Documentation
EP6002-0002
2-channel serial interface (RS232 / RS422 / RS485)
Version:
Date:
1.0
2019-12-11
Table of contents
Table of contents
1 Foreword ....................................................................................................................................................5
1.1 Notes on the documentation..............................................................................................................5
1.2 Safety instructions .............................................................................................................................6
1.3 Documentation Issue Status..............................................................................................................7
2 Product overview.......................................................................................................................................8
2.1 Product group: EtherCAT Box Modules ............................................................................................8
2.2 Introduction........................................................................................................................................9
2.3 Technical data .................................................................................................................................10
2.4 Scope of supply ...............................................................................................................................11
2.5 Process image.................................................................................................................................12
2.5.1 Assignment of connectors to process data...................................................................... 13
2.5.2 Control word .................................................................................................................... 14
2.5.3 Status word...................................................................................................................... 14
2.6 Technology ......................................................................................................................................15
3 Mounting and connection.......................................................................................................................16
3.1 Mounting..........................................................................................................................................16
3.1.1 Dimensions ...................................................................................................................... 16
3.1.2 Fixing ............................................................................................................................... 17
3.2 Supply voltages ...............................................................................................................................18
3.2.1 Connectors ...................................................................................................................... 18
3.2.2 Status LEDs..................................................................................................................... 19
3.2.3 Conductor losses ............................................................................................................. 19
3.3 EtherCAT.........................................................................................................................................20
3.3.1 Connectors ...................................................................................................................... 20
3.3.2 Status LEDs..................................................................................................................... 21
3.3.3 Cables.............................................................................................................................. 21
3.4 RS232..............................................................................................................................................22
3.4.1 Connectors ...................................................................................................................... 22
3.4.2 Status LEDs..................................................................................................................... 22
3.5 RS422 / RS485................................................................................................................................23
3.5.1 Connectors ...................................................................................................................... 23
3.5.2 Status LEDs..................................................................................................................... 23
3.6 UL Requirements.............................................................................................................................24
4 Commissioning/Configuration ...............................................................................................................25
4.1 Configuration in TwinCAT................................................................................................................25
4.2 Serial interfaces...............................................................................................................................26
4.2.1 Parameterization of the interface type ............................................................................. 26
4.2.2 Setting the interface parameters...................................................................................... 30
4.2.3 Communication by PLC program..................................................................................... 31
4.2.4 Communication via a virtual COM port ............................................................................ 33
4.3 CoE objects .....................................................................................................................................34
4.3.1 Directory .......................................................................................................................... 34
4.3.2 Object description and parameterization ......................................................................... 35
EP6002-0002 3Version: 1.0
Table of contents
4.4 Restoring the delivery state .............................................................................................................57
4.5 Decommissioning ............................................................................................................................58
5 Appendix ..................................................................................................................................................59
5.1 General operating conditions...........................................................................................................59
5.2 EtherCAT Box- / EtherCATPBox - Accessories ............................................................................60
5.3 General note on the introduction of the Beckhoff Identification Code (BIC) ....................................61
5.4 Support and Service ........................................................................................................................63
EP6002-00024 Version: 1.0
Foreword
1 Foreword
1.1 Notes on the documentation
Intended audience
This description is only intended for the use of trained specialists in control and automation engineering who
are familiar with the applicable national standards.
It is essential that the documentation and the following notes and explanations are followed when installing
and commissioning these components.
It is the duty of the technical personnel to use the documentation published at the respective time of each
installation and commissioning.
The responsible staff must ensure that the application or use of the products described satisfy all the
requirements for safety, including all the relevant laws, regulations, guidelines and standards.
Disclaimer
The documentation has been prepared with care. The products described are, however, constantly under
development.
We reserve the right to revise and change the documentation at any time and without prior announcement.
No claims for the modification of products that have already been supplied may be made on the basis of the
data, diagrams and descriptions in this documentation.
Trademarks
Beckhoff®, TwinCAT®, EtherCAT®, EtherCATG®, EtherCATG10®, EtherCATP®, SafetyoverEtherCAT®,
TwinSAFE®, XFC®, XTS® and XPlanar® are registered trademarks of and licensed by Beckhoff Automation
GmbH. Other designations used in this publication may be trademarks whose use by third parties for their
own purposes could violate the rights of the owners.
Patent Pending
The EtherCAT Technology is covered, including but not limited to the following patent applications and
patents: EP1590927, EP1789857, EP1456722, EP2137893, DE102015105702 with corresponding
applications or registrations in various other countries.
EtherCAT® is registered trademark and patented technology, licensed by Beckhoff Automation GmbH,
Germany.
Copyright
© Beckhoff Automation GmbH & Co. KG, Germany.
The reproduction, distribution and utilization of this document as well as the communication of its contents to
others without express authorization are prohibited.
Offenders will be held liable for the payment of damages. All rights reserved in the event of the grant of a
patent, utility model or design.
EP6002-0002 5Version: 1.0
Foreword
1.2 Safety instructions
Safety regulations
Please note the following safety instructions and explanations!
Product-specific safety instructions can be found on following pages or in the areas mounting, wiring,
commissioning etc.
Exclusion of liability
All the components are supplied in particular hardware and software configurations appropriate for the
application. Modifications to hardware or software configurations other than those described in the
documentation are not permitted, and nullify the liability of Beckhoff Automation GmbH & Co. KG.
Personnel qualification
This description is only intended for trained specialists in control, automation and drive engineering who are
familiar with the applicable national standards.
Description of instructions
In this documentation the following instructions are used.
These instructions must be read carefully and followed without fail!
DANGER
Serious risk of injury!
Failure to follow this safety instruction directly endangers the life and health of persons.
WARNING
Risk of injury!
Failure to follow this safety instruction endangers the life and health of persons.
CAUTION
Personal injuries!
Failure to follow this safety instruction can lead to injuries to persons.
NOTE
Damage to environment/equipment or data loss
Failure to follow this instruction can lead to environmental damage, equipment damage or data loss.
Tip or pointer
This symbol indicates information that contributes to better understanding.
EP6002-00026 Version: 1.0
Foreword
1.3 Documentation Issue Status
Version Modifications
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
Beckhoff Identification Code (BIC)
The Beckhoff Identification Code contains additional information about the delivery state of the module:
General note on the introduction of the Beckhoff Identification Code (BIC) [}61].
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
EP6002-0002 7Version: 1.0
Product overview
Power
EtherCAT
...
...
2 Product overview
2.1 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
EP6002-00028 Version: 1.0
2.2 Introduction
Product overview
Fig.2: EP6002-0002
EP6002-0002 | 2-channel serial interface, RS232, RS422/RS485
The EP6002 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 data is transferred via the fieldbus using a simple handshake protocol. This does not have any effect on
the protocol of the serial interface. The active serial communication channel functions independently of the
higher-level bus system in full duplex mode at up to 115,200 baud, while a 864 byte receive buffer and a 128
byte send buffer are available.
The connector assignment depends on the interface. For each channel, RS232 or RS422/RS485 can be
selected.
In conjunction with the TwinCAT Virtual Serial COM Driver (see TwinCAT Supplements – Communication)
the EP6002 can be used as a normal Windows COM interface.
EP6002-0002 9Version: 1.0
Product overview
2.3 Technical data
All values are typical values at 25°C, unless otherwise stated.
Technical data EP6002-0002
Fieldbus
Fieldbus EtherCAT
Connection 2x M8 socket, green
Electrical isolation 500V (fieldbus/ IO)
Supply voltages
Connection Feed: 1 x M8 plug, 4-pin, black
Downstream connection: 1 x M8 socket, 4-pin, black
Control voltage U
Nominal voltage 24VDC (-15%/ +20%)
Sum current max. 4A
Consumers • Module electronics: 130mA
Peripheral voltage U
Nominal voltage 24VDC (-15%/ +20%)
Sum current max. 4A
Consumers -
Serial interface
Number of channels 2
Interface type Individually parameterizable for each channel:
Connection 1x M12 socket per channel
Remote station supply voltage
Cable length RS232: max. 15m
Data transfer rate Parameterizable:
Data format Parameterizable:
Receive buffer 864bytes
Transmit buffer 128bytes
Bit distortion <3%
S
1)
• Remote communication stations (e.g. barcode scanner)
P
1)
• RS232
• RS422
• RS485
2)
5VDC, isolated potential
max. 20mA
RS422/RS485: max. 1,000m
300 .. 115,200baud (bit/s)
8N1, 7E1, 7O1, 8N1, 8E1, 8O1, 7E2, 7O2, 8N2, 8E2, 8O2
1)
Sum current of consumers and power transmission. This value corresponds to the
current carrying capacity of the connections for the supply voltages.
2)
Supply voltage available at the connections of the serial interface.
EP6002-000210 Version: 1.0
Technical data EP6002-0002
Environmental conditions
Ambient temperature
during operation
Ambient temperature
during storage
Vibration / shock resistance conforms to EN 60068-2-6 / EN 60068-2-27
EMC immunity / emission conforms to EN 61000-6-2 / EN 61000-6-4
Protection class IP65, IP66, IP67 conforms to EN 60529
Mechanics
Weight approx. 165g
Installation position variable
Approvals and conformity
Approvals CE, cURus
-25 .. +60°C
-25 .. +55°C according to cURus
-40.. +85°C
2.4 Scope of supply
Make sure that the following components are included in the scope of delivery:
Product overview
• 1x EtherCAT Box EP6002-0002
• 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.
EP6002-0002 11Version: 1.0
Product overview
2.5 Process image
COM TxPDO-Map Inputs
The following figure shows an example of the process data object for serial channel 1. The process data
object for channel 2 is structured in exactly the same way.
Status
Status word [}14] 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.
EP6002-000212 Version: 1.0
Product overview
COM RxPDO-Map Outputs
The following figure shows an example of the process data object for serial channel 1. The process data
object for channel 2 is structured in exactly the same way.
Ctrl
Control word [}14] 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.
2.5.1 Assignment of connectors to process data
Connector Chan-
nel
X01
X02
X03
X04
1
2
receive data send data
COM TxPDO-Map Inputs Channel 1 COM RxPDO-Map Outputs Channel 1
COM TxPDO-Map Inputs Channel 2 COM RxPDO-Map Outputs Channel 2
EP6002-0002 13Version: 1.0
Product overview
2.5.2 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)
1
dec
.. 22
Number of output bytes available for transfer from the controller to the box.
dec
rise Continuous sending of data from the FIFO.
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.
1
bin
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.
0
bin
The controller once again requests the box to prepare for serial data exchange.
toggle The controller acknowledges receipt of data by changing the state of this bit. Only
then can new data be transferred from the box to the controller.
toggle Via a change of state of this bit the controller notifies the box that the DataOut bytes
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.
2.5.3 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 receive FIFO is full. All further incoming data will be lost!
2 IA
(InitAccepted bit)
1 RR
(ReceiveRequest)
0 TA
(TransmitAccepted)
1
dec
.. 22
Number of input bytes available for transfer from the box to the controller.
dec
FIFO of the box and is lost.
of the box and is lost.
the box and is lost
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
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.
toggle The box acknowledges the receipt of data by changing the state of this bit. Only then
can new data be transferred from the controller to the box.
FRAMING
ERR
PARITY
ERR
BUF_F IA RR TA
EP6002-000214 Version: 1.0
2.6 Technology
Product overview
Fig.3: Level of RS232, RS422, RS485 interfaces
Data transfer rate
The process image contains 22bytes of user data. It is possible to transmit or receive these 22bytes every
second PLC cycle at the most:
• The data is transferred from the box to the controller in the first PLC cycle.
