Beckhoff EP9214-0023, EP9224-0023 Documentation

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Documentation

EP9214-0023 and EP9224-0023

Power Distribution for EtherCAT Box Modules

Version: Date:

2.3.1 2018-04-10

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 EP9214 - Introduction ................................................................................................................... 10

2.3 EP9224 - Introduction ................................................................................................................... 11

2.4 Technical data .............................................................................................................................. 12

3 Mounting and cabling .............................................................................................................................13

3.1 Mounting ....................................................................................................................................... 13

3.1.1 Dimensions ......................................................................................................................13

3.1.2 Mounting ..........................................................................................................................14

3.1.3 Nut torque for connectors ................................................................................................15

3.2 EtherCAT ...................................................................................................................................... 16

3.2.1 EtherCAT connection.......................................................................................................16

3.2.2 EtherCAT - Fieldbus LEDs...............................................................................................18

3.3 Power supply ................................................................................................................................ 20

3.3.1 Power Connection............................................................................................................20

3.3.2 Power LEDs .....................................................................................................................22

3.3.3 Power cable conductor losses M8 ...................................................................................23

3.3.4 Power cable 7/8" ..............................................................................................................24

3.3.5 Conductor losses 7/8" ......................................................................................................26

3.3.6 Power outputs ..................................................................................................................27

3.4 Cabling.......................................................................................................................................... 28

3.5 Status LEDs and status bits.......................................................................................................... 30

3.6 Monitoring and reset contacts....................................................................................................... 31

4 Comissioning and Configuration...........................................................................................................32

4.1 Inserting into the EtherCAT network............................................................................................. 32

4.2 Configuration via TwinCAT ........................................................................................................... 35

4.3 Operation with or without EtherCAT master ................................................................................. 43

4.4 Switch of behavior ........................................................................................................................ 44

4.4.1 Switch-off characteristics .................................................................................................44

4.4.2 Current limitation, switching the load circuits off ..............................................................46

4.4.3 Setting the current limitation ............................................................................................47

4.4.4 Status LEDs and status bits.............................................................................................48

4.5 EP9214-0023................................................................................................................................ 50

4.5.1 EP9214-0023 - Object description ...................................................................................50

4.5.2 EP9214-0023 - Process image ........................................................................................65

4.6 EP9224-0023................................................................................................................................ 66

4.6.1 EP9224-0023 - Diagnostic functions................................................................................66

4.6.2 EP9224-0023 - Object description ...................................................................................79

4.6.3 EP9224-0023 - Process image ......................................................................................106

4.7 Restoring the delivery state ........................................................................................................ 107

5 Appendix ................................................................................................................................................109

5.1 General operating conditions...................................................................................................... 109

5.2 EtherCAT Box- / EtherCATPBox - Accessories........................................................................ 110

EP9214-0023 and EP9224-0023 3Version: 2.3.1

Table of contents

5.3 Support and Service ................................................................................................................... 111

EP9214-0023 and EP9224-00234 Version: 2.3.1

Foreword

1 Foreword

1.1 Notes on the documentation

Intended audience

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

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

Disclaimer

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

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

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

Trademarks

Beckhoff®, TwinCAT®, EtherCAT®, 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

© 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.

EP9214-0023 and EP9224-0023 5Version: 2.3.1

Foreword

1.2 Safety instructions

Safety regulations

Please note the following safety instructions and explanations! Product-specific safety instructions can be found on following pages or in the areas mounting, wiring, commissioning etc.

Exclusion of liability

All the components are supplied in particular hardware and software configurations appropriate for the application. Modifications to hardware or software configurations other than those described in the documentation are not permitted, and nullify the liability of Beckhoff Automation GmbH & Co. KG.

Personnel qualification

This description is only intended for trained specialists in control, automation and drive engineering who are familiar with the applicable national standards.

Description of 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.

EP9214-0023 and EP9224-00236 Version: 2.3.1

1.3 Documentation issue status

Version Comment

2.3.1 • chapter Switch of behavior updated

• Nut torque for connectors updated

2.3.0 • Cabling added

2.2.0 • Operation with or without EtherCAT master updated

2.1.0 • Power Connection updated

2.0.0 • migration

• chapter mounting and cabling updated

• chapter nut torque for connectors extended

• chapter switch off behavior updated

• object descriptions updated

1.1.0 • EP9224-0023 added

1.0.0 • first release

0.1 • preliminary version (only German available)

Firm and hardware version

Foreword

The documentation refers to the firm and hardware status that was valid at the time it was prepared.

The properties of the modules are subject to continuous development and improvement. Modules having earlier production statuses cannot have the same properties as modules with the latest status. Existing properties, however, are always retained and are not changed, so that these modules can always be replaced by new ones.

Documentation version

2.1.0 09 11 04 10

2.0.0 09 10 04 10

1.1.0 09 06 04 06

1.0.0 07 03 - -

0.1 07 03 - -

The firmware and hardware version (delivery state) can be found in the batch number (D number) printed at 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

EP9214-0023 EP9224-0023

firmware hardware firmware hardware

Example with ser. no.: 55 09 01 00:

55 - week of production 55 09 - year of production 2009 01 - firmware version 01 00 - hardware version 00

EP9214-0023 and EP9224-0023 7Version: 2.3.1

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.

EP9214-0023 and EP9224-00238 Version: 2.3.1

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.

EP9214-0023 and EP9224-0023 9Version: 2.3.1

Product overview

2.2 EP9214 - Introduction

Fig.4: EP9214

Power distribution for EtherCAT Box (24VDC)

The EP9214-0023 enables connection of four power supply branches. In each branch the current consumption for the control voltage US and the peripheral voltage UP is monitored, limited, and, if necessary, switched off.

The power distribution is supplied via a 7/8" connector with up to 16A (per voltage supply US/UP). Several modules can be configured in a cascade arrangement. In the event of a short-circuit in one of the four outputs, the affected output is switched off. The supply for the other branches remains active. The switch-off and control is done in such a way that the input voltage does not fall below 21V or other modules are going down, caused by undervoltage.

During startup consumers with large capacities can be added without problem.

The master can read diagnostic messages from the individual channels via the EtherCAT interface. Independent switching of individual consumer branches is also possible via the EtherCAT master.

In delivery state the eight outputs of the box (4 times Us, 4 times Up) are activated to enable operation without EtherCAT.

After an error caused the switch off of a channel, this channel remains switched of when you try to switch it on again and has to be set back actively by the EtherCAT master or a hardware reset at the box (lower M8 socket).

Quick links

Installation [}13]

Configuration [}32]

EP9214-0023 and EP9224-002310 Version: 2.3.1

2.3 EP9224 - Introduction

Product overview

Fig.5: EP9224

Power distribution for EtherCAT Box (24VDC) with data logging

The EP9224-0023 enables connection of four power supply branches. In each branch the current consumption for the control voltage US and the peripheral voltage UP is monitored, limited, and, if necessary, switched off.

The power distribution is supplied via a 7/8" connector with up to 16 A (per voltage supply US/UP). Several modules can be configured in a cascade arrangement. In the event of a short-circuit in one of the four outputs, the affected output is switched off. The supply for the other branches remains active. The switch-off and control is done in such a way that the input voltage does not fall below 21 V or other modules are going down, caused by undervoltage.

During startup consumers with large capacities can be added without problem.

The master can read diagnostic messages from the individual channels via the EtherCAT interface. Independent switching of individual consumer branches is also possible via the EtherCAT master.

In delivery state the eight outputs of the box (4 times Us, 4 times Up) are activated to enable operation without EtherCAT.

Additional to this basic functionality that is also provided by EP9214, the EP9224 displays the voltage values of PowerIn supply and all current values of inputs and outputs within the process data.

The box has got an internal log file, that is writing the system values continuously into a ring buffer. This data logging has to be activated at the startup. In error case it is stopped, so a history of the system parameters from before the error case can be read out. This enables a much quicker error localization.

EP9214-0023 and EP9224-0023 11Version: 2.3.1

Product overview

Quick links

Installation [}13]

Configuration [}35]

2.4 Technical data

Technical data EP9214-0023 EP9224-0023

Rated voltage 24VDC (-15%/ +20%) Power supply Feed: Plug 7/8", max. 16A for each Us/Up

Onward connection: Socket 7/8", max. 16A for each Us/Up Number of load outputs 4 x M8, for each Us and Up Voltage drop VON in the load

circuits Parallel connection of several load

outputs Overload switch-off dependent on selected load curve (20ms at 3xIN, see time/current

Temperature switch-off Internal temperature switch-off Switch-on delay 10, 100 or 200ms (adjustable via CoE) Selectivity in case of an error, the channel concerned is switched off Signalling contact 1 Reset contact 1 Connections for signal and reset

contacts Fieldbus EtherCAT Fieldbus connection 2 x M8 sockets, screened, marked green Electrical isolation Control voltage/fieldbus: 500V Supply of the module circuitry from the control voltage Us Current consumption of the module

circuitry Process image Inputs: 5 x 16bit

Data logging - 40 samples ( 1ms - 1000ms

Permissible ambient temperature during operation

Permissible ambient temperature during storage

Vibration / shock resistance conforms to EN60068-2-6 / EN60068-2-27 EMC immunity/emission conforms to EN61000-6-2 / EN61000-6-4 Dimensions 126mm x 60mm x 40 mm Weight approx. 450g Installation position variable Protection class IP65, IP66, IP67 (according to EN 60529) Approvals CE, UL in preparation

90mV / Ampere

not permissible

characteristics)

in : 1 x M8 plug

out : 1 x M8 socket

typically 110mA from Us,

typically 40mA from Up

Outputs: 5 x 16bit

-25°C ... +60°C

-25 °C... +85°C

Inputs: 16x16Bit Outputs: 5x16Bit

sample time)

EP9214-0023 and EP9224-002312 Version: 2.3.1

3 Mounting and cabling

3.1 Mounting

3.1.1 Dimensions

Mounting and cabling

Fig.6: Dimensions of the EtherCAT Box Modules

All dimensions are given in millimeters.

EP9214-0023 and EP9224-0023 13Version: 2.3.1

Mounting and cabling

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) Weight approx. 125g, depending on module

ca. 126 x 30 x 26,5mm ca. 126 x 60 x 26,5mm

approx. 250g, depending on module type

type

3.1.2 Mounting

EP9214 modules are mounted using two M3 bolts in the mounting holes located in the corners or using two M4 bolts in the centrally located mounting holes.

The bolts must be longer than 15 mm. The mounting holes in the modules have no thread.

