6.4Support and Service ........................................................................................................................63
EP6001-00024Version: 1.1
Foreword
1Foreword
1.1Notes 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®, EtherCATG®, EtherCATG10®, EtherCATP®, SafetyoverEtherCAT®,
TwinSAFE®, XFC®, XTS® and XPlanar® are registered trademarks of and licensed by Beckhoff Automation
GmbH. Other designations used in this publication may be trademarks whose use by third parties for their
own purposes could violate the rights of the owners.
Patent Pending
The EtherCAT Technology is covered, including but not limited to the following patent applications and
patents: EP1590927, EP1789857, EP1456722, EP2137893, DE102015105702 with corresponding
applications or registrations in various other countries.
EtherCAT® is registered trademark and patented technology, licensed by Beckhoff Automation GmbH,
Germany.
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.
EP6001-00026Version: 1.1
Foreword
1.3Documentation issue status
VersionComment
1.1• Front page updated
1.0• First release, adapted from the documentation EP600x V2.1.0
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.
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
Further information on this topic: Version identification of EtherCAT devices [}57].
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
EP6001-00027Version: 1.1
Product group: EtherCAT Box Modules
Power
EtherCAT
...
...
2Product group: EtherCAT Box Modules
EtherCAT Box modules are I/O modules for industrial controllers.
They comply with protection class IP67 and are intended for use outside the control cabinet in wet, dirty or
dusty industrial environments.
EtherCAT Box modules communicate with the controller via the EtherCAT fieldbus. They each have two
connections for EtherCAT communication and for the power supply:
• Feed
• Downstream connection
This enables the cabling of EtherCAT Box modules in a line structure:
Fig.1: EtherCAT Box modules: Example of cabling in a line structure
EP6001-00028Version: 1.1
3Product overview
3.1Introduction
Product overview
Fig.2: EP6001-0002
EP6001-0002 | 1-channel serial interface, RS232, RS422/RS485
The EP6001-0002 serial interface module allows 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 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 byte 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 selected interface. 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.
EP6001-00029Version: 1.1
Product overview
3.2Technical data
All values are typical values over the entire temperature range, unless stated otherwise.
Technical dataEP6001-0002
Fieldbus
FieldbusEtherCAT
Connection2x M8 socket, 4-pin, green
Electrical isolation500V (fieldbus/ IO)
Supply voltages
ConnectionInput: 1 x M8 plug, 4-pin, black
Downstream connection: 1 x M8 socket, 4-pin, black
Control voltage U
Nominal voltage24VDC (-15%/ +20%)
Sum currentmax. 4A
Consumers• Module electronics: 130mA
Peripheral voltage U
Nominal voltage24VDC (-15%/ +20%)
Sum currentmax. 4A
Current consumption from U
Serial interface
Number of channels1
Interface typeParameterizable:
This value corresponds to the current carrying capacity of the connections for the supply voltages.
2)
Supply voltage available at the connections of the serial interface.
EP6001-000210Version: 1.1
Product overview
Technical dataEP6001-0002
Digital inputs/outputs
Number2
Connection1x M12 socket
I/O supply voltage
3)
24VDC from the control voltage U
S
max. 0.5A, short-circuit proof
Input specification
CharacteristicsType 3 according to EN 61131-2, compatible with type 1
Input filter10µs
Signal voltage “0”-3.. +5V
Signal voltage "1"+11.. +30V
Input current3mA at 24V
DC
DC
DC
Output specification
Load typeohmic, inductive, lamp load
Nominal voltage24 VDC (-15%/+20%) from the control voltage U
S
Output currentmax. 0.5A per channel, short-circuit proof
Environmental conditions
Ambient temperature
during operation
Ambient temperature
-25 .. +60°C
-25 .. +55°C according to cURus
-40.. +85°C
during storage
Vibration / shock resistanceconforms to EN 60068-2-6 / EN 60068-2-27
EMC immunity / emissionconforms to EN 61000-6-2 / EN 61000-6-4
Protection classIP65, IP66, IP67 conforms to EN 60529
Supply voltage available at the connections of the digital inputs/outputs.
3.3Scope of supply
Make sure that the following components are included in the scope of delivery:
• 1x EtherCAT Box EP6001-0002
• 2x protective cap for EtherCAT socket, M8, green (pre-assembled)
• 1x protective cap for supply voltage input, M8, transparent (pre-assembled)
• 1x protective cap for supply voltage output, M8, black (pre-assembled)
• 10x labels, blank (1 strip of 10)
Pre-assembled protective caps do not ensure IP67 protection
Protective caps are pre-assembled at the factory to protect connectors during transport. They may
not be tight enough to ensure IP67 protection.
Ensure that the protective caps are correctly seated to ensure IP67 protection.
EP6001-000211Version: 1.1
Product overview
3.4Process image
COM Inputs
Status
Status word for receive data.
Data In [n]
The input variables "Data In 0" .. "Data In 22" each
contain one byte of receive data (USINT).
"Data In 0" contains the first-received byte.
EP6001-000212Version: 1.1
COM outputs
Product overview
Ctrl
Control word for transmit data.
Data Out [n]
The output variables "Data Out 0" .. "Data Out 22"
can each be filled with one byte of send data.
The content of "Data Out 0" is transmitted first.
EP6001-000213Version: 1.1
Product overview
3.4.1Control word
Bit1514131211109876543210
NameOL7OL6OL5OL4OL3OL2OL1OL0----SCIRRATR
Bit no.NameDescription
15.. 8OL7…OL0
(OutLength)
7..4reserved
3SC
(SendContinuous)
2IR
(InitRequest)
1RA
(ReceiveAccepted)
0TR
(TransmitRequest)
1
dec…22dec
riseContinuous sending of data from the FIFO.
1
bin
0
bin
toggleThe controller acknowledges receipt of data by changing the state of this bit. Only
toggleVia a change of state of this bit the controller notifies the box that the DataOut bytes
The number of output bytes available for the transmission from the controller to the
box.
The send buffer is filled (up to 128 bytes) by the controller. The buffer content is sent
with rising edge of bit SC. Once the data has been transferred, this is acknowledged
by the box to the controller by setting the SW.2 bit. SW.2 is cancelled with CW.3.
The controller requests the box to initialize. The send and receive functions are
blocked, the FIFO pointers are reset, and the interface is initialized with the values of
the responsible objects (baud rate 4073, data frame 4074, feature bits 4075). The
execution of the initialization is acknowledged by the box with the SW.2 (IA) bit.
The controller once again requests the box to prepare for serial data exchange.
then can new data be transferred from the box to the controller.
contain the number of bytes indicated via the OL bits. The box acknowledges receipt
of the data in the status byte by changing the state of the SW.0 (TA) bit. Only then
can new data be transferred from the controller to the box.
3.4.2Status word
Bit1514131211109876543210
NameIL7 IL6IL5 IL4IL3 IL2IL1 IL0-OVERRUN
ERR
Key
Bit no.NameDescription
15...8IL7... IL0
(InLength)
7reserved
6OVERRUN ERR0 .. 1An overrun error has occurred. The data concerned is not loaded to the receive
5FRAMING ERR0 .. 1A framing error has occurred. The data concerned is not loaded to the receive FIFO
4PARITY ERR0 .. 1A parity error has occurred. The data concerned is not loaded to the receive FIFO of
3BUF_F1The number of bytes in the receive buffer exceeds the value of parameter 8010:1A
2IA
(InitAccepted)
1RR
(ReceiveRequest)
0TA
(TransmitAccepted)
1
.. 22
dec
1The initialization has been executed by the box.