• In the second PLC cycle, the controller must acknowledge that it has accepted the data.
Therefore, if the cycle time is 10ms, 50times 22bytes can be transmitted per second.
If the data format is set to 8N1, each transmitted byte is made up of a start bit, eight data bits and a stop bit.
This is equivalent to 10bits per byte of user data.
With the above-mentioned settings, a continuous data transfer rate of:
• 50[1/s] x 22[bytes] x 10[bits] = 11000 baud (bit/s)
can be achieved.
The next lower standard data transfer rate is 9600baud. Accordingly, continuous transfer at a maximum
baud rate of 9600 can be secured with a cycle time of 10ms.
If only low quantities of data are transmitted or received sporadically (e.g. barcode scanner), the baud rate
can also be set higher, or the cycle time can be enlarged.
If the controller cannot collect the data quickly enough from the box, the data will be stored intermediately in
the internal buffer of the box. The buffer for received data has a size of 864bytes. If this is exhausted, all
further data will be lost.
A buffer is also available for the transmit data. With a baud rate of 300 and a data format of 8N1, the box can
only transmit 30bytes per second. However, if more than these 30bytes per second are received, a
128bytes transmit buffer will be written to first in this case also. Once this is full, all further data will be lost.
EP6002-0002 15Version: 1.0
Mounting and connection
119
126
23
30
26.5
13.5
Ø 3.5
3 Mounting and connection
3.1 Mounting
3.1.1 Dimensions
Fig.4: Dimensions
All dimensions are given in millimeters.
Housing features
Housing material PA6 (polyamide)
Sealing compound polyurethane
Mounting two fastening holes Ø3.5mm for M3
Metal parts brass, nickel-plated
Contacts CuZn, gold-plated
Power feed through max. 4A
Installation position variable
Protection class IP65, IP66, IP67 (conforms to EN60529) when screwed together
Dimensions (HxWxD) approx. 126 x 30 x 26.5mm (without connectors)
EP6002-000216 Version: 1.0
Mounting and connection
3.1.2 Fixing
NOTE
Dirt during assembly
Dirty connectors can lead to malfunctions. Protection class IP67 can only be guaranteed if all cables and
connectors are connected.
• Protect the plug connectors against dirt during the assembly.
Mount the module with two M3 screws on the fastening holes in the corners of the module. The fastening
holes have no thread.
EP6002-0002 17Version: 1.0
Mounting and connection
Plug
Feed-in
Socket
Forwarding
3 1
24
3 1
24
3.2 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
S
P
Redirection of the supply voltages
The IN and OUT power connections are bridged in the module (not IP204x-Bxxx and IE204x). The supply
voltages US and UP can thus easily be transferred from EtherCATBox to EtherCATBox.
NOTE
Pay attention to the maximum permissible current!
Pay attention also for the redirection of the supply voltages US and UP, the maximum permissible current for
M8 connectors of 4A must not be exceeded!
3.2.1 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
1)
The core colors apply to cables of the type: Beckhoff ZK2020-xxxx-xxxx
S
P
S
P
Control voltage Brown
Peripheral voltage White
GND to U
GND to U
S
P
Blue
Black
1)
EP6002-000218 Version: 1.0
Mounting and connection
Vert. Faktor: 0,45 cm / V
5 10 15 20
2
4
6
8
10
250
0
12
30
Vert. Faktor: 0,45 cm / V
Voltage drop (V)
Cable length (m)
35
0,25 mm²
0,34 mm²
0,5 mm²
0,75 mm²
I = 2 A
Vert. Faktor: 0,45 cm / V
5 10 15 20
2
4
6
8
10
250
0
12
30
Vert. Faktor: 0,45 cm / V
Voltage drop (V)
Cable length (m)
35
0,25 mm²
0,34 mm²
0,5 mm²
0,75 mm²
I = 4 A
3.2.2 Status LEDs
Fig.7: Status LEDs for the power supply
LED Display Meaning
US (control voltage) off Supply voltage, US, is not present
green illuminated Supply voltage, US, is present
UP (peripheral voltage) off Supply voltage, UP, is not present
green illuminated Supply voltage, UP, is present
3.2.3 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
EP6002-0002 19Version: 1.0
Mounting and connection
3 1
24
3.3 EtherCAT
3.3.1 Connectors
EtherCAT Box Modules have two green M8 sockets for the incoming and downstream EtherCAT
connections.
Fig.8: EtherCAT connector
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
1)
Core colors according to EN61918
connector
Core colors
ZK1090-6292,
ZK1090-3xxx-xxxx
1)
1)
1)
1)
ZB9031 and old versions of
ZB9030, ZB9032, ZK1090-3xxxxxxx
orange/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.
EP6002-000220 Version: 1.0
Mounting and connection
3.3.2 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
3.3.3 Cables
For connecting EtherCAT devices only shielded Ethernet cables that meet the requirements of at least
category5 (CAT5) according to EN50173 or ISO/IEC11801 should be used.
EtherCAT uses four wires for signal transmission.
Thanks to automatic line detection ("Auto MDI-X"), both symmetrical (1:1) or cross-over cables can be used
between Beckhoff EtherCAT.
Detailed recommendations for the cabling of EtherCAT devices
EP6002-0002 21Version: 1.0
Mounting and connection
1
2
3
4
5
X02 X04
3.4 RS232
3.4.1 Connectors
Fig.11: M12 socket
M12 sockets X02 and X04
Pin Wire color Signal Description
1 brown 5V
2 white TxD send data
3 blue GND Ground
4 black RxD receive data
5 grey Shield Shield
DC
End device supply voltage
3.4.2 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.
EP6002-000222 Version: 1.0
Mounting and connection
1
2
3
4
5
X01 X03
3.5 RS422 / RS485
3.5.1 Connectors
Fig.13: M12 socket
M12 sockets X01 and X03
Pin Core color
1 brown Tx- send data - / A Inverted data line
2 white Tx+ send data + / B Non-inverted data line
3 blue Rx- receive data do not connect
4 black Rx+ receive data do not connect
5 grey Shield Shield Shield Shield
1)
RS422 RS485
Signal Description Signal Description
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).
Signal designations "A" and "B" are not clear
With some devices the designations of the data lines "A" and "B" are swapped.
3.5.2 Status LEDs
Fig.14: RS422 / RS485 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.
EP6002-0002 23Version: 1.0
Mounting and connection
3.6 UL Requirements
The installation of the EtherCAT Box Modules certified by UL has to meet the following requirements.
Supply voltage
CAUTION
CAUTION!
This UL requirements are valid for all supply voltages of all marked EtherCAT Box Modules!
For the compliance of the UL requirements the EtherCAT Box Modules should only be supplied
• by a 24 VDC supply voltage, supplied by an isolating source and protected by means of a fuse (in accordance with UL248), rated maximum 4 Amp, or
• by a 24 VDC power source, that has to satisfy NEC class 2.
A NEC class 2 power supply shall not be connected in series or parallel with another (class 2) power
source!
CAUTION
CAUTION!
To meet the UL requirements, the EtherCAT Box Modules must not be connected to unlimited power
sources!
Networks
CAUTION
CAUTION!
To meet the UL requirements, EtherCAT Box Modules must not be connected to telecommunication networks!
Ambient temperature range
CAUTION
CAUTION!
To meet the UL requirements, EtherCAT Box Modules has to be operated only at an ambient temperature
range of 0 to 55°C!
Marking for UL
All EtherCAT Box Modules certified by UL (Underwriters Laboratories) are marked with the following label.
Fig.15: UL label
EP6002-000224 Version: 1.0
Commissioning/Configuration
4 Commissioning/Configuration
4.1 Configuration in TwinCAT
An EtherCAT Box must be configured in TwinCAT so that its functions can be used in a PLC program.
The following link will take you to a quick start guide describing the configuration of an EtherCAT Box in
TwinCAT:
https://infosys.beckhoff.com/content/1033/epioconfiguration/index.html?id=6991403443235907429
EP6002-0002 25Version: 1.0
Commissioning/Configuration
4.2 Serial interfaces
4.2.1 Parameterization of 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.
4.2.1.1 RS232
RS232: point-to-point connection to an RS232 device
Direct connection to an RS232 end device, full duplex data transmission (default setting).
Fig.16: Point-to-point connection to an RS232 device
The following CoE objects must be set
Index Name Meaning Data type Flags Setting
F800:0n Interface Type Ch n 0x00 RS232 BIT1 RW 0x00 (0
0x01 RS485/422
(default)
)
dec
EP6002-000226 Version: 1.0
Commissioning/Configuration
4.2.1.2 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.17: 4-wire point-to-point connection to an RS422 device
The following CoE objects must be set
Index Name Meaning Data type Flags Setting
F800:0n Interface type
Ch n
0x00 RS232 BIT1 RW 0x01
0x01 RS485/422
(1
dec
)
Index Name Meaning Data type Flags Setting
80n0:07 Enable point-to-
point connection (RS422)
Channel n
0
The module is used in a bus structure in accordance with the RS485
bin
standard.
1
The module is used for a point-to-point connection (RS422).
bin
BOOLEAN RW 1
bin
EP6002-0002 27Version: 1.0
Commissioning/Configuration
4.2.1.3 RS485
You can operate the RS845 communication in two variants:
• Without diagnosis
• With diagnosis of the transmit data [}29]
RS485: 2-wire connection in bus structure to RS485 device(s)
Bus structure, half duplex data transmission
Fig.18: 2-wire connection in bus structure to RS485 device(s)
The following CoE objects must be set
Index Name Meaning Data type Flags Setting
F800:0n Interface type
Ch n
0x00 RS232 BIT1 RW 0x01
(1
0x01 RS485/422
dec
)
Index Name Meaning Data type Flags Setting
80n0:06 Enable half du-
plex
channel n
0
Full duplex: transmitted data are monitored. The bit has no effect in
bin
RS232 and RS422 mode
1
Half duplex: The reception of the data transmitted by the box itself is
bin
suppressed
BOOLEAN RW 1
bin
(default)
Index Name Meaning Data type Flags Setting
80n0:07 Enable point-to-
point connection (RS422)
Channel n
0
The module is used in a bus structure in accordance with the RS485
bin
standard.
1
The module is used for a point-to-point connection (RS422).
bin
BOOLEAN RW 0
bin
EP6002-000228 Version: 1.0
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.19: 2-wire connection with external bridge in bus structure to RS485 device(s)
The following CoE objects must be set
Index Name Meaning Data type Flags Setting
F800:0n Interface type
Ch n
Index Name Meaning Data type Flags Setting
80n0:06 Enable half du-
plex
channel n
0x00 RS232 BIT1 RW 0x01
(1
0x01 RS485/422
0
Full duplex: transmitted data are monitored. The bit has no effect in
bin
RS232 and RS422 mode
1
Half duplex: The reception of the data transmitted by the box itself is
bin
suppressed
BOOLEAN RW 0
dec
bin
)
Index Name Meaning Data type Flags Setting
80n0:07 Enable point-to-
point connection (RS422)
Channel n
0
The module is used in a bus structure in accordance with the RS485
bin
standard.
