Beckhoff EP5101-0002, EP5101-1002, EP5101-2011, EP5151-0002, EP5001-0002 Documentation

...

Download

Page 1

Documentation

EP5xxx

EtherCAT Box Modules for Angle and Position Measurement

2.3.0 2018-12-10

Version: Date:

Page 2

Page 3

Table of contents

EP5xxx 3Version: 2.3.0

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 EP5xxx ................................................................................................................13

2.3 EP5001-0002...................................................................................................................................14

2.3.1 EP5001-0002 - Introduction............................................................................................. 14

2.3.2 EP5001-0002 - Technical data ........................................................................................ 15

2.3.3 EP5001-0002 - Process image........................................................................................ 15

2.4 EP51x1-x0xx ...................................................................................................................................16

2.4.1 EP5101-x0xx - Introduction ............................................................................................. 16

2.4.2 EP5151-000x - Introduction ............................................................................................. 18

2.4.3 EP51x1-x0xx - Technical data ......................................................................................... 19

2.4.4 EP5101-0002, EP5101-1002 - Process image................................................................ 20

2.4.5 EP5101-0011 - Process image........................................................................................ 21

2.4.6 EP5101-2011 - Process image........................................................................................ 22

2.4.7 EP5151-0002 - Process image........................................................................................ 23

3 Mounting and connection.......................................................................................................................24

3.1 Mounting..........................................................................................................................................24

3.1.1 Dimensions ...................................................................................................................... 24

3.1.2 Fixing ............................................................................................................................... 25

3.1.3 Nut torque for connectors ................................................................................................ 26

3.1.4 Additional checks............................................................................................................. 27

3.2 EtherCAT.........................................................................................................................................28

3.2.1 EtherCAT connection....................................................................................................... 28

3.2.2 EtherCAT - Fieldbus LEDs .............................................................................................. 29

3.3 Power supply ...................................................................................................................................31

3.3.1 Power Connection ........................................................................................................... 31

3.3.2 Status LEDs for power supply ......................................................................................... 34

3.3.3 Power cable conductor losses M8 ................................................................................... 35

3.3.4 Conductor losses 7/8"...................................................................................................... 36

3.4 Cabling ............................................................................................................................................37

3.5 Shielding..........................................................................................................................................39

3.6 UL Requirements.............................................................................................................................39

3.7 ATEX notes .....................................................................................................................................40

3.7.1 ATEX - Special conditions ............................................................................................... 40

3.7.2 BG2000-0000 - EtherCAT Box protection enclosure....................................................... 41

3.7.3 ATEX Documentation ...................................................................................................... 42

3.8 Signal connection and meaning of the LEDs...................................................................................43

3.8.1 EP5001-0002 - Signal connection ................................................................................... 43

3.8.2 EP5101-x0xx - Signal connection.................................................................................... 44

3.8.3 EP5151-0002 - Signal connection ................................................................................... 46

Page 4

Table of contents

EP5xxx4 Version: 2.3.0

4 Commissioning/Configuration ...............................................................................................................47

4.1 TwinCAT configuration setup, manual.............................................................................................47

4.2 Configuration setup: TwinCAT - online scan ...................................................................................50

4.3 Configuration via TwinCAT..............................................................................................................57

4.4 EtherCAT slave process data settings (PDO) .................................................................................65

4.5 EP5001-0002 - Parameters and modes ..........................................................................................66

4.5.1 Process data.................................................................................................................... 66

4.5.2 DC (Distributed Clocks) ................................................................................................... 68

4.5.3 Features CoE................................................................................................................... 69

4.6 EP51x1-x0xx - Parameters and modes...........................................................................................71

4.6.1 Process data.................................................................................................................... 71

4.6.2 DC (Distributed Clocks) ................................................................................................... 81

4.6.3 Features CoE................................................................................................................... 82

4.7 EP5001 - Interface signal level........................................................................................................87

4.8 EP5101 - Interface signal level........................................................................................................88

4.9 EP5151 - Interface signal level........................................................................................................89

4.10 EP5001-0002 - Object description and parameterization................................................................90

4.11 EP5101-0002, EP5101-1002 - Object description and parameterization - normal operating mode

.........................................................................................................................................................96

4.11.1 Restore object.................................................................................................................. 96

4.11.2 Configuration data ........................................................................................................... 97

4.11.3 Input data......................................................................................................................... 98

4.11.4 Output data ...................................................................................................................... 99

4.11.5 Information / diagnostic data (channel specific)............................................................... 99

4.11.6 Standard objects.............................................................................................................. 99

4.12 EP5101-0011 - Object description and parameterization - normal operating mode......................111

4.12.1 Restore object................................................................................................................ 111

4.12.2 Configuration data ......................................................................................................... 112

4.12.3 Input data....................................................................................................................... 114

4.12.4 Output data .................................................................................................................... 115

4.12.5 Information / diagnostic data (channel specific)............................................................. 115

4.12.6 Standard objects............................................................................................................ 115

4.13 EP5101-2011 - Object description and parameterization - normal operating mode......................124

4.13.1 Restore object................................................................................................................ 124

4.13.2 Configuration data ......................................................................................................... 125

4.13.3 Input data....................................................................................................................... 126

4.13.4 Output data .................................................................................................................... 127

4.13.5 Information / diagnostic data (channel specific)............................................................. 127

4.13.6 Standard objects............................................................................................................ 127

4.14 EP5151-0002 - Object description and parameterization - normal operating mode......................136

4.14.1 Restore object................................................................................................................ 136

4.14.2 Configuration data ......................................................................................................... 137

4.14.3 Input data....................................................................................................................... 139

4.14.4 Output data .................................................................................................................... 140

4.14.5 Standard objects............................................................................................................ 140

4.15 Restoring the delivery state ...........................................................................................................149

Page 5

Table of contents

EP5xxx 5Version: 2.3.0

5 Appendix ................................................................................................................................................150

5.1 General operating conditions.........................................................................................................150

5.2 EtherCAT Box- / EtherCATPBox - Accessories ..........................................................................151

5.3 Support and Service ......................................................................................................................152

Page 6

Table of contents

EP5xxx6 Version: 2.3.0

Page 7

Foreword

EP5xxx 7Version: 2.3.0

1 Foreword

1.1 Notes on the documentation

Intended audience

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

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

Disclaimer

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

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

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

Trademarks

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

Patent Pending

The EtherCAT Technology is covered, including but not limited to the following patent applications and patents: EP1590927, EP1789857, DE102004044764, DE102007017835 with corresponding applications or registrations in various other countries.

The TwinCAT Technology is covered, including but not limited to the following patent applications and patents: EP0851348, US6167425 with corresponding applications or registrations in various other countries.

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

© 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.

Page 8

Foreword

EP5xxx8 Version: 2.3.0

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.

Page 9

Foreword

EP5xxx 9Version: 2.3.0

1.3 Documentation issue status

Version Modifications

2.3.0 • Note Shielding added

2.2.0 • Update chapter EP5001-0002 - Signal connection

2.1.0 • EP5101-2011 added

• Update chapter Mounting

• Update chapter Comissioninig/Configuration

• Structural update

2.0.0 • Migration

• EP5001-0002 added

• Renamed to EP5xxx

• Several chapters updated

1.6.0 • Pin assignment updated

• Status LEDs updated

• Chapter on Nut torque for connectors updated

• Accessories updated

1.5.0 • Power Connection updated

1.4.0 • Introduction expanded

1.3.0 • EP5101-1002 and EP5151-0002 added to title page

• EP51x1 - EP5101-1002 and EP5151-0002 added to Introduction

• EP5151 signal level (interface signal level) added

• Status LEDs extended with EP5101-1002 and EP5151-0002

• Technical data extended with EP5101-1002 and EP5151-0002

• Encoder connection, M12, 8-pin extended with EP5151

• Information on basic function principles amended

• Parameters and modes amended

• EP5151-0002 process image added

• EP5101-0002 process image amended

• Notes on the documentation updated

• Support & service updated

• Safety instructions updated

• EtherCAT cables updated

• EtherCAT Box accessories updated

• Nut torques for connectors updated

• EtherCAT connection updated

• Mounting instructions updated

1.2.0 • Interface signal level amended (single-ended and differential signals)

1.1.0 • Description of the power connection updated

• Notes on using EtherCAT Box modules (EPxxxx-xxxx) in potentially explosive atmospheres (ATEX) added to documentation.

1.0.0 • First release

Firmware and hardware versions

This documentation refers to the firmware and hardware version that was applicable at the time the documentation was written.

Page 10

Foreword

EP5xxx10 Version: 2.3.0

The module features are continuously improved and developed further. Modules having earlier production statuses cannot have the same properties as modules with the latest status. However, existing properties are retained and are not changed, so that older modules can always be replaced with new ones.

The firmware and hardware version (delivery state) can be found in the batch number (D-number) printed on the side of the EtherCATBox.

Syntax of the batch number (D-number)

D: WW YY FF HH

WW - week of production (calendar week) YY - year of production FF - firmware version HH - hardware version

Example with D no. 29 10 02 01:

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

Page 11

Product overview

EP5xxx 11Version: 2.3.0

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.

Page 12

Product overview

EP5xxx12 Version: 2.3.0

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.

Page 13

Product overview

EP5xxx 13Version: 2.3.0

2.2 Module overview EP5xxx

SSI encoder interface

Module Connection encoder/sensor Number of chan-

nels

Sensor supply Comment

EP5001-0002 [}14]

M12, screw type 1 24V

Distributed-Clocks

Incremental encoder interface with differential inputs

Module Connection encoder/sensor Number of chan-

nels

Sensor supply Comment

EP5101-0002 [}16]

M12, screw-type, 8-pin 1 +5VDC, 150mA (VCC) Distributed clocks,

4million increments/second

EP5101-1002 [}16]

1 24VDC, 500mA (VCC)

EP5101-0011 [}16]

D-Sub-socket, 15-pin 1 +5VDC, 150mA (VCC) Distributed clocks

4million increments/second Latch, gate

EP5101-2011 [}16]

1 Distributed clocks

20million increments/second Latch, gate

Incremental encoder interface with single-ended inputs

Module Connection encoder/sensor Number of chan-

nels

Sensor supply Comment

EP5151-0002 [}18]

M12, screw-type, 8-pin 1 24VDC, 0.5A Distributed clocks

4million increments/second Latch, gate

Page 14

Product overview

EP5xxx14 Version: 2.3.0

2.3 EP5001-0002

2.3.1 EP5001-0002 - Introduction

Fig.4: EP5001-0002

EP5001-0002 SSI encoder interface

The EP5001-0002 EtherCAT Box is an interface for direct connection of an SSI encoder with differential inputs (RS422). The interface circuit generates a pulse for reading the encoder, and makes the incoming data stream available to the controller as a data word in the process image. Various operating modes, transmission frequencies and bit widths can be permanently stored in a control register. The encoder is connected via an 8-pin M12 socket.

Quick links

Installation [}24]

Configuration [}50]

UL requirements [}39] for UL-approved modules

ATEX - special conditions [}40] for ATEX-approved modules

Page 15

Product overview

EP5xxx 15Version: 2.3.0

2.3.2 EP5001-0002 - Technical data

Technical data EP5001-0002

Fieldbus EtherCAT Fieldbus connection 2 x M8 socket (green) Number of channels 1 Channel connections

M12, screw type [}43]

Encoder connection Binary input: D+, D-, binary outputs: CI+, CIRated voltage 24VDC (-15%/+ 20%) Signal type differential (RS422) Distributed-Clocks yes Data transfer rates Adjustable up to 1MHz, 250kHz preset Serial input 24-bit width (adjustable) Data direction Read Power supply connection Power supply: 1 x M8 connector, 4-pin; downstream connection: 1 x M8

socket, 4-pin Current consumption from UStyp. 130mA + sensor supply Width in the process image 1 x 32-bit input, 8-bit status Electrical isolation 500V Special features Baud rate, coding and data length are adjustable Weight app.165g Operating/storage temperature 0…+55 °C / -25…+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 Protect. class / installation pos. IP65/66/67 (according to EN 60529)/variable Approvals CE

2.3.3 EP5001-0002 - Process image

TwinCAT shows the data of the EP5001-0002 in a tree structure.

SSI Inputs

Status

• Data error SSI input error

• Frame error Wrong data frame

• Power failure An encoder-specific error has occurred. Enabling through Enable Power failure bit (index 0x8000:02)

• Sync error

EtherCAT error, see EtherCAT system doc-

umentation

• TxPDO State

See object description [}94]

• TxPDO Toggle

See object description [}94]

Counter value Current encoder counter value

Page 16

Product overview

EP5xxx16 Version: 2.3.0

2.4 EP51x1-x0xx

2.4.1 EP5101-x0xx - Introduction

EP5101-x0xx | Incremental encoder interface with differential inputs

The EtherCAT Box EP5101-x0xx is an interface for direct connection of incremental encoders with differential inputs (RS422). A 32/16-bit counter with quadrature decoder as well as a 32/16-bit latch for the zero pulse can be read, set or activated. Incremental encoders with a fault message output can be connected to the status input of the interface. A period measurement with a resolution of up to 100ns is possible. The gate input allows the counter to be disabled; the latch input accepts the counter reading on the rising edge. The EP5101-1002 has a 24VDC sensor supply.

Due to the optional interpolating micro-increment function, the EP5101 can supply even more precise axis positions for dynamic axes. In addition to that it supports the synchronous reading of the encoder value together with other input data in the EtherCAT system via high precision EtherCAT Distributed Clocks (DC).

Page 17

Product overview

EP5xxx 17Version: 2.3.0

The encoder is connected via an 8-pin M12 socket (EP5101-0002 and EP5101-1002) or via a 15-pin D-sub socket (EP5101-0011 and EP5101-2011). In the M12 version not all signals are available.

