as NAMUR demand a usable measuring range <4mA/>20mA for error detection and adjustment, see also NAMURNE043.
The Beckhoff device documentation must be consulted in order to see whether the respective device supports such an extended signal range.
In general the polarity/direction of current is to be observed due to the internal diode!
EP31xx74 Version: 2.4
Configuration
Fig.60: 2/3/4-wire connection as single-ended or differential connection technology
Configuration

4.6 EP31xx - Settings and operating modes

4.6.1 Settings

Table of contents
• Selection of the analog signal type [}76]
• Representation [}77]
• Siemens bits [}77]
• Underrange, Overrange [}78]
• Limit 1 and Limit 2 [}78]
Selection of the analog signal type, index 0xF800:0n [}127]
In delivery state, all channels of the EP31xx are set for analog voltage measurement (-10V…+10V).
NOTE
Setting the correct signal type before connecting the sensors
Set the correct signal type before connecting the sensors!
This setting can be made individually for each channel in the CoE object 0xF800:0n [}127]. Changes are immediately effective.
Fig.61: EP31x4-0002: Selection of the signal type
In the case of the EP31x2 the signal type -20mA to +20mA can additionally be selected (see illustration below).
Fig.62: EP31x2: Selection of the signal type
EP31xx76 Version: 2.4
Configuration
Presentation, index 0x80n0:02 [}124]
The measured value output is set in factory to two's complement representation (signed integer). Index 0x80n0:02 [}124] offers the possibility to change the method of representation of the measured value.
• Signed integer representation
The negative output value is represented in two’s complement (negated + 1). Maximum representation range with 16-bit = -32768 .. +32767
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Input signal Value
+/- 10V 0...20mA 4...20mA 0...10V decimal hexadecimal
10V 20mA 20mA 10V 32767 0x7FFF 5V 10mA 12mA 5V 16383 0x3FFF 0V 0 mA 4 mA 0V 0 0x0000
-5V - - - -16383 0xC001
-10V - - - -32767 0x8000
Overview of further representations
• Unsigned integer representation
The output value is represented with 15-bit resolution without sign, therefore polarity detection is no longer possible. Maximum representation range with 16-bit = 0 .. +32767
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• Absolute value with MSB as sign - representation
The output value is displayed in magnitude-sign format: MSB=1 (highest bit) in the case of negative values. Maximum representation range with 16-bit = -32768 .. +32767
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Input values (+/- 10V) Representation (values dec. / values hex.)
unsigned integer Absolute value with MSB as sign
10 32767 / 0x7FFF 32767 / 0x7FFF 5V 16383 / 0x3FFF 16383 / 0x3FFF 0V 0 / 0x0000 0 / 0x0000
-5 16384 / 0x4000 [-16384] / 0xC000
-10 32767 / 0x7FFF [-32767] / 0xFFFF
Presentation types
The presentation types Unsigned integer and Absolute value with MSB as sign have no function for unipolar modules. There is no change in the presentation in the positive range.
Siemens bits, index 0x80n0:05 [}124]
If this bit is set, status displays are superimposed on the lowest three bits. In the error case "overrange" or "underrange", bit 0 is set.
Configuration
Undershoot and overshoot of the measuring range (underrange, overrange), index 0x60n0:01, 0x60n0:02 [}135]
Chapter Data stream and correction calculation contains a clear description of the correction calculation between the raw values and the output values if the limit ranges are exceeded.
The underrange bit is set if, based on the raw value, a value of 0x1300 is undershot by 1 bit.
The overrange bit is set if the value of 0x7FFF is exceeded by 1 bit.
Error bit (index 0x60n0:07), Error LED
The Error bit and the Error LED are set if, based on the raw value, a value of approx. 0.5mA below 4mA is undershot or a value of approx. 0.5mA above 20mA is exceeded.
• This prevents the triggering of the Error LED if the sensor transmits a little more than 20mA.
Limit 1 ad Limit 2, index 0x80n0:13, index 0x80n0:14 [}124]
If the limits of the values that can be entered in indices 0x80n0:13 [}124] and 0x80n0:14 [}124] are violated, the bits in indices 0x60n0:03 [}135] and 0x60n0:05 [}135] are set accordingly (see sample below). The indices 0x80n0:07 [}124] or 0x80n0:08 [}124] serve to activate the limit value monitoring.
Output limit n (2-bit):
• 0: not active
• 1: Value < limit value
• 2: Value > limit value
• 3: Value = limit value
Limit evaluation
The limit evaluation assumes a signed representation. The conversion to the desired representation (index 0x80n0:02) only takes place after the limit evaluation.
EP31xx78 Version: 2.4
Configuration
Linking in the PLC with 2-bit values
• PLC: IEC61131-PLC contains no 2-bit data type that can be linked with this process data directly. In order to transmit the limit information, therefore, define an input byte, e.g.
and link the limit to the VariableSizeMismatch dialog as described in the chapter Process data.
• Additional task 2-bit variables can be created in the System Manager.
Linking of 2-bit variable to additional task
Configuration
Sample
Channel 1;Limit 1 and Limit 2 enabled, Limit 1 = 2.8V, Limit 2 = 7.4V, representation: signed integer
Entry in index (Limit 1): 0x8000:13 [}124] (2.8V/10V) x 216 / 2 - 1 = 9,174
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Entry in index (Limit 2): 0x8000:14 [}124] (7.4V/10V) x 216 / 2 - 1 = 24,247
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Output:
Input
Index 0x6000:03 [}135] Index 60x6000:05 [}135]
channel 1
1.8V 0x01
2.8V 0x03
4.2V 0x02
8.5V 0x02
, (Limit1, limit value undershot) 0x01
hex
, (Limit1, limit value reached) 0x01
hex
, (Limit1, limit value exceeded) 0x01
hex
, (Limit1, limit value exceeded) 0x02
hex
, (Limit2, limit value undershot)
hex
, (Limit2, limit value undershot)
hex
, (Limit2, limit value undershot)
hex
, (Limit2, limit value exceeded)
hex
Swap Limit index 0x80n0:0E
The limit function can be inverted by SwapLimitBits in index 0x80n0:0E.
Output Limit n (2-bit):
SwapLimitBits setting Value
FALSE (default setting) • 0: not active
• 1: value < limit value
• 2: value > limit value
• 3: Value is equal to the limit value
TRUE • 0: not active
• 1: value > limit value
• 2: value < limit value
• 3: Value is equal to the limit value
The Swap Limit function is available according to the table below
Terminal Swap Limit function from rev.
EP3162-0002 -0016 EP3174-0002 -0018 EP3174-0092 -0016 EP3182-1002 -0017 EP3184-0002 -0017 EP3184-1002 -0018
EP31xx80 Version: 2.4

