Beckhoff EP8309-1022 Documentation

Documentation for

EP8309-1022

Multi functional I/O Box

Version:
Date:

2.0.0
2017-11-07

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 EtherCAT Box - Introduction........................................................................................................... 8

2.2 EP8309 - Introduction ................................................................................................................... 10

2.3 EP8309 - Technical data .............................................................................................................. 11

2.4 EP8309 - Process image .............................................................................................................. 13

2.5 Pulse width modulation (PWM)..................................................................................................... 15

2.6 Influencing of the PWMi output value by the parameters ............................................................. 16

3 Basics of EtherCAT .................................................................................................................................17

3.1 EtherCAT basics........................................................................................................................... 17

3.2 Watchdog setting .......................................................................................................................... 17

3.3 EtherCAT State Machine .............................................................................................................. 20

3.4 CoE interface ................................................................................................................................ 22

4 Mounting and cabling .............................................................................................................................27

4.1 Mounting ....................................................................................................................................... 27

4.1.1 Dimensions ......................................................................................................................27

4.1.2 Fixing................................................................................................................................28

4.2 Cabling.......................................................................................................................................... 29

4.2.1 Connections .....................................................................................................................29

4.2.2 Nut torque for connectors ................................................................................................30

4.2.3 EtherCAT .........................................................................................................................32

4.2.4 Power Connection............................................................................................................35

4.2.5 Signal connection.............................................................................................................41

4.2.6 UL Requirements .............................................................................................................44

5 Commissioning and Configuration........................................................................................................45

5.1 Inserting into the EtherCAT network............................................................................................. 45

5.2 Configuration via TwinCAT ........................................................................................................... 48

5.3 Tacho analysis.............................................................................................................................. 56

5.4 Switching between PWMi and analog output ............................................................................... 59

5.5 Quick start..................................................................................................................................... 60

5.6 Range settings for inputs and outputs .......................................................................................... 65

5.7 CoE objects .................................................................................................................................. 66

5.7.1 CoE interface ...................................................................................................................66

5.7.2 Object overview................................................................................................................71

5.7.3 Object description and parameterization .........................................................................79

5.8 Restoring the delivery state .......................................................................................................... 98

6 Diagnostics ............................................................................................................................................100

7 Appendix ................................................................................................................................................101

7.1 General operating conditions...................................................................................................... 101

7.2 Firmware Update EL/ES/EM/EPxxxx.......................................................................................... 102

7.2.1 Device description ESI file/XML.....................................................................................103

7.2.2 Firmware explanation.....................................................................................................106

EP8309-1022 3Version: 2.0.0

Table of contents

7.2.3 Updating controller firmware *.efw .................................................................................107

7.2.4 FPGA firmware *.rbf.......................................................................................................108

7.2.5 Simultaneous updating of several EtherCAT devices....................................................112

7.3 EtherCAT Box- / EtherCATPBox - Accessories........................................................................ 113

7.4 Support and Service ................................................................................................................... 114

EP8309-10224 Version: 2.0.0

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

Patent Pending

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

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

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

Copyright

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

EP8309-1022 5Version: 2.0.0

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 symbols

In this documentation the following symbols are used with an accompanying safety instruction or note. The
safety instructions must be read carefully and followed without fail!

DANGER

WARNING

CAUTION

Attention

Note

Serious risk of injury!

Failure to follow the safety instructions associated with this symbol directly endangers the
life and health of persons.

Risk of injury!

Failure to follow the safety instructions associated with this symbol endangers the life and
health of persons.

Personal injuries!

Failure to follow the safety instructions associated with this symbol can lead to injuries to
persons.

Damage to the environment or devices

Failure to follow the instructions associated with this symbol can lead to damage to the en­vironment or equipment.

Tip or pointer

This symbol indicates information that contributes to better understanding.

EP8309-10226 Version: 2.0.0

Foreword

1.3 Documentation Issue Status

Version Comment

2.0.0 • Migration

• Technical data updated

1.1.0 • Power Connection updated

1.0.0 • 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.

Documentation
Version

2.0.0 06 06

1.0.0 06 03

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)

WWYYFFHH

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

Example with D-no.: 25 13 06 03:

25 - week of production 25
13 - year of production 2013
06 - firmware version 06
03 - hardware version 03

EP8309-0002

Firmware Hardware

EP8309-1022 7Version: 2.0.0

Product Overview

2 Product Overview

2.1 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.

EP8309-10228 Version: 2.0.0

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

Product Overview

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

Basic EtherCAT documentation

You will find a detailed description of the EtherCAT system in the Basic System Documen-

Note

tation for EtherCAT, which is available for download from our website (www.beckhoff.com)
under Downloads.

XML files

You will find XML files (XML Device Description Files) for Beckhoff EtherCAT modules on

Note

our website (www.beckhoff.com) under Downloads, in the Configuration Files area.

EP8309-1022 9Version: 2.0.0

Product Overview

2.2 EP8309 - Introduction

Fig.4: EP8309

EtherCAT Box with different digital and analog inputs and outputs

The EP8309-x022 EtherCAT Box has various digital and analog inputs and outputs.
The analog signals can be processed and output in the range 0/4…20mA, the digital signals in the range
24VDC.

The possible output currents are different and can be found in the technical data.
The resolution for the current signals takes place with 12bits, signed. This applies to input and output
signals.

The signal channels and the 24VDC supply have a common ground potential.

A PWMi output is integrated for connecting a proportional valve. For valves with integrated electronics, this
output can alternatively be operated as an analog current output with continuous 24V supply for the valve.

Quick links

• Installation [}27]

• Configuration [}48]

• UL requirements [}44]

EP8309-102210 Version: 2.0.0

Product Overview

2.3 EP8309 - Technical data

Fieldbus

Technical Data EP8309-x022

Fieldbus EtherCAT
Fieldbus connection 2 x M8 socket (green)

Tacho inputs

Technical Data EP8309-x022

Number of tacho inputs 1 or 2 (dual-shaft mode or single-shaft mode)
Input type Single-shaft mode: two digital sensors on a

common axis
Dual-shaft mode: two digital sensors on two
different axes, no direction detection, no error
detection)

Tacho inputs connection [}41]

Rated input voltage 24VDC (-15%/+20%)
Input filter 2.5kHz
Signal voltage "0" -3...+5V (EN61131-2, type3)
Signal voltage "1" +11...+30V (EN61131-2, type3)
Input current typically 3mA (EN61131-2, type3)
Sensor supply from the control voltage Us
Current consumption of the sensors max. 0.5A, short-circuit-proof overall

M12

Digital inputs and outputs (DIO)

Technical Data EP8309-x022

Number of digital inputs and outputs (DIO) [}42]

Inputs

Input connections M12
Rated input voltage 24VDC (-15%/+20%)
Input filter 3.0ms
Signal voltage "0" -3...+5V (EN61131-2, type3)
Signal voltage "1" +11...+30V (EN61131-2, type3)
Input current typically 3mA (EN61131-2, type3)
Sensor supply from the control voltage Us
Current consumption of the sensors max. 0.5A, short-circuit-proof overall

Outputs

Output connections M12
Load type ohmic, inductive, lamp load
Rated output voltage 24VDC (-15%/+20%)
Output current max. 0.5A per channel for sockets 4 and 5

Short circuit current typically 1.5A
Output driver supply from load voltage Up
Output driver current consumption typically 8 mA per channel

8

max. 1.0A per channel for sockets 6 and 7

EP8309-1022 11Version: 2.0.0

Product Overview

PWM outputs

Technical Data EP8309-x022

Number of PWM outputs (alternatively analog output) 1

Output connections [}43]

Load type ohmic/inductive > 1mH
Supply for the output stage 24VDC via power contacts
Output current per channel 1.2 A (short-circuit-proof, common thermal overload

PWM clock frequency approx. 30kHz
Rated load voltage 24VDC (-15%/+20%)
Resolution 10bit
Distributed Clocks yes

Analog inputs (AI)

Technical Data EP8309-x022

Number of analog inputs 2

Input connections [}42]

Signal type 0…20 mA or 4…20 mA (can be set for each CoE)
Input resistance 85 Ω typ. + diode voltage
Resolution 12bit (including sign)
Input filter limit frequency 5kHz
Conversion time approx. 100 µs
Measuring error < 0,3% (relative to full scale value)

M12

warning for both output stages)

M12 sockets

Analog outputs (AO)

Technical Data EP8309-x022

Number of analog outputs (alternatively PWMi output) 1

Output connections [}43]

Signal type 0…20 mA or 4…20 mA (can be set for each CoE)
Load <500Ω
Resolution 12bit
Conversion time approx. 40 µs
Measuring error < 0,3% (relative to full scale value)

M12 sockets

EP8309-102212 Version: 2.0.0

Product Overview

General technical data

Technical Data EP8309-x022

Special features Multi-function module
Module electronic supply from the control voltage Us
Module electronic current consumption typically 120mA
Sensor supply from load voltage Up, DC, any value up to 30V
Actuator supply from load voltage Up, DC, any value up to 30V
Power supply connection Power supply: 1 x M8 plug, 4-pole

Onward connection: 1 x M8 socket, 4-pole

Process image Inputs: 2 x 16bit

Outputs: 2 x 16bit
Electrical isolation Control voltage/ fieldbus: 500V
Weight approx. 165g
Permissible ambient temperature during operation -25°C ... +60°C
Permissible ambient temperature during storage -40°C ... +85°C
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 (according to EN 60529)
Installation position variable
Approvals CE, cULus

2.4 EP8309 - Process image

In the default setting the EP8309 is configured for:

• analog input channel 1

• analog input channel 2

• Tacho signal from two sensors on one axis (single-shaft mode)

• 6 digital inputs

• Status of PWM output

• Acknowledge / Reset in the event of a PWM error.

• 6 digital outputs

• General EtherCAT process data

AI Inputs Channel1 and 2

The data for the first analog channel can be found under AI Inputs
Channel1.

Underrange: Value of the analog input is less than 0/4mA or -10/0V
Overrange: Value of the analog input is greater than 20mA or +10V

Limit 1: with activated Limit 1 (object 0x8000:07 [}80]= 1) means
1:value less than limit 1 (set in object 0x8000:13 [}80])
2:value greater than limit 1 (set in object 0x8000:13 [}80])
3:value equal to limit 1 (set in object 0x8000:13 [}80])

Limit 2: with activated Limit 2 (object 0x8000:08 [}80]= 1) means
1:value less than limit 2 (set in object 0x8000:14 [}80])
2:value greater than limit 2 (set in object 0x8000:14 [}80])
3:value equal to limit 2 (set in object 0x8000:14 [}80])

Error: This bit is set if over- or under-range was detected.

EP8309-1022 13Version: 2.0.0

Product Overview

Tacho single-shaft mode (depending on the setting in the PDO assignment)

The data for the tacho input can be found under TACHO Single Shaft
Mode Input Channel 1.

see data under commissioning

Tacho dual-shaft mode (depending on the setting in the PDO assignment)

The data for the tacho input can be found under TACHO Dual Shaft
Mode Input Channel 1 or 2.

see data under commissioning

DIG Inputs

PWM Status

DEV Inputs

TACHO Output Channel 1

The data for the digital inputs can be found under DIG Inputs.

X4 Pin4 -> socket 4, pin 4

....

The data for the PWM output can be found under PWM Status

The diagnostic data for the two voltages Us and Up can be found under
DEV Inputs.

TRUE = voltage <= approx. 18 V

DC

....

The control data for the tacho input can be found under TACHO Output
Channel 1.

Reset Error - error reset

EP8309-102214 Version: 2.0.0

Product Overview

DO Outputs

The data for the digital outputs can be found under DO Outputs.

X5 pin4 -> socket 5, pin 4

....

PWM control (activated through PDO assignment 0x1602, default PWM, alternatively AO)

The control data for the PWM output can be found under PWM Control.

Enable Dithering -> activate dithering

Enable -> activate PWM output

Reset -> reset on error

PWM output -> load-independent current, depending on module rating
(e.g. 1.2 A and setting in object 0x8060:10)

AO outputs (activated throughPDO assignment 0x1603), not activated by default

The values for the analog output can be found under AO Outputs.

Analog Output - output value

2.5 Pulse width modulation (PWM)

The Beckhoff terminals and box modules integrate compact PWM output stages in the smallest of designs.

PWM output stages control the output current through pulse width modulation (PWM) of the supply voltage.
This means that the full supply voltage is activated or deactivated at the output. The duty cycle (pulse width)
is modified, but not the voltage level. The current is built up based on the load connected to the inductance.

Fig.5: Operation at load with adequate inductance

Fig.6: Operation at load with inadequate inductance (near ohmic)

EP8309-1022 15Version: 2.0.0

Product Overview

The figure Operation at load with inadequate inductance (virtually ohmic) illustrates operation with an
inadequate inductance. Continuous current flow is not reached. The current has "gaps". This mode of
operation is not permitted.

Pulse width current terminals require inductive loads

The load inductance should have a minimum inductance of 1 mH. Operation of the pulse

Note

width current terminals at loads with an inductance of less than 1 mH is not recommended,
since the intermittent current flow prevents reference between the set value and the arith­metic mean of the current.

2.6 Influencing of the PWMi output value by the

parameters

Fig.7: Influencing of the PWMi output value

EP8309-102216 Version: 2.0.0

Basics of EtherCAT

3 Basics of EtherCAT

3.1 EtherCAT basics

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

3.2 Watchdog setting

General information on watchdog settings

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

The EtherCAT Slave Controller (ESC) has two watchdogs:

• SM watchdog (default: 100 ms)

• PDI watchdog (default: 100 ms)

SM Watchdog (SyncManagerWatchdog)

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

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

PDI watchdog (process data watchdog)

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

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

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

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

EP8309-1022 17Version: 2.0.0

Basics of EtherCAT

Fig.8: EtherCAT tab --> Advanced settings --> Behavior --> Watchdog

Comments:

• The multiplier applies to both watchdogs.

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

• Important: The multiplier/timer setting is loaded into the slave on start-up, if the corresponding
checkbox is ticked. If the checkbox is not ticked, no download takes place, and the ESC setting
remains unchanged.

Multiplier

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

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

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

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

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

Example "Set SM watchdog"

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

Calculation

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

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

EP8309-102218 Version: 2.0.0

CAUTION

CAUTION

Note

Basics of EtherCAT

Caution! Unintended behavior of the system is possible!

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

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

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

Outputs in SAFEOP

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

EP8309-1022 19Version: 2.0.0

Basics of EtherCAT

3.3 EtherCAT State Machine

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

A distinction is made between the following states:

• Init

• Pre-Operational

• Safe-Operational and

• Operational

• Boot

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

Fig.9: EtherCAT State Machine

Init

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

Pre-Operational (Pre-Op)

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

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

Safe-Operational (Safe-Op)

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

EP8309-102220 Version: 2.0.0

Basics of EtherCAT

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

Operational (Op)

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

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

Boot

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

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

EP8309-1022 21Version: 2.0.0

Basics of EtherCAT

3.4 CoE interface

General description

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

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

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

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

• Index 0 to 65535

• Subindex: 0…255

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

The relevant ranges for EtherCAT fieldbus users are:

• x1000: This is where fixed identity information for the device is stored, including name, manufacturer,
serial number etc., plus information about the current and available process data configurations.

• x8000: This is where the operational and functional parameters for all channels are stored, such as
filter settings or output frequency.

Other important ranges are:

• x4000: In some EtherCAT devices the channel parameters are stored here (as an alternative to the
x8000 range).

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

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

Availability

Not every EtherCAT device must have a CoE list. Simple I/O modules without dedicated

Note

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

processor usually have no variable parameters and therefore no CoE list.

EP8309-102222 Version: 2.0.0

Basics of EtherCAT

Fig.10: CoE-Online tab

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

Data management

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

• via the System Manager (figure above) by clicking. This is useful for commissioning of the system/
slaves. Click on the row of the index to be parameterized and enter a value in the SetValue dialog.

• from the control system/PLC via ADS, e.g. through function blocks from the TcEtherCAT.lib library This
is recommended for modifications while the system is running or if no System Manager or operating
staff are available.

Data management

If CoE parameters on the slave are changed online, this is saved fail-safe in the device

Note

Startup list

(EEPROM) in Beckhoff devices. This means that the changed CoE parameters are still re­tained after a restart. The situation may be different with other manufacturers.

Startup list

Changes in the local CoE list of the terminal are lost if the terminal is replaced. If a termi-

Note

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

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

Recommended approach for manual modification of CoE parameters

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

EP8309-1022 23Version: 2.0.0

Basics of EtherCAT

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

Fig.11: Startup list in the TwinCAT System Manager

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

Online/offline directory

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

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

If the slave is offline

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

• the configured status is shown under Identity

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

• Offline is shown in red

EP8309-102224 Version: 2.0.0

Basics of EtherCAT

Fig.12: Offline list

If the slave is online

• the actual current slave directory is read. This may take several seconds, depending on the size and
cycle time.

• the actual identity is displayed

• the firmware and hardware version of the equipment according to the electronic information is
displayed.

• Online is shown in green

Fig.13: Online list

EP8309-1022 25Version: 2.0.0

Basics of EtherCAT

Channel-based order

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

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

dec

/10

steps. The parameter range x8000

hex

exemplifies this:

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

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

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

• …

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

EP8309-102226 Version: 2.0.0

4 Mounting and cabling

4.1 Mounting

4.1.1 Dimensions

Mounting and cabling

Fig.14: Dimensions of the EtherCAT Box Modules

All dimensions are given in millimeters.

