Beckhoff EP6001-0002 Users manual

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EP6001-0002

1-channel serial interface (RS232 / RS422 / RS485)

2020-09-22 | Version: 1.1

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 group: EtherCAT Box Modules..................................................................................................8

3 Product overview.......................................................................................................................................9

3.1 Introduction........................................................................................................................................9

3.2 Technical data .................................................................................................................................10

3.3 Scope of supply ...............................................................................................................................11

3.4 Process image.................................................................................................................................12

3.4.1 Control word .................................................................................................................... 14

3.4.2 Status word...................................................................................................................... 14

3.5 Technology ......................................................................................................................................15

4 Mounting and connection.......................................................................................................................16

4.1 Mounting..........................................................................................................................................16

4.1.1 Dimensions ...................................................................................................................... 16

4.1.2 Fixing ............................................................................................................................... 17

4.1.3 Tightening torques for plug connectors ........................................................................... 17

4.2 Supply voltages ...............................................................................................................................18

4.2.1 Connectors ...................................................................................................................... 18

4.2.2 Status LEDs..................................................................................................................... 19

4.2.3 Conductor losses ............................................................................................................. 19

4.3 EtherCAT.........................................................................................................................................20

4.3.1 Connectors ...................................................................................................................... 20

4.3.2 Status LEDs..................................................................................................................... 21

4.3.3 Cables.............................................................................................................................. 21

4.4 RS232..............................................................................................................................................22

4.4.1 Connector ........................................................................................................................ 22

4.4.2 Status LEDs..................................................................................................................... 22

4.5 RS422..............................................................................................................................................23

4.5.1 Connectors ...................................................................................................................... 23

4.5.2 Status LEDs..................................................................................................................... 23

4.6 RS485..............................................................................................................................................24

4.6.1 Connector ........................................................................................................................ 24

4.6.2 Status LEDs..................................................................................................................... 24

4.7 Digital inputs/outputs .......................................................................................................................25

4.7.1 Connector ........................................................................................................................ 25

4.7.2 Status LEDs..................................................................................................................... 25

4.7.3 Examples of external connections ................................................................................... 26

4.8 UL Requirements.............................................................................................................................27

5 Commissioning/Configuration ...............................................................................................................28

5.1 Integration in TwinCAT ....................................................................................................................28

5.2 Serial interface.................................................................................................................................29

EP6001-0002 3Version: 1.1

Table of contents

5.2.1 Setting the interface type ................................................................................................. 29

5.2.2 Setting the interface parameters...................................................................................... 33

5.2.3 Communication by PLC program..................................................................................... 34

5.2.4 Communication via a virtual COM port ............................................................................ 36

5.3 Digital inputs/outputs .......................................................................................................................37

5.3.1 Activating process data.................................................................................................... 37

5.3.2 Assignment of connector pins to process data ................................................................ 37

5.4 CoE objects .....................................................................................................................................38

5.4.1 Directory .......................................................................................................................... 38

5.4.2 Object description and parameterization ......................................................................... 39

5.5 Restoring the delivery state .............................................................................................................53

5.6 Decommissioning ............................................................................................................................54

6 Appendix ..................................................................................................................................................55

6.1 General operating conditions...........................................................................................................55

6.2 Accessories .....................................................................................................................................56

6.3 Version identification of EtherCAT devices .....................................................................................57

6.3.1 Beckhoff Identification Code (BIC)................................................................................... 61

6.4 Support and Service ........................................................................................................................63

EP6001-00024 Version: 1.1

Foreword

1 Foreword

1.1 Notes on the documentation

Intended audience

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

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

Disclaimer

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

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

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

Trademarks

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

Patent Pending

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

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

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

EP6001-0002 5Version: 1.1

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.

EP6001-00026 Version: 1.1

Foreword

1.3 Documentation issue status

Version Comment

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

EP6001-0002 7Version: 1.1

Product group: EtherCAT Box Modules

Power

EtherCAT

...

2 Product 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

EP6001-00028 Version: 1.1

3 Product overview

3.1 Introduction

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.

EP6001-0002 9Version: 1.1

Product overview

3.2 Technical data

All values are typical values over the entire temperature range, unless stated otherwise.

Technical data EP6001-0002

Fieldbus

Fieldbus EtherCAT Connection 2x M8 socket, 4-pin, green Electrical isolation 500V (fieldbus/ IO)

Supply voltages

Connection Input: 1 x M8 plug, 4-pin, black

Downstream connection: 1 x M8 socket, 4-pin, black Control voltage U Nominal voltage 24VDC (-15%/ +20%) Sum current max. 4A Consumers • Module electronics: 130mA

Peripheral voltage U Nominal voltage 24VDC (-15%/ +20%) Sum current max. 4A Current consumption from U

Serial interface

Number of channels 1 Interface type Parameterizable:

Connection RS232: 1x M12 socket

End device supply voltage

Cable length RS232: max. 15m

Data transfer rate Parameterizable:

Data format Parameterizable:

Bit distortion <3% Receive buffer 846Byte Transmit buffer 128Byte

• Remote communication station (e.g. barcode scanner)

• Loads at digital outputs

None. UP is only forwarded.

• RS232

• RS422

• RS485

RS422: 2x M12 socket

RS485: 1x M12 socket

5VDC from the control voltage U

max. 1A, short-circuit proof

RS422/RS485: max. 1,000m

300 .. 115,200baud (bit/s)

8N1, 7E1, 7O1, 8N1, 8E1, 8O1, 7E2, 7O2, 8N2, 8E2, 8O2

This value corresponds to the current carrying capacity of the connections for the supply voltages.

Supply voltage available at the connections of the serial interface.

