Beckhoff EP7342-0002 User Manual

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Documentation | EN

EP7342-0002

2-channel DC motor output stage 48 V DC, 3.5 A

20.07.2020 | Version: 1.0

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 EtherCAT Box - Introduction ....................................................................................................................8

3 Product overview.....................................................................................................................................10

3.1 Introduction......................................................................................................................................10

3.2 Technical data .................................................................................................................................11

3.3 Scope of supply ...............................................................................................................................12

3.4 Technology ......................................................................................................................................13

4 Mounting and connection.......................................................................................................................15

4.1 Mounting..........................................................................................................................................15

4.1.1 Dimensions ...................................................................................................................... 15

4.1.2 Fixing ............................................................................................................................... 16

4.1.3 Tightening torques for plug connectors ........................................................................... 16

4.2 Connection ......................................................................................................................................17

4.2.1 EtherCAT ......................................................................................................................... 17

4.2.2 Supply voltages ............................................................................................................... 19

4.2.3 Signal connection ............................................................................................................ 21

4.3 ATEX notes .....................................................................................................................................23

4.3.1 ATEX - Special conditions ............................................................................................... 23

4.3.2 BG2000 - EtherCAT Box protection enclosures .............................................................. 24

4.3.3 ATEX Documentation ...................................................................................................... 25

5 Commissioning/Configuration ...............................................................................................................26

5.1 Integration in TwinCAT ....................................................................................................................26

5.2 Integration into the NC configuration (manually) .............................................................................26

5.3 Settings in the CoE register.............................................................................................................29

5.3.1 Adaptation of current and voltage.................................................................................... 29

5.3.2 Adaptation of the encoder data........................................................................................ 30

5.3.3 Adaptation of the maximal velocity .................................................................................. 31

5.3.4 Selection of the operating mode ...................................................................................... 32

5.3.5 Select info data ................................................................................................................ 33

5.3.6 KA factor .......................................................................................................................... 34

5.4 NC settings ......................................................................................................................................35

5.4.1 Reference velocity selection ............................................................................................ 35

5.4.2 Dead time compensation ................................................................................................. 36

5.4.3 Scaling factor ................................................................................................................... 37

5.4.4 Position lag monitoring .................................................................................................... 38

5.4.5 KV factors ........................................................................................................................ 39

5.5 Commissioning the motor with the NC ............................................................................................40

5.6 Operating modes .............................................................................................................................42

5.6.1 Overview.......................................................................................................................... 42

5.6.2 Chopper operation ........................................................................................................... 43

EP7342-0002 3Version: 1.0

Table of contents

5.6.3 Positioning Interface ........................................................................................................ 45

5.7 Restoring the delivery state .............................................................................................................46

5.8 Decommissioning ............................................................................................................................47

6 CoE parameters .......................................................................................................................................48

6.1 Restore object .................................................................................................................................48

6.2 Configuration data ...........................................................................................................................49

6.3 Command object .............................................................................................................................56

6.4 Input data.........................................................................................................................................57

6.5 Output data......................................................................................................................................60

6.6 Information and diagnosis data (channel specific) ..........................................................................63

6.7 Configuration data (vendor-specific)................................................................................................65

6.8 Information and diagnosis data (device-specific) ............................................................................66

6.9 Standard objects..............................................................................................................................66

7 Appendix ..................................................................................................................................................86

7.1 General operating conditions...........................................................................................................86

7.2 Accessories .....................................................................................................................................87

7.2.1 Motor cables .................................................................................................................... 87

7.2.2 Encoder cables ................................................................................................................ 87

7.3 Version identification of EtherCAT devices .....................................................................................89

7.3.1 Beckhoff Identification Code (BIC)................................................................................... 93

7.4 Support and Service ........................................................................................................................95

EP7342-00024 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®, EtherCATG®, EtherCATG10®, EtherCATP®, SafetyoverEtherCAT®, TwinSAFE®, XFC®, XTS® and XPlanar® are registered trademarks of and licensed by Beckhoff Automation GmbH. Other designations used in this publication may be trademarks whose use by third parties for their own purposes could violate the rights of the owners.

Patent Pending

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

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

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

EP7342-0002 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.

EP7342-00026 Version: 1.0

Foreword

1.3 Documentation issue status

Version Comment

1.0 • First release

Firmware and hardware versions

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

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

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

Syntax of the batch number (D-number)

D: WW YY FF HH

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

Further information on this topic: Version identification of EtherCAT devices [}89].

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

EP7342-0002 7Version: 1.0

EtherCAT Box - Introduction

2 EtherCAT Box - Introduction

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

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

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

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

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

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

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

• digital outputs with 0.5 or 2A output current

• analog inputs and outputs with 16bit resolution

• Thermocouple and RTD inputs

• Stepper motor modules

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

EP7342-00028 Version: 1.0

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

EtherCAT Box - Introduction

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

Basic EtherCAT documentation

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

EtherCAT XML Device Description

You will find XML files (XML Device Description Files) for Beckhoff EtherCAT modules on our website (www.beckhoff.com) under Downloads, in the Configuration Files area.

EP7342-0002 9Version: 1.0

Product overview

3 Product overview

3.1 Introduction

Fig.4: EP7342-0002

2-channel DC motor output stage 48 VDC, 3.5 A

The EP7342 EtherCAT Box enables direct operation of two DC motors.

The speed and position are preset by a 16-bit value from the automation device. By connecting an incremental encoder (24 V DC, single-ended), it is possible to implement a simple servo axis. The output stage is protected against overload and short-circuit.

The EtherCAT Box has two channels, whose signal states are indicated by LEDs. The LEDs enable quick local diagnosis.

Quick links

Technical data [}11] Dimensions [}15] Signal connection [}21] Commissioning [}26]

EP7342-000210 Version: 1.0

Product overview

3.2 Technical data

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

Technical data EP7342-0002

Fieldbus

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

Supply voltages

Connection Input: 1 x M8 plug, 4-pin

Downstream connection: 1 x M8 socket, 4-pin

Motor supply: 1x M12 socket, 4-pin Control voltage U Nominal voltage 24VDC (-15%/ +20%) Sum current max. 4A Current consumption from U Peripheral voltage U Nominal voltage 24VDC (-15%/ +20%) Sum current max. 4A UP consumer Encoder Motor supply Nominal voltage 8…48V

Motor outputs

Number 2 Motor type DC brush motor, inductive Connection 1x M12 common socket for both motors Motor supply see above under "Supply voltages“ Nominal current per output 3.5A, short-circuit proof Overload protection Thermal overload warning Resolution Current: max. 10bits

PWM clock frequency 30kHz with 180° phase shift each PWM duty cycle 0…100 % (voltage-controlled) Current controller frequency approx. 25kHz

Encoder inputs

Number 2 Encoder type Incremental encoders Connection 1x M12 socket per encoder Encoder supply 24VDC taken from the peripheral voltage UP, not short-circuit

signals Single-ended Signal voltage "0" -3…1.5V Signal voltage "1" 2.5…24V Pulse frequency max. 400,000increments per second with 4-fold evaluation

120mA

Speed: max. 16 bits

proof

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

EP7342-0002 11Version: 1.0

Product overview

Technical data EP7342-0002

Environmental conditions

Ambient temperature during operation -25…+60°C

0...+55 °C according to ATEX [}23]

Ambient temperature during storage -40…+85°C Vibration/ shock resistance conforms to EN60068-2-6 / EN60068-2-27;

see also Additional checks [}12]. EMC immunity/emission conforms to EN61000-6-2/ EN61000-6-4 Protection class IP65, IP66, IP67 conforms to EN60529

Mechanics

Weight approx. 165g Dimensions approx. 126x 30x 26.5mm (without connectors) Installation position variable

Approvals and conformity

Approvals CE, ATEX

Additional checks

The boxes have been subjected to the following checks:

Verification Explanation

Vibration 10 frequency sweeps in 3 axes

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

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

Shocks 1000 shocks in each direction, in 3 axes

35g, 11ms

3.3 Scope of supply

Make sure that the following components are included in the scope of delivery:

• 1x EP7342-0002 EtherCAT Box

• 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.