Quick links

Installation [}24]

Configuration [}50]

UL requirements [}39] for UL-approved modules

ATEX - special conditions [}40] for ATEX-approved modules

Page 18

Product overview

EP5xxx18 Version: 2.3.0

2.4.2 EP5151-000x - Introduction

EP5151-0002 | Incremental encoder interface with single-ended inputs

The EP5151-0002 EtherCAT Box is an interface for direct connection of incremental encoders with 24 V DC inputs. A 32/16-bit counter with quadrature decoder as well as a 32/16-bit latch for the zero pulse can be read, set or activated. A period measurement with a resolution of up to 100 ns is possible.

Due to the optional interpolating micro-increment function, the EP5151-0002 can supply even more precise axis positions for dynamic axes. In addition to that it supports the synchronous reading of the encoder value together with other input data in the EtherCAT system via high precision EtherCAT Distributed Clocks (DC). The encoder is connected via an 8-pin M12 socket.

Quick links

Installation [}24]

Configuration [}50]

UL requirements [}39] for UL-approved modules

ATEX - special conditions [}40] for ATEX-approved modules

Page 19

Product overview

EP5xxx 19Version: 2.3.0

2.4.3 EP51x1-x0xx - Technical data

Technical data EP5101-0002 EP5101-1002 EP5101-0011 EP5101-2011 EP5151-0002

Fieldbus EtherCAT

Fieldbus connection 2 x M8 socket (green)

Number of encoder inputs 1

Encoder connection

A, , B, , C,

(RS485 differential inputs)

also single-ended connection (5V ±20%) possible

A, , B, , C,

(RS485 differential inputs)

also single-ended connection (5V ±20%) possible,

Latch, Gate

A, B,C, (24VDC),

Latch, Gate

Encoder connection

M12 socket, 8-pin [}44] D-Sub-socket, 15-pin [}44] M12 socket, 8-pin

[}46]

Encoder supply +5VDC, 150mA +24V

+5VDC, 150mA +24V

Counter 32bit or 16bit, binary

Limit frequency 4 million increments/s (with four-fold evaluation) 20 million incre-

ments/s (with four-fold evaluation)

4 million increments/s (with fourfold evaluation)

Quadrature decoder Four-fold evaluation

Zero-pulse latch Bit16

Commands read, set, enable

Distributed Clocks yes

Supply of the module electronics from the control voltage U

Current consumption of the module electronics

typically 130mA + load

Power supply connection Power supply: 1 x M8 plug, 4-pole

Onward connection: 1 x M8 socket, 4-pole

Process image Inputs: 32bit data, 8bit status

Outputs: 16bit data, 8bit control

Electrical isolation Control voltage/fieldbus: 500V

Permissible ambient temperature during operation

-25°C...+60°C

0°C ... +55°C (conforms to ATEX, see special conditions [}40])

0 °C ... +55 °C (according to cULus, see UL requirements [}39])

Permissible ambient temperature during storage

-40°C ... +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)

Installation position variable

Approvals

CE, cULus [}39], ATEX [}40] CE, cULus [}39] CE, cULus [}39],

ATEX [}40]

Page 20

Product overview

EP5xxx20 Version: 2.3.0

2.4.4 EP5101-0002, EP5101-1002 - Process image

TwinCAT shows the data of the EP5101-0002 and EP5101-1002 in a tree structure, using the EP5101-0002 as an example.

ENC Status Compact Input data of the encoder interface

Status

• Latch C valid New data are available in the process data Latch value. Reset via Enable latch C

• Set Counter done Acknowledgement for setting the Set counter

• Counter

underflow

The counter is lower than the lowest counter value that can be displayed

• Counter overflow The counter is higher than the highest counter value that can be displayed

• Open circuit One of the channels (A, B or C) has an open circuit (configurable for each channel via CoE)

• Extrapolation stall Micro-increment value invalid (when micro-increment evaluation is enabled -> index 0x8000:0A)

• Status of Input A,

B,C

Status of inputs A, B and C

• Sync error

EtherCAT error, see EtherCAT system documentation

• TxPDO State

See object description [}98]

• TxPDO Toggle

See object description [}98]

Counter value Current encoder counter value

Latch value Counter value of the encoder with rising edge at the

latch input

ENC Control Compact Output data of the encoder interface.

Control

• Enable latch C Input C is activated. When an edge is encountered, the

Counter value is stored in Latch value.

• Set counter When a positive edge is encountered, the Set counter value is transferred to the Counter value

Set Counter value Preselection value for Counter value

Page 21

Product overview

EP5xxx 21Version: 2.3.0

2.4.5 EP5101-0011 - Process image

TwinCAT shows the data of the EP5101-0011 in a tree structure.

ENC Status Compact

Status

• Latch C valid New data are available in the process data Latch value. Reset via Enable latch C

• Latch extern

valid

New data are available in the process data Latch value. Reset through Enable latch extern on positive/negative edge

• Set Counter

done

Acknowledgement for setting the Set counter

• Counter

underflow

The counter is lower than the lowest counter value that can be displayed

• Counter

overflow

The counter is higher than the highest counter value that can be displayed

• Status of

input status

Status of the error signal (typically from the encoder)

• Open circuit One of the channels (A, B or C) has an open circuit (configurable for each channel via CoE)

• Extrapolation

stall

Micro-increment value invalid (when micro-increment evaluation is enabled -> index 0x8000:0A)

• Status of

Input A, B,C

Status of inputs A, B and C

• Status of

input gate

Status of the gate input

• Status of

extern latch

Status of the latch input

• Sync error

EtherCAT error, see EtherCAT system documen-

tation

• TxPDO State

See object description [}98]

• TxPDO

Toggle

See object description [}98]

Counter value Current encoder counter value

Latch value Counter value of the encoder with rising edge at

the latch input

ENC Control Compact Output data of the encoder interface.

Control

• Enable latchCInput C is activated. When an edge is encountered, the Counter value is stored in Latch value.

• Enable latch

extern on positive edge

External latch input is enabled. When a positive edge is encountered, the Counter value is stored in Latch value.

• Set counter When a positive edge is encountered, the Set counter value is transferred to the Counter value

• Enable latch

extern on negative edge

External latch input is enabled. When a negative edge is encountered, the Counter value is stored in Latch value.

Set Counter value Preselection value for Counter value

Page 22

Product overview

EP5xxx22 Version: 2.3.0

2.4.6 EP5101-2011 - Process image

TwinCAT shows the data of the EP5101-2011 in a tree structure.

ENC Status Compact

Status

• Latch C valid New data are available in the process data Latch value. Reset via Enable latch C

• Latch extern

valid

New data are available in the process data Latch value. Reset through Enable latch extern on positive/negative edge

• Set Counter

done

Acknowledgement for setting the Set counter

• Status of

input status

Status of the error signal (typically from the encoder)

• Open circuit One of the channels (A, B or C) has an open circuit (configurable for each channel via CoE)

• Status of

Input A, B,C

Status of inputs A, B and C

• Status of

input gate

Status of the gate input

• Status of

extern latch

Status of the latch input

• Sync error

EtherCAT error, see EtherCAT system documen-

tation

• TxPDO State

See object description [}126]

• TxPDO

Toggle

See object description [}126]

Counter value Current encoder counter value

Latch value Counter value of the encoder with rising edge at

the latch input

ENC Control Compact Output data of the encoder interface.

Control

• Enable latchCInput C is activated. When an edge is encountered, the Counter value is stored in Latch value.

• Enable latch

extern on positive edge

External latch input is enabled. When a positive edge is encountered, the Counter value is stored in Latch value.

• Set counter When a positive edge is encountered, the Set counter value is transferred to the Counter value

• Enable latch

extern on negative edge

External latch input is enabled. When a negative edge is encountered, the Counter value is stored in Latch value.

Set Counter value Preselection value for Counter value

Page 23

Product overview

EP5xxx 23Version: 2.3.0

2.4.7 EP5151-0002 - Process image

ENC Status Compact

Status

• Latch C valid New data are available in the process data

Latch value. Reset via Enable latch C

• Latch extern valid New data are available in the process data

Latch value. Reset through Enable latch extern on positive/negative edge

• Set Counter done Acknowledgement for setting the Set counter

• Counter underflow The counter is lower than the lowest counter value that can be displayed

• Counter overflow The counter is higher than the highest counter value that can be displayed

• Status of input

status

Status of the error signal (typically from the encoder)

• Open circuit One of the channels (A, B or C) has an open circuit (configurable for each channel via CoE)

• Extrapolation stall Micro-increment value invalid (when micro-increment evaluation is enabled -> index 0x8000:0A)

• Status of Input A,

B,C

Status of inputs A, B and C

• Status of input gate Status of the gate input

• Status of extern

latch

Status of the latch input

• Sync error

EtherCAT error, see EtherCAT system docu-

mentation

• TxPDO State

See object description [}139]

• TxPDO Toggle

See object description [}139]

Counter value Current encoder counter value

Latch value Counter value of the encoder with rising edge at

the latch input

ENC Control Compact Output data of the encoder interface.

Control

• Enable latch C Input C is activated. When an edge is encountered, the Counter value is stored in Latch value.

• Enable latch extern

on positive edge

External latch input is enabled. When a positive edge is encountered, the Counter value is stored in Latch value.

• Set counter When a positive edge is encountered, the Set

counter value is transferred to the Counter value

• Enable latch extern

on negative edge

External latch input is enabled. When a negative edge is encountered, the Counter value is stored in Latch value.

Set Counter value Preselection value for Counter value

Page 24

Mounting and connection

EP5xxx24 Version: 2.3.0

3 Mounting and connection

3.1 Mounting

3.1.1 Dimensions

Fig.5: Dimensions of the EtherCAT Box Modules

All dimensions are given in millimeters.

Housing properties

EtherCAT Box lean body wide bodies

Housing material PA6 (polyamide) Casting compound Polyurethane Mounting two fastening holes Ø3mm for M3 two fastening holes Ø3mm for M3

two fastening holes Ø4.5mm for M4 Metal parts Brass, nickel-plated Contacts CuZn, gold-plated Power feed through max. 4A (M8)

max. 16A (7/8“)

max. 15.5A (B17 5G 1.5mm2) Installation position variable Protection class IP65, IP66, IP67 (conforms to EN 60529) when screwed together Dimensions

(HxWxD)

app. 126 x 30 x 26.5mm app. 126 x 60 x 26,5mm

app. 150 x 60 x 26.5mm (without 7/8", B17)

Page 25

Mounting and connection

EP5xxx 25Version: 2.3.0

3.1.2 Fixing

Note or pointer

While mounting the modules, protect all connectors, especially the IP-Link, against contamination! Only with connected cables or plugs the protection class IP67 is guaranteed! Unused connectors have to be protected with the right plugs! See for plug sets in the catalogue.

Modules with narrow housing are mounted with two M3 bolts. Modules with wide housing are mounted with two M3 bolts to the fixing holes located at the corners or mounted with two M4 bolts to the fixing holes located centrally.

The bolts must be longer than 15 mm. The fixing holes of the modules are not threaded.

When assembling, remember that the fieldbus connectors increases the overall height. See chapter accessories.

Mounting Rail ZS5300-0001

The mounting rail ZS5300-0001 (500 mm x 129 mm) allows the time saving assembly of modules.

The rail is made of stainless steel, 1.5 mm thick, with already pre-made M3 threads for the modules. The rail has got 5.3 mm slots to mount it via M5 screws to the machine.

Fig.6: Mounting Rail ZS5300-000

The mounting rail is 500 mm long, that way 15 narrow modules can be mounted with a distance of 2 mm between two modules. The rail can be cut to length for the application.

Mounting Rail ZS5300-0011

The mounting rail ZS5300-0011 (500 mm x 129 mm) has in addition to the M3 treads also pre-made M4 treads to fix 60 mm wide modules via their middle holes.

Up to 14 narrow or 7 wide modules may be mixed mounted.

Page 26

Mounting and connection

EP5xxx26 Version: 2.3.0

3.1.3 Nut torque for connectors

M8 connectors

It is recommended to pull the M8 connectors tight with a nut torque of 0.4 Nm. When using the torque control screwdriver ZB8800 is also a max. torque of 0.5Nm permissible.

Fig.7: EtherCAT Box with M8 connectors

M12 connectors

It is recommended to pull the M12 connectors tight with a nut torque of 0.6 Nm.

Fig.8: EtherCAT Box with M8 and M12 connectors

Page 27

Mounting and connection

EP5xxx 27Version: 2.3.0

7/8" plug connectors

We recommend fastening the 7/8" plug connectors with a torque of 1.5Nm.

Fig.9: 7/8" plug connectors

Torque socket wrenches

Fig.10: ZB8801 torque socket wrench

Ensure the right torque

Use the torque socket wrenches available by Beckhoff to pull the connectors tight (ZB8800, ZB8801-0000)!

3.1.4 Additional checks

The boxes have undergone the following additional tests:

Verification Explanation

Vibration 10 frequency runs in 3 axes

5Hz < f < 60Hz displacement 0.35mm, constant amplitude

60.1Hz < f < 500Hz acceleration 5g, constant amplitude

Shocks 1000 shocks in each direction, in 3 axes

35g, 11ms

Page 28

Mounting and connection

EP5xxx28 Version: 2.3.0

3.2 EtherCAT

3.2.1 EtherCAT connection

For the incoming and ongoing EtherCAT connection,

• the EtherCAT Box (EPxxxx) has two M8 sockets, marked in green

• the Coupler Box (FBB-x110) has two M12 sockets

Fig.11: EtherCAT Box: M8, 30mm housing

Fig.12: EtherCAT Box: M860mm housing (example: EP9214)

Fig.13: Coupler Box: M12

Assignment

There are various different standards for the assignment and colors of connectors and cables for Ethernet/ EtherCAT.

