Beckhoff EP6002, EP6001 Documentation

Documentation for

EP6001 and EP6002

Serial Interface Modules (RS232 or RS422/RS485)

Version:
Date:

2.1.0
2018-10-19

Table of contents

Table of contents

1 Foreword ....................................................................................................................................................5

1.1 Notes on the documentation..............................................................................................................5

1.2 Safety instructions .............................................................................................................................6

1.3 Documentation Issue Status..............................................................................................................7

2 Product overview.......................................................................................................................................9

2.1 Module overview................................................................................................................................9

2.2 EtherCAT Box - Introduction............................................................................................................10

2.3 EP6001-0002...................................................................................................................................12

2.3.1 EP6001-0002 - Introduction............................................................................................. 12

2.3.2 EP6001-0002 – Technical data ....................................................................................... 13

2.3.3 EP6001-0002 - Process image........................................................................................ 14

2.4 EP6002-0002...................................................................................................................................16

2.4.1 EP6002-0002 - Introduction............................................................................................. 16

2.4.2 EP6002-0002 – Technical data ....................................................................................... 18

2.4.3 EP6002-0002 - Process image........................................................................................ 19

3 Mounting and connection.......................................................................................................................21

3.1 Mounting..........................................................................................................................................21

3.1.1 Dimensions ...................................................................................................................... 21

3.1.2 Fixing ............................................................................................................................... 22

3.1.3 Nut torque for connectors ................................................................................................ 23

3.1.4 Additional checks............................................................................................................. 24

3.2 EtherCAT.........................................................................................................................................25

3.2.1 EtherCAT connection....................................................................................................... 25

3.2.2 EtherCAT - Fieldbus LEDs .............................................................................................. 27

3.3 Power supply ...................................................................................................................................28

3.3.1 Power Connection ........................................................................................................... 28

3.3.2 Status LEDs for power supply ......................................................................................... 31

3.3.3 Power cable conductor losses M8 ................................................................................... 32

3.3.4 Conductor losses 7/8"...................................................................................................... 33

3.4 Signal connection ............................................................................................................................34

3.4.1 Signal connection EP6001-0002 ..................................................................................... 34

3.4.2 Signal connection EP6002-0002 ..................................................................................... 37

3.5 EP6001-0002 - Status LEDs ...........................................................................................................38

3.6 EP6002-0002 - Status LEDs ...........................................................................................................39

3.7 Cabling ............................................................................................................................................40

3.8 UL Requirements.............................................................................................................................42

3.9 ATEX notes .....................................................................................................................................43

3.9.1 ATEX - Special conditions ............................................................................................... 43

3.9.2 BG2000-0000 - EtherCAT Box protection enclosure....................................................... 44

3.9.3 ATEX Documentation ...................................................................................................... 45

4 Basics communication - EtherCAT........................................................................................................46

4.1 EtherCAT basics..............................................................................................................................46

4.2 Watchdog setting.............................................................................................................................46

EP6001 and EP6002 3Version: 2.1.0

Table of contents

4.3 EtherCAT State Machine.................................................................................................................49

4.4 CoE interface...................................................................................................................................51

5 Commissioning/Configuration ...............................................................................................................56

5.1 EP600x-0002 - Interface modes......................................................................................................56

5.2 EP600x-0002 - Basic function principles .........................................................................................59

5.3 Insertion in the EtherCAT network...................................................................................................63

5.4 Configuration by means of the TwinCAT System Manager.............................................................66

5.5 EP600x-0002 - Selection of the interface type ................................................................................74

5.6 EP6002-0002 - sample program 1 ..................................................................................................75

5.7 EP6002-0002 - Sample program 2..................................................................................................78

5.8 EP6002-0002 - Object overview......................................................................................................81

5.9 EP6002-0002 - Object description and parameterization................................................................90

5.10 EP6001-0002 - Object overview....................................................................................................112

5.11 EP6001-0002 - Object description and parameterization..............................................................117

5.12 Restoring the delivery state ...........................................................................................................132

6 Appendix ................................................................................................................................................133

6.1 General operating conditions.........................................................................................................133

6.2 EtherCAT Box- / EtherCATPBox - Accessories ..........................................................................134

6.3 Support and Service ......................................................................................................................135

EP6001 and EP60024 Version: 2.1.0

Foreword

1 Foreword

1.1 Notes on the documentation

Intended audience

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

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

Disclaimer

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

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

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

Trademarks

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

Patent Pending

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

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

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

Copyright

© Beckhoff Automation GmbH & Co. KG, Germany.
The reproduction, distribution and utilization of this document as well as the communication of its contents to
others without express authorization are prohibited.
Offenders will be held liable for the payment of damages. All rights reserved in the event of the grant of a
patent, utility model or design.

EP6001 and EP6002 5Version: 2.1.0

Foreword

1.2 Safety instructions

Safety regulations

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

Exclusion of liability

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

Personnel qualification

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

Description of instructions

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

DANGER

Serious risk of injury!

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

WARNING

Risk of injury!

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

CAUTION

Personal injuries!

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

NOTE

Damage to environment/equipment or data loss

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

Tip or pointer

This symbol indicates information that contributes to better understanding.

EP6001 and EP60026 Version: 2.1.0

1.3 Documentation Issue Status

Version Comment

2.1.0 • Chapter Notes on the documentation updated

• Structural update

• RS232 level corrected

• Chapter Mounting updated

2.0.1 • Nut torques for connectors updated

2.0.0 • Migration

• EP6001-0002 added

• Chapter Mounting updated

• Conductor losses 7/8" added

• Chapter Cabling updated

• EP6001, EP6002 Status-LEDs updated

• Chapter Signal connection added

• EP6001-0002 - Status-LEDs added

• Basics communication - EtherCAT added

• EP600x-0002 - Interface modes updated

• EP600x-0002 - Basic function principles updated

• EP600x-0002 - Choice of the interface type updated

• EP6002-0002 - Sample program 1 updated

• EP6002-0002 - Sample program 2 updated

• EP6001-0002 - Object overview added

• EtherCAT Box accessories updated

1.3.0 • Power Connection updated

1.2.0 • Description of choosing the interface type via System Manager corrected

• Object description extended

• Notes on RS485 mode extended

• Chapter EtherCAT connection updated

1.1.0 • Description of the M12 sockets corrected

• Technical data updated

1.0.0 • Extended ambient temperature range

• Sample programs added

• Special conditions for ATEX added

• Description of the power connection updated

• Overview of EtherCAT cables extended

0.1 • First preliminary version for EP6002-0002

Foreword

Firmware and hardware versions

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

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

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

EP6001 and EP6002 7Version: 2.1.0

Foreword

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

EP6001 and EP60028 Version: 2.1.0

Product overview

2 Product overview

2.1 Module overview

EP600x-0002

Module Signal connection Number of channels – serial interfaces Comment

EP6001-0002 [}12]

EP6002-0002 [}16]

4 x M12 1 Narrow housing

4 x M12 2 Narrow housing

EP6001 and EP6002 9Version: 2.1.0

Product overview

2.2 EtherCAT Box - Introduction

The EtherCAT system has been extended with EtherCAT Box modules with protection class IP67. Through
the integrated EtherCAT interface the modules can be connected directly to an EtherCAT network without an
additional Coupler Box. The high-performance of EtherCAT is thus maintained into each module.

The extremely low dimensions of only 126x30x26.5 mm (hxw xd) are identical to those of the Fieldbus
Box extension modules. They are thus particularly suitable for use where space is at a premium. The small
mass of the EtherCAT modules facilitates applications with mobile I/O interface (e.g. on a robot arm). The
EtherCAT connection is established via screened M8connectors.

Fig.1: EtherCAT Box Modules within an EtherCAT network

The robust design of the EtherCAT Box modules enables them to be used directly at the machine. Control
cabinets and terminal boxes are now no longer required. The modules are fully sealed and therefore ideally
prepared for wet, dirty or dusty conditions.

Pre-assembled cables significantly simplify EtherCAT and signal wiring. Very few wiring errors are made, so
that commissioning is optimized. In addition to pre-assembled EtherCAT, power and sensor cables, field­configurable connectors and cables are available for maximum flexibility. Depending on the application, the
sensors and actuators are connected through M8 or M12connectors.

The EtherCAT modules cover the typical range of requirements for I/O signals with protection class IP67:

• digital inputs with different filters (3.0ms or 10μs)

• digital outputs with 0.5 or 2A output current

• analog inputs and outputs with 16bit resolution

• Thermocouple and RTD inputs

• Stepper motor modules

XFC (eXtreme Fast Control Technology) modules, including inputs with time stamp, are also available.

EP6001 and EP600210 Version: 2.1.0

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

Product overview

Fig.3: EtherCAT Box with M12 connections for sensors/actuators

Basic EtherCAT documentation

You will find a detailed description of the EtherCAT system in the Basic System Documentation for
EtherCAT, which is available for download from our website (www.beckhoff.com) under Downloads.

XML files

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.

EP6001 and EP6002 11Version: 2.1.0

Product overview

2.3 EP6001-0002

2.3.1 EP6001-0002 - Introduction

Fig.4: EP6001-0002

1-channel serial interface, RS232, RS422/RS485

The EP6001-0002 serial interface module allows the connection of devices with an RS232 or an RS422/
RS485 interface. The module transmits the data in a fully transparent manner to the higher-level automation
device. The active serial communication channel functions independently of the higher-level bus system in
full duplex mode at up to 115,200baud, while a 864bytes receive buffer and a 128byte send buffer are
available.

The 1-channel version has an increased end device power supply of up to 1A; the connector assignment
depends on the interface selected.

The two integrated digital inputs/outputs allow the connection of additional sensors/actuators in order, for
example, to trigger the reading process of the barcode reader or, depending on the result, to initiate an
action.

In conjunction with the TwinCAT Virtual Serial COM Driver the EP6001-0002 can be used as a normal
Windows COM interface.

EP6001 and EP600212 Version: 2.1.0

Product overview

2.3.2 EP6001-0002 – Technical data

Technical data EP6001-0002

Fieldbus [}46]

Fieldbus connection [}25]

Nominal voltage 24VDC (-15 %/+20 %)
Data transfer channels 1
Number of digital inputs/outputs 2, 24VDC, 10µs/0.5A
Distributed clocks ­Data transfer rates 300...115,200Baud; 9,600Baud (8-bit, no parity, 1 stop bit)

Signal connection [}34]

Bit distortion <3%
Cable length RS232: max. 15m; RS422/RS485: approx. 1,000m
Data buffer 864-byte receive buffer, 128-byte send buffer
Sensor supply + 5VDC, 1A
Process image per channel 22 x 8-bit input,

Supply of the module electronics from the control voltage Us
Current consumption of the module

electronics
Power supply connection Power supply: 1 x M8 connector, 4-pin; downstream

Electrical isolation 500V
Special features integrated supply for the end devices 5VDC/1A
Permissible ambient temperature during

operation

Permissible ambient temperature during
storage

Vibration / shock resistance conforms to EN60068-2-6/EN 60068-2-27
EMC immunity/emission conforms to EN61000-6-2/EN 61000-6-4
Protection class IP 65/66/67 (conforms to EN 60529)
Weight app.165g
Installation position variable

Approvals [}42]

EtherCAT

2 x M8 socket (green)

preset
M12 sockets, screwable for RS232, RS422/485 or digital I/O

22 x 8-bit output,

16-bit control,

16-bit status

typical 130mA + load, e.g. 130mA + 2 x 20mA = 170mA

connection: 1 x M8 socket, 4-pin

-25…+60 °C

0 °C ... +55 °C (according to cULus, see UL requirements)

-40…+85 °C

CE, UL

EP6001 and EP6002 13Version: 2.1.0

Product overview

2.3.3 EP6001-0002 - Process image

The TwinCAT System Manager displays the EP6001-0002 data in a tree structure.

The tree shows:

COM inputs: Channel input data

COM outputs: Channel output data

COM Inputs

The tree shows:

Status: Status bits of the channel

Data In 0 to Data In 21: Channel input data

EP6001 and EP600214 Version: 2.1.0

COM outputs

Product overview

The tree shows:

Status: Control bits of the channel

Data Out 0 to Data Out 21: Channel output data

EP6001 and EP6002 15Version: 2.1.0

Product overview

2.4 EP6002-0002

2.4.1 EP6002-0002 - Introduction

Dual-channel serial interface module: RS232 or RS422/RS485

The EP6002-0002 2-channel serial interface module enables the connection of devices with an RS232 or
RS422/RS485 interface. The module transmits the data in a fully transparent manner to the higher-level
automation device. The data is transferred via the fieldbus using a simple handshake protocol. This does not
have any effect on the protocol of the serial interface. The active serial communication channel functions
independently of the higher-level bus system in full duplex mode at up to 115,200baud, while a 864bytes
receive buffer and a 128byte send buffer are available.

In connection with TwinCAT's virtual serial COM driver (see TwinCAT supplements – communication), the
EP6002 can be used as a normal Windows COM interface.

The choice of connection depends on the interface type. In the TwinCAT System Manager [}74] you can
select either the RS232 connection or the RS422/RS485 connection for each channel.

For

• RS422/RS485 use the M12 connections 1 and 3

• RS232 use the M12 connections 2 and 4

Interface modes/ operation modes

the following settings for the interfaces can be made via the CoE objects:

• RS232: point-to-point connection to an RS232 device

• RS422: 4-wire point-to-point connection to an RS422 device

• RS485:2-wire connection in bus structure to RS485 device(s)

• RS485:2-wire connection with external bridge in bus structure to RS485 device(s), monitoring of the
transmitted data

EP6001 and EP600216 Version: 2.1.0

Quick links

Installation [}21]

Interface modes [}56]

Configuration [}63]

Sample programs [}75]

UL requirements [}42]

ATEX - Special conditions [}43]

Product overview

EP6001 and EP6002 17Version: 2.1.0

Product overview

2.4.2 EP6002-0002 – Technical data

Technical data EP6002-0002

Fieldbus [}46]

Fieldbus connection [}25]

Data transfer channels 2 (1/1), TxD and RxD, full duplex
Data transfer rates 300...115,200Baud; 9,600Baud (8-bit, no parity, 1 stop bit)

Signal connection [}34]

Bit distortion < 3%
Cable length RS232: max. 15m; RS422/RS485: approx. 1,000m
Data buffer 864-byte receive buffer, 128-byte send buffer
Process image per channel 22 x 8-bit input,

Supply of the module electronics from the control voltage Us
Current consumption of the module

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

Electrical isolation 500V
Permissible ambient temperature during

operation

Permissible ambient temperature during
storage

Vibration/ shock resistance conforms to EN60068-2-6/ EN60068-2-27
EMC immunity/emission conforms to EN61000-6-2/ EN61000-6-4
Protection class IP65, IP66, IP67 (conforms to EN 60529)
Weight app.165g
Installation position variable

Approvals [}42]

EtherCAT

2 x M8 socket (green)

preset
M12 sockets for RS232 or RS422/485

22 x 8-bit output,
16-bit control,
16-bit status

typical130mA + load, e.g. 130mA + 2 x 20mA = 170mA

Onward connection: 1 x M8 socket, 4-pole

-25°C...+60°C
 0°C ... +55°C (conforms to ATEX, see special conditions)
 0 °C ... +55 °C (according to cULus, see UL requirements)

-40°C...+85°C

CE, cULus, ATEX

EP6001 and EP600218 Version: 2.1.0

2.4.3 EP6002-0002 - Process image

The TwinCAT System Manager displays the EP6002-0002 data in a tree structure.

The tree shows:

• COM Inputs Channel 1: input data of the 1
channel

• COM Inputs Channel 2: input data of the 2
channel

• COM Outputs Channel 1: output data of the 1
channel

• COM Outputs Channel 2: output data of the 2
channel

Product overview

st

nd

st

nd

Table1: COM Inputs Channel 1

The tree shows:

• Status: status bits of the 1st channel

• Data In 0 to Data In 21: input data of the 1
channel

st

EP6001 and EP6002 19Version: 2.1.0

Product overview

COM Inputs Channel 2

The data of the 2nd channel are structured identically to those of the 1st channel.