EP7342-000212 Version: 1.0

Product overview

3.4 Technology

EP7342-0002 integrates a compact Motion Control solution up to 200W with minimum space requirement.

DC motor

DC motors can replace the considerably more expensive servo motors in many applications if they are operated with an intelligent controller. Since its speed is proportional to the voltage, the DC motor is easy to control in comparison with other motors.

Two output stages for optimum performance

With the EP7342 EtherCAT Box a DC motor can easily be integrated into the control system. All parameters are adjustable via the fieldbus. The DC motor output stages for EtherCAT unite a small, compact design with an extensive area of application. Two DC motors can be operated directly with each of the output stages. The EP7342 also has an integrated feedback system for incremental encoders.

The speed can be easily adjusted via the process data. The integrated compensation of the internal resistance keeps the motor at the desired speed for load changes. The speed is preset by a 16-bit value from the automation device. Thus a simple drive task can be solved using a simple controller. The EtherCAT Box has two channels, whose signal states are indicated by LEDs. This enables fast local diagnosis.

EP7342-0002 13Version: 1.0

Product overview

EP7342

Areas of application

Two areas of application are particularly well supported by the output stages:

1. A simple controller with inexpensive processor power and low demands on the cycle time. By using the integrated path control, the box can carry out independent positioning movements without the use of NC. Only a DC motor and the EtherCAT Box are required.

2. High-end positioning with integration in TwinCAT NC. In conjunction with EP7342, a DC motor is controlled under TwinCAT like a servo terminal. No further changes are necessary.

For demanding positioning tasks a closed speed control loop with a feedback system is needed. The EtherCAT Box enables connection of an incremental encoder.

The control loop can be closed either by the EtherCAT Box itself or by the higher-level control system.

Fig.5: Implementation options for control loops with EP7342-0002

The peak current may briefly significantly exceed the nominal current and in this way makes the whole drive system very dynamic. In such dynamic applications, negative acceleration causes energy recovery, which lead to voltage peaks at the power supply unit.

The EP9576-1032 brake chopper box protects against the consequences of overvoltage by absorbing part of the energy: It has an integrated brake resistor that converts surplus energy into heat.

EP7342-000214 Version: 1.0

4 Mounting and connection

119

126

26.5

13.5

Ø 3.5

4.1 Mounting

4.1.1 Dimensions

Mounting and connection

Fig.6: Dimensions

All dimensions are given in millimeters.

Housing features

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

EP7342-0002 15Version: 1.0

Mounting and connection

4.1.2 Fixing

NOTE

Dirt during assembly

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

• Protect the plug connectors against dirt during the assembly.

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

4.1.3 Tightening torques for plug connectors

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

Connector diameter Tightening torque

M8 0.4Nm M12 0.6Nm

EP7342-000216 Version: 1.0

Mounting and connection

3 1

4.2 Connection

4.2.1 EtherCAT

4.2.1.1 Connectors

NOTE

Risk of confusion: supply voltages and EtherCAT

Defect possible through incorrect insertion.

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

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

Fig.7: EtherCAT connectors

Connection

Fig.8: M8 socket

EtherCAT M8

Signal Contact ZB9010, ZB9020, ZB9030, ZB9032,

Tx + 1 yellow

Tx - 4 orange

Rx + 2 white

Rx - 3 blue

Shield Housing Shield Shield Shield

Core colors according to EN61918

connector

Core colors

ZK1090-6292, ZK1090-3xxx-xxxx

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

orange/white white/orange

orange orange

blue/white white/green

blue green

TIA-568B

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

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

EP7342-0002 17Version: 1.0

Mounting and connection

4.2.1.2 Status LEDs

Fig.9: EtherCAT status LEDs

L/A (Link/Act)

A green LED labelled "L/A" is located next to each EtherCAT socket. The LED indicates the communication state of the respective socket:

LED Meaning

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

Run

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

LED Meaning

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

Description of the EtherCAT slave states

4.2.1.3 Cables

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

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

Detailed recommendations for the cabling of EtherCAT devices

EP7342-000218 Version: 1.0

Mounting and connection

Plug

Input

Socket

Forwarding

3 1

4.2.2 Supply voltages

The EtherCAT Box is supplied with two supply voltages. The ground potentials of the supply voltages are galvanically connected together.

• Control voltage U

• Peripheral voltage U

The motor supply must be provided separately.

See chapter Signal connection [}21].

Redirection of the supply voltages

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

NOTE

Pay attention to the maximum permissible current!

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

4.2.2.1 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.10: Connectors for supply voltages

Fig.11: M8 connector

Contact Function Description Core color

1 U 2 U 3 GND 4 GND

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

EP7342-0002 19Version: 1.0

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

Blue Black

Mounting and connection

Vert. Faktor: 0,45 cm / V

5 10 15 20

250

Vert. Faktor: 0,45 cm / V

Voltage drop (V)

Cable length (m)

0,25 mm²

0,34 mm²

0,5 mm² 0,75 mm²

I = 2 A

Vert. Faktor: 0,45 cm / V

5 10 15 20

250

Vert. Faktor: 0,45 cm / V

Voltage drop (V)

Cable length (m)

0,25 mm²

0,34 mm²

0,5 mm²

0,75 mm²

I = 4 A

4.2.2.2 Status LEDs

Fig.12: Status LEDs for the supply voltages

LED Display Meaning

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

green illuminated Supply voltage US is present

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

green illuminated Supply voltage UP is present

4.2.2.3 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

EP7342-000220 Version: 1.0

4.2.3 Signal connection

Mounting and connection

Fig.13: Signal connection EP7342-0002

NOTE

Note the numbering of the M12 sockets

Mixing up the M12 connectors can damage the module.

M12 socket no.1: DC motor connection

M12 socket no.2: Connection for motor supply

Pin 1: Motor channel1, connection1

Pin 2: Motor channel1, connection2

Pin 3: Motor channel2, connection1

Pin 4: Motor channel2, connection2

Pin 5: not connected

Pin 1: Motor supply 8...48 V

Pin 2: Motor supply 8...48 V

Pin 3: GND

Pin 4: GND

Pin 5: not connected

EP7342-0002 21Version: 1.0

Mounting and connection

M12 sockets no. 3 and no. 4: Encoder connection

The encoder supply is not short-circuit proof

Risk of defect.

• Avoid short-circuiting the encoder supply.

NOTE

Pin 1: GND

Pin 2: Encoder supply 24 V

Pin 3: Track A

Pin 4: Track B

Pin 5: Track C (Gate/Latch)

EP7342-000222 Version: 1.0

Mounting and connection

4.3 ATEX notes

4.3.1 ATEX - Special conditions

WARNING

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

• The certified components are to be installed with a BG2000-0000 or BG2000-0010 protection enclosure [}24] that guarantees a protection against mechanical hazards!

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

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

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

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

Standards

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

• EN 60079-0: 2006

• EN 60079-15: 2005

Marking

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

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

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

Batch number (D number)

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

D: WW YY FF HH

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

Example with batch number 29 10 02 01:

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

EP7342-0002 23Version: 1.0

Mounting and connection

4.3.2 BG2000 - EtherCAT Box protection enclosures

WARNING

Risk of electric shock and damage of device!

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

ATEX

WARNING

Mount a protection enclosure!

To fulfill the special conditions according to ATEX [}23], a BG2000-0000 or BG2000-0010 protection enclosure has to be mounted over the EtherCAT Box.

Installation

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

Fig.14: BG2000 - putting the cables

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

EP7342-000224 Version: 1.0

Fig.15: BG2000 - fixing the cables

Mount the protection enclosure over the EtherCAT Box.

Mounting and connection

Fig.16: BG2000 - mounting the protection enclosure

4.3.3 ATEX Documentation

Notes about operation of EtherCAT Box Modules (EPxxxx-xxxx) in potentially explosive areas (ATEX)

Pay also attention to the continuative documentationNotes about operation of EtherCAT Box Modules (EPxxxx-xxxx) in potentially explosive areas (ATEX) that is available in the download area of the Beckhoff homepage http:\\www.beckhoff.com!