Protect connectors against soiling

Protect all module connections from soiling during installation!The protection classes IP65,

Note

IP66, IP67 (in accordance with EN 60529) are ensured only if all connectors are wired or sealed! Unused connectors must be sealed with suitable protective caps (see Beckhoff catalogue for connector sets and protective caps)!

Cooling plate

The EP9214 module has a cooling plate on the underside. For the effective dissipation of

Note

Note when mounting that the overall height is increased further by the fieldbus connections. See the Accessories section

the resultant power loss, the box must be bolted to a metal base, e.g. the machine bed, if possible making contact over the entire surface.A temperature-related automatic switch-off of the box can occur if care is not taken to ensure that the power loss from the module is dissipated via the cooling plate. A corresponding temperature error bit is then set!

EP9214-0023 and EP9224-002314 Version: 2.3.1

Mounting and cabling

3.1.3 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.7: 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.8: EtherCAT Box with M8 and M12 connectors

EP9214-0023 and EP9224-0023 15Version: 2.3.1

Mounting and cabling

7/8" plug connectors

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

Fig.9: 7/8" plug connectors

Torque socket wrenches

Fig.10: 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)!

3.2 EtherCAT

3.2.1 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

EP9214-0023 and EP9224-002316 Version: 2.3.1

Fig.11: EtherCAT Box: M8 (30mm housing)

Mounting and cabling

Fig.12: EtherCAT Box: M8 60mm housing (EP9214 for example )

Fig.13: Coupler Box: M12

Assignment

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

EP9214-0023 and EP9224-0023 17Version: 2.3.1

Mounting and cabling

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

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

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

orange/white orange blue/white

blue

TIA-568B

white/orange orange white/green green

Shield Shield Housing Shroud Screen Screen Screen

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

) wire colors according to EN 61918

) 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.

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

3.2.2 EtherCAT - Fieldbus LEDs

Fig.14: EtherCAT-LEDs

EP9214-0023 and EP9224-002318 Version: 2.3.1

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.

Mounting and cabling

EP9214-0023 and EP9224-0023 19Version: 2.3.1

Mounting and cabling

3.3 Power supply

3.3.1 Power Connection

Use cables with suitable cross-sections!

Ensure that the cross-sections of the cables employed are suitable for the load circuit in-

Attention

The supply voltages are fed and relayed onward via two 7/8" connectors in the center of the modules:

• Power In: left-hand 7/8" plug for the feed-in of supply voltages

• Power Out: right-hand 7/8" socket for the onward feeding of supply voltages

puts and outputs and the respective rated current being used!

Fig.15: EP9214-0023 - 7/8" connectors

The contacts of the 7/8" plug connectors can conduct a maximum current of 16A (40°C).

Two LEDs next to the device identifier label indicate the status of the supply voltages.

EP9214-0023 and EP9224-002320 Version: 2.3.1

Pin assignment

Fig.16: Pin assignment of 7/8" plug connectors

Contact Voltage

1 GND Up 2 GND Us 3 FE (Functional earth), (as well as contact at central mounting holes) 4 Control voltage Us, +24V 5 Peripheral voltage Up, +24V

Mounting and cabling

Do not confuse the power output with the EtherCAT connection!

Never connect the power cables (M8, 24 VDC) to the green-marked EtherCAT sockets of the EtherCAT Box Modules. This can cause the destruction of the modules!

Attention

Control voltage Us: 24V

The fieldbus and the processor logic are supplied from the 24 VDC control voltage Us. The control voltage is electrically isolated from the fieldbus circuitry.

Peripheral voltage Up: 24V

The peripheral voltage Up is monitored and fed to the power outputs, but is not used in the EP9214.

Redirection of the supply voltages

The power connections Power In and Power Out are bridged in the module. Hence, the supply voltages Us and Up can be passed from EtherCAT Box to EtherCAT Box in a simple manner.

Observe the maximum current of the 7/8" plug connectors!

Also ensure when relaying the supply voltages Us and Up onward that the maximum per-

Attention

missible current of 16 A / 40 °C for each 7/8" plug connector is not exceeded!

EP9214-0023 and EP9224-0023 21Version: 2.3.1

Mounting and cabling

3.3.2 Power LEDs

Status-LEDs for the power supply

LED Display Meaning

Us (control voltage) off The power supply voltage, Us, is

not present

Green illuminated The power supply voltage, Us, is

present

Up (peripheral voltage) off The power supply voltage, Up, is

not present

Green illuminated The power supply voltage, Up, is

present

EP9214-0023 and EP9224-002322 Version: 2.3.1

Mounting and cabling

3.3.3 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.

Fig.17: 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.

EP9214-0023 and EP9224-0023 23Version: 2.3.1

Mounting and cabling

3.3.4 Power cable 7/8"

Fig.18: Power cable 7/8"

Technical data

Rated voltage according to IEC61076-2-101 300V (according to IEC61076-2-101) Contamination level according to IEC60664-1 3/2 (according to IEC60664-1) Insulation resistance IEC60512-2 >109W Current carrying capacity according to

IEC60512-3 Volume resistance according to IEC60512-2 < 5mW Protection class conforms to IEC60529 IP65/66/67, when screwed together Permissible ambient temperature -30°C to +80°C Material properties TPE-U (PUR) halogen-free according to DINVDE0472

Approbations UL Cable outside diameter 7.80 ± 0.20mm Bending radius min. 6xD (external diameter) Parameter Max. speed 5m/s, max. acceleration 10m/s² Number of cycles At least 10million cycles with a max. travel path of 20

16A at 40°C (according to IEC60512-3)

Part815, flame-retardant according to cULus 20549

meters

EP9214-0023 and EP9224-002324 Version: 2.3.1

Ordering data

Mounting and cabling

Order identifier Power cable Screw type

connector

ZK2030-1200-0010 Straight socket, open end 7/8" 5-pin 1,50mm

Contacts Cross-sec-

tion

Length

1.00m ZK2030-1200-0030 3.00m ZK2030-1200-0050 5.00m ZK2030-1200-0100 10.00m ZK2030-1400-0010 Angled socket, open end 1.00m ZK2030-1400-0030 3.00m ZK2030-1400-0050 5.00m ZK2030-1400-0100 10.00m ZK2030-1112-0010 Straight socket, straight ZK2030-1112-0030 3.00m

plug

1.00m

ZK2030-1112-0050 5.00m ZK2030-1112-0100 10.00m ZK2030-1314-0010 Angled socket, angled ZK2030-1314-0030 3.00 m

plug

1.00m

ZK2030-1314-0050 5.00m ZK2030-1314-0100 10.00m

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

EP9214-0023 and EP9224-0023 25Version: 2.3.1

Mounting and cabling

3.3.5 Conductor losses 7/8"

In the case of the power cables ZK2030-xxxx-yyy, a total length of 15m should not be exceeded at 16A. When wiring, note that with a rated voltage of 24V the function of the modules can no longer be guaranteed from a voltage drop of 6V. Variations in the output voltage from the power supply unit must also be taken into account.

Fig.19: ZK2030-xxxx-yyy - Conductor losses

Alternatively, larger cable cross-section can be used, e.g. 2.5mm2.

EP9214-0023 and EP9224-002326 Version: 2.3.1

Mounting and cabling

3.3.6 Power outputs

The supply voltages are output via four 4-pole M8 sockets in the lower third of the modules (1, 2, 3 and 4).

Fig.20: M8 sockets

Pin assignment

Fig.21: Pin assignment of the M8 sockets

Contact Voltage

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

3 GNDs* *) can be internally connected to one another depending on the connected 4 GNDp*

module: see individual module descriptions

The contacts of the M8 plug connectors can conduct a maximum current of 4A.

A LED indicates the status of the power outputs.

Do not confuse the power outputs with the EtherCAT connection

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

Attention

EP9214-0023 and EP9224-0023 27Version: 2.3.1

EtherCAT Box Modules. This can cause the destruction of the modules!

Mounting and cabling

Control voltage Us: 24V

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

Peripheral voltage Up: 24V

The peripheral voltage Up (24VDC) supplies the digital outputs; it can be brought in separately. Hence, if the load voltage is switched off, the fieldbus function as well as the supply and function of the inputs are retained.

Electrical isolation

The grounds of the control voltage (GNDs) and peripheral voltage (GNDp) are electrically isolated from each other in order to ensure the electrical isolation of the peripheral devices on Up from the control voltage.

The electrical isolation can be nullified

If you connect digital and analog EtherCAT Box Modules directly to one another via fourpole power lines, then there may no longer be any electrical isolation due to the connected

Attention

boxes!

3.4 Cabling

A list of EtherCAT cables, power cables, sensor cables, Ethernet/EtherCAT connectors and fieldconfigurable connectors can be found under the following link: http://download.beckhoff.com/download/

document/catalog/main_catalog/german/Beckhoff_EtherCAT-Box-Zubehoer.pdf

The corresponding data sheets can be found under the following link:

https://beckhoff.de/default.asp?ethercat-box/ethercat_box_cables.htm?id=690338951657421

EtherCAT cables

Fig.22: ZK1090-3131-0xxx

EP9214-0023 and EP9224-002328 Version: 2.3.1

Mounting and cabling

For connecting EtherCAT devices, only use shielded Ethernet cables with a minimum specification of

category5 (CAT5) according to EN50173 or ISO/IEC11801.

Wiring recommendations

Detailed recommendations for EtherCAT cabling can be found in the documentation "De-

Note

EtherCAT uses four cable wires for signal transmission. Due to automatic cable detection (auto-crossing) symmetric (1:1) or cross-over cables can be used between EtherCAT devices from Beckhoff.

Power cable

sign recommendations for EtherCAT/Ethernet infrastructure", which is available for download from www.beckhoff.de.

Fig.23: ZK2020-3132-0xxx

Sensor cables

Fig.24: Selection of Beckhoff sensor cables

EP9214-0023 and EP9224-0023 29Version: 2.3.1

Mounting and cabling

3.5 Status LEDs and status bits

Below is a table showing the meaning of the status LEDs and status bits for the power outputs (EP9214 for example):

Fig.25: EP9214 - status LEDs

Fig.26: EP9214 - status bits

Initialization

When switching on the voltage supply to the EP9214/ EP9224, all green LEDs and then all red LEDs are switched on briefly to test the LEDs.

The LED is valid for both voltages and currents (Us and Up; OR).