Housing properties

EtherCAT Box lean body wide body

Housing material PA6 (polyamide)
Casting compound Polyurethane
Mounting two fastening holes Ø3mm for M3 two fastening holes Ø3mm for M3

two fastening holes Ø4,5mm for M4
Metal parts Brass, nickel-plated
Contacts CuZn, gold-plated
Power feed through max. 4A
Installation position variable
Protection class IP65, IP66, IP67 (conforms to EN 60529) when screwed together
Dimensions (HxWxD) ca. 126 x 30 x 26,5mm ca. 126 x 60 x 26,5mm
Weight approx. 125g, depending on module type approx. 250g, depending on module

type

EP8309-1022 27Version: 2.0.0

Mounting and cabling

4.1.2 Fixing

Note or pointer

While mounting the modules, protect all connectors, especially the IP-Link, against contam-

Note

Modules with narrow housing are mounted with two M3 bolts.
Modules with wide housing are mounted with two M3 bolts to the fixing holes located at the corners or
mounted with two M4 bolts to the fixing holes located centrally.

The bolts must be longer than 15 mm. The fixing holes of the modules are not threaded.

When assembling, remember that the fieldbus connectors increases the overall height. See chapter
accessories.

Mounting Rail ZS5300-0001

The mounting rail ZS5300-0001 (500 mm x 129 mm) allows the time saving assembly of modules.

The rail is made of stainless steel, 1.5 mm thick, with already pre-made M3 threads for the modules. The rail
has got 5.3 mm slots to mount it via M5 screws to the machine.

ination! Only with connected cables or plugs the protection class IP67 is guaranteed! Un­used connectors have to be protected with the right plugs! See for plug sets in the cata­logue.

Fig.15: Mounting Rail ZS5300-000

The mounting rail is 500 mm long, that way 15 narrow modules can be mounted with a distance of 2 mm
between two modules. The rail can be cut to length for the application.

Mounting Rail ZS5300-0011

The mounting rail ZS5300-0011 (500 mm x 129 mm) has in addition to the M3 treads also pre-made M4
treads to fix 60 mm wide modules via their middle holes.

Up to 14 narrow or 7 wide modules may be mixed mounted.

EP8309-102228 Version: 2.0.0

Mounting and cabling

4.2 Cabling

4.2.1 Connections

The EP8309 has different signals that can be connected via the eight M12 sockets.

Comment Connector Comment

EtherCAT IN EtherCAT OUT
Socket 1:

• analog In

Socket 2:

• analog In

Socket 3:

• digital In channel 1 / Tacho
input 1

• digital In channel 2 / Tacho
input 2

Socket 4:

• digital In/Out channel3

• digital In/Out channel4

Power In Power Out

Socket 5:

• digital In/Out channel1

• digital In/Out channel2

Socket 6:

• digital In/Out channel1

• digital In/Out channel2

Socket 7:

• digital In/Out channel3

• digital In/Out channel4

Socket 8:

• pulse width current output
or

• analog output

EP8309-1022 29Version: 2.0.0

Mounting and cabling

4.2.2 Nut torque for connectors

M8 connectors

It is recommended to pull the M8 connectors tight with a nut torque of 0.4 Nm. When using the torque control
screwdriver ZB8800 is also a max. torque of 0.5Nm permissible.

Fig.16: EtherCAT Box with M8 connectors

M12 connectors

It is recommended to pull the M12 connectors tight with a nut torque of 0.6 Nm.

Fig.17: EtherCAT Box with M8 and M12 connectors

EP8309-102230 Version: 2.0.0

7/8" plug connectors

We recommend fastening the 7/8" plug connectors with a torque of 1.5Nm.

Fig.18: 7/8" plug connectors

Torque socket wrenches

Mounting and cabling

Fig.19: ZB8801 torque socket wrench

Ensure the right torque

Use the torque socket wrenches available by Beckhoff to pull the connectors tight (ZB8800,

Note

ZB8801-0000)!

EP8309-1022 31Version: 2.0.0

Mounting and cabling

4.2.3 EtherCAT

4.2.3.1 EtherCAT connection

For the incoming and ongoing EtherCAT connection,

• the EtherCAT Box (EPxxxx) has two M8 sockets, marked in green

• the Coupler Box (FBB-x110) has two M12 sockets

Fig.20: EtherCAT Box: M8 (30mm housing)

Fig.21: EtherCAT Box: M8 60mm housing (EP9214 for example )

EP8309-102232 Version: 2.0.0

Mounting and cabling

Fig.22: Coupler Box: M12

Assignment

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

Ethernet/EtherCAT Plug connector Cable Standard

Signal Description M8 M12 RJ45

Tx + Transmit Data+ Pin 1 Pin 1 Pin 1 yellow
Tx - Transmit Data- Pin 4 Pin 3 Pin 2 orange
Rx + Receive Data+ Pin 2 Pin 2 Pin 3 white
Rx - Receive Data- Pin 3 Pin 4 Pin 6 blue

1

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

2

2

2

2

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

orange/white
orange
blue/white

3

blue

3

3

3

TIA-568B

white/orange
orange
white/green
green

Shield Shield Housing Shroud Screen Screen Screen

1

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

2

) wire colors according to EN 61918

3

) wire colors

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

Note

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

EtherCAT connectors

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

EP8309-1022 33Version: 2.0.0

Mounting and cabling

Designation Plug connector Comment

ZS1090-0003 RJ45 four-pin, IP20, for field assembly
ZS1090-0004 M12 four-pin, IP67, for field assembly
ZS1090-0005 RJ45 eight-pin, IP20, for field assembly, suitable for GigaBit Ethernet
ZS1090-0006 M8 male four-pin, IP67, for field assembly, for ZB903x cable
ZS1090-0007 M8 female four-pin, IP67, for field assembly, for ZB903x cable
ZS1090-1006 M8 male four-pin, IP67, for field assembly up to OD = 6.5mm
ZS1090-1007 M8 female four-pin, IP67, for field assembly up to OD = 6.5mm

4.2.3.2 EtherCAT - Fieldbus LEDs

Fig.23: EtherCAT-LEDs

LED display

LED Display Meaning

IN L/A off no connection to the preceding EtherCAT module

Lit LINK: connection to the preceding EtherCAT module
flashing ACT: Communication with the preceding EtherCAT module

OUT L/A off no connection to the following EtherCAT module

Lit LINK: connection to the following EtherCAT module
flashing ACT: Communication with the following EtherCAT module

Run off Status of the EtherCAT module is Init

flashes quickly Status of the EtherCAT module is pre-operational
flashes slowly Status of the EtherCAT module is safe-operational
Lit Status of the EtherCAT module is operational

EtherCAT statuses

The various statuses in which an EtherCAT module may be found are described in the Ba-

Note

sic System Documentation for EtherCAT, which is available for download from our website
(www.beckhoff.com) under Downloads.

EP8309-102234 Version: 2.0.0

Mounting and cabling

4.2.4 Power Connection

4.2.4.1 Power Connection

The feeding and forwarding of supply voltages is done via two M8 connectors at the bottom end of the
modules:

• IN: left M8 connector for feeding the supply voltages

• OUT: right M8 connector for forwarding the supply voltages

Fig.24: EtherCAT Box, Connectors for power supply

Fig.25: Pin assignment M8, Power In and Power Out

Table1: PIN assignment

Pin Voltage

1 Control voltage Us, +24V
2 Auxiliary voltage Up, +24V

DC

DC

3 GNDs* *) may be connected internally to each other depending on the module: see specific
4 GNDp*

module descriptions

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

Two LEDs display the status of the supply voltages.

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

Never connect the power cables (M8, 24VDC) with the green marked EtherCAT sockets of

Attention

the EtherCAT Box Modules! This can damage the modules!

Control voltage Us: 24V

DC

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

EP8309-1022 35Version: 2.0.0

Mounting and cabling

Auxiliary voltage Up 24V

DC

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

Redirection of the supply voltages

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

Pay attention to the maximum permissible current!

Pay attention also for the redirection of the supply voltages Us and Up, the maximum per-

Attention

missible current for M8 connectors of 4A must not be exceeded!

EP8309-102236 Version: 2.0.0

Mounting and cabling

Supply via EP92x4-0023 PowerBox modules

If the machine requires higher current or if the EtherCAT Box Modules are installed far away from the control
cabinet with included power supply, the usage of four cannel power distribution modules EP9214 or EP9224

(with integrated data logging, see www.beckhoff.com/EP9224) is recommended.

With these modules intelligent power distribution concepts with up to 2x16A and a maximum of 2.5mm²
cable cross-section can be realized.

Fig.26: EP92x4-0023, Connectors for Power In and Power Out

Fig.27: Pin assignment 7/8”, Power In and Power Out

EP8309-1022 37Version: 2.0.0

Mounting and cabling

Electrical isolation

Digital modules

In the digital input/output modules, the grounds of the control voltage (GNDs) and the auxiliary voltage
(GNDp) are connected to each other!

Check this at the documentation of each used EtherCAT Box.

Analog modules

In the analog input/output modules the grounds of the control voltage (GNDs) and the auxiliary voltage
(GNDp) are separated from each other in order to ensure electrical isolation of the analog signals from the
control voltage.

In some of the analog modules the sensors or actuators are supplied by Up - this means, for instance, that in
the case of 0...10 V inputs, any reference voltage (0...30 V) may be connected to Up; this is then available to
the sensors (e.g. smoothed 10 V for measuring potentiometers).

Details of the power supply may be taken from the specific module descriptions.

Electrical isolation may be cancelled!

If digital and analog fieldbus boxes are connected directly via four-core power leads, the

Attention

analog signals in the fieldbus boxes may be no longer electrically isolated from the control
voltage!

4.2.4.2 Status LEDs for power supply

Fig.28: Status LEDs for power supply

LED display

LED Display Meaning

Us (Control voltage) off The power supply voltage Us is not present

green illuminated The power supply voltage Us is present
red illuminated Because of overload (current>0.5A) the sensor supply

generated from power supply voltage Us was switched off for
all sensors fed from this.

Up (Auxiliary voltage) off The power supply voltage Up is not present

green illuminated The power supply voltage Up is present

EP8309-102238 Version: 2.0.0

4.2.4.3 Power cable

Ordering data

Mounting and cabling

Order identifier Power cable Screw

Contacts Cross-section Length

connector

ZK2020-3200-0020 Straight socket, open
ZK2020-3200-0050 5.00m

end

M8 4-pole 0.34 mm

2

2.00m

ZK2020-3200-0100 10.00m
ZK2020-3400-0020 Angled socket, open
ZK2020-3400-0050 5.00m

end

2.00m

ZK2020-3400-0100 10.00m
ZK2020-3132-0001 Straight socket,
ZK2020-3132-0005 0.50m

straight connector

0.15m

ZK2020-3132-0010 1.00m
ZK2020-3132-0020 2.00m
ZK2020-3132-0050 5.00m
ZK2020-3334-0001 Angled socket, angled
ZK2020-3334-0005 0.50m

connector

0.15m

ZK2020-3334-0010 1.00m
ZK2020-3334-0020 2.00m
ZK2020-3334-0050 5.00m

Further available power cables and the associated data sheets can be found in the Beckhoff catalogue or on
our website (http://www.beckhoff.de).

Technical Data

Data

Rated voltage according to IEC61076-2-101 30V

DC

Contamination level according to IEC 60 664-1 3/2
Insulation resistance IEC 60 512-2 >109 Ω
Current carrying capacity according to IEC 60512-3 4A
Volume resistance according to IEC 60512-2 < 5mΩ
Protection class conforms to IEC 60529 IP65/66/67, when screwed together
Ambient temperature -30 °C to +80 °C

4.2.4.4 Power cable conductor losses M8

The ZK2020-xxxx-yyyy power cables should not exceed the total length of 15m at 4A (with continuation).
When planning the cabling, note that at 24V nominal voltage, the functionality of the module can no longer
be assured if the voltage drop reaches 6V. Variations in the output voltage from the power supply unit must
also be taken into account.

EP8309-1022 39Version: 2.0.0

Mounting and cabling

Fig.29: Power cable conductor losses

Example

8m power cable with 0.34mm² cross-section has a voltage drop of 3.2V at 4A.

EP92x4 Power Distribution Modules

With EP9214 and EP9224 Power Distribution Modules intelligent concepts for voltage sup-

Note

ply are available. Further information may be found under www.beckhoff.com/EP9224.

EP8309-102240 Version: 2.0.0

Mounting and cabling

4.2.5 Signal connection

4.2.5.1 Digital inputs M12

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

The signals are connected via M12 connectors.

Fig.30: Digital inputs M12

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

Light emitting diodes indicate the signal state of the inputs.

EP8309-1022 41Version: 2.0.0

Mounting and cabling

4.2.5.2 Digital inputs/outputs M12

The digital input/output channels connect the binary control signals from the automation device for the
process level with the actuators or read digital input signals.

No configuration is required. For each channel one input or output can be connected.

If an output is used, the change in status can be verified on switch-on via the corresponding signal in the
input process image.

The signals are connected via M12 connectors.

Fig.31: Digital inputs/outputs M12

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

LEDs indicate the signal state of the outputs.

4.2.5.3 Analog inputs M12

The analog signal inputs pick up analog control signals from the process level and transmit them to the
higher-level automation device.

The signals are connected via M12 connectors.

Fig.32: Analog inputs M12

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

LEDs indicate the status of the inputs.

EP8309-102242 Version: 2.0.0

Mounting and cabling

4.2.5.4 Analog output and PWMi output M12

Via the multi-function output either an analog output or a PWMi output can be output to a proportional valve,
for example.

The signals are connected via M12 connectors.

Fig.33: Analog output and PWMi output M12

The outputs are short-circuit-proof.

LEDs indicate the signal state of the output.

4.2.5.5 Status LEDs

Fig.34: Status LEDs

Status LEDs at the M12 connections

Connection LED Display Meaning

M12 socket analog
inputs, PWMi

Correct function is indicated if the green Run LED is on and the red Error LED is off.

left off No data transfer to the D/A converter

green Data transfer to the D/A converter

right off Function OK

red Analog error: broken wire or measured value outside the

measuring range

PWMi: general error, see status word

Status LEDs at the M12 connections

Connection LED Display Meaning

M12 socket digital
inputs/outputs

EP8309-1022 43Version: 2.0.0

left /
right

off Input / output off or Low
green Input / output on or High

Mounting and cabling

4.2.6 UL Requirements

The installation of the EtherCAT Box Modules certified by UL has to meet the following requirements.

Supply voltage

CAUTION!

This UL requirements are valid for all supply voltages of all marked EtherCAT Box Mod-

CAUTION

CAUTION

ules!
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!

To meet the UL requirements, the EtherCAT Box Modules must not be connected to unlim­ited power sources!

Networks

CAUTION!

To meet the UL requirements, EtherCAT Box Modules must not be connected to telecom-

CAUTION

Ambient temperature range

munication networks!

CAUTION!

To meet the UL requirements, EtherCAT Box Modules has to be operated only at an ambi-

CAUTION

Marking for UL

All EtherCAT Box Modules certified by UL (Underwriters Laboratories) are marked with the following label.

Fig.35: UL label

ent temperature range of 0 to 55°C!

EP8309-102244 Version: 2.0.0

Commissioning and Configuration

5 Commissioning and Configuration

5.1 Inserting into the EtherCAT network

Installation of the latest XML device description

Please ensure that you have installed the latest XML device description in TwinCAT. This

Note

At the Beckhoff TwinCAT System Manager the configuration tree can be build in two different ways:

• by scanning [}45] for existing hardware (called "online") and

• by manual inserting/appending [}45] of fieldbus devices, couplers and slaves.

Automatic scanning in of the box

• The EtherCAT system must be in a safe, de-energized state before the EtherCAT modules are
connected to the EtherCAT network!

• Switch on the operating voltage, open the TwinCAT System Manager [}48] (Config mode), and scan
in the devices (see Fig. 1). Acknowledge all dialogs with "OK", so that the configuration is in "FreeRun"
mode.

can be downloaded from the Beckhoff website (http://www.beckhoff.de/english/download/
elconfg.htm?id=1983920606140) and installed according to the installation instructions.

Fig.36: Scanning in the configuration (I/O Devices -> right-click -> Scan Devices...)

Appending a module manually

• The EtherCAT system must be in a safe, de-energized state before the EtherCAT modules are
connected to the EtherCAT network!

• Switch on the operating voltage, open the TwinCAT System Manager [}48] (Config mode)

• Append a new I/O device. In the dialog that appears select the device EtherCAT (Direct Mode), and
confirm with OK.

EP8309-1022 45Version: 2.0.0

Commissioning and Configuration

Fig.37: Appending a new I/O device (I/O Devices -> right-click -> Append Device...)

Fig.38: Selecting the device EtherCAT

• Append a new box.

Fig.39: Appending a new box (Device -> right-click -> Append Box...)

• In the dialog that appears select the desired box (e.g. EP2816-0008), and confirm with OK.

EP8309-102246 Version: 2.0.0

Commissioning and Configuration

Fig.40: Selecting a Box (e.g. EP2816-0008)

Fig.41: Appended Box in the TwinCAT tree

EP8309-1022 47Version: 2.0.0

Commissioning and Configuration

5.2 Configuration via TwinCAT

In the left-hand window of the TwinCAT System Manager, click on the branch of the EtherCAT Box you wish
to configure (EP2816-0008 in this example).

Fig.42: Branch of the EtherCAT box to be configured

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

General tab

Fig.43: General tab

Name Name of the EtherCAT device
Id Number of the EtherCAT device
Type EtherCAT device type
Comment Here you can add a comment (e.g. regarding the system).
Disabled Here you can deactivate the EtherCAT device.
Create symbols Access to this EtherCAT slave via ADS is only available if this checkbox is

activated.