0The box is ready again for serial data exchange.
toggleVia a change of state of this bit the box notifies the controller that the DataIn bytes
toggleThe box acknowledges the receipt of data by changing the state of this bit. Only then
The number of input bytes available for the transmission from the box to the con-
dec
troller.
FIFO of the box and is lost.
of the box and is lost.
the box and is lost.
"Rx buffer full notification" (factory setting: 864bytes).
contain the number of bytes indicated via the IL bits. The controller has to acknowledge receipt of the data in the control byte via a change of state of bit CW.1 (RA).
Only then can new data be transferred from the box to the controller.
can new data be transferred from the controller to the box.
FRAMING
ERR
PARITY
ERR
BUF_FIARR TA
EP6001-000214Version: 1.1
3.5Technology
Product overview
Fig.3: Level of RS232, RS422, RS485 interfaces
Data transfer rate
The process image contains 22bytes of user data. It is possible to transmit or receive these 22bytes every
second PLC cycle at the most:
• The data is transferred from the box to the controller in the first PLC cycle.
• In the second PLC cycle, the controller must acknowledge that it has accepted the data.
Therefore, if the cycle time is 10ms, 50times 22bytes can be transmitted per second.
If the data format is set to 8N1, each transmitted byte is made up of a start bit, eight data bits and a stop bit.
This is equivalent to 10bits per byte of user data.
With the above-mentioned settings, a continuous data transfer rate of:
• 50[1/s] x 22[bytes] x 10[bits] = 11000 baud (bit/s)
can be achieved.
The next lower standard data transfer rate is 9600baud. Accordingly, continuous transfer at a maximum
baud rate of9600 can be secured with a cycle time of 10ms.
If only low quantities of data are transmitted or received sporadically (e.g.barcode scanner), the data
transfer rate can also be set higher, or the cycle time can be enlarged.
If the controller cannot fetch the data quickly enough from the box, they are buffered in the box's receive
buffer. All further data are lost if the receive buffer is full.
A buffer is also available for the send data. With a baud rate of 300 and a data format of 8N1, the box can
only transmit 30bytespersecond. However, if more than 30bytecome inpersecond, the send buffer is
written to first in this case also. Once this is full, all further data will be lost.
EP6001-000215Version: 1.1
Mounting and connection
119
126
23
30
26.5
13.5
Ø 3.5
4Mounting and connection
4.1Mounting
4.1.1Dimensions
Fig.4: Dimensions
All dimensions are given in millimeters.
Housing features
Housing materialPA6 (polyamide)
Sealing compoundpolyurethane
Mountingtwo fastening holes Ø 3.5 mm for M3
Metal partsbrass, nickel-plated
ContactsCuZn, gold-plated
Power feed throughmax. 4A
Installation positionvariable
Protection classIP65, IP66, IP67 (conforms to EN 60529) when screwed together
Dimensions (H x W x D)approx. 126 x 30 x 26.5 mm (without connectors)
EP6001-000216Version: 1.1
Mounting and connection
4.1.2Fixing
NOTE
Dirt during assembly
Dirty connectors can lead to malfunctions. Protection class IP67 can only be guaranteed if all cables and
connectors are connected.
• Protect the plug connectors against dirt during the assembly.
Mount the module with two M3 screws on the fastening holes in the corners of the module. The fastening
holes have no thread.
4.1.3Tightening torques for plug connectors
Screw connectors tight with a torque wrench. (e.g. ZB8801 from Beckhoff)
Connector diameterTightening torque
M80.4Nm
M120.6Nm
EP6001-000217Version: 1.1
Mounting and connection
Plug
Input
Socket
Forwarding
31
24
31
24
4.2Supply voltages
The EtherCAT Box is supplied with two supply voltages. The supply voltages are electrically isolated in the
EtherCAT Box.
• Control voltage U
• Peripheral voltage U
S
P
Redirection of the supply voltages
The IN and OUT power connections are bridged in the module (not IP204x-Bxxx and IE204x). The supply
voltages US and UP can thus easily be transferred from EtherCATBox to EtherCATBox.
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 4A must not be exceeded!
4.2.1Connectors
NOTE
Risk of confusion: supply voltages and EtherCAT
Defect possible through incorrect insertion.
• Observe the color coding of the connectors:
black: Supply voltages
green: EtherCAT
Fig.5: Connectors for supply voltages
Fig.6: M8 connector
ContactFunctionDescriptionCore color
1U
2U
3GND
4GND
1)
The core colors apply to cables of the type: Beckhoff ZK2020-3xxx-xxxx
S
P
S
P
Control voltageBrown
Peripheral voltageWhite
GND to U
GND to U
S
P
Blue
Black
1)
EP6001-000218Version: 1.1
Mounting and connection
Vert. Faktor: 0,45 cm / V
5101520
2
4
6
8
10
250
0
12
30
Vert. Faktor: 0,45 cm / V
Voltage drop (V)
Cable length (m)
35
0,25 mm²
0,34 mm²
0,5 mm²
0,75 mm²
I = 2 A
Vert. Faktor: 0,45 cm / V
5101520
2
4
6
8
10
250
0
12
30
Vert. Faktor: 0,45 cm / V
Voltage drop (V)
Cable length (m)
35
0,25 mm²
0,34 mm²
0,5 mm²
0,75 mm²
I = 4 A
4.2.2Status LEDs
Fig.7: Status LEDs for the supply voltages
LEDDisplayMeaning
US (control voltage)offSupply voltage US is not present
green illuminatedSupply voltage US is present
UP (peripheral voltage)offSupply voltage UP is not present
green illuminatedSupply voltage UP is present
4.2.3Conductor losses
Take into account the voltage drop on the supply line when planning a system. Avoid the voltage drop being
so high that the supply voltage at the box lies below the minimum nominal voltage.
Variations in the voltage of the power supply unit must also be taken into account.
Voltage drop on the supply line
EP6001-000219Version: 1.1
Mounting and connection
31
24
4.3EtherCAT
4.3.1Connectors
NOTE
Risk of confusion: supply voltages and EtherCAT
Defect possible through incorrect insertion.
• Observe the color coding of the connectors:
black: Supply voltages
green: EtherCAT
EtherCAT Box Modules have two green M8 sockets for the incoming and downstream EtherCAT
connections.
Fig.8: EtherCAT connectors
Connection
Fig.9: M8 socket
EtherCATM8
SignalContactZB9010, ZB9020, ZB9030, ZB9032,
Tx +1yellow
Tx -4orange
Rx +2white
Rx -3blue
ShieldHousingShieldShieldShield
1)
Core colors according to EN61918
connector
Core colors
ZK1090-6292,
ZK1090-3xxx-xxxx
1)
1)
1)
1)
ZB9031 and old versions of
ZB9030, ZB9032, ZK1090-3xxxxxxx
orange/whitewhite/orange
orangeorange
blue/whitewhite/green
bluegreen
TIA-568B
Adaptation of core colors for cables ZB9030, ZB9032 and ZK1090-3xxxx-xxxx
For standardization, the core colors of the ZB9030, ZB9032 and ZK1090-3xxx-xxxx cables have
been changed to the EN61918 core colors: yellow, orange, white, blue. So there are different color
codes in circulation. The electrical properties of the cables have been retained when the core colors
were changed.