EP6001-000210 Version: 1.1

Product overview

Technical data EP6001-0002

Digital inputs/outputs

Number 2 Connection 1x M12 socket I/O supply voltage

24VDC from the control voltage U

max. 0.5A, short-circuit proof Input specification Characteristics Type 3 according to EN 61131-2, compatible with type 1 Input filter 10µs Signal voltage “0” -3.. +5V Signal voltage "1" +11.. +30V Input current 3mA at 24V

Output specification Load type ohmic, inductive, lamp load Nominal voltage 24 VDC (-15%/+20%) from the control voltage U

Output current max. 0.5A 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 resistance conforms to EN 60068-2-6 / EN 60068-2-27 EMC immunity / emission conforms to EN 61000-6-2 / EN 61000-6-4 Protection class IP65, IP66, IP67 conforms to EN 60529

Mechanics

Weight approx. 165g Installation position variable

Approvals and conformity

Approvals

CE, cURus [}27]

Supply voltage available at the connections of the digital inputs/outputs.

3.3 Scope 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.

EP6001-0002 11Version: 1.1

Product overview

3.4 Process 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.

EP6001-000212 Version: 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.

EP6001-0002 13Version: 1.1

Product overview

3.4.1 Control word

Bit 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

Name OL7 OL6 OL5 OL4 OL3 OL2 OL1 OL0 - - - - SC IR RA TR

Bit no. Name Description

15.. 8 OL7…OL0

(OutLength)

7..4 reserved

3 SC

(SendContinuous)

2 IR

(InitRequest)

1 RA

(ReceiveAccepted)

0 TR

(TransmitRequest)

dec…22dec

rise Continuous sending of data from the FIFO.

bin

toggle The controller acknowledges receipt of data by changing the state of this bit. Only

toggle Via 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.

3.4.2 Status word

Bit 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

Name IL7 IL6 IL5 IL4 IL3 IL2 IL1 IL0 - OVERRUN

ERR

Key

Bit no. Name Description

15...8 IL7... IL0

(InLength)

7 reserved

6 OVERRUN ERR 0 .. 1 An overrun error has occurred. The data concerned is not loaded to the receive

5 FRAMING ERR 0 .. 1 A framing error has occurred. The data concerned is not loaded to the receive FIFO

4 PARITY ERR 0 .. 1 A parity error has occurred. The data concerned is not loaded to the receive FIFO of

3 BUF_F 1 The number of bytes in the receive buffer exceeds the value of parameter 8010:1A

2 IA

(InitAccepted)

1 RR

(ReceiveRequest)

0 TA

(TransmitAccepted)

.. 22

dec

1 The initialization has been executed by the box.

0 The box is ready again for serial data exchange.

toggle Via a change of state of this bit the box notifies the controller that the DataIn bytes

toggle The 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: 864bytes).

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_F IA RR TA

EP6001-000214 Version: 1.1

3.5 Technology

Product overview

Fig.3: Level of RS232, RS422, RS485 interfaces

Data transfer rate

The process image contains 22bytes of user data. It is possible to transmit or receive these 22bytes 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 10ms, 50times 22bytes 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 10bits 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 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 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 30bytespersecond. However, if more than 30bytecome inpersecond, the send buffer is written to first in this case also. Once this is full, all further data will be lost.

EP6001-0002 15Version: 1.1

Mounting and connection

119

126

26.5

13.5

Ø 3.5

4 Mounting and connection

4.1 Mounting

4.1.1 Dimensions

Fig.4: Dimensions

All dimensions are given in millimeters.

Housing features

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

EP6001-000216 Version: 1.1

Mounting and connection

4.1.2 Fixing

NOTE

Dirt during assembly

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

• Protect the plug connectors against dirt during the assembly.

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

4.1.3 Tightening torques for plug connectors

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

Connector diameter Tightening torque

M8 0.4Nm M12 0.6Nm

EP6001-0002 17Version: 1.1

Mounting and connection

Plug

Input

Socket

Forwarding

3 1

4.2 Supply voltages

The EtherCAT Box is supplied with two supply voltages. The supply voltages are electrically isolated in the EtherCAT Box.

• Control voltage U

• Peripheral voltage U

Redirection of the supply voltages

The IN and OUT power connections are bridged in the module (not IP204x-Bxxx and IE204x). The supply voltages US and UP can thus easily be transferred from EtherCATBox to EtherCATBox.

NOTE

Pay attention to the maximum permissible current!

Pay attention also for the redirection of the supply voltages US and UP, the maximum permissible current for M8 connectors of 4A must not be exceeded!

4.2.1 Connectors

NOTE

Risk of confusion: supply voltages and EtherCAT

Defect possible through incorrect insertion.

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

Fig.5: Connectors for supply voltages

Fig.6: M8 connector

Contact Function Description Core color

1 U 2 U 3 GND 4 GND

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

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

Blue Black

EP6001-000218 Version: 1.1

Mounting and connection

Vert. Faktor: 0,45 cm / V

5 10 15 20

250

Vert. Faktor: 0,45 cm / V

Voltage drop (V)

Cable length (m)

0,25 mm²

0,34 mm²

0,5 mm² 0,75 mm²

I = 2 A

Vert. Faktor: 0,45 cm / V

5 10 15 20

250

Vert. Faktor: 0,45 cm / V

Voltage drop (V)

Cable length (m)

0,25 mm²

0,34 mm²

0,5 mm²

0,75 mm²

I = 4 A

4.2.2 Status LEDs

Fig.7: Status LEDs for the supply voltages

LED Display Meaning

US (control voltage) off Supply voltage US is not present

green illuminated Supply voltage US is present

UP (peripheral voltage) off Supply voltage UP is not present

green illuminated Supply voltage UP is present

4.2.3 Conductor losses

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

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

Voltage drop on the supply line

EP6001-0002 19Version: 1.1

Mounting and connection

3 1

4.3 EtherCAT

4.3.1 Connectors

NOTE

Risk of confusion: supply voltages and EtherCAT

Defect possible through incorrect insertion.