1
The module is used for a point-to-point connection (RS422).
bin
BOOLEAN RW 0
bin
EP6002-0002 29Version: 1.0
Commissioning/Configuration
4.2.2 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 from objects 0x8000 and 0x8010 are possible and are shown below in their
default settings:
Fig.20: CoE settings on objects 0x8000 and 0x8010 (default)
EP6002-000230 Version: 1.0
Commissioning/Configuration
4.2.3 Communication by PLC program
Sending data
You can transmit up to 22bytes of data to the module in one PLC cycle.
1. Write the data to be transmitted in the output variables DataOut0 ... DataOut21.
2. Set the Output Length parameter in the Control word [}14] to the number of bytes to be transmitted.
3. Toggle the Transmit Request bit in the Control word [}14].
ð The module acknowledges the data transmission in the Status word [}14] via the Transmit Accepted
parameter.
Receiving data
If the module toggles the Receive Request bit in the Status word [}14], this means that there are new
receive data.
1. Read the Input Length parameter from the Status word [}14]. It contains the number of bytes to be
received.
ð The data are provided in DataOut0 ... DataOut21. The first datum is contained in DataIn0.
2. After reading the data, acknowledge this by toggling the Receive Request bit in the Control word [}14].
The module only makes new data available after that.
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
(864bytes).
The data will only be copied into the process image if no further character is received for 16 bit times or if the
buffer is full.
Continuous transmission of data
A continuous data stream is indispensable for many applications. For this purpose, the Beckhoff modules
feature the "Enable send FIFO data continuous" setting in the Settings object. The internal transmit buffer
(128bytes) 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".
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.
EP6002-0002 31Version: 1.0
Commissioning/Configuration
4.2.3.1 Samples
Initialization
Initialization is performed prior to the first transmission/reception. The module is thereby parameterized with
the data from the corresponding Settings object.
Procedure:
1. Set "Init request" to 1
2. The module confirms successful initialization by setting "Init accepted".
3. Reset "Init request"
4. The module sets "Init accepted" to 0.
The module is now ready for data exchange.
Data transmission from the controller to the module (send 2 characters)
1. Set "Output length" to 2
2. Fill "Data Out 0" and "Data Out 1" with user data
3. Change the state of "Transmit request"
4. The module acknowledges receipt by changing the state of the "Transmit accepted" bit.
Data transmission from the module to the controller (receive characters)
1. The module indicates that there is new data in the process image by changing the state of the "Receive request" bit.
2. The number of bytes received is written in "Input length"
3. The controller acknowledges acceptance of the bytes by changing the state of “Receive request”.
EP6002-000232 Version: 1.0
Commissioning/Configuration
4.2.4 Communication via a virtual COM port
Application Note DK9322-0411-0041 describes the communication via a virtual COM port.
EP6002-0002 33Version: 1.0
Commissioning/Configuration
4.3 CoE objects
4.3.1 Directory
Index (hex) Name
1000
1008
1009
100A
1011
1018
10F0
1400
1401
1404
1405
1600
1601
1604
1605
1800
1801
1804
1805
1A00
1A01
1A04
1A05
1C00
1C12
1C13
1C32
1C33
6000
6001
6010
6011
7000
7001
7010
7011
8000
8010
A000
A010
F000
F008
F010
F800
Device type [}38]
Device name [}38]
Hardware version [}38]
Software version [}38]
Restore default parameters [}35]
Identity [}38]
Backup parameter handling [}38]
COM RxPDO-Par Outputs Ch. 1 [}38]
COM RxPDO-Par Outputs Ch. 2 [}38]
COM RxPDO-Par Outputs Ch. 1 [}39]
COM RxPDO-Par Outputs Ch. 2 [}39]
COM RxPDO-Map Outputs Ch. 1 [}40]
COM RxPDO-Map Outputs Ch. 2 [}41]
COM RxPDO-Map Outputs Ch. 1 [}42]
COM RxPDO-Map Outputs Ch. 2 [}43]
COM TxPDO-Par Inputs Ch. 1 [}43]
COM TxPDO-Par Inputs Ch. 2 [}44]
COM TxPDO-Par Inputs Ch. 1 [}44]
COM TxPDO-Par Inputs Ch. 2 [}44]
COM TxPDO-Map Inputs Ch. 1 [}45]
COM TxPDO-Map Inputs Ch. 2 [}46]
COM TxPDO-Map Inputs Ch. 1 [}47]
DIG TxPDO-Map Inputs Ch. 2 [}48]
Sync manager type [}48]
RxPDO assign [}49]
TxPDO assign [}49]
SM output parameter [}50]
SM input parameter [}51]
COM Inputs Ch. 1 [}52]
Status Ch. 1 [}52]
COM Inputs Ch. 2 [}53]
Status Ch. 2 [}53]
COM Outputs Ch. 1 [}54]
Ctrl Ch. 1 [}54]
COM Outputs Ch. 2 [}55]
Ctrl Ch. 2 [}55]
COM Settings Ch. 1 [}36]
COM Settings Ch. 2 [}37]
COM Diag data Ch. 1 [}55]
COM Diag data Ch. 2 [}56]
Modular device profile [}56]
Code word [}56]
Module list [}56]
COM Settings [}37]
EP6002-000234 Version: 1.0
4.3.2 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 [}35] during commissioning
• Objects required for the selection of the interface type [}37]
• Objects intended for regular operation, e.g. through ADS access
• Objects for indicating internal settings [}37] (may be fixed)
• Further profile-specific objects [}51] 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
EP6002-0002 35Version: 1.0
Commissioning/Configuration
Index 8000 COM Settings Ch.1
Index (hex) Name Meaning Data type Flags Default
8000:0 COM Settings Ch.1 UINT8 RO 0x1A (26
8000:02 Enable XON/XOFF
supported tx data
8000:03 Enable XON/XOFF
supported rx data
8000:04 Enable send FIFO
data continuous
8000:05 Enable transfer rate
optimization
8000:06 Enable half duplex Half duplex for RS485 mode (this bit is not evaluated
8000:07 Enable point to point
connection (RS422)
8000:11 Baud rate Baud Rate BIT4 RW 0x06 (6
8000:15 Data frame Data frame / Stop bits BIT4 RW 0x03 (3
8000:1A Rx buffer full notifica-
tion
XON/XOFF is supported for send data BOOLEAN RW 0x00 (0
XON/XOFF is supported for receive data BOOLEAN RW 0x00 (0
Continuous sending of data from the FIFO enabled BOOLEAN RW 0x00 (0
Switch on the transfer rate optimization BOOLEAN RW 0x01 (1
BOOLEAN RW 0x00 (0
in RS232 and RS422 mode)
0 Full duplex: The module monitors its transmit-
ted data.
1 Half duplex: The module does not monitor the
data that it has transmitted itself.
0 The module is used in a bus structure in ac-
BOOLEAN RW 0x00 (0
cordance with the RS485 standard.
1 The module is used as a point-to-point con-
nection (RS422)
0x01 300 baud
0x02 600 baud
0x03 1200 baud
0x04 2400 baud
0x05 4800 baud
0x06 9600 baud
0x07 19200 baud
0x08 38400 baud
0x09 57600 baud
0x0A 115200 baud
0x01 7E1
0x02 7O1
0x03 8N1
0x04 8E1
0x05 8O1
0x09 7E2
0x0A 7O2
0x0B 8N2
0x0C 8E2
0x0D 8O2
The value specifies the number of data in the receive
UINT16 RW 0x0360 (864
FIFO, from which the bit "buffer full" is set.
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
EP6002-000236 Version: 1.0
Commissioning/Configuration
Index 8010 COM Settings Ch.2
Index (hex) Name Meaning Data type Flags Default
8010:0 COM Settings Ch.2 UINT8 RO 0x1A (26
8010:02 Enable XON/XOFF
supported tx data
8010:03 Enable XON/XOFF
supported rx data
8010:04 Enable send FIFO
data continuous
8010:05 Enable transfer rate
optimization
8010:06 Enable half duplex Half duplex for RS485 mode (this bit is not evaluated
8010:07 Enable point to point
connection (RS422)
8010:11 Baud rate Baud Rate BIT4 RW 0x06 (6
8010:15 Data frame Data frame / Stop bits BIT4 RW 0x03 (3
8010:1A Rx buffer full notifica-
tion
XON/XOFF is supported for send data BOOLEAN RW 0x00 (0
XON/XOFF is supported for receive data BOOLEAN RW 0x00 (0
Continuous sending of data from the FIFO enabled BOOLEAN RW 0x00 (0
Switch on the transfer rate optimization BOOLEAN RW 0x01 (1
BOOLEAN RW 0x00 (0
in RS232 and RS422 mode)
0 Full duplex: The module monitors its transmit-
ted data.
1 Half duplex: The module does not monitor the
data that it has transmitted itself.
0 The module is used in a bus structure in ac-
BOOLEAN RW 0x00 (0
cordance with the RS485 standard.
1 The module is used as a point-to-point con-
nection (RS422)
0x01 300 baud
0x02 600 baud
0x03 1200 baud
0x04 2400 baud
0x05 4800 baud
0x06 9600 baud
0x07 19200 baud
0x08 38400 baud
0x09 57600 baud
0x0A 115200 baud
0x01 7E1
0x02 7O1
0x03 8N1
0x04 8E1
0x05 8O1
0x09 7E2
0x0A 7O2
0x0B 8N2
0x0C 8E2
0x0D 8O2
The value specifies the number of data in the receive
UINT16 RW 0x0360 (864
FIFO, from which the bit "buffer full" is set.
)
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 0x03 (3
F800:01 Interface Type Ch 1 0x00 RS232 BIT1 RW 0x00 (0
0x01 RS485/422
F800:02 Interface Type Ch 2 0x00 RS232 BIT1 RW 0x00 (0
0x01 RS485/422
Additional objects
Standard objects (0x1000-0x1FFF)
The standard objects have the same meaning for all EtherCAT slaves.
EP6002-0002 37Version: 1.0
)
dec
)
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 con-
UINT32 RO 0x02581389
(39326601
tains the module profile according to the modular device profile.