Page 29

Mounting and connection

EP5xxx 29Version: 2.3.0

Ethernet/EtherCAT Plug connector Cable Standard

Signal Description M8 M12 RJ45

ZB9010, ZB9020, ZB9030, ZB9032, ZK1090-6292, ZK1090-3xxx-xxxx

ZB9031 and old versions of ZB9030, ZB9032, ZK1090-3xxx-xxxx

TIA-568B

Tx + Transmit Data+ Pin 1 Pin 1 Pin 1 yellow

orange/white

white/orange

Tx - Transmit Data- Pin 4 Pin 3 Pin 2 orange

orange

Rx + Receive Data+ Pin 2 Pin 2 Pin 3 white

blue/white

white/green

Rx - Receive Data- Pin 3 Pin 4 Pin 6 blue

blue

green

Shield Shield Housing Shroud Screen Screen Screen

) colored markings according to EN 61918 in the four-pin RJ45 connector ZS1090-0003

) wire colors according to EN 61918

) wire colors

Assimilation of color coding for cable ZB9030, ZB9032 and ZK1090-3xxxx-xxxx (with M8 connectors)

For unification the prevalent cables ZB9030, ZB9032 and ZK1090-3xxx-xxxx this means the pre assembled cables with M8 connectors were changed to the colors of EN61918 (yellow, orange, white, blue).So different color coding exists. But the electrical properties are absolutely identical.

EtherCAT connector

The following connectors can be supplied for use in Beckhoff EtherCAT systems.

Name Connector Comment

ZS1090-0003 RJ45 four-pole, IP20, field-configurable ZS1090-0004 M12, male four-pin, IP67, for field assembly ZS1090-0005 RJ45 eight-pole, IP20, field-configurable, suitable for gigabit Ethernet ZS1090-0006 M8 plug connector four-pole, IP67, field-configurable, for cable type ZB903x ZS1090-0007 M8 socket four-pole, IP67, field-configurable, for cable type ZB903x ZS1090-1006 M8 plug connector four-pole, IP67, field-configurable up to OD=6.5mm ZS1090-1007 M8 socket four-pole, IP67, field-configurable up to OD=6.5mm

3.2.2 EtherCAT - Fieldbus LEDs

Fig.14: EtherCAT-LEDs

Page 30

Mounting and connection

EP5xxx30 Version: 2.3.0

LED display

LED Display Meaning

IN L/A off no connection to the preceding EtherCAT module

Lit LINK: connection to the preceding EtherCAT module flashing ACT: Communication with the preceding EtherCAT module

OUT L/A off no connection to the following EtherCAT module

Lit LINK: connection to the following EtherCAT module flashing ACT: Communication with the following EtherCAT module

Run off Status of the EtherCAT module is Init

flashes quickly Status of the EtherCAT module is pre-operational flashes slowly Status of the EtherCAT module is safe-operational Lit Status of the EtherCAT module is operational

EtherCAT statuses

The various statuses in which an EtherCAT module may be found are described in the Basic System Documentation for EtherCAT, which is available for download from our website (www.beck- hoff.com) under Downloads.

Page 31

Mounting and connection

EP5xxx 31Version: 2.3.0

3.3 Power supply

3.3.1 Power Connection

The feeding and forwarding of supply voltages is done via two M8 connectors at the bottom end of the modules:

• IN: left M8 connector for feeding the supply voltages

• OUT: right M8 connector for forwarding the supply voltages

Fig.15: EtherCAT Box, Connectors for power supply

Fig.16: Pin assignment M8, Power In and Power Out

Table1: PIN assignment

Pin Voltage

1 Control voltage Us, +24V

2 Auxiliary voltage Up, +24V

3 GNDs* *) may be connected internally to each other depending on the module: see specific

module descriptions

4 GNDp*

The pins M8 connectors carry a maximum current of 4A.

Two LEDs display the status of the supply voltages.

NOTE

Don't confuse the power connectors with the EtherCAT connectors!

Never connect the power cables (M8, 24VDC) with the green marked EtherCAT sockets of the EtherCAT Box Modules! This can damage the modules!

Control voltage Us: 24V

Power is supplied to the fieldbus, the processor logic, the inputs and the sensors from the 24VDC control voltage Us. The control voltage is electrically isolated from the fieldbus circuitry.

Page 32

Mounting and connection

EP5xxx32 Version: 2.3.0

Auxiliary voltage Up 24V

The Auxiliary voltage Up supplies the digital outputs; it can be brought in separately. If the load voltage is switched off, the fieldbus functions and the power supply and functionality of the inputs are retained.

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!

Page 33

Mounting and connection

EP5xxx 33Version: 2.3.0

Supply via EP92x4-0023 PowerBox modules

If the machine requires higher current or if the EtherCAT Box Modules are installed far away from the control cabinet with included power supply, the usage of four cannel power distribution modules EP9214 or EP9224

(with integrated data logging, see www.beckhoff.com/EP9224) is recommended.

With these modules intelligent power distribution concepts with up to 2x16A and a maximum of 2.5mm² cable cross-section can be realized.

Fig.17: EP92x4-0023, Connectors for Power In and Power Out

Fig.18: Pin assignment 7/8”, Power In and Power Out

Page 34

Mounting and connection

EP5xxx34 Version: 2.3.0

Electrical isolation

Digital modules

In the digital input/output modules, the grounds of the control voltage (GNDs) and the auxiliary voltage (GNDp) are connected to each other!

Check this at the documentation of each used EtherCAT Box.

Analog modules

In the analog input/output modules the grounds of the control voltage (GNDs) and the auxiliary voltage (GNDp) are separated from each other in order to ensure electrical isolation of the analog signals from the control voltage.

In some of the analog modules the sensors or actuators are supplied by Up - this means, for instance, that in the case of 0...10 V inputs, any reference voltage (0...30 V) may be connected to Up; this is then available to the sensors (e.g. smoothed 10 V for measuring potentiometers).

Details of the power supply may be taken from the specific module descriptions.

NOTE

Electrical isolation may be cancelled!

If digital and analog fieldbus boxes are connected directly via four-core power leads, the analog signals in the fieldbus boxes may be no longer electrically isolated from the control voltage!

3.3.2 Status LEDs for power supply

Fig.19: Status LEDs for power supply

LED display

LED Display Meaning

Us (Control voltage) off The power supply voltage Us is not present

green illuminated The power supply voltage Us is present red illuminated Because of overload (current>0.5A) the sensor supply

generated from power supply voltage Us was switched off for all sensors fed from this.

Up (Auxiliary voltage) off The power supply voltage Up is not present

green illuminated The power supply voltage Up is present

Page 35

Mounting and connection

EP5xxx 35Version: 2.3.0

3.3.3 Power cable conductor losses M8

The ZK2020-xxxx-yyyy power cables should not exceed the total length of 15m at 4A (with continuation). When planning the cabling, note that at 24V nominal voltage, the functionality of the module can no longer be assured if the voltage drop reaches 6V. Variations in the output voltage from the power supply unit must also be taken into account.

Fig.20: Power cable conductor losses

Example

8m power cable with 0.34mm² cross-section has a voltage drop of 3.2V at 4A.

EP92x4 Power Distribution Modules

With EP9214 and EP9224 Power Distribution Modules intelligent concepts for voltage supply are available. Further information may be found under www.beckhoff.com/EP9224.

Page 36

Mounting and connection

EP5xxx36 Version: 2.3.0

3.3.4 Conductor losses 7/8"

In the case of the power cables ZK2030-xxxx-yyy, a total length of 15m should not be exceeded at 16A. When wiring, note that with a rated voltage of 24V the function of the modules can no longer be guaranteed from a voltage drop of 6V. Variations in the output voltage from the power supply unit must also be taken into account.

Fig.21: ZK2030-xxxx-yyy - Conductor losses

Alternatively, larger cable cross-section can be used, e.g. 2.5mm2.

Page 37

Mounting and connection

EP5xxx 37Version: 2.3.0

3.4 Cabling

A list of EtherCAT cables, power cables, sensor cables, Ethernet/EtherCAT connectors and fieldconfigurable connectors can be found under the following link: https://beckhoff.de/english/fieldbus_box/

ethercat_box_accessories_overview.htm?id=25525466903389

The corresponding data sheets can be found under the following link:

https://beckhoff.de/english/ethercat-box/ethercat_box_cables.htm?id=690338951657421

EtherCAT cables

Fig.22: ZK1090-3131-0xxx

For connecting EtherCAT devices, only use shielded Ethernet cables with a minimum specification of

category5 (CAT5) according to EN50173 or ISO/IEC11801.

Wiring recommendations

Detailed recommendations for EtherCAT cabling can be found in the documentation "Design recommendations for EtherCAT/Ethernet infrastructure", which is available for download from www.beckhoff.de.

EtherCAT uses four cable wires for signal transmission. Due to automatic cable detection (auto-crossing) symmetric (1:1) or cross-over cables can be used between EtherCAT devices from Beckhoff.

Page 38

Mounting and connection

EP5xxx38 Version: 2.3.0

Power cable

Fig.23: ZK2020-3132-0xxx

Sensor cables

Fig.24: Selection of Beckhoff sensor cables

Page 39

Mounting and connection

EP5xxx 39Version: 2.3.0

3.5 Shielding

Shielding

Encoder, analog sensors and actors should always be connected with shielded, twisted paired wires.

3.6 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.25: UL label

Page 40

Mounting and connection

EP5xxx40 Version: 2.3.0

3.7 ATEX notes

3.7.1 ATEX - Special conditions

WARNING

Observe the special conditions for the intended use of EtherCAT Box modules in potentially explosive areas – directive 94/9/EU.

• The certified components are to be installed in the BG2000-0000 protection enclosure [}41] that guarantees a protection against mechanical hazards!

• If the temperatures during rated operation are higher than 70°C at the feed-in points of cables, lines or pipes, or higher than 80°C at the wire branching points, then cables must be selected whose temperature data correspond to the actual measured temperature values!

• Observethe permissible ambient temperature range of 0 - 55°C for the use of EtherCAT Box modules in potentially explosive areas!

• Measures must be taken to protect against the rated operating voltage being exceeded by more than 40% due to short-term interference voltages!

• The connections of the certified components may only be connected or disconnected if the supply voltage has been switched off or if a non-explosive atmosphere is ensured!

Standards

The fundamental health and safety requirements are fulfilled by compliance with the following standards:

• EN 60079-0: 2006

• EN 60079-15: 2005

Marking

The EtherCAT Box modules certified for potentially explosive areas bear the following marking:

II 3 GEx nA II T4DEKRA 11ATEX0080 XTa: 0 - 55°C

II 3 GEx nA nC IIC T4DEKRA 11ATEX0080 XTa: 0 - 55°C

Batch number (D number)

The EtherCAT Box modules bear a batch number (D number) that is structured as follows:

D: WW YY FF HH

WW - week of production (calendar week) YY - year of production FF - firmware version HH - hardware version

Beispiel mit Ser. Nr.: 29 10 02 01:

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

Page 41

Mounting and connection

EP5xxx 41Version: 2.3.0

3.7.2 BG2000-0000 - EtherCAT Box protection enclosure

WARNING

Risk of electric shock and damage of device!

Bring the EtherCAT system into a safe, powered down state before starting installation, disassembly or wiring of the modules!

ATEX

The BG2000-0000 protection enclosure has to be mounted over a single EtherCAT Box to fulfill the special conditions according to ATEX [}40].

Installation

Put the cables for EtherCAT, power supply and sensors/actuators through the hole of the BG2000-0000 protection enclosure.

Fig.26: BG2000-0000, putting the cables

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

Fig.27: BG2000-0000, fixing the cables

Page 42

Mounting and connection

EP5xxx42 Version: 2.3.0

Mount the BG2000-0000 protection enclosure over the EtherCAT Box.

Fig.28: BG2000-0000, mounting the protection enclosure

3.7.3 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!

Page 43

Mounting and connection

EP5xxx 43Version: 2.3.0

3.8 Signal connection and meaning of the LEDs

3.8.1 EP5001-0002 - Signal connection

Fig.29: EP5001-0002, pin assignment M12

LED indicators - meanings

Fig.30: EP5001-0002, LEDs

LED green red

Data Encoder supply switched on (operational

state, not short-circuited)

SSI without power supply

Open circuit on the SSI data input D+ or D-

Data cables interchanged

The SSI input is at Low level, no data transfer takes place.

Incorrect parameterization in the CoE

Wire breakage in the clock lines

CLOCK No function

Page 44

Mounting and connection

EP5xxx44 Version: 2.3.0

3.8.2 EP5101-x0xx - Signal connection

Encoder pin assignment, M12, socket, 8-pin

Fig.31: EP5101-0002, EP5101-1002 pin assignment

Fig.32: EP5101-0002, EP5101-1002 LEDs

LED indicators - meanings

Connection LED Display Meaning

M12 A off Input A / track A low

green Input A / track A high

B off Input B / track B low

green Input B / track B high

C off Input C / track C low

green Input C / track C high

Page 45

Mounting and connection

EP5xxx 45Version: 2.3.0

Encoder pin assignment, D-sub socket, 15-pin

Fig.33: EP5101-0011, pin assignment

Fig.34: EP5101-0011, LEDs

LED indicators - meanings

Connection LED Display Meaning

D sub A off Input A / track A low

green Input A / track A high

B off Input B / track B low

green Input B / track B high

C off Input C / track C low

green Input C / track C high

L off Input Latch low

green Input Latch high

G off Input Gate low

green Input Gate high

E off Input Error low

green Input Error high

Page 46

Mounting and connection

EP5xxx46 Version: 2.3.0

3.8.3 EP5151-0002 - Signal connection

Encoder connection, M12 socket, 8-pin

Fig.35: EP5151-0002, pin assignment

LED indicators - meanings

Fig.36: EP5151-0002, LEDs

Connection LED Display Meaning

M12 A off Input A / track A low

green Input A / track A high

B off Input B / track B low

green Input B / track B high

C off Input C / track C low

green Input C / track C high

L off Input Latch low

green Input Latch high

G off Input Gate low

green Input Gate high

E off Input Error low

green Input Error high

Page 47

Commissioning/Configuration

EP5xxx 47Version: 2.3.0

4 Commissioning/Configuration

4.1 TwinCAT configuration setup, manual

This part of the documentation describes the manual configuration of an EtherCAT Box in TwinCAT.