LED Status

Us / Up

Off 0 0 0 The output is ready Green 1 0 0 The output is just switching on Green 1 0 0 The output is switched on. Normal operating status. Flashing

green Flashing

red Red 0 0 1 The output has been deactivated and can be returned to a

1 1 0 The output is still operating, but will switch off if conditions

0 1 1 The output has been switched off. Switching on again is not

Warning Error

Us / Up

Description

remain unchanged (Warning Ux).

yet possible (waiting time of 20seconds)

normal state by a reset.

EP9214-0023 and EP9224-002330 Version: 2.3.1

Mounting and cabling

3.6 Monitoring and reset contacts

The EP9214 has a monitoring contact (signal contact) and a reset contact. These contacts are fed out via an M8 plug and an M8 socket.

The contacts of this M8 plug and M8 socket are wired together 1:1.

Fig.27: EP9214 - Monitoring and reset connectors

Pin assignment

Fig.28: EP9214 - Monitoring and reset contacts

Contact Meaning

Pin 1 and 3: Monitoring

Pin 4: Reset all errors are reset by applying 24VDC to the Reset contact.

The contacts of the M8 plug connectors can conduct a maximum current of 4A.

Potential-free signalling contact (normally open contact), closes on application of the supply voltage and if an error occurs in one of the eight load circuits

EP9214-0023 and EP9224-0023 31Version: 2.3.1

Comissioning and Configuration

4 Comissioning and Configuration

4.1 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 [}32] for existing hardware (called "online") and

• by manual inserting/appending [}32] 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 [}35] (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.29: 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 [}35] (Config mode)

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

EP9214-0023 and EP9224-002332 Version: 2.3.1

Comissioning and Configuration

Fig.30: Appending a new I/O device (I/O Devices -> right-click -> Append Device...)

Fig.31: Selecting the device EtherCAT

• Append a new box.

Fig.32: 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.

EP9214-0023 and EP9224-0023 33Version: 2.3.1

Comissioning and Configuration

Fig.33: Selecting a Box (e.g. EP2816-0008)

Fig.34: Appended Box in the TwinCAT tree

EP9214-0023 and EP9224-002334 Version: 2.3.1

Comissioning and Configuration

4.2 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.35: 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.36: 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.

EP9214-0023 and EP9224-0023 35Version: 2.3.1

Comissioning and Configuration

EtherCAT tab

Fig.37: 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.

EP9214-0023 and EP9224-002336 Version: 2.3.1

Comissioning and Configuration

Fig.38: 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.

EP9214-0023 and EP9224-0023 37Version: 2.3.1

Comissioning 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

Manager.

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

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

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 [}41]),

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

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 [}38] 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.

EP9214-0023 and EP9224-002338 Version: 2.3.1

Fig.39: 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

Comissioning and Configuration

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.

EP9214-0023 and EP9224-0023 39Version: 2.3.1

Comissioning and Configuration

Fig.40: 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.

EP9214-0023 and EP9224-002340 Version: 2.3.1

Comissioning and Configuration

Fig.41: 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.42: Online tab

EP9214-0023 and EP9224-0023 41Version: 2.3.1

Comissioning 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.

EP9214-0023 and EP9224-002342 Version: 2.3.1

Comissioning and Configuration

4.3 Operation with or without EtherCAT master

The EP92x4 is preset in the factory and delivered with a set rated current of 4.0A and all eight channels switched on.

The channels switch on automatically during commissioning

In the basic setting the rated current of the EP92x4 is 4A per channel. Shortly after the

Attention

This is preset by the CoE object 0xF707:01

EP92x4 is supplied with voltage, all channels are switched on with a delay of 100ms each.

Fig.43: CoE object 0xF707:01 - Enable Control via Fieldbus

If the EP92x4 is operated on an EtherCAT master, the basic setting or the bootup can be adapted.

This is done via the variable DPO Outputs Device -> Enable control via Fieldbus in the process data.

At the next power-on of the box the load circuits will then be switched on depending on the settings in the CoE objects.

Customize all parameters when EtherCAT is used for the first time

If the EP92x4 operated for the first time with EtherCAT connection, all parameters need to

Note

be adjusted.

Without EtherCAT connection the outputs switch in default status

After the EP92x4 was configured with an EtherCAT master you can disconnect the Ether-

Attention

Example for parametrizing the outputs when using EtherCAT

Via the tab “CoE – Online” you can adjust different settings of the box module. For example, it is possible to adjust the “Nominal Current US” (Index: 8000:12), by double-clicking to the respective parameter opens the “Set Value Dialog” (see following figure).

CAT connection. But in this case the parameters of all outputs switch in the default status. When the connection is restored to the EtherCAT master, the previously set values are available again.

EP9214-0023 and EP9224-0023 43Version: 2.3.1

Comissioning and Configuration

Fig.44: Adjust the “DPO Settings Ch.1” with EtherCAT connection

If the EtherCAT connection is disconnected, the option “Show Offline Data” should be activated. Then the default values of the parameters are displayed.

4.4 Switch of behavior

4.4.1 Switch-off characteristics

The EP9214 EtherCAT Box selectively protects all connected 24VDC load circuits. This is done via various electronic circuits, additionally protected by a 7A micro-fuse.

Selective switch-off means that the load circuits are individually monitored and if a channel is exceeded, only that channel is switched off.

This ensures the function of the remaining consumers connected to the higher-level power supply unit.

General functional principle

The EP9214 EtherCAT Box monitors the current for each of the 8 output channels. 4xUs, 4xUp. Switching off takes place depending on the selected nominal current and release characteristic.

Superordinate to all is the hardware switch-off, which responds if

• 7A is reached for 50ms

• there is a short-circuit for 50ms

• the capacitive load and thus the start-up current of the connected devices is too high

Due to the intelligent current limitation an output current exceeding 7A is not possible under operating conditions. The additionally installed 7A micro fuse thus blows only if the upstream electronic switch-off is already defective.

The nominal current can be set for each channel individually between 1A and 4A.

EP9214-0023 and EP9224-002344 Version: 2.3.1

Fig.45: Setting the nominal current

Comissioning and Configuration

All set characteristics are referenced to the set nominal current. The following table shows the response time of the monitoring in relation to the nominal current and characteristic.

Nominal current Very fast acting Fast acting Slow acting Time delay

100% 1h - - 110% 1h 4h - 120% 7min 4h - 150% 30s 30min 1h 4h 210% 500ms 20s 20s 100s 275% 500ms 1s 20s 10s 300% 20ms 100ms 1s 3s

If overcurrent (≥ nominal current) is detected and it is foreseeable that the current monitoring will trip if conditions remain unchanged, then a warning is given both in the process data and in form of a flashing LED. An output switch-off due to overcurrent is indicated by a red LED.

If one of the outputs was switched off due to a diagnosis, it must be reactivated by an active RESET.

Restart after power OFF/ON

If an output was switched off due to an error, then an active reset by the RESET contact or

Note

Switching on can be done either via EtherCAT or by applying 24V to the RESET contact. To protect the circuitry, a RESET can take place maximally every 20seconds. Faster successive edges are ignored.

the fieldbus is necessary. Switching off and on again is not sufficient! To protect the electronic a RESET can be done at maximum all 20seconds.

Switch-on delay of load circuits 1 to 4 without fieldbus control

Here is a table of the startup times, adjustable in the CoE object 0xF80E:11

Description Switch-on delay

Fast 10ms Moderate 100ms Slow 200ms

EP9214-0023 and EP9224-0023 45Version: 2.3.1

Comissioning and Configuration

4.4.2 Current limitation, switching the load circuits off

The switch-off behavior of the individual load circuits can be adapted to the application.

The following modes can be set individually for each channel:

• Very fast acting

• Fast acting

• Slow acting

• Time delay

Release time (switch-off time) of the modes

Rated current Very fast acting Fast acting Slow acting Time delay

100% 1h - - 110% 1h 4h - 120% 7min 4 h - 150% 30s 30min 1h 4h 210% 500ms 20sec 20s 100s 275% 500ms 1sec 20s 10s 300% 20ms 100ms 1s 3s

The release time depends on the set rated current.

Following the switch-off of a channel it is necessary to reactivate it after rectification of the cause of the error.

Switch-off of the box due to overtemperature

The EP9214 is internally protected against overheating. A warning is given in the process data if a temperature of about 80°C is reached.

Fig.46: Temperature Warning and Temperature Error bits

On reaching 85°C all load circuits are switched off in order to protect the hardware against destruction. In this case the Temperature Error bit is set.

So that the permitted temperature is not exceeded, the box is to be mounted with its rear wall on the flattest possible thermally conductive surface.

Switch off of the box due to undervoltage

Since undervoltage impairs the function of the safety mechanisms, a warning is given in the process data from an input voltage of 21.5V. If the voltage falls below 18V all outputs are switched off and the Error bit is set.

EP9214-0023 and EP9224-002346 Version: 2.3.1

Undervoltage is detected independently for Us and Up.

Fig.47: Undervoltage bits

Switching on again

Switching off due to undervoltage and overtemperature is equivalent to the response of the

Note

current monitoring, but applies to the entire box and all outputs. The error must be reset by setting the process data GLOBAL RESET or by power off/ restart of the module, furthermore the temperature must have fallen below 75°C!

Comissioning and Configuration

Switching load circuits on again after switch-off

This takes place either via the process data by EtherCAT or by the reset input directly on the box.

Also see about this

2 EP9214-0023 - Process image [}65]

2 Monitoring and reset contacts [}31]

4.4.3 Setting the current limitation

The switch-off behavior of the individual load circuits can be adapted to the application.

The following modes can be set individually for each channel:

• Very fast acting

• Fast acting

• Slow acting

• Time delay

Release time (switch-off time) of the modes

Rated current Very fast acting Fast acting Slow acting Time delay

EP9214-0023 and EP9224-0023 47Version: 2.3.1

Comissioning and Configuration

The release time depends on the set rated current.

CoE parameters for setting the current limiting characteristic

Fig.48: CoE parameters for setting the current limiting characteristic

Meaning of the parameters

Index Name Meaning

0x80n0:02 Default State Us TRUE: in case of operation without fieldbus the load circuit Us of

channel n is automatically switched on

FALSE: in case of operation without fieldbus the load circuit Us of channel n remains switched off

0x80n0:02 Default State Up TRUE: in case of operation without fieldbus the load circuit Up of

channel n is automatically switched on

FALSE: in case of operation without fieldbus the load circuit Up of

channel n remains switched off 0x80n0:11 Characteristic Release time depending on rated current 0x80n0:12 Nominal Current Us Specification of the rated current of Us in mA 0x80n0:13 Nominal Current Up Specification of the rated current of Up in mA

Switching load circuits on again after switch-off

This takes place either via the process data [}65] by EtherCAT or by the reset input [}31] directly on the box.