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

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

Fig.8: EtherCAT connectors

Connection

Fig.9: M8 socket

EtherCAT M8

Signal Contact ZB9010, ZB9020, ZB9030, ZB9032,

Tx + 1 yellow

Tx - 4 orange

Rx + 2 white

Rx - 3 blue

Shield Housing Shield Shield Shield

Core colors according to EN61918

connector

Core colors

ZK1090-6292, ZK1090-3xxx-xxxx

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

orange/white white/orange

orange orange

blue/white white/green

blue green

TIA-568B

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

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

EP6001-000220 Version: 1.1

Mounting and connection

4.3.2 Status 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:

LED Meaning

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

Run

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

LED Meaning

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

Description of the EtherCAT slave states

4.3.3 Cables

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

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

Detailed recommendations for the cabling of EtherCAT devices

EP6001-0002 21Version: 1.1

Mounting and connection

4.4 RS232

4.4.1 Connector

Fig.11: M12 socket

M12 socket X01

Pin Wire color Signal Description

1 brown 5V 2 white TxD send data 3 blue GND Ground 4 black RxD receive data 5 grey Shield Shield

End device supply voltage

4.4.2 Status LEDs

Fig.12: RS232 Status LEDs

LED Display Meaning

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.

EP6001-000222 Version: 1.1

4.5 RS422

2 3

4.5.1 Connectors

Fig.13: M12 socket

M12 socket X02

Pin Wire color Signal Description

1 brown Tx- send data 2 white Tx+ send data 3 blue GND Ground 4 black Vcc End device supply voltage 5 grey Shield Shield

Mounting and connection

M12 socket X03

Pin Wire color Signal Description

1 brown Rx - receive data 2 white Rx + receive data 3 blue GND Ground 4 black Vcc End device supply voltage 5 grey Shield Shield

4.5.2 Status LEDs

Fig.14: RS422 Status LEDs

LED Display Meaning

R left

T right

EP6001-0002 23Version: 1.1

Mounting and connection

4.6 RS485

4.6.1 Connector

Fig.15: M12 socket

M12 socket X02

Pin Wire color Signal Description

1 brown -/A Inverted data line 2 white +/B Non-inverted data line 3 blue GND Ground 4 black Vcc End device supply voltage 5 grey Shield Shield

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).

4.6.2 Status LEDs

Fig.16: RS485 Status LEDs

LED Display Meaning

R left

T right

EP6001-000224 Version: 1.1

4.7 Digital inputs/outputs

4.7.1 Connector

Fig.17: M12 socket

M12 socket X04

Pin Wire color Signal Description

1 brown 24V 2 white Input/output B Digital input/output B 3 blue GND Ground 4 black Input/output A Digital input/output A 5 grey reserved -

Supply voltage

Mounting and connection

4.7.2 Status LEDs

Fig.18: Status LEDs for digital inputs/outputs

LED Display Meaning

left B

right

off Digital input/output A: Low level green illuminated Digital input/output A: High level

off Digital input/output B: Low level green illuminated Digital input/output B: High level

EP6001-0002 25Version: 1.1

Mounting and connection

4.7.3 Examples 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 0.5Afrom 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.

EP6001-000226 Version: 1.1

Mounting and connection

4.8 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.21: UL label

EP6001-0002 27Version: 1.1

Commissioning/Configuration

5 Commissioning/Configuration

5.1 Integration in TwinCAT

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

EP6001-000228 Version: 1.1

Commissioning/Configuration

5.2 Serial interface

5.2.1 Setting 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.

5.2.1.1 RS232

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

Index Name Meaning Data type Flags Setting

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

0x01 RS485/422

(default)

)

dec

EP6001-0002 29Version: 1.1

Commissioning/Configuration

5.2.1.2 RS422

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

Index Name Meaning Data type Flags Setting

F800:01 Interface type

Ch 1

0x00 RS232 BIT1 RW 0x01

0x01 RS485/422

dec

)

Index Name Meaning Data type Flags Setting

8000:07 Enable point-to-

point connection (RS422)

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

bin

standard.

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

bin

BOOLEAN RW 1

bin

EP6001-000230 Version: 1.1

5.2.1.3 RS485

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

Index Name Meaning Data type Flags Setting

F800:01 Interface type

Ch 1

Index Name Meaning Data type Flags Setting

8000:06 Enable half du-

plex

Index Name Meaning Data type Flags Setting

8000:07 Enable point-to-

point connection (RS422)

0x00 RS232 BIT1 RW 0x01

0x01 RS485/422

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

bin

RS232 and RS422 mode

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

bin

suppressed

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

bin

standard.

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

bin

BOOLEAN RW 1

BOOLEAN RW 0

dec

bin

(default)

bin

)

Deactivated receive driver

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

EP6001-0002 31Version: 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

Index Name Meaning Data type Flags Setting

F800:01 Interface type

Ch 1

Index Name Meaning Data type Flags Setting

8000:06 Enable half du-

plex

0x00 RS232 BIT1 RW 0x01

0x01 RS485/422

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

bin

RS232 and RS422 mode

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

bin

suppressed

BOOLEAN RW 0

dec

bin

)

Index Name Meaning Data type Flags Setting

8000:07 Enable point-to-

point connection (RS422)

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

bin

standard.

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!

EP6001-000232 Version: 1.1

Commissioning/Configuration

5.2.2 Setting 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.

EP6001-0002 33Version: 1.1

Commissioning/Configuration

5.2.3 Communication 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 DataIn[n]. The first-received data is located in DataIn0.

2. After reading the data, acknowledge this by toggling the ReceiveAccepted 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.

EP6001-000234 Version: 1.1

Commissioning/Configuration

5.2.3.1 Samples

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”.