EP6001-000220Version: 1.1
Mounting and connection
4.3.2Status LEDs
Fig.10: EtherCAT status LEDs
L/A (Link/Act)
A green LED labelled "L/A" is located next to each EtherCAT socket. The LED indicates the communication
state of the respective socket:
LEDMeaning
offno connection to the connected EtherCAT device
litLINK: connection to the connected EtherCAT device
flashesACT: communication with the connected EtherCAT device
Run
Each EtherCAT slave has a green LED labelled "Run". The LED signals the status of the slave in the
EtherCAT network:
LEDMeaning
offSlave is in "Init" state
flashes uniformlySlave is in "Pre-Operational“ state
flashes sporadicallySlave is in "Safe-Operational" state
litSlave is in "Operational" state
Description of the EtherCAT slave states
4.3.3Cables
For connecting EtherCAT devices only shielded Ethernet cables that meet the requirements of at least
category5 (CAT5) according to EN50173 or ISO/IEC11801 should be used.
EtherCAT uses four wires for signal transmission.
Thanks to automatic line detection ("Auto MDI-X"), both symmetrical (1:1) or cross-over cables can be used
between Beckhoff EtherCAT.
Detailed recommendations for the cabling of EtherCAT devices
EP6001-000221Version: 1.1
Mounting and connection
1
2
3
4
5
4.4RS232
4.4.1Connector
Fig.11: M12 socket
M12 socket X01
PinWire colorSignalDescription
1brown5V
2whiteTxDsend data
3blueGNDGround
4blackRxDreceive data
5greyShieldShield
DC
End device supply voltage
4.4.2Status LEDs
Fig.12: RS232 Status LEDs
LEDDisplayMeaning
R
left
T
right
green illuminated The serial port is ready to receive data.
orange illuminated The serial port is receiving data.
green illuminated The serial port is ready to transmit data.
orange illuminated The serial port is transmitting data.
EP6001-000222Version: 1.1
4.5RS422
1
2
3
4
5
23
4.5.1Connectors
Fig.13: M12 socket
M12 socket X02
PinWire colorSignalDescription
1brownTx-send data
2whiteTx+send data
3blueGNDGround
4blackVccEnd device supply voltage
5greyShieldShield
Mounting and connection
M12 socket X03
PinWire colorSignalDescription
1brownRx -receive data
2whiteRx +receive data
3blueGNDGround
4blackVccEnd device supply voltage
5greyShieldShield
4.5.2Status LEDs
Fig.14: RS422 Status LEDs
LEDDisplayMeaning
R
left
T
right
green illuminated The serial port is ready to receive data.
orange illuminated The serial port is receiving data.
green illuminated The serial port is ready to transmit data.
orange illuminated The serial port is transmitting data.
EP6001-000223Version: 1.1
Mounting and connection
1
2
3
4
5
4.6RS485
4.6.1Connector
Fig.15: M12 socket
M12 socket X02
PinWire colorSignalDescription
1brown-/AInverted data line
2white+/BNon-inverted data line
3blueGNDGround
4blackVccEnd device supply voltage
5greyShieldShield
Signal designations "A" and "B" are not clear
With some devices the designations of the data lines "A" and "B" are swapped.
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).
4.6.2Status LEDs
Fig.16: RS485 Status LEDs
LEDDisplayMeaning
R
left
T
right
green illuminated The serial port is ready to receive data.
orange illuminated The serial port is receiving data.
green illuminated The serial port is ready to transmit data.
orange illuminated The serial port is transmitting data.
EP6001-000224Version: 1.1
4.7Digital inputs/outputs
1
2
3
4
5
4.7.1Connector
Fig.17: M12 socket
M12 socket X04
PinWire colorSignalDescription
1brown24V
2whiteInput/output BDigital input/output B
3blueGNDGround
4blackInput/output ADigital input/output A
5greyreserved-
DC
Supply voltage
Mounting and connection
4.7.2Status LEDs
Fig.18: Status LEDs for digital inputs/outputs
LEDDisplayMeaning
A
left
B
right
offDigital input/output A: Low level
green illuminated Digital input/output A: High level
offDigital input/output B: Low level
green illuminated Digital input/output B: High level
EP6001-000225Version: 1.1
Mounting and connection
4.7.3Examples of external connections
M12 socket "4"
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.19: Digital inputs M8 and M12
The sensors are supplied with a common maximum current of 0.5Afrom the control voltage Us.
Light emitting diodes indicate the signal state of the inputs.
Digital outputs M8 and M12
The digital output modules forward the binary control signals of the automation device to the actuators at the
process level.
The signals are connected via M8 connectors (EP2xxx-0001) or M12 connectors (EP2xxx-0002).
Fig.20: Digital outputs M8 and M12
The outputs are short-circuit proof and protected against inverse polarity.
LEDs indicate the signal state of the outputs.
EP6001-000226Version: 1.1
Mounting and connection
4.8UL 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.21: UL label
EP6001-000227Version: 1.1
Commissioning/Configuration
5Commissioning/Configuration
5.1Integration in TwinCAT
The procedure for integration in TwinCAT is described in this Quick start guide.
EP6001-000228Version: 1.1
Commissioning/Configuration
5.2Serial interface
5.2.1Setting the interface type
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.
5.2.1.1RS232
RS232: point-to-point connection to an RS232 device
Direct connection to an RS232 end device, full duplex data transmission (default setting).
Fig.22: Point-to-point connection to an RS232 device
The following CoE objects must be set
IndexNameMeaningData typeFlagsSetting
F800:01Interface Type Ch 10x00RS232BIT1RW0x00 (0
0x01RS485/422
(default)
)
dec
EP6001-000229Version: 1.1
Commissioning/Configuration
5.2.1.2RS422
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.23: 4-wire point-to-point connection to an RS422 device
The following CoE objects must be set
IndexNameMeaningData typeFlags Setting
F800:01 Interface type
Ch 1
0x00RS232BIT1RW0x01
0x01RS485/422
(1
dec
)
IndexNameMeaningData typeFlags Setting
8000:07 Enable point-to-
point connection (RS422)
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 RW1
bin
EP6001-000230Version: 1.1
5.2.1.3RS485
You can operate the RS845 communication in two variants:
• Without diagnosis
• With diagnosis of the transmit data [}32]
RS485: 2-wire connection in bus structure to RS485 device(s)
Bus structure, half duplex data transmission
Fig.24: 2-wire connection in bus structure to RS485 device(s)
The following CoE objects must be set
Commissioning/Configuration
IndexNameMeaningData typeFlags Setting
F800:01 Interface type
Ch 1
IndexNameMeaningData typeFlags Setting
8000:06 Enable half du-
plex
IndexNameMeaningData typeFlags Setting
8000:07 Enable point-to-
point connection (RS422)
0x00RS232BIT1RW0x01
0x01RS485/422
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
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 RW1
BOOLEAN RW0
(1
dec
bin
(default)
bin
)
Deactivated receive driver
The receive driver is deactivated during the transmission procedure. The transmitted data are not
monitored!