Distinction between Online and Offline

The distinction between online and offline refers to the existence of the actual I/O environment (drives, terminals). If the configuration is to be prepared in advance of the system configuration as a programming system, e.g. on a laptop, this is only possible in “Offline configuration” mode. In this case all components have to be entered manually in the configuration, e.g. based on the electrical design (as described below under TwinCAT configuration setup, manual). If the designed control system is already connected to the EtherCAT system and all components are energized and the infrastructure is ready for operation, the TwinCAT configuration can simply be generated through “scanning” from the runtime system. This is referred to as online configuration. In any case, during each startup the EtherCAT master checks whether the devices it finds match the configuration. This test can be parameterized in the advanced device settings.

To ensure that the latest features/settings of the master can be used, always download the latest ESI file. Please note the following information.

Installation of the latest ESI-XML device description

The TwinCAT System Manager needs the device description files for the devices to be used in order to generate the configuration in online or offline mode. The device descriptions are contained in the so-called ESI files (EtherCAT Slave Information) in XML format. These files can be requested from the respective manufacturer and are made available for download. The ESI files for Beckhoff

EtherCAT devices are available on the Beckhoff website (https://www.beckhoff.de/english/down- load/elconfg.htm?id=1983920606140). The ESI files should be stored in the TwinCAT installation

directory (default: C:\TwinCAT\IO\EtherCAT). The files are read (once) when a new System Manager window is opened. A TwinCAT installation includes the Beckhoff ESI files that were current at the time when the TwinCAT build was created. From TwinCAT 2.11 and in TwinCAT 3 the ESI directory can be updated from the System Manager, if the programming PC is connected to the internet (TwinCAT → EtherCAT Devices → Update Device Description…)

Page 48

Commissioning/Configuration

EP5xxx48 Version: 2.3.0

Adding a module manually

• The EtherCAT system must be in a safe, de-energized state before you connect the EtherCAT

modules to the EtherCAT network.

• Switch on the operating voltage, open the TwinCAT System Manager [}57] (Config mode)

• Adding a new I/O device. In the following dialog select the device: EtherCAT (Direct Mode), and

confirm with OK.

Fig.37: Appending a new I/O device (I/O Devices-> right-click -> Append Device...)

Fig.38: Selecting the device (EtherCAT)

• Adding a new Box.

Page 49

Commissioning/Configuration

EP5xxx 49Version: 2.3.0

Fig.39: Appending a new box (Device -> right-click -> Append Box... )

• In the dialog that is displayed select the required Box (e.g. EP6224-2022) and confirm with OK.

Fig.40: Selecting a Box (e.g. EP6224-2022)

Page 50

Commissioning/Configuration

EP5xxx50 Version: 2.3.0

4.2 Configuration setup: TwinCAT - online scan

This part of the documentation describes the configuration of a physically existing EtherCAT Box in TwinCAT.

Online configuration setup „Scanning“ (TwinCAT 3.x)

Distinction between Online and Offline

The distinction between online and offline refers to the existence of the actual I/O environment (drives, terminals). If the configuration is to be prepared in advance of the system configuration as a programming system, e.g. on a laptop, this is only possible in “Offline configuration” mode. In this case all components have to be entered manually in the configuration, e.g. based on the electrical design (as described under TwinCAT configuration setup, manual). If the designed control system is already connected to the EtherCAT system and all components are energized and the infrastructure is ready for operation, the TwinCAT configuration can simply be generated through “scanning” from the runtime system. This is referred to as online configuration. In any case, during each startup the EtherCAT Box checks whether the devices it finds match the configuration.

To ensure that the latest features/settings of the EtherCAT Box can be used, always download the latest ESI file. Please note the following information.

Installation of the latest ESI-XML device description

EtherCAT devices are available on the Beckhoff website (https://www.beckhoff.de/english/down- load/elconfg.htm?id=1983920606140). The ESI files should be stored in the TwinCAT installation

The following conditions must be met before a configuration can be set up

Page 51

Commissioning/Configuration

EP5xxx 51Version: 2.3.0

• The actual EtherCAT and IO-Link hardware (devices, couplers, drives) must be present and installed.

• The devices/modules must be connected via an EtherCAT cables or an IO-Link cable in the same way

as they are intended to be used later.

• The devices/modules must be connected to the power supply and ready for communication.

• TwinCAT must be in CONFIG mode on the target system.

The online scan process consists of:

• Detecting the EtherCAT device (Ethernet port at the IPC)

• Detecting the connected EtherCAT devices: This step can be performed independent of the previous

step.

• Troubleshooting

The scan with existing configuration can also be carried out for comparison.

Detecting/scanning of the EtherCAT device

The online device search can be used if the TwinCAT system is in Config mode (blue TwinCAT icon or blue indication in the System Manager).

Fig.41: TwinCAT Config mode display

Online scanning in Config mode

The online search is not available in RUN mode (production operation).

Note the differentiation between TwinCAT programming system and TwinCAT target system. The TwinCAT icon next to the Windows clock always shows the TwinCAT mode of the local IPC. The System Manager window shows the TwinCAT state of the target system.

Right-clicking on "I/O Devices" in the configuration tree opens the search dialog.

Page 52

Commissioning/Configuration

EP5xxx52 Version: 2.3.0

Fig.42: Scan Devices

This scan mode not only tries to find EtherCAT devices (or Ethernet ports that can be used as such), but also NOVRAM, fieldbus cards, SMB etc. Not all devices can be found automatically.

Fig.43: Note for automatic device scan

Ethernet ports with installed TwinCAT real-time driver are shown as “RT Ethernet” devices. An EtherCAT frame is sent to these ports for testing purposes. If the scan agent detects from the response that an EtherCAT device is connected, the port is immediately shown as an “EtherCAT Device”.

Fig.44: detected Ethernet devices

After confirmation with “OK” a device scan is suggested for all selected devices (see the illustration below).

Page 53

Commissioning/Configuration

EP5xxx 53Version: 2.3.0

Detecting/Scanning the EtherCAT devices

Online scan functionality

During a scan the master queries the identity information of the EtherCAT device from the device EEPROM. The name and revision are used for determining the type. The respective devices are located in the stored ESI data and integrated in the configuration tree in the default state defined there.

If an EtherCAT device was created in the configuration (manually or through a scan), the I/O field can be scanned for devices/slaves.

Fig.45: scan query after automatic creation of an EtherCAT device

The configuration was established and switched directly to the online state (operational). The EtherCAT system should be in a cyclic operational state, as shown in the following illustration.

Fig.46: online display example

Please note:

• All Boxes should be in OP state

• “frames/sec” should match the cycle time taking into account the sent number of frames

• no excessive “LostFrames” or CRC errors should occur

The configuration is now complete. It can be modified as described under manual procedure.

Page 54

Commissioning/Configuration

EP5xxx54 Version: 2.3.0

The connected EtherCAT Box (EP6224-3022) is displayed in the TwinCAT tree, as shown in the following illustration.

Fig.47: Master display after “Scan for boxes”

Troubleshooting

Various effects may occur during scanning.

• An unknown device is detected, i.e. an EtherCAT device for which no ESI XML description is

available. In this case the System Manager offers to read any ESI that may be stored in the device.

• Device are not detected properly

Possible reasons include

- faulty data links, resulting in data loss during the scan

- the device has an invalid device description The connections and devices should be checked in a targeted manner, e.g. via the emergency scan. Then re-run the scan.

Scan over existing Configuration

If a scan is initiated for an existing configuration, the actual I/O environment may match the configuration exactly or it may differ. This enables the configuration to be compared.

Fig.48: Identical configuration

If differences are detected, they are shown in the correction dialog, so that the user can modify the configuration as required.

Page 55

Commissioning/Configuration

EP5xxx 55Version: 2.3.0

Fig.49: Example correction dialog

It is recommended to check the „Extended Information“ box, in order to show differences in the revision.

Color Explanation

green This EtherCAT device matches the entry on the other side. Both type and revision match. blue This EtherCAT device is present on the other side, but in a different revision.

If the found revision is higher than the configured revision, the slave may be used provided compatibility issues are taken into account.

If the found revision is lower than the configured revision, it is likely that the slave cannot be used. The found devices may not support all functions that the master expects based on the

higher revision number. light blue This EtherCAT device is ignored ("Ignore" button) red This EtherCAT device is not present on the other side.

Device selection based on revision, compatibility

The ESI description also defines the process image, the communication type between master and device and the device functions, if applicable. The physical device (firmware, if available) has to support the communication queries/settings of the master. This is backward compatible, i.e. newer devices (higher revision) should be supported if the EtherCAT master addresses them as an older revision. The following compatibility rule of thumb is to be assumed for Beckhoff EtherCAT Terminals/Boxes:

Device revision in the system >= device revision in the configuration

This also enables subsequent replacement of devices without changing the configuration (different specifications are possible for drives). Example: If an EL2521-0025-1018 is specified in the configuration, an EL2521-0025-1019 or higher (-1020, -1021) can be used in practice.

If current ESI descriptions are available in the TwinCAT system, the last revision offered in the selection dialog matches the Beckhoff state of production. It is recommended to use the last device revision when creating a new configuration, if current Beckhoff devices are used in the real application. Older revisions should only be used if older devices from stock are to be used in the application.

Page 56

Commissioning/Configuration

EP5xxx56 Version: 2.3.0

Fig.50: Example correction dialog with modifications

Once all modifications have been saved or accepted, click “OK” to transfer them to the real *.tsm configuration.

Page 57

Commissioning/Configuration

EP5xxx 57Version: 2.3.0

4.3 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.51: 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.52: 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.

Page 58

Commissioning/Configuration

EP5xxx58 Version: 2.3.0

EtherCAT tab

Fig.53: 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

hex

. 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.

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.

Page 59

Commissioning/Configuration

EP5xxx 59Version: 2.3.0

Fig.54: 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.

Page 60

Commissioning/Configuration

EP5xxx60 Version: 2.3.0

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 [}63]),

• 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 [}60] 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.

Page 61

Commissioning/Configuration

EP5xxx 61Version: 2.3.0

Fig.55: 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.

Page 62

Commissioning/Configuration

EP5xxx62 Version: 2.3.0

Fig.56: 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.

Page 63

Commissioning/Configuration

EP5xxx 63Version: 2.3.0

Fig.57: Advanced settings

Online

- via SDO information

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.

Offline

- via EDS file

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.

Online tab

Fig.58: Online tab

Page 64

Commissioning/Configuration

EP5xxx64 Version: 2.3.0

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.

Page 65

Commissioning/Configuration

EP5xxx 65Version: 2.3.0

4.4 EtherCAT slave process data settings (PDO)

The process data transferred by an EtherCAT slave during each cycle (Process Data Objects, PDOs) are user data which the application expects to be updated cyclically or which are sent to the slave. To this end the EtherCAT master (Beckhoff TwinCAT) parameterizes each EtherCAT slave during the start-up phase to define which process data (size in bits/bytes, source location, transmission type) it wants to transfer to or from this slave. Incorrect configuration can prevent successful start-up of the slave.

For Beckhoff EtherCAT EL/ES/EP slaves the following applies in general:

• The input/output process data supported by the device are defined by the manufacturer in the ESI/XML description. The TwinCAT EtherCAT Master uses the ESI description to configure the slave correctly.

• The process data can be modified in the system manager. See the device documentation. Examples of modifications include: Mask out a channel, displaying additional cyclic information, 16-bit display instead of 8-bit data size, etc.

• In so-called “intelligent” EtherCAT devices the process data information is also stored in the CoE directory. Any changes in the CoE directory that lead to different PDO settings prevent successful startup of the slave. It is not advisable to deviate from the designated process data, because the device firmware (if available) is adapted to these PDO combinations.

If the device documentation envisages modification of process data, proceed as follows (see illustration below).

• A: Select the device to configure

• B: In the “Process Data” tab select Input or Output under SyncManager (C)

• D: The PDOs can be selected or deselected

• H: The new process data are visible as linkable variables in the system manager. The new process data are active once the configuration has been activated and TwinCAT has been restarted (or the EtherCAT master has been restarted)

• E: If a slave supports this, Input and Output PDO can be modified simultaneously by selecting a socalled PDO record (“predefined PDO settings”).

Fig.59: Configuring the process data

Page 66

Commissioning/Configuration

EP5xxx66 Version: 2.3.0

Manual modification of the process data

According to the ESI description, a PDO can be identified as "fixed" with a flag "F" in the PDO overview (see previous illustration, J). The configuration of such PDOs cannot be changed, even if TwinCAT offers the associated dialog (“Edit”). In particular, CoE content cannot be displayed as cyclic process data. This generally also applies in cases where a device supports download of the PDO configuration, “G”. In case of incorrect configuration the EtherCAT slave usually refuses to start and change to OP state. The System Manager displays an “invalid SM cfg” logger message:

`Box 1 (EP3356)` (0022): state change aborted (requested ‚SAFEOP`, back to ‚PREOP`), `Box1 (EP3356)` (0022): `PREOP to SAFEOP`failed! Error: `check device state for SAFEOP`, AL Status `0x0012`read and 0x0004` expected. AL status code `0x001e – invalid SM IN cfg` This error message „invalid SM IN cfg“ or „invalid SM OUT cfg“ provides an indication of the reason for the failed start.

4.5 EP5001-0002 - Parameters and modes

4.5.1 Process data

The EP5001-0002 can have 16bit status data and a 32-bit counter value.

Fig.60: EP5001-0002

Page 67

Commissioning/Configuration

EP5xxx 67Version: 2.3.0

4.5.1.1 EP5001-0002 - PDO assignment

Fig.61: PDO assignment and content; example: EP5001-0002

The PDO 0x1A00 configuration of the EP5001-0002 cannot be changed.