EP8309-102248 Version: 2.0.0

Commissioning and Configuration

EtherCAT tab

Fig.44: EtherCAT tab

Type EtherCAT device type
Product/Revision Product and revision number of the EtherCAT device
Auto Inc Addr. Auto increment address of the EtherCAT device. The auto increment address can

be used for addressing each EtherCAT device in the communication ring through
its physical position. Auto increment addressing is used during the start-up phase
when the EtherCAT master allocates addresses to the EtherCAT devices. With
auto increment addressing the first EtherCAT slave in the ring has the address
0000

. For each further slave the address is decremented by 1 (FFFF

hex

, FFFE

hex

etc.).

EtherCAT Addr. Fixed address of an EtherCAT slave. This address is allocated by the EtherCAT

master during the start-up phase. Tick the checkbox to the left of the input field in
order to modify the default value.

Previous Port Name and port of the EtherCAT device to which this device is connected. If it is

possible to connect this device with another one without changing the order of the
EtherCAT devices in the communication ring, then this combobox is activated and
the EtherCAT device to which this device is to be connected can be selected.

Advanced Settings This button opens the dialogs for advanced settings.

hex

The link at the bottom of the tab points to the product page for this EtherCAT device on the web.

Process Data tab

Indicates the configuration of the process data. The input and output data of the EtherCAT slave are
represented as CANopen process data objects (PDO). The user can select a PDO via PDO assignment and
modify the content of the individual PDO via this dialog, if the EtherCAT slave supports this function.

EP8309-1022 49Version: 2.0.0

Commissioning and Configuration

Fig.45: Process Data tab

Sync Manager

Lists the configuration of the Sync Manager (SM).
If the EtherCAT device has a mailbox, SM0 is used for the mailbox output (MbxOut) and SM1 for the mailbox
input (MbxIn).
SM2 is used for the output process data (outputs) and SM3 (inputs) for the input process data.

If an input is selected, the corresponding PDO assignment is displayed in the PDO Assignment list below.

PDO Assignment

PDO assignment of the selected Sync Manager. All PDOs defined for this Sync Manager type are listed
here:

• If the output Sync Manager (outputs) is selected in the Sync Manager list, all RxPDOs are displayed.

• If the input Sync Manager (inputs) is selected in the Sync Manager list, all TxPDOs are displayed.

The selected entries are the PDOs involved in the process data transfer. In the tree diagram of the System
Manager these PDOs are displayed as variables of the EtherCAT device. The name of the variable is
identical to the Name parameter of the PDO, as displayed in the PDO list. If an entry in the PDO assignment
list is deactivated (not selected and greyed out), this indicates that the input is excluded from the PDO
assignment. In order to be able do select a greyed out PDO, the currently selected PDO has to be
deselected first.

EP8309-102250 Version: 2.0.0

Commissioning and Configuration

Activation of PDO assignment

• the EtherCAT slave has to run through the PS status transition cycle (from pre-opera-

Note

PDO list

List of all PDOs supported by this EtherCAT device. The content of the selected PDOs is displayed in the
PDO Content list. The PDO configuration can be modified by double-clicking on an entry.

Column Description

Index PDO index.
Size Size of the PDO in bytes.
Name Name of the PDO.

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

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

M Mandatory PDO. This PDO is mandatory and must therefore be assigned to a Sync

SM Sync Manager to which this PDO is assigned. If this entry is empty, this PDO does not take part

in the process data traffic.

SU Sync unit to which this PDO is assigned.

tional to safe-operational) once (see Online tab [}54]),

• and the System Manager has to reload the EtherCAT slaves ( button)

Manager.

Manager! Consequently, this PDO cannot be deleted from the PDO Assignment list

PDO Content

Indicates the content of the PDO. If flag F (fixed content) of the PDO is not set the content can be modified.

Download

If the device is intelligent and has a mailbox, the configuration of the PDO and the PDO assignments can be
downloaded to the device. This is an optional feature that is not supported by all EtherCAT slaves.

PDO Assignment

If this check box is selected, the PDO assignment that is configured in the PDO Assignment list is
downloaded to the device on startup. The required commands to be sent to the device can be viewed in the

Startup [}51] tab.

PDO Configuration

If this check box is selected, the configuration of the respective PDOs (as shown in the PDO list and the
PDO Content display) is downloaded to the EtherCAT slave.

Startup tab

The Startup tab is displayed if the EtherCAT slave has a mailbox and supports the CANopen over EtherCAT
(CoE) or Servo drive over EtherCAT protocol. This tab indicates which download requests are sent to the
mailbox during startup. It is also possible to add new mailbox requests to the list display. The download
requests are sent to the slave in the same order as they are shown in the list.

EP8309-1022 51Version: 2.0.0

Commissioning and Configuration

Fig.46: Startup tab

Column Description

Transition Transition to which the request is sent. This can either be

• the transition from pre-operational to safe-operational (PS), or

• the transition from safe-operational to operational (SO).

If the transition is enclosed in "<>" (e.g. <PS>), the mailbox request is fixed and cannot be

modified or deleted by the user.
Protocol Type of mailbox protocol
Index Index of the object
Data Date on which this object is to be downloaded.
Comment Description of the request to be sent to the mailbox

Move Up This button moves the selected request up by one position in the list.
Move Down This button moves the selected request down by one position in the list.
New This button adds a new mailbox download request to be sent during startup.
Delete This button deletes the selected entry.
Edit This button edits an existing request.

CoE - Online tab

The additional CoE - Online tab is displayed if the EtherCAT slave supports the CANopen over EtherCAT
(CoE) protocol. This dialog lists the content of the object directory of the slave (SDO upload) and enables the
user to modify the content of an object from this list. Details for the objects of the individual EtherCAT
devices can be found in the device-specific object descriptions.

EP8309-102252 Version: 2.0.0

Commissioning and Configuration

Fig.47: CoE - Online tab

Object list display

Column Description

Index Index and subindex of the object
Name Name of the object
Flags RW The object can be read, and data can be written to the object (read/write)

RO The object can be read, but no data can be written to the object (read only)
P An additional P identifies the object as a process data object.

Value Value of the object

Update List The Update list button updates all objects in the displayed list
Auto Update If this check box is selected, the content of the objects is updated automatically.
Advanced The Advanced button opens the Advanced Settings dialog. Here you can specify which

objects are displayed in the list.

EP8309-1022 53Version: 2.0.0

Commissioning and Configuration

Fig.48: Advanced settings

Online

- via SDO information

Offline

- via EDS file

Online tab

If this option button is selected, the list of the objects included in the object
directory of the slave is uploaded from the slave via SDO information. The list
below can be used to specify which object types are to be uploaded.

If this option button is selected, the list of the objects included in the object
directory is read from an EDS file provided by the user.

Fig.49: Online tab

EP8309-102254 Version: 2.0.0

Commissioning and Configuration

State Machine

Init This button attempts to set the EtherCAT device to the Init state.
Pre-Op This button attempts to set the EtherCAT device to the pre-operational state.
Op This button attempts to set the EtherCAT device to the operational state.
Bootstrap This button attempts to set the EtherCAT device to the Bootstrap state.
Safe-Op This button attempts to set the EtherCAT device to the safe-operational state.
Clear Error This button attempts to delete the fault display. If an EtherCAT slave fails during

change of state it sets an error flag.

Example: An EtherCAT slave is in PREOP state (pre-operational). The master now
requests the SAFEOP state (safe-operational). If the slave fails during change of
state it sets the error flag. The current state is now displayed as ERR PREOP. When
the Clear Error button is pressed the error flag is cleared, and the current state is
displayed as PREOP again.

Current State Indicates the current state of the EtherCAT device.
Requested State Indicates the state requested for the EtherCAT device.

DLL Status

Indicates the DLL status (data link layer status) of the individual ports of the EtherCAT slave. The DLL status
can have four different states:

Status Description

No Carrier / Open No carrier signal is available at the port, but the port is open.
No Carrier / Closed No carrier signal is available at the port, and the port is closed.
Carrier / Open A carrier signal is available at the port, and the port is open.
Carrier / Closed A carrier signal is available at the port, but the port is closed.

File Access over EtherCAT

Download With this button a file can be written to the EtherCAT device.
Upload With this button a file can be read from the EtherCAT device.

EP8309-1022 55Version: 2.0.0

Commissioning and Configuration

5.3 Tacho analysis

Tacho analysis refers to velocity or frequency logging for two digital sensors mounted on one shaft (single­shaft mode)or on two shafts (dual-shaft mode).

In single-shaft mode a plausibility check can be run for the two sensors (e.g. velocity deviation of the two
sensors).

The targets (sensor markings) should show a 90° overlapping signal when triggered. The minimum ON of
OFF time must not be less than 0.2ms, otherwise detection is not possible due to the sampling frequency.

The number of targets on the axis can be set in CoE object 0x80x0:11. In this way slower velocity/speed
detection with many targets or high velocity with few targets can be achieved.

Mode selection via the PDOs

The different modes are activated via the PDO assignment.

Single-shaft mode

The input PDO 0x1A02 activates the corresponding setting. The output data are always set.

Fig.50: Tacho evaluation – single shaft mode

Process data

Value Description

Error Input A The measured velocity/frequency is lower than that of track B, or it is 0 (sensor faulty)
Input Status A Status of input A
Error Input B The measured velocity/frequency is lower than that of track A, or it is 0 (sensor faulty)
Input Status B Status of input B
Speed below

threshold
Rotational Speed Rotational speed and frequency, shown as a function of CoE object 0x80x0:15
Rotation Direction 0: rising edge of input A occurs before rising edge of input B

The velocity is lower than the limit in CoE 0x8020:12 Rotational Speed Threshold or = 0

EP8309-102256 Version: 2.0.0

Display of the rotational speed

Commissioning and Configuration

Fig.51: Tacho evaluation - display of the rotational speed

Dual Shaft Mode

The input PDOs 0x1A03 and 0x1A04 activate the two dual-shaft process data. The output data are always
set.

Fig.52: Tacho evaluation - dual shaft mode

EP8309-1022 57Version: 2.0.0

Commissioning and Configuration

Process data (settings for the second channel equivalent)

Value Description

Digital input Status of input
Speed below

threshold
Rotational Speed Rotational speed and frequency, shown as a function of CoE object 0x80x0:15

Display of the rotational speed

see single-shaft mode

CoE settings

The behavior of the tacho inputs is set via the CoE objects.

The velocity is lower than the limit in CoE 0x8020:12 or = 0

Fig.53: Tacho evaluation -

The following settings apply to all channels:

CoE Value Description

80xx:12 Input Signal Timeout The process record <Speed Below Threshold> is set after x msec

without signal change at the input.

The following settings are only available in single-shaft mode

CoE objects for tacho settings (0x8020 and 0x8030)

CoE Value Description

80x0:0B Enable Error Detection Enable/disable error display
80x0:0C Reversion of rotation Reversion of rotation display in Rotation direction
80x0:11 No. of Targets Number of "cams" on the shaft/axis
80x0:12 Rotational Speed Threshold Limit value below which the corresponding status bit is set
80x0:15 Presentation Display of the measured value in RPM, Hz, …

EP8309-102258 Version: 2.0.0

Commissioning and Configuration

5.4 Switching between PWMi and analog output

Mode selection via the PDOs

PWMi mode or analog mode can be selected for operating a proportional valve at socket 7, for example.

• In PWMi mode (default) the coil is controlled directly via a PWM signal. The valve requires no control
electronics.

• In analog mode a current value of 0...20mA or 4...20mA is output, via which the control electronics
integrated in the valve controls the valve travel.

The 24VDC supply is switched on continuously.

The different modes are activated via the PDO assignment.

PWMi mode

The output PDO 0x1602 activates the PWMi mode.

Fig.54: Switching the PWMi/analog output - PWMi mode

Analog mode

The output PDO 0x1603 activates the analog mode.

EP8309-1022 59Version: 2.0.0

Commissioning and Configuration

Fig.55: Switching the PWMi/analog output - analog mode

5.5 Quick start

Parameterization of the main settings

The module is factory-set such that in most applications it is operational without further parameterization.

Set the parameter Max Current [%] (0x8pp0:10 [}80]) such that the maximum inductance current is not
exceeded. If an EP8309 with 1.2 A rated current and an inductance with a maximum current of 600 mA is
used, this parameter can be set to 50 (50%). This means that, at a maximum process data value of 32767
a coil current of +600 mA is reached (not +1 A).

Info data objects

Via the info data objects additional information can be transferred synchronously. For each channel two of
these objects are available.

The synchronous info data can be activated in the TwinCAT System Manager via the "Process Data" tab
(0x1A07).

dec

EP8309-102260 Version: 2.0.0

Commissioning and Configuration

Fig.56: Info data objects - activation of the synchronous info data

Objects 0x8060:21 [}80] and 0x8060:22 [}80] can be used to set the value to be transferred
synchronously.

Fig.57: Info data objects – selection of the value to be transmitted

EP8309-1022 61Version: 2.0.0

Commissioning and Configuration

The following entries are available:

Value Text Description

0 Actual current Actual current in mA
1 Set current Set current in mA
2 Duty Cycle The PWM duty cycle of the output stage. A value of 1000 corresponds to

100% duty cycle.

Watchdog

The analog output value can, e.g. in the case of a failure of communication with the controller, be set to a
user-specific value.

Fig.58: Watchdog

Three parameterization options are available for this purpose:

Watchdog object (0x8060:05
[}83])

0: Default watchdog value

1: Watchdog ramp active

2: Last output value active In the event of a fault (watchdog drop) the last process data is

Behavior

The substitute switching value (0x8060:0D [}83]) is output on error.

On error the output value is moved to the default value (0x8060:0D
[}83]) with the ramp time set under 0x8060:0E [}83]

The ramp time is specified in digits / ms.

If the entry is 100 and the default value 0, forexample, it takes
327ms (32767/100) for the output value to change from the
maximum value (32767) to the default value in the event of a fault.

issued.

EP8309-102262 Version: 2.0.0

Commissioning and Configuration

Optimization of the current control parameters

In order to be able to support all possible loads ex factory, the terminal was parameterized with moderate
controller characteristics. Current regulation can be improved significantly by adapting the controller
parameters to the actual load.

To determine the settings a current pulse is applied to the load. This pulse can be picked up with an
oscilloscope or with TwinCAT ScopeView.

For evaluation with TwinCAT ScopeView the set and actual current is displayed in the synchronous info
data.

Fig.59: Selecting the synchronous info data

EP8309 standard parameters (20 ms/div)

Green: Set current
Red: Actual current

The required step response can be set using the parameters Kp,Ki, and Kd (0x8060:12 [}83] to 0x8060:14
[}83]).

EP8309-1022 63Version: 2.0.0

Optimized parameters (20 ms/div)

Green: Set current
Red: Actual current

Commissioning and Configuration

Dithering

Dithering involves modulating a square wave signal on top of the actual output value. The modulated signal
results in continuous movement of a valve piston, for example.
This reduces static friction and prevents sudden "breakaway" of the piston.

The configuration required for this depends a lot on the particular application.
To activate dithering, the object 0x8060:03 [}83] ("Enable dithering") and the corresponding control bit must

be set.

Fig.60: Enable dithering

The following parameters can be set:

Value Text Description

0x8060:1E
[}83]

0x8060:1F
[}83]

The controller parameters themselves (Kp,Ki, and Kd) also play a role.
In the diagrams a dither of 10 % of the rated current is shown as 100 Hz.
The controller has 5 ms for compensating a current pulse of 10 %. The steepness of the current rise is
limited by the controller parameters and the inductance.
The actual current should follow the set current. This is enabled through suitable settings of the controller
and dither parameters (frequency and amplitude).

Dithering frequency [Hz] Frequency of the applied dither in Hz

Dithering amplitude [%] Amplitude of the applied dither (in % of the rated terminal

current)

EP8309-102264 Version: 2.0.0

Commissioning and Configuration

EP8309 100 Hz dither with 10% amplitude,
poor parameterization (5ms/div)

Green: Set current
Red: Actual current

EP8309 100Hz dither with 10% amplitude,

better parameterization (5ms/div)

Green: Set current
Red: Actual current

5.6 Range settings for inputs and outputs

CoE-Online tab

The CoE-Online tab lists the contents of the slave object directory of the slave (SDO upload) and enables
the user to modify the content of an object in this list.

Object 0xF800:0 [}84] contains the range settings for the inputs and outputs of channels 1 to 4.

Fig.61: CoE-Online tab

Click on objects 0xF800:01 to 0xF800:04 to change the settings.

EP8309-1022 65Version: 2.0.0

Commissioning and Configuration

Fig.62: Changing the settings

5.7 CoE objects

5.7.1 CoE interface

General description

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

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

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

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

• Index 0 to 65535

• Subindex: 0…255

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

The relevant ranges for EtherCAT fieldbus users are:

• x1000: This is where fixed identity information for the device is stored, including name, manufacturer,
serial number etc., plus information about the current and available process data configurations.

• x8000: This is where the operational and functional parameters for all channels are stored, such as
filter settings or output frequency.

Other important ranges are:

• x4000: In some EtherCAT devices the channel parameters are stored here (as an alternative to the
x8000 range).

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

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

EP8309-102266 Version: 2.0.0

Commissioning and Configuration

Availability

Not every EtherCAT device must have a CoE list. Simple I/O modules without dedicated

Note

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

processor usually have no variable parameters and therefore no CoE list.

Fig.63: CoE-Online tab

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

Data management

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

• via the System Manager (figure above) by clicking. This is useful for commissioning of the system/
slaves. Click on the row of the index to be parameterized and enter a value in the SetValue dialog.