EP7342-0002 25Version: 1.0

Commissioning/Configuration

5 Commissioning/Configuration

5.1 Integration in TwinCAT

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

5.2 Integration into the NC configuration (manually)

(TwinCAT 3.1)

EtherCAT XML Device Description

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

ü Requirement: EP7342 is integrated in a TwinCAT project.

1. Add a new NC task: Right-click on "MOTION" and select "Add New Item..."

EP7342-000226 Version: 1.0

2. Right click on "Axes" and click on "Add New Item…“

Commissioning/Configuration

ð A dialog box appears:

3. In the "Type" field select "Continuous axis" and confirm with OK.

4. Double-click the new axis.

5. Click on the "Settings" tab

EP7342-0002 27Version: 1.0

Commissioning/Configuration

6. Click on "Link To I/O..."

ð A dialog box appears:

7. Select the appropriate entry and click "OK". Note: EP7342 has two motor channels. The assignment of the connector pins to the motor channels can

be found in chapter Signal connection [}21].

ð The process data are linked to the NC task.

You need to set some parameters before you can start the motor. You will find these parameters in the following chapters:

• Settings in the CoE register [}29]

• NC settings [}35]

EP7342-000228 Version: 1.0

Commissioning/Configuration

5.3 Settings in the CoE register

The data given here exemplary for a DC motor type GR42X25 from the company Dunkermotoren. For other motors the values may vary, depending on the application.

5.3.1 Adaptation of current and voltage

NOTE

The motor may overheat!

In order to prevent overheating of the connected motor it is important to adapt the current and voltage output from the stepper interface to the motor.

Index 0x8020:02 [}49] "Nominal current" and index 0x8020:03 [}49] "Nominal voltage" have be set appropriately in the CoE register. In addition, you should also adapt the "Maximal current" in the index

0x8020:01 [}49] and the coil resistance of the motor in the index 0x8020:04 [}49] "Motor coil resistance" to the connected motor.

Reducedcurrent can be set in index 0x8020:05 [}49] and 0x8020:06 [}49]. This reduces the coil current when at a standstill (and therefore the power dissipation). Please note that this reduces the torque.

Fig.17: Adaptation of current and voltage

EP7342-0002 29Version: 1.0

Commissioning/Configuration

5.3.2 Adaptation of the encoder data

Different encoders are available with a different number of increments. You must specify the number of increments of your encoder in the index 0x8020:07 [}49] "Encoder increments" (see fig. Adaptation of the

encoder data). In our example an encoder with 1024 increments is used, corresponding to 4096 increments in the case of quadruple evaluation. The number of increments of your encoder can be found in the data sheet for the encoder.

Fig.18: Adaptation of the encoder data

EP7342-000230 Version: 1.0

Commissioning/Configuration

5.3.3 Adaptation of the maximal velocity

The maximum velocity with which your DC motor can move must be entered in index 0x8020:08 [}49] "Maximum motor velocity". You can take this parameter from the name plate on the motor and write it 1:1 into the index. In the example the motor has a maximum velocity of 3600 revolutions per minute.

Fig.19: Adaptation of the maximal velocity

EP7342-0002 31Version: 1.0

Commissioning/Configuration

5.3.4 Selection of the operating mode

You can select the operating mode in the index 0x8022:01 [}51] "Operation mode". It is recommended that you select the operation mode "Automatic" (Fig. Setting the operation mode) and then set the suitable operation mode for your application on the Process Data tab. Further information on this can be found in the chapter "Process Data".

Fig.20: Setting the operation mode

Fig.21: Dialog box

EP7342-000232 Version: 1.0

Commissioning/Configuration

5.3.5 Select info data

There is a possibility in the index 0x8022:11 [}51] "Select info data 1" and 0x8022:19 [}51] "Select info data 2", to select two parameters that can be displayed in the process data (see fig. Selection of additional information data).

These two parameters must be activated in the process data afterwards.

Fig.22: Selection of additional information data

Fig.23: Dialog box

EP7342-0002 33Version: 1.0

Commissioning/Configuration

5.3.6 KA factor

The KA factor can be used to adapt the current during the acceleration phases. The current increase is calculated as follows.

Current increaseinmA=velocity differencexKA/1000

The steeper the velocity ramp, the higher the current increase.

Fig.24: Velocity ramps

This value can be set in index 0x8023:07 [}52] "Ka factor (velo./pos.)" (see Fig. Setting the KA factor).

Fig.25: Setting the KA factor

EP7342-000234 Version: 1.0

Commissioning/Configuration

5.4 NC settings

The specified data apply to a DC Motor GR42X25 of the Company "Dunker Motoren" and are intended as an example. For other motors the values may vary, depending on the application.

5.4.1 Reference velocity selection

The maximum velocity is calculated based on the maximum motor speed (see name plate) and the distance to be covered. In this case the basis is one revolution per second.

=(maximum motor velocity x 360°) / 60s

max

=((3600rpm)x360°)/60s =21600revolutions/s

This is a theoretical value that is quite close to the practical value, although the value may vary, depending on the load. To determine the actual value set the Kv factor to 0 and determine the final reference velocity empirically. To this end move the motor using the keys F1 - F4 and compare the actual velocity and the setpoint velocity. These values should be almost identical. If the actual velocity is greater, increase the reference velocity slightly. If the Actual velocity is smaller than the Setpoint velocity, reduce the reference velocity slightly. This empirical exercise should only be carried out once the other parameters have been set. In our case the reference velocity is 25570 revolutions/s. Finally, adjust the maximum allowed velocity.

Fig.26: Reference velocity selection

EP7342-0002 35Version: 1.0

Commissioning/Configuration

5.4.2 Dead time compensation

Dead time compensation

The dead time compensation of the axis can be set in the Time Compensation tab of the Axis1_ENC encoder settings. It should, in theory, be 3 cycles of the NC cycle time, although in practice 4 cycles were found to be preferable. The parameter Time Compensation Mode Encoder should be set to 'ON (with velocity)', the parameter Encoder Delay in Cycles to 4.

Fig.27: Dead time compensation parameter

EP7342-000236 Version: 1.0

Commissioning/Configuration

5.4.3 Scaling factor

The scaling factor can be changed by selecting "Axis 1_Enc" and tab "Parameter" in the NC (see fig. Setting the Scaling Factor). The value can be calculated with the formulas specified below.

Fig.28: Setting the Scaling Factor

Calculation of the scaling factor

SF = distance per revolution / (increments x 4) = 360° / (1024 x 4) = 0.087890625 ° / INC

EP7342-0002 37Version: 1.0

Commissioning/Configuration

5.4.4 Position lag monitoring

The position lag monitoring function checks whether the current position lag of an axis has exceeded the limit value. The position lag is the difference between the setpoint (control value) and the actual value reported back. Suboptimal parameter settings can lead to an error in position lag monitoring during the axis movement. During commissioning it may therefore be advisable to increase the "Maximum Position Lag Value" slightly.

NOTE

CAUTION: Damage to equipment, machines and peripheral components possible!

Setting the position lag monitoring parameters too high may result in damage to equipment, machines and peripheral components.

Fig.29: Position lag monitoring

EP7342-000238 Version: 1.0

Commissioning/Configuration

5.4.5 KV factors

In the NC two proportional factors Kv can be set under "Axis 1_Ctrl " in tab "Parameter". First select the position controller Type with two P constants (with KA) under the "NC Controller" tab. The two P constants are for the Standstill range and for the Moving range (see Fig. Setting the proportional factor KV). The factors can be used to set the start-up torque and the braking torque to a different value than the drive torque. The threshold value can be set directly below (Position control: Velocity threshold V dyn) between

0.0 (0%) and 1.0 (100%). Fig. Velocity ramp with KV factor limit values shows a speed ramp with thresholds of 50%. The Kv factor for Standstill (t1 and t3) can be different than the Kv factor for Moving (t2). The factor at standstill should always be greater than the factor during motion.

Fig.30: Velocity ramp with KV factor limit values

Fig.31: Setting the proportional factor K

EP7342-0002 39Version: 1.0

Commissioning/Configuration

5.5 Commissioning the motor with the NC

Enabling an axis

• Once the parameters are set, the motor is basically ready for operation. Individual further parameters have to be adapted to the respective application.