4.6.2 Operation modes

The EP31xx supports three different operation modes:
• Freerun [}82] (filter on, timer interrupt)
• Synchronous [}81] (filter off, SyncManager interrupt) and
• DC (DC-Sync-Interrupt)
Configuration
Fig. 3: Relationship of operation modes
The module switches between the Freerun (filter on) and Synchron modes by activating/deactivating the filter via the index. This takes place while the module is in OP mode. The changeover may result in longer sampling times and step changes in the process data until the filters have assumed a steady state.
DC mode can only be used when the filters are switched off. Likewise, it is not possible to switch the filters on in DC mode. The DC mode is parameterized via the DC tab in the TwinCAT System Manager.
Synchron mode
In synchronous operation process data are generated frame-triggered, so that a new value is available with each PLC cycle. Synchronous mode is used automatically with the EP31xx modules (filter off, no DC). The minimum cycle times are 80µs (EL31x1/EL31x2), and 120µs (EL31x4) for standard IPCs.
DC operation
In DC mode the analog sampling is triggered by DC-interrupt. As a result, the temporal jitter between two frames is no longer important and the sampling point is the same across the entire system.
The "input-based" mode shifts the sync-interrupt in such a way that the process data are ready for collection shortly before the current process data cycle.
Configuration
If the frame jitter is too large, it is possible that data may be collected twice or there may be interruptions in the transmission. In that case the jitter is to be reduced through TwinCAT system measures or a slower cycle time is to be chosen.
Filter operation (FIR and IIR), index 0x80n0:06, 0x80n0:15 [}124]
The EP31xx modules incorporate a digital filter which, depending on its settings, can adopt the characteristics of a Finite Impulse Response filter (an FIR filter), or an Infinite Impulse Response filter (an IIR filter). The filter is deactivated by default. Please observe the following note regarding activation with index
0x8000:06 [}124].
Activation of the filter (index 0x8000: 06), setting of the filter properties (index 0x8000:15)
The filter frequencies are set centrally for all channels of the EP3xxx modules via index 0x8000:15 (channel 1). The corresponding indices 0x80n0:15 of the other channels have no parameterization function.
FIR filter
The filter works as a notch filter and determines the conversion time of the module. It is parameterized via the index 0x8000:15. The higher the filter frequency, the faster the conversion time. A 50Hz and a 60Hz filter are available. Notch filter means that the filter has zeros (notches) in the frequency response at the filter frequency and multiples thereof, i.e. it attenuates the amplitude at these frequencies.
The FIR filter operates as a non-recursive filter.
Fig.63: typical attenuation curve of notch filter at 50 Hz
Filter data FIR filter (1- to 4-channel modules)
Filter Attenuation Limit frequency (-3 dB) Conversion time
50Hz FIR >50dB 22Hz 625µs 60Hz FIR >45dB 26Hz 521µs
EP31xx82 Version: 2.4
Configuration
IIR filter
The filter with IIR characteristics is a discrete time, linear, time invariant filter that can be set to eight levels (level 1 = weak recursive filter, up to level 8 = strong recursive filter) The IIR can be understood to be a moving average value calculation after a low-pass filter.
Through the synchronization mode FreeRun the IIR filter operates with an internal cycle time of 180µs (1 or 2 channels) or 500µs (4 channels).
Filter characteristics for IIR filters
IIR filter -3 dB cut-off frequency with 500µs sampling time
IIR 1 400Hz IIR 2 220Hz IIR 3 100Hz IIR 4 50Hz IIR 5 24Hz IIR 6 12Hz IIR 7 6.2Hz IIR 8 3.0Hz

4.7 Data stream

The following flow chart illustrates the data stream of the EPI31xx (processing of raw data).
Fig.64: Diagram showing the data stream in the EP31xx
Configuration

4.8 Measuring ranges

The following diagrams show the output values of the measuring ranges as well as the behavior when the limits ranges are exceeded.
EP3162-0002 (+/- 20mA)
Fig.65: Data flow with correction calculation for +/- 20mA
EP3162-0002, EP3174-xxxx, EP318x-xxxx (0…20mA)
Fig.66: Data flow with correction calculation for 0…20mA
EP3162-0002, EP3174-xxxx, EP318x-xxxx (4…20mA)
Fig.67: Data flow with correction calculation for 4…20mA
EP31xx84 Version: 2.4
EP3162-0002, EP3174-xxxx, EP318x-xxxx (+/- 10V)
Fig.68: Data flow with correction calculation for +/- 10V
EP3162-0002, EP3174-xxxx, EP318x-xxxx (0…10V)
Configuration
Fig.69: Data flow with correction calculation for 0…10V

4.9 Calibration

The concept "calibration", which has historical roots at Beckhoff, is used here even if it has nothing to do with the deviation statements of a calibration certificate.
• Vendor calibration, index 0x80n0:0B The vendor calibration is enabled via index 0x80n0:0B. The parameterization takes place via the indices:
◦ 0x80nF:01 vendor calibration: Offset ◦ 0x80nF:02 vendor calibration: Gain
• User calibration, index 0x80n0:0A The user calibration is enabled via index 0x80n0:0A. The parameterization takes place via the indices:
◦ 0x80n0:17 User calibration: Offset ◦ 0x80n0:18 User calibration: Gain
• User scaling, index 0x80n0:01 The user scaling is enabled via index 0x80n0:01. The parameterization takes place via the indices:
◦ 0x80n0:11 User scaling: Offset ◦ 0x80n0:12 User scaling: Gain
Vendor calibration
The vendor reserves the right to carry out the basic calibration of the terminal/box modules. There­fore, the vendor calibration cannot be changed.
Configuration