EP6001-0002 35Version: 1.1

Commissioning/Configuration

5.2.4 Communication 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.

EP6001-000236 Version: 1.1

Commissioning/Configuration

5.3 Digital inputs/outputs

5.3.1 Activating 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:

5.3.2 Assignment of connector pins to process data

Connector Pin Channel

designation

X04 "DIO"

2 B

4 A

Input variable Output variable

DIG Inputs

Digital Input 2

DIG Inputs

Digital Input 1

DIG Outputs

Digital Output 2

DIG Outputs

Digital Output 1

EP6001-0002 37Version: 1.1

Commissioning/Configuration

5.4 CoE objects

5.4.1 Directory

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-Map Outputs [}42]

COM RxPDO-Map Outputs [}43]

DIG RxPDO-Map Outputs [}43]

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]

EP6001-000238 Version: 1.1

5.4.2 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 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) 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.

)

dec

)

dec

EP6001-0002 39Version: 1.1

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

8000:19 Sensor Power Supply

Output

8000:1A Rx buffer full notifica-

tion

8000:1B Explicit baudrate In this object the desired baud rate can be entered di-

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

0: Off

BIT4 RW 5 V (1) 1: 5V

The value specifies the number of data in the receive

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

UINT32 RW 0x00002580 rectly as a number.

(9600

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

Index F800 COM Settings

Index (hex) Name Meaning Data type Flags Default

F800:0 COM Settings UINT8 RO 0x01 (1

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

Additional objects

Standard objects (0x1000-0x1FFF)

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

EP6001-000240 Version: 1.1

)

dec

)

dec

Commissioning/Configuration

Index 1000 Device type

Index (hex) Name Meaning Data type Flags Default

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

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

UINT32 RO 0x00001389

(5001

)

dec

vice 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 EP6001-0002

Index 1009 Hardware version

Index (hex) Name Meaning Data type Flags Default

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

Index 100A Software Version

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

)

dec

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 0x17714052

(393298002

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

)

dec

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

UINT8 RO 0x01 (1

)

dec

UINT32 RO 0x00000000 (0

slave

Index 1400 COM RxPDO-Par Outputs

Index (hex) Name Meaning Data type Flags Default

1400:0 COM RxPDO-Par

Outputs

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

PDO Parameter RxPDO 1 UINT8 RO 0x06 (6

jects) that must not be transferred together with Rx-

OCTET-

STRING[2]

RO 04 16

PDO 1

)

dec

)

dec

)

dec

)

dec

)

dec

Index 1404 COM RxPDO-Par Outputs

Index (hex) Name Meaning Data type Flags Default

1404:0 COM RxPDO-Par

PDO Parameter RxPDO 2 UINT8 RO 0x06 (6

Outputs

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

EP6001-0002 41Version: 1.1

)

dec

Commissioning/Configuration

Index 1600 COM RxPDO-Map Outputs

Index (hex) Name Meaning Data type Flags Default

1600:0 COM RxPDO-Map

Outputs

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

)

EP6001-000242 Version: 1.1

Commissioning/Configuration

Index 1604 COM RxPDO-Map Outputs

Index (hex) Name Meaning Data type Flags Default

1604:0 COM RxPDO-Map

Outputs

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 2 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

Index 1608 DIG RxPDO-Map Outputs

Index (hex) Name Meaning Data type Flags Default

1608:0 DIG RxPDO-Map

Outputs

1608:01 SubIndex 001 1. PDO Mapping entry (object 0x7010 (DIG Outputs),

1608:02 SubIndex 002 2. PDO Mapping entry (object 0x7010 (DIG Outputs),

1608:03 SubIndex 003 3. PDO Mapping entry (14 bits align) UINT32 RO 0x0000:00, 14

PDO Mapping RxPDO 3 UINT8 RO 0x03 (3

UINT32 RO 0x7001:01, 1

entry 0x01 (Digital Output 1))

UINT32 RO 0x7010:02, 1

entry 0x02 (Digital Output 2))

)

dec

EP6001-0002 43Version: 1.1

Commissioning/Configuration

Index 1800 COM TxPDO-Par Inputs

Index (hex) Name Meaning Data type Flags Default

1800:0 COM TxPDO-Par

Inputs

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

Index 1804 COM TxPDO-Par Inputs

Index (hex) Name Meaning Data type Flags Default

1804:0 COM TxPDO-Par

Inputs

1804:06 Exclude TxPDOs Specifies the TxPDOs (index of TxPDO mapping ob-

PDO parameter TxPDO 2 UINT8 RO 0x06 (6

jects) that must not be transferred together with TxPDO 2

OCTETSTRING[2]

RO 00 1A

)

dec

)

dec

EP6001-000244 Version: 1.1

Commissioning/Configuration

Index 1A00 COM TxPDO-Map Inputs

Index (hex) Name Meaning Data type Flags Default

1A00:0 COM TxPDO-Map

Inputs

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

)