• To commission the axis, activate the configuration (Ctrl+Shift+F4), select the axis, select tab Online and enable the axis under Set.

• Set all tick marks and set Override to 100% (see Fig. Enabling an axis). The axis can then be moved.

Fig.32: Enabling an axis

Move axis manually

You can now move the axis with the function keys F1, F2 (Backward) or F3, F4 (Forward). You can adjust the Kv factor in order to approach a suitable factor. Set the value to 0 initially in order to set the correct reference velocity. For calculating the reference velocity please refer to section "Selecting the reference velocity". The calculation provides a relatively precise value, although the value may have to be corrected slightly. To this end move the motor with a Kv factor of 0 until the actual velocity matches the setpoint velocity.

EP7342-000240 Version: 1.0

Commissioning/Configuration

Move axis automatically

Alternatively you can control the axis via the "Functions" tab. An example is provided below.

• Select as Reversing Sequence as the start type.

• Enter the required Target Position1, e.g. 5000°.

• Enter the required Target Velocity, e.g. 2000°/s.

• Enter the required Target Position2, e.g. 0°.

• Enter the required Idle Time, e.g. 1s.

• Select Start.

The motor now turns to position 1, remains there for 1 s and returns to position 2. This is repeated until Stop is pressed.

EP7342-0002 41Version: 1.0

Commissioning/Configuration

5.6 Operating modes

5.6.1 Overview

The operating modes Automatic, Velocity direct, Position controller, Path control and Brake resistor are supported.

Automatic

In preparation!

Velocity, direct

This mode is intended for the cyclic velocity interface of a numeric controller (NC). In this mode, the NC specifies a set velocity. Ramps for start-up and deceleration of the motor are also controlled by the NC.

Position controller

Refer to the Positioning Interface [}45] section for information about this operation mode!

Travel distance control

In preparation!

Brake resistor

Refer to the Chopper operation [}43] section for information about this operation mode

EP7342-000242 Version: 1.0

Commissioning/Configuration

5.6.2 Chopper operation

You can connect a brake resistor (chopper) to one of the two motor channels instead of a DC motor and enable "Chopper resistor" mode for this channel.

The motor must actively brake for positioning tasks. The mechanical energy is thereby converted back into electrical energy. Small amounts of energy are absorbed by a capacitor in EP7342. Further storage capacities, for example in the power supply unit, can also take up energy. The feedback leads in each case to a voltage increase.

In order to avoid overvoltage, a brake resistor can be connected to the EP7342 in order to dissipate the surplus energy in the form of heat. When the voltage reaches 110% of the nominal voltage [}29], e.g. 55V,

the correctly set output stage sends a fast-pulsed current through the brake resistor (see diagram).

Fig.33: ICH/IN. - UCH/UN characteristic curve

NOTE

Dimensioning of the brake resistor

The brake resistor should be dimensioned such that it can withstand the expected heat development without damage.

A brake resistor of 10Ω is recommended, which results in a pulse current of approx. 5.5A to 6.5A. The maximum expected continuous power is 125W. However, the value typically lies significantly below that.

Power estimation

PN = IN² x R

PN = (5A)² x 10Ω

PN = 250W

EP7342-0002 43Version: 1.0

Commissioning/Configuration

A maximum duty cycle of 50 % is possible. This results in a maximum continuous power of 125W.

A motor efficiency of 80 % is usual in practice. The motor thus converts 80 % of the rated electrical power into kinetic energy when accelerating. Conversely, when braking, the motor (as a generator) converts 80 % of the kinetic energy into electrical power. This results in a practical braking power of:

PCH = PN/2 x 80/100 x 80/100

PCH = 125W x 80/100 x 80/100

PCH = 80W

EP7342-000244 Version: 1.0

Commissioning/Configuration

5.6.3 Positioning Interface

The "Positioning Interface" offers the option to execute motion commands directly on the box.

NOTE

Commissioning

Commissioning of the EL7342 "Positioning Interface" can be transferred to EP7342-0002.

The commissioning procedure is described in the chapter on "Basic principles for the Positioning Interface" of the EL7342 documentation.

EP7342-0002 45Version: 1.0

Commissioning/Configuration

5.7 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.34: 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.35: 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.

EP7342-000246 Version: 1.0

Commissioning/Configuration

5.8 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

EP7342-0002 47Version: 1.0

CoE parameters

6 CoE parameters

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 during commissioning:

◦ Restore object [}48]

◦ Configuration data

◦ Command object

• Profile-specific objects:

◦ Input data

◦ Output data

◦ Information and diagnosis data (channel specific)

◦ Configuration data (vendor-specific)

◦ Information and diagnosis data (device-specific)

• Standard objects

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

6.1 Restore object

Index 1011 Restore default parameters

Index (hex)

1011:0 Restore default parame-

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

Name Meaning Data type Flags Default

Restore default parameters UINT8 RO 0x01 (1

ters

UINT32 RW 0x00000000 (0

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

)

dec

)

dec

EP7342-000248 Version: 1.0

CoE parameters

6.2 Configuration data

Index 8000 ENC Settings Ch.1

Index (hex) Name Meaning Data type Flags Default

8000:0 ENC Settings Ch.1 Max. Subindex UINT8 RO 0x0E (14

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

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

8000:0A Enable micro incre-

ments

If activated, the terminal interpolates micro-increments between the integral encoder increments in DC mode. The lower 8 bits of the counter value are used in each case for the display. A 32-bit counter thus becomes a 24+8-bit counter, a 16-bit counter becomes a 8+8-bit counter.

8000:0E Reversion of rotation Activates reversion of rotation BOOLEAN RW 0x00 (0

Index 8010 ENC Settings Ch.2

Index (hex) Name Meaning Data type Flags Default

8010:0 ENC Settings Ch.2 Max. Subindex UINT8 RO 0x0E (14

8010:08 Disable filter 0: Activates the input filter (inputs A, /A, B, /B, C, /C

8010:0A Enable micro incre-

ments

8010:0E Reversion of rotation Activates reversion of rotation BOOLEAN RW 0x00 (0

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

BOOLEAN RW 0x00 (0

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

Index 8020 DCM Motor Settings Ch.1

Index (hex) Name Meaning Data type Flags Default

8020:0 DCM Motor Settings

Ch.1

8020:01 Maximal current Maximum permanent motor coil current (unit: 1mA) UINT16 RW 0x1388

8020:02 Nominal current Motor nominal current (unit: 1mA) UINT16 RW 0x0DAC

8020:03 Nominal voltage Nominal voltage (supply voltage) of the motor (unit: 1

8020:04 Motor coil resistance Internal resistance of the motor (unit: 0.01 ohm) UINT16 RW 0x0064

8020:05 Reduced current (posi-

tive)

8020:06 Reduced current (neg-

ative)

8020:07 Encoder increments

(4-fold)

8020:08 Maximal motor velocity Nominal speed of the motor at the nominal voltage

8020:0C Time for switch-off at

overload

8020:0D Time for current lower-

ing at overload

8020:0E Torque auto-reduction

threshold (positive)

8020:0F Torque auto-reduction

threshold (negative)

Max. Subindex UINT8 RO 0x0F (15

(5000

(3500

UINT16 RW 0xC350

mV)

Reduced torque in positive direction of rotation (unit: 1mA)

Reduced torque in negative direction of rotation (unit: 1mA)

Number of encoder increments per revolution with

UINT16 RW 0x07D0

UINT16 RW 0x0000 (0

(50000

(100

dec

(2000

quadruple evaluation

UINT16 RW 0x0000 (0

(unit: 1 rpm)

Time for switch-off at overload (unit: 1ms) UINT16 RW 0x00C8

(200

dec

Time for current lowering at overload (from max. current to nominal current, unit: 1ms)

Process data threshold for automatic torque reduction

UINT16 RW 0x07D0

(2000

UINT8 RW 0x00 (0 in the positive direction of rotation (unit: 1%)

Process data threshold for automatic torque reduction

UINT8 RW 0x00 (0 in the negative direction of rotation (unit: 1%)

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

EP7342-0002 49Version: 1.0

CoE parameters

Index 8021 DCM Controller Settings Ch.1

Index (hex) Name Meaning Data type Flags Default

8021:0 DCM Controller Set-

tings Ch.1

8021:01 Kp factor (curr.) Kp control factor of the current controller UINT16 RW 0x00C8

8021:02 Ki factor (curr.) Ki control factor of the current controller UINT16 RW 0x0002 (2

8021:03 Inner window (curr.) Inner window for the I component (unit: 1%) UINT8 RW 0x00 (0

8021:05 Outer window (curr.) Outer window for the I component (unit: 1%) UINT8 RW 0x00 (0

8021:06 Filter cut off frequency

(curr.)