Index 1008 Device name
Index (hex) Name Meaning Data type Flags Default
1008:0 Device name Device name of the EtherCAT slave STRING RO EP6002-0002
Index 1009 Hardware version
Index (hex) Name Meaning Data type Flags Default
1009:0 Hardware version Hardware version of the EtherCAT slave STRING RO 00
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
)
dec
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 0x17724052
(393363538
1018:03 Revision Revision numberof the EtherCAT slave; the Low Word
(bit 0-15) indicates the special terminal number, the
High Word (bit 16-31) refers to the device description
1018:04 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 Ch.1
Index (hex) Name Meaning Data type Flags Default
1400:0 COM RxPDO-Par
Outputs Ch.1
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 1401 COM RxPDO-Par Outputs Ch.2
Index (hex) Name Meaning Data type Flags Default
1401:0 COM RxPDO-Par
PDO Parameter RxPDO 2 UINT8 RO 0x06 (6
Outputs Ch.2
1401:06 Exclude RxPDOs Specifies the RxPDOs (index of RxPDO mapping ob-
jects) that must not be transferred together with Rx-
OCTET-
STRING[2]
RO 05 16
PDO 2
EP6002-000238 Version: 1.0
)
dec
Commissioning/Configuration
Index 1404 COM RxPDO-Par Outputs Ch.1
Index (hex) Name Meaning Data type Flags Default
1404:0 COM RxPDO-Par
Outputs Ch.1
1404:06 Exclude RxPDOs Specifies the RxPDOs (index of RxPDO mapping ob-
PDO Parameter RxPDO 5 UINT8 RO 0x06 (6
jects) that must not be transferred together with RxPDO 5
OCTET-
STRING[2]
RO 00 16
Index 1405 COM RxPDO-Par Outputs Ch.2
Index (hex) Name Meaning Data type Flags Default
1405:0 COM RxPDO-Par
Outputs Ch.2
1405:06 Exclude RxPDOs Specifies the RxPDOs (index of RxPDO mapping ob-
PDO Parameter RxPDO 6 UINT8 RO 0x06 (6
jects) that must not be transferred together with RxPDO 6
OCTET-
STRING[2]
RO 01 16
)
dec
)
dec
EP6002-0002 39Version: 1.0
Commissioning/Configuration
Index 1600 COM RxPDO-Map Outputs Ch.1
Index (hex) Name Meaning Data type Flags Default
1600:0 COM RxPDO-Map
Outputs Ch.1
1600:01 SubIndex 001 1. PDO Mapping entry (object 0x7000 (COM Outputs
1600:02 SubIndex 002 2. PDO Mapping entry (object 0x7000 (COM Outputs
1600:03 SubIndex 003 3. PDO Mapping entry (object 0x7000 (COM Outputs
1600:04 SubIndex 004 4. PDO Mapping entry (object 0x7000 (COM Outputs
1600:05 SubIndex 005 5. PDO Mapping entry (4 bits align) UINT32 RO 0x0000:00, 4
1600:06 SubIndex 006 6. PDO Mapping entry (object 0x7000 (COM Outputs
1600:07 SubIndex 007 7. PDO Mapping entry (object 0x7000 (COM Outputs
1600:08 SubIndex 008 8. PDO Mapping entry (object 0x7000 (COM Outputs
1600:09 SubIndex 009 9. PDO Mapping entry (object 0x7000 (COM Outputs
1600:0A SubIndex 010 10. PDO Mapping entry (object 0x7000 (COM Outputs
1600:0B SubIndex 011 11. PDO Mapping entry (object 0x7000 (COM Outputs
1600:0C SubIndex 012 12. PDO Mapping entry (object 0x7000 (COM Outputs
1600:0D SubIndex 013 13. PDO Mapping entry (object 0x7000 (COM Outputs
1600:0E SubIndex 014 14. PDO Mapping entry (object 0x7000 (COM Outputs
1600:0F SubIndex 015 15. PDO Mapping entry (object 0x7000 (COM Outputs
1600:10 SubIndex 016 16. PDO Mapping entry (object 0x7000 (COM Outputs
1600:11 SubIndex 017 17. PDO Mapping entry (object 0x7000 (COM Outputs
1600:12 SubIndex 018 18. PDO Mapping entry (object 0x7000 (COM Outputs
1600:13 SubIndex 019 19. PDO Mapping entry (object 0x7000 (COM Outputs
1600:14 SubIndex 020 20. PDO Mapping entry (object 0x7000 (COM Outputs
1600:15 SubIndex 021 21. PDO Mapping entry (object 0x7000 (COM Outputs
1600:16 SubIndex 022 22. PDO Mapping entry (object 0x7000 (COM Outputs
1600:17 SubIndex 023 23. PDO Mapping entry (object 0x7000 (COM Outputs
1600:18 SubIndex 024 24. PDO Mapping entry (object 0x7000 (COM Outputs
1600:19 SubIndex 025 25. PDO Mapping entry (object 0x7000 (COM Outputs
1600:1A SubIndex 026 26. PDO Mapping entry (object 0x7000 (COM Outputs
1600:1B SubIndex 027 27. PDO Mapping entry (object 0x7000 (COM Outputs
1600:1C SubIndex 028 28. PDO Mapping entry (object 0x7000 (COM Outputs
PDO Mapping RxPDO 1 UINT8 RO 0x1C (28
UINT32 RO 0x7000:01, 1
Ch.1), entry 0x01 (Transmit request))
UINT32 RO 0x7000:02, 1
Ch.1), entry 0x02 (Receive accepted))
UINT32 RO 0x7000:03, 1
Ch.1), entry 0x03 (Init request))
UINT32 RO 0x7000:04, 1
Ch.1), entry 0x04 (Send continuous))
UINT32 RO 0x7000:09, 8
Ch.1), entry 0x09 (Output length))
UINT32 RO 0x7000:11, 8
Ch.1), entry 0x11 (Data Out 0))
UINT32 RO 0x7000:12, 8
Ch.1), entry 0x12 (Data Out 1))
UINT32 RO 0x7000:13, 8
Ch.1), entry 0x13 (Data Out 2))
UINT32 RO 0x7000:14, 8
Ch.1), entry 0x14 (Data Out 3))
UINT32 RO 0x7000:15, 8
Ch.1), entry 0x15 (Data Out 4))
UINT32 RO 0x7000:16, 8
Ch.1), entry 0x16 (Data Out 5))
UINT32 RO 0x7000:17, 8
Ch.1), entry 0x17 (Data Out 6))
UINT32 RO 0x7000:18, 8
Ch.1), entry 0x18 (Data Out 7))
UINT32 RO 0x7000:19, 8
Ch.1), entry 0x19 (Data Out 8))
UINT32 RO 0x7000:1A, 8
Ch.1), entry 0x1A (Data Out 9))
UINT32 RO 0x7000:1B, 8
Ch.1), entry 0x1B (Data Out 10))
UINT32 RO 0x7000:1C, 8
Ch.1), entry 0x1C (Data Out 11))
UINT32 RO 0x7000:1D, 8
Ch.1), entry 0x1D (Data Out 12))
UINT32 RO 0x7000:1E, 8
Ch.1), entry 0x1E (Data Out 13))
UINT32 RO 0x7000:1F, 8
Ch.1), entry 0x1F (Data Out 14))
UINT32 RO 0x7000:20, 8
Ch.1), entry 0x20 (Data Out 15))
UINT32 RO 0x7000:21, 8
Ch.1), entry 0x21 (Data Out 16))
UINT32 RO 0x7000:22, 8
Ch.1), entry 0x22 (Data Out 17))
UINT32 RO 0x7000:23, 8
Ch.1), entry 0x23 (Data Out 18))
UINT32 RO 0x7000:24, 8
Ch.1), entry 0x24 (Data Out 19))
UINT32 RO 0x7000:25, 8
Ch.1), entry 0x25 (Data Out 20))
UINT32 RO 0x7000:26, 8
Ch.1), entry 0x26 (Data Out 21))
dec
)
EP6002-000240 Version: 1.0
Commissioning/Configuration
Index 1601 COM RxPDO-Map Outputs Ch.2
Index (hex) Name Meaning Data type Flags Default
1601:0 COM RxPDO-Map
Outputs Ch.2
1601:01 SubIndex 001 1. PDO Mapping entry (object 0x7010 (COM Outputs
1601:02 SubIndex 002 2. PDO Mapping entry (object 0x7010 (COM Outputs
1601:03 SubIndex 003 3. PDO Mapping entry (object 0x7010 (COM Outputs
1601:04 SubIndex 004 4. PDO Mapping entry (object 0x7010 (COM Outputs
1601:05 SubIndex 005 5. PDO Mapping entry (4 bits align) UINT32 RO 0x0000:00, 4
1601:06 SubIndex 006 6. PDO Mapping entry (object 0x7010 (COM Outputs
1601:07 SubIndex 007 7. PDO Mapping entry (object 0x7010 (COM Outputs
1601:08 SubIndex 008 8. PDO Mapping entry (object 0x7010 (COM Outputs
1601:09 SubIndex 009 9. PDO Mapping entry (object 0x7010 (COM Outputs
1601:0A SubIndex 010 10. PDO Mapping entry (object 0x7010 (COM Outputs
1601:0B SubIndex 011 11. PDO Mapping entry (object 0x7010 (COM Outputs
1601:0C SubIndex 012 12. PDO Mapping entry (object 0x7010 (COM Outputs
1601:0D SubIndex 013 13. PDO Mapping entry (object 0x7010 (COM Outputs
1601:0E SubIndex 014 14. PDO Mapping entry (object 0x7010 (COM Outputs
1601:0F SubIndex 015 15. PDO Mapping entry (object 0x7010 (COM Outputs
1601:10 SubIndex 016 16. PDO Mapping entry (object 0x7010 (COM Outputs
1601:11 SubIndex 017 17. PDO Mapping entry (object 0x7010 (COM Outputs
1601:12 SubIndex 018 18. PDO Mapping entry (object 0x7010 (COM Outputs
1601:13 SubIndex 019 19. PDO Mapping entry (object 0x7010 (COM Outputs
1601:14 SubIndex 020 20. PDO Mapping entry (object 0x7010 (COM Outputs
1601:15 SubIndex 021 21. PDO Mapping entry (object 0x7010 (COM Outputs
1601:16 SubIndex 022 22. PDO Mapping entry (object 0x7010 (COM Outputs
1601:17 SubIndex 023 23. PDO Mapping entry (object 0x7010 (COM Outputs
1601:18 SubIndex 024 24. PDO Mapping entry (object 0x7010 (COM Outputs
1601:19 SubIndex 025 25. PDO Mapping entry (object 0x7010 (COM Outputs
1601:1A SubIndex 026 26. PDO Mapping entry (object 0x7010 (COM Outputs
1601:1B SubIndex 027 27. PDO Mapping entry (object 0x7010 (COM Outputs
1601:1C SubIndex 028 28. PDO Mapping entry (object 0x7010 (COM Outputs
PDO Mapping RxPDO 2 UINT8 RO 0x1C (28
UINT32 RO 0x7010:01, 1
Ch.2), entry 0x01 (Transmit request))
UINT32 RO 0x7010:02, 1
Ch.2), entry 0x02 (Receive accepted))
UINT32 RO 0x7010:03, 1
Ch.2), entry 0x03 (Init request))
UINT32 RO 0x7010:04, 1
Ch.2), entry 0x04 (Send continuous))
UINT32 RO 0x7010:09, 8
Ch.2), entry 0x09 (Output length))
UINT32 RO 0x7010:11, 8
Ch.2), entry 0x11 (Data Out 0))
UINT32 RO 0x7010:12, 8
Ch.2), entry 0x12 (Data Out 1))
UINT32 RO 0x7010:13, 8
Ch.2), entry 0x13 (Data Out 2))
UINT32 RO 0x7010:14, 8
Ch.2), entry 0x14 (Data Out 3))
UINT32 RO 0x7010:15, 8
Ch.2), entry 0x15 (Data Out 4))
UINT32 RO 0x7010:16, 8
Ch.2), entry 0x16 (Data Out 5))
UINT32 RO 0x7010:17, 8