EP6001-0002 45Version: 1.1

Commissioning/Configuration

Index 1A04 COM TxPDO-Map Inputs

Index (hex) Name Meaning Data type Flags Default

1A04:0 COM TxPDO-Map

Inputs

1A04:01 SubIndex 001 1. PDO Mapping entry (object 0x6001 (Status Ch.1), en-

1A04:02 SubIndex 002 2. PDO Mapping entry (object 0x6000 (COM Inputs

1A04:03 SubIndex 003 3. PDO Mapping entry (object 0x6000 (COM Inputs

1A04:04 SubIndex 004 4. PDO Mapping entry (object 0x6000 (COM Inputs

1A04:05 SubIndex 005 5. PDO Mapping entry (object 0x6000 (COM Inputs

1A04:06 SubIndex 006 6. PDO Mapping entry (object 0x6000 (COM Inputs

1A04:07 SubIndex 007 7. PDO Mapping entry (object 0x6000 (COM Inputs

1A04:08 SubIndex 008 8. PDO Mapping entry (object 0x6000 (COM Inputs

1A04:09 SubIndex 009 9. PDO Mapping entry (object 0x6000 (COM Inputs

1A04:0A SubIndex 010 10. PDO Mapping entry (object 0x6000 (COM Inputs

1A04:0B SubIndex 011 11. PDO Mapping entry (object 0x6000 (COM Inputs

1A04:0C SubIndex 012 12. PDO Mapping entry (object 0x6000 (COM Inputs

1A04:0D SubIndex 013 13. PDO Mapping entry (object 0x6000 (COM Inputs

1A04:0E SubIndex 014 14. PDO Mapping entry (object 0x6000 (COM Inputs

1A04:0F SubIndex 015 15. PDO Mapping entry (object 0x6000 (COM Inputs

1A04:10 SubIndex 016 16. PDO Mapping entry (object 0x6000 (COM Inputs

1A04:11 SubIndex 017 17. PDO Mapping entry (object 0x6000 (COM Inputs

1A04:12 SubIndex 018 18. PDO Mapping entry (object 0x6000 (COM Inputs

1A04:13 SubIndex 019 19. PDO Mapping entry (object 0x6000 (COM Inputs

1A04:14 SubIndex 020 20. PDO Mapping entry (object 0x6000 (COM Inputs

1A04:15 SubIndex 021 21. PDO Mapping entry (object 0x6000 (COM Inputs

1A04:16 SubIndex 022 22. PDO Mapping entry (object 0x6000 (COM Inputs

1A04:17 SubIndex 023 23. PDO Mapping entry (object 0x6000 (COM Inputs

PDO Mapping TxPDO 2 UINT8 RO 0x17 (23

UINT32 RO 0x6001:01, 16

try 0x01 (Status))

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

Index 1A08 DIG TxPDO-Map Inputs

Index (hex) Name Meaning Data type Flags Default

1A08:0 COM TxPDO-Map

Inputs Ch.2

1A08:01 SubIndex 001 1. PDO Mapping entry (object 0x6010 (DIG Inputs), en-

1A08:02 SubIndex 002 2. PDO Mapping entry (object 0x6010 (DIG Inputs), en-

1A08:03 SubIndex 003 3. PDO Mapping entry (14 bits align) UINT32 RO 0x0000:00, 14

PDO Mapping TxPDO 6 UINT8 RO 0x03 (3

UINT32 RO 0x6010:01, 1

try 0x01 (Digital Input 1))

UINT32 RO 0x6010:02, 1

try 0x02 (Digital Input 2))

)

dec

EP6001-000246 Version: 1.1

Commissioning/Configuration

Index 1C00 Sync manager type

Index (hex) Name Meaning Data type Flags Default

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

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

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

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

UINT8 RO 0x03 (3

(Outputs)

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

UINT8 RO 0x04 (4

puts)

Index 1C12 RxPDO assign

Index (hex) Name Meaning Data type Flags Default

1C12:0 RxPDO assign PDO Assign Outputs UINT8 RW 0x02 (2

1C12:01 Subindex 001 1. allocated RxPDO (contains the index of the associ-

UINT16 RW 0x1604 (5636

ated RxPDO mapping object)

1C12:02 Subindex 002 2. reserved UINT16 RW --

Index 1C13 TxPDO assign

Index (hex) Name Meaning Data type Flags Default

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

1C13:01 Subindex 001 1. allocated TxPDO (contains the index of the associ-

ated TxPDO mapping object)

1C13:02 Subindex 002 2. reserved UINT16 RW --

UINT16 RW 0x1A04 (6660

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

EP6001-0002 47Version: 1.1

Commissioning/Configuration

Index 1C32 SM output parameter

Index (hex) Name Meaning Data type Flags Default

1C32:0 SM output parame-

ter

1C32:01 Sync mode Current synchronization mode:

1C32:02 Cycle time Cycle time (in ns):

1C32:03 Shift time Time between SYNC0 event and output of the outputs

1C32:04 Sync modes sup-

ported

1C32:05 Minimum cycle time Minimum cycle time (in ns) UINT32 RO 0x0003D090

1C32:06 Calc and copy time Minimum time between SYNC0 and SYNC1 event (in

1C32:07 Minimum delay time UINT32 RO 0x00000384

1C32:08 Command • 0: Measurement of the local cycle time is

1C32:09 Maximum Delay

time

1C32:0B SM event missed

counter

1C32:0C Cycle exceeded

counter

1C32:0D Shift too short

counter

1C32:20 Sync error The synchronization was not correct in the last cycle

Synchronization parameters for the outputs UINT8 RO 0x20 (32

UINT16 RW 0x0000 (0

• 0: Free Run

• 1: Synchron with SM 2 Event

• 2: DC-Mode - Synchron with SYNC0 Event

• 3: DC-Mode - Synchron with SYNC1 Event

UINT32 RW 0x0003D090

• Free Run: Cycle time of the local timer

(250000

• Synchron with SM 2 Event: Master cycle time

• DC mode: SYNC0/SYNC1 Cycle Time

UINT32 RO 0x00000384

(in ns, DC mode only)

Supported synchronization modes:

UINT16 RO 0x0001 (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

UINT32 RO 0x00000000 (0

ns, DC mode only)

(900

dec

UINT16 RW 0x0000 (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

UINT32 RO 0x00000384

(900

dec

UINT16 RO 0x0000 (0

mode only)

Number of occasions the cycle time was exceeded in

UINT16 RO 0x0000 (0 OPERATIONAL (cycle was not completed in time or the next cycle began too early)

Number of occasions that the interval between SYNC0

UINT16 RO 0x0000 (0 and SYNC1 event was too short (DC mode only)