Table2: COM Outputs Channel 1

The tree shows:

• Status: Control bits of the 1st channel

• Data Out 0 to Data Out 21: output data of the
1st channel

COM Outputs Channel 2

The data of the 2nd channel are structured identically to those of the 1st channel.

EP6001 and EP600220 Version: 2.1.0

3 Mounting and connection

3.1 Mounting

3.1.1 Dimensions

Mounting and connection

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)

EP6001 and EP6002 21Version: 2.1.0

Mounting and connection

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.

EP6001 and EP600222 Version: 2.1.0

Mounting and connection

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

EP6001 and EP6002 23Version: 2.1.0

Mounting and connection

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

EP6001 and EP600224 Version: 2.1.0

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

Mounting and connection

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

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

EP6001 and EP6002 25Version: 2.1.0

Mounting and connection

Fig.13: Coupler Box: M12

Assignment

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

Ethernet/EtherCAT Plug connector Cable Standard

Signal Description M8 M12 RJ45

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

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

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

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

Shield Shield Housing Shroud Screen Screen Screen

1

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

2

) wire colors according to EN 61918

3

) wire colors

1

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

2

2

2

2

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

orange/white

orange

blue/white

3

blue

3

3

3

TIA-568B

white/orange

orange

white/green

green

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

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

EtherCAT connector

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

EP6001 and EP600226 Version: 2.1.0

Mounting and connection

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

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.

EP6001 and EP6002 27Version: 2.1.0

Mounting and connection

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3: 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
4 GNDp*

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

Two LEDs display the status of the supply voltages.

module descriptions

DC

DC

NOTE

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

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

Control voltage Us: 24V

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

DC

EP6001 and EP600228 Version: 2.1.0

Mounting and connection

Auxiliary voltage Up 24V

DC

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

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!

EP6001 and EP6002 29Version: 2.1.0

Mounting and connection

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

EP6001 and EP600230 Version: 2.1.0

Mounting and connection

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

EP6001 and EP6002 31Version: 2.1.0

Mounting and connection

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.

EP6001 and EP600232 Version: 2.1.0

Mounting and connection

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.

EP6001 and EP6002 33Version: 2.1.0

Mounting and connection

3.4 Signal connection

3.4.1 Signal connection EP6001-0002

RS232

Fig.22: M12 socket, A-coded

Pin Signal Connection for

1 5V
2 TxD send data
3 GND ground
4 RxD receive data
5 SHLD shield

DC

auxiliary voltage 5VDC (20mA, short-circuit proof)

RS485/RS422TX

Fig.23: M12 socket, A-coded

Pin Signal Connection for

1 Tx- send data
2 Tx+ send data
3 GND ground
4 Vcc auxiliary voltage 5VDC (20mA, short-circuit proof)
5 Shield shield

RS485 - half duplex connection

For half duplex connection under RS485 only one pair of wires is needed for data transmission.
Connect this core pair to Tx-/Tx+.

RS485 bus structure - use termination resistors

A linear bus with more than two devices can be set-up in RS485 mode. To prevent reflections dur­ing the data transmission, it is necessary to terminate the line ends of the bus cable with resistors
(120Ω).

EP6001 and EP600234 Version: 2.1.0

RS422RX

Fig.24: M12 socket, A-coded

Pin Signal Connection for

1 Rx- receive data
2 Rx+ receive data
3 GND ground
4 Vcc auxiliary voltage 5VDC (20mA, short-circuit proof)
5 Shield shield

Mounting and connection

Digital inputs M8 and M12

The digital input modules acquire the binary control signals from the process level and transmit them to the
higher-level automation device.

The signals are connected via M8 connectors (EPxxxx-0001) or M12 connectors (EPxxxx-0002).

Fig.25: Digital inputs M8 and M12

The sensors are supplied with a common maximum current of 0.5Afrom the control voltage Us.

Light emitting diodes indicate the signal state of the inputs.

EP6001 and EP6002 35Version: 2.1.0

Mounting and connection

Digital outputs M8 and M12

The digital output modules connect the binary control signals from the automation unit on to the actuators at
the process level.

The signals are connected via M8 connectors (EP2xxx-0001) or M12 connectors (EP2xxx-0002).

Fig.26: Digital outputs M8 and M12

The outputs are short-circuit proof and protected against inverse connection.

LEDs indicate the signal state of the outputs.

EP6001 and EP600236 Version: 2.1.0

3.4.2 Signal connection EP6002-0002

RS485/422

Fig.27: M12 socket, A-coded

Pin Signal Connection for

1 TxD- send data
2 TxD+ send data
3 RxD- receive data
4 RxD+ receive data
5 SHLD shield

Mounting and connection

RS485 - Half Duplex Connection

For half duplex connection under RS485 only one pair of wires is needed for data transmission.
Connect this pair of wires to Tx-/Tx+.

RS485 bus set up - use terminating resistors

A linear bus with more than two devices can be set-up in RS485 mode. To prevent reflections dur­ing the data transmission, it is necessary to terminate the line ends of the bus cable with resistors
(120Ω).

RS232

Fig.28: M12 socket, A-coded

Pin Signal Connection for

1 5V
2 TxD send data
3 GND ground
4 RxD receive data
5 SHLD shield

DC

auxiliary voltage 5VDC (20mA, short-circuit proof)

EP6001 and EP6002 37Version: 2.1.0

Mounting and connection

3.5 EP6001-0002 - Status LEDs

Fig.29: EP6001-0002 - Status LEDs

Status LEDs at the M12 connectors

Connector LED Display Meaning

M12 socket no. 1-3 RX

left

TX
right

M12 socket no.4 left LED (6) off Output A / Input A inactive

right LED (7) off Output B / Input B inactive

Power supply

off Serial port on this M12 connector not ready to receive data
green

illuminated
orange

illuminated
off Serial port on this M12 connector not ready to transmit data
green

illuminated
orange

illuminated

green
illuminated

green
illuminated

Serial port on this M12 connector ready to receive data

Serial port on this M12 connector receiving data

Serial port on this M12 connector ready to transmit data

Serial port on this M12 connector transmitting data

Output A / Input A active

Output B / Input B active

LED Display Meaning

Us off The supply voltage, Us, is not present

green
illuminated

Up off The supply voltage, Up, is not present

green
illuminated

The supply voltage, Us, is present

The supply voltage, Up, is present

EP6001 and EP600238 Version: 2.1.0

3.6 EP6002-0002 - Status LEDs

Mounting and connection

Fig.30: EP6002-0002 - Status LEDs

Status LEDs at the M12 connectors

Connector LED Display Meaning

M12 socket no. 1-4 RX

left

TX
right

Power supply

LED Display Meaning

Us off The supply voltage, Us, is not present

Up off The supply voltage, Up, is not present

off Serial port on this M12 connector not ready to receive data
green Serial port on this M12 connector ready to receive data
orange Serial port on this M12 connector receiving data
off Serial port on this M12 connector not ready to transmit data
green Serial port on this M12 connector ready to transmit data
orange Serial port on this M12 connector transmitting data

green
illuminated

green
illuminated

The supply voltage, Us, is present

The supply voltage, Up, is present

EP6001 and EP6002 39Version: 2.1.0

Mounting and connection

3.7 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.31: 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.

EP6001 and EP600240 Version: 2.1.0

Power cable

Mounting and connection

Fig.32: ZK2020-3132-0xxx

Sensor cables

Fig.33: Selection of Beckhoff sensor cables

EP6001 and EP6002 41Version: 2.1.0

Mounting and connection

3.8 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.34: UL label

EP6001 and EP600242 Version: 2.1.0

Mounting and connection

3.9 ATEX notes

3.9.1 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 [}44] that guar­antees a protection against mechanical hazards!

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

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

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

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

Standards

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

• EN 60079-0: 2006

• EN 60079-15: 2005

Marking

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

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

or

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

Batch number (D number)

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

D: WW YY FF HH

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

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

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

EP6001 and EP6002 43Version: 2.1.0

Mounting and connection

3.9.2 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 [}43].

Installation

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

Fig.35: BG2000-0000, putting the cables

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

EP6001 and EP600244 Version: 2.1.0

Mounting and connection

Fig.36: BG2000-0000, fixing the cables

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

Fig.37: BG2000-0000, mounting the protection enclosure

3.9.3 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!

EP6001 and EP6002 45Version: 2.1.0

Basics communication - EtherCAT

4 Basics communication - EtherCAT

4.1 EtherCAT basics

Basic information on the EtherCAT fieldbus can be found in the EtherCAT system documentation.

4.2 Watchdog setting

General information on watchdog settings

The ELxxxx Terminals and EPxxxx Box Modules are equipped with a safety device (watchdog) that switches
the outputs to a safe state after a time that can be preset, for example in the case of interrupted process data
traffic, or to OFF, for example depending on device and setting.

The EtherCAT Slave Controller (ESC) has two watchdogs:

• SM watchdog (default: 100 ms)

• PDI watchdog (default: 100 ms)

SM Watchdog (SyncManagerWatchdog)

The SyncManager watchdog is reset after each successful EtherCAT process data communication with the
terminal/box. If no EtherCAT process data communication takes place with the terminal/box for longer than
the set and activated SM watchdog time, e.g. in the event of a line interruption, the watchdog is triggered and
the outputs are set to FALSE. The OP status of the terminal/box is unaffected by this. The watchdog is only
reset after a successful EtherCAT process data access. Set the monitoring time as specified below.

The SyncManager watchdog monitors correct and timely process data communication with the ESC from the
EtherCAT side.

PDI watchdog (process data watchdog)

If no PDI communication with the EtherCAT slave controller (ESC) takes place for longer than the set and
activated PDI watchdog time, this watchdog is triggered.

PDI (Process Data Interface) is the internal interface between the ESC and local processors in the EtherCAT
slave, for example. The PDI watchdog can be used to monitor this communication for failure.

The PDI watchdog monitors correct and timely process data communication with the ESC but from the
application side.

The SM and PDI watchdogs should be set separately for each slave in the TwinCAT System Manager:

EP6001 and EP600246 Version: 2.1.0

Basics communication - EtherCAT

Fig.38: EtherCAT tab --> Advanced settings --> Behavior --> Watchdog

Comments:

• The multiplier applies to both watchdogs.

• Each watchdog has its own timer setting, which together with the multiplier results in a time.

• Important: The multiplier/timer setting is loaded into the slave on start-up, if the corresponding

checkbox is ticked. If the checkbox is not ticked, no download takes place, and the ESC setting
remains unchanged.

Multiplier

Both watchdogs receive their pulses from the local terminal/box clock, divided by the watchdog multiplier.

1/25 MHz * (watchdog multiplier + 2) = 100µs (for default setting of 2498 for the multiplier)

The standard setting of 1000 for the SM watchdog corresponds to a release time of 100 ms.

The value in multiplier + 2 corresponds to the number of basic 40ns ticks representing a watchdog tick.

The multiplier can be modified in order to adjust the watchdog time over a larger range.

Example "Set SM watchdog"

This checkbox enables manual setting of the watchdog times. If the outputs are set and the EtherCAT
communication is interrupted, the SM watchdog is triggered after the set time and the outputs are deleted.
This setting can be used for adapting a terminal to a slower EtherCAT master or long cycle times. The
default SM watchdog setting is 100 ms. The setting range is from 0 to 65535. Together with a multiplier in a
range from 1 to 65535, this covers a watchdog period of 0 to ~170 seconds.

Calculation

Multiplier = 2498 → watchdog base time = 1 / 25MHz * (2498 + 2) = 0.0001seconds = 100µs

SM watchdog = 10000 → 10000 * 100µs = 1second watchdog monitoring time

EP6001 and EP6002 47Version: 2.1.0

Basics communication - EtherCAT

CAUTION

Caution! Unintended behavior of the system is possible!

The function for switching off of the SM watchdog via SM watchdog = 0 is only implemented in terminals
from version -0016. In previous versions this operating mode should not be used.

CAUTION

Caution! Damage to the equipment and unintended behavior of the system is possible!

If the SM watchdog is activated and a value of 0 is entered the watchdog switches off completely. This is
watchdog deactivation! Outputs are then NOT set to a safe state, in the event of an interruption in commu­nication!

Outputs in SAFEOP

Watchdog monitoring is activated by default. It sets the outputs in the module to a safe state (e.g.
OFF), depending on the SAFEOP and OP settings, and depending on the device and its settings. If
this is prevented due to deactivation of watchdog monitoring in the module, outputs can be switched
or remain set in device state SAFEOP.

EP6001 and EP600248 Version: 2.1.0

Basics communication - EtherCAT

4.3 EtherCAT State Machine

The state of the EtherCAT slave is controlled via the EtherCAT State Machine (ESM). Depending upon the
state, different functions are accessible or executable in the EtherCAT slave. Specific commands must be
sent by the EtherCAT master to the device in each state, particularly during the bootup of the slave.

A distinction is made between the following states:

• Init

• Pre-Operational

• Safe-Operational and

• Operational

• Boot

The regular state of each EtherCAT slave after bootup is the OP state.

Fig.39: EtherCAT State Machine

Init

After switch-on the EtherCAT slave in the Init state. No mailbox or process data communication is possible.
The EtherCAT master initializes sync manager channels 0 and 1 for mailbox communication.

Pre-Operational (Pre-Op)

During the transition between Init and Pre-Op the EtherCAT slave checks whether the mailbox was initialized
correctly.

In Pre-Op state mailbox communication is possible, but not process data communication. The EtherCAT
master initializes the sync manager channels for process data (from sync manager channel 2), the FMMU
channels and, if the slave supports configurable mapping, PDO mapping or the sync manager PDO
assignment. In this state the settings for the process data transfer and perhaps terminal-specific parameters
that may differ from the default settings are also transferred.

Safe-Operational (Safe-Op)

During transition between Pre-Op and Safe-Op the EtherCAT slave checks whether the sync manager
channels for process data communication and, if required, the distributed clocks settings are correct. Before
it acknowledges the change of state, the EtherCAT slave copies current input data into the associated DP­RAM areas of the EtherCAT slave controller (ECSC).

EP6001 and EP6002 49Version: 2.1.0

Basics communication - EtherCAT

Mailbox and process data communication is possible in the Safe-Op state, but the slave keeps its outputs in
the safe state. However, the input data are cyclically updated.

Operational (Op)

Before the EtherCAT master switches the EtherCAT slave from Safe-Op to Op it must transfer valid output
data.

In the Op state the slave copies the output data of the masters to its outputs. Process data and mailbox
communication is possible.

Boot

In the Boot state the slave firmware can be updated. The Boot state can only be reached via the Init state.

In the Boot state mailbox communication via the file access over EtherCAT (FoE) protocol is possible, but no
other mailbox communication and no process data communication.

EP6001 and EP600250 Version: 2.1.0

Basics communication - EtherCAT

4.4 CoE interface

General description

The CoE interface (CANopen over EtherCAT) is used for parameter management of EtherCAT devices.
EtherCAT slaves or the EtherCAT master manage fixed (read only) or variable parameters which they
require for operation, diagnostics or commissioning.

CoE parameters are arranged in a table hierarchy. In principle, the user has read access via the fieldbus.
The EtherCAT master (TwinCAT System Manager) can access the local CoE lists of the slaves via
EtherCAT in read or write mode, depending on the properties.

Different CoE parameter types are possible, including string (text), integer numbers, Boolean values or larger
byte fields. They can be used to describe a wide range of features. Examples of such parameters include
manufacturer ID, serial number, process data settings, device name, calibration values for analog
measurement or passwords.

Organization takes place on 2 levels by means of hexadecimal numbering: the (main) index is named first,
then the subindex. The value ranges are:

• Index 0 to 65535

• Subindex: 0…255

A parameter localized in this way is normally written as 0x8010:07, with preceding "0x" to identify the
hexadecimal numerical range and a colon between index and subindex.

The relevant ranges for EtherCAT fieldbus users are:

• 0x1000: This is where fixed identity information for the device is stored, including name, manufacturer,

serial number etc., plus information about the current and available process data configurations.

• 0x8000: This is where the operational and functional parameters for all channels are stored, such as

filter settings or output frequency.

Other important ranges are:

• 0x4000: In some EtherCAT devices the channel parameters are stored here (as an alternative to the

0x8000 range).