PDO Assignment

SM3, PDO Assignment 0x1C13

Index Index of excluded

PDOs

Size (byte.bit)

Name PDO Content

(index - name)

0x1A00 (default)

6.0 SSI Inputs

0x6000:01 [}94] - Data error 0x6000:02 [}94] - Frame error 0x6000:03 [}94] - Power failure 0x6000:0E [}94] - Sync error 0x6000:0F [}94] - TxPDO State 0x6000:10 [}94] - TxPDO Toggle 0x6000:11 [}94] - Counter value (32-Bit)

Page 68

Commissioning/Configuration

EP5xxx68 Version: 2.3.0

4.5.2 DC (Distributed Clocks)

Describes whether the module is operated with support from distributed clocks:

Fig.62: Distributed Clocks

• FreeRun: The module operates frame-triggered. Cyclic operation is started via the SyncManagers during EtherCAT frame processing.

• DC-Synchron: Cyclic operation in the module is started by the local distributed clock at exact intervals. The start time is chosen such that it coincides with other output slaves in the EtherCAT system.

• DC-Synchron (input based): as DC-Synchron mode, with the cyclic start time chosen such that it coincides with other input slaves in the EtherCAT system.

Page 69

Commissioning/Configuration

EP5xxx 69Version: 2.3.0

4.5.3 Features CoE

Further settings can be selected in the CoE (CAN over EtherCAT)-list.

Parameterization via the CoE list (CAN over EtherCAT)

Please note the following general CoE notes when using/manipulating the CoE parameters:

• Keep a startup list if components have to be replaced

• Differentiation between online/offline dictionary, existence of current XML description

• “CoE-Reload” for resetting the changes

The following CoE settings from objects 0x8000 and 0x800D are possible and are shown below in their default settings:

Fig.63: EP5001-0002 - default setting for objects 0x8000 and 0x800D

The parameters are described in the object description chapter.

SSI settings

• Index 0x8000:01 [}94], Disable Frame Error If the bit is set to TRUE, data errors such as invalid telegram size are no longer shown in the Data error process data.

• Index 0x8000:02 [}94], Enable Power failure bit If the bit is set to TRUE, the last bit (LSB) in the SSI telegram is interpreted as PowerFail bit of the SSI slave and shown in the process data.

• Index 0x8000:03 [}94], Enable Inhibit time If the bit is set to TRUE, the system waits at least until the Min. Inhibit time (index 0x8000 [}94]:13) has elapsed when the next

SSI communication starts, even if the next start request has already been issued via EtherCAT or distributed clocks.

• Index 0x8000:04 [}94], Enable test mode Only for production purposes.

• Index 0x8000:06 [}94], SSI-encoding Dual or gray coding setting (standard).

• Index 0x8000:09 [}94], SSI-baudrate should be set to 125, 250, 500kbaud (default) or 1Mbaud.

• Index 0x8000:0F [}94], SSI-frame type 25, 13 or variable bit width (default: 25).

• Index 0x8000:11 [}94], SSI-frame size Total data volume including PowerFail bit.

• Index 0x8000:12 [}94], SSI-data length Data volume without PowerFail bit.

Page 70

Commissioning/Configuration

EP5xxx70 Version: 2.3.0

• Index 0x8000:13 [}94], Min. Inhibit time [µs] See index 0x8000:03 [}94].

SSI advanced settings

• Index 0x800D:01 [}95], Encoder power supply on Switches the 24V supply voltage

• Index 0x800D:02 [}95], Encoder direction pin on Switches the 24V supply at the Direction pin

• Index 0x800D:03 [}95], Encoder reset pin on Switches the 24V supply at the Reset pin

The total size of the data depends on the encoder used. It is also type-specific whether a power-fail bit or another auxiliary bit is supported. The counter value in the Counter Value index 0x6000:11 [}94] is determined based on the value entered in object SSI data length index 0x8000:12 [}94].

A few example configurations are shown below:

Specification of the encoder CoE settings of the EP5001-0002

ST MT Error bit 0x8000:0F SSI-

frame type

0x8000:11 SSIframe size

0x8000:12 SSI-data length

0x8000:02 Enable power failure bit

13 0 0 1: Single-turn analy-

sis is active

13 13 0: Power failure bit is not active

12 12 1 0: Multi-turn analy-

sis is active

25 24 1: Power failure bit is active

12 12 0 2: Variable analysis

is active

24 24 0: Power failure bit is not active

12 13 0 2: Variable analysis

is active

25 25 0: Power failure bit is not active

16 16 0 2: Variable analysis

is active

32 32 0: Power failure bit is not active

16 0 0 2: Variable analysis

is active

16 16 0: Power failure bit is not active

13 16 1 2: Variable analysis

is active

30 29 1: Power failure bit is active

12 12 2 2: Variable analysis

is active

26* 26* 0: Power failure bit is not active

*) Analysis of the data and division into position and auxiliary bits must take place in the PLC.

If the encoder offers more than 1 auxiliary bit, this can be done by means of suitable configuration of the objects 0x8000:11 SSI frame size and 0x80n0 SSI data length. The maximum size of 32bits must be

considered here. If the parameters have the same size, the Counter Value index 0x6000:11 [}94] does not only show the position, but also additional bits. Analysis of the data and division into position and auxiliary bits must take place in the PLC.

If the settings are not made correctly in the CoE, or if there is an error at the inputs, this is indicated via the status bits

Data Error (Index

0x6000:01 [}94])

Frame error (Index 0x6000:02 [}94])

Possible error type

TRUE FALSE SSI input error:

- SSI without power supply

- Broken wire at SSI data inputs D+ or DIf no data communication takes place the SSI input of the terminal is on low level.

FALSE TRUE There is an incorrect data frame, the data frame was not concluded with zero, or possibly

- Wire breakage in the clock lines

- Incorrect parameterization in the CoE

TRUE TRUE - Broken wire at SSI data inputs D+ or D-

- Data cables interchanged

FALSE FALSE If bits are shifted in the counter value despite correct CoE parameterization, this may be to do with

the clock lines being swapped

Page 71

Commissioning/Configuration

EP5xxx 71Version: 2.3.0

4.6 EP51x1-x0xx - Parameters and modes

4.6.1 Process data

16 or 32bit process data

The EP51x1 can be operated both with 16bit process data (default) or 32bit process data. This can be set via the Predefined PDO Assignment in the Process Data table tab.

Fig.64: 16 or 32bit process data

Main PDO

Selection of basic process data

Page 72

Commissioning/Configuration

EP5xxx72 Version: 2.3.0

Fig.65: Main PDO, example: EP5101-0011

A: Selection of data direction: input or output C: Explanatory notes for PDOs B: Selection of (optional) PDOs (process data

objects)

D: PDO content

• compact: The process data can be represented with 16bits (compact) or with 32bits.

Optional PDOs

Optional PDOs, in addition to the main PDO:

• PDO 1 (0x1A02 or 0x1A03): The frequency or the period can be selected as optional PDO 1.

• PDO 2 (0x1A04 or 0x1A05): In one of the DC modes a 32bit or 64bit timestamp can be selected. The timestamp specifies the time of the last registered increment edge, based on the Distributed Clocks system.

PDO assignment and contents

The PDO assignment and contents may differ for different Boxes. For PDO content and assignment please refer to the

• Process Data tab of the TwinCAT System Manager or the

• PDOs assignment chapter for the respective Box.

Page 73

Commissioning/Configuration

EP5xxx 73Version: 2.3.0

4.6.1.1 EP5101-x002 - PDO assignment

Fig.66: PDO assignment and content; example: EP5101-0002

PDO Assignment

To configure the process data, select the required Sync Manager (SM 2 or SM 3 can be changed) in the Sync Manager field at the top left (see illustration above). The process data assigned to this Sync Manager can then be switched on or off in the PDO Assignment field below. Restarting the EtherCAT system, or reloading the configuration in configuration mode (F4), causes the EtherCAT communication to restart, and the process data is transferred from the terminal.

SM2, PDO Assignment 0x1C12

Index Index of excluded

PDOs

Size (byte.bit)

Name PDO Content

(index - name)

0x1600 (default)

0x1601 4.0 ENC Control compact

0x7000:01 [}99] - Enable Latch C 0x7000:03 [}99] - Set counter 0x7000:11 [}99] - Set counter value (16-bit)

0x1601 0x1600 6.0 ENC Control

0x7000:01 [}99] - Enable Latch C 0x7000:03 [}99] - Set counter 0x7000:11 [}99] - Set counter value (32-bit)

Page 74

Commissioning/Configuration

EP5xxx74 Version: 2.3.0

SM3, PDO Assignment 0x1C13

Index Index of excluded

PDOs

Size (byte.bit)

Name PDO Content

(index - name)

0x1A00 (default)

0x1A01 6.0 ENC Status compact

0x6000:01 [}98] - Latch C valid 0x6000:03 [}98] - Set counter done 0x6000:04 [}98] - Counter underflow 0x6000:05 [}98] - Counter overflow 0x6000:07 [}98] - Open circuit 0x6000:08 [}98] - Extrapolation stall 0x6000:09 [}98] - Status of input A 0x6000:0A [}98] - Status of input B 0x6000:0B [}98] - Status of input C 0x1C32:20 [}108] - Sync error 0x1800:07 [}101] - TxPDO State 0x1800:09 [}101] - TxPDO Toggle 0x6000:11 [}98] - Counter value (16-Bit) 0x6000:12 [}98] - Latch value (16-Bit)

0x1A01 0x1A00 10.0 ENC Status

0x1A02 0x1A03 4.0 ENC Frequency

0x6000:13 [}98] - Frequency value

0x1A03 0x1A02 4.0 ENC Period

0x6000:14 [}98] - Period value

0x1A04 0x1A05 8.0 ENC Timest.

0x6000:16 [}98] - timestamp (64-bit)

0x1A05 0x1A04 4.0 ENC Timest. compact

0x6000:16 [}98] - timestamp compact (32-bit)

Page 75

Commissioning/Configuration

EP5xxx 75Version: 2.3.0

4.6.1.2 EP5101-0011 - PDO assignment

Fig.67: PDO assignment and content; example: EP5101-0011

PDO Assignment

Page 76

Commissioning/Configuration

EP5xxx76 Version: 2.3.0

SM2, PDO Assignment 0x1C12

Index Index of excluded

PDOs

Size (byte.bit)

Name PDO Content

(index - name)

0x1600 (default)

0x1601 4.0 ENC Control

compact

0x7000:01 [}115] - Enable Latch C 0x7000:02 [}115] - Enable Latch extern on positive edge 0x7000:03 [}115] - Set counter 0x7000:04 [}115] - Enable Latch extern on negative edge 0x7000:11 [}115] - Set counter value (16-bit)

0x1601 0x1600 6.0 ENC Control

SM3, PDO Assignment 0x1C13

Index Index of excluded

PDOs

Size (byte.bit)

Name PDO Content

0x1A00 (default)

0x1A01 6.0 ENC Status

compact

0x6000:01 [}114] - Latch C valid 0x6000:02 [}114] - Latch extern valid 0x6000:03 [}114] - Set counter done 0x6000:04 [}114] - Counter underflow 0x6000:05 [}114] - Counter overflow 0x6000:06 [}114] - Status of input status 0x6000:07 [}114] - Open circuit 0x6000:08 [}114] - Extrapolation stall 0x6000:09 [}114] - Status of input A 0x6000:0A [}114] - Status of input B 0x6000:0B [}114] - Status of input C 0x6000:0C [}114] - Status of input gate 0x6000:0D [}114] - Status of extern latch 0x1C32:20 [}121] - Sync error 0x1800:07 [}117] - TxPDO State 0x1800:09 [}117] - TxPDO Toggle 0x6000:11 [}114] - Counter value (16-Bit) 0x6000:12 [}114] - Latch value (16-Bit)

0x1A01 0x1A00 10.0 ENC Status

0x1A02 0x1A03 4.0 ENC Frequency

0x6000:13 [}114] - Frequency value

0x1A03 0x1A02 4.0 ENC Period

0x6000:14 [}114] - Period value

0x1A04 0x1A05 8.0 ENC Timest.

0x6000:16 [}114] - timestamp (64-bit)

0x1A05 0x1A04 4.0 ENC Timest.

compact

0x6000:16 [}114] - timestamp compact (32-bit)

Page 77

Commissioning/Configuration

EP5xxx 77Version: 2.3.0

4.6.1.3 EP5101-2011 - PDO assignment

Fig.68: PDO assignment and content, EP5101-2011

PDO Assignment

Page 78

Commissioning/Configuration

EP5xxx78 Version: 2.3.0

SM2, PDO Assignment 0x1C12

Index Index of excluded

PDOs

Size (byte.bit)

Name PDO Content

(index - name)

0x1600 0x1601 6.0 ENC Control

0x7000:01 [}127] - Enable Latch C 0x7000:02 [}127] - Enable Latch extern on positive edge 0x7000:03 [}127] - Set counter 0x7000:04 [}127] - Enable Latch extern on negative edge 0x7000:11 [}127] - Set counter value (32-bit)

0x1601 (default)

0x1600 4.0 ENC Control

compact

SM3, PDO Assignment 0x1C13

Index Index of excluded

PDOs

Size (byte.bit)

Name PDO Content

(index - name)

0x1A00 0x1A01 10.0 ENC Status

0x6000:01 [}126] - Latch C valid 0x6000:02 [}126] - Latch extern valid 0x6000:03 [}126] - Set counter done 0x6000:06 [}126] - Status of input status 0x6000:07 [}126] - Open circuit 0x6000:09 [}126] - Status of input A 0x6000:0C [}126] - Status of input gate 0x6000:0D [}126] - Status of extern latch 0x6000:0E [}126] - Sync error 0x6000:0F [}126] - TxPDO State 0x6000:10 [}126] - TxPDO Toggle 0x6000:11 [}126] - Counter value (32-Bit) 0x6000:12 [}126] - Latch value (32-Bit)

0x1A01 (default)

0x1A00 6.0 ENC Status

compact

0x6000:01 [}126] - Latch C valid 0x6000:02 [}126] - Latch extern valid 0x6000:03 [}126] - Set counter done 0x6000:06 [}126] - Status of input status 0x6000:07 [}126] - Open circuit 0x6000:09 [}126] - Status of input A 0x6000:0A [}126] - Status of input B 0x6000:0B [}126] - Status of input C 0x6000:0C [}126] - Status of input gate 0x6000:0D [}126] - Status of extern latch 0x6000:0E [}126] - Sync error 0x6000:0F [}126] - TxPDO State 0x6000:10 [}126] - TxPDO Toggle 0x6000:11 [}126] - Counter value (16-Bit) 0x6000:12 [}126] - Latch value (16-Bit)

0x1A02 0x1A03 4.0 ENC Period

0x6000:14 [}126] - Period value

0x1A03 0x1A02 4.0 ENC Frequency

0x6000:13 [}126] - Frequency value

0x1A04 0x1A05 8.0 ENC Timest.