4.4.4 Status LEDs and status bits

Below is a table showing the meaning of the status LEDs and status bits for the power outputs (EP9214 for example):

EP9214-0023 and EP9224-002348 Version: 2.3.1

Fig.49: EP9214 - Status bits

Comissioning and Configuration

Fig.50: EP9214 - status bits

Initialization

When switching on the voltage supply to the EP9214/EP9224, all green LEDs and then all red LEDs are switched on briefly to test the LEDs.

The LED is valid for both voltages and currents (Us and Up; OR).

LED Status

Us / Up

Off 0 0 0 The output is ready Green 1 0 0 The output is just switching on Green 1 0 0 The output is switched on. Normal operating

Flashing green 1 1 0 The output is still operating, but will switch off if

Flashing red 0 1 1 The output has been switched off. Switching on

Red 0 0 1 The output has been deactivated and can be

Warning Error

Us / Up

Description

status.

conditions remain unchanged (Warning Ux).

again is not yet possible (waiting time of 20seconds)

returned to a normal state by a reset.

EP9214-0023 and EP9224-0023 49Version: 2.3.1

Comissioning and Configuration

4.5 EP9214-0023

4.5.1 EP9214-0023 - Object description

Parameterization

Terminals' parameterization will be conducted by the CoE tab (double-click on the referring

Note

The CoE overview contains objects for different intended applications:

• Objects required for parameterization during commissioning

• Objects intended for regular operation e.g. through ADS access

• Objects for indicating internal settings (may be fixed)

• Further profile-specific objects indicating inputs, outputs and status information

object) or the Process data tab (PDO assignment)

EtherCAT XML Device Description

The description correspond to the display of the CoE objects from the EtherCAT XML Device Description. It is strongly recommended to download the latest revision of the corresponding XML file from the Beckhoff website (http://www.beckhoff.com/english/default.htm? download/elconfg.htm) and follow the installation instructions.

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

4.5.1.1 Objects for parameterization

4.5.1.1.1 Index 1011 Restore default parameters

Index Name Meaning Data type Flags Default

1011:0 Restore default

parameters

1011:01 SubIndex 001 If this object is set to "0x64616F6C" in the set value dialog,

4.5.1.1.2 Index 8000 DPO Settings Ch.1

Index Name Meaning Data type Flags Default

8010:0 DPO Settings

Ch.1

8010:02 Default State Us The output adopts this value if F707:01 is not set boolean RW 0x01 (1

8010:03 Default State Up The output adopts this value if F707:01 is not set boolean RW 0x01 (1

8010:11 Characteristic Specifies the characteristic with which the current monitor-

8010:12 Nominal CurrentUsNominal maximum current at the output UINT16 RW 0x0FA0 (4000

Making default settings UINT8 RO 0x01 (1

all backup objects are reset to their delivery state.

ing reacts: 0

: very fast acting

dec

: fast acting

dec

: slow acting

dec

: time delay

dec

UINT32 RW 0x00000000 (0

UINT8 RO 0x13 (19

UINT16 RW 0x0001 (1

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

8010:13 Nominal CurrentUpNominal maximum current at the output UINT16 RW 0x0FA0 (4000

EP9214-0023 and EP9224-002350 Version: 2.3.1

)

dec

Comissioning and Configuration

4.5.1.1.3 Index 8010 DPO Settings Ch.2

Index Name Meaning Data type Flags Default

8010:0 DPO Settings

Ch.2

8010:02 Default State Us The output adopts this value if F707:01 is not set boolean RW 0x01 (1

8010:03 Default State Up The output adopts this value if F707:01 is not set boolean RW 0x01 (1

8010:11 Characteristic Specifies the characteristic with which the current monitor-

ing reacts: 0

: very fast acting

dec

: fast acting

dec

: slow acting

dec

: time delay

dec

8010:12 Nominal CurrentUsNominal maximum current at the output UINT16 RW 0x0FA0 (4000

UINT8 RO 0x13 (19

dec

UINT16 RW 0x0001 (1

)

dec

)

dec

)

dec

8010:13 Nominal CurrentUpNominal maximum current at the output UINT16 RW 0x0FA0 (4000

4.5.1.1.4 Index 8020 DPO Settings Ch.3

Index Name Meaning Data type Flags Default

8020:0 DPO Settings

Ch.3

8020:02 Default State Us The output adopts this value if F707:01 is not set boolean RW 0x01 (1

8020:03 Default State Up The output adopts this value if F707:01 is not set boolean RW 0x01 (1

8020:11 Characteristic Specifies the characteristic with which the current monitor-

ing reacts: 0

: very fast acting

dec

: fast acting

dec

: slow acting

dec

: time delay

dec

UINT8 RO 0x13 (19

dec

UINT16 RW 0x0001 (1

)

dec

)

dec

8020:12 Nominal CurrentUsNominal maximum current at the output UINT16 RW 0x0FA0 (4000

8020:13 Nominal CurrentUpNominal maximum current at the output UINT16 RW 0x0FA0 (4000

4.5.1.1.5 Index 8030 DPO Settings Ch.4

Index Name Meaning Data type Flags Default

8030:0 DPO Settings

Ch.4

8030:02 Default State Us The output adopts this value if F707:01 is not set boolean RW 0x01 (1

8030:03 Default State Up The output adopts this value if F707:01 is not set boolean RW 0x01 (1

8030:11 Characteristic Specifies the characteristic with which the current monitor-

ing reacts: 0

: very fast acting

dec

: fast acting

dec

: slow acting

dec

: time delay

dec

8030:12 Nominal CurrentUsNominal maximum current at the output UINT16 RW 0x0FA0 (4000

UINT8 RO 0x13 (19

dec

UINT16 RW 0x0001 (1

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

8030:13 Nominal CurrentUpNominal maximum current at the output UINT16 RW 0x0FA0 (4000

4.5.1.1.6 Index F707 DPO Outputs Device

Index Name Meaning Data type Flags Default

F707:0 DPO Outputs

Device

F707:01 Enable Control

Via Fieldbus

: All outputs are set to their default values (80X0:02,

bin

80X0:03)

: All outputs are set according to their PDOs (70X0:01,

bin

70X0:02)

F707:04 Global Reset All error bits are reset boolean RO 0x00 (0

UINT8 RO 0x04 (4

boolean RO 0x00 (0

)

dec

)

dec

)

dec

EP9214-0023 and EP9224-0023 51Version: 2.3.1

)

dec

Comissioning and Configuration

4.5.1.1.7 Index F80E DPO Settings Device

Index Name Meaning Data type Flags Default

F80E:0 DPO Settings

UINT8 RO 0x11 (17

Device

F80E:11 Startup Delay Sets the time that is kept between two switch-on proce-

UINT16 RW 0x0001 (1 dures: 1

: fast (10ms)

dec

: moderate (100ms)

dec

: slow (200ms)

dec

4.5.1.2 Standard objects

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

4.5.1.2.1 Index 1000 Device type

Index Name Meaning Data type Flags Default

1000:0 Device type Device type of the EtherCAT slave: The low word contains

the CoE profile used (5001). The high word contains the module profile according to the modular device profile.

UINT32 RO 0x010E1389

(17699721

)

dec

)

dec

)

dec

4.5.1.2.2 Index 1008 Device name

Index Name Meaning Data type Flags Default

1008:0 Device name Device name of the EtherCAT slave STRING RO EP9214-0023

4.5.1.2.3 Index 1009 Hardware version

Index Name Meaning Data type Flags Default

1009:0 Hardware ver-

Hardware version of the EtherCAT slave STRING RO

sion

4.5.1.2.4 Index 100A Software version

Index Name Meaning Data type Flags Default

100A:0 Software ver-

Firmware version of the EtherCAT slave STRING RO 06

sion

4.5.1.2.5 Index 1018 Identity

Index Name Meaning Data type Flags Default

1018:0 Identity Information for identifying the slave UINT8 RO 0x04 (4

1018:01 Vendor ID Vendor ID of the EtherCAT slave UINT32 RO 0x00000002 (2

1018:02 Product code Product code of the EtherCAT slave UINT32 RO 0x23FE4052

(603865170

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

UINT32 RO 0x00000000 (0 0-15) indicates the special terminal number, the high word (bit 16-31) refers to the device description

1018:04 Serial number Serial number of the EtherCAT slave; the low byte (bit 0-7)

UINT32 RO 0x00000000 (0 of the low word contains the year of production, the high byte (bit 8-15) of the low word contains the week of production, the high word (bit 16-31) is 0

)

dec

)

dec

)

dec

)

dec

EP9214-0023 and EP9224-002352 Version: 2.3.1

Comissioning and Configuration

4.5.1.2.6 Index 10F0 Backup parameter handling

Index Name Meaning Data type Flags Default

10F0:0 Backup parame-

ter handling

Information for standardized loading and saving of backup entries

UINT8 RO 0x01 (1

)

dec

10F0:01 Checksum Checksum across all backup entries of the EtherCAT slave UINT32 RO 0x00000000 (0

4.5.1.2.7 Index 1600 DPO RxPDO-Map Outputs Ch.1

Index Name Meaning Data type Flags Default

1600:0 DPO RxPDO-

Map Outputs Ch.1

1600:01 SubIndex 001 1. PDO Mapping entry (object 0x7000 (DPO Outputs Ch.1),

1600:02 SubIndex 002 2. PDO Mapping entry (object 0x7000 (DPO Outputs Ch.1),

1600:03 SubIndex 003 3. PDO Mapping entry (2 bits align) UINT32 RO 0x0000:00, 2

1600:04 SubIndex 004 4. PDO Mapping entry (object 0x7000 (DPO Outputs Ch.1),

1600:05 SubIndex 005 5. PDO Mapping entry (object 0x7000 (DPO Outputs Ch.1),

1600:06 SubIndex 006 6. PDO Mapping entry (10 bits align) UINT32 RO 0x0000:00, 10

PDO Mapping RxPDO 1 UINT8 RO 0x06 (6

UINT32 RO 0x7000:01, 1 entry 0x01 (Output Us))

UINT32 RO 0x7000:02, 1 entry 0x02 (Output Up))

UINT32 RO 0x7000:05, 1 entry 0x05 (Reset Us))

UINT32 RO 0x7000:06, 1 entry 0x06 (Reset Up))