• 0x6000: Input PDOs ("input" from the perspective of the EtherCAT master)

• 0x7000: Output PDOs ("output" from the perspective of the EtherCAT master)

Availability

Not every EtherCAT device must have a CoE list. Simple I/O modules without dedicated processor
usually have no variable parameters and therefore no CoE list.

If a device has a CoE list, it is shown in the TwinCAT System Manager as a separate tab with a listing of the
elements:

EP6001 and EP6002 51Version: 2.1.0

Basics communication - EtherCAT

Fig.40: CoE-Online tab

The CoE objects from 0x1000 to 0x1600, which are available in the example device "EL2502", can be seen
in the above figure; the subindices from 0x1018 are expanded.

Data management

Some parameters, particularly the setting parameters of the slave, are configurable and writeable. This can
be done in write or read mode

• via the System Manager (figure above) by clicking. This is useful for commissioning of the system/

slaves. Click on the row of the index to be parameterized and enter a value in the SetValue dialog.

• from the control system/PLC via ADS, e.g. through function blocks from the TcEtherCAT.lib library This

is recommended for modifications while the system is running or if no System Manager or operating
staff are available.

Data management

If CoE parameters on the slave are changed online, this is saved fail-safe in the device (EEPROM)
in Beckhoff devices. This means that the changed CoE parameters are still retained after a restart.
The situation may be different with other manufacturers.

Startup list

Startup list

Changes in the local CoE list of the terminal are lost if the terminal is replaced. If a terminal is re­placed with a new Beckhoff terminal, it will have the factory settings. It is therefore advisable to link
all changes in the CoE list of an EtherCAT slave with the Startup list of the slave, which is pro­cessed whenever the EtherCAT fieldbus is started. In this way a replacement EtherCAT slave can
automatically be parameterized with the specifications of the user.

If EtherCAT slaves are used which are unable to store local CoE values permanently, the Startup
list must be used.

Recommended approach for manual modification of CoE parameters

• Make the required change in the System Manager. The values are stored locally in the EtherCAT slave

EP6001 and EP600252 Version: 2.1.0

Basics communication - EtherCAT

• If the value is to be stored permanently, enter it in the Startup list. The order of the Startup entries is

usually irrelevant.

Fig.41: Startup list in the TwinCAT System Manager

The Startup list may already contain values that were configured by the System Manager based on the ESI
specifications. Additional application-specific entries can be created.

Online/offline directory

While working with the TwinCAT System Manager, a distinction has to be made whether the EtherCAT
device is "available", i.e. switched on and linked via EtherCAT and therefore online, or whether a
configuration is created offline without connected slaves.

In both cases a CoE directory is visible according to the figure "CoE-Online tab", but the connectivity is
displayed as offline/online.

• If the slave is offline

◦ the offline list from the ESI file is displayed. In this case modifications are not meaningful or

possible.

◦ the configured status is shown under Identity

◦ no firmware or hardware version is displayed, since these are features of the physical device.

◦ Offline is shown in red

EP6001 and EP6002 53Version: 2.1.0

Basics communication - EtherCAT

Fig.42: Offline list

• If the slave is online

◦ the actual current slave directory is read. This may take several seconds, depending on the size

and cycle time.

◦ the actual identity is displayed

◦ the firmware and hardware version of the equipment according to the electronic information is

displayed.

◦ Online is shown in green

Fig.43: Online list

EP6001 and EP600254 Version: 2.1.0

Basics communication - EtherCAT

Channel-based order

The CoE directory is located in EtherCAT devices that usually encompass several functionally equivalent
channels. e.g. a 4-channel 0 – 10 V analog input terminal also has 4 logical channels and thus 4 identical
sets of parameter data for the channels. In order to avoid having to list each channel in the documentation,
the placeholder "n" tends to be used for the individual channel numbers.

In the CoE system 16 indices, each with 255 subindices, are generally sufficient for representing all channel
parameters. The channel-based order is therefore arranged in 16

dec

/10

steps. The parameter range

hex

0x8000 exemplifies this:

• Channel 0: parameter range 0x8000:00 ... 0x800F:255

• Channel 1: parameter range 0x8010:00 ... 0x801F:255

• Channel 2: parameter range 0x8020:00 ... 0x802F:255

• …

This is generally written as 0x80n0. Detailed information on the CoE interface can be found in the EtherCAT
system documentation on the Beckhoff website.

EP6001 and EP6002 55Version: 2.1.0

Commissioning/Configuration

5 Commissioning/Configuration

5.1 EP600x-0002 - Interface modes

Via CoE objects the following settings can be done for the interfaces:

Parameterization

The module is parameterized via the CoE - Online tab (with a double-click on the corresponding ob­ject). Only the mandatory parameters for the respective interface mode are specified here. Further
settings may be possible.

RS232: point-to-point connection to an RS232 device

Direct connection to an RS232 end device, full duplex data transmission (default setting).

Fig.44: Point-to-point connection to an RS232 device

The following CoE objects must be set

Index Name Meaning Data type Flags Setting

F800:0n Interface type Ch n 0x00 RS232 BIT1 RW 0x00 (0

0x01 RS485/422

(default)

dec

RS422: 4-wire point-to-point connection to an RS422 device

Direct connection to an RS422 end device, full duplex data transmission.
Data can be transmitted in full duplex in RS422 mode. Only point-to-point connections can be established.

Fig.45: 4-wire point-to-point connection to an RS422 device

The following CoE objects must be set

Index Name Meaning Data type Flags Setting

F800:0n Interface type

Ch n

0x00 RS232 BIT1 RW 0x01

0x01 RS485/422

(1

dec

)

)

Index Name Meaning Data type Flags Setting

80n0:07 Enable point-to-

point connec­tion (RS422)
Channel n

0

The module is used in a bus structure in accordance with the RS485

bin

standard.

1

The module is used for a point-to-point connection (RS422).

bin

BOOLEAN RW 1

bin

EP6001 and EP600256 Version: 2.1.0

Commissioning/Configuration

RS485: 2-wire connection in bus structure to RS485 device(s)

Bus structure, half duplex data transmission

Fig.46: 2-wire connection in bus structure to RS485 device(s)

The following CoE objects must be set

Index Name Meaning Data type Flags Setting

F800:0n Interface type

Ch n

Index Name Meaning Data type Flags Setting

80n0:06 Enable half du-

plex

channel n

0x00 RS232 BIT1 RW 0x01

(1

0x01 RS485/422

0

Full duplex: transmitted data are monitored. The bit has no effect in

bin

RS232 and RS422 mode

1

Half duplex: The reception of the data transmitted by the box itself is

bin

suppressed

BOOLEAN RW 1

dec

bin

(default)

)

Index Name Meaning Data type Flags Setting

80n0:07 Enable point-to-

point connec­tion (RS422)
Channel n

0

The module is used in a bus structure in accordance with the RS485

bin

standard.

1

The module is used for a point-to-point connection (RS422).

bin

BOOLEAN RW 0

bin

Deactivated receive driver

The receive driver is deactivated during the transmission procedure. The transmitted data are not
monitored!

RS485: 2-wire connection with external bridge in bus structure to RS485 device(s)

Bus structure, half duplex data transmission with diagnosis of the transmitted data

Fig.47: 2-wire connection with external bridge in bus structure to RS485 device(s)

The following CoE objects must be set

Index Name Meaning Data type Flags Setting

F800:0n Interface type

Ch n

0x00 RS232 BIT1 RW 0x01

(1

0x01 RS485/422

dec

)

Index Name Meaning Data type Flags Setting

80n0:06 Enable half du-

plex

channel n

0

Full duplex: transmitted data are monitored. The bit has no effect in

bin

RS232 and RS422 mode

1

Half duplex: The reception of the data transmitted by the box itself is

bin

suppressed

BOOLEAN RW 0

bin

EP6001 and EP6002 57Version: 2.1.0

Commissioning/Configuration

Index Name Meaning Data type Flags Setting

80n0:07 Enable point-to-

point connec­tion (RS422)
Channel n

0

The module is used in a bus structure in accordance with the RS485

bin

standard.

1

The module is used for a point-to-point connection (RS422).

bin

BOOLEAN RW 0

bin

Activated receive driver (from firmware version 03)

The receive driver remains activated during the transmission procedure. The transmitted data are
monitored! A conditional diagnosis of the line is thus possible. If there is a discrepancy between the
transmitted data and the monitored data, it may be assumed that a further receiver also cannot re­ceive these data flawlessly. In this case, check the bus line!

Also see about this

2 Configuration by means of the TwinCAT System Manager [}70]

EP6001 and EP600258 Version: 2.1.0

Commissioning/Configuration

5.2 EP600x-0002 - Basic function principles

The EP6002-0002 2-channel serial interface module enables the connection of two devices with an RS232
or RS485/RS422 interface. The EP6001-0002 1-channel serial interface module enables the connection of
one device with an RS232 or RS485/RS422 interface and in addition the connection of digital inputs/outputs.

EP6002-0002 - two configurable interfaces

The module has two physical interfaces, which can each be configured as RS232 or RS422/485.

Interface 1 of the EP6002-0002

• RS232 on M12 socket 1 or

• RS422/485 on M12 socket 2

Interface 2 of the EP6002-0002

• RS232 on M12 socket 3 or

• RS422/485 on M12 socket 4

The receive buffer has 864bytes, the send buffer 128bytes. The factory setting of the module is 9600baud,
8data bits, 1stop bit, no parity.

No hardware flow control takes place; however, software flow control is possible via XON, XOFF.

EP6001-0002 - One configurable interface

The module has one physical interface, which can be configured as RS232 or RS422/485. In addition, the
box allows the connection of digital inputs/outputs on M12 socket 4.

Interface 1 of the EP6001-0002

• RS232 on M12 socket 1 or

• RS485/422TX on M12 socket 2 or

• RS422RX on M12 socket 3

Communication between PLC and EP600x-0002

Communication takes place

• as with a COM port using the virtual serial COM driver or

• via control word and status word

Sending data

You can transmit up to 22bytes of data to the module in one cycle via DataOut0 ... DataOut21.

• Set the Output Length parameter in the control byte to the number of bytes to be transmitted.

• Toggle the Transmit Request bit in the control byte.

• The module acknowledges the data transmission in the status byte via the Transmit Accepted

parameter.

Receiving data

If the module toggles the Receive Request bit in the status byte, there are new receive data

• Read the Input Length parameter from the status byte. It contains the number of bytes to be received.

• The data are provided in DataOut0 ... DataOut21. The first datum is contained in DataIn0.

• After reading the data, acknowledge this by toggling the Receive Request bit in the control byte.

The module only makes new data available after that.

EP6001 and EP6002 59Version: 2.1.0

Commissioning/Configuration

Interface level

The EP600x-0002 module operates at RS232 level with respect to GND or with differential RS485/422 level.

Fig.48: Level of RS232, RS485/RS422 interfaces

Process data

As delivered, 22bytes of user data and 1 control/status word are transferred.

Parameterization via CoE (index 0x80n0)

0x80n0 [}91] Parameterization via CoE

The parameterization of the module can be set 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 - Use "CoE reload" for resetting changes

The following CoE settings are possible from object 0x8000 of the EP6002-0002 and are shown here in the
default settings:

EP6001 and EP600260 Version: 2.1.0

Fig.49: EP6002-0002 - CoE settings on object 0x8000 (default)

Commissioning/Configuration

Process data description

The process data are generated from CoE objects 0x6000 (Inputs) [}107] and 0x7000 (Outputs) [}109] and
are described in chapter Object description and parameterization [}90].

Transfer rates

The EP boxes have a process image of 22bytes of user data. It possible to transmit or receive these
22bytes every second cycle at the most.

The data is transferred from the EP box to the controller in the first cycle. In the second cycle, the controller
must acknowledge that it has accepted the data.

Therefore, if the cycle time is 10ms, 50times 22bytes can be transmitted per second.

With a set data frame of 8N1, each transmitted byte consists of a start bit, eight data bits and a stop bit. This
is equivalent to 10bits per user byte.

With the above mentioned settings, a continuous data transfer rate of:

• 50[1/s] x 22[bytes] x 10[bits] = 11000 bps

can be achieved.

The next lower baud rate is 9600baud. Accordingly, continuous transfer at a maximum baud rate of 9600
can be secured with a cycle time of 10ms.

If only low quantities of data are to be transmitted or received sporadically (e.g. bar code scanner) the baud
rate can also be set higher, or the cycle time can be enlarged.

If the controller cannot collect the data quickly enough from the EP box, the data will be stored intermediately
in the internal buffer of the EP box. The buffer for received data has a size of 864bytes. If this is exhausted,
all further data will be lost.

A buffer is also available for the transmit data. With a "baud rate" setting of 300 and a "data frame" setting of
8N1, the EP box can only transmit 30bytes per second. However, if more than these 30bytes per second
are received, a 128bytes transmit buffer will be written to first in this case also. Once this is full, all further
data will be lost.

EP6001 and EP6002 61Version: 2.1.0

Commissioning/Configuration

Optimization of transfer rates

In normal operating mode the data received will be adopted immediately into the process image. In order to
enable a contiguous data stream, the "Enable transfer rate optimization" option in the Settings object is
activated by default. Due to this switch, the data will first be stored intermediately in the receive buffer
(864bytes).

The data will only be copied into the process image if no further character is received for 16 bit times or if the
buffer is full.

Continuous transmission of data

A continuous data stream is indispensable for many applications. For this purpose, the Beckhoff modules
feature the "Enable send FIFO data continuous" setting in the Settings object. The internal transmit buffer
(128bytes) of the EP box can be filled first by setting this switch. After that the entire contents of the buffer
can be transmitted without interruption. To this end, data will be sent from the controller to the EP box as in a
normal transmission. The data from the buffer is only sent with a rising edge of the "Send continuous" bit. If
the data has been transferred, the EP box informs the controller by setting the "Init accepted" bit. "Init
accepted" is cleared with "SendContinuous".

Prioritization

Since received data normally cannot be repeated from the other transmitter, they have a higher priority in the
module than data to be transmitted.
Furthermore, the priority decreases as the channel number increases. Hence, the reception of data on
channel 1 has the highest priority.

Data transfer examples

Initialization

Initialization is performed prior to the first transmission/reception. The module is thereby parameterized with
the data from the corresponding Settings object.

Procedure:

1. Set "Init request" to 1

2. The module confirms successful initialization by setting "Init accepted".

3. Reset "Init request"

4. The module sets "Init accepted" to 0.

The module is now ready for data exchange.

Data transmission from the controller to the module (send 2 characters)

1. Set "Output length" to 2

2. Fill "Data Out 0" and "Data Out 1" with user data

3. Change the state of "Transmit request"

4. The module acknowledges receipt by changing the state of the "Transmit accepted" bit.

Data transmission from the module to the controller (receive characters)

1. The module indicates that there is new data in the process image by changing the state of the "Re­ceive request" bit.

2. The number of bytes received is written in "Input length"

3. The controller acknowledges acceptance of the bytes by changing the state of “Receive request”.

EP6001 and EP600262 Version: 2.1.0

Commissioning/Configuration

5.3 Insertion in the EtherCAT network

Installation of the latest XML device description

Please ensure that you have installed the corresponding latest XML device description in TwinCAT.
This can be downloaded from the Beckhoff website (http://www.beckhoff.de/german/default.htm?
download/elconfg.htm) and installed according to the installation instructions.

The configuration tree in the Beckhoff TwinCAT System Manager can be created in 2 ways:

• by scanning [}63] of existing hardware (referred to as "online"), or

• by manually inserting/appending [}63] fieldbus devices, couplers and slaves.

Automatic scanning of the module

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

• After the operating voltage is switched on, open the TwinCAT System Manager (Config mode) and
scan the devices (see fig. below). Acknowledge all dialogs with "OK", so that the configuration is in
"FreeRun" mode.

Fig.50: Scanning in the EtherCAT configuration (I/O Devices-> right-click -> Scan Devices...

Appending 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 (Config mode)

• Append a new I/O device (see fig. below).

EP6001 and EP6002 63Version: 2.1.0

Commissioning/Configuration

Fig.51: Appending a new I/O device (I/O Devices-> right-click -> Append Device...)