4.10 Calculation of process data

The terminal/box constantly records measured values and saves the raw values from its A/D converter in the ADC raw value object 0x80nE:01. The calculation of the correction with the vendor calibration values takes place after each acquisition of the analog signal. This is followed (optionally) by user scaling:
YH= (X
) * AH measured value after vendor calibration (corresponds to X
ADC-BH
if index 0x80n0:0B inactive)
ADC
YA= (YH-BA) * AA measured value after user calibration (corresponds to YH if index 0x80n0:0A inactive)
YS= YA * AS * 22-16 + BS measured value after user scaling (corresponds to YA if index 0x80n0:01 is inactive)
Key
Name Name Index
X
ADC
B
H
Output value of the A/D converter 0x80nE:01 Vendor calibration offset (can only be changed if the object Producer codeword
0x80nF:01
0xF008 is set)
A
H
Vendor calibration gain (can only be changed if the object Producer codeword
0x80nF:02
0xF008 is set)
Y
H
B
A
A
A
Y
S
B
S
A
S
Y
S
Measured value after vendor calibration ­User calibration offset 0x80n0:11 User calibration gain 0x80n0:12 Measured value after user calibration ­User scaling offset (can be activated via index 0x80x0:0A) 0x80n0:17 User scaling gain (can be activated via index 0x80x0:0A) 0x80n0:18 Process data for control, measured value after user scaling -

4.11 TwinSAFE SC

4.11.1 TwinSAFE SC - operating principle

The TwinSAFE SC (Single Channel) technology enables the use of standard signals for safety tasks in any networks of fieldbuses. To do this, EtherCAT Terminals from the areas of analog input, angle/displacement measurement or communication (4…20mA, incremental encoder, IO-Link, etc.) are extended by the TwinSAFE SC function. The typical signal characteristics and standard functionalities of the I/O components are retained. TwinSAFE SC I/Os have a yellow strip at the front of the housing to distinguish them from standard I/Os.
The TwinSAFE SC technology enables communication via a TwinSAFE protocol. These connections can be distinguished from the usual safe communication via Safety over EtherCAT.
The data of the TwinSAFE SC components are transferred via a TwinSAFE protocol to the TwinSAFE logic, where they can be used in the context of safety-relevant applications. Detailed examples for the correct application of the TwinSAFE SC components and the respective normative classification, which were
confirmed/calculated by TÜV SÜD, can be found in the TwinSAFE application manual.

4.11.2 TwinSAFE SC - configuration

The TwinSAFESC technology enables communication with standard EtherCAT terminals via the Safety over EtherCAT protocol. These connections use another checksum, in order to be able to distinguish between TwinSAFESC and TwinSAFE. Eight fixed CRCs can be selected, or a free CRC can be entered by the user.
By default the TwinSAFESC communication channel of the respective TwinSAFE SC component is not enabled. In order to be able to use the data transfer, the corresponding TwinSAFESC module must first be added under the Slots tab. Only then is it possible to link to a corresponding alias device.
EP31xx86 Version: 2.4
Fig.70: Adding the TwinSAFE SC process data under the component, e.g. EL5021-0090
Additional process data with the ID TSC Inputs, TSC Outputs are generated (TSC­TwinSAFESingleChannel).
Configuration
Fig.71: TwinSAFE SC component process data, example EL5021-0090
A TwinSAFESC connection is added by adding an alias devices in the safety project and selecting TSC (TwinSAFE Single Channel)
Fig.72: Adding a TwinSAFE SC connection
After opening the alias device by double-clicking, select the Link button next to Physical Device, in order to create the link to a TwinSAFE SC terminal. Only suitable TwinSAFESC terminals are offered in the selection dialog.
Configuration
Fig.73: Creating a link to TwinSAFE SC terminal
The CRC to be used can be selected or a free CRC can be entered under the Connection tab of the alias device.
Entry Mode Used CRCs
TwinSAFE SC CRC 1 master 0x17B0F TwinSAFE SC CRC 2 master 0x1571F TwinSAFE SC CRC 3 master 0x11F95 TwinSAFE SC CRC 4 master 0x153F1 TwinSAFE SC CRC 5 master 0x1F1D5 TwinSAFE SC CRC 6 master 0x1663B TwinSAFE SC CRC 7 master 0x1B8CD TwinSAFE SC CRC 8 master 0x1E1BD
Fig.74: Selecting a free CRC
These settings must match the settings in the CoE objects of the TwinSAFESC component. The TwinSAFESC component initially makes all available process data available. The Safety Parameters tab typically contains no parameters. The process data size and the process data themselves can be selected under the Process Image tab.
EP31xx88 Version: 2.4
Configuration
Fig.75: Selecting the process data size and the process data
The process data (defined in the ESI file) can be adjusted to user requirements by selecting the Edit button in the dialog Configure I/O element(s).
Fig.76: Selection of the process data
The safety address together with the CRC must be entered on the TwinSAFE SC slave side. This is done via the CoE objects under TSC settings of the corresponding TwinSAFE SC component (here, for example, EL5021-0090, 0x8010: 01 and 0x8010: 02). The address set here must also be set in the alias device as FSoE address under the Linking tab.
Under the object 0x80n0:02 Connection Mode the CRC to be used is selected or a free CRC is entered. A total of 8 CRCs are available. A free CRC must start with 0x00ff in the high word.
Fig.77: CoE objects 0x8010:01 and 0x8010:02
Configuration
Object TSC Settings
Depending on the terminal, the index designation of the configuration object TSCSettings can vary. Example:
- EL3214-0090 and EL3314-0090, TSC Settings, Index 8040
- EL5021-0090, TSC Settings, Index 8010
- EL6224-0090, TSC Settings, Index 800F
Fig.78: Entering the safety address and the CRC
TwinSAFE SC connections
If several TwinSAFESC connections are used within a configuration, a different CRC must be se­lected for each TwinSAFESC connection.