EP6001-000231Version: 1.1
Commissioning/Configuration
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.25: 2-wire connection with external bridge in bus structure to RS485 device(s)
The following CoE objects must be set
IndexNameMeaningData typeFlags Setting
F800:01 Interface type
Ch 1
IndexNameMeaningData typeFlags Setting
8000:06 Enable half du-
plex
0x00RS232BIT1RW0x01
(1
0x01RS485/422
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 RW0
dec
bin
)
IndexNameMeaningData typeFlags Setting
8000:07 Enable point-to-
point connection (RS422)
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 RW0
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!
EP6001-000232Version: 1.1
Commissioning/Configuration
5.2.2Setting the interface parameters
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 and are shown below in their default settings:
Fig.26: CoE settings on object 0x8000 (default)
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 of
the 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 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 box informs the controller by setting the "Init accepted" bit. "Init accepted" is cleared with
"SendContinuous".
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.
EP6001-000233Version: 1.1
Commissioning/Configuration
5.2.3Communication by PLC program
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
ð The module confirms successful initialization by setting "Init accepted".
2. Reset "Init request"
ð The module sets "Init accepted" to 0.
ð The module is ready for data exchange.
Sending data
1. Write the data to be sent in the output variables Data Out[n] [}13].
2. Set the Output Length parameter in the Control word to the number of bytes to be transmitted.
3. Toggle the Transmit Request bit in the Control word.
ð The module acknowledges the data transmission in the Status word via the Transmit Accepted
parameter.
Receiving data
If the module in the Status word toggles the Receive Request bit, there are new receive data in the process
data.
1. Read the Input Length parameter from the Status word. It contains the number of bytes to be received.
ð The data are located in the input variable DataIn[n]. The first-received data is located in DataIn0.
2. After reading the data, acknowledge this by toggling the ReceiveAccepted bit in the Control word.
Only after that does the module transfer new data from the receive buffer to the process data.
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.
EP6001-000234Version: 1.1
Commissioning/Configuration
5.2.3.1Samples
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"
ð 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”.
EP6001-000235Version: 1.1
Commissioning/Configuration
5.2.4Communication via a virtual COM port
Application Note DK9322-0411-0041 describes the communication via a virtual COM port, taking the
EP6002-0002 as an example.
EP6001-000236Version: 1.1
Commissioning/Configuration
5.3Digital inputs/outputs
5.3.1Activating process data
In order to be able to use the digital inputs/outputs, you have to activate the input and output variables in the
process image:
ü Requirement: An EP6001-0002 has been added in the Solution Explorer under the "I/O" entry.
1. Double-click on the EP6001-0002 IO module.
2. Click on the Process Data tab.
3. Click on the "Outputs" entry in the Sync Manager field.
4. Activate the PDO Assignment (0x1C12) checkbox next to the entry "0x1608".
ð The process data object "DIG Outputs", appears in the process data.
5. Click on the "Inputs" entry in the Sync Manager field.
6. Activate the PDO Assignment (0x1C13) checkbox next to the entry "0x1A08".
ð The process data object "DIG Inputs", appears in the process data.
ð Result: The process data objects for the digital inputs/outputs are activated:
5.3.2Assignment of connector pins to process data
ConnectorPinChannel
designation
X04
"DIO"
2B
4A
Input variableOutput variable
DIG Inputs
Digital Input 2
DIG Inputs
Digital Input 1
DIG Outputs
Digital Output 2
DIG Outputs
Digital Output 1
EP6001-000237Version: 1.1
Commissioning/Configuration
5.4CoE objects
5.4.1Directory
Index (hex)Name
1000
1008
1009
100A
1011
1018
10F0
1400
1404
1600
1604
1608
1800
1804
1A00
1A04
1A08
1C00
1C12
1C13
1C32
1C33
6000
6001
6010
7000
7001
7010
8000
A000
F000
F008
F010
F800
Device type [}41]
Device name [}41]
Hardware version [}41]
Software version [}41]
Restore default parameters [}39]
Identity [}41]
Backup parameter handling [}41]
COM RxPDO-Par Outputs [}41]
COM RxPDO-Par Outputs [}41]
COM RxPDO-Map Outputs [}42]
COM RxPDO-Map Outputs [}43]
DIG RxPDO-Map Outputs [}43]
COM TxPDO-Par Inputs [}44]
COM TxPDO-Par Inputs [}44]
COM TxPDO-Map Inputs [}45]
COM TxPDO-Map Inputs [}46]
DIG TxPDO-Map Inputs [}46]
Sync manager type [}47]
RxPDO assign [}47]
TxPDO assign [}47]
SM output parameter [}48]
SM input parameter [}49]
COM Inputs Ch. 1 [}50]
Status Ch. 1 [}50]
DIG Inputs [}50]
COM Outputs Ch. 1 [}51]
Ctrl Ch. 1 [}51]
DIG Outputs [}51]
COM Settings Ch. 1 [}40]
COM Diag data Ch. 1 [}52]
Modular device profile [}52]
Code word [}52]
Module list [}52]
COM Settings [}40]
EP6001-000238Version: 1.1
5.4.2Object 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 in-
stalling 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 [}39] during commissioning
• Objects required for the selection of the interface type [}40]
• Objects intended for regular operation, e.g. through ADS access
• Objects for indicating internal settings [}40] (may be fixed)
• Further profile-specific objects [}49] indicating inputs, outputs and status information
Commissioning/Configuration
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) NameMeaningData typeFlagsDefault
1011:0Restore default pa-
rameters
1011:01SubIndex 001If this object is set to "0x64616F6C" in the set value
Restore default settingsUINT8RO0x01 (1
UINT32RW0x00000000 (0
dialog, all backup objects are reset to their delivery
state.
)
dec
)
dec
EP6001-000239Version: 1.1
Commissioning/Configuration
Index 8000 COM Settings Ch.1
Index (hex) NameMeaningData typeFlagsDefault
8000:0COM Settings Ch.1UINT8RO0x1A (26
8000:02Enable XON/XOFF
supported tx data
8000:03Enable XON/XOFF
supported rx data
8000:04Enable send FIFO
data continuous
8000:05Enable transfer rate
optimization
8000:06Enable half duplexHalf duplex for RS485 mode (this bit is not evaluated
8000:1BExplicit baudrateIn this object the desired baud rate can be entered di-
XON/XOFF is supported for send dataBOOLEANRW0x00 (0
XON/XOFF is supported for receive dataBOOLEANRW0x00 (0
Continuous sending of data from the FIFO enabledBOOLEANRW0x00 (0
Switch on the transfer rate optimizationBOOLEANRW0x01 (1
BOOLEANRW0x00 (0
in RS232 and RS422 mode)
0Full duplex: The module monitors its transmit-
ted data.
1Half duplex: The module does not monitor the
data that it has transmitted itself.
0The module is used in a bus structure in ac-
BOOLEANRW0x00 (0
cordance with the RS485 standard.
1The module is used as a point-to-point con-
nection (RS422)
0x01300 baud
0x02600 baud
0x031200 baud
0x042400 baud
0x054800 baud
0x069600 baud
0x0719200 baud
0x0838400 baud
0x0957600 baud
0x0A 115200 baud
0x017E1
0x027O1
0x038N1
0x048E1
0x058O1
0x097E2
0x0A 7O2
0x0B 8N2
0x0C 8E2
0x0D 8O2
0: Off
BIT4RW5 V (1)
1: 5V
The value specifies the number of data in the receive
UINT16RW0x0360 (864
FIFO, from which the bit "buffer full" is set.
UINT32RW0x00002580
rectly as a number.