8021:11 Voltage adjustment

enable

8021:12 Current adjustment en-

able

Max. Subindex UINT8 RO 0x12 (18

(200

)

dec

Limit frequency of the current controller (unit: 1Hz) UINT16 RW 0x0000 (0

Activates the compensation of voltage fluctuations

BOOLEAN RW 0x00 (0 (only in the operating mode "Direct velocity")

Activates the R x I compensation BOOLEAN RW 0x00 (0

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

EP7342-000250 Version: 1.0

CoE parameters

Index 8022 DCM Features Ch.1

Index (hex) Name Meaning Data type Flags Default

8022:0 DCM Features Ch.1 Max. Subindex UINT8 RO 0x36 (54

8022:01 Operation mode Operation mode

0: Automatic

1: Velocity direct

2: Velocity controller

3: Position controller

...: reserved

15: Chopper resistor Existing overvoltage (10% > nominal voltage

0x8020:03 [}49]) is reduced via connected chopper resistor.

8022:09 Invert motor polarity Inverts the direction of rotation of the motor BOOLEAN RW 0x00 (0

8022:0A Torque error enable Activates the automatic overload cut-off (see also

subindex 0x8020:0C [}49])

8022:0B Torque auto reduce Activates the automatic torque reduction (see also

subindex 0x8020:0D [}49] – 0x8020:0F [}49])

8022:11 Select info data 1 Selection "Info data 1"

0: Status word

1: Motor coil voltage

2: Motor coil current

3: Current limit

4: Control error

5: Duty cycle

....: reserved

7: Motor velocity

8: Overload time

...: reserved

101: Internal temperature

...: reserved

103: Control voltage

104: Motor supply voltage

...: reserved

150: Status word (drive controller)

151: State (drive controller)

...: reserved

8022:19 Select info data 2 Selection "Info data 2"

see subindex 0x8022:11 [}51]

8022:30 Invert digital input 1 Inversion of digital input 1 BOOLEAN RW 0x00 (0

8022:31 Invert digital input 2 Inversion of digital input 2 BOOLEAN RW 0x00 (0

8022:32 Function for input 1 Function of digital input 1

0: Normal input

1: Hardware enable

…: reserved

8022:36 Function for input 2 Function of digital input 2

see subindex 0x8022:32 [}51]

BIT4 RW 0x00 (0

BOOLEAN RW 0x00 (0

UINT8 RW 0x01 (1

UINT8 RW 0x02 (2

BIT4 RW 0x00 (0

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

EP7342-0002 51Version: 1.0

CoE parameters

Index 8023 DCM Controller Settings 2 Ch.1

Index (hex) Name Meaning Data type Flags Default

8023:0 DCM Controller Set-

tings 2 Ch.1

Max. Subindex UINT8 RO 0x08 (8

dec

8023:01 Kp factor (velo./pos.) Kp control factor of the velocity/position controller UINT16 RW 0x00C8

(200

)

dec

8023:02 Ki factor (velo./pos.) Ki control factor of the velocity/position controller UINT16 RW 0x0002 (2

8023:03 Inner window (velo./

pos.)

8023:05 Outer window (velo./

pos.)

8023:06 Filter cut off frequency

(velo./pos.)

Inner window for the I component (unit: 1%) UINT8 RW 0x00 (0

Outer window for the I component (unit: 1%) UINT8 RW 0x00 (0

Limit frequency of the velocity/position controller (unit:

UINT16 RW 0x0000 (0 1Hz)

dec

8023:07 Ka factor (velo./pos.) Ka control factor of the velocity/position controller UINT16 RW 0x0000 (0

8023:08 Kd factor (velo./pos.) Kd control factor of the velocity/position controller UINT16 RW 0x0014 (20

Index 8030 DCM Motor Settings Ch.2

Index (hex) Name Meaning Data type Flags Default

8030:0 DCM Motor Settings

Ch.2

8030:01 Maximal current Maximum permanent motor coil current (unit: 1mA) UINT16 RW 0x1388

8030:02 Nominal current Motor nominal current (unit: 1mA) UINT16 RW 0x0DAC

8030:03 Nominal voltage Nominal voltage (supply voltage) of the motor (unit: 1

8030:04 Motor coil resistance Internal resistance of the motor (unit: 0.01 ohm) UINT16 RW 0x0064

8030:05 Reduced current (posi-

tive)

8030:06 Reduced current (neg-

ative)

8030:07 Encoder increments

(4-fold)

8030:08 Maximal motor velocity Rated motor velocity at nominal voltage (unit: 1rpm) UINT16 RW 0x0000 (0

8030:0C Time for switch-off at

overload

8030:0D Time for current lower-

ing at overload

8030:0E Torque auto-reduction

threshold (positive)

8030:0F Torque auto-reduction

threshold (negative)

Max. Subindex UINT8 RO 0x0F (15

(5000

dec

(3500

dec

UINT16 RW 0xC350 mV)

Reduced torque in positive direction of rotation (unit: 1mA)

Reduced torque in negative direction of rotation (unit: 1mA)

Number of encoder increments per revolution with

UINT16 RW 0x07D0

UINT16 RW 0x0000 (0

(50000

(100

dec

(2000

)

dec

quadruple evaluation

Time for switch-off at overload (unit: 1ms) UINT16 RW 0x00C8

(200

)

dec

Time for current lowering at overload (from max. current to nominal current, unit: 1ms)

Process data threshold for automatic torque reduction

UINT16 RW 0x07D0

(2000

UINT8 RW 0x00 (0

dec

in the positive direction of rotation (unit: 1%)

Process data threshold for automatic torque reduction

UINT8 RW 0x00 (0 in the negative direction of rotation (unit: 1%)

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

Index 8031 DCM Controller Settings Ch.2

Index (hex) Name Meaning Data type Flags Default

8031:0 DCM Controller Set-

Max. Subindex UINT8 RO 0x12 (18

tings Ch.2

8031:01 Kp factor (curr.) Kp control factor of the current controller UINT16 RW 0x00C8

(200

)

dec

8031:02 Ki factor (curr.) Ki control factor of the current controller UINT16 RW 0x0002 (2

8031:03 Inner window (curr.) Inner window for the I component (unit: 1%) UINT8 RW 0x00 (0

8031:05 Outer window (curr.) Outer window for the I component (unit: 1%) UINT8 RW 0x00 (0

8031:06 Filter cut off frequency

Limit frequency of the current controller (unit: 1Hz) UINT16 RW 0x0000 (0

(curr.)

8031:11 Voltage adjustment

enable

8031:12 Current adjustment en-

Activates the compensation of voltage fluctuations

BOOLEAN RW 0x00 (0 (only in the operating mode "Direct velocity")

Activates the R x I compensation BOOLEAN RW 0x00 (0

able

EP7342-000252 Version: 1.0

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

CoE parameters

Index 8032 DCM Features Ch.2

Index (hex) Name Meaning Data type Flags Default

8032:0 DCM Features Ch.2 Max. Subindex UINT8 RO 0x36 (54

8032:01 Operation mode Operation mode

0: Automatic

1: Velocity direct

2: Velocity controller

3: Position controller

...: reserved

15: Chopper resistor Existing overvoltage (10% > nominal voltage

0x8030:03 [}52]) is reduced via connected chopper resistor.