4.12 EP3174-0092 - TwinSAFE SC process data

The EP3174-0092 transmits the following process data to the TwinSAFE logic:
Index (hex) Name Type Size
6000:11 AI Module 1.Value INT 2.0 6010:11 AI Module 2.Value INT 2.0 6020:11 AI Module 3.Value INT 2.0 6030:11 AI Module 4.Value INT 2.0
The process data of all four channels are initially transmitted. Individual channels can be completely deselected on the "Process Image" tab in the Safety Editor.
Depending on the TwinCAT 3.1 version, process data can be automatically renamed when linking to the Safety Editor.
EP31xx90 Version: 2.4

4.13 EP3162-0002 - 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 [}112]
1008 [}112]
1009 [}112]
100A [}112]
1011:0 [}109]
1018:0 [}112]
10F0:0 [}112]
1A00:0 [}113]
1A01:0 [}114]
1C00:0 [}115]
1C12:0 [}115]
1C13:0 [}116]
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 0x0C5A4052 (207241298 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 AI TxPDO-Map Standard Ch.1 RO 0x11 (11 1A00:01 Subindex 001 RO 0x6000:01, 1 1A00:02 Subindex 002 RO 0x6000:02, 1 1A00:03 Subindex 003 RO 0x6000:03, 2 1A00:04 Subindex 004 RO 0x6000:05, 2 1A00:05 Subindex 005 RO 0x6000:07, 1 1A00:06 Subindex 006 RO 0x0000:00, 1 1A00:07 Subindex 007 RO 0x0000:00, 5 1A00:08 Subindex 008 RO 0x6000:0E, 1 1A00:09 Subindex 009 RO 0x6000:0F, 1 1A00:0A Subindex 010 RO 0x6000:10, 1 1A00:0B Subindex 011 RO 0x6000:11, 16 Subindex AI TxPDO-Map Standard Ch.2 RO 0x11 (11 1A01:01 SubIndex 001 RO 0x6010:01, 1 1A01:02 SubIndex 002 RO 0x6010:02, 1 1A01:03 SubIndex 003 RO 0x6010:03, 2 1A01:04 SubIndex 004 RO 0x6010:05, 2 1A01:05 SubIndex 005 RO 0x6010:07, 1 1A01:06 SubIndex 006 RO 0x0000:00, 1 1A01:07 SubIndex 007 RO 0x0000:00, 5 1A01:08 SubIndex 008 RO 0x6010:0E, 1 1A01:09 SubIndex 009 RO 0x6010:0F, 1 1A01:0A SubIndex 010 RO 0x6010:10, 1 1A01:0B Subindex011 RO 0x6010:11, 16 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 0x00 (0 1C12:01 SubIndex 001 RW ­1C12:02 SubIndex 002 RW ­Subindex TxPDO assign RW 0x02 (2 1C13:01 SubIndex 001 RW 0x1A00 (6656 1C13:02 SubIndex 002 RW 0x1A01 (6657 1C13:03 SubIndex 003 RW ­1C13:04 SubIndex 004 RW -
Device type RO 0x012C1389 (19665801 Device name RO EP3162-0002 Hardware version RO 01 Software version RO 01
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Configuration
Index (hex) Name Flags Default value
1C32:0 [}117]
1C33:0 [}119]
6000:0 [}121]
6010:0 [}121]
8000:0 [}110]
Subindex SM output parameter RO 0x20 (32 1C32:01 Sync mode RW 0x0000 (0 1C32:02 Cycle time RW 0x000F4240 (1000000 1C32:03 Shift time RO 0x00000000 (0 1C32:04 Sync modes supported RO 0xC009 (49161 1C32:05 Minimum cycle time RO 0x00055730 (350000 1C32:06 Calc and copy time RO 0x00000000 (0 1C32:07 Minimum delay time RO 0x00000000 (0 1C32:08 Command RW 0x0000 (0 1C32:09 Maximum Delay time RO 0x00000000 (0 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 0x0000 (0 1C33:02 Cycle time RW 0x000F4240 (1000000 1C33:03 Shift time RO 0x00001388 (5000 1C33:04 Sync modes supported RO 0xC009 (49161 1C33:05 Minimum cycle time RO 0x00055730 (350000 1C33:06 Calc and copy time RO 0x00000000 (0 1C33:07 Minimum delay time RO 0x00001388 (5000 1C33:08 Command RW 0x0000 (0 1C33:09 Maximum Delay time RO 0x00001388 (5000 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 0x0000 (0 Subindex AI Inputs Ch. 1 RO 0x11 (17 6000:01 Underrange RO 0x00 (0 6000:02 Overrange RO 0x00 (0 6000:03 Limit 1 RO 0x00 (0 6000:05 Limit 2 RO 0x00 (0 6000:07 Error RO 0x00 (0 6000:0E Sync Error RO 0x00 (0 6000:0F TxPDO State RO 0x00 (0 6000:10 TxPDO Toggle RO 0x00 (0 6000:11 Value RO 0x0000 (0 Subindex AI Inputs Ch. 2 RO 0x11 (17 6010:01 Underrange RO 0x00 (0 6010:02 Overrange RO 0x00 (0 6010:03 Limit 1 RO 0x00 (0 6010:05 Limit 2 RO 0x00 (0 6010:07 Error RO 0x00 (0 6010:0E Sync error RO 0x00 (0 6010:0F TxPDO State RO 0x00 (0 6010:10 TxPDO Toggle RO 0x00 (0 6010:11 Value RO 0x0000 (0 Subindex AI Settings Ch. 1 RW 0x18 (24 8000:01 Enable user scale RW 0x00 (0 8000:02 Presentation RW 0x00 (0 8000:06 Enable filter RW 0x01 (1 8000:07 Enable limit 1 RW 0x00 (0 8000:08 Enable limit 2 RW 0x00 (0 8000:0A Enable user calibration RW 0x00 (0 8000:0B Enable vendor calibration RW 0x01 (1 8000:0E Swap limit bits RW 0x00 (0 8000:11 User scale offset RW 0x0000 (0
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EP31xx92 Version: 2.4
Index (hex) Name Flags Default value
8000:12 User scale gain RW 0x00010000 (65536 8000:13 Limit 1 RW 0x0000 (0 8000:14 Limit 2 RW 0x0000 (0 8000:15 Filter settings RW 0x0000 (0 8000:17 User calibration offset RW 0x0000 (0
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8000:18 User calibration gain RW 0x4000 (16384
800E:0 [}122]
800F:0 [}122]
Subindex AI Internal data Ch. 1 RW 0x01 (1 800E:01 ADC raw value RW 0x0000 (0 Subindex AI Vendor data Ch. 1 RW 0x06 (6 800F:01 offset U RW 0x0000 (0
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800F:02 gain U RW 0x4000 (16384 800F:03 offset I RW 0x0000 (0
dec
800F:04 gain I RW 0x4000 (16384 800F:05 offset I4 RW 0x0000 (0
dec
800F:06 gain I4 RW 0x4000 (16384
8010:0 [}111]
Subindex AI Settings Ch. 2 RW 0x18 (24 8010:01 Enable user scale RW 0x00 (0 8010:02 Presentation RW 0x00 (0 8010:06 Enable filter RW 0x00 (0 8010:07 Enable limit 1 RW 0x00 (0 8010:08 Enable limit 2 RW 0x00 (0 8010:0A Enable user calibration RW 0x00 (0 8010:0B Enable vendor calibration RW 0x01 (1 8010:0E Swap limit bits RW 0x00 (0 8010:11 User scale offset RW 0x0000 (0
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8010:12 User scale gain RW 0x00010000 (65536 8010:13 Limit 1 RW 0x0000 (0 8010:14 Limit 2 RW 0x0000 (0 8010:15 Filter settings RW 0x0000 (0 8010:17 User calibration offset RW 0x0000 (0
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8010:18 User calibration gain RW 0x4000 (16384
801E:0 [}122]
801F:0 [}122]
Subindex AI Internal data Ch. 2 RW 0x01 (1 801E:01 ADC raw value RW 0x0000 (0 Subindex AI Vendor data Ch. 2 RW 0x06 (6 801F:01 offset U RW 0x0000 (0
)
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801F:02 gain U RW 0x4000 (16384 801F:03 offset I RW 0x0000 (0
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801F:04 gain I RW 0x4000 (16384 801F:05 offset I4 RW 0x0000 (0
dec
801F:06 gain I4 RW 0x4000 (16384
F000:0 [}122]
F008 [}122]
F010:0 [}122]
Subindex Modular device profile RO 0x02 (2 F000:01 Module index distance RO 0x0010 (16 F000:02 Maximum number of modules RO 0x0002 (2
Code word RW 0x0000 (0
Subindex Module list RW 0x02 (2 F010:01 SubIndex 001 RW 0x0000012C (300
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F010:02 SubIndex 002 RW 0x0000012C (300
F800:0 [}111]
Subindex AI Range Settings RW 0x02 (2 F800:01 Input type Ch1 RW 0x0000 (0 F800:02 Input type Ch2 RW 0x0000 (0
)
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Configuration
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Key
Flags: RO (Read Only): this object can be read only RW (Read/Write): this object can be read and written to
Configuration