• from the control system/PLC via ADS, e.g. through function blocks from the TcEtherCAT.lib library This
is recommended for modifications while the system is running or if no System Manager or operating
staff are available.

Data management

If CoE parameters on the slave are changed online, this is saved fail-safe in the device

Note

(EEPROM) in Beckhoff devices. This means that the changed CoE parameters are still re­tained after a restart. The situation may be different with other manufacturers.

EP8309-1022 67Version: 2.0.0

Commissioning and Configuration

Startup list

Startup list

Changes in the local CoE list of the terminal are lost if the terminal is replaced. If a termi-

Note

Recommended approach for manual modification of CoE parameters

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

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

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

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

Fig.64: Startup list in the TwinCAT System Manager

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

Online/offline directory

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

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

If the slave is offline

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

• the configured status is shown under Identity

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

• Offline is shown in red

EP8309-102268 Version: 2.0.0

Commissioning and Configuration

Fig.65: Offline list

If the slave is online

• the actual current slave directory is read. This may take several seconds, depending on the size and
cycle time.

• the actual identity is displayed

• the firmware and hardware version of the equipment according to the electronic information is
displayed.

• Online is shown in green

Fig.66: Online list

EP8309-1022 69Version: 2.0.0

Commissioning and Configuration

Channel-based order

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

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

dec

/10

steps. The parameter range x8000

hex

exemplifies this:

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

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

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

• …

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

EP8309-102270 Version: 2.0.0

Commissioning and Configuration

5.7.2 Object overview

EtherCAT XML Device Description

The display matches that of the CoE objects from the EtherCAT XML Device Description.

Note

Index (hex) Name Flags Default value

1000 [}85]

1008 [}85]

1009 [}85]

100A [}85]

1011
[}85]:0

1018
[}85]:0

10F0
[}85]:0

1402
[}86]:0

1403
[}86]:0

1600
[}86]:0

1601
[}86]:0

1602
[}86]:0

We recommend downloading the latest XML file from the download area of the Beckhoff
website and installing it according to installation instructions.

Device type RO 0x00001389 (5001

Device name RO EP8309-1022

Hardware version RO 00

Software version RO 02

Subindex Restore default parameters RO 0x01 (1

dec

)
1011:01 SubIndex 001 RW 0x00000000 (0

Subindex Identity RO 0x04 (4

dec

)
1018:01 Vendor ID RO 0x00000002 (2
1018:02 Product code RO 0x20754052

(544555090

dec

1018:03 Revision RO 0x00110016 (1114134
1018:04 Serial number RO 0x00000000 (0
Subindex Backup parameter handling RO 0x01 (1

dec

)
10F0:01 Checksum RO 0x00000000 (0

Subindex PWM RxPDO-Par Control RO 0x06 (6

dec

)
1402:06 Exclude RxPDOs RO 03 16

Subindex AO RxPDO-Par Outputs RO 0x06 (6

dec

)
1403:06 Exclude RxPDOs RO 02 16

Subindex TACHO RxPDO-Map OutputsCh.1 RO 0x03 (3

dec

)
1600:01 SubIndex 001 RO 0x0000:00, 8
1600:02 SubIndex 002 RO 0x7020:09, 1
1600:03 SubIndex 003 RO 0x0000:00, 7
Subindex DO RxPDO-Map Outputs RO 0x07 (7

dec

)
1601:01 SubIndex 001 RO 0x7050:01, 1
1601:02 SubIndex 002 RO 0x7050:02, 1
1601:03 SubIndex 003 RO 0x7050:03, 1
1601:04 SubIndex 004 RO 0x7050:04, 1
1601:05 SubIndex 005 RO 0x7050:05, 1
1601:06 SubIndex 006 RO 0x7050:06, 1
1601:07 SubIndex 007 RO 0x0000:00, 10
Subindex PWM RxPDO-Map Control RO 0x06 (6

dec

)
1602:01 SubIndex 001 RO 0x7060:01, 1
1602:02 SubIndex 002 RO 0x0000:00, 4
1602:03 SubIndex 003 RO 0x7060:06, 1
1602:04 SubIndex 004 RO 0x7060:07, 1
1602:05 SubIndex 005 RO 0x0000:00, 9
1602:06 SubIndex 006 RO 0x7060:11, 16

)

dec

)

dec

)

dec

)

)

dec

)

dec

)

dec

EP8309-1022 71Version: 2.0.0

Commissioning and Configuration

Index (hex) Name Flags Default value

1603
[}87]:0

1802
[}87]:0

1803
[}87]:0

1804
[}87]:0

1A00
[}87]:0

Subindex AO RxPDO-Map Outputs RO 0x01 (1
1603:01 SubIndex 001 RO 0x7070:11, 16

Subindex TACHO TxPDO-Par Single Shaft Mode Input Ch.1 RO 0x06 (6
1802:06 Exclude TxPDOs RO 03 1A 04 1A

Subindex TACHO TxPDO-Par Dual Shaft Mode Input Ch.1 RO 0x06 (6
1803:06 Exclude TxPDOs RO 02 1A 00 00

Subindex TACHO TxPDO-Par Dual Shaft Mode Input Ch.2 RO 0x06 (6
1804:06 Exclude TxPDOs RO 02 1A 00 00

Subindex AI TxPDO-Map Inputs Ch.1 RO 0x0A (10
1A00:01 SubIndex 001 RO 0x6000:01, 1

dec

dec

dec

dec

dec

)

)

)

)

)

1A00:02 SubIndex 002 RO 0x6000:02, 1
1A00:03 SubIndex 003 RO 0x6000:03, 2
1A00:04 SubIndex 004 RO 0x6000:05, 2
1A00:05 SubIndex 005 RO 0x6000:07, 1
1A00:06 SubIndex 006 RO 0x0000:00, 6
1A00:07 SubIndex 007 RO 0x6000:0E, 1
1A00:08 SubIndex 008 RO 0x6000:0F, 1
1A00:09 SubIndex 009 RO 0x6000:10, 1
1A00:0A SubIndex 010 RO 0x6000:11, 16

1A01
[}88]:0

Subindex AI TxPDO-Map Inputs Ch.2 RO 0x0A (10
1A01:01 SubIndex 001 RO 0x6010:01, 1

dec

)

1A01:02 SubIndex 002 RO 0x6010:02, 1
1A01:03 SubIndex 003 RO 0x6010:03, 2
1A01:04 SubIndex 004 RO 0x6010:05, 2
1A01:05 SubIndex 005 RO 0x6010:07, 1
1A01:06 SubIndex 006 RO 0x0000:00, 6
1A01:07 SubIndex 007 RO 0x6010:0E, 1
1A01:08 SubIndex 008 RO 0x6010:0F, 1
1A01:09 SubIndex 009 RO 0x6010:10, 1
1A01:0A SubIndex 010 RO 0x6010:11, 16

1A02
[}88]:0

Subindex TACHO TxPDO-Map Single Shaft Mode Input Ch.1 RO 0x0C (12
1A02:01 SubIndex 001 RO 0x0000:00, 1

dec

)

1A02:02 SubIndex 002 RO 0x6037:02, 1
1A02:03 SubIndex 003 RO 0x6037:03, 1
1A02:04 SubIndex 004 RO 0x6037:04, 1
1A02:05 SubIndex 005 RO 0x6037:05, 1
1A02:06 SubIndex 006 RO 0x0000:00, 3
1A02:07 SubIndex 007 RO 0x0000:00, 3
1A02:08 SubIndex 008 RO 0x6037:0C, 1
1A02:09 SubIndex 009 RO 0x0000:00, 3
1A02:0A SubIndex 010 RO 0x6037:10, 1
1A02:0B SubIndex 011 RO 0x6037:11, 16
1A02:0C SubIndex 012 RO 0x6037:12, 16

EP8309-102272 Version: 2.0.0

Commissioning and Configuration

Index (hex) Name Flags Default value

1A03
[}89]:0

Subindex TACHO TxPDO-Map Dual Shaft Mode Input Ch.1 RO 0x09 (9
1A03:01 SubIndex 001 RO 0x6020:01, 1

dec

)

1A03:02 SubIndex 002 RO 0x0000:00, 2
1A03:03 SubIndex 003 RO 0x0000:00, 1
1A03:04 SubIndex 004 RO 0x0000:00, 4
1A03:05 SubIndex 005 RO 0x0000:00, 3
1A03:06 SubIndex 006 RO 0x6020:0C, 1
1A03:07 SubIndex 007 RO 0x0000:00, 3
1A03:08 SubIndex 008 RO 0x6020:10, 1
1A03:09 SubIndex 009 RO 0x6020:11, 16

1A04
[}89]:0

Subindex TACHO TxPDO-Map Dual Shaft Mode Input Ch.2 RO 0x09 (9
1A04:01 SubIndex 001 RO 0x6030:01, 1

dec

)

1A04:02 SubIndex 002 RO 0x0000:00, 2
1A04:03 SubIndex 003 RO 0x0000:00, 1
1A04:04 SubIndex 004 RO 0x0000:00, 4
1A04:05 SubIndex 005 RO 0x0000:00, 3
1A04:06 SubIndex 006 RO 0x6030:0C, 1
1A04:07 SubIndex 007 RO 0x0000:00, 3
1A04:08 SubIndex 008 RO 0x6030:10, 1
1A04:09 SubIndex 009 RO 0x6030:11, 16

1A05
[}89]:0

Subindex DI TxPDO-Map Inputs RO 0x07 (7
1A05:01 SubIndex 001 RO 0x6040:01, 1

dec

)

1A05:02 SubIndex 002 RO 0x6040:02, 1
1A05:03 SubIndex 003 RO 0x6040:03, 1
1A05:04 SubIndex 004 RO 0x6040:04, 1
1A05:05 SubIndex 005 RO 0x6040:05, 1
1A05:06 SubIndex 006 RO 0x6040:06, 1
1A05:07 SubIndex 007 RO 0x0000:00, 10

1A06
[}90]:0

Subindex PWM TxPDO-Map Status RO 0x08 (8
1A06:01 SubIndex 001 RO 0x0000:00, 1

dec

)

1A06:02 SubIndex 002 RO 0x0000:00, 3
1A06:03 SubIndex 003 RO 0x6060:05, 1
1A06:04 SubIndex 004 RO 0x6060:06, 1
1A06:05 SubIndex 005 RO 0x6060:07, 1
1A06:06 SubIndex 006 RO 0x0000:00, 1
1A06:07 SubIndex 007 RO 0x0000:00, 7
1A06:08 SubIndex 008 RO 0x6060:10, 1

1A07
[}90]:0

Subindex PWM TxPDO-Map Synchronous Info Data RO 0x02 (2
1A07:01 SubIndex 001 RO 0x6060:11, 16

dec

)

1A07:02 SubIndex 002 RO 0x6060:12, 16

1C00
[}90]:0

Subindex Sync manager type RO 0x04 (4
1C00:01 SubIndex 001 RO 0x01 (1
1C00:02 SubIndex 002 RO 0x02 (2
1C00:03 SubIndex 003 RO 0x03 (3
1C00:04 SubIndex 004 RO 0x04 (4

dec

dec

dec

dec

dec

)
)
)
)
)

EP8309-1022 73Version: 2.0.0

Commissioning and Configuration

Index (hex) Name Flags Default value

1C12
[}90]:0

Subindex RxPDO assign RW 0x03 (3
1C12:01 SubIndex 001 RW 0x1600 (5632

dec

)

1C12:02 SubIndex 002 RW 0x1601 (5633
1C12:03 SubIndex 003 RW 0x1602 (5634

1C13
[}91]:0

1C12:04 SubIndex 004 RW 0x0000 (0
Subindex TxPDO assign RW 0x05 (5
1C13:01 SubIndex 001 RW 0x1A00 (6656

dec

dec

)

1C13:02 SubIndex 002 RW 0x1A01 (6657
1C13:03 SubIndex 003 RW 0x1A02 (6658
1C13:04 SubIndex 004 RW 0x1A05 (6661
1C13:05 SubIndex 005 RW 0x1A06 (6662

1C32
[}92]:0

1C13:06 SubIndex 006 RW 0x0000 (0
1C13:07 SubIndex 007 RW 0x0000 (0
Subindex SM output parameter RO 0x20 (32
1C32:01 Sync mode RW 0x0001 (1

dec

dec

dec

)

dec

1C32:02 Cycle time RW 0x000F4240 (1000000
1C32:03 Shift time RO 0x00000000 (0
1C32:04 Sync modes supported RO 0xC007 (49159
1C32:05 Minimum cycle time RO 0x0007A120 (500000
1C32:06 Calc and copy time RO 0x00000000 (0
1C32:07 Minimum delay time RO 0x00000000 (0
1C32:08 Command RW 0x0000 (0

dec

1C32:09 Maximum delay time RO 0x00000000 (0

1C33
[}93]:0

1C32:0B SM event missed counter RO 0x0000 (0
1C32:0C Cycle exceeded counter RO 0x0000 (0
1C32:0D Shift too short counter RO 0x0000 (0
1C32:20 Sync error RO 0x00 (0
Subindex SM input parameter RO 0x20 (32
1C33:01 Sync mode RW 0x0022 (34

dec

dec

dec

dec

dec

)

)

dec

1C33:02 Cycle time RW 0x000F4240 (1000000
1C33:03 Shift time RO 0x00000000 (0
1C33:04 Sync modes supported RO 0xC007 (49159
1C33:05 Minimum cycle time RO 0x0007A120 (500000
1C33:06 Calc and copy time RO 0x00000000 (0
1C33:07 Minimum delay time RO 0x00000000 (0
1C33:08 Command RW 0x0000 (0

dec

1C33:09 Maximum delay time RO 0x00000000 (0
1C33:0B SM event missed counter RO 0x0000 (0
1C33:0C Cycle exceeded counter RO 0x0000 (0
1C33:0D Shift too short counter RO 0x0000 (0
1C33:20 Sync error RO 0x00 (0

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

)
)
)

EP8309-102274 Version: 2.0.0

Commissioning and Configuration

Index (hex) Name Flags Default value

6000
[}94]:0

6010
[}94]:0

6020
[}94]:0

6030
[}94]:0

6037
[}95]:0

6040
[}95]:0

Subindex AI Inputs Ch.1 RO 0x11 (17
6000:01 Underrange RO 0x00 (0
6000:02 Overrange RO 0x00 (0
6000:03 Limit 1 RO 0x00 (0
6000:05 Limit 2 RO 0x00 (0
6000:07 Error RO 0x00 (0
6000:0E Sync error RO 0x00 (0
6000:0F TxPDO State RO 0x00 (0
6000:10 TxPDO Toggle RO 0x00 (0
6000:11 Value RO 0x0000 (0
Subindex AI Inputs Ch.2 RO 0x11 (17
6010:01 Underrange RO 0x00 (0
6010:02 Overrange RO 0x00 (0
6010:03 Limit 1 RO 0x00 (0
6010:05 Limit 2 RO 0x00 (0
6010:07 Error RO 0x00 (0
6010:0E Sync error RO 0x00 (0
6010:0F TxPDO State RO 0x00 (0
6010:10 TxPDO Toggle RO 0x00 (0
6010:11 Value RO 0x0000 (0
Subindex TACHO Dual Shaft Mode Input Ch.1 RO 0x11 (17
6020:01 Digital input RO 0x00 (0
6020:0C Speed Below Threshold RO 0x00 (0
6020:10 TxPDO Toggle RO 0x00 (0
6020:11 Rotational Speed RO 0x0000 (0
Subindex TACHO Dual Shaft Mode Input Ch.2 RO 0x11 (17
6030:01 Digital input RO 0x00 (0
6030:0C Speed Below Threshold RO 0x00 (0
6030:10 TxPDO Toggle RO 0x00 (0
6030:11 Rotational Speed RO 0x0000 (0
Subindex TACHO Single Shaft Mode Input RO 0x12 (18
6037:02 Error Input A RO 0x00 (0
6037:03 Input Status A RO 0x00 (0
6037:04 Error Input B RO 0x00 (0
6037:05 Input Status B RO 0x00 (0
6037:0C Speed Below Threshold RO 0x00 (0
6037:10 TxPDO Toggle RO 0x00 (0
6037:11 Rotational Speed RO 0x0000 (0
6037:12 Rotation Direction RO 0x0000 (0
Subindex DI Inputs RO 0x06 (6
6040:01 Digital Input X4 Pin4 RO 0x00 (0
6040:02 Digital Input X4 Pin2 RO 0x00 (0
6040:03 Digital Input X6 Pin4 RO 0x00 (0
6040:04 Digital Input X6 Pin2 RO 0x00 (0
6040:05 Digital Input X7 Pin4 RO 0x00 (0
6040:06 Digital Input X7 Pin2 RO 0x00 (0

dec

dec

dec

dec

dec

dec

dec

dec

dec

dec

dec

dec

dec

dec

dec

dec

dec

dec

dec

dec

dec

dec

dec

dec

dec

dec

dec

dec

dec

dec

dec

dec

dec

dec

dec

dec

dec

dec

dec

dec

)
)
)
)
)
)
)
)
)

dec

)
)
)
)
)
)
)
)
)

dec

)
)
)
)

dec

)
)
)
)

dec

)
)
)
)
)
)
)

dec

dec

)
)
)
)
)
)
)

)

)

)

)

)
)

EP8309-1022 75Version: 2.0.0

Commissioning and Configuration

Index (hex) Name Flags Default value

6060
[}95]:0

7020
[}95]:0

7030
[}95]:0

7050
[}95]:0

7060
[}96]:0

7070
[}96]:0

8000:0
[}80]