In the following dialog, select the device EtherCAT (Direct Mode), see following fig., and confirm with OK.

Fig.52: Selecting the device (EtherCAT)

• Append a new box (see fig. below).

Fig.53: Appending a new box (Device -> right-click -> Append Box... ) )

EP6001 and EP600264 Version: 2.1.0

• In the dialog shown, select the desired box and confirm with OK.

Commissioning/Configuration

Fig.54: Selection of a box

Fig.55: Appended box in the TwinCAT tree

EP6001 and EP6002 65Version: 2.1.0

Commissioning/Configuration

5.4 Configuration by means of the TwinCAT System Manager

In the left-hand window of the TwinCAT System Manager, click on the EtherCAT Box branch you wish to
configure.

Fig.56: TwinCAT System Manager - tree branch of the EtherCAT Box

In the right-hand window of the TwinCAT System Manager various tabs for configuring the EtherCAT Box
are now available.

General tab

Fig.57: 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.

EP6001 and EP600266 Version: 2.1.0

Commissioning/Configuration

EtherCAT tab

Fig.58: 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
decremented by 1 (FFFF

, FFFE

hex

. For each further slave the address is

hex

etc.).

hex

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.

EP6001 and EP6002 67Version: 2.1.0

Commissioning/Configuration

Fig.59: 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 to select a greyed out PDO, the currently selected PDO has to be deselected
first.

EP6001 and EP600268 Version: 2.1.0

Commissioning/Configuration

Activation of the PDO assignment

• the EtherCAT slave has to run through the PS state transition cycle (from pre-operational to safe-

operational) once (see Online tab [}73]),

• 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.

Flags F Fixed content: The content of this PDO is fixed and cannot be changed by the System Manager.

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.

If this PDO is assigned to a Sync Manager, it appears as a variable of the slave with this parameter as the name.

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

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 [}69] 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.

EP6001 and EP6002 69Version: 2.1.0

Commissioning/Configuration

Fig.60: 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.

EP6001 and EP600270 Version: 2.1.0

Commissioning/Configuration

Fig.61: CoE - Online tab

EP6001 and EP6002 71Version: 2.1.0

Commissioning/Configuration

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.

Fig.62: Advanced Settings - Dictionary

Online - via SDO Information If this radio button is selected, the list of the objects included in the object directory of the

Offline - via EDS File If this option button is selected, the list of the objects included in the object directory is read

slave is uploaded from the slave via SDO information. The list below can be used to specify
which object types are to be uploaded.

from an EDS file provided by the user.

EP6001 and EP600272 Version: 2.1.0

Online tab

Commissioning/Configuration

Fig.63: Online tab

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

Current State Indicates the current state of the EtherCAT device.

Requested State Indicates the state requested for the EtherCAT device.

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.

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.

EP6001 and EP6002 73Version: 2.1.0

Commissioning/Configuration

5.5 EP600x-0002 - Selection of the interface type

You can parameterize the serial interfaces under the object 0xF800:0 [}92] on the CoE-Online tab in the
TwinCAT System Manager.

Fig.64: CoE object 0xF800:0 COM Settings

Click on the objects 0xF800:01 [}92] and 0xF800:02 [}92] and select the interface type for both interfaces.

Fig.65: Set Value Dialog Index 0xF800:01 Interface Type Ch. 1

EP6002-0002 - assignment of the connections

Depending on the interface type you must use the corresponding M12 connection.

Channel selected interface type use Comment

Channel 1 RS485/RS422 M12 connection no. 1 M12 connection no. 2 has no function

RS232 M12 connection no. 2 M12 connection no. 1 has no function

Channel 2 RS485/RS422 M12 connection no. 3 M12 connection no. 4 has no function

RS232 M12 connection no. 4 M12 connection no. 3 has no function

EP6001 and EP600274 Version: 2.1.0

Commissioning/Configuration

EP6001-0002 - assignment of the connections

Depending on the interface type you must use the corresponding M12 connection.

Channel selected interface type use Comment

Channel 1 RS232 M12 connection no. 1 M12 connection nos. 2 and 3 have no

function
RS485/422TX M12 connection no. 2 M12 connection no. 1 has no function
RS422RX M12 connection no. 3 M12 connection no. 1 has no function

5.6 EP6002-0002 - sample program 1

Using the sample programs

This document contains sample applications of our products for certain areas of application. The
application notes provided here are based on typical features of our products and only serve as ex­amples. The notes provided with this documentation expressly make no reference to specific appli­cation cases. Therefore it is the customer's responsibility to check and decide whether the product
is suitable for use in a certain application area. We accept no responsibility for the completeness
and correctness of the source code contained in this document. We reserve the right to modify the
content of this document at any time and accept no responsibility for errors and missing information.

Connection of a serial bar code scanner

https://infosys.beckhoff.com/content/1033/EP6001_EP6002/Resources/zip/2200499211.zip

In this example, a barcode reader will be connected to the EP6002-0002. Characters will be read by the
reader until the ASCII character 0x0D (13

Data:

• Quick task for executing the serial communication: 1 ms cycle time

• Standard PLC task: 10ms cycle time

• Bar code scanner on channel 1

• TwinCAT 2.11 required

• "TwinCAT PLC Serial Communication" supplement is required

A detailed description for the use of the serial communication library is stored in the Beckhoff Information
System.

Beckhoff Information System -> TwinCAT -> TwinCAT PLC -> TwinCAT libraries for PC-based systems ->
TwinCAT PLC Library: Serial communication

Starting the sample program

The application samples have been tested with a test configuration and are described accordingly.

Certain deviations when setting up actual applications are possible.

, CR) is received.

dec

The following hardware and software were used for the test configuration:

• TwinCAT master PC with Windows XP Professional SP 3, TwinCAT version 2.11 (Build 1528) and
INTEL PRO/100 VE Ethernet adapter

• Beckhoff EP6002-0002 EtherCAT Box

• Serial bar code scanner

Procedure for starting the program

• After clicking the Download button, save the zip file locally on your hard disk, and unzip the *.TSM
(configuration) and the *.PRO (PLC program) files into a temporary working folder

• Run the *.TSM file and the *.PRO file; the TwinCAT System Manager and TwinCAT PLC will open

EP6001 and EP6002 75Version: 2.1.0

Commissioning/Configuration

• Connect the hardware as suited and connect the Ethernet adapter of your PC to the EtherCAT coupler
(further information on this can be found in the corresponding coupler manuals)

• Select the local Ethernet adapter (with real-time driver if applicable) under System Configuration, I/O
Configuration, I/O Devices, Device (EtherCAT); then select the appropriate adapter on the "Adapter"
tab, "Search..." and confirm (see the following two figures)

Fig.66: Searching the Ethernet adapter

Fig.67: Selection and confirmation of the Ethernet adapter

Activation of the configuration and confirmation (see the following two figures)

EP6001 and EP600276 Version: 2.1.0

Commissioning/Configuration

Fig.68: Activation of the configuration

Fig.69: Confirming the activation of the configuration

• Confirm new variable mapping, restart in RUN mode (see the following two figures)

Fig.70: Generating variable mapping

Fig.71: Restarting TwinCAT in RUN mode

• In TwinCAT PLC under the "Project" menu, select "Rebuild all" to compile the project (see following
figure)

EP6001 and EP6002 77Version: 2.1.0

Commissioning/Configuration

Fig.72: Build project

• In TwinCAT PLC: log in with the "F11" button, confirm loading the program (see following figure), start
the program with the "F5" key

Fig.73: Confirming program start

• After the character 0x13 has been received, the barcode is stored in "LastBarcode".

Fig.74: Received barcode

5.7 EP6002-0002 - Sample program 2

Using the sample programs

This document contains sample applications of our products for certain areas of application. The
application notes provided here are based on typical features of our products and only serve as ex­amples. The notes contained in this document explicitly do not refer to specific applications. The
customer is therefore responsible for assessing and deciding whether the product is suitable for a
particular application. We accept no responsibility for the completeness and correctness of the
source code contained in this document. We reserve the right to modify the content of this docu­ment at any time and accept no responsibility for errors and missing information.

Download sample program:

EP6001 and EP600278 Version: 2.1.0

Commissioning/Configuration

https://infosys.beckhoff.com/content/1033/EP6001_EP6002/Resources/zip/2213177355.zip

Reading and interpreting time telegrams

This example shows a way to process and interpret the most diverse serial time protocols in the PLC. To this
end, IEC61131-PLC blocks will be presented that interpret the bitstream arriving at the PLC and, if
necessary, extract the time/place information. This information can be used, for example, to synchronize
controllers or record movements

In this example, it is assumed that the data is delivered via a 22-byte interface from an EP600x serial data
exchange box.

Background information

Not only in maritime applications is time and place information transported via serial buses: In the majority of
cases an existing source distributes its information to lower level listeners/listeners cyclically or after a trigger
via RS232 / RS485, USB or Ethernet.

A very large number of telegram formats exists worldwide for the distribution of time and place information;
these are also known as ‘sentences’. Such a telegram consists of n bytes of data and is characterized by:

• Start and end characters STX, ETX for telegram recognition, possibly more than one end character

• a defined and fixed length

• a defined structure

• checksum (not necessary)

• type designations in the sentence if necessary

The most diverse organizations and companies have developed open or proprietary formats for specific
purposes of use. Therefore, two sample implementations will be presented in this example that can easily be
adapted to other specific protocols. The telegram formats in the example are the Meinberg Standard and
NMEA0183 v2.3 type RMC.

Sources of information

GPS or radio-controlled clock gateways are used as data transmitters in the serial sector. These devices
receive the respective time signal (GPS via satellite or radio-controlled clock via long wave) and convert it to
the serial, wire-bound transmission e.g. RS232 with 8N1. The gateway often contains a local clock source in
order to be able to continue distributing reliable time information for a certain time in the event of a short-term
failure of the reference signal (GPS, radio transmitter). In Central Europe, the German DCF77 transmitter
can be used.

If necessary, further information from the reference signal can be used:

• GPS: location information (W/N and height), upcoming time adjustment DCF77: weather information,
major incidents

• DCF77: weather information, major incidents

Synchronization of lower level time slaves

In general, lower level slaves should be adjusted to the time gateway, i.e. they should synchronize their time.
The following are necessary for this:

• Offset : the absolute deviation of the slave’s own clock from the gateway reference time – this
information can be transmitted, for example, acyclically and serially if it is known when the time
information is to be considered valid. Gaining these offset-information is possible via the serial
transport route from this example.

• the frequency ratio: a high-precision cyclic signal from the gateway to the slaves allows drift processes
to be compensated and might state the time when the above absolute offset is valid. One example of
such a signal is the widespread PPS (pulses per second).

If the serial telegram from the gateway is placed cyclically to the bus, the time of the first bit can often be
interpreted as a PPS signal. In the function block in this example, this information would be lost; only the
absolute time information is evaluated.

EP6001 and EP6002 79Version: 2.1.0

Commissioning/Configuration

Time formats

Time telegrams conforming to the NMEA0183 standard are widespread. Please note:

• there are currently (as of 2009) 8 versions of NMEA0183 1.5 to 4.00 within the NMEA0183 standard –
the structure of telegrams may have changed between the versions.

• 70 different formats are defined in NMEA0183 v2.30; device manufacturers can create their own
formats in addition.

• The telegram is called a sentence.

• A TalkerID (2 characters) and a TypeID (3 characters) at the start define the type of sentence used.

• A checksum is calculated for the telegram.

• Information can be found online at www.nmea.org or elsewhere.

Furthermore, many proprietary formats exist, such as Meinberg Standard, Siemens SINEC H1 and SAT
1703, or military formats, such as the IRIG codes (USA).

Using the sample program

The PLC project contains 2 function blocks (FBs), which must be linked exclusively with an EL/KL600x. Then
collect the received bytes from the terminal and interpret the contents as far as possible. The FBs cover:

• Meinberg Standard

• NMEA0183 v2.3 type RMC

For other time formats, you can create your own interpretation FBs on the basis of a known telegram
structure; contact your device manufacturer regarding this.

Hardware used in the example: EK1100 and EL6001 (also EL600x, KL600x)
The FB to be tested must be linked with its process data to the terminal in the System Manager (22-byte
process image and control/status word).

The NMEA block is linked in the example. The baud rate of the terminal must be set to match your
transmitter.

References:

• www.beuth.de.de, IEC61162: based on NMEA2000

• www.gpsinformation.net/, private, via NMEA, many formats: http://www.gpsinformation.org/dale/

nmea.htm
http://www.nmea.de/nmea0183datensaetze.html

• https://www.meinberg.de/german/info/irig.htm, IRIG codes

Documents about this

2 el6001_nmea_demo.zip (Resources/zip/2200502155.zip)

EP6001 and EP600280 Version: 2.1.0

Commissioning/Configuration

5.8 EP6002-0002 - Object overview

EtherCAT XML Device Description

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

Index (hex) Name Flags Default value

1000 [}93]

1008 [}93]

1009 [}93]

100A [}93]

1011:0 [}90]

1018:0 [}93]

10F0:0 [}93]

1400:0 [}93]

1401:0 [}94]

1404:0 [}94]

1405:0 [}94]

Subindex Restore default parameters RO 0x01 (1

1011:01 SubIndex 001 RW 0x00000000 (0

Subindex Identity RO 0x04 (4

1018:01 Vendor ID RO 0x00000002 (2

1018:02 Product code RO 0x17724052 (393363538

1018:03 Revision RO 0x00100002 (1048578

1018:04 Serial number RO 0x00000000 (0

Subindex Backup parameter handling RO 0x01 (1

10F0:01 Checksum RO 0x00000000 (0

Subindex COM RxPDO-Par Outputs Ch.1 RO 0x06 (6

1400:06 Exclude RxPDOs RO 04 16

Subindex COM RxPDO-Par Outputs Ch.2 RO 0x06 (6

1401:06 Exclude RxPDOs RO 05 16

Subindex COM RxPDO-Par Outputs Ch.1 RO 0x06 (6

1404:06 Exclude RxPDOs RO 00 16

Subindex COM RxPDO-Par Outputs Ch.2 RO 0x06 (6

1405:06 Exclude RxPDOs RO 01 16

Device type RO 0x02581389 (39326601

Device name RO EP6002-0002

Hardware version RO 00

Software version RO 00

)

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)

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EP6001 and EP6002 81Version: 2.1.0

Commissioning/Configuration

Index (hex) Name Flags Default value

1600:0 [}95]

1601:0 [}96]