4.14 EP3182-1002 - 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 [}112]
1008 [}112]
1009 [}112]
100A [}112]
1011:0 [}109]
1018:0 [}112]
10F0:0 [}112]
1600:0 [}113]
1800:0 [}113]
1801:0 [}113]
1802:0 [}113]
1803:0 [}113]
1A00:0 [}113]
1A01:0 [}114]
1A02:0 [}115]
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 0x0C6E4052 (208552018 1018:03 Revision RO 0x001403EA (1311722 1018:04 Serial number RO 0x00000000 (0 Subindex Backup parameter handling RO 0x01 (1 10F0:01 Checksum RO 0x00000000 (0 Subindex DO RxPDO-Map Outputs RO 0x03 (3 1600:01 Subindex 001 RO 0x7020:01, 1 1600:02 Subindex 002 RO 0x7020:02, 1 1600:03 Subindex 003 RO 0x0000:0,14 Subindex AI TxPDO-Par Standard Ch.1 RO 0x06 (6 1800:06 Exclude TxPDOs RO 01 1A Subindex AI TxPDO-Par Compact Ch.1 RO 0x06 (6 1801:06 Exclude TxPDOs RO 00 1A Subindex AI TxPDO-Par Standard Ch.2 RO 0x06 (6 1802:06 Exclude TxPDOs RO 03 1A Subindex AI TxPDO-Par Compact Ch.2 RO 0x06 (6 1801:06 Exclude TxPDOs RO 02 1A Subindex AI TxPDO-Map Standard Ch.1 RO 0x11 (11 1A00:01 Subindex 001 RO 0x6000:01, 1 1A00:02 Subindex 002 RO 0x6000:02, 1 1A00:03 Subindex 003 RO 0x6000:03, 2 1A00:04 Subindex 004 RO 0x6000:05, 2 1A00:05 Subindex 005 RO 0x6000:07, 1 1A00:06 Subindex 006 RO 0x0000:00, 1 1A00:07 Subindex 007 RO 0x0000:00, 5 1A00:08 Subindex 008 RO 0x6000:0E, 1 1A00:09 Subindex 009 RO 0x6000:0F, 1 1A00:0A Subindex 010 RO 0x6000:10, 1 1A00:0B Subindex 011 RO 0x6000:11, 16 Subindex AI TxPDO-Map Compact Ch.1 RO 0x01 (1 1A01:01 SubIndex 001 RO 0x6000:11, 16 Subindex AI TxPDO-Map Standard Ch.2 RO 0x11 (11 1A02:01 SubIndex 001 RO 0x6010:01, 1 1A02:02 SubIndex 002 RO 0x6010:02, 1 1A02:03 SubIndex 003 RO 0x6010:03, 2 1A02:04 SubIndex 004 RO 0x6010:05, 2 1A02:05 SubIndex 005 RO 0x6010:07, 1 1A02:06 SubIndex 006 RO 0x0000:00, 1 1A02:07 SubIndex 007 RO 0x0000:00, 5 1A02:08 SubIndex 008 RO 0x6010:0E, 1 1A02:09 SubIndex 009 RO 0x6010:0F, 1
Device type RO 0x00001389 (5001 Device name RO EP3182-1002 Hardware version RO 01 Software version RO 01
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EP31xx94 Version: 2.4
Index (hex) Name Flags Default value
1A02:0 [}115]
1A02:0A SubIndex 010 RO 0x6010:10, 1 1A02:0B Subindex011 RO 0x6010:11, 16
1A03:0 [}115]
Subindex AI TxPDO-Map Compact Ch.2 RO 0x01 (1
)
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1A03:01 SubIndex 001 RO 0x6010:11, 16
1C00:0 [}115]
1C12:0 [}115]
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 0x01 (1
)
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)
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1C12:01 SubIndex 001 RW 0x1600 (5632)
1C13:0 [}116]
Subindex TxPDO assign RW 0x02 (2
)
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1C13:01 SubIndex 001 RW 0x1A00 (6656 1C13:02 SubIndex 002 RW 0x1A02 (6658
1C32:0 [}118]
Subindex SM output parameter RO 0x20 (32 1C32:01 Sync mode RW 0x0001 (1
)
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1C32:02 Cycle time RW 0x000F4240 (1000000 1C32:03 Shift time RO 0x00001388 (5000 1C32:04 Sync modes supported RO 0xC007 (49159 1C32:05 Minimum cycle time RO 0x00030D40 (200000 1C32:06 Calc and copy time RO 0x00001388 (5000 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 [}120]
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
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1C33:02 Cycle time RW 0x000F4240 (1000000 1C33:03 Shift time RO 0x00001388 (5000 1C33:04 Sync modes supported RO 0xC007 (49159 1C33:05 Minimum cycle time RO 0x00001388 (5000 1C33:06 Calc and copy time RO 0x00002710 (10000 1C33:07 Minimum delay time RO 0x00001388 (5000 1C33:08 Command RW 0x0000 (0
dec
1C33:09 Maximum Delay time RO 0x00001388 (5000
6000:0 [}121]