Ch.2), entry 0x17 (Data Out 6))
UINT32 RO 0x7010:18, 8
Ch.2), entry 0x18 (Data Out 7))
UINT32 RO 0x7010:19, 8
Ch.2), entry 0x19 (Data Out 8))
UINT32 RO 0x7010:1A, 8
Ch.2), entry 0x1A (Data Out 9))
UINT32 RO 0x7010:1B, 8
Ch.2), entry 0x1B (Data Out 10))
UINT32 RO 0x7010:1C, 8
Ch.2), entry 0x1C (Data Out 11))
UINT32 RO 0x7010:1D, 8
Ch.2), entry 0x1D (Data Out 12))
UINT32 RO 0x7010:1E, 8
Ch.2), entry 0x1E (Data Out 13))
UINT32 RO 0x7010:1F, 8
Ch.2), entry 0x1F (Data Out 14))
UINT32 RO 0x7010:20, 8
Ch.2), entry 0x20 (Data Out 15))
UINT32 RO 0x7010:21, 8
Ch.2), entry 0x21 (Data Out 16))
UINT32 RO 0x7010:22, 8
Ch.2), entry 0x22 (Data Out 17))
UINT32 RO 0x7010:23, 8
Ch.2), entry 0x23 (Data Out 18))
UINT32 RO 0x7010:24, 8
Ch.2), entry 0x24 (Data Out 19))
UINT32 RO 0x7010:25, 8
Ch.2), entry 0x25 (Data Out 20))
UINT32 RO 0x7010:26, 8
Ch.2), entry 0x26 (Data Out 21))
dec
)
EP6002-0002 41Version: 1.0
Commissioning/Configuration
Index 1604 COM RxPDO-Map Outputs Ch.1
Index (hex) Name Meaning Data type Flags Default
1604:0 COM RxPDO-Map
Outputs Ch.1
1604:01 SubIndex 001 1. PDO Mapping entry (object 0x7001 (Ctrl Ch.1), entry
1604:02 SubIndex 002 2. PDO Mapping entry (object 0x7000 (COM Outputs
1604:03 SubIndex 003 3. PDO Mapping entry (object 0x7000 (COM Outputs
1604:04 SubIndex 004 4. PDO Mapping entry (object 0x7000 (COM Outputs
1604:05 SubIndex 005 5. PDO Mapping entry (object 0x7000 (COM Outputs
1604:06 SubIndex 006 6. PDO Mapping entry (object 0x7000 (COM Outputs
1604:07 SubIndex 007 7. PDO Mapping entry (object 0x7000 (COM Outputs
1604:08 SubIndex 008 8. PDO Mapping entry (object 0x7000 (COM Outputs
1604:09 SubIndex 009 9. PDO Mapping entry (object 0x7000 (COM Outputs
1604:0A SubIndex 010 10. PDO Mapping entry (object 0x7000 (COM Outputs
1604:0B SubIndex 011 11. PDO Mapping entry (object 0x7000 (COM Outputs
1604:0C SubIndex 012 12. PDO Mapping entry (object 0x7000 (COM Outputs
1604:0D SubIndex 013 13. PDO Mapping entry (object 0x7000 (COM Outputs
1604:0E SubIndex 014 14. PDO Mapping entry (object 0x7000 (COM Outputs
1604:0F SubIndex 015 15. PDO Mapping entry (object 0x7000 (COM Outputs
1604:10 SubIndex 016 16. PDO Mapping entry (object 0x7000 (COM Outputs
1604:11 SubIndex 017 17. PDO Mapping entry (object 0x7000 (COM Outputs
1604:12 SubIndex 018 18. PDO Mapping entry (object 0x7000 (COM Outputs
1604:13 SubIndex 019 19. PDO Mapping entry (object 0x7000 (COM Outputs
1604:14 SubIndex 020 20. PDO Mapping entry (object 0x7000 (COM Outputs
1604:15 SubIndex 021 21. PDO Mapping entry (object 0x7000 (COM Outputs
1604:16 SubIndex 022 22. PDO Mapping entry (object 0x7000 (COM Outputs
1604:17 SubIndex 023 23. PDO Mapping entry (object 0x7000 (COM Outputs
PDO Mapping RxPDO 5 UINT8 RO 0x17 (23
UINT32 RO 0x7001:01, 16
0x01 (Ctrl))
UINT32 RO 0x7000:11, 8
Ch.1), entry 0x11 (Data Out 0))
UINT32 RO 0x7000:12, 8
Ch.1), entry 0x12 (Data Out 1))
UINT32 RO 0x7000:13, 8
Ch.1), entry 0x13 (Data Out 2))
UINT32 RO 0x7000:14, 8
Ch.1), entry 0x14 (Data Out 3))
UINT32 RO 0x7000:15, 8
Ch.1), entry 0x15 (Data Out 4))
UINT32 RO 0x7000:16, 8
Ch.1), entry 0x16 (Data Out 5))
UINT32 RO 0x7000:17, 8
Ch.1), entry 0x17 (Data Out 6))
UINT32 RO 0x7000:18, 8
Ch.1), entry 0x18 (Data Out 7))
UINT32 RO 0x7000:19, 8
Ch.1), entry 0x19 (Data Out 8))
UINT32 RO 0x7000:1A, 8
Ch.1), entry 0x1A (Data Out 9))
UINT32 RO 0x7000:1B, 8
Ch.1), entry 0x1B (Data Out 10))
UINT32 RO 0x7000:1C, 8
Ch.1), entry 0x1C (Data Out 11))
UINT32 RO 0x7000:1D, 8
Ch.1), entry 0x1D (Data Out 12))
UINT32 RO 0x7000:1E, 8
Ch.1), entry 0x1E (Data Out 13))
UINT32 RO 0x7000:1F, 8
Ch.1), entry 0x1F (Data Out 14))
UINT32 RO 0x7000:20, 8
Ch.1), entry 0x20 (Data Out 15))
UINT32 RO 0x7000:21, 8
Ch.1), entry 0x21 (Data Out 16))
UINT32 RO 0x7000:22, 8
Ch.1), entry 0x22 (Data Out 17))
UINT32 RO 0x7000:23, 8
Ch.1), entry 0x23 (Data Out 18))
UINT32 RO 0x7000:24, 8
Ch.1), entry 0x24 (Data Out 19))
UINT32 RO 0x7000:25, 8
Ch.1), entry 0x25 (Data Out 20))
UINT32 RO 0x7000:26, 8
Ch.1), entry 0x26 (Data Out 21))
)
dec
EP6002-000242 Version: 1.0
Commissioning/Configuration
Index 1605 COM RxPDO-Map Outputs Ch.2
Index (hex) Name Meaning Data type Flags Default
1605:0 COM RxPDO-Map
Outputs Ch.2
1605:01 SubIndex 001 1. PDO Mapping entry (object 0x7011 (Ctrl Ch.2), entry
1605:02 SubIndex 002 2. PDO Mapping entry (object 0x7010 (COM Outputs
1605:03 SubIndex 003 3. PDO Mapping entry (object 0x7010 (COM Outputs
1605:04 SubIndex 004 4. PDO Mapping entry (object 0x7010 (COM Outputs
1605:05 SubIndex 005 5. PDO Mapping entry (object 0x7010 (COM Outputs
1605:06 SubIndex 006 6. PDO Mapping entry (object 0x7010 (COM Outputs
1605:07 SubIndex 007 7. PDO Mapping entry (object 0x7010 (COM Outputs
1605:08 SubIndex 008 8. PDO Mapping entry (object 0x7010 (COM Outputs
1605:09 SubIndex 009 9. PDO Mapping entry (object 0x7010 (COM Outputs
1605:0A SubIndex 010 10. PDO Mapping entry (object 0x7010 (COM Outputs
1605:0B SubIndex 011 11. PDO Mapping entry (object 0x7010 (COM Outputs
1605:0C SubIndex 012 12. PDO Mapping entry (object 0x7010 (COM Outputs
1605:0D SubIndex 013 13. PDO Mapping entry (object 0x7010 (COM Outputs
1605:0E SubIndex 014 14. PDO Mapping entry (object 0x7010 (COM Outputs
1605:0F SubIndex 015 15. PDO Mapping entry (object 0x7010 (COM Outputs
1605:10 SubIndex 016 16. PDO Mapping entry (object 0x7010 (COM Outputs
1605:11 SubIndex 017 17. PDO Mapping entry (object 0x7010 (COM Outputs
1605:12 SubIndex 018 18. PDO Mapping entry (object 0x7010 (COM Outputs
1605:13 SubIndex 019 19. PDO Mapping entry (object 0x7010 (COM Outputs
1605:14 SubIndex 020 20. PDO Mapping entry (object 0x7010 (COM Outputs
1605:15 SubIndex 021 21. PDO Mapping entry (object 0x7010 (COM Outputs
1605:16 SubIndex 022 22. PDO Mapping entry (object 0x7010 (COM Outputs
1605:17 SubIndex 023 23. PDO Mapping entry (object 0x7010 (COM Outputs
PDO Mapping RxPDO 6 UINT8 RO 0x17 (23
UINT32 RO 0x7011:01, 16
0x01 (Ctrl))
UINT32 RO 0x7010:11, 8
Ch.2), entry 0x11 (Data Out 0))
UINT32 RO 0x7010:12, 8
Ch.2), entry 0x12 (Data Out 1))
UINT32 RO 0x7010:13, 8
Ch.2), entry 0x13 (Data Out 2))
UINT32 RO 0x7010:14, 8
Ch.2), entry 0x14 (Data Out 3))
UINT32 RO 0x7010:15, 8
Ch.2), entry 0x15 (Data Out 4))
UINT32 RO 0x7010:16, 8
Ch.2), entry 0x16 (Data Out 5))
UINT32 RO 0x7010:17, 8
Ch.2), entry 0x17 (Data Out 6))
UINT32 RO 0x7010:18, 8
Ch.2), entry 0x18 (Data Out 7))
UINT32 RO 0x7010:19, 8
Ch.2), entry 0x19 (Data Out 8))
UINT32 RO 0x7010:1A, 8
Ch.2), entry 0x1A (Data Out 9))
UINT32 RO 0x7010:1B, 8
Ch.2), entry 0x1B (Data Out 10))
UINT32 RO 0x7010:1C, 8
Ch.2), entry 0x1C (Data Out 11))
UINT32 RO 0x7010:1D, 8
Ch.2), entry 0x1D (Data Out 12))
UINT32 RO 0x7010:1E, 8
Ch.2), entry 0x1E (Data Out 13))
UINT32 RO 0x7010:1F, 8
Ch.2), entry 0x1F (Data Out 14))
UINT32 RO 0x7010:20, 8
Ch.2), entry 0x20 (Data Out 15))
UINT32 RO 0x7010:21, 8
Ch.2), entry 0x21 (Data Out 16))
UINT32 RO 0x7010:22, 8
Ch.2), entry 0x22 (Data Out 17))
UINT32 RO 0x7010:23, 8
Ch.2), entry 0x23 (Data Out 18))
UINT32 RO 0x7010:24, 8
Ch.2), entry 0x24 (Data Out 19))
UINT32 RO 0x7010:25, 8
Ch.2), entry 0x25 (Data Out 20))
UINT32 RO 0x7010:26, 8
Ch.2), entry 0x26 (Data Out 21))
)
dec
Index 1800 COM TxPDO-Par Inputs Ch.1
Index (hex) Name Meaning Data type Flags Default
1800:0 COM TxPDO-Par
Inputs Ch.1
1800:06 Exclude TxPDOs Specifies the TxPDOs (index of TxPDO mapping ob-
PDO parameter TxPDO 1 UINT8 RO 0x06 (6
jects) that must not be transferred together with TxPDO
1
OCTETSTRING[2]
RO 04 1A
EP6002-0002 43Version: 1.0
)
dec
Commissioning/Configuration
Index 1801 COM TxPDO-Par Inputs Ch.2
Index (hex) Name Meaning Data type Flags Default
1801:0 COM TxPDO-Par
PDO parameter TxPDO 2 UINT8 RO 0x06 (6
Inputs Ch.2
1801:06 Exclude TxPDOs Specifies the TxPDOs (index of TxPDO mapping ob-
jects) that must not be transferred together with TxPDO
OCTETSTRING[2]
RO 05 1A
2
Index 1804 COM TxPDO-Par Inputs Ch.1
Index (hex) Name Meaning Data type Flags Default
1804:0 COM TxPDO-Par
PDO parameter TxPDO 5 UINT8 RO 0x06 (6
Inputs Ch.1
1804:06 Exclude TxPDOs Specifies the TxPDOs (index of TxPDO mapping ob-
jects) that must not be transferred together with TxPDO
OCTETSTRING[2]
RO 00 1A
5
Index 1805 COM TxPDO-Par Inputs Ch.2
Index (hex) Name Meaning Data type Flags Default
1805:0 COM TxPDO-Par
Inputs Ch.2
1805:06 Exclude TxPDOs Specifies the TxPDOs (index of TxPDO mapping ob-
PDO parameter TxPDO 6 UINT8 RO 0x06 (6
jects) that must not be transferred together with TxPDO
OCTETSTRING[2]
RO 01 1A
6
)
dec
)