)

dec

)

dec

4.5.1.2.8 Index 1601 DPO RxPDO-Map Outputs Ch.2

Index Name Meaning Data type Flags Default

1601:0 DPO RxPDO-

Map Outputs

PDO Mapping RxPDO 2 UINT8 RO 0x06 (6

)

dec

Ch.2

1601:01 SubIndex 001 1. PDO Mapping entry (object 0x7010 (DPO Outputs Ch.2),

UINT32 RO 0x7010:01, 1 entry 0x01 (Output Us))

1601:02 SubIndex 002 2. PDO Mapping entry (object 0x7010 (DPO Outputs Ch.2),

UINT32 RO 0x7010:02, 1 entry 0x02 (Output Up))

1601:03 SubIndex 003 3. PDO Mapping entry (2 bits align) UINT32 RO 0x0000:00, 2

1601:04 SubIndex 004 4. PDO Mapping entry (object 0x7010 (DPO Outputs Ch.2),

UINT32 RO 0x7010:05, 1 entry 0x05 (Reset Us))

1601:05 SubIndex 005 5. PDO Mapping entry (object 0x7010 (DPO Outputs Ch.2),

UINT32 RO 0x7010:06, 1 entry 0x06 (Reset Up))

1601:06 SubIndex 006 6. PDO Mapping entry (10 bits align) UINT32 RO 0x0000:00, 10

4.5.1.2.9 Index 1602 DPO RxPDO-Map Outputs Ch.3

Index Name Meaning Data type Flags Default

1602:0 DPO RxPDO-

Map Outputs Ch.3

1602:01 SubIndex 001 1. PDO Mapping entry (object 0x7020 (DPO Outputs Ch.3),

1602:02 SubIndex 002 2. PDO Mapping entry (object 0x7020 (DPO Outputs Ch.3),

1602:03 SubIndex 003 3. PDO Mapping entry (2 bits align) UINT32 RO 0x0000:00, 2

1602:04 SubIndex 004 4. PDO Mapping entry (object 0x7020 (DPO Outputs Ch.3),

1602:05 SubIndex 005 5. PDO Mapping entry (object 0x7020 (DPO Outputs Ch.3),

1602:06 SubIndex 006 6. PDO Mapping entry (10 bits align) UINT32 RO 0x0000:00, 10

PDO Mapping RxPDO 3 UINT8 RO 0x06 (6

UINT32 RO 0x7020:01, 1 entry 0x01 (Output Us))

UINT32 RO 0x7020:02, 1 entry 0x02 (Output Up))

UINT32 RO 0x7020:05, 1 entry 0x05 (Reset Us))

UINT32 RO 0x7020:06, 1 entry 0x06 (Reset Up))

)

dec

EP9214-0023 and EP9224-0023 53Version: 2.3.1

Comissioning and Configuration

4.5.1.2.10 Index 1603 DPO RxPDO-Map Outputs Ch.4

Index Name Meaning Data type Flags Default

1603:0 DPO RxPDO-

Map Outputs

PDO Mapping RxPDO 4 UINT8 RO 0x06 (6

)

dec

Ch.4

1603:01 SubIndex 001 1. PDO Mapping entry (object 0x7030 (DPO Outputs Ch.4),

UINT32 RO 0x7030:01, 1 entry 0x01 (Output Us))

1603:02 SubIndex 002 2. PDO Mapping entry (object 0x7030 (DPO Outputs Ch.4),

UINT32 RO 0x7030:02, 1 entry 0x02 (Output Up))

1603:03 SubIndex 003 3. PDO Mapping entry (2 bits align) UINT32 RO 0x0000:00, 2

1603:04 SubIndex 004 4. PDO Mapping entry (object 0x7030 (DPO Outputs Ch.4),

UINT32 RO 0x7030:05, 1 entry 0x05 (Reset Us))

1603:05 SubIndex 005 5. PDO Mapping entry (object 0x7030 (DPO Outputs Ch.4),

UINT32 RO 0x7030:06, 1 entry 0x06 (Reset Up))

1603:06 SubIndex 006 6. PDO Mapping entry (10 bits align) UINT32 RO 0x0000:00, 10

4.5.1.2.11 Index 1604 DPO RxPDO-Map Outputs Device

Index Name Meaning Data type Flags Default

1604:0 DPO RxPDO-

Map Outputs Device

1604:01 SubIndex 001 1. PDO Mapping entry (object 0xF707 (DPO Outputs De-

1604:02 SubIndex 002 2. PDO Mapping entry (2 bits align) UINT32 RO 0x0000:00, 2

1604:03 SubIndex 003 3. PDO Mapping entry (object 0xF707 (DPO Outputs De-

1604:04 SubIndex 004 4. PDO Mapping entry (12 bits align) UINT32 RO 0x0000:00, 12

PDO Mapping RxPDO 5 UINT8 RO 0x04 (4

UINT32 RO 0xF707:01, 1 vice), entry 0x01 (Enable Control Via Fieldbus))

UINT32 RO 0xF707:04, 1 vice), entry 0x04 (Global Reset))

)

dec

4.5.1.2.12 Index 1A00 DPO TxPDO-Map Inputs Ch.1

Index Name Meaning Data type Flags Default

1A00:0 DPO TxPDO-

Map Inputs Ch.1

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

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

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

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

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

1A00:06 SubIndex 006 6. PDO Mapping entry (object 0x6000 (DPO Inputs Ch.1),

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

1A00:08 SubIndex 008 8. PDO Mapping entry (6 bits align) UINT32 RO 0x0000:00, 6

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

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

1A00:0B SubIndex 011 11. PDO Mapping entry (object 0x6000 (DPO Inputs Ch.1),

PDO Mapping TxPDO 1 UINT8 RO 0x0B (11

UINT32 RO 0x6000:01, 1 entry 0x01 (Error Us))

UINT32 RO 0x6000:02, 1 entry 0x02 (Error Up))

UINT32 RO 0x6000:03, 1 entry 0x03 (Warning Us))

UINT32 RO 0x6000:04, 1 entry 0x04 (Warning Up))

UINT32 RO 0x6000:05, 1 entry 0x05 (Status Us))

UINT32 RO 0x6000:06, 1 entry 0x06 (Status Up))

UINT32 RO 0x6000:07, 1 entry 0x07 (Channel 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))

dec

)

EP9214-0023 and EP9224-002354 Version: 2.3.1

Comissioning and Configuration

4.5.1.2.13 Index 1A01 DPO TxPDO-Map Inputs Ch.2

Index Name Meaning Data type Flags Default

1A01:0 DPO TxPDO-

Map Inputs Ch.2

1A01:01 SubIndex 001 1. PDO Mapping entry (object 0x6010 (DPO Inputs Ch.2),

1A01:02 SubIndex 002 2. PDO Mapping entry (object 0x6010 (DPO Inputs Ch.2),

1A01:03 SubIndex 003 3. PDO Mapping entry (object 0x6010 (DPO Inputs Ch.2),

1A01:04 SubIndex 004 4. PDO Mapping entry (object 0x6010 (DPO Inputs Ch.2),

1A01:05 SubIndex 005 5. PDO Mapping entry (object 0x6010 (DPO Inputs Ch.2),

1A01:06 SubIndex 006 6. PDO Mapping entry (object 0x6010 (DPO Inputs Ch.2),

1A01:07 SubIndex 007 7. PDO Mapping entry (object 0x6010 (DPO Inputs Ch.2),

1A01:08 SubIndex 008 8. PDO Mapping entry (6 bits align) UINT32 RO 0x0000:00, 6

1A01:09 SubIndex 009 9. PDO Mapping entry (object 0x6010 (DPO Inputs Ch.2),

1A01:0A SubIndex 010 10. PDO Mapping entry (object 0x6010 (DPO Inputs Ch.2),

1A01:0B SubIndex 011 11. PDO Mapping entry (object 0x6010 (DPO Inputs Ch.2),

PDO Mapping TxPDO 2 UINT8 RO 0x0B (11

UINT32 RO 0x6010:01, 1 entry 0x01 (Error Us))

UINT32 RO 0x6010:02, 1 entry 0x02 (Error Up))

UINT32 RO 0x6010:03, 1 entry 0x03 (Warning Us))

UINT32 RO 0x6010:04, 1 entry 0x04 (Warning Up))

UINT32 RO 0x6010:05, 1 entry 0x05 (Status Us))

UINT32 RO 0x6010:06, 1 entry 0x06 (Status Up))

UINT32 RO 0x6010:07, 1 entry 0x07 (Channel 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))

dec

)

4.5.1.2.14 Index 1A02 DPO TxPDO-Map Inputs Ch.3

Index Name Meaning Data type Flags Default

1A02:0 DPO TxPDO-

Map Inputs Ch.3

1A02:01 SubIndex 001 1. PDO Mapping entry (object 0x6020 (DPO Inputs Ch.3),

1A02:02 SubIndex 002 2. PDO Mapping entry (object 0x6020 (DPO Inputs Ch.3),

1A02:03 SubIndex 003 3. PDO Mapping entry (object 0x6020 (DPO Inputs Ch.3),

1A02:04 SubIndex 004 4. PDO Mapping entry (object 0x6020 (DPO Inputs Ch.3),

1A02:05 SubIndex 005 5. PDO Mapping entry (object 0x6020 (DPO Inputs Ch.3),

1A02:06 SubIndex 006 6. PDO Mapping entry (object 0x6020 (DPO Inputs Ch.3),

1A02:07 SubIndex 007 7. PDO Mapping entry (object 0x6020 (DPO Inputs Ch.3),

1A02:08 SubIndex 008 8. PDO Mapping entry (6 bits align) UINT32 RO 0x0000:00, 6

1A02:09 SubIndex 009 9. PDO Mapping entry (object 0x6020 (DPO Inputs Ch.3),

1A02:0A SubIndex 010 10. PDO Mapping entry (object 0x6020 (DPO Inputs Ch.3),

1A02:0B SubIndex 011 11. PDO Mapping entry (object 0x6020 (DPO Inputs Ch.3),

PDO Mapping TxPDO 3 UINT8 RO 0x0B (11

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

UINT32 RO 0x6020:02, 1 entry 0x02 (Error Up))

UINT32 RO 0x6020:03, 1 entry 0x03 (Warning Us))

UINT32 RO 0x6020:04, 1 entry 0x04 (Warning Up))

UINT32 RO 0x6020:05, 1 entry 0x05 (Status Us))

UINT32 RO 0x6020:06, 1 entry 0x06 (Status Up))