6010:0 [}121]
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 AI Inputs Ch. 1 RO 0x11 (17 6000:01 Underrange RO 0x00 (0 6000:02 Overrange RO 0x00 (0 6000:03 Limit 1 RO 0x00 (0 6000:05 Limit 2 RO 0x00 (0 6000:07 Error RO 0x00 (0 6000:0E Sync Error RO 0x00 (0 6000:0F TxPDO State RO 0x00 (0 6000:10 TxPDO Toggle RO 0x00 (0 6000:11 Value RO 0x0000 (0 Subindex AI Inputs Ch. 2 RO 0x11 (17 6010:01 Underrange RO 0x00 (0 6010:02 Overrange RO 0x00 (0 6010:03 Limit 1 RO 0x00 (0 6010:05 Limit 2 RO 0x00 (0 6010:07 Error RO 0x00 (0
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Configuration
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Configuration
Index (hex) Name Flags Default value
7020:0 [}121]
8000:0 [}110]
800E:0 [}122]
800F:0 [}122]
8010:0 [}111]
801E:0 [}122]
801F:0 [}122]
F000:0 [}122]
6010:0E Sync error RO 0x00 (0 6010:0F TxPDO State RO 0x00 (0 6010:10 TxPDO Toggle RO 0x00 (0 6010:11 Value RO 0x0000 (0 Subindex DO Outputs RO 0x02 (2 7020:01 Digital Output 1 RO 0x00 (0 7020:02 Digital Output 2 RO 0x00 (0 Subindex AI Settings Ch. 1 RW 0x18 (24 8000:01 Enable user scale RW 0x00 (0 8000:02 Presentation RW 0x00 (0 8000:06 Enable filter RW 0x01 (1 8000:07 Enable limit 1 RW 0x00 (0 8000:08 Enable limit 2 RW 0x00 (0 8000:0A Enable user calibration RW 0x00 (0 8000:0B Enable vendor calibration RW 0x01 (1 8000:0E Swap limit bits RW 0x00 (0 8000:11 User scale offset RW 0x0000 (0 8000:12 User scale gain RW 0x00010000 (65536 8000:13 Limit 1 RW 0x0000 (0 8000:14 Limit 2 RW 0x0000 (0 8000:15 Filter settings RW 0x0000 (0 8000:17 User calibration offset RW 0x0000 (0 8000:18 User calibration gain RW 0x4000 (16384 Subindex AI Internal data Ch. 1 RW 0x01 (1 800E:01 ADC raw value RW 0x0000 (0 Subindex AI Vendor data Ch. 1 RW 0x06 (6 800F:01 offset U RW 0x0000 (0 800F:02 gain U RW 0x4000 (16384 800F:03 offset I RW 0x0000 (0 800F:04 gain I RW 0x4000 (16384 800F:05 offset I4 RW 0x0000 (0 800F:06 gain I4 RW 0x4000 (16384 Subindex AI Settings Ch. 2 RW 0x18 (24 8010:01 Enable user scale RW 0x00 (0 8010:02 Presentation RW 0x00 (0 8010:06 Enable filter RW 0x00 (0 8010:07 Enable limit 1 RW 0x00 (0 8010:08 Enable limit 2 RW 0x00 (0 8010:0A Enable user calibration RW 0x00 (0 8010:0B Enable vendor calibration RW 0x01 (1 8010:0E Swap limit bits RW 0x00 (0 8010:11 User scale offset RW 0x0000 (0 8010:12 User scale gain RW 0x00010000 (65536 8010:13 Limit 1 RW 0x0000 (0 8010:14 Limit 2 RW 0x0000 (0 8010:15 Filter settings RW 0x0000 (0 8010:17 User calibration offset RW 0x0000 (0 8010:18 User calibration gain RW 0x4000 (16384 Subindex AI Internal data Ch. 2 RW 0x01 (1 801E:01 ADC raw value RW 0x0000 (0 Subindex AI Vendor data Ch. 2 RW 0x06 (6 801F:01 offset U RW 0x0000 (0 801F:02 gain U RW 0x4000 (16384 801F:03 offset I RW 0x0000 (0 801F:04 gain I RW 0x4000 (16384 801F:05 offset I4 RW 0x0000 (0 801F:06 gain I4 RW 0x4000 (16384 Subindex Modular device profile RO 0x02 (2
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EP31xx96 Version: 2.4
Index (hex) Name Flags Default value
F000:01 Module index distance RO 0x0010 (16
F008 [}122]
F010:0 [}123]
F000:02 Maximum number of modules RO 0x0003 (3
Code word RW 0x0000 (0
Subindex Module list RW 0x02 (2 F010:01 SubIndex 001 RW 0x0000012C (300
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F010:02 SubIndex 002 RW 0x0000012C (300 F010:03 SubIndex 003 RW 0x000000C8 (200
F800:0 [}111]
Subindex AI Range Settings RW 0x02 (2 F800:01 Input type Ch1 RW 0x0000 (0 F800:02 Input type Ch2 RW 0x0000 (0
)
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Key
Flags: RO (Read Only): this object can be read only RW (Read/Write): this object can be read and written to