0x6000:16 [}126] - timestamp (64-bit)

0x1A05 0x1A04 4.0 ENC Timest.

compact

0x6000:16 [}126] - timestamp compact (32-bit)

Page 79

Commissioning/Configuration

EP5xxx 79Version: 2.3.0

4.6.1.4 EP5151-0002 - PDO assignment

Fig.69: PDO assignment and content; example: EP5151-0002

PDO Assignment

Page 80

Commissioning/Configuration

EP5xxx80 Version: 2.3.0

SM2, PDO Assignment 0x1C12

Index Index of excluded

PDOs

Size (byte.bit)

Name PDO Content

(index - name)

0x1600 (default)

0x1601 4.0 ENC Control

compact

0x7000:01 [}140] - Enable Latch C 0x7000:02 [}140] - Enable Latch extern on positive edge 0x7000:03 [}140] - Set counter 0x7000:04 [}140] - Enable Latch extern on negative edge 0x7000:11 [}140] - Set counter value (16-bit)

0x1601 0x1600 6.0 ENC Control

SM3, PDO Assignment 0x1C13

Index Index of excluded

PDOs

Size (byte.bit)

Name PDO Content

(index - name)

0x1A00 (default)

0x1A01 6.0 ENC Status

compact

0x6000:01 [}139] - Latch C valid 0x6000:02 [}139] - Latch extern valid 0x6000:03 [}139] - Set counter done 0x6000:04 [}139] - Counter underflow 0x6000:05 [}139] - Counter overflow 0x6000:06 [}139] - Status of input status 0x6000:07 [}139] - Open circuit 0x6000:08 [}139] - Extrapolation stall 0x6000:09 [}139] - Status of input A 0x6000:0A [}139] - Status of input B 0x6000:0B [}139] - Status of input C 0x6000:0C [}139] - Status of input gate 0x6000:0D [}139] - Status of extern latch 0x1C32:20 [}146] - Sync error 0x1800:07 [}142] - TxPDO State 0x1800:09 [}142] - TxPDO Toggle 0x6000:11 [}139] - Counter value (16-Bit) 0x6000:12 [}139] - Latch value (16-Bit)

0x1A01 0x1A00 10.0 ENC Status

0x1A02 0x1A03 4.0 ENC Frequency

0x6000:13 [}139] - Frequency value

0x1A03 0x1A02 4.0 ENC Period

0x6000:14 [}139] - Period value

0x1A04 0x1A05 8.0 ENC Timest.

0x6000:16 [}139] - timestamp (64-bit)

0x1A05 0x1A04 4.0 ENC Timest.

compact

0x6000:16 [}139] - timestamp compact (32-bit)

Page 81

Commissioning/Configuration

EP5xxx 81Version: 2.3.0

4.6.2 DC (Distributed Clocks)

Describes whether the module is operated with support from distributed clocks:

Fig.70: Distributed Clocks

• FreeRun: The module operates frame-triggered. Cyclic operation is started via the SyncManagers during EtherCAT frame processing.

• DC-Synchron (input based): as DC-Synchron mode, with the cyclic start time chosen such that it coincides with other input slaves in the EtherCAT system.

Page 82

Commissioning/Configuration

EP5xxx82 Version: 2.3.0

4.6.3 Features CoE

Depending on the main PDO/optional PDOs further settings can be selected in the CoE list (CAN over EtherCAT).

Parameterization via the CoE list (CAN over EtherCAT)

Please note the following general CoE notes when using/manipulating the CoE parameters:

• Keep a startup list if components have to be replaced

• Differentiation between online/offline dictionary, existence of current XML description

• “CoE-Reload” for resetting the changes

The following CoE settings from object 0x8000 are possible and shown here in their default settings, based on the EP5101-0011 as an example:

Fig.71: Object 0x8000 - default, example: EP5101-0011

The parameters are explained in the object description chapter for the corresponding EtherCAT Box.

• Due to the different pin assignment, the following objects are not supported by the EP51x1-x002 modules!

◦ 0x8000:02 - Enable extern reset

◦ 0x8000:04 - Gate polarity

◦ 0x8000:10 - Extern reset polarity

• Due to different firmware, the following objects are not supported by the EP5101-2011 module!

◦ 0x8000:03 - Enable up/down counter

◦ 0x8000:08 - Disable filter

◦ 0x8000:0A - Enable micro increments

Page 83

Commissioning/Configuration

EP5xxx 83Version: 2.3.0

Additional Notes

Frequency

• The time window for the frequency calculation and the resolution can be parameterized in the CoE objects Frequency window 0x8000:11, Frequency scaling 0x8000:13, Frequency resolution 0x8000:15 and Frequency wait time 0x8000:17.

• The positive edges of track A are counted within the specified timeframe and the next edge including the time up to it are counted. The waiting time can be set in CoE object 0x8000:17 Frequency Wait Time (unit: ms). The default value is 1.6sec. This is also the maximum value.

• The time window is 10ms (default), min. 1µs. With the default setting it is possible to measure frequencies up to approx. 800kHz. At higher frequencies a smaller value must be selected for the timeframe.

• The time is measured with a resolution of 100ns.

• This calculation is carried out in the slave without reference to the distributed clocks system. It is therefore independent of the DC mode.

• No frequency measurement is possible if the counter is blocked by the gate. In this case the period can be measured regardless.

• A C or external reset restarts the frequency measurement. The last frequency value remains unchanged until a new frequency value is determined.

Frequency measurement

• Basic unit 1µs: all window sizes

Measurement sequence

• The measurement starts with a positive edge at track A. The current counter value and time (resolution: 100ns) are stored.

• After the measuring window time has elapsed (index 0x8000:11), the system waits for the subsequent rising edge at track A, or a maximum of 1.6seconds, or the time from Frequency Wait Time 0x8000:17.

• The frequency is calculated from the edge difference and the actual elapsed time.

Fig.72: Frequency measurement principle in enhanced operation mode

Period calculation

• This calculation is carried out in the slave without reference to the distributed clocks system. It is therefore independent of the DC mode.

• During each cycle the interval between 2 positive edges of input A is counted.

• If no edge change occurs for approx. 1.6s, any period specification is canceled.

Page 84

Commissioning/Configuration

EP5xxx84 Version: 2.3.0

Latch

• Activation of latch C input (Enable latch C index 0x7000:01) and saving ("latching") of the counter value

◦ The counter value is saved when the first external latch pulse (positive edge at input "C") is

encountered after the bit has been set (TRUE) in Enable latch C index 0x7000:01 (this has priority over Enable latch extern on positive / negative edge 0x7000:02 / 0x7000:04). The subsequent pulses at the other inputs have no influence on the latch value in index 0x6000:12 if the bit is set.

◦ Note for Latch C valid bit: A new counter value at the latch input can only be written once the value

of the Latch C valid bit (index 0x6000:01) is FALSE.

• Activation of the external latch input ("gate/latch") and latching of the counter value (index 0x7000:02, 0x7000:04) (not for EP5101-x002)

◦ When the bit is set (TRUE) in Enable latch extern on positive edge index 0x7000:02, the counter

value is saved on the latch input (index 0x6000:12) when the first external latch pulse with rising edge is encountered. The subsequent pulses have no influence on the latch value in index 0x6000:12.

◦ When the bit is set (TRUE) in Enable latch extern on negative edge index 0x7000:04, the counter

value is saved on the latch input (index 0x6000:12) when the first external latch pulse with falling edge is encountered. The subsequent pulses have no influence on the latch value in index 0x6000:12.

◦ Note for Latch extern valid bit: A new counter value cannot be written to the latch input until the

value of the Latch extern valid (index 0x6000:02) is FALSE.

Reset

• Counter reset via input C:

◦ To reset the counter, set the bit in Enable latch C index 0x8000:01.

• Resetting the counter via the external latch input (not for EP5101-x002)

◦ For a reset via the external latch input, set the bit in Enable extern reset index 0x8000:02

◦ Extern reset polarity index 0x8000:10 can be used to select the edge for setting the counter to

zero.

• Bit not set: Counter is set to zero with falling edge.

• Bit set: Counter is set to zero with rising edge.

• The functions Enable C reset (0x8000:01) and Enable extern reset (0x8000:02) cannot be enabled simultaneously.

Up/down counter

• The mode (encoder or up/down counter) can be set via Enable up/down counter index 0x8000:03. (not for EP5101-2011)

◦ Click the corresponding row of the index to be parameterized,

◦ enter the value "1" in the SetValue dialog and

◦ confirm with OK.

• Set the gate polarity accordingly via object 0x8000:04.

• An additional option for reversing the direction of rotation is to set the Reversion of rotation bit index: 0x8000:0E.

Page 85

Commissioning/Configuration

EP5xxx 85Version: 2.3.0

Overflow/underflow (not for EP5101-2011)

• Overflow/underflow control is inactive in combination with an activated reset function (C/external).

• The underflow bit (0x6000:04) is set if an underflow ...00->...FF occurs. It is reset if 2/3 of the counter range are underrun.

• The overflow bit (0x6000:05) is set if an overflow FF...->0... occurs. It is reset if 1/3 of the counter range is exceeded.

Open circuit detection

• A separate open circuit detection can be activated for each of the channels A, B and C (index 0x8000:0B, 0x8000:0C, 0x8000:0D).

• Open circuit detection is activated for channels A and B by default.

• A differential voltage of < 3.5V (typical, subject to modification) is interpreted as an open circuit.

• If an open circuit is detected, it is indicated as process data Open circuit = TRUE (bit in object Open circuit 0x6000:07 is set). An open circuit is also indicated separately in indices 0xA000:01 (track A), 0xA000:02 (track B) and 0xA000:03 (track C).

• TxPDO state also becomes TRUE if an open circuit is detected, since invalid data have to be assumed.

Micro-increments

• Works with and without distributed clocks, but in the EP51x1 this is only meaningful in conjunction with one of the DC modes.

• By setting the counter value only the integer component can be modified.

• The frequency measurement principle in extended mode:

Page 86

Commissioning/Configuration

EP5xxx86 Version: 2.3.0

Fig.73: DC-supported micro-increments

The highly constant query cycles (accuracy: 100ns) of the distributed clocks systems enable the EP51x1 to interpolate axis positions between the counted encoder increments from a certain speed. The interpolation resolution is 8bit, corresponding to 256 values. A standard encoder with 1,024 lines with 4-way evaluation and micro-increments thus becomes a high-resolution axis encoder with 4096x256=1,048,567 lines.

If the velocity value falls below the minimum value, this is indicated by the object Extrapolation stall 0x6000:08 in the process data (not for EP5101-2011).

Page 87

Commissioning/Configuration

EP5xxx 87Version: 2.3.0

4.7 EP5001 - Interface signal level

The EP5001-0002 expects signal levels according to RS485.

The typical output levels apply for a load of 60 ohm or higher.

Differential signal input

Fig.74: Voltage level for differential mode

The EP5001-0002 does not support single-ended mode.

Page 88

Commissioning/Configuration

EP5xxx88 Version: 2.3.0

4.8 EP5101 - Interface signal level

In differential mode, the EP5101-x00x expects signal levels according to RS422. The data are transferred without ground reference as voltage difference between two cables (signal A and inverted signal /A). The module analyses signal levels in the range -200mV < Vid < +200mV as valid signals. The differential signal must be in the common mode range (<+13.2 V and >-10 V, with respect to GND) (cf. diagram). Signal levels outside this range can lead to destruction

Fig.75: EP5101 signal level interface

In differential mode only the voltage difference is evaluated, so that common-mode interference on the transmission link does not lead to corruption of the wanted signal, since any interference affects both cables simultaneously.

If the EP5101 is only operated in single-ended mode, a nominal level voltage between 3.5V and 5.5V is expected.

For the EP5101-x00x versions, open circuit detection is typically enabled in the range -1.5V>Vid>+1.5 (subject to change).

Page 89

Commissioning/Configuration

EP5xxx 89Version: 2.3.0

4.9 EP5151 - Interface signal level

The EP5151 expects signal levels according to HTL (push-pull).

Differential signal input

Fig.76: Voltage level for differential mode

Page 90

Commissioning/Configuration

EP5xxx90 Version: 2.3.0

4.10 EP5001-0002 - Object description and parameterization

EtherCAT XML Device Description

The display matches that of the CoE objects from the EtherCAT XML Device Description. We recommend downloading the latest XML file from the download area of the Beckhoff website and installing it according to installation instructions.

Parameterization via the CoE list (CAN over EtherCAT)

The EtherCAT device is parameterized via the CoE - Online tab [}61] (double-click on the respective object) or via the Process Data [}58] tab (allocation of PDOs).

Introduction

The CoE overview contains objects for different intended applications:

• Objects required for parameterization during commissioning

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

• Objects for indicating internal settings (may be fixed)

The following section first describes the objects required for normal operation, followed by a complete overview of missing objects.