8032:09 Invert motor polarity Inverts the direction of rotation of the motor BOOLEAN RW 0x00 (0

8032:0A Torque error enable Activates the automatic overload cut-off (see also

subindex 0x8030:0C [}52])

8032:0B Torque auto reduce Activates the automatic torque reduction (see also

subindex 0x8030:0D [}52] – 0x8030:0F [}52])

8032:11 Select info data 1 Selection "Info data 1"

0: Status word

1: Motor coil voltage

2: Motor coil current

3: Current limit

4: Control error

5: Duty cycle

....: reserved

7: Motor velocity

8: Overload time

...: reserved

101: Internal temperature

...: reserved

103: Control voltage

104: Motor supply voltage

...: reserved

150: Status word (drive controller)

151: State (drive controller)

...: reserved

8032:19 Select info data 2 Selection "Info data 2"

see subindex 0x8032:11 [}53]

8032:30 Invert digital input 1 Inversion of digital input 1 BOOLEAN RW 0x00 (0

8032:31 Invert digital input 2 Inversion of digital input 2 BOOLEAN RW 0x00 (0

8032:32 Function for input 1 Function of digital input 1

0: Normal input

1: Hardware enable

...: reserved

8032:36 Function for input 2 Function of digital input 2

see subindex 0x8032:32 [}53]

BIT4 RW 0x00 (0

BOOLEAN RW 0x00 (0

UINT8 RW 0x01 (1

UINT8 RW 0x02 (2

BIT4 RW 0x00 (0

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

EP7342-0002 53Version: 1.0

CoE parameters

Index 8033 DCM Controller Settings 2 Ch.2

Index (hex) Name Meaning Data type Flags Default

8033:0 DCM Controller Set-

tings 2 Ch.2

Max. Subindex UINT8 RO 0x08 (8

dec

8033:01 Kp factor (velo./pos.) Kp control factor of the velocity/position controller UINT16 RW 0x00C8

(200

)

dec

8033:02 Ki factor (velo./pos.) Ki control factor of the velocity/position controller UINT16 RW 0x0002 (2

8033:03 Inner window (velo./

pos.)

8033:05 Outer window (velo./

pos.)

8033:06 Filter cut off frequency

(velo./pos.)

Inner window for the I component (unit: 1%) UINT8 RW 0x00 (0

Outer window for the I component (unit: 1%) UINT8 RW 0x00 (0

Limit frequency of the velocity/position controller (unit:

UINT16 RW 0x0000 (0 1Hz)

dec

8033:07 Ka factor (velo./pos.) Ka control factor of the velocity/position controller UINT16 RW 0x0000 (0

8033:08 Kd factor (velo./pos.) Kd control factor of the velocity/position controller UINT16 RW 0x0014(20

Index 8040 POS Settings Ch.1

Index (hex) Name Meaning Data type Flags Default

8040:0 POS Settings Ch.1 Max. Subindex UINT8 RO 0x10 (16

8040:01 Velocity min. Minimum set velocity (range: 0-10000) INT16 RW 0x0064

(100

8040:02 Velocity max. Maximum set velocity (range: 0-10000) INT16 RW 0x2710

(10000

8040:03 Acceleration pos. Acceleration in positive direction of rotation (unit: 1 ms) UINT16 RW 0x03E8

(1000

8040:04 Acceleration neg. Acceleration in negative direction of rotation (unit: 1

ms)

UINT16 RW 0x03E8

(1000

8040:05 Deceleration pos. Deceleration in positive direction of rotation (unit: 1 ms) UINT16 RW 0x03E8

(1000

8040:06 Deceleration neg. Deceleration in negative direction of rotation (unit: 1

ms)

8040:07 Emergency decelera-

tion

Emergency deceleration (both directions of rotation, unit: 1 ms)

UINT16 RW 0x03E8

(1000

UINT16 RW 0x0064

(100

8040:08 Calibration position Calibration position UINT32 RW 0x00000000

8040:09 Calibration velocity (to-

wards plc cam)

8040:0A Calibration Velocity

(off plc cam)

Calibration velocity towards the cam (range: 0-10000) INT16 RW 0x03E8

(1000

Calibration velocity away from the cam (range: 0-10000)

INT16 RW 0x0064

(100

8040:0B Target window Target window UINT16 RW 0x000A (10

8040:0C In-Target timeout Timeout at target position (unit: 1 ms) UINT16 RW 0x03E8

(1000

8040:0D Dead time compensa-

tion

Dead time compensation (unit: 1 µs) INT16 RW 0x0064

(100

8040:0E Modulo factor Modulo factor/position UINT32 RW 0x00000000

8040:0F Modulo tolerance win-

dow

Tolerance window for modulo positioning UINT32 RW 0x00000000

8040:10 Position lag max. Max. permitted position lag UINT16 RW 0x0000 (0

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

EP7342-000254 Version: 1.0

CoE parameters

Index 8041 POS Features Ch.1

Index (hex) Name Meaning Data type Flags Default

8041:0 POS Features Ch.1 UINT8 RO 0x16 (22

8041:01 Start type Standard start type UINT16 RW 0x0001 (1

8041:11 Time information Time information in subindex 6pp0: 22 (“Actual drive

time”)

0: Elapsed time current drive time since start of the travel command

...: reserved

8041:13 Invert calibration cam

Inversion of the direction of rotation towards the cam BOOLEAN RW 0x01 (1

search direction

8041:14 Invert sync impulse

Inversion of the direction of rotation away from the cam BOOLEAN RW 0x00 (0

search direction

8041:15 Emergency stop on

position lag error

- Lag error monitoring has triggered

- an emergency stop is triggered as soon as "Position lag" = 1. The "Misc Error" is set to 1 and a PDO error is generated.

8041:16 Enhanced diag history TRUE:

Additional messages are output during the travel command (each change of the state machine (index

0x9040:03 [}63]))

BIT2 RW 0x00 (0

BOOLEAN RW 0x00 (0

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

Index 8050 POS Settings Ch.2

Index (hex) Name Meaning Data type Flags Default

8050:0 POS Settings Ch.2 Max. Subindex UINT8 RO 0x10 (16

8050:01 Velocity min. Minimum set velocity (range: 0-10000) INT16 RW 0x0064

(100

8050:02 Velocity max. Maximum set velocity (range: 0-10000) INT16 RW 0x2710

(10000

8050:03 Acceleration pos. Acceleration in positive direction of rotation (unit: 1 ms) UINT16 RW 0x03E8

(1000

8050:04 Acceleration neg. Acceleration in negative direction of rotation (unit: 1

ms)

UINT16 RW 0x03E8

(1000

8050:05 Deceleration pos. Deceleration in positive direction of rotation (unit: 1 ms) UINT16 RW 0x03E8

(1000

8050:06 Deceleration neg. Deceleration in negative direction of rotation (unit: 1

ms)

8050:07 Emergency Decelera-

tion

Emergency deceleration (both directions of rotation, unit: 1 ms)

UINT16 RW 0x03E8

(1000

UINT16 RW 0x0064

(100

8050:08 Calibration position Calibration position UINT32 RW 0x00000000

8050:09 Calibration velocity (to-

wards plc cam)

8050:0A Calibration Velocity

(off plc cam)

Calibration velocity towards the cam (range: 0-10000) INT16 RW 0x03E8

(1000

Calibration velocity away from the cam (range: 0-10000)

INT16 RW 0x0064

(100

8050:0B Target window Target window UINT16 RW 0x000A (10

8050:0C In-Target timeout Timeout at target position (unit: 1 ms) UINT16 RW 0x03E8

(1000

8050:0D Dead time compensa-

tion

Dead time compensation (unit: 1 µs) INT16 RW 0x0064

(100

8050:0E Modulo factor Modulo factor/position UINT32 RW 0x00000000

8050:0F Modulo tolerance win-

dow

Tolerance window for modulo positioning UINT32 RW 0x00000000

8050:10 Position lag max. Max. permitted position lag UINT16 RW 0x0000 (0

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

EP7342-0002 55Version: 1.0

CoE parameters

Index 8051 POS Features Ch.2

Index (hex) Name Meaning Data type Flags Default

8051:0 POS Features Ch.2 Max. Subindex UINT8 RO 0x16 (22

8051:01 Start type Standard start type UINT16 RW 0x0001 (1

8051:11 Time information Time information in subindex 6pp0: 22 (“Actual drive

time”)

0: Elapsed time current drive time since start of the travel command

...: reserved

BIT2 RW 0x00 (0

)

dec

)

dec

)

dec

8051:13 Invert calibration cam

Inversion of the direction of rotation towards the cam BOOLEAN RW 0x01 (1

search direction

8051:14 Invert sync impulse

Inversion of the direction of rotation away from the cam BOOLEAN RW 0x00 (0

search direction

8051:15 Emergency stop on

position lag error

- Lag error monitoring has triggered

- an emergency stop is triggered as soon as "Position

BOOLEAN RW 0x00 (0

lag" = 1. The "Misc Error" is set to 1 and a PDO error is generated.