4.15 EP31x4-x002 - Object overview

Configuration
)
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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 [}128]
1008 [}128]
1009 [}128]
100A [}128]
1011:0 [}109]
1018:0 [}128]
10F0:0 [}128]
1800:0 [}128]
1801:0 [}129]
1802:0 [}129]
1803:0 [}129]
1804:0 [}129]
1805:0 [}129]
1806:0 [}129]
1807:0 [}129]
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 0x0C664052 (208027730 1018:03 Revision RO 0x00000000 (0 1018:04 Serial number RO 0x00000000 (0 Subindex Backup parameter handling RO 0x01 (1 10F0:01 Checksum RO 0x00000000 (0 Subindex AI TxPDO-Par Standard Ch. 1 RO 0x06 (6 1800:06 Exclude TxPDOs RO 01 1A Subindex AI TxPDO-Par Compact Ch.1 RO 0x06 (6 1801:06 Exclude TxPDOs RO 00 1A Subindex AI TxPDO-Par Standard Ch.2 RO 0x06 (6 1802:06 Exclude TxPDOs RO 03 1A Subindex AI TxPDO-Par Compact Ch.2 RO 0x06 (6 1803:06 Exclude TxPDOs RO 02 1A Subindex AI TxPDO-Par Standard Ch.3 RO 0x06 (6 1804:06 Exclude TxPDOs RO 05 1A Subindex AI TxPDO-Par Compact Ch.3 RO 0x06 (6 1805:06 Exclude TxPDOs RO 04 1A Subindex AI TxPDO-Par Standard Ch.4 RO 0x06 (6 1806:06 Exclude TxPDOs RO 07 1A Subindex AI TxPDO-Par Compact Ch.4 RO 0x06 (6 1807:06 Exclude TxPDOs RO 06 1A
Device type RO 0x012C1389 (19665801 Device name RO EP3174-0002 Hardware version RO ­Software version RO -
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Configuration
Index (hex) Name Flags Default value
1A00:0 [}130]
1A01:0 [}130]
1A02:0 [}130]
1A03:0 [}130]
1A04:0 [}131]
1A05:0 [}131]
1A06:0 [}131]
1A07:0 [}131]
1C00:0 [}132]
Subindex AI TxPDO-Map Standard Ch.1 RO 0x0B (11
dec
1A00:01 Subindex 001 RO 0x6000:01, 1 1A00:02 Subindex 002 RO 0x6000:02, 1 1A00:03 Subindex 003 RO 0x6000:03, 2 1A00:04 Subindex 004 RO 0x6000:05, 2 1A00:05 Subindex 005 RO 0x6000:07, 1 1A00:06 Subindex 006 RO 0x0000:00, 1 1A00:07 Subindex 007 RO 0x0000:00, 5 1A00:08 Subindex 008 RO 0x6000:0E, 1 1A00:09 Subindex 009 RO 0x6000:0F, 1 1A00:0A Subindex 010 RO 0x6000:10, 1 1A00:0B Subindex 011 RO 0x6000:11, 16 Subindex AI TxPDO-Map Compact Ch.1 RO 0x01 (1
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1A01:01 SubIndex 001 RO 0x6000:11, 16 Subindex AI TxPDO-Map Standard Ch.2 RO 0x0B (11
dec
1A02:01 SubIndex 001 RO 0x6010:01, 1 1A02:02 SubIndex 002 RO 0x6010:02, 1 1A02:03 SubIndex 003 RO 0x6010:03, 2 1A02:04 SubIndex 004 RO 0x6010:05, 2 1A02:05 SubIndex 005 RO 0x6010:07, 1 1A02:06 SubIndex 006 RO 0x0000:00, 1 1A02:07 SubIndex 007 RO 0x0000:00, 6 1A02:08 SubIndex 008 RO 0x1802:07, 1 1A02:09 SubIndex 009 RO 0x1802:09, 1 1A02:0A SubIndex 010 RO 0x6010:10, 1 1A02:0B SubIndex 011 RO 0x6010:11, 16 Subindex AI TxPDO-Map Compact Ch.2 RO 0x01 (1
)
dec
1A03:01 SubIndex 001 RO 0x6010:11, 16 Subindex AI TxPDO-Map Standard Ch.3 RO 0x0B (11
dec
1A04:01 SubIndex 001 RO 0x6020:01, 1 1A04:02 SubIndex 002 RO 0x6020:02, 1 1A04:03 SubIndex 003 RO 0x6020:03, 2 1A04:04 SubIndex 004 RO 0x6020:05, 2 1A04:05 SubIndex 005 RO 0x6020:07, 1 1A04:06 SubIndex 006 RO 0x0000:00, 1 1A04:07 SubIndex 007 RO 0x0000:00, 5 1A04:08 SubIndex 008 RO 0x6020:0E, 1 1A04:09 SubIndex 009 RO 0x6020:0F, 1 1A04:0A SubIndex 010 RO 0x6020:10, 1 1A04:0B SubIndex 011 RO 0x6020:11, 16 Subindex AI TxPDO-Map Compact Ch.3 RO 0x01 (1
)
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1A05:01 SubIndex 001 RO 0x6020:11, 16 Subindex AI TxPDO-Map Standard Ch.4 RO 0x0B (11
dec
1A06:01 SubIndex 001 RO 0x6030:01, 1 1A06:02 SubIndex 002 RO 0x6030:02, 1 1A06:03 SubIndex 003 RO 0x6030:03, 2 1A06:04 SubIndex 004 RO 0x6030:05, 2 1A06:05 SubIndex 005 RO 0x6030:07, 1 1A06:06 SubIndex 006 RO 0x0000:00, 1 1A06:07 SubIndex 007 RO 0x0000:00, 5 1A06:08 SubIndex 008 RO 0x6030:0E, 1 1A06:09 SubIndex 009 RO 0x6030:0F, 1 1A06:0A SubIndex 010 RO 0x6030:10, 1 1A06:0B SubIndex 011 RO 0x6030:11, 16 Subindex AI TxPDO-Map Compact Ch.4 RO 0x01 (1
)
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1A07:01 SubIndex 001 RO 0x6030:11, 16 Subindex Sync manager type RO 0x04 (4 1C00:01 SubIndex 001 RO 0x01 (1
)
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EP31xx98 Version: 2.4
Index (hex) Name Flags Default value
1C12:0 [}132]
1C13:0 [}132]
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 0x00 (0 Subindex TxPDO assign RW 0x04 (4
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1C13:01 SubIndex 001 RW 0x1A00 (6656 1C13:02 SubIndex 002 RW 0x1A02 (6658 1C13:03 SubIndex 003 RW 0x1A04 (6660 1C13:04 SubIndex 004 RW 0x1A06 (6662