dec
)
dec
EP6002-000244 Version: 1.0
Commissioning/Configuration
Index 1A00 COM TxPDO-Map Inputs Ch.1
Index (hex) Name Meaning Data type Flags Default
1A00:0 COM TxPDO-Map
Inputs Ch.1
1A00:01 SubIndex 001 1. PDO Mapping entry (object 0x6000 (COM Inputs
1A00:02 SubIndex 002 2. PDO Mapping entry (object 0x6000 (COM Inputs
1A00:03 SubIndex 003 3. PDO Mapping entry (object 0x6000 (COM Inputs
1A00:04 SubIndex 004 4. PDO Mapping entry (object 0x6000 (COM Inputs
1A00:05 SubIndex 005 5. PDO Mapping entry (object 0x6000 (COM Inputs
1A00:06 SubIndex 006 6. PDO Mapping entry (object 0x6000 (COM Inputs
1A00:07 SubIndex 007 7. PDO Mapping entry (object 0x6000 (COM Inputs
1A00:08 SubIndex 008 8. PDO Mapping entry (1 bits align) UINT32 RO 0x0000:00, 1
1A00:09 SubIndex 009 9. PDO Mapping entry (object 0x6000 (COM Inputs
1A00:0A SubIndex 010 10. PDO Mapping entry (object 0x6000 (COM Inputs
1A00:0B SubIndex 011 11. PDO Mapping entry (object 0x6000 (COM Inputs
1A00:0C SubIndex 012 12. PDO Mapping entry (object 0x6000 (COM Inputs
1A00:0D SubIndex 013 13. PDO Mapping entry (object 0x6000 (COM Inputs
1A00:0E SubIndex 014 14. PDO Mapping entry (object 0x6000 (COM Inputs
1A00:0F SubIndex 015 15. PDO Mapping entry (object 0x6000 (COM Inputs
1A00:10 SubIndex 016 16. PDO Mapping entry (object 0x6000 (COM Inputs
1A00:11 SubIndex 017 17. PDO Mapping entry (object 0x6000 (COM Inputs
1A00:12 SubIndex 018 18. PDO Mapping entry (object 0x6000 (COM Inputs
1A00:13 SubIndex 019 19. PDO Mapping entry (object 0x6000 (COM Inputs
1A00:14 SubIndex 020 20. PDO Mapping entry (object 0x6000 (COM Inputs
1A00:15 SubIndex 021 21. PDO Mapping entry (object 0x6000 (COM Inputs
1A00:16 SubIndex 022 22. PDO Mapping entry (object 0x6000 (COM Inputs
1A00:17 SubIndex 023 23. PDO Mapping entry (object 0x6000 (COM Inputs
1A00:18 SubIndex 024 24. PDO Mapping entry (object 0x6000 (COM Inputs
1A00:19 SubIndex 025 25. PDO Mapping entry (object 0x6000 (COM Inputs
1A00:1A SubIndex 026 26. PDO Mapping entry (object 0x6000 (COM Inputs
1A00:1B SubIndex 027 27. PDO Mapping entry (object 0x6000 (COM Inputs
1A00:1C SubIndex 028 28. PDO Mapping entry (object 0x6000 (COM Inputs
1A00:1D SubIndex 029 29. PDO Mapping entry (object 0x6000 (COM Inputs
1A00:1E SubIndex 030 30. PDO Mapping entry (object 0x6000 (COM Inputs
1A00:1F SubIndex 031 31. PDO Mapping entry (object 0x6000 (COM Inputs
PDO Mapping TxPDO 1 UINT8 RO 0x1F (31
UINT32 RO 0x6000:01, 1
Ch.1), entry 0x01 (Transmit accepted))
UINT32 RO 0x6000:02, 1
Ch.1), entry 0x02 (Receive request))
UINT32 RO 0x6000:03, 1
Ch.1), entry 0x03 (Init accepted))
UINT32 RO 0x6000:04, 1
Ch.1), entry 0x04 (Buffer full))
UINT32 RO 0x6000:05, 1
Ch.1), entry 0x05 (Parity error))
UINT32 RO 0x6000:06, 1
Ch.1), entry 0x06 (Framing error))
UINT32 RO 0x6000:07, 1
Ch.1), entry 0x07 (Overrun error))
UINT32 RO 0x6000:09, 8
Ch.1), entry 0x09 (Input length))
UINT32 RO 0x6000:11, 8
Ch.1), entry 0x11 (Data In 0))
UINT32 RO 0x6000:12, 8
Ch.1), entry 0x12 (Data In 1))
UINT32 RO 0x6000:13, 8
Ch.1), entry 0x13 (Data In 2))
UINT32 RO 0x6000:14, 8
Ch.1), entry 0x14 (Data In 3))
UINT32 RO 0x6000:15, 8
Ch.1), entry 0x15 (Data In 4))
UINT32 RO 0x6000:16, 8
Ch.1), entry 0x16 (Data In 5))
UINT32 RO 0x6000:17, 8
Ch.1), entry 0x17 (Data In 6))
UINT32 RO 0x6000:18, 8
Ch.1), entry 0x18 (Data In 7))
UINT32 RO 0x6000:19, 8
Ch.1), entry 0x19 (Data In 8))
UINT32 RO 0x6000:1A, 8
Ch.1), entry 0x1A (Data In 9))
UINT32 RO 0x6000:1B, 8
Ch.1), entry 0x1B (Data In 10))
UINT32 RO 0x6000:1C, 8
Ch.1), entry 0x1C (Data In 11))
UINT32 RO 0x6000:1D, 8
Ch.1), entry 0x1D (Data In 12))
UINT32 RO 0x6000:1E, 8
Ch.1), entry 0x1E (Data In 13))
UINT32 RO 0x6000:1F, 8
Ch.1), entry 0x1F (Data In 14))
UINT32 RO 0x6000:20, 8
Ch.1), entry 0x20 (Data In 15))
UINT32 RO 0x6000:21, 8
Ch.1), entry 0x21 (Data In 16))
UINT32 RO 0x6000:22, 8
Ch.1), entry 0x22 (Data In 17))
UINT32 RO 0x6000:23, 8
Ch.1), entry 0x23 (Data In 18))
UINT32 RO 0x6000:24, 8
Ch.1), entry 0x24 (Data In 19))
UINT32 RO 0x6000:25, 8
Ch.1), entry 0x25 (Data In 20))
UINT32 RO 0x6000:26, 8
Ch.1), entry 0x26 (Data In 21))
dec
)
EP6002-0002 45Version: 1.0
Commissioning/Configuration
Index 1A01 COM TxPDO-Map Inputs Ch.2
Index (hex) Name Meaning Data type Flags Default
1A01:0 COM TxPDO-Map
Inputs Ch.2
1A01:01 SubIndex 001 1. PDO Mapping entry (object 0x6010 (COM Inputs
1A01:02 SubIndex 002 2. PDO Mapping entry (object 0x6010 (COM Inputs
1A01:03 SubIndex 003 3. PDO Mapping entry (object 0x6010 (COM Inputs
1A01:04 SubIndex 004 4. PDO Mapping entry (object 0x6010 (COM Inputs
1A01:05 SubIndex 005 5. PDO Mapping entry (object 0x6010 (COM Inputs
1A01:06 SubIndex 006 6. PDO Mapping entry (object 0x6010 (COM Inputs
1A01:07 SubIndex 007 7. PDO Mapping entry (object 0x6010 (COM Inputs
1A01:08 SubIndex 008 8. PDO Mapping entry (1 bits align) UINT32 RO 0x0000:00, 1
1A01:09 SubIndex 009 9. PDO Mapping entry (object 0x6010 (COM Inputs
1A01:0A SubIndex 010 10. PDO Mapping entry (object 0x6010 (COM Inputs
1A01:0B SubIndex 011 11. PDO Mapping entry (object 0x6010 (COM Inputs
1A01:0C SubIndex 012 12. PDO Mapping entry (object 0x6010 (COM Inputs
1A01:0D SubIndex 013 13. PDO Mapping entry (object 0x6010 (COM Inputs
1A01:0E SubIndex 014 14. PDO Mapping entry (object 0x6010 (COM Inputs
1A01:0F SubIndex 015 15. PDO Mapping entry (object 0x6010 (COM Inputs
1A01:10 SubIndex 016 16. PDO Mapping entry (object 0x6010 (COM Inputs
1A01:11 SubIndex 017 17. PDO Mapping entry (object 0x6010 (COM Inputs
1A01:12 SubIndex 018 18. PDO Mapping entry (object 0x6010 (COM Inputs
1A01:13 SubIndex 019 19. PDO Mapping entry (object 0x6010 (COM Inputs
1A01:14 SubIndex 020 20. PDO Mapping entry (object 0x6010 (COM Inputs
1A01:15 SubIndex 021 21. PDO Mapping entry (object 0x6010 (COM Inputs
1A01:16 SubIndex 022 22. PDO Mapping entry (object 0x6010 (COM Inputs
1A01:17 SubIndex 023 23. PDO Mapping entry (object 0x6010 (COM Inputs
1A01:18 SubIndex 024 24. PDO Mapping entry (object 0x6010 (COM Inputs
1A01:19 SubIndex 025 25. PDO Mapping entry (object 0x6010 (COM Inputs
1A01:1A SubIndex 026 26. PDO Mapping entry (object 0x6010 (COM Inputs
1A01:1B SubIndex 027 27. PDO Mapping entry (object 0x6010 (COM Inputs
1A01:1C SubIndex 028 28. PDO Mapping entry (object 0x6010 (COM Inputs
1A01:1D SubIndex 029 29. PDO Mapping entry (object 0x6010 (COM Inputs
1A01:1E SubIndex 030 30. PDO Mapping entry (object 0x6010 (COM Inputs
1A01:1F SubIndex 031 31. PDO Mapping entry (object 0x6010 (COM Inputs
PDO Mapping TxPDO 2 UINT8 RO 0x1F (31
UINT32 RO 0x6010:01, 1
Ch.2), entry 0x01 (Transmit accepted))
UINT32 RO 0x6010:02, 1
Ch.2), entry 0x02 (Receive request))
UINT32 RO 0x6010:03, 1
Ch.2), entry 0x03 (Init accepted))
UINT32 RO 0x6010:04, 1
Ch.2), entry 0x04 (Buffer full))
UINT32 RO 0x6010:05, 1
Ch.2), entry 0x05 (Parity error))
UINT32 RO 0x6010:06, 1
Ch.2), entry 0x06 (Framing error))
UINT32 RO 0x6010:07, 1
Ch.2), entry 0x07 (Overrun error))
UINT32 RO 0x6010:09, 8
Ch.2), entry 0x09 (Input length))
UINT32 RO 0x6010:11, 8
Ch.2), entry 0x11 (Data In 0))
UINT32 RO 0x6010:12, 8
Ch.2), entry 0x12 (Data In 1))
UINT32 RO 0x6010:13, 8
Ch.2), entry 0x13 (Data In 2))
UINT32 RO 0x6010:14, 8
Ch.2), entry 0x14 (Data In 3))
UINT32 RO 0x6010:15, 8
Ch.2), entry 0x15 (Data In 4))
UINT32 RO 0x6010:16, 8
Ch.2), entry 0x16 (Data In 5))
UINT32 RO 0x6010:17, 8
Ch.2), entry 0x17 (Data In 6))
UINT32 RO 0x6010:18, 8
Ch.2), entry 0x18 (Data In 7))
UINT32 RO 0x6010:19, 8
Ch.2), entry 0x19 (Data In 8))
UINT32 RO 0x6010:1A, 8
Ch.2), entry 0x1A (Data In 9))
UINT32 RO 0x6010:1B, 8
Ch.2), entry 0x1B (Data In 10))
UINT32 RO 0x6010:1C, 8
Ch.2), entry 0x1C (Data In 11))
UINT32 RO 0x6010:1D, 8
Ch.2), entry 0x1D (Data In 12))
UINT32 RO 0x6010:1E, 8
Ch.2), entry 0x1E (Data In 13))
UINT32 RO 0x6010:1F, 8
Ch.2), entry 0x1F (Data In 14))
UINT32 RO 0x6010:20, 8
Ch.2), entry 0x20 (Data In 15))
UINT32 RO 0x6010:21, 8
Ch.2), entry 0x21 (Data In 16))
UINT32 RO 0x6010:22, 8
Ch.2), entry 0x22 (Data In 17))
UINT32 RO 0x6010:23, 8
Ch.2), entry 0x23 (Data In 18))
UINT32 RO 0x6010:24, 8
Ch.2), entry 0x24 (Data In 19))
UINT32 RO 0x6010:25, 8
Ch.2), entry 0x25 (Data In 20))
UINT32 RO 0x6010:26, 8
Ch.2), entry 0x26 (Data In 21))
dec
)
EP6002-000246 Version: 1.0
Commissioning/Configuration
Index 1A04 COM TxPDO-Map Inputs Ch.1
Index (hex) Name Meaning Data type Flags Default
1A04:0 COM TxPDO-Map
Inputs Ch.1
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 5 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