Index 1000 Device type

Index (hex) Name Meaning Data type Flags Default

1000:0 Device type Device type of the EtherCAT slave: The Lo-Word contains

the CoE profile used (5001). The Hi-Word contains the module profile according to the modular device profile.

UINT32 RO 0x01F51389

(32838537

dec

)

Index 1008 Device name

Index (hex) Name Meaning Data type Flags Default

1008:0 Device name Device name of the EtherCAT slave STRING RO EP5001-0002

Index 1009 Hardware version

Index (hex) Name Meaning Data type Flags Default

1009:0 Hardware version Hardware version of the EtherCAT slave STRING RO -

Index 100A Software version

Index (hex) Name Meaning Data type Flags Default

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

Index 1011 Restore default parameters

Index (hex) Name Meaning Data type Flags Default

1011:0 Restore default pa-

rameters

Restore default parameters UINT8 RO 0x01 (1

dec

)

1011:01 SubIndex 001 If this object is set to "0x64616F6C" in the set value dia-

log, all backup objects are reset to their delivery state.

UINT32 RW 0x00000000

dec

)

Page 91

Commissioning/Configuration

EP5xxx 91Version: 2.3.0

Index 1018 Identity

Index (hex) Name Meaning Data type Flags Default

1018:0 Identity Information for identifying the slave UINT8 RO 0x04 (4

dec

)

1018:01 Vendor ID Vendor ID of the EtherCAT slave UINT32 RO 0x00000002

dec

)

1018:02 Product code Product code of the EtherCAT slave UINT32 RO 0x13894052

(327762002

dec

)

1018:03 Revision Revision numberof the EtherCAT slave; the Low Word (bit

0-15) indicates the special terminal number, the High Word (bit 16-31) refers to the device description

UINT32 RO 0x00000000

dec

)

1018:04 Serial number Serial number of the EtherCAT slave; the Low Byte (bit

0-7) of the Low Word contains the year of production, the High Byte (bit 8-15) of the Low Word contains the week of production, the High Word (bit 16-31) is 0

UINT32 RO 0x00000000

dec

)

Index 10F0 Backup parameter handling

Index (hex) Name Meaning Data type Flags Default

10F0:0 Backup parameter

handling

Information for standardized loading and saving of backup entries

UINT8 RO 0x01 (1

dec

)

10F0:01 Checksum Checksum across all backup entries of the EtherCAT slave UINT32 RO 0x00000000

dec

)

Index 1800 SSI TxPDO-Par Inputs

Index (hex) Name Meaning Data type Flags Default

1801:0 SSI TxPDO-Par In-

puts

PDO parameter TxPDO 1 UINT8 RO 0x06 (6

dec

)

1801:06 Exclude TxPDOs Specifies the TxPDOs (index of TxPDO mapping objects)

that must not be transferred together with TxPDO 1

OCTETSTRING[2]

RO 00 1A

Index 1A00 SSI TxPDO-Map Inputs

Index (hex) Name Meaning Data type Flags Default

1A00:0 SSI TxPDO-Map In-

puts

PDO Mapping TxPDO 1 UINT8 RO 0x08 (8

dec

)

1A00:01 SubIndex 001 1. PDO Mapping entry (object 0x6000 (SSI Inputs), entry

0x01 (Data error))

UINT32 RO 0x6000:01, 1

1A00:02 SubIndex 002 2. PDO Mapping entry (object 0x6000 (SSI Inputs), entry

0x02 (Frame error))

UINT32 RO 0x6000:02, 1

1A00:03 SubIndex 003 3. PDO Mapping entry (object 0x6000 (SSI Inputs), entry

0x03 (Power failure))

UINT32 RO 0x6000:03, 1

1A00:04 SubIndex 004 4. PDO Mapping entry (10 bits align) UINT32 RO 0x0000:00, 10

1A00:05 SubIndex 005 5. PDO Mapping entry (object 0x6000 (SSI Inputs), entry

0x0E (Sync error))

UINT32 RO 0x6000:0E, 1

1A00:06 SubIndex 006 6. PDO Mapping entry (object 0x6000 (SSI Inputs), entry

0x0F (TxPDO State))

UINT32 RO 0x6000:0F, 1

1A00:07 SubIndex 007 7. PDO Mapping entry (object 0x6000 (SSI Inputs), entry

0x10 (TxPDO Toggle))

UINT32 RO 0x6000:10, 1

1A00:08 SubIndex 008 8. PDO Mapping entry (object 0x6000 (SSI Inputs), entry

0x11 (Counter value))

UINT32 RO 0x6000:11, 32

Index 1C00 Sync manager type

Index (hex) Name Meaning Data type Flags Default

1C00:0 Sync manager type Using the Sync Managers UINT8 RO 0x04 (4

dec

)

1C00:01 SubIndex 001 Sync-Manager Type Channel 1: Mailbox Write UINT8 RO 0x01 (1

dec

)

1C00:02 SubIndex 002 Sync-Manager Type Channel 2: Mailbox Read UINT8 RO 0x02 (2

dec

)

1C00:03 SubIndex 003 Sync-Manager Type Channel 3: Process Data Write (Out-

puts)

UINT8 RO 0x03 (3

dec

)

1C00:04 SubIndex 004 Sync-Manager Type Channel 4: Process Data Read (In-

puts)

UINT8 RO 0x04 (4

dec

)

Page 92

Commissioning/Configuration

EP5xxx92 Version: 2.3.0

Index 1C12 RxPDO assign

Index (hex) Name Meaning Data type Flags Default

1C12:0 RxPDO assign PDO Assign Outputs UINT8 RW 0x00 (0

dec

)

Index 1C13 TxPDO assign

Index (hex) Name Meaning Data type Flags Default

1C13:0 TxPDO assign PDO Assign Inputs UINT8 RO 0x02 (2

dec

)

1C13:01 SubIndex 001 1. allocated TxPDO (contains the index of the associated

TxPDO mapping object)

UINT16 RO 0x1A00

(6656

dec

)

Page 93

Commissioning/Configuration

EP5xxx 93Version: 2.3.0

Index 1C33 SM input parameter

Index (hex) Name Meaning Data type Flags Default

1C33:0 SM input parameter Synchronization parameters for the inputs UINT8 RO 0x20 (32

dec

)

1C33:01 Sync mode Current synchronization mode:

• 0: Free Run

• 1: Synchron with SM 3 Event (no outputs available)

• 2: DC - Synchron with SYNC0 Event

• 3: DC - Synchron with SYNC1 Event

• 34: Synchron with SM 2 Event (outputs available)

UINT16 RW 0x0022 (34

dec

)

1C33:02 Cycle time Cycle time (in ns):

• Free Run: Cycle time of the local timer

• Synchron with SM 2 Event: Master cycle time

• DC mode: SYNC0/SYNC1 Cycle Time

UINT32 RW 0x000F4240

(1000000

dec

)

1C33:03 Shift time Time between SYNC0 event and reading of the inputs (in

ns, only DC mode)

UINT32 RO 0x00000000

dec

)

1C33:04 Sync modes sup-

ported

Supported synchronization modes:

• Bit 0: free run is supported

• Bit 1: Synchron with SM 2 Event is supported (outputs available)

• Bit 1: Synchron with SM 3 Event is supported (no outputs available)

• Bit 2-3 = 01: DC mode is supported

• Bit 4-5 = 01: Input shift through local event (outputs available)

• Bit 4-5 = 10: Input shift with SYNC1 event (no outputs available)

• Bit 14 = 1: dynamic times (measurement through writing of 0x1C33:08)

UINT16 RO 0xC00B

(49163

dec

)

1C33:05 Minimum cycle time Minimum cycle time (in ns) UINT32 RO 0x00030D40

dec

)

1C33:06 Calc and copy time Time between reading of the inputs and availability of the

inputs for the master (in ns, only DC mode)

UINT32 RO 0x00000000

dec

)

1C33:07 Minimum delay time - UINT32 RO 0x000001B0

(7600

dec

)

1C33:08 Command With this entry the real required process data provision

time can be measured.

• 0: Measurement of the local cycle time is stopped

• 1: Measurement of the local cycle time is started

The entries 0x1C33:03, 0x1C33:06, 0x1C33:09 are updated with the maximum measured values. For a subsequent measurement the measured values are reset

UINT16 RW 0x0000 (0

dec

)

1C33:09 Maximum Delay

time

Time between SYNC1 event and reading of the inputs (in ns, only DC mode)

UINT32 RO 0x000001B0

(7600

dec

)

1C33:0B SM event missed

counter

Number of missed SM events in OPERATIONAL (DC mode only)

UINT16 RO 0x0000 (0

dec

)

1C33:0C Cycle exceeded

counter

Number of occasions the cycle time was exceeded in OPERATIONAL (cycle was not completed in time or the next cycle began too early)

UINT16 RO 0x0000 (0

dec

)

1C33:0D Shift too short

counter

Number of occasions that the interval between SYNC0 and SYNC1 event was too short (DC mode only)

UINT16 RO 0x0000 (0

dec

)

1C33:20 Sync error The synchronization was not correct in the last cycle (out-

puts were output too late; DC mode only)

BOOLEAN RO 0x00 (0

dec

)

Page 94

Commissioning/Configuration

EP5xxx94 Version: 2.3.0

Index 6000 SSI Inputs

Index (hex) Name Meaning Data type Flags Default

6000:0 SSI Inputs Length of this object UINT8 RO 0x11 (17

dec

)

6000:01 Data error SSI input error:

- SSI without power supply

- Broken wire at SSI data inputs D+ or D-

- Data cables interchanged

If no data communication takes place the SSI input of the terminal is on low level.

BOOLEAN RO 0x00 (0

dec

)

6000:02 Frame error The data frame is wrong, i.e.the data frame was not termi-

nated with zero (perhaps wire breakage on clock cables)

BOOLEAN RO 0x00 (0

dec

)

6000:03 Power failure An encoder-specific error has occurred. This error bit is

only displayed if it was previously enabled through Enable power failure bit index 0x8000:02 [}94].

BOOLEAN RO 0x00 (0

dec

)

6000:0E Sync error The Sync error bit is only required for DC mode. It indicates

whether a synchronization error has occurred during the previous cycle.

This means a SYNC signal was triggered in the EP5001-0002, although no new process data were available (0=OK, 1=NOK).

BOOLEAN RO 0x00 (0

dec

)

6000:0F TxPDO State Validity of the data of the associated TxPDO (0 = valid, 1 =

invalid).

BOOLEAN RO 0x00 (0

dec

)

6000:10 TxPDO Toggle The TxPDO toggle is toggled by the slave when the data of

the associated TxPDO is updated.

BOOLEAN RO 0x00 (0

dec

)

6000:11 Counter value Counter value UINT32 RO 0x00000000

dec

)

Index 8000 SSI Settings

Index (hex) Name Meaning Data type Flags Default

8000:0 SSI Settings Length of this object UINT8 RO 0x13 (19

dec

)

8000:01 Disable frame error 0: Frame error is not suppressed

1: Frame error is suppressed

BOOLEAN RW 0x00 (0

dec

)

8000:02 Enable power fail-

ure bit

0: Power failure bit is not active 1: Power failure bit is active: The last bit of the data frame (sensor-specific error bit) is shown as error bit in the Power failure object (index 0x6000:03) and bit 2 of the status word.

BOOLEAN RW 0x00 (0

dec

)

8000:03 Enable inhibit time 0: Inhibit time is not active

1: Inhibit time is active

BOOLEAN RW 0x00 (0

dec

)

8000:04 Enable test mode 0: Test mode is not active

1: Test mode is active

BOOLEAN RW 0x00 (0

dec

)

8000:06 SSI-coding 0: Binary code active

1: Gray code active

BIT1 RW 0x01 (1

dec

)

8000:09 SSI-baudrate 0: reserved

1: 1250kbaud 2: 1000kbaud 3: 500kBaud 4: 250kbaud 5: 125kbaud 6 - 65535: reserved

BIT3 RW 0x03 (3

dec

)

8000:0F SSI-frame type 0: Multi-turn analysis is active (25bit data frame)

1: Single-turn-analysis is active (13bit data frame) 2: Variable analysis is active. The length of the data frame (1 to 32bits) is specified with object SSI frame size (index 0x8000:11).

BIT2 RW 0x00 (0

dec

)

8000:11 SSI-frame size Length of the SSI data frame (in bits) UINT16 RW 0x0019 (25

dec

)

8000:12 SSI-data length Data length UINT16 RW 0x0018 (24

dec

)

8000:13 Min. inhibit time[µs] Minimum inhibit time in µs (1 to 65535) UINT16 RW 0x0000 (0

dec

)

Page 95

Commissioning/Configuration

EP5xxx 95Version: 2.3.0

Index 800D SSI Advanced Settings

Index (hex) Name Meaning Data type Flags Default

800D:0 SSI advanced set-

tings

SSI advanced settings RW 0x03 (3

dec

)

800D:01 Encoder power sup-

ply on

Switches the 24V supply voltage RW 0x01 (1

dec

)

800D:02 Encoder direction

pin on

Switches the 24V supply at the direction pin RW 0x00 (0

dec

)

800D:03 Encoder reset pinonSwitches the 24V supply at the reset pin RW 0x00 (0

dec

)

Index F000 Modular device profile

Index (hex) Name Meaning Data type Flags Default

F000:0 Modular device pro-

file

General information for the modular device profile UINT8 RO 0x02 (2

dec

)

F000:01 Module index dis-

tance

Index distance of the objects of the individual channels UINT16 RO 0x0010 (16

dec

)

F000:02 Maximum number

of modules

Number of channels UINT16 RO 0x0001 (1

dec

)

Index F008 Code word (from FW11 in case of EL5001)

Index (hex) Name Meaning Data type Flags Default

F008:0 Code word reserved UINT32 RW 0x00000000

dec

)

Index F010 Module list

Index (hex) Name Meaning Data type Flags Default

F010:0 Module list Length of this object UINT8 RW 0x02 (2

dec

)

F010:01 SubIndex 001 - UINT32 RW 0x000001F5

(501

dec

)

Page 96

Commissioning/Configuration

EP5xxx96 Version: 2.3.0

4.11 EP5101-0002, EP5101-1002 - Object description and parameterization - normal operating mode

EtherCAT XML Device Description

Parameterization via the CoE list (CAN over EtherCAT)

The EtherCAT device is parameterized via the CoE - Online tab [}61] (double-click on the respective object) or via the Process Data [}58] tab (allocation of PDOs).