UINT32 RO 0x6020:07, 1 entry 0x07 (Channel Error))

UINT32 RO 0x6020:0E, 1 entry 0x0E (Sync error))

UINT32 RO 0x6020:0F, 1 entry 0x0F (TxPDO State))

UINT32 RO 0x6020:10, 1 entry 0x10 (TxPDO Toggle))

dec

)

EP9214-0023 and EP9224-0023 55Version: 2.3.1

Comissioning and Configuration

4.5.1.2.15 Index 1A03 DPO TxPDO-Map Inputs Ch.4

Index Name Meaning Data type Flags Default

1A03:0 DPO TxPDO-

Map Inputs Ch.4

1A03:01 SubIndex 001 1. PDO Mapping entry (object 0x6030 (DPO Inputs Ch.4),

1A03:02 SubIndex 002 2. PDO Mapping entry (object 0x6030 (DPO Inputs Ch.4),

1A03:03 SubIndex 003 3. PDO Mapping entry (object 0x6030 (DPO Inputs Ch.4),

1A03:04 SubIndex 004 4. PDO Mapping entry (object 0x6030 (DPO Inputs Ch.4),

1A03:05 SubIndex 005 5. PDO Mapping entry (object 0x6030 (DPO Inputs Ch.4),

1A03:06 SubIndex 006 6. PDO Mapping entry (object 0x6030 (DPO Inputs Ch.4),

1A03:07 SubIndex 007 7. PDO Mapping entry (object 0x6030 (DPO Inputs Ch.4),

1A03:08 SubIndex 008 8. PDO Mapping entry (6 bits align) UINT32 RO 0x0000:00, 6

1A03:09 SubIndex 009 9. PDO Mapping entry (object 0x6030 (DPO Inputs Ch.4),

1A03:0A SubIndex 010 10. PDO Mapping entry (object 0x6030 (DPO Inputs Ch.4),

1A03:0B SubIndex 011 11. PDO Mapping entry (object 0x6030 (DPO Inputs Ch.4),

PDO Mapping TxPDO 4 UINT8 RO 0x0B (11

UINT32 RO 0x6030:01, 1 entry 0x01 (Error Us))

UINT32 RO 0x6030:02, 1 entry 0x02 (Error Up))

UINT32 RO 0x6030:03, 1 entry 0x03 (Warning Us))

UINT32 RO 0x6030:04, 1 entry 0x04 (Warning Up))

UINT32 RO 0x6030:05, 1 entry 0x05 (Status Us))

UINT32 RO 0x6030:06, 1 entry 0x06 (Status Up))

UINT32 RO 0x6030:07, 1 entry 0x07 (Channel Error))

UINT32 RO 0x6030:0E, 1 entry 0x0E (Sync error))

UINT32 RO 0x6030:0F, 1 entry 0x0F (TxPDO State))

UINT32 RO 0x6030:10, 1 entry 0x10 (TxPDO Toggle))

dec

)

4.5.1.2.16 Index 1A04 DPO TxPDO-Map Inputs Device

Index Name Meaning Data type Flags Default

1A04:0 DPO TxPDO-

Map Inputs Device

1A04:01 SubIndex 001 1. PDO Mapping entry (object 0xF607 (DPO Inputs De-

1A04:02 SubIndex 002 2. PDO Mapping entry (object 0xF607 (DPO Inputs De-

1A04:03 SubIndex 003 3. PDO Mapping entry (object 0xF607 (DPO Inputs De-

1A04:04 SubIndex 004 4. PDO Mapping entry (object 0xF607 (DPO Inputs De-

1A04:05 SubIndex 005 5. PDO Mapping entry (object 0xF607 (DPO Inputs De-

1A04:06 SubIndex 006 6. PDO Mapping entry (object 0xF607 (DPO Inputs De-

1A04:07 SubIndex 007 7. PDO Mapping entry (object 0xF607 (DPO Inputs De-

1A04:08 SubIndex 008 8. PDO Mapping entry (4 bits align) UINT32 RW 0x0000:00, 4

1A04:09 SubIndex 009 9. PDO Mapping entry (object 0xF607 (DPO Inputs De-

1A04:0A SubIndex 010 10. PDO Mapping entry (2 bits align) UINT32 RW 0x0000:00, 2

1A04:0B SubIndex 011 11. PDO Mapping entry (object 0xF607 (DPO Inputs De-

1A04:0C SubIndex 012 12. PDO Mapping entry (object 0xF607 (DPO Inputs De-

PDO Mapping TxPDO 5 UINT8 RW 0x0C (12

UINT32 RW 0xF607:01, 1 vice), entry 0x01 (Temperature Warning))

UINT32 RW 0xF607:02, 1 vice), entry 0x02 (Temperature Error))

UINT32 RW 0xF607:03, 1 vice), entry 0x03 (Us Warning))

UINT32 RW 0xF607:04, 1 vice), entry 0x04 (Us Error))

UINT32 RW 0xF607:05, 1 vice), entry 0x05 (Up Warning))

UINT32 RW 0xF607:06, 1 vice), entry 0x06 (Up Error))

UINT32 RW 0xF607:07, 1 vice), entry 0x07 (Global Error Bit))

UINT32 RW 0xF607:0C, 1 vice), entry 0x0C (Reset Input))

UINT32 RW 0xF607:0F, 1 vice), entry 0x0F (TxPDO State))

UINT32 RW 0xF607:10, 1 vice), entry 0x10 (TxPDO Toggle))

dec

)

EP9214-0023 and EP9224-002356 Version: 2.3.1

Comissioning and Configuration

4.5.1.2.17 Index 1C00 Sync manager type

Index Name Meaning Data type Flags Default

1C00:0 Sync manager

Using the sync managers UINT8 RO 0x04 (4

type

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 (Out-

UINT8 RO 0x03 (3 puts)

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

UINT8 RO 0x04 (4 puts)

4.5.1.2.18 Index 1C12 RxPDO assign

Index Name Meaning Data type Flags Default

1C12:0 RxPDO assign PDO Assign Outputs UINT8 RW 0x05 (5

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

RxPDO mapping object)

1C12:02 Subindex 002 2. allocated RxPDO (contains the index of the associated

RxPDO mapping object)

1C12:03 Subindex 003 3. allocated RxPDO (contains the index of the associated

RxPDO mapping object)

1C12:04 Subindex 004 4. allocated RxPDO (contains the index of the associated

RxPDO mapping object)

1C12:05 Subindex 005 5. allocated RxPDO (contains the index of the associated

RxPDO mapping object)

UINT16 RW 0x1600 (5632

UINT16 RW 0x1601 (5633

UINT16 RW 0x1602 (5634

UINT16 RW 0x1603 (5635

UINT16 RW 0x1604 (5636

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

4.5.1.2.19 Index 1C13 TxPDO assign

Index Name Meaning Data type Flags Default

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

1C13:01 Subindex 001 1. Allocated TxPDO (contains the index of the associated

TxPDO mapping object)

1C13:02 Subindex 002 2. Allocated TxPDO (contains the index of the associated

TxPDO mapping object)

1C13:03 Subindex 003 3. Allocated TxPDO (contains the index of the associated

TxPDO mapping object)

1C13:04 Subindex 004 4. Allocated TxPDO (contains the index of the associated

TxPDO mapping object)

1C13:05 Subindex 005 5. Allocated TxPDO (contains the index of the associated

TxPDO mapping object)

UINT16 RW 0x1A00 (6656

UINT16 RW 0x1A01 (6657

UINT16 RW 0x1A02 (6658

UINT16 RW 0x1A03 (6659

UINT16 RW 0x1A04 (6660

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

EP9214-0023 and EP9224-0023 57Version: 2.3.1

Comissioning and Configuration

4.5.1.2.20 Index 1C32 SM output parameter

Index Name Meaning Data type Flags Default

1C32:0 SM output pa-

rameter

1C32:01 Sync mode Current synchronization mode:

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

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

1C32:04 Sync modes

supported

1C32:05 Minimum cycle

time

1C32:06 Calc and copy

time

1C32:07 Minimum delay

time

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

1C32:09 Maximum delay

time

1C32:0B SM event

missed counter

1C32:0C Cycle exceeded

counter

1C32:0D Shift too short

counter

1C32:20 Sync error The synchronization was not correct in the last cycle, (out-

Synchronization parameters for the outputs UINT8 RO 0x20 (32

UINT16 RW 0x0000 (0

• 0: Free Run

• 1: synchronous with SM 2 Event

• 2: DC-Mode - synchronous with SYNC0 Event

• 3: DC-Mode - synchronous with SYNC1 Event

UINT32 RW 0x000F4240

• Free Run: Cycle time of the local timer

(1000000

• synchronous with SM 2 Event: Master cycle time

• DC-Mode: SYNC0/SYNC1 Cycle Time

UINT32 RO 0x00000384 (900 ns, DC mode only)

Supported synchronization modes:

UINT16 RO 0xC007 (49159

• Bit 0 = 1: free run is supported

• 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 1C32:08)

Minimum cycle time (in ns) UINT32 RO 0x000F4240

(1000000

Minimum time between SYNC0 and SYNC1 event (in ns,

UINT32 RO 0x00000000 (0

DC mode only)

UINT32 RO 0x00000384 (900

UINT16 RW 0x0000 (0

• 1: Measurement of the local cycle time is started

The entries 1C32:03, 1C32:05, 1C32:06, 1C32:09, 1C33:03, 1C33:06, and 1C33:09 are updated with the maximum measured values. For a subsequent measurement the measured values are reset

Time between SYNC1 event and output of the outputs (in

UINT32 RO 0x00000384 (900

ns, DC mode only)

Number of missed SM events in OPERATIONAL (DC mode

UINT16 RO 0x0000 (0

only)

Number of occasions the cycle time was exceeded in OP-

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

Number of occasions that the interval between SYNC0 and

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

boolean RO 0x00 (0 puts were output too late; DC mode only)

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

EP9214-0023 and EP9224-002358 Version: 2.3.1

Comissioning and Configuration

4.5.1.2.21 Index 1C33 SM input parameter

Index Name Meaning Data type Flags Default

1C33:0 SM input pa-

rameter

1C33:01 Sync mode Current synchronization mode:

1C33:02 Cycle time as 1C32:02 UINT32 RW 0x000F4240

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

1C33:04 Sync modes

supported

1C33:05 Minimum cycle

time

1C33:06 Calc and copy

time

1C33:07 Minimum delay

time

1C33:08 Command as 1C32:08 UINT16 RW 0x0000 (0

1C33:09 Maximum delay

time

1C33:0B SM event

missed counter

1C33:0C Cycle exceeded

counter

1C33:0D Shift too short

counter

1C33:20 Sync error as 1C32:32 boolean RO 0x00 (0

Synchronization parameters for the inputs UINT8 RO 0x20 (32

UINT16 RW 0x0000 (0

dec

• 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)

(1000000

dec

UINT32 RO 0x00000384 (900

ns, only DC mode)

Supported synchronization modes:

UINT16 RO 0xC007 (49159

• Bit 0: free run is supported

• 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 1C32:08 or 1C33:08)

as 1C32:05 UINT32 RO 0x000F4240

Time between reading of the inputs and availability of the

(1000000

UINT32 RO 0x00000000 (0

dec

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

UINT32 RO 0x00000384 (900

dec

Time between SYNC1 event and reading of the inputs (in

UINT32 RO 0x00000384 (900

ns, only DC mode)

as 1C32:11 UINT16 RO 0x0000 (0

as 1C32:12 UINT16 RO 0x0000 (0

as 1C32:13 UINT16 RO 0x0000 (0

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

4.5.1.3 Profile-specific objects (0x6000-0xFFFF)

The profile-specific objects have the same meaning for all EtherCAT slaves that support profile 5001.