BOOLEAN RO 0x00 (0 (outputs were output too late; DC mode only)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

EP6001-000248 Version: 1.1

Commissioning/Configuration

Index 1C33 SM input parameter

Index (hex) Name Meaning Data type Flags Default

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

1C33:01 Sync mode Current synchronization mode:

UINT16 RW 0x0000 (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)

1C33:02 Cycle time

as 1C32:02 [}48]

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

(in ns, only DC mode)

1C33:04 Sync modes sup-

ported

Supported synchronization modes:

• Bit 0: free run is supported

UINT32 RW 0x0003D090

(250000

UINT32 RO 0x00000384

(900

UINT16 RO 0x0001 (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])

1C33:05 Minimum cycle time

as 1C32:05 [}48]

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

UINT32 RO 0x0003D090

(250000

UINT32 RO 0x00000000 (0

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

1C33:07 Minimum delay time UINT32 RO 0x00000384

(900

1C33:08 Command

1C33:09 Maximum Delay

time

1C33:0B SM event missed

counter

1C33:0C Cycle exceeded

counter

1C33:0D Shift too short

counter

1C33:20 Sync 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]

UINT16 RW 0x0000 (0

UINT32 RO 0x00000384

(900

UINT16 RO 0x0000 (0

BOOLEAN RO 0x00 (0

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.

EP6001-0002 49Version: 1.1

Commissioning/Configuration

Index 6000 COM Inputs Ch.1

Index (hex) Name Meaning Data type Flags Default

6000:0 COM Inputs Ch.1 UINT8 RO 0x26 (38

6000:01 Transmit accepted The module acknowledges receipt of data by changing

the state of this bit

6000:02 Receive request By changing the state of this bit, the module informs the

controller that the DataIn bytes contain the number of bytes displayed in "Input length"

6000:03 Init Accepted The initialization is carried out from the terminal BOOLEAN RO 0x00 (0

6000:04 Buffer full The receive FIFO is full BOOLEAN RO 0x00 (0

6000:05 Parity error A parity error has occurred BOOLEAN RO 0x00 (0

6000:06 Framing error A framing error has occurred BOOLEAN RO 0x00 (0

6000:07 Overrun error An overrun error has occurred BOOLEAN RO 0x00 (0

6000:09 Input length Number of input bytes available for transfer from the ter-

minal to the controller

6000:11 Data In 0 Input data UINT8 RO 0x00 (0

6000:12 Data In 1 Input data UINT8 RO 0x00 (0

6000:13 Data In 2 Input data UINT8 RO 0x00 (0

6000:14 Data In 3 Input data UINT8 RO 0x00 (0

6000:15 Data In 4 Input data UINT8 RO 0x00 (0

6000:16 Data In 5 Input data UINT8 RO 0x00 (0

6000:17 Data In 6 Input data UINT8 RO 0x00 (0

6000:18 Data In 7 Input data UINT8 RO 0x00 (0

6000:19 Data In 8 Input data UINT8 RO 0x00 (0

6000:1A Data In 9 Input data UINT8 RO 0x00 (0

6000:1B Data In 10 Input data UINT8 RO 0x00 (0

6000:1C Data In 11 Input data UINT8 RO 0x00 (0

6000:1D Data In 12 Input data UINT8 RO 0x00 (0

6000:1E Data In 13 Input data UINT8 RO 0x00 (0

6000:1F Data In 14 Input data UINT8 RO 0x00 (0

6000:20 Data In 15 Input data UINT8 RO 0x00 (0

6000:21 Data In 16 Input data UINT8 RO 0x00 (0

6000:22 Data In 17 Input data UINT8 RO 0x00 (0

6000:23 Data In 18 Input data UINT8 RO 0x00 (0

6000:24 Data In 19 Input data UINT8 RO 0x00 (0

6000:25 Data In 20 Input data UINT8 RO 0x00 (0

6000:26 Data In 21 Input data UINT8 RO 0x00 (0

BOOLEAN RO 0x00 (0

UINT8 RO 0x00 (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) Name Meaning Data type Flags Default

6001:0 Status Ch.1 UINT8 RO 0x01 (1

6001:01 Status Status word for compatible process image UINT16 RO 0x0000 (0

Index 6010 DIG Inputs

Index (hex) Name Meaning Data type Flags Default

6010:0 DIG Inputs UINT8 RO 0x02 (2

6010:01 Digital Input 1 BOOLEAN RO 0x00 (0

6010:02 Digital Input 1 BOOLEAN RO 0x00 (0

6010:03 Init Accepted The initialization is carried out from the terminal BOOLEAN RO 0x00 (0

EP6001-000250 Version: 1.1

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

Commissioning/Configuration

Index 7000 COM Outputs Ch.1

Index (hex) Name Meaning Data type Flags Default

7000:0 COM Outputs Ch.1 UINT8 RO 0x26 (38

7000:01 Transmit request By changing the state of this bit, the controller informs

the terminal that the DataOut bytes contain the number of bytes displayed in "Output length".

7000:02 Receive accepted The controller acknowledges receipt of data by chang-

ing the state of this bit.

7000:03 Init request The controller requests the module to initialize. BOOLEAN RO 0x00 (0

7000:04 Send continuous Continuous sending of data from the FIFO. BOOLEAN RO 0x00 (0

7000:09 Output length Number of output bytes available for transfer from the

controller to the terminal.