(9600
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
Index F800 COM Settings
Index (hex) NameMeaningData typeFlagsDefault
F800:0COM SettingsUINT8RO0x01 (1
F800:01Interface Type Ch 1 0x00RS232BIT1RW0x00 (0
Additional objects
Standard objects (0x1000-0x1FFF)
The standard objects have the same meaning for all EtherCAT slaves.
EP6001-000240Version: 1.1
)
dec
)
dec
Commissioning/Configuration
Index 1000 Device type
Index (hex) NameMeaningData typeFlagsDefault
1000:0Device typeDevice type of the EtherCAT slave: The Lo-Word con-
tains the CoE profile used (5001). The Hi-Word contains the module profile according to the modular de-
UINT32RO0x00001389
(5001
)
dec
vice profile.
Index 1008 Device name
Index (hex) NameMeaningData typeFlagsDefault
1008:0Device nameDevice name of the EtherCAT slaveSTRINGROEP6001-0002
Index 1009 Hardware version
Index (hex) NameMeaningData typeFlagsDefault
1009:0Hardware versionHardware version of the EtherCAT slaveSTRINGRO00
Index 100A Software Version
Index (hex) NameMeaningData typeFlagsDefault
100A:0Software versionFirmware version of the EtherCAT slaveSTRINGRO00
Index 1018 Identity
Index (hex) NameMeaningData typeFlagsDefault
1018:0IdentityInformation for identifying the slaveUINT8RO0x04 (4
)
dec
1018:01Vendor IDVendor ID of the EtherCAT slaveUINT32RO0x00000002 (2
1018:02Product codeProduct code of the EtherCAT slaveUINT32RO0x17714052
(393298002
1018:03RevisionRevision numberof 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
1018:04Serial numberSerial number of the EtherCAT slave; the Low Byte (bit
UINT32RO0x00100002
(1048578
)
dec
UINT32RO0x00000000 (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) NameMeaningData typeFlagsDefault
10F0:0Backup parameter
handling
10F0:01ChecksumChecksum across all backup entries of the EtherCAT
Information for standardized loading and saving of
backup entries
UINT8RO0x01 (1
)
dec
UINT32RO0x00000000 (0
slave
Index 1400 COM RxPDO-Par Outputs
Index (hex) NameMeaningData typeFlagsDefault
1400:0COM RxPDO-Par
Outputs
1400:06Exclude RxPDOsSpecifies the RxPDOs (index of RxPDO mapping ob-
PDO Parameter RxPDO 1UINT8RO0x06 (6
jects) that must not be transferred together with Rx-
OCTET-
STRING[2]
RO04 16
PDO 1
)
dec
)
dec
)
dec
)
dec
)
dec
Index 1404 COM RxPDO-Par Outputs
Index (hex) NameMeaningData typeFlags Default
1404:0COM RxPDO-Par
PDO Parameter RxPDO 2UINT8RO0x06 (6
Outputs
1404:06Exclude RxPDOsSpecifies the RxPDOs (index of RxPDO mapping ob-
jects) that must not be transferred together with Rx-
1C12:01Subindex 0011. allocated RxPDO (contains the index of the associ-
UINT16RW0x1604 (5636
ated RxPDO mapping object)
1C12:02Subindex 0022. reservedUINT16RW--
Index 1C13 TxPDO assign
Index (hex) NameMeaningData typeFlags Default
1C13:0TxPDO assignPDO Assign InputsUINT8RW0x02 (2
1C13:01Subindex 0011. allocated TxPDO (contains the index of the associ-
ated TxPDO mapping object)
1C13:02Subindex 0022. reservedUINT16RW--
UINT16RW0x1A04 (6660
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
EP6001-000247Version: 1.1
Commissioning/Configuration
Index 1C32 SM output parameter
Index (hex) NameMeaningData typeFlags Default
1C32:0SM output parame-
ter
1C32:01Sync modeCurrent synchronization mode:
1C32:02Cycle timeCycle time (in ns):
1C32:03Shift timeTime between SYNC0 event and output of the outputs
1C32:04Sync modes sup-
ported
1C32:05Minimum cycle time Minimum cycle time (in ns)UINT32RO0x0003D090
1C32:06Calc and copy time Minimum time between SYNC0 and SYNC1 event (in
1C32:07Minimum delay timeUINT32RO0x00000384
1C32:08Command• 0: Measurement of the local cycle time is
1C32:09Maximum Delay
time
1C32:0BSM event missed
counter
1C32:0CCycle exceeded
counter
1C32:0DShift too short
counter
1C32:20Sync errorThe synchronization was not correct in the last cycle
Synchronization parameters for the outputsUINT8RO0x20 (32
UINT16RW0x0000 (0
• 0: Free Run
• 1: Synchron with SM 2 Event
• 2: DC-Mode - Synchron with SYNC0 Event
• 3: DC-Mode - Synchron with SYNC1 Event
UINT32RW0x0003D090
• Free Run: Cycle time of the local timer
(250000
• Synchron with SM 2 Event: Master cycle time
• DC mode: SYNC0/SYNC1 Cycle Time
UINT32RO0x00000384
(in ns, DC mode only)
Supported synchronization modes:
UINT16RO0x0001 (1
(900
dec
• Bit 0 = 1: free run is supported
• Bit 1 = 1: Synchron with SM 2 Event is supported
• Bit 2-3 = 01: DC mode is supported
• Bit 4-5 = 10: Output Shift with SYNC1 Event
(only DC mode)
• Bit 14 = 1: dynamic times (measurement through
writing of 1C32:08 [}48])
(250000
UINT32RO0x00000000 (0
ns, DC mode only)
(900
dec
UINT16RW0x0000 (0
stopped
• 1: Measurement of the local cycle time is started
The entries 1C32:03 [}48], 1C32:05 [}48], 1C32:06
[}48], 1C32:09 [}48], 1C33:03 [}49], 1C33:06
[}48], 1C33:09 [}49] are updated with the maximum
measured values.