Subindex PWM Inputs RO 0x12 (18
6060:05 Ready to enable RO 0x00 (0
6060:06 Warning RO 0x00 (0
6060:07 Error RO 0x00 (0
6060:10 TxPDO Toggle RO 0x00 (0
6060:11 Info data 1 RO 0x0000 (0
6060:12 Info data 2 RO 0x0000 (0
Subindex TACHO Outputs RO 0x09 (9
7020:09 Reset Error RO 0x00 (0

Subindex TACHO Outputs RO 0x09 (9
7030:09 Reset Error RO 0x00 (0

Subindex DO Outputs RO 0x06 (6
7050:01 Digital Output X5 Pin4 RO 0x00 (0
7050:02 Digital Output X5 Pin2 RO 0x00 (0
7050:03 Digital Output X6 Pin4 RO 0x00 (0
7050:04 Digital Output X6 Pin2 RO 0x00 (0
7050:05 Digital Output X7 Pin4 RO 0x00 (0
7050:06 Digital Output X7 Pin2 RO 0x00 (0
Subindex PWM Outputs RO 0x11 (17
7060:01 Enable dithering RO 0x00 (0
7060:06 Enable RO 0x00 (0
7060:07 Reset RO 0x00 (0
7060:11 PWM output RO 0x0000 (0
Subindex AO Outputs RO 0x11 (17
7070:11 Analog output RO 0x0000 (0

Subindex AI Settings Ch.1 RW 0x18 (24
8000:01 Enable user scale RW 0x00 (0
8000:02 Presentation RW 0x00 (0
8000:05 Siemens bits RW 0x00 (0
8000:06 Enable filter RW 0x00 (0
8000:07 Enable limit 1 RW 0x00 (0
8000:08 Enable limit 2 RW 0x00 (0
8000:0A Enable user calibration RW 0x00 (0
8000:0B Enable vendor calibration RW 0x01 (1
8000:0E Swap limit bits RW 0x00 (0
8000:11 User scale offset RW 0x0000 (0

dec

dec

dec

dec

dec

dec

dec

dec

dec

dec

dec

dec

dec

dec

dec

dec

dec

dec

dec

dec

dec

dec

dec

dec

dec

dec

dec

dec

dec

dec

dec

)
)
)
)
)

dec

dec

)
)

)
)

)
)
)
)
)
)
)

)
)
)
)

dec

)

dec

)
)
)
)
)
)
)
)
)
)

dec

8000:12 User scale gain RW 0x00010000 (65536
8000:13 Limit 1 RW 0x0000 (0
8000:14 Limit 2 RW 0x0000 (0
8000:15 Filter settings RW 0x0000 (0
8000:17 User calibration offset RW 0x0000 (0

dec

dec

dec

dec

8000:18 User calibration gain RW 0x4000 (16384

800E
[}96]:0

Subindex AI Internal data Ch.1 RO 0x01 (1
800E:01 ADC raw value RO 0x0000 (0

dec

)

dec

)
)

)

)

)

)

dec

)
)
)
)

)

dec

)

EP8309-102276 Version: 2.0.0

Commissioning and Configuration

Index (hex) Name Flags Default value

800F
[}96]:0

Subindex AI Vendor data Ch.1 RW 0x06 (6
800F:01 R0 Offset RW 0x0000 (0

dec

)

)

dec

800F:02 R0 Gain RW 0x4000 (16384
800F:03 R1 Offset RW 0x0000 (0

dec

)
800F:04 R1 Gain RW 0x4000 (16384
800F:05 R2 Offset RW 0x0000 (0

dec

)
800F:06 R2 Gain RW 0x4000 (16384

8010:0
[}81]

Subindex AI Settings Ch.2 RW 0x18 (24
8010:01 Enable user scale RW 0x00 (0
8010:02 Presentation RW 0x00 (0
8010:05 Siemens bits RW 0x00 (0
8010:06 Enable filter RW 0x00 (0
8010:07 Enable limit 1 RW 0x00 (0
8010:08 Enable limit 2 RW 0x00 (0
8010:0A Enable user calibration RW 0x00 (0
8010:0B Enable vendor calibration RW 0x01 (1
8010:0E Swap limit bits RW 0x00 (0
8010:11 User scale offset RW 0x0000 (0

dec

dec

dec

dec

dec

dec

dec

dec

dec

dec

)
)
)
)
)
)
)
)
)
)

)

dec

8010:12 User scale gain RW 0x00010000 (65536
8010:13 Limit 1 RW 0x0000 (0
8010:14 Limit 2 RW 0x0000 (0
8010:15 Filter settings RW 0x0000 (0
8010:17 User calibration offset RW 0x0000 (0

dec

dec

dec

dec

)
)
)
)

8010:18 User calibration gain RW 0x4000 (16384

801E
[}96]:0

801F
[}96]:0

Subindex AI Internal Data Ch.2 RO 0x01 (1
801E:01 ADC raw value RO 0x0000 (0

Subindex AI Vendor Data Ch.2 RW 0x06 (6
801F:01 R0 Offset RW 0x0000 (0

dec

dec

)

)

dec

)

)

dec

801F:02 R0 Gain RW 0x4000 (16384
801F:03 R1 Offset RW 0x0000 (0

dec

)
801F:04 R1 Gain RW 0x4000 (16384
801F:05 R2 Offset RW 0x0000 (0

dec

)
801F:06 R2 Gain RW 0x4000 (16384

8020
[}81]:0

Subindex TACHO Settings Dual Shaft Mode Ch.1 RW 0x15 (21
8020:11 No. of Targets RW 0x0001 (1

dec

dec

)

)
8020:12 Input Signal Timeout RW 0x0064 (100

8030
[}81]:0

8020:15 Presentation RW 0x0001 (1
Subindex TACHO Settings Dual Shaft Mode Ch.2 RW 0x15 (21
8030:11 No. of Targets RW 0x0001 (1

dec

dec

dec

)

)

)
8030:12 Input Signal Timeout RW 0x0064 (100

8031
[}82]:0

8030:15 Presentation RW 0x0001 (1
Subindex TACHO Settings Single Shaft Mode RW 0x15 (21
8031:0B Enable Error Detection RW 0x01 (1
8031:0C Reversion of Rotation RW 0x00 (0
8031:11 No. of Targets RW 0x0001 (1

dec

dec

dec

)

dec

)
)
)

)

dec

8031:12 Input Signal Timeout RW 0x0064 (100
8031:15 Presentation RW 0x0000 (0

dec

)

dec

dec

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

)

)

EP8309-1022 77Version: 2.0.0

Commissioning and Configuration

Index (hex) Name Flags Default value

8060
[}83]:0

Subindex PWM settings RW 0x22 (34
8060:03 Enable dithering RW 0x00 (0
8060:04 Invert polarity RW 0x00 (0
8060:05 Watchdog RW 0x00 (0
8060:0B Offset RW 0x0000 (0

dec

dec

dec

dec

)
)
)
)

dec

8060:0C Gain RW 0x00010000 (65536
8060:0D Default output RW 0x0000 (0

dec

8060:0E Default output ramp RW 0xFFFF (65535
8060:10 Max current [%] RW 0x64 (100

dec

8060:12 Kp factor RW 0x00FA (250
8060:13 Ki factor RW 0x0004 (4
8060:14 Kd factor RW 0x0032 (50

dec

dec

8060:1E Dithering frequency [Hz] RW 0x0064 (100

806F
[}96]:0

8060:1F Dithering amplitude [%] RW 0x0A (10
8060:21 Select info data 1 RW 0x00 (0
8060:22 Select info data 2 RW 0x00 (0
Subindex PWM Vendor data RW 0x02 (2
806F:01 Offset RW 0x0000 (0

dec

dec

dec

dec

)
)
)
)

dec

806F:02 Gain RW 0x4000 (16384

8070
[}84]:0

Subindex AO Settings RW 0x16 (22
8070:01 Enable user scale RW 0x00 (0
8070:02 Presentation RW 0x00 (0
8070:05 Watchdog RW 0x00 (0
8070:07 Enable user calibration RW 0x00 (0
8070:08 Enable vendor calibration RW 0x01 (1
8070:11 User scale offset RW 0x0000 (0

dec

dec

dec

dec

dec

dec

)
)
)
)
)
)

dec

8070:12 User scale gain RW 0x00010000 (65536
8070:13 Default output RW 0x0000 (0

dec

8070:14 Default output ramp RW 0xFFFF (65535
8070:15 User calibration offset RW 0x0000 (0

dec

8070:16 User calibration gain RW 0x4000 (16384

807E
[}97]:0

807F
[}97]:0

Subindex AO Internal Data RO 0x01 (1
807E:01 DAC Raw Value RO 0x0000 (0

Subindex AO Vendor Data RW 0x06 (6
807F:01 R0 Calibration Offset RW 0x0000 (0

dec

dec

)

dec

)

dec

807F:02 R0 Calibration Gain RW 0x4000 (16384
807F:03 R1 Calibration Offset RW 0x0000 (0

dec

807F:04 R1 Calibration Gain RW 0x4000 (16384
807F:05 R2 Calibration Offset RW 0x0000 (0

dec

807F:06 R2 Calibration Gain RW 0x4000 (16384

A060
[}97]:0

F000
[}97]:0

Subindex PWM Diag data RO 0x06 (6
A060:02 Overtemperature RO 0x00 (0
A060:06 Short circuit RO 0x00 (0
Subindex Modular device profile RO 0x02 (2
F000:01 Module index distance RO 0x0010 (16
F000:02 Maximum number of modules RO 0x0008 (8

dec

dec

dec

dec

)
)
)
)

dec

dec

)

)

dec

)

)

dec

)

)

dec

)

)

)

dec

)

)

dec

)

)

dec

)

)

dec

)

)

dec

)

)

)

dec

)

)

dec

)

)

dec

)

)

EP8309-102278 Version: 2.0.0

Commissioning and Configuration

Index (hex) Name Flags Default value

F008 [}97]

F010
[}97]:0

Subindex Module list RW 0x08 (8
F010:01 SubIndex 001 RW 0x0000012C (300

Code word RW 0x00000000 (0

)

dec

F010:02 SubIndex 002 RW 0x0000012C (300
F010:03 SubIndex 003 RW 0x00000208 (520
F010:04 SubIndex 004 RW 0x00000208 (520
F010:05 SubIndex 005 RW 0x00000064 (100
F010:06 SubIndex 006 RW 0x000000C8 (200
F010:07 SubIndex 007 RW 0x000000FA (250
F010:08 SubIndex 008 RW 0x00000190 (400

F800
[}84]:0

F900
[}98]:0

FB00
[}98]:0

Subindex AIAO Range settings RW 0x08 (8
F800:01 Input type Ch1 RW 0x0001 (1
F800:02 Input type Ch2 RW 0x0001 (1
F800:08 Output type RW 0x0001 (1
Subindex PWM Info data RO 0x02 (2
F900:02 Temperature [°C] RO 0x00 (0

Subindex PWM Command RO 0x03 (3
FB00:01 Request RW {0}
FB00:02 Status RO 0x00 (0

dec

dec

dec

dec

dec

)

)

dec

)

dec

)

dec

)
)

)

)

FB00:03 Response RO {0}

dec

)

dec

dec

dec

dec

dec

dec

dec

dec

)

)
)
)
)

)

)
)

Key

Flags:
RO (Read Only): this object can be read only
RW (Read/Write): this object can be read and written to

5.7.3 Object description and parameterization

Parameterization

The terminal is parameterized via the CoE - Online tab [}52] (double-click on the respec-

Note

Note

Introduction

The CoE overview contains objects for different intended applications:

• Objects required for parameterization [}80] during commissioning

tive object) or via the Process Data tab [}49](assignment of PDOs).

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.

• Objects intended for regular operation [}84], e.g. through ADS access.

• Objects for indicating internal settings [}85] (may be fixed)

• Further profile-specific objects [}94] indicating inputs, outputs and status information

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

EP8309-1022 79Version: 2.0.0

Commissioning and Configuration

5.7.3.1 Objects to be parameterized during commissioning

Index 8000 AI Settings Ch.1

Index (hex) Name Meaning Data type Flags Default

8000:0 AI Settings Maximum subindex UINT8 RO 0x18 (24

8000:01 Enable user scale 1 User scale is active. BOOLEAN RW 0x00 (0

8000:02 Presentation 0 Signed presentation BIT3 RW 0x00 (0

1 Unsigned presentation

2 Absolute value with MSB as sign (signed amount

representation)

8000:06 Enable filter 1 Enable filter, which makes PLC-cycle-synchro-

nous data exchange unnecessary

8000:07 Enable limit 1 1 Limit 1 enabled BOOLEAN RW 0x00 (0

8000:08 Enable limit 2 1 Limit 2 enabled BOOLEAN RW 0x00 (0

8000:0A Enable user calibra-

1 Enabling of the user calibration BOOLEAN RW 0x00 (0

tion

8000:0B Enable vendor cali-

1 Enabling of the vendor calibration BOOLEAN RW 0x01 (1

bration

8000:11 User scale offset User scale offset INT16 RW 0x0000 (0

8000:12 User scale gain User scale gain.

The gain is represented in fixed-point format, with the

-16

factor 2
The value 1 corresponds to 65535
and is limited to +/- 0x7FFFF

.

(0x00010000

dez

8000:13 Limit 1 First limit value for setting the status bits INT16 RW 0x0000 (0

8000:14 Limit 2 Second limit value for setting the status bits INT16 RW 0x0000 (0

8000:15 Filter settings This object determines the digital filter settings for all

channels of the module, if it is activated via Enable filter
(index 0x80n0:06 [}80]). The possible settings are se-

quentially numbered.

0 50Hz FIR

1 60Hz FIR

2 IIR 1

3 IIR 2

4 IIR 3

5 IIR 4

6 IIR 5

7 IIR 6

8 IIR 7

9 IIR 8

8000:17 User calibration offset User calibration: Offset INT16 RW 0x0000 (0

8000:18 User calibration gain User calibration: Gain INT16 RW 0x4000

BOOLEAN RW 0x00 (0

INT32 RW 0x00010000

)

hex

UINT16 RW 0x0000 (0

(65536

(16384

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

EP8309-102280 Version: 2.0.0

Commissioning and Configuration

Index 8000 AI Settings Ch.2

Index (hex) Name Meaning Data type Flags Default

8010:0 AI Settings Maximum subindex UINT8 RO 0x18 (24

8010:01 Enable user scale 1 User scale is active. BOOLEAN RW 0x00 (0

8010:02 Presentation 0 Signed presentation BIT3 RW 0x00 (0

1 Unsigned presentation

2 Absolute value with MSB as sign (signed amount

representation)

8010:06 Enable filter 1 Enable filter, which makes PLC-cycle-synchro-

nous data exchange unnecessary

8010:07 Enable limit 1 1 Limit 1 enabled BOOLEAN RW 0x00 (0

8010:08 Enable limit 2 1 Limit 2 enabled BOOLEAN RW 0x00 (0

8010:0A Enable user calibra-

1 Enabling of the user calibration BOOLEAN RW 0x00 (0

tion

8010:0B Enable vendor cali-

1 Enabling of the vendor calibration BOOLEAN RW 0x01 (1

bration

8010:11 User scale offset User scale offset INT16 RW 0x0000 (0

8010:12 User scale gain User scale gain.

The gain is represented in fixed-point format, with the

-16

factor 2
The value 1 corresponds to 65535
and is limited to +/- 0x7FFFF

.

(0x00010000

dez

8010:13 Limit 1 First limit value for setting the status bits INT16 RW 0x0000 (0

8010:14 Limit 2 Second limit value for setting the status bits INT16 RW 0x0000 (0

8010:15 Filter settings This object determines the digital filter settings for all

channels of the module, if it is activated via Enable filter
(index 0x80n0:06 [}80]). The possible settings are se-

quentially numbered.

0 50Hz FIR

1 60Hz FIR

2 IIR 1

3 IIR 2

4 IIR 3

5 IIR 4

6 IIR 5

7 IIR 6

8 IIR 7

9 IIR 8

8010:17 User calibration offset User calibration: Offset INT16 RW 0x0000 (0

8010:18 User calibration gain User calibration: Gain INT16 RW 0x4000

BOOLEAN RW 0x00 (0

INT32 RW 0x00010000

)

hex

UINT16 RW 0x0000 (0

(65536

(16384

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

Index 8020 TACHO Settings Dual Shaft Mode Ch.1

Index (hex) Name Meaning Data type Flags Default

8020:0 TACHO Settings Dual

UINT8 RO 0x15 (21

Shaft Mode Ch.1

8020:11 No. of Targets Number of "cams" on the shaft/axis UINT16 RW 0x0001 (1

8020:12 Input Signal Timeout The process record <Speed Below Threshold> is set af-

ter x msec without signal change at the input.

UINT16 RW 0x0064

(100

dec

)

8020:15 Presentation Display of the measured value in RPM, Hz, … UINT16 RW 0x0001 (1

Index 8030 TACHO Settings Dual Shaft Mode Ch.2

Index (hex) Name Meaning Data type Flags Default

8030:0 TACHO Settings Dual

UINT8 RO 0x15 (21

Shaft Mode Ch.2

8030:11 No. of Targets Number of "cams" on the shaft/axis UINT16 RW 0x0001 (1

8030:12 Input Signal Timeout The process record <Speed Below Threshold> is set af-

ter x msec without signal change at the input.