8051:16 Enhanced diag history TRUE:

BOOLEAN RW 0x00 (0 Additional messages are output during the travel command (each change of the state machine (index

0x9050:03 [}63]))

6.3 Command object

Index FB00 DCM Command

Index (hex) Name Meaning Data type Flags Default

FB00:0 DCM Command Max. Subindex UINT8 RO 0x03 (3

FB00:01 Request 0x1000 Clear diag history

Clear the Diag History

0x1100 Get build number: Read out the build number

0x1101 Get build date Read out the build date

0x1102 Get build time Read out the build time

0x8000 Software reset Perform a software reset (hardware is re-initialized with the current CoE configuration; this otherwise happens only during the transition to INIT)

FB00:02 Status 0: Finished, no error, no response

Command terminated without error and without response

1: Finished, no error, response Command terminated without error and with response

2: Finished, error, no response Command terminated with error and without response

3: Finished, error, response Command terminated with error and with response

255: Executing Command is being executed

FB00:03 Response dependent on the request OCTET-

OCTET-

RW {0}

STRING[2]

UINT8 RO 0x00 (0

RO {0}

STRING[4]

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

EP7342-000256 Version: 1.0

CoE parameters

6.4 Input data

Index 6000 ENC Inputs Ch.1

Index (hex) Name Meaning Data type Flags Default

6000:0 ENC Inputs Ch.1 Max. Subindex UINT8 RO 0x16 (22

6000:02 Latch extern valid The counter value was locked via the external latch.

BOOLEAN RO 0x00 (0

The data with the index 0x6000:12 [}57] correspond to the latched value with the bit set. In order to re-acti-

vate the latch input, index 0x7000:02 [}60] or object index 0x7000:04 [}60] must first be cancelled and

then set again.

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

6000:04 Counter underflow Counter underflow.

BOOLEAN RO 0x00 (0 Overflow/underflow control is inactive in combination with a reset function (C/external).

6000:05 Counter overflow Counter overflow.

BOOLEAN RO 0x00 (0

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

6000:08 Extrapolation stall The extrapolated part of the counter is invalid. BOOLEAN RO 0x00 (0

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

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

6000:0D Status of extern latch Status of the extern latch input BOOLEAN RO 0x00 (0

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

BOOLEAN RO 0x00 (0 cates whether a synchronization error has occurred during the previous cycle.

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

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

BOOLEAN RO 0x00 (0 data of the associated TxPDO is updated.

6000:11 Counter value Counter value UINT32 RO 0x00000000

6000:12 Latch value Latch value UINT32 RO 0x00000000

6000:16 Timestamp Timestamp of the last counter change UINT32 RO 0x00000000

dec

)

dec

)

dec

)

dec

)

EP7342-0002 57Version: 1.0

CoE parameters

Index 6010 ENC Inputs Ch.2

Index (hex) Name Meaning Data type Flags Default

6010:0 ENC Inputs Ch.2 Max. Subindex UINT8 RO 0x16 (22

6010:02 Latch extern valid The counter value was locked via the external latch.

BOOLEAN RO 0x00 (0

The data with the index 0x6010:12 [}58] correspond to the latched value with the bit set. In order to re-acti-

vate the latch input, index 0x7010:02 [}60] or object index 0x7010:04 [}60] must first be cancelled and

then set again.

6010:03 Set counter done The counter was set. BOOLEAN RO 0x00 (0

6010:04 Counter underflow Counter underflow.

BOOLEAN RO 0x00 (0 Overflow/underflow control is inactive in combination with a reset function (C/external).

6010:05 Counter overflow Counter overflow.

BOOLEAN RO 0x00 (0

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

6010:08 Extrapolation stall The extrapolated part of the counter is invalid BOOLEAN RO 0x00 (0

6010:09 Status of input A Status of input A BOOLEAN RO 0x00 (0

6010:0A Status of input B Status of input B BOOLEAN RO 0x00 (0

6010:0D Status of extern latch Status of the extern latch input BOOLEAN RO 0x00 (0

6010:0E Sync error The Sync error bit is only required for DC mode. It indi-

BOOLEAN RO 0x00 (0 cates whether a synchronization error has occurred during the previous cycle.

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

6010:10 TxPDO Toggle The TxPDO toggle is toggled by the slave when the

BOOLEAN RO 0x00 (0 data of the associated TxPDO is updated.

6010:11 Counter value Counter value UINT32 RO 0x00000000

6010:12 Latch value Latch value UINT32 RO 0x00000000

6010:16 Timestamp Timestamp of the last counter change UINT32 RO 0x00000000

dec

)

dec

)

dec

)

dec

)

Index 6020 DCM Inputs Ch.1

Index (hex) Name Meaning Data type Flags Default

6020:0 DCM Inputs Ch.1 Max. Subindex UINT8 RO 0x12 (18

6020:01 Ready to enable Driver stage is ready for enabling BOOLEAN RO 0x00 (0

6020:02 Ready Driver stage is ready for operation BOOLEAN RO 0x00 (0

6020:03 Warning

6020:04 Error

A warning has occurred (see index 0xA020 [}64])

An error has occurred (see index 0xA020 [}64])

6020:05 Moving positive Driver stage is activated in positive direction BOOLEAN RO 0x00 (0

6020:06 Moving negative Driver stage is activated in negative direction BOOLEAN RO 0x00 (0

6020:07 Torque reduced Reduced torque is active BOOLEAN RO 0x00 (0

6020:0C Digital input 1 Digital input 1 BOOLEAN RO 0x00 (0

6020:0D Digital input 2 Digital input 2 BOOLEAN RO 0x00 (0

6020:0E Sync error The Sync error bit is only required for DC mode. It indi-

cates whether a synchronization error has occurred during the previous cycle.

6020:10 TxPDO Toggle The TxPDO toggle is toggled by the slave when the

data of the associated TxPDO is updated.

6020:11 Info data 1 Synchronous information (selection via subindex

0x8022:11 [}51])

6020:12 Info data 2 Synchronous information (selection via subindex

0x8022:19 [}51])

BOOLEAN RO 0x00 (0

UINT16 RO 0x0000 (0

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

EP7342-000258 Version: 1.0

CoE parameters

Index 6030 DCM Inputs Ch.2

Index (hex) Name Meaning Data type Flags Default

6030:0 DCM Inputs Ch.2 Max. Subindex UINT8 RO 0x12 (18

6030:01 Ready to enable Driver stage is ready for enabling BOOLEAN RO 0x00 (0

6030:02 Ready Driver stage is ready for operation BOOLEAN RO 0x00 (0

6030:03 Warning

6030:04 Error

A warning has occurred (see index 0xA030 [}64])

An error has occurred (see index 0xA030 [}64])

6030:05 Moving positive Driver stage is activated in positive direction BOOLEAN RO 0x00 (0

6030:06 Moving negative Driver stage is activated in negative direction BOOLEAN RO 0x00 (0

6030:07 Torque reduced Reduced torque is active BOOLEAN RO 0x00 (0

6030:0C Digital input 1 Digital input 1 BOOLEAN RO 0x00 (0

6030:0D Digital input 2 Digital input 2 BOOLEAN RO 0x00 (0

6030:0E Sync error The Sync error bit is only required for DC mode. It indi-

cates whether a synchronization error has occurred during the previous cycle.

6030:10 TxPDO Toggle The TxPDO toggle is toggled by the slave when the

data of the associated TxPDO is updated.