For a subsequent measurement the measured values
are reset
Time between SYNC1 event and output of the outputs
(in ns, DC mode only)
Number of missed SM events in OPERATIONAL (DC
UINT32RO0x00000384
(900
dec
UINT16RO0x0000 (0
mode only)
Number of occasions the cycle time was exceeded in
UINT16RO0x0000 (0
OPERATIONAL (cycle was not completed in time or the
next cycle began too early)
Number of occasions that the interval between SYNC0
UINT16RO0x0000 (0
and SYNC1 event was too short (DC mode only)
BOOLEANRO0x00 (0
(outputs were output too late; DC mode only)
dec
dec
)
dec
)
)
)
dec
)
)
dec
)
)
dec
)
)
dec
)
dec
)
dec
)
dec
)
dec
EP6001-000248Version: 1.1
Commissioning/Configuration
Index 1C33 SM input parameter
Index (hex) NameMeaningData typeFlags Default
1C33:0SM input parameter Synchronization parameters for the inputsUINT8RO0x20 (32
1C33:01Sync modeCurrent synchronization mode:
UINT16RW0x0000 (0
• 0: Free Run
• 1: Synchron with SM 3 Event (no outputs
available)
• 2: DC - Synchron with SYNC0 Event
• 3: DC - Synchron with SYNC1 Event
• 34: Synchron with SM 2 Event (outputs
available)
1C33:02Cycle time
as 1C32:02 [}48]
1C33:03Shift timeTime between SYNC0 event and reading of the inputs
(in ns, only DC mode)
1C33:04Sync modes sup-
ported
Supported synchronization modes:
• Bit 0: free run is supported
UINT32RW0x0003D090
(250000
UINT32RO0x00000384
(900
UINT16RO0x0001 (1
• Bit 1: Synchron with SM 2 Event is supported
(outputs available)
• Bit 1: Synchron with SM 3 Event is supported (no
outputs available)
• Bit 2-3 = 01: DC mode is supported
• Bit 4-5 = 01: Input Shift through local event
(outputs available)
• Bit 4-5 = 10: Input Shift with SYNC1 Event (no
outputs available)
• Bit 14 = 1: dynamic times (measurement through
writing of 1C32:08 [}48] or 1C33:08 [}49])
1C33:05Minimum cycle time
as 1C32:05 [}48]
1C33:06Calc and copy time Time between reading of the inputs and availability of
UINT32RO0x0003D090
(250000
UINT32RO0x00000000 (0
the inputs for the master (in ns, only DC mode)
1C33:07Minimum delay timeUINT32RO0x00000384
(900
1C33:08Command
1C33:09Maximum Delay
time
1C33:0BSM event missed
counter
1C33:0CCycle exceeded
counter
1C33:0DShift too short
counter
1C33:20Sync error
as 1C32:08 [}48]
Time between SYNC1 event and reading of the inputs
(in ns, only DC mode)
as 1C32:11 [}48]
as 1C32:12 [}48]
as 1C32:13 [}48]
as 1C32:32 [}48]
UINT16RW0x0000 (0
UINT32RO0x00000384
(900
UINT16RO0x0000 (0
UINT16RO0x0000 (0
UINT16RO0x0000 (0
BOOLEANRO0x00 (0
dec
dec
)
dec
dec
)
dec
)
dec
dec
)
)
dec
)
)
dec
)
)
dec
)
dec
)
dec
)
dec
)
dec
)
Profile-specific objects (0x6000-0xFFFF)
The profile-specific objects have the same meaning for all EtherCAT slaves that support the profile 5001.
EP6001-000249Version: 1.1
Commissioning/Configuration
Index 6000 COM Inputs Ch.1
Index (hex) NameMeaningData typeFlags Default
6000:0COM Inputs Ch.1UINT8RO0x26 (38
6000:01Transmit acceptedThe module acknowledges receipt of data by changing
the state of this bit
6000:02Receive requestBy changing the state of this bit, the module informs the
controller that the DataIn bytes contain the number of
bytes displayed in "Input length"
6000:03Init AcceptedThe initialization is carried out from the terminalBOOLEANRO0x00 (0
6000:04Buffer fullThe receive FIFO is fullBOOLEANRO0x00 (0
6000:05Parity errorA parity error has occurredBOOLEANRO0x00 (0
6000:06Framing errorA framing error has occurredBOOLEANRO0x00 (0
6000:07Overrun errorAn overrun error has occurredBOOLEANRO0x00 (0
6000:09Input lengthNumber of input bytes available for transfer from the ter-
minal to the controller
6000:11Data In 0Input dataUINT8RO0x00 (0
6000:12Data In 1Input dataUINT8RO0x00 (0
6000:13Data In 2Input dataUINT8RO0x00 (0
6000:14Data In 3Input dataUINT8RO0x00 (0
6000:15Data In 4Input dataUINT8RO0x00 (0
6000:16Data In 5Input dataUINT8RO0x00 (0
6000:17Data In 6Input dataUINT8RO0x00 (0
6000:18Data In 7Input dataUINT8RO0x00 (0
6000:19Data In 8Input dataUINT8RO0x00 (0
6000:1AData In 9Input dataUINT8RO0x00 (0
6000:1BData In 10Input dataUINT8RO0x00 (0
6000:1CData In 11Input dataUINT8RO0x00 (0
6000:1DData In 12Input dataUINT8RO0x00 (0
6000:1EData In 13Input dataUINT8RO0x00 (0
6000:1FData In 14Input dataUINT8RO0x00 (0
6000:20Data In 15Input dataUINT8RO0x00 (0
6000:21Data In 16Input dataUINT8RO0x00 (0
6000:22Data In 17Input dataUINT8RO0x00 (0
6000:23Data In 18Input dataUINT8RO0x00 (0
6000:24Data In 19Input dataUINT8RO0x00 (0
6000:25Data In 20Input dataUINT8RO0x00 (0
6000:26Data In 21Input dataUINT8RO0x00 (0
BOOLEANRO0x00 (0
BOOLEANRO0x00 (0
UINT8RO0x00 (0
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
Index 6001 Status Ch.1
Index (hex) NameMeaningData typeFlags Default
6001:0Status Ch.1UINT8RO0x01 (1
6001:01StatusStatus word for compatible process imageUINT16RO0x0000 (0
Index 6010 DIG Inputs
Index (hex) NameMeaningData typeFlags Default
6010:0DIG InputsUINT8RO0x02 (2
6010:01Digital Input 1BOOLEANRO0x00 (0
6010:02Digital Input 1BOOLEANRO0x00 (0
6010:03Init AcceptedThe initialization is carried out from the terminalBOOLEANRO0x00 (0
EP6001-000250Version: 1.1
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
Commissioning/Configuration
Index 7000 COM Outputs Ch.1
Index (hex) NameMeaningData typeFlags Default
7000:0COM Outputs Ch.1UINT8RO0x26 (38
7000:01Transmit requestBy changing the state of this bit, the controller informs
the terminal that the DataOut bytes contain the number
of bytes displayed in "Output length".
7000:02Receive acceptedThe controller acknowledges receipt of data by chang-
ing the state of this bit.
7000:03Init requestThe controller requests the module to initialize.BOOLEANRO0x00 (0
7000:04Send continuousContinuous sending of data from the FIFO.BOOLEANRO0x00 (0
7000:09Output lengthNumber of output bytes available for transfer from the
controller to the terminal.