UINT16 RW 0x0064

(100

dec

)

8030:15 Presentation Display of the measured value in RPM, Hz, … UINT16 RW 0x0001 (1

EP8309-1022 81Version: 2.0.0

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

Commissioning and Configuration

Index 8031 TACHO Settings Single Shaft Mode

Index (hex) Name Meaning Data type Flags Default

8031:0 TACHO Settings Sin-

UINT8 RO 0x15 (21

gle Shaft Mode

8031:0B Enable Error Detec-

Enable/disable error display BOOLEAN RW 0x01 (1

tion

8031:0C Reversion of Rotation Reversion of rotation display in Rotation direction BOOLEAN RW 0x00 (0

8031:11 No. of Targets Number of "cams" on the shaft/axis UINT16 RW 0x0001 (1

8031:12 Input Signal Timeout The process record <Speed Below Threshold> is set af-

ter x msec without signal change at the input.

UINT16 RW 0x0064

(100

dec

)

8031:15 Presentation Display of the measured value in RPM, Hz, … UINT16 RW 0x0000 (0

Index 8040 DIG Safe State Active

Index (hex) Name Meaning Data type Flags Default

8040:0 DIG Safe State Active UINT8 RO 0x08 (8

8040:01 X4 Pin4 Activation of Safe State Value if communication is can-

celed

8040:02 X4 Pin2 Activation of Safe State Value if communication is can-

celed

8040:03 X5 Pin4 Activation of Safe State Value if communication is can-

celed

8040:04 X5 Pin2 Activation of Safe State Value if communication is can-

celed

8040:05 X6 Pin4 Activation of Safe State Value if communication is can-

celed

8040:05 X6 Pin2 Activation of Safe State Value if communication is can-

celed

8040:07 X7 Pin4 Activation of Safe State Value if communication is can-

celed

8040:08 X7 Pin2 Activation of Safe State Value if communication is can-

celed

BOOLEAN RW TRUE

BOOLEAN RW TRUE

BOOLEAN RW TRUE

BOOLEAN RW TRUE

BOOLEAN RW TRUE

BOOLEAN RW TRUE

BOOLEAN RW TRUE

BOOLEAN RW TRUE

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

Index 8041 DIG Safe State Value

Index (hex) Name Meaning Data type Flags Default

8040:0 DIG Safe State Value UINT8 RO 0x00 (0

8040:01 X4 Pin4 Output value if communication is canceled BOOLEAN RW False

8040:02 X4 Pin2 Output value if communication is canceled BOOLEAN RW False

8040:03 X5 Pin4 Output value if communication is canceled BOOLEAN RW False

8040:04 X5 Pin2 Output value if communication is canceled BOOLEAN RW False

8040:05 X6 Pin4 Output value if communication is canceled BOOLEAN RW False

8040:05 X6 Pin2 Output value if communication is canceled BOOLEAN RW False

8040:07 X7 Pin4 Output value if communication is canceled BOOLEAN RW False

8040:08 X7 Pin2 Output value if communication is canceled BOOLEAN RW False

Index 8043 DIG Safe State Delay

Index (hex) Name Meaning Data type Flags Default

8040:0 DIG Safe State Delay UINT8 RO 0x00 (0

8040:01 X4 Pin4 Delay in msec after communication is canceled UINT16 RW False

8040:02 X4 Pin2 Delay in msec after communication is canceled UINT16 RW False

8040:03 X5 Pin4 Delay in msec after communication is canceled UINT16 RW False

8040:04 X5 Pin2 Delay in msec after communication is canceled UINT16 RW False

8040:05 X6 Pin4 Delay in msec after communication is canceled UINT16 RW False

8040:05 X6 Pin2 Delay in msec after communication is canceled UINT16 RW False

8040:07 X7 Pin4 Delay in msec after communication is canceled UINT16 RW False

8040:08 X7 Pin2 Delay in msec after communication is canceled UINT16 RW False

)

dec

)

dec

EP8309-102282 Version: 2.0.0

Commissioning and Configuration

Index 8060 PWM Settings

Index (hex) Name Meaning Data type Flags Default

8060:0 PWM settings Maximum subindex UINT8 RO 0x22 (34

8060:03 Enable dithering Dithering is "enabled", activation via process data BOOLEAN RW 0x00 (0

8060:04 Invert polarity Reverse current direction BOOLEAN RW 0x00 (0

8060:05 Watchdog 0: Default watchdog value

The default value (0x8pp0:0D) is active.

1: Watchdog ramp active
The ramp (0x8pp0:0E) for moving to the default value
((0x8pp0:0D)) is active.

2: Last output value active
In the event of a fault (watchdog drop) the last process
data is issued.

8060:0B Offset This is the user scaling offset

Scaling: 1 = rated terminal current / 1024

8060:0C Gain This is the user scaling gain. The gain is a fixed-point

number with the factor 2^-16.

The value one corresponds to 65536 (0x00010000).

8060:0D Default output This is the default output value. The value is output if it is

activated via 0x8pp0:05.

8060:0E Default output ramp This value defines the ramps for the ramp-down to the

default value. The value is specified in digits / ms.

If the entry is 100 and the default value 0, forexample, it
takes 327ms (32767/100) for the output value to change
from the maximum value (32767) to the default value in
the event of a fault.

8060:10 Max current [%] Maximum output current mA UINT8 RW 0x64 (100

8060:12 Kp factor This is the user scaling gain. The gain is a fixed-point

number with the factor 2^-16. The value 1 corresponds to
65535 (0x00010000).

8060:13 Ki factor This is the default output value UINT16 RW 0x0004 (4

8060:14 Kd factor This value defines the ramps for the ramp-down to the

default value. The value is specified in digits / ms.

If the entry is 100 and the default value 0, forexample, it
takes 327ms (32767/100) for the output value to change
from the maximum value (32767) to the default value in
the event of a fault.

8060:1E Dithering frequency

Dither frequency in Hertz UINT16 RW 0x0064

[Hz]

8060:1F Dithering amplitude

[%]

Dithering amplitude in percent of the maximum permitted
current (rated box current * 0x8pp0:10)

8060:21 Select info data 1 Selection of synchronous info data (s. 0x6pp0:11) UINT8 RW 0x00 (0

8060:22 Select info data 2 Selection of synchronous info data (s. 0x6pp0:12) UINT8 RW 0x00 (0

BIT2 RW 0x00 (0

INT16 RW 0x0000 (0

INT32 RW 0x00010000

(65536

INT16 RW 0x0000 (0

UINT16 RW 0xFFFF

(65535

UINT16 RW 0x00FA

(250

)

dec

UINT16 RW 0x0032 (50

(100

)

dec

UINT8 RW 0x0A (10

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

EP8309-1022 83Version: 2.0.0

Commissioning and Configuration

Index 8070 AO Settings

Index (hex) Name Meaning Data type Flags Default

8070:0 AO Settings UINT8 RO 0x16 (22

8070:01 Enable user scale This entry activates the scaling for 0x8pp0:11 and

0x8pp0:12.

8070:02 Presentation 0: Signed presentation

The output value range 0x7pp1:11 is shown as 16bit
signed integer. For unipolar terminals (0-10Vor 0-20mA)
the negative range is set to zero.

1: Unsigned presentation The output value range
0x7pp1:11 is shown as 16 bit unsigned integer. Negative
values are not possible.

2: Absolute value with MSB as sign, signed amount rep­resentation is active.

3: Absolute value, the absolute value of the signed repre­sentation is formed.

8070:05 Watchdog 0: Default watchdog value

The default value (0x8pp0:13) is active.

1: Watchdog ramp
The ramp (0x8pp0:14) for moving to the default value
((0x8pp0:13)) is active.

2: Last output value
In the event of a fault (watchdog drop) the last process
data is issued.

8070:07 Enable user calibra-

Enabling of the user calibration BOOLEAN RW 0x00 (0

tion

8070:08 Enable vendor cali-

Enable vendor calibration BOOLEAN RW 0x01 (1

bration

8070:11 User scale offset This is the user scaling offset INT16 RW 0x0000 (0

8070:12 User scale gain This is the user scaling gain. The gain is a fixed-point

number with the factor 2^-16. The value 1 corresponds to
65535 (0x00010000).

8070:13 Default output This is the default output value INT16 RW 0x0000 (0

8070:14 Default output ramp This value defines the ramps for the ramp-down to the

default value. The value is specified in digits / ms.

If the entry is 100 and the default value 0, forexample, it
takes 327ms (32767/100) for the output value to change
from the maximum value (32767) to the default value in
the event of a fault.

8070:15 User calibration offset User calibration offset INT16 RW 0x0000 (0

8070:16 User calibration gain User gain compensation UINT16 RW 0x4000

BOOLEAN RW 0x00 (0

BIT3 RW 0x00 (0

BIT2 RW 0x00 (0

INT32 RW 0x00010000

(65536

UINT16 RW 0xFFFF

(65535

(16384

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

Index F800 AIAO Range settings

Index (hex) Name Meaning Data type Flags Default

F800:0 AIAO Range settings UINT8 RO 0x08 (8

F800:01 Input type Ch1 Select input type for Ch1 UINT16 RW 0x0001 (1

F800:02 Input type Ch2 Select input type for Ch2 UINT16 RW 0x0001 (1

F800:08 Output type Select input type for Ch1 UINT16 RW 0x0001 (1

5.7.3.2 Objects for regular operation

The EP8309 has no such objects.

EP8309-102284 Version: 2.0.0

)

dec

)

dec

)

dec

)

dec

Commissioning and Configuration

5.7.3.3 Standard objects (0x1000-0x1FFF)

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

Index 1000 Device type

Index (hex) Name Meaning Data type Flags Default

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

tains the CoE profile used (5001). The High-Word con­tains 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 EP8309-1022

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 02

UINT32 RO 0x00001389

(5001

)

dec

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 dia-

Restore default parameters UINT8 RO 0x01 (1

UINT32 RW 0x00000000

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

(0

)

dec

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

)

dec

1018:02 Product code Product code of the EtherCAT slave UINT32 RO 0x20754052

(544555090
)

1018:03 Revision Revision numberof the EtherCAT slave; the low word (bit

0-15) indicates the special terminal number, the high

UINT32 RO 0x00110016

(1114134

word (bit 16-31) refers to the device description

1018:04 Serial number Serial number of the EtherCAT slave; the low byte (bit

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

UINT32 RO 0x00000000

(0

)

dec

production, the high word (bit 16-31) is 0

Index 10F0 Backup parameter handling

Index (hex) Name Meaning Data type Flags Default

10F0:0 Backup parameter

handling

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

Information for standardized loading and saving of
backup entries

slave

UINT8 RO 0x01 (1

dec

UINT32 RO 0x00000000

(0

)

dec

)

)

dec

)

dec

)

EP8309-1022 85Version: 2.0.0

Commissioning and Configuration

Index 1402 PWM RxPDO-Par Control

Index (hex) Name Meaning Data type Flags Default

1402:0 PWM RxPDO-Par

Control

1402:06 Exclude RxPDOs Specifies the RxPDOs (index of RxPDO mapping ob-

PDO Parameter RxPDO 3 UINT8 RO 0x06 (6

jects) that must not be transferred together with RxPDO

OCTET­STRING[2]

RO 03 16

)

dec

3

Index 1403 AO RxPDO-Par Outputs

Index (hex) Name Meaning Data type Flags Default

1403:0 AO RxPDO-Par Out-

puts

1403:06 Exclude RxPDOs Specifies the RxPDOs (index of RxPDO mapping ob-

PDO Parameter RxPDO 4 UINT8 RO 0x06 (6

jects) that must not be transferred together with RxPDO

OCTET­STRING[2]

RO 02 16

)

dec

4

Index 1600 TACHO RxPDO-Map OutputsCh.1

Index (hex) Name Meaning Data type Flags Default

1600:0 TACHO RxPDO-Map

OutputsCh.1

1600:01 SubIndex 001 1. PDO Mapping entry (object 0x7020 (PWM Outputs

1600:02 SubIndex 002 2. PDO Mapping entry (4bits align) UINT32 RO 0x7020:09, 1

1600:03 SubIndex 003 3. PDO Mapping entry (object 0x7020 (PWM Outputs

PDO Mapping RxPDO 1 UINT8 RO 0x03 (3

UINT32 RO 0x0000:00, 8

Ch.1), entry 0x01 (Enable dithering))

UINT32 RO 0x0000:00, 7

Ch.1), entry 0x06 (Enable))

)

dec

Index 1601 DO RxPDO-Map Outputs

Index (hex) Name Meaning Data type Flags Default

1601:0 DO RxPDO-Map Out-

puts

1601:01 SubIndex 001 1. PDO Mapping entry (object 0x7030 (PWM Outputs

PDO Mapping RxPDO 2 UINT8 RO 0x07 (7

UINT32 RO 0x7050:01, 1

)

dec

Ch.2), entry 0x01 (Enable dithering))

1601:02 SubIndex 002 2. PDO Mapping entry (4bits align) UINT32 RO 0x7050:02, 1

1601:03 SubIndex 003 3. PDO Mapping entry (object 0x7030 (PWM Outputs

UINT32 RO 0x7050:03, 1

Ch.2), entry 0x06 (Enable))

1601:04 SubIndex 004 4. PDO Mapping entry (object 0x7050 (DO Outputs), en-

UINT32 RO 0x7050:04, 1

try 0x04 (Digital Output X6 Pin2))

1601:05 SubIndex 005 5. PDO Mapping entry (object 0x7050 (DO Outputs), en-

UINT32 RO 0x7050:05, 1

try 0x05 (Digital Output X7 Pin4))

1601:06 SubIndex 006 6. PDO Mapping entry (object 0x7050 (DO Outputs), en-

UINT32 RO 0x7050:06, 1

try 0x06 (Digital Output X7 Pin2))

1601:07 SubIndex 007 7. PDO Mapping entry (10bits align) UINT32 RO 0x0000:00, 10

Index 1602 PWM RxPDO-Map Control

Index (hex) Name Meaning Data type Flags Default

1602:0 PWM RxPDO-Map

Control

1602:01 SubIndex 001 1. PDO Mapping entry (object 0x7040 (DO Outputs), en-

1602:02 SubIndex 002 2. PDO Mapping entry (object 0x7040 (DO Outputs), en-

1602:03 SubIndex 003 3. PDO Mapping entry (14bits align) UINT32 RO 0x7060:06, 1

1602:04 SubIndex 004 4. PDO Mapping entry (6bits align) UINT32 RO 0x7060:07, 1

1602:05 SubIndex 005 5. PDO Mapping entry (object 0x7050 (DO Outputs), en-

1602:06 SubIndex 006 6. PDO Mapping entry (object 0x7050 (DO Outputs), en-

PDO Mapping RxPDO 3 UINT8 RO 0x06 (6

UINT32 RO 0x7060:01, 1

try 0x01 (Output 10))

UINT32 RO 0x0000:00, 4

try 0x02 (Output 11))

UINT32 RO 0x0000:00, 9

try 0x0E (Output 14))

UINT32 RO 0x7060:11, 16

try 0x0E (Output 15))

)

dec

EP8309-102286 Version: 2.0.0

Commissioning and Configuration

Index 1603 AO RxPDO-Map Outputs

Index (hex) Name Meaning Data type Flags Default

1603:0 AO RxPDO-Map Out-

PDO Mapping RxPDO 4 UINT8 RO 0x01 (1

puts

1603:01 SubIndex 001 1. PDO Mapping entry (object 0x7060 (AO Outputs

UINT32 RO 0x7070:11, 16

Ch.3), entry 0x11 (Analog output))

Index 1802 TACHO TxPDO-Par Single Shaft Mode Input Ch.1

Index (hex) Name Meaning Data type Flags Default

1802:0 TACHO TxPDO-Par

PDO parameter TxPDO 3 UINT8 RO 0x06 (6
Single Shaft Mode In­put Ch.1

1802:06 Exclude TxPDOs Specifies the TxPDOs (index of TxPDO mapping objects)

that must not be transferred together with TxPDO 3

OCTET
STRING[4]

RO 03 1A 04 1A

Index 1803 TACHO TxPDO-Par Dual Shaft Mode Input Ch.1

Index (hex) Name Meaning Data type Flags Default

1803:0 TACHO TxPDO-Par

Dual Shaft Mode In­put Ch.1

1803:06 Exclude TxPDOs Specifies the TxPDOs (index of TxPDO mapping objects)

PDO parameter TxPDO 4 UINT8 RO 0x06 (6

that must not be transferred together with TxPDO 4

OCTET
STRING[4]

RO 02 1A 00 00

)

dec

)

dec

)

dec

Index 1804 TACHO TxPDO-Par Dual Shaft Mode Input Ch.2

Index (hex) Name Meaning Data type Flags Default

1804:0 TACHO TxPDO-Par

Dual Shaft Mode In-

PDO parameter TxPDO 5 UINT8 RO 0x06 (6

)

dec

put Ch.2

1804:06 Exclude TxPDOs Specifies the TxPDOs (index of TxPDO mapping objects)

that must not be transferred together with TxPDO 5

OCTET
STRING[4]

RO 02 1A 00 00

Index 1A00 AI TxPDO-Map Inputs Ch.1

Index (hex) Name Meaning Data type Flags Default

1A00:0 AI TxPDO-Map Inputs

Ch.1

1A00:01 SubIndex 001 1. PDO Mapping entry (object 0x6000 (AI Inputs Ch.1),

1A00:02 SubIndex 002 2. PDO Mapping entry (object 0x6000 (AI Inputs Ch.1),

1A00:03 SubIndex 003 3. PDO Mapping entry (object 0x6000 (AI Inputs Ch.1),

1A00:04 SubIndex 004 4. PDO Mapping entry (object 0x6000 (AI Inputs Ch.1),

1A00:05 SubIndex 005 5. PDO Mapping entry (object 0x6000 (AI Inputs Ch.1),

1A00:06 SubIndex 006 6. PDO Mapping entry (6bits align) UINT32 RO 0x0000:00, 6

1A00:07 SubIndex 007 7. PDO Mapping entry (object 0x6000 (AI Inputs Ch.1),

1A00:08 SubIndex 008 8. PDO Mapping entry (object 0x6000 (AI Inputs Ch.1),

1A00:09 SubIndex 009 9. PDO Mapping entry (object 0x6000 (AI Inputs Ch.1),

1A00:0A SubIndex 010 10. PDO Mapping entry (object 0x6000 (AI Inputs Ch.1),

PDO Mapping TxPDO 1 UINT8 RO 0x0A (10

UINT32 RO 0x6000:01, 1

entry 0x01 (Underrange))