Subindex COM RxPDO-Map Outputs Ch.1 RO 0x1C (28

dec

1600:01 SubIndex 001 RO 0x7000:01, 1

1600:02 SubIndex 002 RO 0x7000:02, 1

1600:03 SubIndex 003 RO 0x7000:03, 1

1600:04 SubIndex 004 RO 0x7000:04, 1

1600:05 SubIndex 005 RO 0x0000:00, 4

1600:06 SubIndex 006 RO 0x7000:09, 8

1600:07 SubIndex 007 RO 0x7000:11, 8

1600:08 SubIndex 008 RO 0x7000:12, 8

1600:09 SubIndex 009 RO 0x7000:13, 8

1600:0A SubIndex 010 RO 0x7000:14, 8

1600:0B SubIndex 011 RO 0x7000:15, 8

1600:0C SubIndex 012 RO 0x7000:16, 8

1600:0D SubIndex 013 RO 0x7000:17, 8

1600:0E SubIndex 014 RO 0x7000:18, 8

1600:0F SubIndex 015 RO 0x7000:19, 8

1600:10 SubIndex 016 RO 0x7000:1A, 8

1600:11 SubIndex 017 RO 0x7000:1B, 8

1600:12 SubIndex 018 RO 0x7000:1C, 8

1600:13 SubIndex 019 RO 0x7000:1D, 8

1600:14 SubIndex 020 RO 0x7000:1E, 8

1600:15 SubIndex 021 RO 0x7000:1F, 8

1600:16 SubIndex 022 RO 0x7000:20, 8

1600:17 SubIndex 023 RO 0x7000:21, 8

1600:18 SubIndex 024 RO 0x7000:22, 8

1600:19 SubIndex 025 RO 0x7000:23, 8

1600:1A SubIndex 026 RO 0x7000:24, 8

1600:1B SubIndex 027 RO 0x7000:25, 8

1600:1C SubIndex 028 RO 0x7000:26, 8

Subindex COM RxPDO-Map Outputs Ch.2 RO 0x1C (28

dec

1601:01 SubIndex 001 RO 0x7010:01, 1

1601:02 SubIndex 002 RO 0x7010:02, 1

1601:03 SubIndex 003 RO 0x7010:03, 1

1601:04 SubIndex 004 RO 0x7010:04, 1

1601:05 SubIndex 005 RO 0x0000:00, 4

1601:06 SubIndex 006 RO 0x7010:09, 8

1601:07 SubIndex 007 RO 0x7010:11, 8

1601:08 SubIndex 008 RO 0x7010:12, 8

1601:09 SubIndex 009 RO 0x7010:13, 8

1601:0A SubIndex 010 RO 0x7010:14, 8

1601:0B SubIndex 011 RO 0x7010:15, 8

1601:0C SubIndex 012 RO 0x7010:16, 8

1601:0D SubIndex 013 RO 0x7010:17, 8

1601:0E SubIndex 014 RO 0x7010:18, 8

1601:0F SubIndex 015 RO 0x7010:19, 8

1601:10 SubIndex 016 RO 0x7010:1A, 8

1601:11 SubIndex 017 RO 0x7010:1B, 8

1601:12 SubIndex 018 RO 0x7010:1C, 8

1601:13 SubIndex 019 RO 0x7010:1D, 8

1601:14 SubIndex 020 RO 0x7010:1E, 8

1601:15 SubIndex 021 RO 0x7010:1F, 8

1601:16 SubIndex 022 RO 0x7010:20, 8

1601:17 SubIndex 023 RO 0x7010:21, 8

1601:18 SubIndex 024 RO 0x7010:22, 8

1601:19 SubIndex 025 RO 0x7010:23, 8

1601:1A SubIndex 026 RO 0x7010:24, 8

1601:1B SubIndex 027 RO 0x7010:25, 8

1601:1C SubIndex 028 RO 0x7010:26, 8

)

)

EP6001 and EP600282 Version: 2.1.0

Commissioning/Configuration

Index (hex) Name Flags Default value

1604:0 [}97]

1605:0 [}98]

1800:0 [}98]

1801:0 [}99]

1804:0 [}99]

1805:0 [}99]

1A00:0 [}100]

Subindex COM RxPDO-Map Outputs Ch.1 RO 0x17 (23

1604:01 SubIndex 001 RO 0x7001:01, 16

1604:02 SubIndex 002 RO 0x7000:11, 8

1604:03 SubIndex 003 RO 0x7000:12, 8

1604:04 SubIndex 004 RO 0x7000:13, 8

1604:05 SubIndex 005 RO 0x7000:14, 8

1604:06 SubIndex 006 RO 0x7000:15, 8

1604:07 SubIndex 007 RO 0x7000:16, 8

1604:08 SubIndex 008 RO 0x7000:17, 8

1604:09 SubIndex 009 RO 0x7000:18, 8

1604:0A SubIndex 010 RO 0x7000:19, 8

1604:0B SubIndex 011 RO 0x7000:1A, 8

1604:0C SubIndex 012 RO 0x7000:1B, 8

1604:0D SubIndex 013 RO 0x7000:1C, 8

1604:0E SubIndex 014 RO 0x7000:1D, 8

1604:0F SubIndex 015 RO 0x7000:1E, 8

1604:10 SubIndex 016 RO 0x7000:1F, 8

1604:11 SubIndex 017 RO 0x7000:20, 8

1604:12 SubIndex 018 RO 0x7000:21, 8

1604:13 SubIndex 019 RO 0x7000:22, 8

1604:14 SubIndex 020 RO 0x7000:23, 8

1604:15 SubIndex 021 RO 0x7000:24, 8

1604:16 SubIndex 022 RO 0x7000:25, 8

1604:17 SubIndex 023 RO 0x7000:26, 8

Subindex COM RxPDO-Map Outputs Ch.2 RO 0x17 (23

1605:01 SubIndex 001 RO 0x7011:01, 16

1605:02 SubIndex 002 RO 0x7010:11, 8

1605:03 SubIndex 003 RO 0x7010:12, 8

1605:04 SubIndex 004 RO 0x7010:13, 8

1605:05 SubIndex 005 RO 0x7010:14, 8

1605:06 SubIndex 006 RO 0x7010:15, 8

1605:07 SubIndex 007 RO 0x7010:16, 8

1605:08 SubIndex 008 RO 0x7010:17, 8

1605:09 SubIndex 009 RO 0x7010:18, 8

1605:0A SubIndex 010 RO 0x7010:19, 8

1605:0B SubIndex 011 RO 0x7010:1A, 8

1605:0C SubIndex 012 RO 0x7010:1B, 8

1605:0D SubIndex 013 RO 0x7010:1C, 8

1605:0E SubIndex 014 RO 0x7010:1D, 8

1605:0F SubIndex 015 RO 0x7010:1E, 8

1605:10 SubIndex 016 RO 0x7010:1F, 8

1605:11 SubIndex 017 RO 0x7010:20, 8

1605:12 SubIndex 018 RO 0x7010:21, 8

1605:13 SubIndex 019 RO 0x7010:22, 8

1605:14 SubIndex 020 RO 0x7010:23, 8

1605:15 SubIndex 021 RO 0x7010:24, 8

1605:16 SubIndex 022 RO 0x7010:25, 8

1605:17 SubIndex 023 RO 0x7010:26, 8

Subindex COM TxPDO-Par Inputs Ch.1 RO 0x06 (6

1800:06 Exclude TxPDOs RO 04 1A

Subindex COM TxPDO-Par Inputs Ch.2 RO 0x06 (6

1801:06 Exclude TxPDOs RO 05 1A

Subindex COM TxPDO-Par Inputs Ch.1 RO 0x06 (6

1804:06 Exclude TxPDOs RO 00 1A

Subindex COM TxPDO-Par Inputs Ch.2 RO 0x06 (6

1805:06 Exclude TxPDOs RO 01 1A

Subindex COM TxPDO-Map Inputs Ch.1 RO 0x1F (31

1A00:01 SubIndex 001 RO 0x6000:01, 1

)

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EP6001 and EP6002 83Version: 2.1.0

Commissioning/Configuration

Index (hex) Name Flags Default value

1A00:02 SubIndex 002 RO 0x6000:02, 1

1A00:03 SubIndex 003 RO 0x6000:03, 1

1A00:04 SubIndex 004 RO 0x6000:04, 1

1A00:05 SubIndex 005 RO 0x6000:05, 1

1A00:06 SubIndex 006 RO 0x6000:06, 1

1A00:07 SubIndex 007 RO 0x6000:07, 1

1A00:08 SubIndex 008 RO 0x0000:00, 1

1A00:09 SubIndex 009 RO 0x6000:09, 8

1A00:0A SubIndex 010 RO 0x6000:11, 8

1A00:0B SubIndex 011 RO 0x6000:12, 8

1A00:0C SubIndex 012 RO 0x6000:13, 8

1A00:0D SubIndex 013 RO 0x6000:14, 8

1A00:0E SubIndex 014 RO 0x6000:15, 8

1A00:0F SubIndex 015 RO 0x6000:16, 8

1A00:10 SubIndex 016 RO 0x6000:17, 8

1A00:11 SubIndex 017 RO 0x6000:18, 8

1A00:12 SubIndex 018 RO 0x6000:19, 8

1A00:13 SubIndex 019 RO 0x6000:1A, 8

1A00:14 SubIndex 020 RO 0x6000:1B, 8

1A00:15 SubIndex 021 RO 0x6000:1C, 8

1A00:16 SubIndex 022 RO 0x6000:1D, 8

1A00:17 SubIndex 023 RO 0x6000:1E, 8

1A00:18 SubIndex 024 RO 0x6000:1F, 8

1A00:19 SubIndex 025 RO 0x6000:20, 8

1A00:1A SubIndex 026 RO 0x6000:21, 8

1A00:1B SubIndex 027 RO 0x6000:22, 8

1A00:1C SubIndex 028 RO 0x6000:23, 8

1A00:1D SubIndex 029 RO 0x6000:24, 8

1A00:1E SubIndex 030 RO 0x6000:25, 8

1A00:1F SubIndex 031 RO 0x6000:26, 8

1A01:0 [}101]

Subindex COM TxPDO-Map Inputs Ch.2 RO 0x1F (31

1A01:01 SubIndex 001 RO 0x6010:01, 1

1A01:02 SubIndex 002 RO 0x6010:02, 1

1A01:03 SubIndex 003 RO 0x6010:03, 1

1A01:04 SubIndex 004 RO 0x6010:04, 1

1A01:05 SubIndex 005 RO 0x6010:05, 1

1A01:06 SubIndex 006 RO 0x6010:06, 1

1A01:07 SubIndex 007 RO 0x6010:07, 1

1A01:08 SubIndex 008 RO 0x0000:00, 1

1A01:09 SubIndex 009 RO 0x6010:09, 8

1A01:0A SubIndex 010 RO 0x6010:11, 8

1A01:0B SubIndex 011 RO 0x6010:12, 8

1A01:0C SubIndex 012 RO 0x6010:13, 8

1A01:0D SubIndex 013 RO 0x6010:14, 8

1A01:0E SubIndex 014 RO 0x6010:15, 8

1A01:0F SubIndex 015 RO 0x6010:16, 8

1A01:10 SubIndex 016 RO 0x6010:17, 8

1A01:11 SubIndex 017 RO 0x6010:18, 8

1A01:12 SubIndex 018 RO 0x6010:19, 8

1A01:13 SubIndex 019 RO 0x6010:1A, 8

1A01:14 SubIndex 020 RO 0x6010:1B, 8

1A01:15 SubIndex 021 RO 0x6010:1C, 8

1A01:16 SubIndex 022 RO 0x6010:1D, 8

1A01:17 SubIndex 023 RO 0x6010:1E, 8

1A01:18 SubIndex 024 RO 0x6010:1F, 8

1A01:19 SubIndex 025 RO 0x6010:20, 8

1A01:1A SubIndex 026 RO 0x6010:21, 8

1A01:1B SubIndex 027 RO 0x6010:22, 8

)

dec

EP6001 and EP600284 Version: 2.1.0

Commissioning/Configuration

Index (hex) Name Flags Default value

1A01:1C SubIndex 028 RO 0x6010:23, 8

1A01:1D SubIndex 029 RO 0x6010:24, 8

1A01:1E SubIndex 030 RO 0x6010:25, 8

1A01:1F SubIndex 031 RO 0x6010:26, 8

1A04:0 [}102]

1A05:0 [}103]

1C00:0 [}103]

1C12:0 [}104]

Subindex COM TxPDO-Map Inputs Ch.1 RO 0x17 (23

1A04:01 SubIndex 001 RO 0x6001:01, 16

1A04:02 SubIndex 002 RO 0x6000:11, 8

1A04:03 SubIndex 003 RO 0x6000:12, 8

1A04:04 SubIndex 004 RO 0x6000:13, 8

1A04:05 SubIndex 005 RO 0x6000:14, 8

1A04:06 SubIndex 006 RO 0x6000:15, 8

1A04:07 SubIndex 007 RO 0x6000:16, 8

1A04:08 SubIndex 008 RO 0x6000:17, 8

1A04:09 SubIndex 009 RO 0x6000:18, 8

1A04:0A SubIndex 010 RO 0x6000:19, 8

1A04:0B SubIndex 011 RO 0x6000:1A, 8

1A04:0C SubIndex 012 RO 0x6000:1B, 8

1A04:0D SubIndex 013 RO 0x6000:1C, 8

1A04:0E SubIndex 014 RO 0x6000:1D, 8

1A04:0F SubIndex 015 RO 0x6000:1E, 8

1A04:10 SubIndex 016 RO 0x6000:1F, 8

1A04:11 SubIndex 017 RO 0x6000:20, 8

1A04:12 SubIndex 018 RO 0x6000:21, 8

1A04:13 SubIndex 019 RO 0x6000:22, 8

1A04:14 SubIndex 020 RO 0x6000:23, 8

1A04:15 SubIndex 021 RO 0x6000:24, 8

1A04:16 SubIndex 022 RO 0x6000:25, 8

1A04:17 SubIndex 023 RO 0x6000:26, 8

Subindex COM TxPDO-Map Inputs Ch.2 RO 0x17 (23

1A05:01 SubIndex 001 RO 0x6011:01, 16

1A05:02 SubIndex 002 RO 0x6010:11, 8

1A05:03 SubIndex 003 RO 0x6010:12, 8

1A05:04 SubIndex 004 RO 0x6010:13, 8

1A05:05 SubIndex 005 RO 0x6010:14, 8

1A05:06 SubIndex 006 RO 0x6010:15, 8

1A05:07 SubIndex 007 RO 0x6010:16, 8

1A05:08 SubIndex 008 RO 0x6010:17, 8

1A05:09 SubIndex 009 RO 0x6010:18, 8

1A05:0A SubIndex 010 RO 0x6010:19, 8

1A05:0B SubIndex 011 RO 0x6010:1A, 8

1A05:0C SubIndex 012 RO 0x6010:1B, 8

1A05:0D SubIndex 013 RO 0x6010:1C, 8

1A05:0E SubIndex 014 RO 0x6010:1D, 8

1A05:0F SubIndex 015 RO 0x6010:1E, 8

1A05:10 SubIndex 016 RO 0x6010:1F, 8

1A05:11 SubIndex 017 RO 0x6010:20, 8

1A05:12 SubIndex 018 RO 0x6010:21, 8

1A05:13 SubIndex 019 RO 0x6010:22, 8

1A05:14 SubIndex 020 RO 0x6010:23, 8

1A05:15 SubIndex 021 RO 0x6010:24, 8

1A05:16 SubIndex 022 RO 0x6010:25, 8

1A05:17 SubIndex 023 RO 0x6010:26, 8

Subindex Sync manager type RO 0x04 (4

1C00:01 SubIndex 001 RO 0x01 (1

1C00:02 SubIndex 002 RO 0x02 (2

1C00:03 SubIndex 003 RO 0x03 (3

1C00:04 SubIndex 004 RO 0x04 (4

Subindex RxPDO assign RW 0x02 (2

)

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EP6001 and EP6002 85Version: 2.1.0

Commissioning/Configuration

Index (hex) Name Flags Default value

1C12:01 SubIndex 001 RW 0x1604 (5636

1C12:02 SubIndex 002 RW 0x1605 (5637

1C13:0 [}104]

1C32 [}105]:0

1C33:0 [}106]

6000:0 [}107]