6030:11 Info data 1 Synchronous information (selection via subindex

0x8032:11 [}53])

6030:12 Info data 2 Synchronous information (selection via subindex

0x8032:19 [}53])

BOOLEAN RO 0x00 (0

UINT16 RO 0x0000 (0

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

Index 6040 POS Inputs Ch.1

Index (hex) Name Meaning Data type Flags Default

6040:0 POS Inputs Ch.1 Max. Subindex UINT8 RO 0x22 (34

6040:01 Busy A current travel command is active BOOLEAN RO 0x00 (0

6040:02 In-Target Motor has arrived at target BOOLEAN RO 0x00 (0

6040:03 Warning A warning has occurred BOOLEAN RO 0x00 (0

6040:04 Error an error has occurred BOOLEAN RO 0x00 (0

6040:05 Calibrated Motor is calibrated BOOLEAN RO 0x00 (0

6040:06 Accelerate Motor is in the acceleration phase BOOLEAN RO 0x00 (0

6040:07 Decelerate Motor is in the deceleration phase BOOLEAN RO 0x00 (0

6040:11 Actual position Current target position of the travel command genera-

tor

UINT32 RO 0x00007FFF

(32767

6040:21 Actual velocity Current set velocity of the travel command generator INT16 RO 0x0000 (0

6040:22 Actual drive time Travel command time information (see subindex

8pp1:11)

UINT32 RO 0x00000000

)

dec

Index 6050 POS Inputs Ch.2

Index (hex) Name Meaning Data type Flags Default

6050:0 POS Inputs Ch.2 Max. Subindex UINT8 RO 0x22 (34

6050:01 Busy A current travel command is active BOOLEAN RO 0x00 (0

6050:02 In-Target Motor has arrived at target BOOLEAN RO 0x00 (0

6050:03 Warning A warning has occurred BOOLEAN RO 0x00 (0

6050:04 Error an error has occurred BOOLEAN RO 0x00 (0

6050:05 Calibrated Motor is calibrated BOOLEAN RO 0x00 (0

6050:06 Accelerate Motor is in the acceleration phase BOOLEAN RO 0x00 (0

6050:07 Decelerate Motor is in the deceleration phase BOOLEAN RO 0x00 (0

6050:11 Actual position Current target position of the travel command genera-

tor

6050:21 Actual velocity Current set velocity of the travel command generator INT16 RO 0x0000 (0

6050:22 Actual drive time Travel command time information (see subindex

8pp1:11)

UINT32 RO 0x00007FFF

(32767

UINT32 RO 0x00000000

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

EP7342-0002 59Version: 1.0

CoE parameters

6.5 Output data

Index 7000 ENC Outputs Ch.1

Index (hex) Name Meaning Data type Flags Default

7000:0 ENC Outputs Ch.1 Max. Subindex UINT8 RO 0x11 (17

7000:02 Enable latch extern on

positive edge

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

7000:04 Enable latch extern on

negative edge

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

Index 7010 ENC Outputs Ch.2

Index (hex) Name Meaning Data type Flags Default

7010:0 ENC Outputs Ch.2 Max. Subindex UINT8 RO 0x11 (17

7010:02 Enable latch extern on

positive edge

7010:03 Set counter Set counter BOOLEAN RO 0x00 (0

7010:04 Enable latch extern on

negative edge

7010:11 Set counter value The counter value to be set via "Set counter" (index

Activate external latch with positive edge. BOOLEAN RO 0x00 (0

Activate external latch with negative edge. BOOLEAN RO 0x00 (0

UINT32 RO 0x00000000

0x7000:03 [}60]).

)

dec

Activate external latch with positive edge. BOOLEAN RO 0x00 (0

Activate external latch with negative edge. BOOLEAN RO 0x00 (0

UINT32 RO 0x00000000

0x7010:03 [}60]).

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

Index 7020 DCM Outputs Ch.1

Index (hex) Name Meaning Data type Flags Default

7020:0 DCM Outputs Ch.1 Max. Subindex UINT8 RO 0x21 (33

7020:01 Enable Activates the output stage BOOLEAN RO 0x00 (0

7020:02 Reset All errors that may have occurred are reset by setting

BOOLEAN RO 0x00 (0 this bit (rising edge)

7020:03 Reduce torque Reduced torque (coil current) is active (see subindex

BOOLEAN RO 0x00 (0

dec

0x8020:05 [}49] / 0x8020:06 [}49])

7020:11 Position Set position specification UINT32 RO 0x00000000

)

dec

7020:21 Velocity Set velocity specification INT16 RO 0x0000 (0

Index 7030 DCM Outputs Ch.2

Index (hex) Name Meaning Data type Flags Default

7030:0 DCM Outputs Ch.2 Max. Subindex UINT8 RO 0x21 (33

7030:01 Enable Activates the output stage BOOLEAN RO 0x00 (0

7030:02 Reset All errors that may have occurred are reset by setting

BOOLEAN RO 0x00 (0 this bit (rising edge)

7030:03 Reduce torque Reduced torque (coil current) is active (see subindex

BOOLEAN RO 0x00 (0 0x8030:05 [}52] / 0x8030:06 [}52])

7030:11 Position Set position specification UINT32 RO 0x00000000

7030:21 Velocity Set velocity specification INT16 RO 0x0000 (0

dec

)

dec

)

dec

)

dec

EP7342-000260 Version: 1.0

CoE parameters

Index 7040 POS Outputs Ch.1

Index (hex) Name Meaning Data type Flags Default

7040:0 POS Outputs Ch.1 Max. Subindex UINT8 RO 0x24 (36

7040:01 Execute Start travel command (rising edge), or prematurely

BOOLEAN RO 0x00 (0 abort travel command (falling edge)

7040:02 Emergency stop Prematurely abort travel command with an emergency

BOOLEAN RO 0x00 (0 ramp (rising edge)

7040:11 Target position Specification of the target position UINT32 RO 0x00007FFF

(32767

7040:21 Velocity Specification of the maximum set velocity INT16 RO 0x0000 (0

7040:22 Start type Specification of the start types

UINT16 RO 0x0000 (0

0x0000 Idle No travel command is being executed

0x0001 Absolute Absolute target position

0x0002 Relative Target position relative to the start position

0x0003 Endless plus Endless driving in positive direction of rotation

0x0004 Endless minus Endless driving in negative direction of rotation

0x0105 Modulo short Shortest distance to the next modulo position

0x0115 Modulo short extended Shortest distance to the next modulo position (without modulo window)

0x0205 Modulo plus Drive in positive direction of rotation to the next modulo position

0x0215 Modulo plus extended Drive in positive direction of rotation to the next modulo position (without modulo window)

0x0305 Modulo minus Drive in negative direction of rotation to the next modulo position

0x0315 Modulo minus extended Drive in negative direction of rotation to the next modulo position (without modulo window)

0x0405 Modulo current Drive in the last implemented direction of rotation to the next modulo position

0x0415 Modulo current extended Drive in the last implemented direction of rotation to the next modulo position (without modulo window)

0x0006 Additive New target position relative/additive to the last target position

0x6000 Calibration, Plc cam Calibration with cam

0x6100 Calibration, Hw sync Calibration with cam and C-track

0x6E00 Calibration, set manual Set calibration manually

0x6E01 Calibration, set manual auto Set calibration automatically

0x6F00 Calibration, clear manual Clear calibration manually

7040:23 Acceleration Acceleration specification UINT16 RO 0x0000 (0

7040:24 Deceleration Deceleration specification UINT16 RO 0x0000 (0

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

EP7342-0002 61Version: 1.0

CoE parameters

Index 7050 POS Outputs Ch.2

Index (hex) Name Meaning Data type Flags Default

7050:0 POS Outputs Ch.2 Max. Subindex UINT8 RO 0x24 (36

7050:01 Execute Start travel command (rising edge), or prematurely

BOOLEAN RO 0x00 (0 abort travel command (falling edge)

7050:02 Emergency Stop Prematurely abort travel command with an emergency

BOOLEAN RO 0x00 (0 ramp (rising edge)

7050:11 Target position Specification of the target position UINT32 RO 0x00007FFF

(32767

7050:21 Velocity Specification of the maximum set velocity INT16 RO 0x0000 (0

7050:22 Start type Specification of the start types 0x0000 Idle

UINT16 RO 0x0000 (0 No travel command is being executed