1C33:0 [}134]
Subindex SM output parameter RO 0x20 (32 1C33:01 Sync mode RW 0x0022 (34
)
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dec
1C33:02 Cycle time RW 0x000F4240 (1000000 1C33:03 Shift time RO 0x00001388 (5000 1C33:04 Sync modes supported RO 0xC00B (49163 1C33:05 Minimum cycle time RO 0x0003D090 (250000 1C33:06 Calc and copy time RO 0x00001388 (5000 1C33:07 Minimum delay time RO 0x00000000 (0 1C33:08 Command RW 0x0000 (0
dec
1C33:09 Maximum Delay time RO 0x00001388 (5000
6000:0 [}135]
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 AI inputs RO 0x11 (17 6000:01 Underrange RO 0x00 (0 6000:02 Overrange RO 0x00 (0
dec
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6000:03 Limit 1 RO ­6000:05 Limit 2 RO -
6010:0 [}135]
6000:07 Error RO 0x00 (0 6000:0E Sync error RO 0x00 (0 6000:0F TxPDO State RO 0x00 (0 6000:10 TxPDO Toggle RO 0x00 (0 6000:11 Value RO 0x0000 (0 Subindex AI inputs RO 0x11 (17 6010:01 Underrange RO 0x00 (0 6010:02 Overrange RO 0x00 (0
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6010:03 Limit 1 RO ­6010:05 Limit 2 RO -
6020:0 [}136]
6010:07 Error RO 0x00 (0 6010:0F TxPDO State RO 0x00 (0 6010:10 TxPDO Toggle RO 0x00 (0 6010:11 Value RO 0x0000 (0 Subindex AI inputs RO 0x11 (17 6020:01 Underrange RO 0x00 (0 6020:02 Overrange RO 0x00 (0
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dec
)
dec
)
dec
dec
)
dec
)
dec
)
dec
6020:03 Limit 1 RO ­6020:05 Limit 2 RO -
6030:0 [}136]
6020:07 Error RO 0x00 (0 6020:0E Sync error RO 0x00 (0 6020:0F TxPDO State RO 0x00 (0 6020:10 TxPDO Toggle RO 0x00 (0 6020:11 Value RO 0x0000 (0 Subindex AI inputs RO 0x11 (17 6030:01 Underrange RO 0x00 (0 6030:02 Overrange RO 0x00 (0
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dec
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dec
)
dec
)
dec
dec
)
dec
)
dec
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dec
6030:03 Limit 1 RO ­6030:05 Limit 2 RO ­6030:07 Error RO 0x00 (0
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dec
Configuration
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Configuration
Index (hex) Name Flags Default value
8000:0 [}124]
800E:0 [}136]
800F:0 [}137]
8010:0 [}125]
801E:0 [}137]
801F:0 [}137]
8020:0 [}126]
6030:0E Sync error RO 0x00 (0 6030:0F TxPDO State RO 0x00 (0 6030:10 TxPDO Toggle RO 0x00 (0 6030:11 Value RO 0x0000 (0 Subindex AI Settings RW 0x18 (24 8000:01 Enable user scale RW 0x00 (0 8000:02 Presentation RW 0x00 (0 8000:05 Siemens bits RW 0x00 (0 8000:06 Enable filter RW 0x01 (1 8000:07 Enable limit 1 RW 0x00 (0 8000:08 Enable limit 2 RW 0x00 (0 8000:0A Enable user calibration RW 0x00 (0 8000:0B Enable vendor calibration RW 0x01 (1 8000:0E Swap limit bits RW 0x00 (0 8000:11 User scale offset RW 0x0000 (0 8000:12 User scale gain RW 0x00010000 (65536 8000:13 Limit 1 RW 0x0000 (0 8000:14 Limit 2 RW 0x0000 (0 8000:15 Filter settings RW 0x0000 (0 8000:17 User calibration offset RW 0x0000 (0 8000:18 User calibration gain RW 0x4000 (16384 Subindex AI internal data RO 0x01 (1 800E:01 ADC raw value RO 0x0000 (0 Subindex AI vendor data RW 0x06 (6 800F:01 R0 Offset RW 0x0000 (0 800F:02 R0 Gain RW 0x4000 (16384 800F:03 R1 Offset RW 0x0000 (0 800F:04 R1 Gain RW 0x4000 (16384 800F:05 R2 Offset RW 0x0000 (0 800F:06 R2 Gain RW 0x4000 (16384 Subindex AI Settings RW 0x18 (24 8010:01 Enable user scale RW 0x00 (0 8010:02 Presentation RW 0x00 (0 8010:05 Siemens bits RW 0x00 (0 8010:06 Enable filter RW 0x00 (0 8010:07 Enable limit 1 RW 0x00 (0 8010:08 Enable limit 2 RW 0x00 (0 8010:0A Enable user calibration RW 0x00 (0 8010:0B Enable vendor calibration RW 0x01 (1 8010:0E Swap limit bits RW 0x00 (0 8010:11 User scale offset RW 0x0000 (0 8010:12 User scale gain RW 0x00010000 (65536 8010:13 Limit 1 RW 0x0000 (0 8010:14 Limit 2 RW 0x0000 (0 8010:15 Filter settings RW 0x0000 (0 8010:17 User calibration offset RW 0x0000 (0 8010:18 User calibration gain RW 0x4000 (16384 Subindex AI internal data RO 0x01 (1 801E:01 ADC raw value RO 0x0000 (0 Subindex AI vendor data RW 0x06 (6 801F:01 R0 Offset RW 0x0000 (0 801F:02 R0 Gain RW 0x4000 (16384 801F:03 R1 Offset RW 0x0000 (0 801F:04 R1 Gain RW 0x4000 (16384 801F:05 R2 Offset RW 0x0000 (0 801F:06 R2 Gain RW 0x4000 (16384 Subindex AI Settings RW 0x18 (24 8020:01 Enable user scale RW 0x00 (0
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EP31xx100 Version: 2.4
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