7000:11 Data Out 0 Output data UINT8 RO 0x00 (0

7000:12 Data Out 1 Output data UINT8 RO 0x00 (0

7000:13 Data Out 2 Output data UINT8 RO 0x00 (0

7000:14 Data Out 3 Output data UINT8 RO 0x00 (0

7000:15 Data Out 4 Output data UINT8 RO 0x00 (0

7000:16 Data Out 5 Output data UINT8 RO 0x00 (0

7000:17 Data Out 6 Output data UINT8 RO 0x00 (0

7000:18 Data Out 7 Output data UINT8 RO 0x00 (0

7000:19 Data Out 8 Output data UINT8 RO 0x00 (0

7000:1A Data Out 9 Output data UINT8 RO 0x00 (0

7000:1B Data Out 10 Output data UINT8 RO 0x00 (0

7000:1C Data Out 11 Output data UINT8 RO 0x00 (0

7000:1D Data Out 12 Output data UINT8 RO 0x00 (0

7000:1E Data Out 13 Output data UINT8 RO 0x00 (0

7000:1F Data Out 14 Output data UINT8 RO 0x00 (0

7000:20 Data Out 15 Output data UINT8 RO 0x00 (0

7000:21 Data Out 16 Output data UINT8 RO 0x00 (0

7000:22 Data Out 17 Output data UINT8 RO 0x00 (0

7000:23 Data Out 18 Output data UINT8 RO 0x00 (0

7000:24 Data Out 19 Output data UINT8 RO 0x00 (0

7000:25 Data Out 20 Output data UINT8 RO 0x00 (0

7000:26 Data Out 21 Output data UINT8 RO 0x00 (0

BOOLEAN RO 0x00 (0

UINT8 RO 0x00 (0

)

dec

)

dec

)

dec

)

dec

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dec

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dec

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dec

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dec

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dec

Index 7001 Ctrl Ch.1

Index (hex) Name Meaning Data type Flags Default

7001:0 Ctrl Ch.1 UINT8 RO 0x01 (1

7001:01 Ctrl Control word for compatible process image UINT16 RO 0x0000 (0

Index 7010 DIG Outputs

Index (hex) Name Meaning Data type Flags Default

7010:0 DIG Outputs UINT8 RO 0x26 (38

7010:01 Digital Output 1 BOOLEAN RO 0x00 (0

7010:02 Digital Output 2 BOOLEAN RO 0x00 (0

)

dec

)

dec

)

dec

)

dec

)

dec

EP6001-0002 51Version: 1.1

Commissioning/Configuration

Index A000 COM Diag data Ch.1

Index (hex) Name Meaning Data type Flags Default

A000:0 COM Diag data

UINT8 RO 0x21 (33

Ch.1

A000:01 Buffer overflow A buffer overflow has occurred. BOOLEAN RO 0x00 (0

A000:02 Parity error A parity error has occurred. BOOLEAN RO 0x00 (0

A000:03 Framing error A framing error has occurred. BOOLEAN RO 0x00 (0

A000:04 Overrun error An overrun error has occurred. BOOLEAN RO 0x00 (0

A000:05 Buffer full The receive FIFO is full. BOOLEAN RO 0x00 (0

A000:11 Data bytes in send

Number of data bytes in the send FIFO UINT16 RO 0x0000 (0

buffer

A000:21 Data bytes in re-

Number of data bytes in the receive FIFO UINT16 RO 0x0000 (0

ceive buffer

Index F000 Modular device profile

Index (hex) Name Meaning Data type Flags Default

F000:0 Modular device pro-

file

F000:01 Module index dis-

tance

F000:02 Maximum number of

modules

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

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

Number of channels UINT16 RO 0x0002 (2

)

dec

)

dec

)

dec

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dec

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Index F008 Code word

Index (hex) Name Meaning Data type Flags Default

F008:0 Code word UINT32 RW 0x00000000 (0

Index F010 Module list

Index (hex) Name Meaning Data type Flags Default

F010:0 Module list UINT8 RW 0x02 (2

F010:01 SubIndex 001 UINT32 RW 0x00000258

(600

F010:02 SubIndex 002 UINT32 RW 0x00000118

(280

)

dec

)

dec

)

dec

)

dec

EP6001-000252 Version: 1.1

Commissioning/Configuration

5.5 Restoring the delivery state

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

Fig.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.

EP6001-0002 53Version: 1.1

Commissioning/Configuration

5.6 Decommissioning

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

EP6001-000254 Version: 1.1

Appendix

6 Appendix

6.1 General operating conditions

Protection degrees (IP-Code)

The standard IEC 60529 (DIN EN 60529) defines the degrees of protection in different classes.

1. Number: dust protection and touch guard

0 Non-protected

1 Protected against access to hazardous parts with the back of a hand. Protected against solid

2 Protected against access to hazardous parts with a finger. Protected against solid foreign ob-

3 Protected against access to hazardous parts with a tool. Protected against solid foreign objects

4 Protected against access to hazardous parts with a wire. Protected against solid foreign objects

5 Protected against access to hazardous parts with a wire. Dust-protected. Intrusion of dust is not

6 Protected against access to hazardous parts with a wire. Dust-tight. No intrusion of dust.

Definition

foreign objects of Ø50mm

jects of Ø12.5mm.

Ø2.5mm.

Ø1mm.

totally prevented, but dust shall not penetrate in a quantity to interfere with satisfactory operation of the device or to impair safety.

2. Number: water* protection Definition

0 Non-protected

1 Protected against water drops

2 Protected against water drops when enclosure tilted up to 15°.

3 Protected against spraying water. Water sprayed at an angle up to 60° on either side of the ver-

4 Protected against splashing water. Water splashed against the disclosure from any direction

5 Protected against water jets

6 Protected against powerful water jets

7 Protected against the effects of temporary immersion in water. Intrusion of water in quantities

tical shall have no harmful effects.

shall have no harmful effects

causing harmful effects shall not be possible when the enclosure is temporarily immersed in water for 30min. in 1m depth.

*) These protection classes define only protection against water!

Chemical Resistance

The Resistance relates to the Housing of the IP 67 modules and the used metal parts. In the table below you will find some typical resistance.