Subindex TxPDO assign RW 0x02 (2

1C13:01 SubIndex 001 RW 0x1A04 (6660

1C13:02 SubIndex 002 RW 0x1A05 (6661

Subindex SM output parameter RO 0x20 (32

1C32:01 Sync mode RW 0x0000 (0

1C32:02 Cycle time RW 0x000F4240 (1000000

1C32:03 Shift time RO 0x00000384 (900

1C32:04 Sync modes supported RO 0xC007 (49159

1C32:05 Minimum cycle time RO 0x00002710 (10000

1C32:06 Calc and copy time RO 0x00000000 (0

1C32:07 Minimum delay time RO 0x00000384 (900

1C32:08 Command RW 0x0000 (0

1C32:09 Maximum Delay time RO 0x00000384 (900

1C32:0B SM event missed counter RO 0x0000 (0

1C32:0C Cycle exceeded counter RO 0x0000 (0

1C32:0D Shift too short counter RO 0x0000 (0

1C32:20 Sync error RO 0x00 (0

Subindex SM input parameter RO 0x20 (32

1C33:01 Sync mode RW 0x0000 (0

1C33:02 Cycle time RW 0x000F4240 (1000000

1C33:03 Shift time RO 0x00000384 (900

1C33:04 Sync modes supported RO 0xC007 (49159

1C33:05 Minimum cycle time RO 0x00002710 (10000

1C33:06 Calc and copy time RO 0x00000000 (0

1C33:07 Minimum delay time RO 0x00000384 (900

1C33:08 Command RW 0x0000 (0

1C33:09 Maximum Delay time RO 0x00000384 (900

1C33:0B SM event missed counter RO 0x0000 (0

1C33:0C Cycle exceeded counter RO 0x0000 (0

1C33:0D Shift too short counter RO 0x0000 (0

1C33:20 Sync error RO 0x00 (0

Subindex COM Inputs Ch.1 RO 0x26 (38

6000:01 Transmit accepted RO 0x00 (0

6000:02 Receive request RO 0x00 (0

6000:03 Init Accepted RO 0x00 (0

6000:04 Buffer full RO 0x00 (0

6000:05 Parity error RO 0x00 (0

6000:06 Framing error RO 0x00 (0

6000:07 Overrun error RO 0x00 (0

6000:09 Input length RO 0x00 (0

6000:11 Data In 0 RO 0x00 (0

6000:12 Data In 1 RO 0x00 (0

6000:13 Data In 2 RO 0x00 (0

6000:14 Data In 3 RO 0x00 (0

6000:15 Data In 4 RO 0x00 (0

6000:16 Data In 5 RO 0x00 (0

6000:17 Data In 6 RO 0x00 (0

6000:18 Data In 7 RO 0x00 (0

6000:19 Data In 8 RO 0x00 (0

6000:1A Data In 9 RO 0x00 (0

6000:1B Data In 10 RO 0x00 (0

6000:1C Data In 11 RO 0x00 (0

6000:1D Data In 12 RO 0x00 (0

6000:1E Data In 13 RO 0x00 (0

6000:1F Data In 14 RO 0x00 (0

6000:20 Data In 15 RO 0x00 (0

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EP6001 and EP600286 Version: 2.1.0

Commissioning/Configuration

Index (hex) Name Flags Default value

6001:0 [}107]

6010:0 [}108]

6011:0 [}108]

7000:0 [}109]

6000:21 Data In 16 RO 0x00 (0

6000:22 Data In 17 RO 0x00 (0

6000:23 Data In 18 RO 0x00 (0

6000:24 Data In 19 RO 0x00 (0

6000:25 Data In 20 RO 0x00 (0

6000:26 Data In 21 RO 0x00 (0

Subindex Status Ch.1 RO 0x01 (1

6001:01 Status RO 0x0000 (0

Subindex COM Inputs Ch.2 RO 0x26 (38

6010:01 Transmit accepted RO 0x00 (0

6010:02 Receive request RO 0x00 (0

6010:03 Init Accepted RO 0x00 (0

6010:04 Buffer full RO 0x00 (0

6010:05 Parity error RO 0x00 (0

6010:06 Framing error RO 0x00 (0

6010:07 Overrun error RO 0x00 (0

6010:09 Input length RO 0x00 (0

6010:11 Data In 0 RO 0x00 (0

6010:12 Data In 1 RO 0x00 (0

6010:13 Data In 2 RO 0x00 (0

6010:14 Data In 3 RO 0x00 (0

6010:15 Data In 4 RO 0x00 (0

6010:16 Data In 5 RO 0x00 (0

6010:17 Data In 6 RO 0x00 (0

6010:18 Data In 7 RO 0x00 (0

6010:19 Data In 8 RO 0x00 (0

6010:1A Data In 9 RO 0x00 (0

6010:1B Data In 10 RO 0x00 (0

6010:1C Data In 11 RO 0x00 (0

6010:1D Data In 12 RO 0x00 (0

6010:1E Data In 13 RO 0x00 (0

6010:1F Data In 14 RO 0x00 (0

6010:20 Data In 15 RO 0x00 (0

6010:21 Data In 16 RO 0x00 (0

6010:22 Data In 17 RO 0x00 (0

6010:23 Data In 18 RO 0x00 (0

6010:24 Data In 19 RO 0x00 (0

6010:25 Data In 20 RO 0x00 (0

6010:26 Data In 21 RO 0x00 (0

Subindex Status Ch.2 RO 0x01 (1

6011:01 Status RO 0x0000 (0

Subindex COM Outputs Ch.1 RO 0x26 (38

7000:01 Transmit request RO 0x00 (0

7000:02 Receive accepted RO 0x00 (0

7000:03 Init request RO 0x00 (0

7000:04 Send continuous RO 0x00 (0

7000:09 Output length RO 0x00 (0

7000:11 Data Out 0 RO 0x00 (0

7000:12 Data Out 1 RO 0x00 (0

7000:13 Data Out 2 RO 0x00 (0

7000:14 Data Out 3 RO 0x00 (0

7000:15 Data Out 4 RO 0x00 (0

7000:16 Data Out 5 RO 0x00 (0

7000:17 Data Out 6 RO 0x00 (0

7000:18 Data Out 7 RO 0x00 (0

7000:19 Data Out 8 RO 0x00 (0

7000:1A Data Out 9 RO 0x00 (0

7000:1B Data Out 10 RO 0x00 (0

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EP6001 and EP6002 87Version: 2.1.0

Commissioning/Configuration

Index (hex) Name Flags Default value

7001:0 [}109]

7010:0 [}110]

7011:0 [}110]

8000:0 [}91]

8010:0 [}92]

7000:1C Data Out 11 RO 0x00 (0

7000:1D Data Out 12 RO 0x00 (0

7000:1E Data Out 13 RO 0x00 (0

7000:1F Data Out 14 RO 0x00 (0

7000:20 Data Out 15 RO 0x00 (0

7000:21 Data Out 16 RO 0x00 (0

7000:22 Data Out 17 RO 0x00 (0

7000:23 Data Out 18 RO 0x00 (0

7000:24 Data Out 19 RO 0x00 (0

7000:25 Data Out 20 RO 0x00 (0

7000:26 Data Out 21 RO 0x00 (0

Subindex Ctrl Ch.1 RO 0x01 (1

7001:01 Ctrl RO 0x0000 (0

Subindex COM Outputs Ch.2 RO 0x26 (38

7010:01 Transmit request RO 0x00 (0

7010:02 Receive accepted RO 0x00 (0

7010:03 Init request RO 0x00 (0

7010:04 Send continuous RO 0x00 (0

7010:09 Output length RO 0x00 (0

7010:11 Data Out 0 RO 0x00 (0

7010:12 Data Out 1 RO 0x00 (0

7010:13 Data Out 2 RO 0x00 (0

7010:14 Data Out 3 RO 0x00 (0

7010:15 Data Out 4 RO 0x00 (0

7010:16 Data Out 5 RO 0x00 (0

7010:17 Data Out 6 RO 0x00 (0

7010:18 Data Out 7 RO 0x00 (0

7010:19 Data Out 8 RO 0x00 (0

7010:1A Data Out 9 RO 0x00 (0

7010:1B Data Out 10 RO 0x00 (0

7010:1C Data Out 11 RO 0x00 (0

7010:1D Data Out 12 RO 0x00 (0

7010:1E Data Out 13 RO 0x00 (0

7010:1F Data Out 14 RO 0x00 (0

7010:20 Data Out 15 RO 0x00 (0

7010:21 Data Out 16 RO 0x00 (0

7010:22 Data Out 17 RO 0x00 (0

7010:23 Data Out 18 RO 0x00 (0

7010:24 Data Out 19 RO 0x00 (0

7010:25 Data Out 20 RO 0x00 (0

7010:26 Data Out 21 RO 0x00 (0

Subindex Ctrl Ch.2 RO 0x01 (1

7011:01 Ctrl RO 0x0000 (0

Subindex COM Settings Ch.1 RW 0x1A (26

8000:02 Enable XON/XOFF supported tx data RW 0x00 (0

8000:03 Enable XON/XOFF supported rx data RW 0x00 (0

8000:04 Enable send FIFO data continuous RW 0x00 (0

8000:05 Enable transfer rate optimization RW 0x01 (1

8000:07 Enable point to point connection (RS422) RW 0x00 (0

8000:11 Baud rate RW 0x06 (6

8000:15 Data frame RW 0x03 (3

8000:1A Rx buffer full notification RW 0x0360 (864

Subindex COM Settings Ch.2 RW 0x1A (26

8010:02 Enable XON/XOFF supported tx data RW 0x00 (0

8010:03 Enable XON/XOFF supported rx data RW 0x00 (0

8010:04 Enable send FIFO data continuous RW 0x00 (0

8010:05 Enable transfer rate optimization RW 0x01 (1

8010:07 Enable point to point connection (RS422) RW 0x00 (0

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EP6001 and EP600288 Version: 2.1.0

Commissioning/Configuration

Index (hex) Name Flags Default value

A000:0 [}110]

A010:0 [}111]

F000:0 [}111]

F008 [}111]

F010:0 [}111]

F800:0 [}92]

8010:11 Baud rate RW 0x06 (6

8010:15 Data frame RW 0x03 (3

8010:1A Rx buffer full notification RW 0x0360 (864

Subindex COM Diag data Ch.1 RO 0x21 (33

A000:01 Buffer overflow RO 0x00 (0

A000:02 Parity error RO 0x00 (0

A000:03 Framing error RO 0x00 (0

A000:04 Overrun error RO 0x00 (0

A000:05 Buffer full RO 0x00 (0

A000:11 Data bytes in send buffer RO 0x0000 (0

A000:21 Data bytes in receive buffer RO 0x0000 (0

Subindex COM Diag data Ch.2 RO 0x21 (33

A010:01 Buffer overflow RO 0x00 (0

A010:02 Parity error RO 0x00 (0

A010:03 Framing error RO 0x00 (0

A010:04 Overrun error RO 0x00 (0

A010:05 Buffer full RO 0x00 (0

A010:11 Data bytes in send buffer RO 0x0000 (0

A010:21 Data bytes in receive buffer RO 0x0000 (0

Subindex Modular device profile RO 0x02 (2

F000:01 Module index distance RO 0x0010 (16

F000:02 Maximum number of modules RO 0x0002 (2

Code word RW 0x00000000 (0

Subindex Module list RW 0x02 (2

F010:01 SubIndex 001 RW 0x00000258 (600

F010:02 SubIndex 002 RW 0x00000258 (600

Subindex COM Settings RW 0x03 (3

F800:01 Interface Type Ch 1 RW 0x00 (0

F800:02 Interface Type Ch 2 RW 0x00 (0

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Key

Flags:

RO (Read Only): This object can only be read.

RW (Read/Write): This object can be read and written to.

EP6001 and EP6002 89Version: 2.1.0

Commissioning/Configuration

5.9 EP6002-0002 - 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 (double-click on the respective ob­ject) or via the Process Data tab (allocation of PDOs). 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

- use “CoE reload” for resetting changes

Introduction

The CoE overview contains objects for different intended applications:

• Objects required for parameterization [}90] during commissioning

• Objects required for the selection of the interface type [}92]

• Objects intended for regular operation [}92], e.g. through ADS access

• Objects for indicating internal settings [}93] (may be fixed)

• Further profile-specific objects [}106] indicating inputs, outputs and status information

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

Objects to be parameterized during commissioning

Index 1011 Restore default parameters

Index (hex) Name Meaning Data type Flags Default

1011:0 Restore default pa-

rameters

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

Restore default settings UINT8 RO 0x01 (1

UINT32 RW 0x00000000 (0
dialog, all backup objects are reset to their delivery
state.

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EP6001 and EP600290 Version: 2.1.0

Commissioning/Configuration

Index 8000 COM Settings Ch.1

Index (hex) Name Meaning Data type Flags Default

8000:0 COM Settings Ch.1 UINT8 RO 0x1A (26

8000:02 Enable XON/XOFF

supported tx data

8000:03 Enable XON/XOFF

supported rx data

8000:04 Enable send FIFO

data continuous

8000:05 Enable transfer rate

optimization

8000:06 Enable half duplex Half duplex for RS485 mode (this bit is not evaluated

8000:07 Enable point to point

connection (RS422)

8000:11 Baud rate Baud Rate BIT4 RW 0x06 (6

8000:15 Data frame Data frame / Stop bits BIT4 RW 0x03 (3

8000:1A Rx buffer full notifica-

tion

XON/XOFF is supported for send data BOOLEAN RW 0x00 (0

XON/XOFF is supported for receive data BOOLEAN RW 0x00 (0

Continuous sending of data from the FIFO enabled BOOLEAN RW 0x00 (0

Switch on the transfer rate optimization BOOLEAN RW 0x01 (1

BOOLEAN RW 0x00 (0
in RS232 and RS422 mode)

0 Full duplex: The module monitors its transmit-

ted data.

1 Half duplex: The module does not monitor the

data that it has transmitted itself.

0 The module is used in a bus structure in ac-

BOOLEAN RW 0x00 (0

cordance with the RS485 standard.

1 The module is used as a point-to-point con-

nection (RS422)

0x01 300 baud

0x02 600 baud

0x03 1200 baud

0x04 2400 baud

0x05 4800 baud

0x06 9600 baud

0x07 19200 baud

0x08 38400 baud

0x09 57600 baud

0x0A 115200 baud

0x01 7E1

0x02 7O1

0x03 8N1

0x04 8E1

0x05 8O1

0x09 7E2

0x0A 7O2

0x0B 8N2

0x0C 8E2

0x0D 8O2

The value specifies the number of data in the receive

UINT16 RW 0x0360 (864
FIFO, from which the bit "buffer full" is set.

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EP6001 and EP6002 91Version: 2.1.0

Commissioning/Configuration

Index 8010 COM Settings Ch.2

Index (hex) Name Meaning Data type Flags Default

8010:0 COM Settings Ch.2 UINT8 RO 0x1A (26

8010:02 Enable XON/XOFF

supported tx data

8010:03 Enable XON/XOFF

supported rx data

8010:04 Enable send FIFO

data continuous

8010:05 Enable transfer rate

optimization

8010:06 Enable half duplex Half duplex for RS485 mode (this bit is not evaluated

8010:07 Enable point to point

connection (RS422)

8010:11 Baud rate Baud Rate BIT4 RW 0x06 (6

8010:15 Data frame Data frame / Stop bits BIT4 RW 0x03 (3

8010:1A Rx buffer full notifica-

tion

XON/XOFF is supported for send data BOOLEAN RW 0x00 (0

XON/XOFF is supported for receive data BOOLEAN RW 0x00 (0

Continuous sending of data from the FIFO enabled BOOLEAN RW 0x00 (0

Switch on the transfer rate optimization BOOLEAN RW 0x01 (1

BOOLEAN RW 0x00 (0
in RS232 and RS422 mode)

0 Full duplex: The module monitors its transmit-

ted data.

1 Half duplex: The module does not monitor the

data that it has transmitted itself.

0 The module is used in a bus structure in ac-

BOOLEAN RW 0x00 (0

cordance with the RS485 standard.

1 The module is used as a point-to-point con-

nection (RS422)

0x01 300 baud

0x02 600 baud

0x03 1200 baud

0x04 2400 baud

0x05 4800 baud

0x06 9600 baud

0x07 19200 baud

0x08 38400 baud

0x09 57600 baud

0x0A 115200 baud

0x01 7E1

0x02 7O1

0x03 8N1

0x04 8E1

0x05 8O1

0x09 7E2

0x0A 7O2

0x0B 8N2

0x0C 8E2

0x0D 8O2

The value specifies the number of data in the receive

UINT16 RW 0x0360 (864
FIFO, from which the bit "buffer full" is set.

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Index F800 COM Settings

Index (hex) Name Meaning Data type Flags Default

F800:0 COM Settings UINT8 RO 0x03 (3

F800:01 Interface Type Ch 1 0x00 RS232 BIT1 RW 0x00 (0

0x01 RS485/422

F800:02 Interface Type Ch 2 0x00 RS232 BIT1 RW 0x00 (0

0x01 RS485/422

Objects for regular operation

The EP6002 has no such objects.

EP6001 and EP600292 Version: 2.1.0

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Commissioning/Configuration

Additional objects

Standard objects (0x1000-0x1FFF)

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

Index 1000 Device type

Index (hex) Name Meaning Data type Flags Default

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

tains the CoE profile used (5001). The Hi-Word con-

UINT32 RO 0x02581389

(39326601
tains the module profile according to the modular de­vice profile.