EP6002-0002 47Version: 1.0
Commissioning/Configuration
Index 1A05 COM TxPDO-Map Inputs Ch.2
Index (hex) Name Meaning Data type Flags Default
1A05:0 COM TxPDO-Map
Inputs Ch.2
1A05:01 SubIndex 001 1. PDO Mapping entry (object 0x6011 (Status Ch.2), en-
1A05:02 SubIndex 002 2. PDO Mapping entry (object 0x6010 (COM Inputs
1A05:03 SubIndex 003 3. PDO Mapping entry (object 0x6010 (COM Inputs
1A05:04 SubIndex 004 4. PDO Mapping entry (object 0x6010 (COM Inputs
1A05:05 SubIndex 005 5. PDO Mapping entry (object 0x6010 (COM Inputs
1A05:06 SubIndex 006 6. PDO Mapping entry (object 0x6010 (COM Inputs
1A05:07 SubIndex 007 7. PDO Mapping entry (object 0x6010 (COM Inputs
1A05:08 SubIndex 008 8. PDO Mapping entry (object 0x6010 (COM Inputs
1A05:09 SubIndex 009 9. PDO Mapping entry (object 0x6010 (COM Inputs
1A05:0A SubIndex 010 10. PDO Mapping entry (object 0x6010 (COM Inputs
1A05:0B SubIndex 011 11. PDO Mapping entry (object 0x6010 (COM Inputs
1A05:0C SubIndex 012 12. PDO Mapping entry (object 0x6010 (COM Inputs
1A05:0D SubIndex 013 13. PDO Mapping entry (object 0x6010 (COM Inputs
1A05:0E SubIndex 014 14. PDO Mapping entry (object 0x6010 (COM Inputs
1A05:0F SubIndex 015 15. PDO Mapping entry (object 0x6010 (COM Inputs
1A05:10 SubIndex 016 16. PDO Mapping entry (object 0x6010 (COM Inputs
1A05:11 SubIndex 017 17. PDO Mapping entry (object 0x6010 (COM Inputs
1A05:12 SubIndex 018 18. PDO Mapping entry (object 0x6010 (COM Inputs
1A05:13 SubIndex 019 19. PDO Mapping entry (object 0x6010 (COM Inputs
1A05:14 SubIndex 020 20. PDO Mapping entry (object 0x6010 (COM Inputs
1A05:15 SubIndex 021 21. PDO Mapping entry (object 0x6010 (COM Inputs
1A05:16 SubIndex 022 22. PDO Mapping entry (object 0x6010 (COM Inputs
1A05:17 SubIndex 023 23. PDO Mapping entry (object 0x6010 (COM Inputs
PDO Mapping TxPDO 6 UINT8 RO 0x17 (23
UINT32 RO 0x6011:01, 16
try 0x01 (Status))
UINT32 RO 0x6010:11, 8
Ch.2), entry 0x11 (Data In 0))
UINT32 RO 0x6010:12, 8
Ch.2), entry 0x12 (Data In 1))
UINT32 RO 0x6010:13, 8
Ch.2), entry 0x13 (Data In 2))
UINT32 RO 0x6010:14, 8
Ch.2), entry 0x14 (Data In 3))
UINT32 RO 0x6010:15, 8
Ch.2), entry 0x15 (Data In 4))
UINT32 RO 0x6010:16, 8
Ch.2), entry 0x16 (Data In 5))
UINT32 RO 0x6010:17, 8
Ch.2), entry 0x17 (Data In 6))
UINT32 RO 0x6010:18, 8
Ch.2), entry 0x18 (Data In 7))
UINT32 RO 0x6010:19, 8
Ch.2), entry 0x19 (Data In 8))
UINT32 RO 0x6010:1A, 8
Ch.2), entry 0x1A (Data In 9))
UINT32 RO 0x6010:1B, 8
Ch.2), entry 0x1B (Data In 10))
UINT32 RO 0x6010:1C, 8
Ch.2), entry 0x1C (Data In 11))
UINT32 RO 0x6010:1D, 8
Ch.2), entry 0x1D (Data In 12))
UINT32 RO 0x6010:1E, 8
Ch.2), entry 0x1E (Data In 13))
UINT32 RO 0x6010:1F, 8
Ch.2), entry 0x1F (Data In 14))
UINT32 RO 0x6010:20, 8
Ch.2), entry 0x20 (Data In 15))
UINT32 RO 0x6010:21, 8
Ch.2), entry 0x21 (Data In 16))
UINT32 RO 0x6010:22, 8
Ch.2), entry 0x22 (Data In 17))
UINT32 RO 0x6010:23, 8
Ch.2), entry 0x23 (Data In 18))
UINT32 RO 0x6010:24, 8
Ch.2), entry 0x24 (Data In 19))
UINT32 RO 0x6010:25, 8
Ch.2), entry 0x25 (Data In 20))
UINT32 RO 0x6010:26, 8
Ch.2), entry 0x26 (Data In 21))
)
dec
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)
EP6002-000248 Version: 1.0
)
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)
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)
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)
dec
Commissioning/Configuration
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. allocated RxPDO (contains the index of the associ-
UINT16 RW 0x1605 (5637
ated RxPDO mapping object)
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. allocated TxPDO (contains the index of the associ-
ated TxPDO mapping object)
UINT16 RW 0x1A04 (6660
UINT16 RW 0x1A05 (6661
)
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EP6002-0002 49Version: 1.0
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 0x00002710
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 0x000F4240
• Free Run: Cycle time of the local timer
(1000000
• 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 0xC007 (49159
(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 [}50])
(10000
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 [}50], 1C32:05 [}50], 1C32:06
[}50], 1C32:09 [}50], 1C33:03 [}51], 1C33:06
[}50], 1C33:09 [}51] 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)
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EP6002-000250 Version: 1.0
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 [}50]
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 0x000F4240
(1000000
UINT32 RO 0x00000384
(900
UINT16 RO 0xC007 (49159
• 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 [}50] or 1C33:08 [}51])
1C33:05 Minimum cycle time
as 1C32:05 [}50]
1C33:06 Calc and copy time Time between reading of the inputs and availability of
UINT32 RO 0x00002710
(10000
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 [}50]
Time between SYNC1 event and reading of the inputs
(in ns, only DC mode)
as 1C32:11 [}50]
as 1C32:12 [}50]
as 1C32:13 [}50]
as 1C32:32 [}50]
UINT16 RW 0x0000 (0
UINT32 RO 0x00000384
(900
UINT16 RO 0x0000 (0
UINT16 RO 0x0000 (0
UINT16 RO 0x0000 (0
BOOLEAN RO 0x00 (0
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Profile-specific objects (0x6000-0xFFFF)
The profile-specific objects have the same meaning for all EtherCAT slaves that support the profile 5001.
EP6002-0002 51Version: 1.0
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
BOOLEAN RO 0x00 (0
UINT8 RO 0x00 (0
)
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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
EP6002-000252 Version: 1.0
)
dec
)
dec
Commissioning/Configuration
Index 6010 COM Inputs Ch.2
Index (hex) Name Meaning Data type Flags Default
6010:0 COM Inputs Ch.2 UINT8 RO 0x26 (38
6010:01 Transmit accepted The module acknowledges receipt of data by changing
the state of this bit
6010:02 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"
6010:03 Init Accepted The initialization is carried out from the terminal BOOLEAN RO 0x00 (0
6010:04 Buffer full The receive FIFO is full BOOLEAN RO 0x00 (0
6010:05 Parity error A parity error has occurred BOOLEAN RO 0x00 (0
6010:06 Framing error A framing error has occurred BOOLEAN RO 0x00 (0
6010:07 Overrun error An overrun error has occurred BOOLEAN RO 0x00 (0
6010:09 Input length Number of input bytes available for transfer from the ter-
minal to the controller
6010:11 Data In 0 Input data UINT8 RO 0x00 (0
6010:12 Data In 1 Input data UINT8 RO 0x00 (0
6010:13 Data In 2 Input data UINT8 RO 0x00 (0
6010:14 Data In 3 Input data UINT8 RO 0x00 (0
6010:15 Data In 4 Input data UINT8 RO 0x00 (0
6010:16 Data In 5 Input data UINT8 RO 0x00 (0
6010:17 Data In 6 Input data UINT8 RO 0x00 (0
6010:18 Data In 7 Input data UINT8 RO 0x00 (0
6010:19 Data In 8 Input data UINT8 RO 0x00 (0
6010:1A Data In 9 Input data UINT8 RO 0x00 (0
6010:1B Data In 10 Input data UINT8 RO 0x00 (0
6010:1C Data In 11 Input data UINT8 RO 0x00 (0
6010:1D Data In 12 Input data UINT8 RO 0x00 (0
6010:1E Data In 13 Input data UINT8 RO 0x00 (0
6010:1F Data In 14 Input data UINT8 RO 0x00 (0
6010:20 Data In 15 Input data UINT8 RO 0x00 (0
6010:21 Data In 16 Input data UINT8 RO 0x00 (0
6010:22 Data In 17 Input data UINT8 RO 0x00 (0
6010:23 Data In 18 Input data UINT8 RO 0x00 (0
6010:24 Data In 19 Input data UINT8 RO 0x00 (0
6010:25 Data In 20 Input data UINT8 RO 0x00 (0
6010:26 Data In 21 Input data UINT8 RO 0x00 (0
BOOLEAN RO 0x00 (0
BOOLEAN RO 0x00 (0
UINT8 RO 0x00 (0
)
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Index 6011 Status Ch.2
Index (hex) Name Meaning Data type Flags Default
6011:0 Status Ch.2 UINT8 RO 0x01 (1
6011:01 Status Status word for compatible process image UINT16 RO 0x0000 (0
EP6002-0002 53Version: 1.0
)
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
BOOLEAN RO 0x00 (0
UINT8 RO 0x00 (0
)
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)
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)
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)
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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
)
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)
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EP6002-000254 Version: 1.0
Commissioning/Configuration
Index 7010 COM Outputs Ch.2
Index (hex) Name Meaning Data type Flags Default
7010:0 COM Outputs Ch.2 UINT8 RO 0x26 (38
7010:01 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".