4.11.1 Restore object

Index 1011 Restore default parameters

Index (hex) Name Meaning Data type Flags Default

1011:0 Restore default pa-

rameters

Restore the default settings UINT8 RO 0x01 (1

dec

)

1011:01 SubIndex 001 If this object is set to "0x64616F6C" in the set value dia-

log, all backup objects are reset to their delivery state. Note: Some FW versions also accept the following input:

"0x6C6F6164".

UINT32 RW 0x00000000

dec

)

Page 97

Commissioning/Configuration

EP5xxx 97Version: 2.3.0

4.11.2 Configuration data

Index 8000 ENC Settings

Index (hex) Name Meaning Data type Flags Default

8000:0 ENC Settings Maximum subindex UINT8 RO 0x17 (23

dec

)

8000:01

Enable C reset [}84]

The counter is reset via the C input. BOOLEAN RW 0x00 (0

dec

)

8000:03

Enable up/down counter [}84]

Enablement of the up/down counter in place of the encoder with the bit set. Increments at input A are counted, input B indicates the count direction.

BOOLEAN RW 0x00 (0

dec

)

8000:08 Disable filter 0: Activates the input filter (inputs A, /A, B, /B, C, /C only)

1: Deactivates the input filter If a filter is activated a signal edge must be present for at least 2.4µs in order to be counted as an increment.

BOOLEAN RW 0x01 (1

dec

)

8000:0A

Enable micro increments [}85]

If enabled, in DC mode the EP5101-0002 and EP5101-1002 devices interpolate micro-increments between the integer encoder increments. The lower 8bits of the Counter Value are used in each case for the display. A 32-bit counter thus becomes a 24+8-bit counter, a 16-bit counter becomes an 8+8-bit counter.

BOOLEAN RW 0x00 (0

dec

)

8000:0B

Open circuit detection A [}85]

An open circuit on track A is indicated in object Open circuit (index 0x6000:07 [}98]) and as a process data. Diag-

nosis is only possible if the corresponding input is wired differentially. A differential voltage<3.5V (typical, subject to change) is detected as a broken wire.

BOOLEAN RW 0x01 (1

dec

)

8000:0C

Open circuit detection B [}85]

An open circuit on track B is indicated in object Open circuit (index 0x6000:07 [}98]) and as a process data. Diag-

nosis is only possible if the corresponding input is wired differentially. A differential voltage<3.5V (typical, subject to change) is detected as a broken wire.

BOOLEAN RW 0x01 (1

dec

)

8000:0D

Open circuit detection C [}85]

An open circuit on track C is indicated in object Open circuit (index 0x6000:07 [}98]) and as a process data. Diag-

nosis is only possible if the corresponding input is wired differentially. A differential voltage<3.5V (typical, subject to change) is detected as a broken wire.

BOOLEAN RW 0x00 (0

dec

)

8000:0E

Reversion of rotation [}84]

Activates reversion of rotation BOOLEAN RW 0x00 (0

dec

)

8000:11

Frequency window [}83]

This is the minimum time over which the frequency is determined; default value 10ms [resolution: 1µs]. The number of pulses in the time window + the following is measured. The maximum waiting time is specified in the Frequency Wait Time parameter. The number of pulses is divided by the actual time window size. The determined frequency is output in object Frequency value (index

0x6000:13 [}98]) and as a process data. The frequency calculation is carried out locally without distributed clocks function.

UINT16 RW 0x2710

(10000

dec

)

8000:13

Frequency scaling [}83]

Scaling of the frequency measurement (must be divided by this value to obtain the unit in Hz): 100: “0.01Hz”

UINT16 RW 0x0064 (100

dec

)

8000:14

Period scaling [}83]

Resolution of the period in the process data: 100: “100ns” period value is a multiple of 100ns 500: “500ns” period value is a multiple of 500ns

UINT16 RW 0x0064 (100

dec

)

8000:15

Frequency resolution [}83]

Resolution of the frequency measurement: 100: “0.01Hz” UINT16 RW 0x0064 (100

dec

)

8000:16

Period resolution [}83]

Internalresolution of the period measurement: 100: “100ns” period value is a multiple of 100ns The period is calculated internally with a resolution of 100ns. The max. measurable period can then be approx.

1.6seconds.

500: “500ns” period value is a multiple of 500ns Internally the period is calculated with 500ns resolution. The maximum measurable period is approx. 32.7ms. The resolution of the process data continues to be the value according to object Period scaling (index 0x8000:14) (e.g.100ns [default]).

UINT16 RW 0x0064 (100

dec

)

Page 98

Commissioning/Configuration

EP5xxx98 Version: 2.3.0

Index (hex) Name Meaning Data type Flags Default

8000:17

Frequency wait time [}83]

Waiting time [ms] for frequency measurement Once the time specified in the frequency window has elapsed, the system waits for the next positive edge from track A. This enables the update speed for the Frequency process data to be optimized, depending on the expected frequencies. The minimum value to be entered here is twice the cycle duration of the smallest measured frequency. T>=2* (1/f

min

)

UINT16 RW 0x0640

(1600

dec

)

4.11.3 Input data

Index 6000 ENC Inputs

Index (hex) Name Meaning Data type Flags Default

6000:0 ENC Inputs Maximum subindex UINT8 RO 0x16 (22

dec

)

6000:01

Latch C valid [}84]

The counter value was latched with the “C” input. The data with Latch Value (Index 0x6000:12) corresponds to the latched value if the bit is set.

To re-enable the latch input, Enable latch C (index 0x7000:01 [}99]) must be canceled and then reset.

BOOLEAN RO 0x00 (0

dec

)

6000:03 Set counter done The counter was set. BOOLEAN RO 0x00 (0

dec

)

6000:04

Counter underflow [}85]

Counter underflow. Overflow/underflow control is inactive in combination with a reset function (C/external).

BOOLEAN RO 0x00 (0

dec

)

6000:05

Counter overflow [}85]

Counter overflow. Overflow/underflow control is inactive in combination with a reset function (C/external).

BOOLEAN RO 0x00 (0

dec

)

6000:07

Open circuit [}85]

Indicates an open circuit. Configuration via the objects

Open circuit detection A Index 0x8000:0B [}97], Open circuit detection B Index 0x8000:0C [}97], Open circuit detection C Index 0x8000:0D [}97]

BOOLEAN RO 0x00 (0

dec

)

6000:08

Extrapolation stall [}85]

The extrapolated part of the counter is invalid. BOOLEAN RO 0x00 (0

dec

)

6000:09 Status of input A Status of input A BOOLEAN RO 0x00 (0

dec

)

6000:0A Status of input B Status of input B BOOLEAN RO 0x00 (0

dec

)

6000:0B Status of input C Status of input C BOOLEAN RO 0x00 (0

dec

)

6000:0E Sync error The Sync error bit is only required for DC mode. It indicates

whether a synchronization error has occurred during the previous cycle. This means a SYNC signal was triggered in the EP51x1, although no new process data were available (0=OK, 1=NOK).

BOOLEAN RO 0x00 (0

dec

)

6000:0F TxPDO State Validity of the data of the associated TxPDO (0 = valid, 1 =

invalid).

BOOLEAN RO 0x00 (0

dec

)

6000:10 TxPDO Toggle The TxPDO toggle is toggled by the slave when the data of

the associated TxPDO is updated.

BOOLEAN RO 0x00 (0

dec

)

6000:11 Counter value Counter value UINT32 RO 0x00000000

dec

)

6000:12 Latch value Latch value UINT32 RO 0x00000000

dec

)

6000:13

Frequency value [}83]

The frequency (setting of the scaling and resolution in the objects Frequency scaling index 0x8000:13 [}97] and Fre- quency resolution index 0x8000:15 [}97])

UINT32 RO 0x00000000

dec

)

6000:14

Period value [}83]

The cycle duration/period (setting of the scaling and resolution in the objects Period scaling index 0x8000:14 [}97] and Period resolution index 0x8000:16 [}97])

UINT32 RO 0x00000000

dec

)

6000:16

Timestamp [}72]

Timestamp of the last counter change UINT64 RO

Page 99

Commissioning/Configuration

EP5xxx 99Version: 2.3.0

4.11.4 Output data

Index 7000 ENC Outputs

Index (hex) Name Meaning Data type Flags Default

7000:0 ENC Outputs Maximum subindex UINT8 RO 0x11(17

dec

)

7000:01

Enable latch C [}84]

Activate latching via input “C”. BOOLEAN RO 0x00 (0

dec

)

7000:03 Set counter Set counter value BOOLEAN RO 0x00 (0

dec

)

7000:11 Set counter value The counter value to be set via Set counter (index

0x7000:03).

UINT32 RO 0x00000000

(

dec

)

4.11.5 Information / diagnostic data (channel specific)

Index A000 ENC Diag data

Index (hex) Name Meaning Data type Flags Default

A000:0 ENC Diag data Maximum subindex UINT8 RO 0x03 (3

dec

)

A000:01

Open circuit A [}85]

Open circuit on track A BOOLEAN RO 0x00 (0

dec

)

A000:02

Open circuit B [}85]

Open circuit on track B BOOLEAN RO 0x00 (0

dec

)

A000:03

Open circuit C [}85]

Open circuit on track C BOOLEAN RO 0x00 (0

dec

)

4.11.6 Standard objects

The standard objects have the same meaning for all EtherCAT slaves.

Index 1000 Device type

Index (hex) Name Meaning Data type Flags Default

1000:0 Device type Device type of the EtherCAT slave: The Lo-Word contains

the CoE profile used (5001). The Hi-Word contains the module profile according to the modular device profile.

UINT32 RO 0x01FF1389

(33493897

dec

)

Index 1008 Device name

Index (hex) Name Meaning Data type Flags Default

1008:0 Device name Device name of the EtherCAT slave STRING RO EP5101-0002

EP5101-1002

Index 1009 Hardware version

Index (hex) Name Meaning Data type Flags Default

1009:0 Hardware version Hardware version of the EtherCAT slave STRING RO -

Index 100A Software version

Index (hex) Name Meaning Data type Flags Default

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

Page 100

Commissioning/Configuration

EP5xxx100 Version: 2.3.0

Index 1018 Identity

Index (hex) Name Meaning Data type Flags Default

1018:0 Identity Information for identifying the slave UINT8 RO 0x04 (4

dec

)

1018:01 Vendor ID Vendor ID of the EtherCAT slave UINT32 RO 0x00000002

dec

)

1018:02 Product code Product code of the EtherCAT slave UINT32 RO 0x13ED4052

(334315602

dec

)

1018:03 Revision Revision numberof the EtherCAT slave; the Low Word (bit

0-15) indicates the special terminal number, the High Word (bit 16-31) refers to the device description

UINT32 RO 0x00000000

dec

)

1018:04 Serial number Serial number of the EtherCAT slave; the Low Byte (bit

0-7) of the Low Word contains the year of production, the High Byte (bit 8-15) of the Low Word contains the week of production, the High Word (bit 16-31) is 0

UINT32 RO 0x00000000

dec

)

Index 10F0 Backup parameter handling

Index (hex) Name Meaning Data type Flags Default

10F0:0 Backup parameter

handling

Information for standardized loading and saving of backup entries

UINT8 RO 0x01 (1

dec

)

10F0:01 Checksum Checksum across all backup entries of the EtherCAT slave UINT32 RO 0x00000000

dec

)

Index 1400 ENC RxPDO-Par Control compact

Index (hex) Name Meaning Data type Flags Default

1400:0 ENC RxPDO-Par

Control compact

PDO Parameter RxPDO 1 UINT8 RO 0x06 (6

dec

)

1400:06 Exclude RxPDOs Specifies the RxPDOs (index of RxPDO mapping objects)

that must not be transferred together with RxPDO 1

OCTETSTRING[2]

RO 01 16

Index 1401 ENC RxPDO-Par Control

Index (hex) Name Meaning Data type Flags Default

1401:0 ENC RxPDO-Par

Control

PDO Parameter RxPDO 2 UINT8 RO 0x06 (6

dec

)

1401:06 Exclude RxPDOs Specifies the RxPDOs (index of RxPDO mapping objects)

that must not be transferred together with RxPDO 2

OCTETSTRING[2]

RO 00 16

Index 1600 ENC RxPDO-Map Control compact (EP5101-0002)

Index (hex) Name Meaning Data type Flags Default

1600:0 ENC RxPDO-Map

Control compact

PDO Mapping RxPDO 3 UINT8 RO 0x06 (6

dec

)

1600:01 SubIndex 001 1. PDO Mapping entry (object 0x7000 (ENC Outputs), en-

try 0x01 (Enable latch C))

UINT32 RO 0x7000:01,1

1600:02 SubIndex 002 2. PDO Mapping entry (1 bit align) UINT32 RO 0x0000:00, 1

1600:03 SubIndex 003 3. PDO Mapping entry (object 0x7000 (ENC Outputs), en-

try 0x03 (Set counter))

UINT32 RO 0x7000:03, 1

1600:04 SubIndex 004 4. PDO Mapping entry (5 bits align) UINT32 RO 0x0000:00, 5

1600:05 SubIndex 005 5. PDO Mapping entry (8 bits align) UINT32 RO 0x0000:00, 8

1600:06 SubIndex 006 6. PDO Mapping entry (object 0x7000 (ENC Outputs), en-

try 0x11 (Set counter value))

UINT32 RO 0x7000:11, 16

1600:07 SubIndex 007 7. reserved UINT32 RO -