Index 1008 Device name

Index (hex) Name Meaning Data type Flags Default

1008:0 Device name Device name of the EtherCAT slave STRING RO EP6002-0002

Index 1009 Hardware version

Index (hex) Name Meaning Data type Flags Default

1009:0 Hardware version Hardware version of the EtherCAT slave STRING RO 00

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Index 100A Software Version

Index (hex) Name Meaning Data type Flags Default

100A:0 Software version Firmware version of the EtherCAT slave STRING RO 00

Index 1018 Identity

Index (hex) Name Meaning Data type Flags Default

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

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1018:01 Vendor ID Vendor ID of the EtherCAT slave UINT32 RO 0x00000002 (2

1018:02 Product code Product code of the EtherCAT slave UINT32 RO 0x17724052

(393363538

1018:03 Revision Revision numberof the EtherCAT slave; the Low Word

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

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

UINT32 RO 0x00100002

(1048578

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UINT32 RO 0x00000000 (0
0-7) of the Low Word contains the year of production,
the High Byte (bit 8-15) of the Low Word contains the
week of production, the High Word (bit 16-31) is 0

Index 10F0 Backup parameter handling

Index (hex) Name Meaning Data type Flags Default

10F0:0 Backup parameter

handling

10F0:01 Checksum Checksum across all backup entries of the EtherCAT

Information for standardized loading and saving of
backup entries

slave

UINT8 RO 0x01 (1

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UINT32 RO 0x00000000 (0

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Index 1400 COM RxPDO-Par Outputs Ch.1

Index (hex) Name Meaning Data type Flags Default

1400:0 COM RxPDO-Par

PDO Parameter RxPDO 1 UINT8 RO 0x06 (6

Outputs Ch.1

1400:06 Exclude RxPDOs Specifies the RxPDOs (index of RxPDO mapping ob-

jects) that must not be transferred together with Rx-

OCTET-

STRING[2]

RO 04 16

PDO 1

EP6001 and EP6002 93Version: 2.1.0

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Commissioning/Configuration

Index 1401 COM RxPDO-Par Outputs Ch.2

Index (hex) Name Meaning Data type Flags Default

1401:0 COM RxPDO-Par

PDO Parameter RxPDO 2 UINT8 RO 0x06 (6

Outputs Ch.2

1401:06 Exclude RxPDOs Specifies the RxPDOs (index of RxPDO mapping ob-

jects) that must not be transferred together with Rx-

OCTET-

STRING[2]

RO 05 16

PDO 2

Index 1404 COM RxPDO-Par Outputs Ch.1

Index (hex) Name Meaning Data type Flags Default

1404:0 COM RxPDO-Par

PDO Parameter RxPDO 5 UINT8 RO 0x06 (6

Outputs Ch.1

1404:06 Exclude RxPDOs Specifies the RxPDOs (index of RxPDO mapping ob-

jects) that must not be transferred together with Rx-

OCTET-

STRING[2]

RO 00 16

PDO 5

Index 1405 COM RxPDO-Par Outputs Ch.2

Index (hex) Name Meaning Data type Flags Default

1405:0 COM RxPDO-Par

Outputs Ch.2

1405:06 Exclude RxPDOs Specifies the RxPDOs (index of RxPDO mapping ob-

PDO Parameter RxPDO 6 UINT8 RO 0x06 (6

jects) that must not be transferred together with Rx-

OCTET-

STRING[2]

RO 01 16

PDO 6

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EP6001 and EP600294 Version: 2.1.0

Commissioning/Configuration

Index 1600 COM RxPDO-Map Outputs Ch.1

Index (hex) Name Meaning Data type Flags Default

1600:0 COM RxPDO-Map

Outputs Ch.1

1600:01 SubIndex 001 1. PDO Mapping entry (object 0x7000 (COM Outputs

1600:02 SubIndex 002 2. PDO Mapping entry (object 0x7000 (COM Outputs

1600:03 SubIndex 003 3. PDO Mapping entry (object 0x7000 (COM Outputs

1600:04 SubIndex 004 4. PDO Mapping entry (object 0x7000 (COM Outputs

1600:05 SubIndex 005 5. PDO Mapping entry (4 bits align) UINT32 RO 0x0000:00, 4

1600:06 SubIndex 006 6. PDO Mapping entry (object 0x7000 (COM Outputs

1600:07 SubIndex 007 7. PDO Mapping entry (object 0x7000 (COM Outputs

1600:08 SubIndex 008 8. PDO Mapping entry (object 0x7000 (COM Outputs

1600:09 SubIndex 009 9. PDO Mapping entry (object 0x7000 (COM Outputs

1600:0A SubIndex 010 10. PDO Mapping entry (object 0x7000 (COM Outputs

1600:0B SubIndex 011 11. PDO Mapping entry (object 0x7000 (COM Outputs

1600:0C SubIndex 012 12. PDO Mapping entry (object 0x7000 (COM Outputs

1600:0D SubIndex 013 13. PDO Mapping entry (object 0x7000 (COM Outputs

1600:0E SubIndex 014 14. PDO Mapping entry (object 0x7000 (COM Outputs

1600:0F SubIndex 015 15. PDO Mapping entry (object 0x7000 (COM Outputs

1600:10 SubIndex 016 16. PDO Mapping entry (object 0x7000 (COM Outputs

1600:11 SubIndex 017 17. PDO Mapping entry (object 0x7000 (COM Outputs

1600:12 SubIndex 018 18. PDO Mapping entry (object 0x7000 (COM Outputs

1600:13 SubIndex 019 19. PDO Mapping entry (object 0x7000 (COM Outputs

1600:14 SubIndex 020 20. PDO Mapping entry (object 0x7000 (COM Outputs

1600:15 SubIndex 021 21. PDO Mapping entry (object 0x7000 (COM Outputs

1600:16 SubIndex 022 22. PDO Mapping entry (object 0x7000 (COM Outputs

1600:17 SubIndex 023 23. PDO Mapping entry (object 0x7000 (COM Outputs

1600:18 SubIndex 024 24. PDO Mapping entry (object 0x7000 (COM Outputs

1600:19 SubIndex 025 25. PDO Mapping entry (object 0x7000 (COM Outputs

1600:1A SubIndex 026 26. PDO Mapping entry (object 0x7000 (COM Outputs

1600:1B SubIndex 027 27. PDO Mapping entry (object 0x7000 (COM Outputs

1600:1C SubIndex 028 28. PDO Mapping entry (object 0x7000 (COM Outputs

PDO Mapping RxPDO 1 UINT8 RO 0x1C (28

UINT32 RO 0x7000:01, 1
Ch.1), entry 0x01 (Transmit request))

UINT32 RO 0x7000:02, 1
Ch.1), entry 0x02 (Receive accepted))

UINT32 RO 0x7000:03, 1
Ch.1), entry 0x03 (Init request))

UINT32 RO 0x7000:04, 1
Ch.1), entry 0x04 (Send continuous))

UINT32 RO 0x7000:09, 8
Ch.1), entry 0x09 (Output length))

UINT32 RO 0x7000:11, 8
Ch.1), entry 0x11 (Data Out 0))

UINT32 RO 0x7000:12, 8
Ch.1), entry 0x12 (Data Out 1))

UINT32 RO 0x7000:13, 8
Ch.1), entry 0x13 (Data Out 2))

UINT32 RO 0x7000:14, 8
Ch.1), entry 0x14 (Data Out 3))

UINT32 RO 0x7000:15, 8
Ch.1), entry 0x15 (Data Out 4))

UINT32 RO 0x7000:16, 8
Ch.1), entry 0x16 (Data Out 5))

UINT32 RO 0x7000:17, 8
Ch.1), entry 0x17 (Data Out 6))

UINT32 RO 0x7000:18, 8
Ch.1), entry 0x18 (Data Out 7))

UINT32 RO 0x7000:19, 8
Ch.1), entry 0x19 (Data Out 8))

UINT32 RO 0x7000:1A, 8
Ch.1), entry 0x1A (Data Out 9))

UINT32 RO 0x7000:1B, 8
Ch.1), entry 0x1B (Data Out 10))

UINT32 RO 0x7000:1C, 8
Ch.1), entry 0x1C (Data Out 11))

UINT32 RO 0x7000:1D, 8
Ch.1), entry 0x1D (Data Out 12))

UINT32 RO 0x7000:1E, 8
Ch.1), entry 0x1E (Data Out 13))

UINT32 RO 0x7000:1F, 8
Ch.1), entry 0x1F (Data Out 14))

UINT32 RO 0x7000:20, 8
Ch.1), entry 0x20 (Data Out 15))

UINT32 RO 0x7000:21, 8
Ch.1), entry 0x21 (Data Out 16))

UINT32 RO 0x7000:22, 8
Ch.1), entry 0x22 (Data Out 17))

UINT32 RO 0x7000:23, 8
Ch.1), entry 0x23 (Data Out 18))

UINT32 RO 0x7000:24, 8
Ch.1), entry 0x24 (Data Out 19))

UINT32 RO 0x7000:25, 8
Ch.1), entry 0x25 (Data Out 20))

UINT32 RO 0x7000:26, 8
Ch.1), entry 0x26 (Data Out 21))

dec

)

EP6001 and EP6002 95Version: 2.1.0

Commissioning/Configuration

Index 1601 COM RxPDO-Map Outputs Ch.2

Index (hex) Name Meaning Data type Flags Default

1601:0 COM RxPDO-Map

Outputs Ch.2

1601:01 SubIndex 001 1. PDO Mapping entry (object 0x7010 (COM Outputs

1601:02 SubIndex 002 2. PDO Mapping entry (object 0x7010 (COM Outputs

1601:03 SubIndex 003 3. PDO Mapping entry (object 0x7010 (COM Outputs

1601:04 SubIndex 004 4. PDO Mapping entry (object 0x7010 (COM Outputs

1601:05 SubIndex 005 5. PDO Mapping entry (4 bits align) UINT32 RO 0x0000:00, 4

1601:06 SubIndex 006 6. PDO Mapping entry (object 0x7010 (COM Outputs

1601:07 SubIndex 007 7. PDO Mapping entry (object 0x7010 (COM Outputs

1601:08 SubIndex 008 8. PDO Mapping entry (object 0x7010 (COM Outputs

1601:09 SubIndex 009 9. PDO Mapping entry (object 0x7010 (COM Outputs

1601:0A SubIndex 010 10. PDO Mapping entry (object 0x7010 (COM Outputs

1601:0B SubIndex 011 11. PDO Mapping entry (object 0x7010 (COM Outputs

1601:0C SubIndex 012 12. PDO Mapping entry (object 0x7010 (COM Outputs

1601:0D SubIndex 013 13. PDO Mapping entry (object 0x7010 (COM Outputs

1601:0E SubIndex 014 14. PDO Mapping entry (object 0x7010 (COM Outputs

1601:0F SubIndex 015 15. PDO Mapping entry (object 0x7010 (COM Outputs

1601:10 SubIndex 016 16. PDO Mapping entry (object 0x7010 (COM Outputs

1601:11 SubIndex 017 17. PDO Mapping entry (object 0x7010 (COM Outputs

1601:12 SubIndex 018 18. PDO Mapping entry (object 0x7010 (COM Outputs

1601:13 SubIndex 019 19. PDO Mapping entry (object 0x7010 (COM Outputs

1601:14 SubIndex 020 20. PDO Mapping entry (object 0x7010 (COM Outputs

1601:15 SubIndex 021 21. PDO Mapping entry (object 0x7010 (COM Outputs

1601:16 SubIndex 022 22. PDO Mapping entry (object 0x7010 (COM Outputs

1601:17 SubIndex 023 23. PDO Mapping entry (object 0x7010 (COM Outputs

1601:18 SubIndex 024 24. PDO Mapping entry (object 0x7010 (COM Outputs

1601:19 SubIndex 025 25. PDO Mapping entry (object 0x7010 (COM Outputs

1601:1A SubIndex 026 26. PDO Mapping entry (object 0x7010 (COM Outputs

1601:1B SubIndex 027 27. PDO Mapping entry (object 0x7010 (COM Outputs

1601:1C SubIndex 028 28. PDO Mapping entry (object 0x7010 (COM Outputs

PDO Mapping RxPDO 2 UINT8 RO 0x1C (28

UINT32 RO 0x7010:01, 1
Ch.2), entry 0x01 (Transmit request))

UINT32 RO 0x7010:02, 1
Ch.2), entry 0x02 (Receive accepted))

UINT32 RO 0x7010:03, 1
Ch.2), entry 0x03 (Init request))

UINT32 RO 0x7010:04, 1
Ch.2), entry 0x04 (Send continuous))

UINT32 RO 0x7010:09, 8
Ch.2), entry 0x09 (Output length))

UINT32 RO 0x7010:11, 8
Ch.2), entry 0x11 (Data Out 0))

UINT32 RO 0x7010:12, 8
Ch.2), entry 0x12 (Data Out 1))

UINT32 RO 0x7010:13, 8
Ch.2), entry 0x13 (Data Out 2))

UINT32 RO 0x7010:14, 8
Ch.2), entry 0x14 (Data Out 3))

UINT32 RO 0x7010:15, 8
Ch.2), entry 0x15 (Data Out 4))

UINT32 RO 0x7010:16, 8
Ch.2), entry 0x16 (Data Out 5))

UINT32 RO 0x7010:17, 8
Ch.2), entry 0x17 (Data Out 6))

UINT32 RO 0x7010:18, 8
Ch.2), entry 0x18 (Data Out 7))

UINT32 RO 0x7010:19, 8
Ch.2), entry 0x19 (Data Out 8))

UINT32 RO 0x7010:1A, 8
Ch.2), entry 0x1A (Data Out 9))

UINT32 RO 0x7010:1B, 8
Ch.2), entry 0x1B (Data Out 10))

UINT32 RO 0x7010:1C, 8
Ch.2), entry 0x1C (Data Out 11))

UINT32 RO 0x7010:1D, 8
Ch.2), entry 0x1D (Data Out 12))

UINT32 RO 0x7010:1E, 8
Ch.2), entry 0x1E (Data Out 13))

UINT32 RO 0x7010:1F, 8
Ch.2), entry 0x1F (Data Out 14))

UINT32 RO 0x7010:20, 8
Ch.2), entry 0x20 (Data Out 15))

UINT32 RO 0x7010:21, 8
Ch.2), entry 0x21 (Data Out 16))

UINT32 RO 0x7010:22, 8
Ch.2), entry 0x22 (Data Out 17))

UINT32 RO 0x7010:23, 8
Ch.2), entry 0x23 (Data Out 18))

UINT32 RO 0x7010:24, 8
Ch.2), entry 0x24 (Data Out 19))

UINT32 RO 0x7010:25, 8
Ch.2), entry 0x25 (Data Out 20))

UINT32 RO 0x7010:26, 8
Ch.2), entry 0x26 (Data Out 21))

dec

)

EP6001 and EP600296 Version: 2.1.0

Commissioning/Configuration

Index 1604 COM RxPDO-Map Outputs Ch.1

Index (hex) Name Meaning Data type Flags Default

1604:0 COM RxPDO-Map

Outputs Ch.1

1604:01 SubIndex 001 1. PDO Mapping entry (object 0x7001 (Ctrl Ch.1), entry

1604:02 SubIndex 002 2. PDO Mapping entry (object 0x7000 (COM Outputs

1604:03 SubIndex 003 3. PDO Mapping entry (object 0x7000 (COM Outputs

1604:04 SubIndex 004 4. PDO Mapping entry (object 0x7000 (COM Outputs

1604:05 SubIndex 005 5. PDO Mapping entry (object 0x7000 (COM Outputs

1604:06 SubIndex 006 6. PDO Mapping entry (object 0x7000 (COM Outputs

1604:07 SubIndex 007 7. PDO Mapping entry (object 0x7000 (COM Outputs

1604:08 SubIndex 008 8. PDO Mapping entry (object 0x7000 (COM Outputs

1604:09 SubIndex 009 9. PDO Mapping entry (object 0x7000 (COM Outputs

1604:0A SubIndex 010 10. PDO Mapping entry (object 0x7000 (COM Outputs

1604:0B SubIndex 011 11. PDO Mapping entry (object 0x7000 (COM Outputs

1604:0C SubIndex 012 12. PDO Mapping entry (object 0x7000 (COM Outputs

1604:0D SubIndex 013 13. PDO Mapping entry (object 0x7000 (COM Outputs

1604:0E SubIndex 014 14. PDO Mapping entry (object 0x7000 (COM Outputs

1604:0F SubIndex 015 15. PDO Mapping entry (object 0x7000 (COM Outputs

1604:10 SubIndex 016 16. PDO Mapping entry (object 0x7000 (COM Outputs

1604:11 SubIndex 017 17. PDO Mapping entry (object 0x7000 (COM Outputs

1604:12 SubIndex 018 18. PDO Mapping entry (object 0x7000 (COM Outputs

1604:13 SubIndex 019 19. PDO Mapping entry (object 0x7000 (COM Outputs

1604:14 SubIndex 020 20. PDO Mapping entry (object 0x7000 (COM Outputs

1604:15 SubIndex 021 21. PDO Mapping entry (object 0x7000 (COM Outputs

1604:16 SubIndex 022 22. PDO Mapping entry (object 0x7000 (COM Outputs

1604:17 SubIndex 023 23. PDO Mapping entry (object 0x7000 (COM Outputs

PDO Mapping RxPDO 5 UINT8 RO 0x17 (23

UINT32 RO 0x7001:01, 16
0x01 (Ctrl))