7000:11Data Out 0Output dataUINT8RO0x00 (0
7000:12Data Out 1Output dataUINT8RO0x00 (0
7000:13Data Out 2Output dataUINT8RO0x00 (0
7000:14Data Out 3Output dataUINT8RO0x00 (0
7000:15Data Out 4Output dataUINT8RO0x00 (0
7000:16Data Out 5Output dataUINT8RO0x00 (0
7000:17Data Out 6Output dataUINT8RO0x00 (0
7000:18Data Out 7Output dataUINT8RO0x00 (0
7000:19Data Out 8Output dataUINT8RO0x00 (0
7000:1AData Out 9Output dataUINT8RO0x00 (0
7000:1BData Out 10Output dataUINT8RO0x00 (0
7000:1CData Out 11Output dataUINT8RO0x00 (0
7000:1DData Out 12Output dataUINT8RO0x00 (0
7000:1EData Out 13Output dataUINT8RO0x00 (0
7000:1FData Out 14Output dataUINT8RO0x00 (0
7000:20Data Out 15Output dataUINT8RO0x00 (0
7000:21Data Out 16Output dataUINT8RO0x00 (0
7000:22Data Out 17Output dataUINT8RO0x00 (0
7000:23Data Out 18Output dataUINT8RO0x00 (0
7000:24Data Out 19Output dataUINT8RO0x00 (0
7000:25Data Out 20Output dataUINT8RO0x00 (0
7000:26Data Out 21Output dataUINT8RO0x00 (0
BOOLEANRO0x00 (0
BOOLEANRO0x00 (0
UINT8RO0x00 (0
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
Index 7001 Ctrl Ch.1
Index (hex) NameMeaningData typeFlags Default
7001:0Ctrl Ch.1UINT8RO0x01 (1
7001:01CtrlControl word for compatible process imageUINT16RO0x0000 (0
Index 7010 DIG Outputs
Index (hex) NameMeaningData typeFlags Default
7010:0DIG OutputsUINT8RO0x26 (38
7010:01Digital Output 1BOOLEANRO0x00 (0
7010:02Digital Output 2BOOLEANRO0x00 (0
)
dec
)
dec
)
dec
)
dec
)
dec
EP6001-000251Version: 1.1
Commissioning/Configuration
Index A000 COM Diag data Ch.1
Index (hex) NameMeaningData typeFlags Default
A000:0COM Diag data
UINT8RO0x21 (33
Ch.1
A000:01Buffer overflowA buffer overflow has occurred.BOOLEANRO0x00 (0
A000:02Parity errorA parity error has occurred.BOOLEANRO0x00 (0
A000:03Framing errorA framing error has occurred.BOOLEANRO0x00 (0
A000:04Overrun errorAn overrun error has occurred.BOOLEANRO0x00 (0
A000:05Buffer fullThe receive FIFO is full.BOOLEANRO0x00 (0
A000:11Data bytes in send
Number of data bytes in the send FIFOUINT16RO0x0000 (0
buffer
A000:21Data bytes in re-
Number of data bytes in the receive FIFOUINT16RO0x0000 (0
ceive buffer
Index F000 Modular device profile
Index (hex) NameMeaningData typeFlags Default
F000:0Modular device pro-
file
F000:01Module index dis-
tance
F000:02Maximum number of
modules
General information for the modular device profileUINT8RO0x02 (2
Index distance of the objects of the individual channels UINT16RO0x0010 (16
Number of channelsUINT16RO0x0002 (2
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
Index F008 Code word
Index (hex) NameMeaningData typeFlags Default
F008:0Code wordUINT32RW0x00000000 (0
Index F010 Module list
Index (hex) NameMeaningData typeFlags Default
F010:0Module listUINT8RW0x02 (2
F010:01SubIndex 001UINT32RW0x00000258
(600
F010:02SubIndex 002UINT32RW0x00000118
(280
)
dec
)
dec
)
dec
)
dec
EP6001-000252Version: 1.1
Commissioning/Configuration
5.5Restoring the delivery state
To restore the delivery state for backup objects in ELxxxx terminals / EPxxxx- and EPPxxxx boxes, the CoE
object Restore default parameters, SubIndex 001 can be selected in the TwinCAT System Manager (Config
mode).
Fig.27: Selecting the Restore default parameters PDO
Double-click on SubIndex 001 to enter the Set Value dialog. Enter the value 1684107116 in field Dec or the
value 0x64616F6C in field Hex and confirm with OK.
All backup objects are reset to the delivery state.
Fig.28: Entering a restore value in the Set Value dialog
Alternative restore value
In some older terminals / boxes the backup objects can be switched with an alternative restore
value:
Decimal value: 1819238756
Hexadecimal value: 0x6C6F6164
An incorrect entry for the restore value has no effect.
EP6001-000253Version: 1.1
Commissioning/Configuration
5.6Decommissioning
WARNING
Risk of electric shock!
Bring the bus system into a safe, de-energized state before starting disassembly of the devices!
Disposal
In order to dispose of the device, it must be removed.
In accordance with the WEEE Directive 2012/19/EU, Beckhoff takes back old devices and accessories in
Germany for proper disposal. Transport costs will be borne by the sender.
Return the old devices with the note "for disposal" to:
Beckhoff Automation GmbH & Co. KG
Service Department
Stahlstraße 31
D-33415 Verl
EP6001-000254Version: 1.1
Appendix
6Appendix
6.1General operating conditions
Protection degrees (IP-Code)
The standard IEC 60529 (DIN EN 60529) defines the degrees of protection in different classes.
1. Number: dust protection and
touch guard
0Non-protected
1Protected against access to hazardous parts with the back of a hand. Protected against solid
2Protected against access to hazardous parts with a finger. Protected against solid foreign ob-
3Protected against access to hazardous parts with a tool. Protected against solid foreign objects
4Protected against access to hazardous parts with a wire. Protected against solid foreign objects
5Protected against access to hazardous parts with a wire. Dust-protected. Intrusion of dust is not
6Protected against access to hazardous parts with a wire. Dust-tight. No intrusion of dust.
Definition
foreign objects of Ø50mm
jects of Ø12.5mm.
Ø2.5mm.
Ø1mm.
totally prevented, but dust shall not penetrate in a quantity to interfere with satisfactory operation
of the device or to impair safety.
2. Number: water* protectionDefinition
0Non-protected
1Protected against water drops
2Protected against water drops when enclosure tilted up to 15°.
3Protected against spraying water. Water sprayed at an angle up to 60° on either side of the ver-
4Protected against splashing water. Water splashed against the disclosure from any direction
5Protected against water jets
6Protected against powerful water jets
7Protected against the effects of temporary immersion in water. Intrusion of water in quantities
tical shall have no harmful effects.
shall have no harmful effects
causing harmful effects shall not be possible when the enclosure is temporarily immersed in water for 30min. in 1m depth.
*) These protection classes define only protection against water!
Chemical Resistance
The Resistance relates to the Housing of the IP 67 modules and the used metal parts. In the table below you
will find some typical resistance.
CharacterResistance
Steamat temperatures >100°C: not resistant
Sodium base liquor
(ph-Value > 12)
Acetic acidnot resistant
Argon (technical clean)resistant
at room temperature: resistant
> 40°C: not resistant
Key
• resistant: Lifetime several months
• non inherently resistant: Lifetime several weeks
• not resistant: Lifetime several hours resp. early decomposition
EP6001-000255Version: 1.1
Appendix
6.2Accessories
Mounting
Ordering informationDescription
ZS5300-0001Mounting rail (500mmx129mm)
Cables
Ordering informationDescription
ZK1090-3xxx-xxxx
ZK1093-3xxx-xxxx
ZK2000-5xxx-xxxx
ZK2000-71xx-xxxx
A complete overview of pre-assembled cables for EtherCAT Box modules can be found here.
Labeling material, protective caps
Ordering informationDescription
ZS5000-0010Protective cap for M8 sockets, IP67 (50 pieces)
ZS5000-0020Protective cap M12, IP67 (50 pieces)
ZS5100-0000Inscription labels, unprinted, 4 strips of 10
ZS5000-xxxxPrinted inscription labels on enquiry
EtherCAT cable M8, green link to the website
EtherCAT cable M8, yellow link to the website
Sensor cable M12 5-wire Link to website
Tools
Ordering informationDescription
ZB8801-0000Torque wrench for plugs, 0.4…1.0Nm
ZB8801-0001Torque cable key for M8/ wrench size 9 for ZB8801-0000
ZB8801-0002Torque cable key for M12/ wrench size 13 for ZB8801-0000
ZB8801-0003Torque cable key for M12 field assembly/ wrench size 18 for ZB8801-0000
Further accessories
Further accessories can be found in the price list for fieldbus components from Beckhoff and online
at https://www.beckhoff.com.