EP9214-0023 and EP9224-0023 59Version: 2.3.1

Comissioning and Configuration

4.5.1.3.1 Index 6000 DPO Inputs Ch.1

Index Name Meaning Data type Flags Default

6000:0 DPO Inputs

Ch.1

6000:01 Error Us The current monitoring of Us has tripped. The bit must be

6000:02 Error Up The current monitoring of Up has tripped. boolean RO 0x00 (0

6000:03 Warning Us The monitoring has detected overcurrent; the switching off

6000:04 Warning Up The monitoring has detected overcurrent; the switching off

6000:05 Status Us 0: The output is switched off

6000:06 Status Up 0: The output is switched off

6000:07 Channel Error 6000:01 or 6000:02 are set 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

Input of the first channel UINT8 RO 0x10 (16

boolean RO 0x00 (0 reset by a ‘Global Reset’ (F707:04) or by the corresponding Reset Us (7000:05). The output cannot be activated as long as the bit is 1.

boolean RO 0x00 (0 of output Us on this channel is imminent if the current consumption of the branch does not decrease.

boolean RO 0x00 (0 1: The output supplies 24V

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

4.5.1.3.2 Index 6010 DPO Inputs Ch.2

Index Name Meaning Data type Flags Default

6010:0 DPO Inputs

Ch.2

6010:01 Error Us The current monitoring of Us has tripped. The bit must be

6010:02 Error Up The current monitoring of Up has tripped. boolean RO 0x00 (0

6010:03 Warning Us The monitoring has detected overcurrent; the switching off

6010:04 Warning Up The monitoring has detected overcurrent; the switching off

6010:05 Status Us 0: The output is switched off

6010:06 Status Up 0: The output is switched off

6010:07 Channel Error 6010:01 or 6010:02 are set 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

Input of the first channel UINT8 RO 0x10 (16

boolean RO 0x00 (0 reset by a ‘Global Reset’ (F707:04) or by the corresponding Reset Us (7000:05). The output cannot be activated as long as the bit is 1.

boolean RO 0x00 (0 of output Us on this channel is imminent if the current consumption of the branch does not decrease.

boolean RO 0x00 (0 1: The output supplies 24V

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

EP9214-0023 and EP9224-002360 Version: 2.3.1

Comissioning and Configuration

4.5.1.3.3 Index 6020 DPO Inputs Ch.3

Index Name Meaning Data type Flags Default

6020:0 DPO Inputs

Ch.3

6020:01 Error Us The current monitoring of Us has tripped. The bit must be

6020:02 Error Up The current monitoring of Up has tripped. boolean RO 0x00 (0

6020:03 Warning Us The monitoring has detected overcurrent; the switching off

6020:04 Warning Up The monitoring has detected overcurrent; the switching off

6020:05 Status Us 0: The output is switched off

6020:06 Status Up 0: The output is switched off

6020:07 Channel Error 6020:01 or 6020:02 are set boolean RO 0x00 (0

6020:0E Sync error boolean RO 0x00 (0

6020:0F TxPDO State boolean RO 0x00 (0

6020:10 TxPDO Toggle boolean RO 0x00 (0

Input of the first channel UINT8 RO 0x10 (16

boolean RO 0x00 (0 reset by a ‘Global Reset’ (F707:04) or by the corresponding Reset Us (7000:05). The output cannot be activated as long as the bit is 1.

boolean RO 0x00 (0 of output Us on this channel is imminent if the current consumption of the branch does not decrease.

boolean RO 0x00 (0 1: The output supplies 24V

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

4.5.1.3.4 Index 6030 DPO Inputs Ch.4

Index Name Meaning Data type Flags Default

6030:0 DPO Inputs

Input of the first channel UINT8 RO 0x10 (16

Ch.4

6030:01 Error Us The current monitoring of Us has tripped. The bit must be

boolean RO 0x00 (0 reset by a ‘Global Reset’ (F707:04) or by the corresponding Reset Us (7000:05). The output cannot be activated as long as the bit is 1.

6030:02 Error Up The current monitoring of Up has tripped. boolean RO 0x00 (0

6030:03 Warning Us The monitoring has detected overcurrent; the switching off

boolean RO 0x00 (0 of output Us on this channel is imminent if the current consumption of the branch does not decrease.

6030:04 Warning Up The monitoring has detected overcurrent; the switching off

boolean RO 0x00 (0 of output Us on this channel is imminent if the current consumption of the branch does not decrease.

6030:05 Status Us 0: The output is switched off

boolean RO 0x00 (0 1: The output supplies 24V

6030:06 Status Up 0: The output is switched off

boolean RO 0x00 (0 1: The output supplies 24V

6030:07 Channel Error 6030:01 or 6030:02 are set boolean RO 0x00 (0

6030:0E Sync error boolean RO 0x00 (0

6030:0F TxPDO State boolean RO 0x00 (0

6030:10 TxPDO Toggle boolean RO 0x00 (0

4.5.1.3.5 Index 7000 DPO Outputs Ch.1

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

Index Name Meaning Data type Flags Default

7000:0 DPO Outputs

UINT8 RO 0x06 (6

Ch.1

7000:01 Output Us 0: Us will be switched off

boolean RO 0x00 (0 1: Us will be switched on

7000:02 Output Up 0: Us will be switched off

boolean RO 0x00 (0 1: Us will be switched on

7000:05 Reset Us An error on Us will be reset boolean RO 0x00 (0

7000:06 Reset Up An error on Up will be reset boolean RO 0x00 (0

EP9214-0023 and EP9224-0023 61Version: 2.3.1

)

dec

)

dec

)

dec

)

dec

)

dec

Comissioning and Configuration

4.5.1.3.6 Index 7010 DPO Outputs Ch.2

Index Name Meaning Data type Flags Default

7010:0 DPO Outputs

UINT8 RO 0x06 (6

Ch.2

7010:01 Output Us 0: Us will be switched off

boolean RO 0x00 (0 1: Us will be switched on

7010:02 Output Up 0: Us will be switched off

boolean RO 0x00 (0 1: Us will be switched on

7010:05 Reset Us An error on Us will be reset boolean RO 0x00 (0

7010:06 Reset Up An error on Up will be reset boolean RO 0x00 (0

4.5.1.3.7 Index 7020 DPO Outputs Ch.3

Index Name Meaning Data type Flags Default

7020:0 DPO Outputs

Ch.3

7020:01 Output Us 0: Us will be switched off

1: Us will be switched on

7020:02 Output Up 0: Us will be switched off

1: Us will be switched on

7020:05 Reset Us An error on Us will be reset boolean RO 0x00 (0

7020:06 Reset Up An error on Up will be reset boolean RO 0x00 (0

UINT8 RO 0x06 (6

boolean RO 0x00 (0

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

4.5.1.3.8 Index 7030 DPO Outputs Ch.4

Index Name Meaning Data type Flags Default

7030:0 DPO Outputs

Ch.4

7030:01 Output Us 0: Us will be switched off

1: Us will be switched on

7030:02 Output Up 0: Us will be switched off

1: Us will be switched on

7030:05 Reset Us An error on Us will be reset boolean RO 0x00 (0

7030:06 Reset Up An error on Up will be reset boolean RO 0x00 (0

UINT8 RO 0x06 (6

boolean RO 0x00 (0

)

dec

)

dec

)

dec

)

dec

)

dec

4.5.1.3.9 Index 800F DPO Vendor data Ch.1

Index Name Meaning Data type Flags Default

800F:0 DPO Vendor

data Ch.1

UINT8 RO 0x14 (20

)

dec

800F:11 GainS UINT16 RW 0x4000 (16384

800F:12 OffsetS INT16 RW 0x0000 (0

)

dec

800F:13 GainP UINT16 RW 0x4000 (16384

800F:14 OffsetP INT16 RW 0x0000 (0

)

dec

4.5.1.3.10 Index 801F DPO Vendor data Ch.2

)

dec

)

dec

Index Name Meaning Data type Flags Default

801F:0 DPO Vendor

data Ch.2

UINT8 RO 0x14 (20

)

dec

801F:11 GainS UINT16 RW 0x4000 (16384

801F:12 OffsetS INT16 RW 0x0000 (0

)

dec

801F:13 GainP UINT16 RW 0x4000 (16384

801F:14 OffsetP INT16 RW 0x0000 (0

)

dec

EP9214-0023 and EP9224-002362 Version: 2.3.1

)

dec

)

dec

Comissioning and Configuration

4.5.1.3.11 Index 802F DPO Vendor data Ch.3

Index Name Meaning Data type Flags Default

802F:0 DPO Vendor

data Ch.3

UINT8 RO 0x14 (20

)

dec

802F:11 GainS UINT16 RW 0x4000 (16384

802F:12 OffsetS INT16 RW 0x0000 (0

)

dec

802F:13 GainP UINT16 RW 0x4000 (16384

802F:14 OffsetP INT16 RW 0x0000 (0

)

dec

4.5.1.3.12 Index 803F DPO Vendor data Ch.4

Index Name Meaning Data type Flags Default

803F:0 DPO Vendor

data Ch.4

UINT8 RO 0x14 (20

)

dec

803F:11 GainS UINT16 RW 0x4000 (16384

803F:12 OffsetS INT16 RW 0x0000 (0

)