UINT32 RO 0x7000:11, 8
Ch.1), entry 0x11 (Data Out 0))

UINT32 RO 0x7000:12, 8
Ch.1), entry 0x12 (Data Out 1))

UINT32 RO 0x7000:13, 8
Ch.1), entry 0x13 (Data Out 2))

UINT32 RO 0x7000:14, 8
Ch.1), entry 0x14 (Data Out 3))

UINT32 RO 0x7000:15, 8
Ch.1), entry 0x15 (Data Out 4))

UINT32 RO 0x7000:16, 8
Ch.1), entry 0x16 (Data Out 5))

UINT32 RO 0x7000:17, 8
Ch.1), entry 0x17 (Data Out 6))

UINT32 RO 0x7000:18, 8
Ch.1), entry 0x18 (Data Out 7))

UINT32 RO 0x7000:19, 8
Ch.1), entry 0x19 (Data Out 8))

UINT32 RO 0x7000:1A, 8
Ch.1), entry 0x1A (Data Out 9))

UINT32 RO 0x7000:1B, 8
Ch.1), entry 0x1B (Data Out 10))

UINT32 RO 0x7000:1C, 8
Ch.1), entry 0x1C (Data Out 11))

UINT32 RO 0x7000:1D, 8
Ch.1), entry 0x1D (Data Out 12))

UINT32 RO 0x7000:1E, 8
Ch.1), entry 0x1E (Data Out 13))

UINT32 RO 0x7000:1F, 8
Ch.1), entry 0x1F (Data Out 14))

UINT32 RO 0x7000:20, 8
Ch.1), entry 0x20 (Data Out 15))

UINT32 RO 0x7000:21, 8
Ch.1), entry 0x21 (Data Out 16))

UINT32 RO 0x7000:22, 8
Ch.1), entry 0x22 (Data Out 17))

UINT32 RO 0x7000:23, 8
Ch.1), entry 0x23 (Data Out 18))

UINT32 RO 0x7000:24, 8
Ch.1), entry 0x24 (Data Out 19))

UINT32 RO 0x7000:25, 8
Ch.1), entry 0x25 (Data Out 20))

UINT32 RO 0x7000:26, 8
Ch.1), entry 0x26 (Data Out 21))

)

dec

EP6001 and EP6002 97Version: 2.1.0

Commissioning/Configuration

Index 1605 COM RxPDO-Map Outputs Ch.2

Index (hex) Name Meaning Data type Flags Default

1605:0 COM RxPDO-Map

Outputs Ch.2

1605:01 SubIndex 001 1. PDO Mapping entry (object 0x7011 (Ctrl Ch.2), entry

1605:02 SubIndex 002 2. PDO Mapping entry (object 0x7010 (COM Outputs

1605:03 SubIndex 003 3. PDO Mapping entry (object 0x7010 (COM Outputs

1605:04 SubIndex 004 4. PDO Mapping entry (object 0x7010 (COM Outputs

1605:05 SubIndex 005 5. PDO Mapping entry (object 0x7010 (COM Outputs

1605:06 SubIndex 006 6. PDO Mapping entry (object 0x7010 (COM Outputs

1605:07 SubIndex 007 7. PDO Mapping entry (object 0x7010 (COM Outputs

1605:08 SubIndex 008 8. PDO Mapping entry (object 0x7010 (COM Outputs

1605:09 SubIndex 009 9. PDO Mapping entry (object 0x7010 (COM Outputs

1605:0A SubIndex 010 10. PDO Mapping entry (object 0x7010 (COM Outputs

1605:0B SubIndex 011 11. PDO Mapping entry (object 0x7010 (COM Outputs

1605:0C SubIndex 012 12. PDO Mapping entry (object 0x7010 (COM Outputs

1605:0D SubIndex 013 13. PDO Mapping entry (object 0x7010 (COM Outputs

1605:0E SubIndex 014 14. PDO Mapping entry (object 0x7010 (COM Outputs

1605:0F SubIndex 015 15. PDO Mapping entry (object 0x7010 (COM Outputs

1605:10 SubIndex 016 16. PDO Mapping entry (object 0x7010 (COM Outputs

1605:11 SubIndex 017 17. PDO Mapping entry (object 0x7010 (COM Outputs

1605:12 SubIndex 018 18. PDO Mapping entry (object 0x7010 (COM Outputs

1605:13 SubIndex 019 19. PDO Mapping entry (object 0x7010 (COM Outputs

1605:14 SubIndex 020 20. PDO Mapping entry (object 0x7010 (COM Outputs

1605:15 SubIndex 021 21. PDO Mapping entry (object 0x7010 (COM Outputs

1605:16 SubIndex 022 22. PDO Mapping entry (object 0x7010 (COM Outputs

1605:17 SubIndex 023 23. PDO Mapping entry (object 0x7010 (COM Outputs

PDO Mapping RxPDO 6 UINT8 RO 0x17 (23

UINT32 RO 0x7011:01, 16
0x01 (Ctrl))

UINT32 RO 0x7010:11, 8
Ch.2), entry 0x11 (Data Out 0))

UINT32 RO 0x7010:12, 8
Ch.2), entry 0x12 (Data Out 1))

UINT32 RO 0x7010:13, 8
Ch.2), entry 0x13 (Data Out 2))

UINT32 RO 0x7010:14, 8
Ch.2), entry 0x14 (Data Out 3))

UINT32 RO 0x7010:15, 8
Ch.2), entry 0x15 (Data Out 4))

UINT32 RO 0x7010:16, 8
Ch.2), entry 0x16 (Data Out 5))

UINT32 RO 0x7010:17, 8
Ch.2), entry 0x17 (Data Out 6))

UINT32 RO 0x7010:18, 8
Ch.2), entry 0x18 (Data Out 7))

UINT32 RO 0x7010:19, 8
Ch.2), entry 0x19 (Data Out 8))

UINT32 RO 0x7010:1A, 8
Ch.2), entry 0x1A (Data Out 9))

UINT32 RO 0x7010:1B, 8
Ch.2), entry 0x1B (Data Out 10))

UINT32 RO 0x7010:1C, 8
Ch.2), entry 0x1C (Data Out 11))

UINT32 RO 0x7010:1D, 8
Ch.2), entry 0x1D (Data Out 12))

UINT32 RO 0x7010:1E, 8
Ch.2), entry 0x1E (Data Out 13))

UINT32 RO 0x7010:1F, 8
Ch.2), entry 0x1F (Data Out 14))

UINT32 RO 0x7010:20, 8
Ch.2), entry 0x20 (Data Out 15))

UINT32 RO 0x7010:21, 8
Ch.2), entry 0x21 (Data Out 16))

UINT32 RO 0x7010:22, 8
Ch.2), entry 0x22 (Data Out 17))

UINT32 RO 0x7010:23, 8
Ch.2), entry 0x23 (Data Out 18))

UINT32 RO 0x7010:24, 8
Ch.2), entry 0x24 (Data Out 19))

UINT32 RO 0x7010:25, 8
Ch.2), entry 0x25 (Data Out 20))

UINT32 RO 0x7010:26, 8
Ch.2), entry 0x26 (Data Out 21))

)

dec

Index 1800 COM TxPDO-Par Inputs Ch.1

Index (hex) Name Meaning Data type Flags Default

1800:0 COM TxPDO-Par

Inputs Ch.1

1800:06 Exclude TxPDOs Specifies the TxPDOs (index of TxPDO mapping ob-

PDO parameter TxPDO 1 UINT8 RO 0x06 (6

jects) that must not be transferred together with TxPDO
1

OCTET­STRING[2]

RO 04 1A

EP6001 and EP600298 Version: 2.1.0

)

dec

Commissioning/Configuration

Index 1801 COM TxPDO-Par Inputs Ch.2

Index (hex) Name Meaning Data type Flags Default

1801:0 COM TxPDO-Par

PDO parameter TxPDO 2 UINT8 RO 0x06 (6

Inputs Ch.2

1801:06 Exclude TxPDOs Specifies the TxPDOs (index of TxPDO mapping ob-

jects) that must not be transferred together with TxPDO

OCTET­STRING[2]

RO 05 1A

2

Index 1804 COM TxPDO-Par Inputs Ch.1

Index (hex) Name Meaning Data type Flags Default

1804:0 COM TxPDO-Par

PDO parameter TxPDO 5 UINT8 RO 0x06 (6

Inputs Ch.1

1804:06 Exclude TxPDOs Specifies the TxPDOs (index of TxPDO mapping ob-

jects) that must not be transferred together with TxPDO

OCTET­STRING[2]

RO 00 1A

5

Index 1805 COM TxPDO-Par Inputs Ch.2

Index (hex) Name Meaning Data type Flags Default

1805:0 COM TxPDO-Par

Inputs Ch.2

1805:06 Exclude TxPDOs Specifies the TxPDOs (index of TxPDO mapping ob-

PDO parameter TxPDO 6 UINT8 RO 0x06 (6

jects) that must not be transferred together with TxPDO

OCTET­STRING[2]

RO 01 1A

6

)

dec

)

dec

)

dec

EP6001 and EP6002 99Version: 2.1.0

Commissioning/Configuration

Index 1A00 COM TxPDO-Map Inputs Ch.1

Index (hex) Name Meaning Data type Flags Default

1A00:0 COM TxPDO-Map

Inputs Ch.1

1A00:01 SubIndex 001 1. PDO Mapping entry (object 0x6000 (COM Inputs

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

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

1A00:04 SubIndex 004 4. PDO Mapping entry (object 0x6000 (COM Inputs

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

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

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

1A00:08 SubIndex 008 8. PDO Mapping entry (1 bits align) UINT32 RO 0x0000:00, 1

1A00:09 SubIndex 009 9. PDO Mapping entry (object 0x6000 (COM Inputs

1A00:0A SubIndex 010 10. PDO Mapping entry (object 0x6000 (COM Inputs

1A00:0B SubIndex 011 11. PDO Mapping entry (object 0x6000 (COM Inputs

1A00:0C SubIndex 012 12. PDO Mapping entry (object 0x6000 (COM Inputs

1A00:0D SubIndex 013 13. PDO Mapping entry (object 0x6000 (COM Inputs

1A00:0E SubIndex 014 14. PDO Mapping entry (object 0x6000 (COM Inputs

1A00:0F SubIndex 015 15. PDO Mapping entry (object 0x6000 (COM Inputs

1A00:10 SubIndex 016 16. PDO Mapping entry (object 0x6000 (COM Inputs

1A00:11 SubIndex 017 17. PDO Mapping entry (object 0x6000 (COM Inputs

1A00:12 SubIndex 018 18. PDO Mapping entry (object 0x6000 (COM Inputs

1A00:13 SubIndex 019 19. PDO Mapping entry (object 0x6000 (COM Inputs

1A00:14 SubIndex 020 20. PDO Mapping entry (object 0x6000 (COM Inputs

1A00:15 SubIndex 021 21. PDO Mapping entry (object 0x6000 (COM Inputs

1A00:16 SubIndex 022 22. PDO Mapping entry (object 0x6000 (COM Inputs

1A00:17 SubIndex 023 23. PDO Mapping entry (object 0x6000 (COM Inputs

1A00:18 SubIndex 024 24. PDO Mapping entry (object 0x6000 (COM Inputs

1A00:19 SubIndex 025 25. PDO Mapping entry (object 0x6000 (COM Inputs

1A00:1A SubIndex 026 26. PDO Mapping entry (object 0x6000 (COM Inputs

1A00:1B SubIndex 027 27. PDO Mapping entry (object 0x6000 (COM Inputs

1A00:1C SubIndex 028 28. PDO Mapping entry (object 0x6000 (COM Inputs

1A00:1D SubIndex 029 29. PDO Mapping entry (object 0x6000 (COM Inputs

1A00:1E SubIndex 030 30. PDO Mapping entry (object 0x6000 (COM Inputs

1A00:1F SubIndex 031 31. PDO Mapping entry (object 0x6000 (COM Inputs

PDO Mapping TxPDO 1 UINT8 RO 0x1F (31

UINT32 RO 0x6000:01, 1

Ch.1), entry 0x01 (Transmit accepted))

UINT32 RO 0x6000:02, 1

Ch.1), entry 0x02 (Receive request))

UINT32 RO 0x6000:03, 1

Ch.1), entry 0x03 (Init accepted))

UINT32 RO 0x6000:04, 1

Ch.1), entry 0x04 (Buffer full))

UINT32 RO 0x6000:05, 1

Ch.1), entry 0x05 (Parity error))

UINT32 RO 0x6000:06, 1

Ch.1), entry 0x06 (Framing error))

UINT32 RO 0x6000:07, 1

Ch.1), entry 0x07 (Overrun error))

UINT32 RO 0x6000:09, 8

Ch.1), entry 0x09 (Input length))

UINT32 RO 0x6000:11, 8

Ch.1), entry 0x11 (Data In 0))

UINT32 RO 0x6000:12, 8

Ch.1), entry 0x12 (Data In 1))

UINT32 RO 0x6000:13, 8

Ch.1), entry 0x13 (Data In 2))

UINT32 RO 0x6000:14, 8

Ch.1), entry 0x14 (Data In 3))

UINT32 RO 0x6000:15, 8

Ch.1), entry 0x15 (Data In 4))

UINT32 RO 0x6000:16, 8

Ch.1), entry 0x16 (Data In 5))

UINT32 RO 0x6000:17, 8

Ch.1), entry 0x17 (Data In 6))

UINT32 RO 0x6000:18, 8

Ch.1), entry 0x18 (Data In 7))

UINT32 RO 0x6000:19, 8

Ch.1), entry 0x19 (Data In 8))

UINT32 RO 0x6000:1A, 8

Ch.1), entry 0x1A (Data In 9))

UINT32 RO 0x6000:1B, 8

Ch.1), entry 0x1B (Data In 10))

UINT32 RO 0x6000:1C, 8

Ch.1), entry 0x1C (Data In 11))

UINT32 RO 0x6000:1D, 8

Ch.1), entry 0x1D (Data In 12))

UINT32 RO 0x6000:1E, 8

Ch.1), entry 0x1E (Data In 13))

UINT32 RO 0x6000:1F, 8

Ch.1), entry 0x1F (Data In 14))

UINT32 RO 0x6000:20, 8

Ch.1), entry 0x20 (Data In 15))

UINT32 RO 0x6000:21, 8

Ch.1), entry 0x21 (Data In 16))

UINT32 RO 0x6000:22, 8

Ch.1), entry 0x22 (Data In 17))

UINT32 RO 0x6000:23, 8

Ch.1), entry 0x23 (Data In 18))

UINT32 RO 0x6000:24, 8

Ch.1), entry 0x24 (Data In 19))

UINT32 RO 0x6000:25, 8

Ch.1), entry 0x25 (Data In 20))

UINT32 RO 0x6000:26, 8

Ch.1), entry 0x26 (Data In 21))

dec

)

EP6001 and EP6002100 Version: 2.1.0