7010:02 Receive accepted The controller acknowledges receipt of data by chang-
ing the state of this bit.
7010:03 Init request The controller requests the module to initialize. BOOLEAN RO 0x00 (0
7010:04 Send continuous Continuous sending of data from the FIFO. BOOLEAN RO 0x00 (0
7010:09 Output length Number of output bytes available for transfer from the
controller to the terminal.
7010:11 Data Out 0 Output data UINT8 RO 0x00 (0
7010:12 Data Out 1 Output data UINT8 RO 0x00 (0
7010:13 Data Out 2 Output data UINT8 RO 0x00 (0
7010:14 Data Out 3 Output data UINT8 RO 0x00 (0
7010:15 Data Out 4 Output data UINT8 RO 0x00 (0
7010:16 Data Out 5 Output data UINT8 RO 0x00 (0
7010:17 Data Out 6 Output data UINT8 RO 0x00 (0
7010:18 Data Out 7 Output data UINT8 RO 0x00 (0
7010:19 Data Out 8 Output data UINT8 RO 0x00 (0
7010:1A Data Out 9 Output data UINT8 RO 0x00 (0
7010:1B Data Out 10 Output data UINT8 RO 0x00 (0
7010:1C Data Out 11 Output data UINT8 RO 0x00 (0
7010:1D Data Out 12 Output data UINT8 RO 0x00 (0
7010:1E Data Out 13 Output data UINT8 RO 0x00 (0
7010:1F Data Out 14 Output data UINT8 RO 0x00 (0
7010:20 Data Out 15 Output data UINT8 RO 0x00 (0
7010:21 Data Out 16 Output data UINT8 RO 0x00 (0
7010:22 Data Out 17 Output data UINT8 RO 0x00 (0
7010:23 Data Out 18 Output data UINT8 RO 0x00 (0
7010:24 Data Out 19 Output data UINT8 RO 0x00 (0
7010:25 Data Out 20 Output data UINT8 RO 0x00 (0
7010:26 Data Out 21 Output data UINT8 RO 0x00 (0
BOOLEAN 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
Index 7011 Ctrl Ch.2
Index (hex) Name Meaning Data type Flags Default
7011:0 Ctrl Ch.2 UINT8 RO 0x01 (1
7011:01 Ctrl Control word for compatible process image UINT16 RO 0x0000 (0
Index A000 COM Diag data Ch.1
Index (hex) Name Meaning Data type Flags Default
A000:0 COM Diag data
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
UINT8 RO 0x21 (33
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
EP6002-0002 55Version: 1.0
Commissioning/Configuration
Index A010 COM Diag data Ch.2
Index (hex) Name Meaning Data type Flags Default
A010:0 COM Diag data
UINT8 RO 0x21 (33
Ch.2
A010:01 Buffer overflow A buffer overflow has occurred. BOOLEAN RO 0x00 (0
A010:02 Parity error A parity error has occurred. BOOLEAN RO 0x00 (0
A010:03 Framing error A framing error has occurred. BOOLEAN RO 0x00 (0
A010:04 Overrun error An overrun error has occurred. BOOLEAN RO 0x00 (0
A010:05 Buffer full The receive FIFO is full. BOOLEAN RO 0x00 (0
A010:11 Data bytes in send
Number of data bytes in the send FIFO UINT16 RO 0x0000 (0
buffer
A010:21 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
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
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 0x00000258
(600
)
dec
)
dec
)
dec
)
dec
EP6002-000256 Version: 1.0
Commissioning/Configuration
4.4 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.21: 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.22: 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.
EP6002-0002 57Version: 1.0
Commissioning/Configuration
4.5 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
EP6002-000258 Version: 1.0
Appendix
5 Appendix
5.1 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 Ø50mm
jects of Ø12.5mm.
Ø2.5mm.
Ø1mm.
totally prevented, but dust shall not penetrate in a quantity to interfere with satisfactory operation
of the device or to impair safety.
2. Number: water* 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 30min. in 1m depth.
*) These protection classes define only protection against water!
Chemical Resistance
The Resistance relates to the Housing of the IP 67 modules and the used metal parts. In the table below you
will find some typical resistance.
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
EP6002-0002 59Version: 1.0
Appendix
5.2 EtherCAT Box- / EtherCATPBox - Accessories
Fixing
Ordering information Description
ZS5300-0001 Mounting rail (500mmx129mm)
Marking material, plugs
Ordering information Description
ZS5000-0000 Fieldbus Box set M8 (contact labels, plugs)
ZS5000-0002 Fieldbus Box set M12 (contact labels, plugs)
ZS5000-0010 plugs M8, IP67 (50 pieces)
ZS5000-0020 plugs M12, IP67 (50 pieces)
ZS5100-0000 marking labels, not printed, 4 stripes at 10 pieces
ZS5100-xxxx printed marking labels, on request
Tools
Ordering information Description
ZB8800 torque wrench for M8 cables with knurl, incl. ratchet
ZB8800-0001 M12 ratchet for torque wrench ZB8800
ZB8800-0002 M8 ratchet (field assembly) for torque wrench ZB8800
ZB8801-0000 torque wrench for hexagonal plugs, adjustable
ZB8801-0001 torque cable key, M8/wrench size 9, for torque wrench ZB8801-0000
ZB8801-0002 torque cable key, M12/wrench size 13, for torque wrench ZB8801-0000
ZB8801-0003 torque cable key, M12 field assembly/wrench size 13, for torque wrench
ZB8801-0000
Further accessories
Further accessories may be found at the price list for Beckhoff fieldbus components and at the internet under https://www.beckhoff.com
EP6002-000260 Version: 1.0
Appendix
5.3 General note on the introduction of the Beckhoff Identification Code (BIC)
General
In future you will increasingly find machine-readable information on Beckhoff products in the form of a Data
Matrix Code (DMC, ECC200). This helps us to improve the quality assurance process, beyond which you
can use it for better identification of our products.
The introduction of the Data Matrix Code (called BIC [Beckhoff Identification Code] at Beckhoff) is taking
place gradually across all product groups.
The information in the BICs is oriented to the ANSI standard MH10.8.2-2016
Representation and contents of the BIC
The BIC can be found in the following places, depending on the product:
• on the packaging unit
• directly on the product (if space suffices)
• on the packaging unit and the product
The BIC is readable and contains information that you can use for your internal handling and administration
of the products. When scanning the BICs you will find the following information:
Coded information on the BIC
Item
no.
1 Beckhoff order number Beckhoff order number
2 Beckhoff Traceability
3 Article description Beckhoff article description, e.g. EL1008
4 Quantity Quantity in packaging unit, e.g. 1, 10, etc.
5 Batch number Optional: Year and week of production
6 ID/serial number Optional: Present-day serial number system, e.g. with safety
7 Variant number Optional: Product variant number on the basis of standard products
8 Datecode Internal
9 Job/batch number Internal
10 Serial number Internal
...
Each item of information is clearly identifiable on the basis of the 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
following table. If the items of information are shorter, they are replaced by spaces. The data under positions
1-4 always exist (temporary restriction, see BTN below).
Type of information Explanation
Unique serial number, see note below
Number (BTN)
products
EP6002-0002 61Version: 1.0
Appendix
1P072222SBTNk4p562d71KEL1809 Q1 51S6782941041P S 1K Q 51S
Order number BTN Article description IDQuantity
Overview of the defined data identifiers with examples
Item
no.
Type of information Data identifier Number of char-
acters
Sample
1 Beckhoff order number 1P 8 1P072222
2 Beckhoff Traceability Number (BTN) S 12 SBTNk4p562d7
3 Article description 1K 32 1KEL1809
4 Quantity Q 6 Q1
5 Batch number 2P 14 2P401503180016
6 ID/serial number 51S 12 51S678294104
7 Version 30P 32 30PF971 , 2*K183
8 Datecode 9D 8 9DG0118
9 Job/batch number 1T 14 1TFA12345678
10 Serial number 52S 23 52S2304853-1-004
...
Structure of the BIC
Example of an item of information made up of positions 1 – 4 and 6. The data identifiers are each marked in
red for clearer illustration:
BTN
An important component of the BIC is the Beckhoff Traceability Number (BTN, item no. 2). The BTN is a
unique 8-character serial number that in future will replace all other serial number systems at Beckhoff (e.g.
batch designations on IO components, hitherto serial number circle for safety products, etc.). The BTN is
likewise being introduced gradually, so it may be the case that the BTN is not yet coded in the BIC.
EP6002-000262 Version: 1.0
Appendix
5.4 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
EP6002-0002 63Version: 1.0
Table of Figures
Table of Figures
Fig. 1 EtherCAT Box modules: Example of cabling in a line structure .................................................. 8
Fig. 2 EP6002-0002 ............................................................................................................................... 9
Fig. 3 Level of RS232, RS422, RS485 interfaces.................................................................................. 15
Fig. 4 Dimensions .................................................................................................................................. 16
Fig. 5 Connectors for supply voltages ................................................................................................... 18
Fig. 6 M8 connector ............................................................................................................................... 18
Fig. 7 Status LEDs for the power supply ............................................................................................... 19
Fig. 8 EtherCAT connector .................................................................................................................... 20
Fig. 9 M8 socket .................................................................................................................................... 20
Fig. 10 EtherCAT status LEDs................................................................................................................. 21
Fig. 11 M12 socket .................................................................................................................................. 22
Fig. 12 RS232 Status LEDs..................................................................................................................... 22
Fig. 13 M12 socket .................................................................................................................................. 23
Fig. 14 RS422 / RS485 Status LEDs....................................................................................................... 23
Fig. 15 UL label........................................................................................................................................ 24
Fig. 16 Point-to-point connection to an RS232 device............................................................................. 26
Fig. 17 4-wire point-to-point connection to an RS422 device .................................................................. 27
Fig. 18 2-wire connection in bus structure to RS485 device(s) ............................................................... 28
Fig. 19 2-wire connection with external bridge in bus structure to RS485 device(s) ............................... 29
Fig. 20 CoE settings on objects 0x8000 and 0x8010 (default) ................................................................ 30
Fig. 21 Selecting the Restore default parameters PDO........................................................................... 57
Fig. 22 Entering a restore value in the Set Value dialog.......................................................................... 57
EP6002-000264 Version: 1.0
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