UINT32 RO 0x6000:02, 1

entry 0x02 (Overrange))

UINT32 RO 0x6000:03, 2

entry 0x03 (Limit 1))

UINT32 RO 0x6000:05, 2

entry 0x05 (Limit 2))

UINT32 RO 0x6000:07, 1

entry 0x07 (Error))

UINT32 RO 0x6000:0E, 1

entry 0x0E (Sync error))

UINT32 RO 0x6000:0F, 1

entry 0x0F (TxPDO State))

UINT32 RO 0x6000:10, 1

entry 0x10 (TxPDO Toggle))

UINT32 RO 0x6000:11, 16

entry 0x11 (Value))

dec

)

EP8309-1022 87Version: 2.0.0

Commissioning and Configuration

Index 1A01 AI TxPDO-Map Inputs Ch.2

Index (hex) Name Meaning Data type Flags Default

1A01:0 AI TxPDO-Map Inputs

Ch.2

1A01:01 SubIndex 001 1. PDO Mapping entry (object 0x6000 (AI Inputs Ch.1),

1A01:02 SubIndex 002 2. PDO Mapping entry (object 0x6000 (AI Inputs Ch.1),

1A01:03 SubIndex 003 3. PDO Mapping entry (object 0x6000 (AI Inputs Ch.1),

1A01:04 SubIndex 004 4. PDO Mapping entry (object 0x6000 (AI Inputs Ch.1),

1A01:05 SubIndex 005 5. PDO Mapping entry (object 0x6000 (AI Inputs Ch.1),

1A01:06 SubIndex 006 6. PDO Mapping entry (6bits align) UINT32 RO 0x0000:00, 6

1A01:07 SubIndex 007 7. PDO Mapping entry (object 0x6000 (AI Inputs Ch.1),

1A01:08 SubIndex 008 8. PDO Mapping entry (object 0x6000 (AI Inputs Ch.1),

1A01:09 SubIndex 009 9. PDO Mapping entry (object 0x6000 (AI Inputs Ch.1),

1A01:0A SubIndex 010 10. PDO Mapping entry (object 0x6000 (AI Inputs Ch.1),

PDO Mapping TxPDO 2 UINT8 RO 0x0A (10

UINT32 RO 0x6010:01, 1

entry 0x01 (Underrange))

UINT32 RO 0x6010:02, 1

entry 0x02 (Overrange))

UINT32 RO 0x6010:03, 2

entry 0x03 (Limit 1))

UINT32 RO 0x6010:05, 2

entry 0x05 (Limit 2))

UINT32 RO 0x6010:07, 1

entry 0x07 (Error))

UINT32 RO 0x6010:0E, 1

entry 0x0E (Sync error))

UINT32 RO 0x6010:0F, 1

entry 0x0F (TxPDO State))

UINT32 RO 0x6010:10, 1

entry 0x10 (TxPDO Toggle))

UINT32 RO 0x6010:11, 16

entry 0x11 (Value))

dec

)

Index 1A02 TACHO TxPDO-Map Single Shaft Mode Input Ch.1

Index (hex) Name Meaning Data type Flags Default

1A02:0 TACHO TxPDO-Map

Single Shaft Mode In­put Ch.1

1A02:01 SubIndex 001 1. PDO Mapping entry (object 0x6010 (AI Inputs Ch.2),

1A02:02 SubIndex 002 2. PDO Mapping entry (object 0x6027 (TACHO Redun-

1A02:03 SubIndex 003 3. PDO Mapping entry (object 0x6027 (TACHO Redun-

1A02:04 SubIndex 004 4. PDO Mapping entry (object 0x6027 (TACHO Redun-

1A02:05 SubIndex 005 5. PDO Mapping entry (object 0x6027 (TACHO Redun-

1A02:06 SubIndex 006 6. PDO Mapping entry (6bits align) UINT32 RO 0x0000:00, 3

1A02:07 SubIndex 007 7. PDO Mapping entry (object 0x6027 (TACHO Redun-

1A02:08 SubIndex 008 8. PDO Mapping entry (3bits align) UINT32 RO 0x6037:0C, 1

1A02:09 SubIndex 009 9. PDO Mapping entry (object 0x6027 (TACHO Redun-

1A02:0A SubIndex 010 10. PDO Mapping entry (object 0x6027 (TACHO Redun-

1A02:0B SubIndex 011 11. PDO Mapping entry (object 0x6027 (TACHO Single

1A02:0C SubIndex 012 12. PDO Mapping entry (object 0x6027 (TACHO Single

PDO Mapping TxPDO 3 UINT8 RO 0x0C (12

UINT32 RO 0x0000:00, 1

entry 0x01 (Underrange))

UINT32 RO 0x6037:02, 1

dant Tracks Inputs Ch.1), entry 0x02 (Track Error A))

UINT32 RO 0x6037:03, 1
dant Tracks Inputs Ch.1), entry 0x03 (Input Status Track
A))

UINT32 RO 0x6037:04, 1
dant Tracks Inputs Ch.1), entry 0x04 (Track Error B))

UINT32 RO 0x6037:05, 1
dant Tracks Inputs Ch.1), entry 0x05 (Input Status Track
B))

UINT32 RO 0x0000:00, 3
dant Tracks Inputs Ch.1), entry 0x0C (Speed Below
Threshold))

UINT32 RO 0x0000:00, 3
dant Tracks Inputs Ch.1), entry 0x10 (TxPDO Toggle))

UINT32 RO 0x6037:10, 1
dant Tracks Inputs Ch.1), entry 0x11 (Rotational Speed))

UINT32 RO 0x6037:11, 16
Shaft Mode Input), entry 0x11 (Rotational Speed))

UINT32 RO 0x6037:12, 16
Shaft Mode Input), entry 0x12 (Rotation Direction))

dec

)

EP8309-102288 Version: 2.0.0

Commissioning and Configuration

Index 1A03 TACHO TxPDO-Map Dual Shaft Mode Input Ch.1

Index (hex) Name Meaning Data type Flags Default

1A03:0 TACHO TxPDO-Map

Dual Shaft Mode In-

PDO Mapping TxPDO 4 UINT8 RO 0x09 (9

)

dec

put Ch.1

1A03:01 SubIndex 001 1. PDO Mapping entry (object 0x6010 (AI Inputs Ch.2),

UINT32 RO 0x6020:01, 1
entry 0x01 (Underrange))

1A03:02 SubIndex 002 2. PDO Mapping entry (object 0x6010 (AI Inputs Ch.2),

UINT32 RO 0x0000:00, 2
entry 0x02 (Overrange))

1A03:03 SubIndex 003 3. PDO Mapping entry (object 0x6010 (AI Inputs Ch.2),

UINT32 RO 0x0000:00, 1
entry 0x03 (Limit 1))

1A03:04 SubIndex 004 4. PDO Mapping entry (object 0x6010 (AI Inputs Ch.2),

UINT32 RO 0x0000:00, 4
entry 0x05 (Limit 2))

1A03:05 SubIndex 005 5. PDO Mapping entry (object 0x6010 (AI Inputs Ch.2),

UINT32 RO 0x0000:00, 3
entry 0x07 (Error))

1A03:06 SubIndex 006 6. PDO Mapping entry (6bits align) UINT32 RO 0x6020:0C, 1

1A03:07 SubIndex 007 7. PDO Mapping entry (object 0x6020 (TACHO Dual

UINT32 RO 0x0000:00, 3
Shaft Mode Input Ch.1), entry 0x11 (Rotational Speed))

1A03:08 SubIndex 008 8. PDO Mapping entry (object 0x6020 (TACHO Dual

UINT32 RO 0x6020:10, 1
Shaft Mode Input Ch.1), entry 0x10 (TxPDO Toggle))

1A03:09 SubIndex 009 9. PDO Mapping entry (object 0x6020 (TACHO Dual

UINT32 RO 0x6020:11, 16
Shaft Mode Input Ch.1), entry 0x11 (Rotational Speed))

Index 1A04 TACHO TxPDO-Map Dual Shaft Mode Input Ch.2

Index (hex) Name Meaning Data type Flags Default

1A04:0 TACHO TxPDO-Map

Dual Shaft Mode In­put Ch.2

1A04:01 SubIndex 001 1. PDO Mapping entry (object 0x6020 (PWM Inputs

1A04:02 SubIndex 002 2. PDO Mapping entry (3bits align) UINT32 RO 0x0000:00, 2

1A04:03 SubIndex 003 3. PDO Mapping entry (object 0x6020 (PWM Inputs

1A04:04 SubIndex 004 4. PDO Mapping entry (object 0x6020 (PWM Inputs

1A04:05 SubIndex 005 5. PDO Mapping entry (object 0x6020 (PWM Inputs

1A04:06 SubIndex 006 6. PDO Mapping entry (8bits align) UINT32 RO 0x6030:0C, 1

1A04:07 SubIndex 007 7. PDO Mapping entry (object 0x6030 (TACHO Dual

1A04:08 SubIndex 008 8. PDO Mapping entry (object 0x6030 (TACHO Dual

1A04:09 SubIndex 009 9. PDO Mapping entry (object 0x6030 (TACHO Dual

PDO Mapping TxPDO 5 UINT8 RO 0x09 (9

UINT32 RO 0x6030:01, 1
Ch.1), entry 0x01 (Digital input 1))

UINT32 RO 0x0000:00, 1
Ch.1), entry 0x05 (Ready to enable))

UINT32 RO 0x0000:00, 4
Ch.1), entry 0x06 (Warning))

UINT32 RO 0x0000:00, 3
Ch.1), entry 0x07 (Error))

UINT32 RO 0x0000:00, 3
Shaft Mode Input Ch.2), entry 0x11 (Rotational Speed))

UINT32 RO 0x6030:10, 1
Shaft Mode Input Ch.2), entry 0x10 (TxPDO Toggle))

UINT32 RO 0x6030:11, 16
Shaft Mode Input Ch.2), entry 0x11 (Rotational Speed))

)

dec

Index 1A05 DI TxPDO-Map Inputs

Index (hex) Name Meaning Data type Flags Default

1A05:0 DI TxPDO-Map Inputs PDO Mapping TxPDO 6 UINT8 RO 0x07 (7

1A05:01 SubIndex 001 1. PDO Mapping entry (object 0x6020 (PWM Inputs

UINT32 RO 0x6040:01, 1

)

dec

Ch.1), entry 0x01 (Digital input 1))

1A05:02 SubIndex 002 2. PDO Mapping entry (3bits align) UINT32 RO 0x6040:02, 1

1A05:03 SubIndex 003 3. PDO Mapping entry (object 0x6020 (PWM Inputs

UINT32 RO 0x6040:03, 1
Ch.1), entry 0x05 (Ready to enable))

1A05:04 SubIndex 004 4. PDO Mapping entry (object 0x6020 (PWM Inputs

UINT32 RO 0x6040:04, 1
Ch.1), entry 0x06 (Warning))

1A05:05 SubIndex 005 5. PDO Mapping entry (object 0x6020 (PWM Inputs

UINT32 RO 0x6040:05, 1
Ch.1), entry 0x07 (Error))

1A05:06 SubIndex 006 6. PDO Mapping entry (8bits align) UINT32 RO 0x6040:06, 1

1A05:07 SubIndex 007 7. PDO Mapping entry (object 0x6020 (PM Inputs Ch.1),

UINT32 RO 0x0000:00, 10
entry 0x10 (TxPDO Toggle))

EP8309-1022 89Version: 2.0.0

Commissioning and Configuration

Index 1A06 PWM TxPDO-Map Status

Index (hex) Name Meaning Data type Flags Default

1A06:0 PWM TxPDO-Map

Status

1A06:01 SubIndex 001 1. PDO Mapping entry (object 0x6040 (DI Inputs), entry

PDO Mapping TxPDO 7 UINT8 RO 0x08 (8

UINT32 RO 0x0000:00, 1

)

dec

0x01 (Digital Input X4 Pin4))

1A06:02 SubIndex 002 2. PDO Mapping entry (object 0x6040 (DI Inputs), entry

UINT32 RO 0x0000:00, 3
0x02 (Digital Input X4 Pin2))

1A06:03 SubIndex 003 3. PDO Mapping entry (object 0x6040 (DI Inputs), entry

UINT32 RO 0x6060:05, 1
0x03 (Digital Input X6 Pin4))

1A06:04 SubIndex 004 4. PDO Mapping entry (object 0x6040 (DI Inputs), entry

UINT32 RO 0x6060:06, 1
0x04 (Digital Input X6 Pin2))

1A06:05 SubIndex 005 5. PDO Mapping entry (object 0x6040 (DI Inputs), entry

UINT32 RO 0x6060:07, 1
0x05 (Digital Input X7 Pin4))

1A06:06 SubIndex 006 6. PDO Mapping entry (object 0x6040 (DI Inputs), entry

UINT32 RO 0x0000:00, 1
0x06 (Digital Input X7 Pin2))

1A06:07 SubIndex 007 7. PDO Mapping entry (10bits align) UINT32 RO 0x0000:00, 7

1A06:08 SubIndex 008 8. PDO Mapping entry (object 0x6060 (PWM Inputs), en-

UINT32 RO 0x6060:10, 1
try 0x10 (TxPDO Toggle))

Index 1A07 PWM TxPDO-Map Synchronous info data

Index (hex) Name Meaning Data type Flags Default

1A07:0 PWM TxPDO-Map

Synchronous Info
Data

1A07:01 SubIndex 001 1. PDO Mapping entry (object 0x6060 (PWM Inputs), en-

1A07:02 SubIndex 002 2. PDO Mapping entry (3bits align) UINT32 RO 0x6060:12, 16

PDO Mapping TxPDO 8 UINT8 RO 0x02 (2

UINT32 RO 0x6060:11, 16
try 0x01 (Digital input 1))

)

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)

Index 1C12 RxPDO Assign

Index (hex) Name Meaning Data type Flags Default

1C12:0 RxPDO assign PDO Assign Outputs UINT8 RW 0x03 (3

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

ated RxPDO mapping object)

1C12:02 Subindex 002 2nd allocated RxPDO (contains the index of the associ-

ated RxPDO mapping object)

1C12:03 Subindex 003 3rd allocated RxPDO (contains the index of the associ-

ated RxPDO mapping object)

1C12:04 Subindex 004 4th allocated RxPDO (contains the index of the associ-

ated RxPDO mapping object)

UINT16 RW 0x1600

(5632

UINT16 RW 0x1601

(5633

UINT16 RW 0x1602

(5634

UINT16 RW 0x0000 (0

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

EP8309-102290 Version: 2.0.0

Commissioning and Configuration

Index 1C13 TxPDO Assign

Index (hex) Name Meaning Data type Flags Default

1C13:0 TxPDO assign PDO Assign Inputs UINT8 RW 0x05 (5

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

ated TxPDO mapping object)

1C13:02 Subindex 002 2nd allocated TxPDO (contains the index of the associ-

ated TxPDO mapping object)

1C13:03 Subindex 003 3rd allocated TxPDO (contains the index of the associ-

ated TxPDO mapping object)

1C13:04 Subindex 004 4th allocated TxPDO (contains the index of the associ-

ated TxPDO mapping object)

1C13:05 Subindex 005 5th allocated TxPDO (contains the index of the associ-

ated TxPDO mapping object)

1C13:06 Subindex 006 6th allocated TxPDO (contains the index of the associ-

ated TxPDO mapping object)

1C13:07 Subindex 007 7th allocated TxPDO (contains the index of the associ-

ated TxPDO mapping object)

UINT16 RW 0x1A00

(6656

UINT16 RW 0x1A01

(6657

UINT16 RW 0x1A02

(6658

UINT16 RW 0x1A05

(6661

UINT16 RW 0x1A06

(6662

UINT16 RW 0x0000 (0

UINT16 RW 0x0000 (0

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

EP8309-1022 91Version: 2.0.0

Commissioning and Configuration

Index 1C32 SM output parameter

Index (hex) Name Meaning Data type Flags Default

1C32:0 SM output parameter Synchronization parameters for the outputs UINT8 RO 0x20 (32

1C32:01 Sync mode Current synchronization mode:

UINT16 RW 0x0001 (1

• 0: Free Run

• 1: Synchronous with SM 2 event

• 2: DC-Mode - Synchronous with SYNC0 Event

• 3: DC-Mode - Synchronous with SYNC1 event

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

• Free Run: Cycle time of the local timer

UINT32 RW 0x000F4240

(1000000

• Synchronous with SM 2 event: Master cycle time

• DC mode: SYNC0/SYNC1 Cycle Time

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

ns, DC mode only)

1C32:04 Sync modes sup-

ported

Supported synchronization modes:

• Bit 0 = 1: free run is supported

UINT32 RO 0x00000000

(0

UINT16 RO 0xC007

(49159

• Bit 1 = 1: Synchronous 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 0x1C32:08 [}92])

1C32:05 Minimum cycle time Minimum cycle time (in ns) UINT32 RO 0x0007A120

(500000

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

DC mode only)