EP6001-000256Version: 1.1
Appendix
6.3Version identification of EtherCAT devices
Designation
A Beckhoff EtherCAT device has a 14-digit designation, made up of
• family key
• type
• version
• revision
ExampleFamilyTypeVersionRevision
EL3314-0000-0016EL terminal
(12 mm, nonpluggable connection
level)
ES3602-0010-0017ES terminal
(12 mm, pluggable
connection level)
CU2008-0000-0000 CU device2008 (8-port fast ethernet switch) 0000 (basic type) 0000
3314 (4-channel thermocouple
terminal)
3602 (2-channel voltage
measurement)
0000 (basic type) 0016
0010 (highprecision version)
0017
Notes
• The elements mentioned above result in the technical designation. EL3314-0000-0016 is used in the
example below.
• EL3314-0000 is the order identifier, in the case of “-0000” usually abbreviated to EL3314. “-0016” is the
EtherCAT revision.
• The order identifier is made up of
- family key (EL, EP, CU, ES, KL, CX, etc.)
- type (3314)
- version (-0000)
• The revision -0016 shows the technical progress, such as the extension of features with regard to the
EtherCAT communication, and is managed by Beckhoff.
In principle, a device with a higher revision can replace a device with a lower revision, unless specified
otherwise, e.g. in the documentation.
Associated and synonymous with each revision there is usually a description (ESI, EtherCAT Slave
Information) in the form of an XML file, which is available for download from the Beckhoff web site.
From 2014/01 the revision is shown on the outside of the IP20 terminals, see Fig. “EL5021 EL terminal,standard IP20 IO device with batch number and revision ID (since 2014/01)”.
• The type, version and revision are read as decimal numbers, even if they are technically saved in
hexadecimal.
Identification number
Beckhoff EtherCAT devices from the different lines have different kinds of identification numbers:
Production lot/batch number/serial number/date code/D number
The serial number for Beckhoff IO devices is usually the 8-digit number printed on the device or on a sticker.
The serial number indicates the configuration in delivery state and therefore refers to a whole production
batch, without distinguishing the individual modules of a batch.
Structure of the serial number: KKYYFFHH
KK - week of production (CW, calendar week)
YY - year of production
FF - firmware version
HH - hardware version
EP6001-000257Version: 1.1
Appendix
Example with
Ser. no.: 12063A02: 12 - production week 12 06 - production year 2006 3A - firmware version 3A 02 hardware version 02
Exceptions can occur in the IP67 area, where the following syntax can be used (see respective device
documentation):
Syntax: D ww yy x y z u
D - prefix designation
ww - calendar week
yy - year
x - firmware version of the bus PCB
y - hardware version of the bus PCB
z - firmware version of the I/O PCB
u - hardware version of the I/O PCB
Example: D.22081501 calendar week 22 of the year 2008 firmware version of bus PCB: 1 hardware version
of bus PCB: 5 firmware version of I/O PCB: 0 (no firmware necessary for this PCB) hardware version of I/O
PCB: 1
Unique serial number/ID, ID number
In addition, in some series each individual module has its own unique serial number.
See also the further documentation in the area
• IP67: EtherCAT Box
• Safety: TwinSafe
• Terminals with factory calibration certificate and other measuring terminals
Examples of markings
Fig.29: EL5021 EL terminal, standard IP20 IO device with serial/ batch number and revision ID (since
2014/01)
EP6001-000258Version: 1.1
Fig.30: EK1100 EtherCAT coupler, standard IP20 IO device with serial/ batch number
Appendix
Fig.31: CU2016 switch with serial/ batch number
Fig.32: EL3202-0020 with serial/ batch number 26131006 and unique ID-number 204418
EP6001-000259Version: 1.1
Appendix
Fig.33: EP1258-00001 IP67 EtherCAT Box with batch number/ date code 22090101 and unique serial
number 158102
Fig.34: EP1908-0002 IP67 EtherCAT Safety Box with batch number/ date code 071201FF and unique serial
number 00346070
Fig.35: EL2904 IP20 safety terminal with batch number/ date code 50110302 and unique serial number
00331701
Fig.36: ELM3604-0002 terminal with unique ID number (QR code) 100001051 and serial/ batch number
44160201
EP6001-000260Version: 1.1
Appendix
6.3.1Beckhoff Identification Code (BIC)
The Beckhoff Identification Code (BIC) is increasingly being applied to Beckhoff products to uniquely identify
the product. The BIC is represented as a Data Matrix Code (DMC, code scheme ECC200), the content is
based on the ANSI standard MH10.8.2-2016.
Fig.37: BIC as data matrix code (DMC, code scheme ECC200)
The BIC will be introduced step by step across all product groups.
Depending on the product, it can be found in the following places:
• on the packaging unit
• directly on the product (if space suffices)
• on the packaging unit and the product
The BIC is machine-readable and contains information that can also be used by the customer for handling
and product management.
Each piece of information can be uniquely identified using the so-called data identifier
(ANSIMH10.8.2-2016). The data identifier is followed by a character string. Both together have a maximum
length according to the table below. If the information is shorter, spaces are added to it. The data under
positions 1 to 4 are always available.
The following information is contained:
EP6001-000261Version: 1.1
Appendix
Item
Type of
no.
information
1Beckhoff order
number
2Beckhoff Traceability
Number (BTN)
3Article descriptionBeckhoff article
4QuantityQuantity in packaging
5Batch numberOptional: Year and week
6ID/serial numberOptional: Present-day
7Variant numberOptional: Product variant
...
ExplanationData
Beckhoff order number 1P81P072222
Unique serial number,
see note below
description, e.g.
EL1008
unit, e.g. 1, 10, etc.
of production
serial number system,
e.g. with safety products
number on the basis of
standard products
Number of digits
identifier
S12SBTNk4p562d7
1K321KEL1809
Q6Q1
2P142P401503180016
51S1251S678294104
30P3230PF971, 2*K183
incl. data identifier
Example
Further types of information and data identifiers are used by Beckhoff and serve internal processes.
Structure of the BIC
Example of composite information from item 1 to 4 and 6. The data identifiers are marked in red for better
display:
BTN
An important component of the BIC is the Beckhoff Traceability Number (BTN, item no.2). The BTN is a
unique serial number consisting of eight characters that will replace all other serial number systems at
Beckhoff in the long term (e.g. batch designations on IO components, previous serial number range for
safety products, etc.). The BTN will also be introduced step by step, so it may happen that the BTN is not yet
coded in the BIC.
NOTE
This information has been carefully prepared. However, the procedure described is constantly being further
developed. We reserve the right to revise and change procedures and documentation at any time and without prior notice. No claims for changes can be made from the information, illustrations and descriptions in
this information.
EP6001-000262Version: 1.1
Appendix
6.4Support and Service
Beckhoff and their partners around the world offer comprehensive support and service, making available fast
and competent assistance with all questions related to Beckhoff products and system solutions.
Beckhoff's branch offices and representatives
Please contact your Beckhoff branch office or representative for local support and service on Beckhoff
products!
The addresses of Beckhoff's branch offices and representatives round the world can be found on her internet
pages:
http://www.beckhoff.com
You will also find further documentation for Beckhoff components there.
Support offers you comprehensive technical assistance, helping you not only with the application of
individual Beckhoff products, but also with other, wide-ranging services:
• support
• design, programming and commissioning of complex automation systems
• and extensive training program for Beckhoff system components