Character Resistance

Steam at temperatures >100°C: not resistant

Sodium base liquor (ph-Value > 12)

Acetic acid not resistant

Argon (technical clean) resistant

at room temperature: resistant > 40°C: not resistant

Key

• resistant: Lifetime several months

• non inherently resistant: Lifetime several weeks

• not resistant: Lifetime several hours resp. early decomposition

EP6001-0002 55Version: 1.1

Appendix

6.2 Accessories

Mounting

Ordering information Description

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

Cables

Ordering information Description

ZK1090-3xxx-xxxx

ZK1093-3xxx-xxxx

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

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

Labeling material, protective caps

Ordering information Description

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

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 information Description

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

Further accessories

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

EP6001-000256 Version: 1.1

Appendix

6.3 Version identification of EtherCAT devices

Designation

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

• family key

• type

• version

• revision

Example Family Type Version Revision

EL3314-0000-0016 EL terminal

(12 mm, nonpluggable connection level)

ES3602-0010-0017 ES terminal

(12 mm, pluggable connection level)

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

3314 (4-channel thermocouple terminal)

3602 (2-channel voltage measurement)

0000 (basic type) 0016

0010 (highprecision version)

0017

Notes

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

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

• The order identifier is made up of

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

- type (3314)

- version (-0000)

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

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

Identification number

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

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

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

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

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

EP6001-0002 57Version: 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)

EP6001-000258 Version: 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

EP6001-0002 59Version: 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

EP6001-000260 Version: 1.1

Appendix

6.3.1 Beckhoff Identification Code (BIC)

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

Fig.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 (ANSIMH10.8.2-2016). The data identifier is followed by a character string. Both together have a maximum length according to the table below. If the information is shorter, spaces are added to it. The data under positions 1 to 4 are always available.

The following information is contained:

EP6001-0002 61Version: 1.1

Appendix

Item

Type of

no.

information

1 Beckhoff order

number

2 Beckhoff Traceability

Number (BTN)

3 Article description Beckhoff article

4 Quantity Quantity in packaging

5 Batch number Optional: Year and week

6 ID/serial number Optional: Present-day

7 Variant number Optional: Product variant

...

Explanation Data

Beckhoff order number 1P 8 1P072222

Unique serial number, see note below

description, e.g. EL1008

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

of production

serial number system, e.g. with safety products

number on the basis of standard products

Number of digits

identifier

S 12 SBTNk4p562d7

1K 32 1KEL1809

Q 6 Q1

2P 14 2P401503180016

51S 12 51S678294104

30P 32 30PF971, 2*K183

incl. data identifier

Example

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

Structure of the BIC

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

BTN

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

NOTE

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

EP6001-000262 Version: 1.1

Appendix

6.4 Support and Service

Beckhoff and their partners around the world offer comprehensive support and service, making available fast and competent assistance with all questions related to Beckhoff products and system solutions.

Beckhoff's branch offices and representatives

Please contact your Beckhoff branch office or representative for local support and service on Beckhoff products!

The addresses of Beckhoff's branch offices and representatives round the world can be found on her internet pages:

http://www.beckhoff.com

You will also find further documentation for Beckhoff components there.

Beckhoff Headquarters

Beckhoff Automation GmbH & Co. KG

Huelshorstweg 20 33415 Verl Germany

Phone: +49 5246 963 0 Fax: +49 5246 963 198 e-mail: info@beckhoff.com

Beckhoff Support

Support offers you comprehensive technical assistance, helping you not only with the application of individual Beckhoff products, but also with other, wide-ranging services:

• support

• design, programming and commissioning of complex automation systems

• and extensive training program for Beckhoff system components

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

Beckhoff Service

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

• on-site service

• repair service

• spare parts service

• hotline service

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

EP6001-0002 63Version: 1.1

More Information:

www.beckhoff.com/ep6001/

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

Beckhoff EP6001-0002 Users manual

Specifications and Main Features

Frequently Asked Questions

User Manual

Table of contents

1 Foreword

1.1 Notes on the documentation

1.2 Safety instructions

1.3 Documentation issue status

2 Product group: EtherCAT Box Modules

3 Product overview

3.1 Introduction

3.2 Technical data

3.3 Scope of supply

3.4 Process image

3.4.1 Control word

3.4.2 Status word

3.5 Technology

4 Mounting and connection

4.1 Mounting

4.1.1 Dimensions

4.1.2 Fixing

4.1.3 Tightening torques for plug connectors

4.2 Supply voltages

4.2.1 Connectors

4.2.2 Status LEDs

4.2.3 Conductor losses

4.3 EtherCAT

4.3.1 Connectors

4.3.2 Status LEDs

4.3.3 Cables

4.4 RS232

4.4.1 Connector

4.4.2 Status LEDs

4.5 RS422

4.5.1 Connectors

4.5.2 Status LEDs

4.6 RS485

4.6.1 Connector

4.6.2 Status LEDs

4.7 Digital inputs/outputs

4.7.1 Connector

4.7.2 Status LEDs

4.7.3 Examples of external connections

4.8 UL Requirements

5 Commissioning/Configuration

5.1 Integration in TwinCAT

5.2 Serial interface

5.2.1 Setting the interface type

5.2.1.1 RS232

5.2.1.2 RS422

5.2.1.3 RS485

5.2.2 Setting the interface parameters

5.2.3 Communication by PLC program

5.2.3.1 Samples

5.2.4 Communication via a virtual COM port

5.3 Digital inputs/outputs

5.3.1 Activating process data

5.3.2 Assignment of connector pins to process data

5.4 CoE objects

5.4.1 Directory

5.4.2 Object description and parameterization

5.5 Restoring the delivery state

5.6 Decommissioning

6 Appendix

6.1 General operating conditions

6.2 Accessories

6.3 Version identification of EtherCAT devices

6.3.1 Beckhoff Identification Code (BIC)

6.4 Support and Service