UINT32 RO 0x00000000

(0

1C32:07 Minimum delay time UINT32 RO 0x00000000

(0

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

UINT16 RW 0x0000 (0

• 1: Measurement of the local cycle time is started

The entries 0x1C32:03 [}92], 0x1C32:05 [}92],

0x1C32:06 [}92], 0x1C32:09 [}92], 0x1C33:03 [}93],
0x1C33:06 [}92], 0x1C33:09 [}93] are updated with

the maximum measured values.
For a subsequent measurement the measured values
are reset

1C32:09 Maximum delay time Time between SYNC1 event and output of the outputs (in

ns, DC mode only)

1C32:0B SM event missed

counter

1C32:0C Cycle exceeded

counter

Number of missed SM events in OPERATIONAL (DC
mode only)

Number of occasions the cycle time was exceeded in
OPERATIONAL (cycle was not completed in time or the

UINT32 RO 0x00000000

(0

UINT16 RO 0x0000 (0

UINT16 RO 0x0000 (0

next cycle began too early)

1C32:0D Shift too short counter Number of occasions that the interval between SYNC0

UINT16 RO 0x0000 (0

and SYNC1 event was too short (DC mode only)

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

BOOLEAN RO 0x00 (0

(outputs were output too late; DC mode only)

dec

dec

)

dec

)

dec

dec

)

dec

)

dec

)

dec

)

dec

)

)

dec

)

)

)

dec

)

dec

)

dec

)

dec

EP8309-102292 Version: 2.0.0

Commissioning and 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 0x0022 (34

• 0: Free Run

• 1: Synchronous with SM 3 Event (no outputs
available)

• 2: DC - Synchronous with SYNC0 Event

• 3: DC - Synchronous with SYNC1 Event

• 34: Synchronous with SM 2 event (outputs
available)

1C33:02 Cycle time

as 0x1C32:02 [}92]

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 0x00000000

(0

UINT16 RO 0xC007

(49159

• Bit 1: Synchronous with SM 2 Event is supported
(outputs available)

• Bit 1: Synchronous 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 0x1C32:08 [}92] or 0x1C33:08 [}93])

1C33:05 Minimum cycle time

as 0x1C32:05 [}92]

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

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

UINT32 RO 0x0007A120

(500000

UINT32 RO 0x00000000

(0

1C33:07 Minimum delay time UINT32 RO 0x00000000

(0

1C33:08 Command

as 0x1C32:08 [}92]

1C33:09 Maximum delay time Time between SYNC1 event and reading of the inputs (in

ns, only DC mode)

1C33:0B SM event missed

counter

1C33:0C Cycle exceeded

counter

1C33:0D Shift too short counter

1C33:20 Sync error

as 0x1C32:11 [}92]

as 0x1C32:12 [}92]

as 0x1C32:13 [}92]

as 0x1C32:32 [}92]

UINT16 RW 0x0000 (0

UINT32 RO 0x00000000

(0

UINT16 RO 0x0000 (0

UINT16 RO 0x0000 (0

UINT16 RO 0x0000 (0

BOOLEAN RO 0x00 (0

dec

)

dec

)

dec

dec

)

dec

)

dec

)

dec

dec

)

)

dec

)

dec

)

)

dec

)

dec

)

dec

)

dec

)

EP8309-1022 93Version: 2.0.0

Commissioning and Configuration

5.7.3.4 Profile-specific objects (0x6000-0xFFFF)

The profile-specific objects have the same meaning for all EtherCAT slaves that support the profile 5001.

Index 6000 AI Inputs Ch.1

Index (hex) Name Meaning Data type Flags Default

6000:0 AI Inputs Ch.1 UINT8 RO 0x11 (17

6000:01 Underrange Underrange event active BOOLEAN RO 0x00 (0

6000:02 Overrange Overrange event active BOOLEAN RO 0x00 (0

6000:03 Limit 1 Bit0: Value greater than Limit1 Bit1: Value smaller than

Limit1

6000:05 Limit 2 Bit0: Value greater than Limit2 Bit1: Value smaller than

Limit2

6000:07 Error Bit set when Over- or Underrange BOOLEAN RO 0x00 (0

6000:0E Sync error BOOLEAN RO 0x00 (0

6000:0F TxPDO State BOOLEAN RO 0x00 (0

6000:10 TxPDO Toggle BOOLEAN RO 0x00 (0

6000:11 Value INT16 RO 0x0000 (0

Index 6010 AI Inputs Ch.2

Index (hex) Name Meaning Data type Flags Default

6010:0 AI Inputs Ch.2 UINT8 RO 0x11 (17

6010:01 Underrange Underrange event active BOOLEAN RO 0x00 (0

6010:02 Overrange Overrange event active BOOLEAN RO 0x00 (0

6010:03 Limit 1 Bit0: Value greater than Limit1 Bit1: Value smaller than

Limit1

6010:05 Limit 2 Bit0: Value greater than Limit2 Bit1: Value smaller than

Limit2

6010:07 Error Bit set when Over- or Underrange BOOLEAN RO 0x00 (0

6010:0E Sync error BOOLEAN RO 0x00 (0

6010:0F TxPDO State BOOLEAN RO 0x00 (0

6010:10 TxPDO Toggle BOOLEAN RO 0x00 (0

6010:11 Value INT16 RO 0x0000 (0

BIT2 RO 0x00 (0

BIT2 RO 0x00 (0

BIT2 RO 0x00 (0

BIT2 RO 0x00 (0

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

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)

dec

)

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)

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)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

Index 6020 TACHO Dual Shaft Mode Input Ch.1

Index (hex) Name Meaning Data type Flags Default

6020:0 TACHO Dual Shaft

UINT8 RO 0x11 (17

Mode Input Ch.1

6020:01 Digital input BOOLEAN RO 0x00 (0

6020:0C Speed Below Thresh-

BOOLEAN RO 0x00 (0

old

6020:10 TxPDO Toggle BOOLEAN RO 0x00 (0

6020:11 Rotational Speed INT16 RO 0x0000 (0

Index 6030 TACHO Dual Shaft Mode Input Ch.2

Index (hex) Name Meaning Data type Flags Default

6030:0 TACHO Dual Shaft

Mode Input Ch.2

6030:01 Digital input BOOLEAN RO 0x00 (0

6030:0C Speed Below Thresh-

old

6030:10 TxPDO Toggle BOOLEAN RO 0x00 (0

6030:11 Rotational Speed INT16 RO 0x0000 (0

UINT8 RO 0x11 (17

BOOLEAN RO 0x00 (0

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

EP8309-102294 Version: 2.0.0

Commissioning and Configuration

Index 6037 TACHO Single Shaft Mode Input

Index (hex) Name Meaning Data type Flags Default

6037:0 TACHO Single Shaft

UINT8 RO 0x12 (18

Mode Input

6037:02 Error Input A BOOLEAN RO 0x00 (0

6037:03 Input Status A BOOLEAN RO 0x00 (0

6037:04 Error Input B BOOLEAN RO 0x00 (0

6037:05 Input Status B BOOLEAN RO 0x00 (0

6037:0C Speed Below Thresh-

BOOLEAN RO 0x00 (0

old

6037:10 TxPDO Toggle BOOLEAN RO 0x00 (0

6037:11 Rotational Speed INT16 RO 0x0000 (0

6037:12 Rotation Direction UINT16 RO 0x0000 (0

Index 6040 DI Inputs

Index (hex) Name Meaning Data type Flags Default

6040:0 DI Inputs UINT8 RO 0x06 (6

6040:01 Digital Input X4 Pin4 BOOLEAN RO 0x00 (0

6040:02 Digital Input X4 Pin2 BOOLEAN RO 0x00 (0

6040:03 Digital Input X6 Pin4 BOOLEAN RO 0x00 (0

6040:04 Digital Input X6 Pin2 BOOLEAN RO 0x00 (0

6040:05 Digital Input X7 Pin4 BOOLEAN RO 0x00 (0

6040:06 Digital Input X7 Pin2 BOOLEAN RO 0x00 (0

)

dec

)

dec

)

dec

)

dec

)

dec

)

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)

dec

)

dec

)

dec

)

dec

)

dec

)

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)

dec

)

dec

)

dec

)

dec

Index 6060 PWM Inputs

Index (hex) Name Meaning Data type Flags Default

6060:0 PWM Inputs UINT8 RO 0x12 (18

6060:05 Ready to enable BOOLEAN RO 0x00 (0

6060:06 Warning BOOLEAN RO 0x00 (0

6060:07 Error BOOLEAN RO 0x00 (0

6060:10 TxPDO Toggle BOOLEAN RO 0x00 (0

6060:11 Info data 1 INT16 RO 0x0000 (0

6060:12 Info data 2 INT16 RO 0x0000 (0

Index 7020 TACHO Outputs

Index (hex) Name Meaning Data type Flags Default

7020:0 TACHO Outputs UINT8 RO 0x09 (9

7020:09 Reset Error BOOLEAN RO 0x00 (0

Index 7030 TACHO Outputs

Index (hex) Name Meaning Data type Flags Default

7030:0 TACHO Outputs UINT8 RO 0x09 (9

7030:09 Reset Error BOOLEAN RO 0x00 (0

Index 7040 DIG Output

Index (hex) Output 11>Name Meaning Data type Flags Default

7050:0 DIG Outputs UINT8 RO 0x06 (6

7050:01 Digital Output X4 Pin4 BOOLEAN RO 0x00 (0

7050:02 Digital Output X4 Pin2 BOOLEAN RO 0x00 (0

7050:03 Digital Output X5 Pin4 BOOLEAN RO 0x00 (0

7050:04 Digital Output X5 Pin2 BOOLEAN RO 0x00 (0

7050:05 Digital Output X6 Pin4 BOOLEAN RO 0x00 (0

7050:06 Digital Output X6 Pin2 BOOLEAN RO 0x00 (0

7050:07 Digital Output X7 Pin4 BOOLEAN RO 0x00 (0

7050:08 Digital Output X7 Pin2 BOOLEAN RO 0x00 (0

)

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)

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)

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)

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)

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)

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)

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)

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)

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)

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EP8309-1022 95Version: 2.0.0

Commissioning and Configuration

Index 7060 PWM Outputs

Index (hex) Name Meaning Data type Flags Default

7060:0 PWM Outputs UINT8 RO 0x11 (17

7060:01 Enable dithering BOOLEAN RO 0x00 (0

7060:06 Enable BOOLEAN RO 0x00 (0

7060:07 Reset BOOLEAN RO 0x00 (0

7060:11 PWM output Analog output data INT16 RO 0x0000 (0

Index 7070 AO Outputs

Index (hex) Name Meaning Data type Flags Default

7070:0 AO Outputs UINT8 RO 0x11 (17

7070:11 Analog output Analog output data INT16 RO 0x0000 (0

Index 800E AI Internal data Ch.1

Index (hex) Name Meaning Data type Flags Default

800E:0 AI Internal data Ch.1 UINT8 RO 0x01 (1

800E:01 ADC raw value INT16 RO 0x0000 (0

Index 800F AI Vendor data Ch.1

Index (hex) Name Meaning Data type Flags Default

800F:0 AI Vendor data Ch.1 UINT8 RO 0x06 (6

800F:01 R0 Offset INT16 RW 0x0000 (0

800F:02 R0 Gain INT16 RW 0x4000

(16384

800F:03 R1 Offset INT16 RW 0x0000 (0

800F:04 R1 Gain INT16 RW 0x4000

(16384

800F:05 R2 Offset INT16 RW 0x0000 (0

800F:06 R2 Gain INT16 RW 0x4000

(16384

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Index 801E AI Internal data Ch.2

Index (hex) Name Meaning Data type Flags Default

801E:0 AI Internal Data Ch.2 UINT8 RO 0x01 (1

801E:01 ADC raw value INT16 RO 0x0000 (0

Index 801F AI Vendor data Ch.2

Index (hex) Name Meaning Data type Flags Default

801F:0 AI Vendor Data Ch.2 UINT8 RO 0x06 (6

801F:01 R0 Offset INT16 RW 0x0000 (0

801F:02 R0 Gain INT16 RW 0x4000

(16384

801F:03 R1 Offset INT16 RW 0x0000 (0

801F:04 R1 Gain INT16 RW 0x4000

(16384

801F:05 R2 Offset INT16 RW 0x0000 (0

801F:06 R2 Gain INT16 RW 0x4000

(16384

Index 806F PWM Vendor data

Index (hex) Name Meaning Data type Flags Default

806F:0 PWM Vendor data UINT8 RO 0x02 (2

806F:01 Offset Vendor calibration for +/-10 V INT16 RW 0x0000 (0

806F:02 Gain Vendor calibration for +/-10 V INT16 RW 0x4000

(16384

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EP8309-102296 Version: 2.0.0

Commissioning and Configuration

Index 807E AO Internal data

Index (hex) Name Meaning Data type Flags Default

807E:0 AO Internal Data UINT8 RO 0x01 (1

807E:01 DAC Raw Value This is the raw DAC value. UINT16 RO 0x0000 (0

Index 807F AO Vendor data

Index (hex) Name Meaning Data type Flags Default

807F:0 AO Vendor Data UINT8 RO 0x06 (6

807F:01 R0 Calibration Offset Vendor calibration for +/-10 V INT16 RW 0x0000 (0

807F:02 R0 Calibration Gain Vendor calibration for +/-10 V UINT16 RW 0x4000

(16384

807F:03 R1 Calibration Offset Vendor calibration for 0-20 mA INT16 RW 0x0000 (0

807F:04 R1 Calibration Gain Vendor calibration for 0-20 mA UINT16 RW 0x4000

(16384

807F:05 R2 Calibration Offset Vendor calibration for 4-20 mA INT16 RW 0x0000 (0

807F:06 R2 Calibration Gain Vendor calibration for 4-20 mA UINT16 RW 0x4000

(16384

Index A060 PWM Diag data

Index (hex) Name Meaning Data type Flags Default

A060:0 PWM Diag data UINT8 RO 0x06 (6

A060:02 Overtemperature BOOLEAN RO 0x00 (0

A060:06 Short circuit BOOLEAN RO 0x00 (0

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Index F000 Modular Device Profile

Index (hex) Name Meaning Data type Flags Default

F000:0 Modular device profile General information for the modular device profile UINT8 RO 0x02 (2

F000:01 Module index dis-

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

)

dec

tance

F000:02 Maximum number of

Number of channels UINT16 RO 0x0008 (8

modules

Index F008 Code word

Index (hex) Name Meaning Data type Flags Default

F008:0 Code word UINT32 RW 0x00000000

(0

)

dec

Index F010 Module List

Index (hex) Name Meaning Data type Flags Default

F010:0 Module list UINT8 RW 0x08 (8

F010:01 SubIndex 001 UINT32 RW 0x0000012C

(300

F010:02 SubIndex 002 UINT32 RW 0x0000012C

(300

F010:03 SubIndex 003 UINT32 RW 0x00000208

(520

F010:04 SubIndex 004 UINT32 RW 0x00000208

(520

F010:05 SubIndex 005 UINT32 RW 0x00000064

(100

F010:06 SubIndex 006 UINT32 RW 0x000000C8

(200

F010:07 SubIndex 007 UINT32 RW 0x000000FA

(250

F010:08 SubIndex 008 UINT32 RW 0x00000190

(400

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EP8309-1022 97Version: 2.0.0

Commissioning and Configuration

Index F900 PWM Info data

Index (hex) Name Meaning Data type Flags Default

F900:0 PWM Info data UINT8 RO 0x02 (2

F900:02 Temperature [°C] UINT8 RO 0x00 (0

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Index FB00 PWM Command

Index (hex) Name Meaning Data type Flags Default

FB00:0 PWM Command UINT8 RO 0x03 (3

FB00:01 Request OCTET-

STRING[2]

FB00:02 Status UINT8 RO 0x00 (0

FB00:03 Response OCTET

STRING[4]

RW {0}

RO {0}

)

dec

)

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5.8 Restoring the delivery state

The CoE object Restore default parameters, Subindex 001 can be selected in the TwinCAT System
Manager (Config mode) in order to restore the delivery state of the back-up objects for the EPPxxxx Boxes.

Fig.67: Selecting the PDO restore default parameter

Double-click on SubIndex 001 to enter the Set Value dialog. Enter the value 1684107116 in the field Dec or
alternatively the value 0x64616F6C in the field Hex and confirm with OK.

All backup objects are reset to the delivery state.

EP8309-102298 Version: 2.0.0

Fig.68: Entering a restore value in the Set Value dialog

Alternative restore value

With some older modules the backup objects can be changed with an alternative restore

Note

value:
Decimal value: 1819238756
Hexadecimal value: 0x6C6F6164

An incorrect entry for the restore value has no effect.

Commissioning and Configuration

EP8309-1022 99Version: 2.0.0

Diagnostics

6 Diagnostics

The module offers various diagnostic options for users. These messages are divided into hardware warnings
and hardware errors. The respective status words for the channels (except digital inputs and outputs) contain
a bit for warnings and errors. The exact cause is analyzed via the diagnostic data (0xA050). Warnings are
reset automatically. Errors may result in the output stage being switched off (PWMi) and have to be
acknowledged in the control word (0x7050:07 Reset)

Error/warning for the PWM stage

Index (hex) Warning Meaning

A050:02 Overtemperature from 100°C
A050:06 Short circuit An overcurrent/short circuit of more than 105% of the rated current has

occurred for more than 200 ms

Control voltage (Us) and peripheral voltage (Up) of the EP8309

Fig.69: Diagnostic control voltage (Us) and peripheral voltage (Up) of the EP8309

DEV input process data Meaning

Undervoltage Us Warning below 18V
Undervoltage Up Warning below 18V

DC

DC

EP8309-1022100 Version: 2.0.0