dec

803F:13 GainP UINT16 RW 0x4000 (16384

803F:14 OffsetP INT16 RW 0x0000 (0

)

dec

4.5.1.3.13 Index F000 Modular device profile

)

dec

)

dec

)

dec

)

dec

Index Name Meaning Data type Flags Default

F000:0 Modular de-

vice profile

F000:01 Module index

distance

F000:02 Maximum

number of

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

dec

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

Number of channels UINT16 RO 0x0004 (4

)

dec

)

dec

modules

4.5.1.3.14 Index F008 Code word

Index Name Meaning Data type Flags Default

F008:0 Code word UINT32 RW 0x00000000 (0

4.5.1.3.15 Index F010 Module list

Index Name Meaning Data type Flags Default

F010:0 Module list UINT8 RW 0x04 (4

F010:01 SubIndex 001 UINT32 RW 0x0000010E

(270

F010:02 SubIndex 002 UINT32 RW 0x0000010E

(270

F010:03 SubIndex 003 UINT32 RW 0x0000010E

(270

F010:04 SubIndex 004 UINT32 RW 0x0000010E

(270

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

EP9214-0023 and EP9224-0023 63Version: 2.3.1

Comissioning and Configuration

4.5.1.3.16 Index F607 DPO Inputs Device

Index Name Meaning Data type Flags Default

F607:0 DPO Inputs De-

vice

F607:01 Temperature

A temperature of about 80°C has been reached boolean RO 0x00 (0

Warning

F607:02 Temperature Er-

ror

A critical temperature of about 85°C has been reached, the outputs will be switched off. The bit must be reset by a Global Reset (F707:04) or by a voltage reset. No output can be switched on if the error bit is set.

F607:03 Us Warning Us is less than 21.5V, no further outputs can be

switched on.

F607:04 Us Error Us is less than 19V, all Us outputs will be switched off.

The bit must be reset by a ‘Global Reset’ (F707:04) or by a voltage reset. No Us output can be switched on if the error bit is set.

F607:05 Up Warning See F607:03 boolean RO 0x00 (0

F607:06 Up Error See F607:04 boolean RO 0x00 (0

F607:07 Global Error Bit One of the error bits of the four channels or F607:02 or

F607:04 or F607:06 is set

F607:0C Reset Input 0: there is no voltage on the external reset input

1: 24V is present on the external reset input

F607:0F TxPDO State boolean RO 0x00 (0

F607:10 TxPDO Toggle boolean RO 0x00 (0

UINT8 RO 0x10 (16

boolean RO 0x00 (0

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

4.5.1.3.17 Index F81F DPO Vendor Data Device

Index Name Meaning Data type Flags Default

F81F:0 DPO Vendor

Data Device

F81F:01 Enable Auto

reserved boolean RW 0x00 (0 Offset Calibration

F81F:02 Enable

reserved boolean RW 0x01 (1 Crosstalk Compensation

F81F:10 Enable Calibra-

reserved boolean RW 0x00 (0 tion Mode

F81F:11 GainS reserved UINT16 RW 0x4000 (16384

F81F:12 OffsetS reserved INT16 RW 0x0000 (0

F81F:13 GainP reserved UINT16 RW 0x4000 (16384

F81F:14 OffsetP reserved INT16 RW 0x0000 (0

F81F:15 Gain US reserved UINT16 RW 0x4000 (16384

F81F:16 Offset US reserved INT16 RW 0x0000 (0

F81F:17 Gain UP reserved UINT16 RW 0x4000 (16384

F81F:18 Offset UP reserved INT16 RW 0x0000 (0

F81F:19 Gain Tempera-

reserved UINT16 RW 0x4000 (16384 ture

F81F:1A Offset Tempera-

reserved INT16 RW 0x0000 (0 ture

UINT8 RO 0x1A (26

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

EP9214-0023 and EP9224-002364 Version: 2.3.1

4.5.2 EP9214-0023 - Process image

The EP9214 has 4 x 16-bit status data of the four output channels DPO Inputs Channel n.

Subsequently, a status word follows for the complete device DPO Inputs Device.

In the output section there are 4 x 16-bit output data of the four output channels DPO Outputs Channel n.

An output word follows for the complete device DPO

Outputs Device.

WcState and InfoData are standard EtherCAT system

variables.

Comissioning and Configuration

DPO Inputs Channel 1 to 4

The four channels each have status bits for displaying the current channel state:

see Status LEDs [}30]

Channel Error: Error Us or Error Up is TRUE

EP9214-0023 and EP9224-0023 65Version: 2.3.1

Comissioning and Configuration

DPO Inputs Device

DPO Outputs Channel 1 to 4

The EP9214 has 4 x 16-bit status data of the four output channels DPO Inputs Channel n.

Subsequently, a status word follows for the complete device DPO Inputs Device.

Channel Error: Error Us or Error Up One of the eight channels is TRUE

DPO Outputs Device

4.6 EP9224-0023

The EP9214 has 4 x 16-bit output data of the four output channels DPO Outputs Channel n.

Output Us: TRUE - switches on the output FALSE - switches off the output

Reset Us: TRUE - reset in the event of an error…

Subsequently, a status word follows for the complete device DPO outputs Device.

Enable Control Via Fieldbus: TRUE - control of all outputs via the fieldbus / the PLC FALSE - automatic switch-on depending on the CoE entries

Global Reset: resets all errors in the box

4.6.1 EP9224-0023 - Diagnostic functions

4.6.1.1 Special features of the EP9224

The EP9224 EtherCAT Box offers all the basic properties of the EP9214-0023. Beyond that it permits more detailed settings and a further-reaching diagnosis of the output channels.

The diagnostic information is either directly visible in the process data or can be read out via the logdata.csv log file in the event of an error.

The limitation of the sum current can be implemented as a supplement to the channel current limitation in the EP9214 basic version.

EP9214-0023 and EP9224-002366 Version: 2.3.1

Comissioning and Configuration

Additional properties

• Switch-off due to sum current monitoring [}67]

• Extended diagnostic data by process data [}69]

• Data Logging [}73]

Additional settings in the CoE

Settings for each output channel

The object 80n0:04 must be activated in order to activate the sum current limitation.

The sum current can then be defined in the object 80n0:14.

Fig.51: Object 8000:14 Nominal Sum Current

CoE Title Description 80n0:04 Enable Sum Current Limitation The CoE object 80n0:04 must be set to TRUE in

order to activate 80n0:14

80n0:14 Nominal Sum Current Apart from the nominal current for each Us and Up

(basic function of the EP92x4), the sum current of both outputs can also be limited per channel.

This property is recommended if the end device may not exceed a total power.

The default value is 4.0A (4000), the maximum sum current 8A.

The sum current switch-off corresponds to the behavior of the load circuit concerned (CoE 80n0:11).

80n0:15 / 16 Timestamp n Trigger On occurrence of the selected event, the

corresponding value (Peak Value n [}69]) and the appropriate timestamp are set in the process data.

If one of the outputs was switched off due to a diagnosis, it must be reactivated by an active RESET.

EP9214-0023 and EP9224-0023 67Version: 2.3.1

Comissioning and Configuration

Restart after Power OFF/ON

If an output was switched off due to an error, then an active reset by the RESET contact or

Note

Additional diagnosis

Extended diagnosis [}69] and data logging [}73]

the fieldbus is necessary. Switching off and on again is not sufficient!

4.6.1.2 Additional PDOs of the EP9224

The selection of additional PDOs in the PDO Mapping is required for the use of the diagnostic functions.

This allows the display of further diagnostic data [}69] in the process data section.

Additional input PDOs

Fig.52: EP9224 - Additional input PDOs

EP9214-0023 and EP9224-002368 Version: 2.3.1

Additional output PDOs

Comissioning and Configuration

Fig.53: EP9224 - Additional output PDOs

4.6.1.3 Extended channel and device diagnosis of the EP9224

The selection of additional PDOs in the PDO Mapping is required for the use of the diagnostic functions.

Certain values can be recorded with time stamp (timestamp / trigger [}71]) for each channel of DPO

Extended Diag Inputs Channel n and for the DPO Extended Diag Inputs Device module.

DPO Extended Diag Output Device resets the recording.

DPO Extended Diag Inputs Channel n

The DPO Extended Diag Inputs Channel n can be activated with each channel.

It continuously indicates the respective current value Peak Value n and the precise time of the arrival Timestamp n.

The selection of the triggering event takes place in the CoE object 80x0:15 or 16.

EP9214-0023 and EP9224-0023 69Version: 2.3.1

Comissioning and Configuration

Fig.54: EP9224 - DPO Extended Diag Inputs Channel 1

DPO Extended Diag Inputs Device

As for each channel there is also a DPO Extended Diag Inputs Device for the entire EP9224.

It continuously indicates the respective current value Peak Value n and the precise time of the arrival Timestamp n.

The selection of the triggering event takes place in the CoE object F80E:15 or 16.

Fig.55: EP9224 - DPO Extended Diag Inputs Device

DPO Extended Diag Outputs Channel n

The Peak Value and Timestamp data of the respective channel are reset by setting the Reset Extended Diag Data bit.

The bit is state-triggered.

Fig.56: EP9224 - DPO Extended Diag Outputs Channel 1

EP9214-0023 and EP9224-002370 Version: 2.3.1

Comissioning and Configuration

DPO Extended Diag Outputs Device

The Peak Value and Timestamp data of the module are reset by setting the Reset Extended Diag Data bit.

The bit is state-triggered.

Fig.57: EP9224 - DPO Extended Diag Outputs Device

4.6.1.4 Timestamp / trigger of the EP9224

The last min/max values Peak Value n and the respective timestamp Timestamp n can be displayed or recorded via the Timestamp/ Trigger setting, depending on the trigger criterion in the CoE 80n0:15 and 16.

Process data

Fig.58: EP9224 - process data

Peak value / Timstamp

Fig.59: EP9224 - Peak value / Timstamp

The present value and the associated timestamp are set each time the value momentarily saved in Peak Value n is exceeded or fallen below.

Thus, for example, in the above case with the setting Maximum Current Us, the value pv_3 is displayed in the process data with the timestamp t3.

Selection of the trigger criterion

Settings for each output channel

The object 80n0:15 or 16 must be adapted for the selection.

EP9214-0023 and EP9224-0023 71Version: 2.3.1

Comissioning and Configuration

Fig.60: EP9224 - Selection of the trigger criterion - Settings for each output channel

Description of the setting

CoE Title Description

80n0:15 / 16 Error Us Switch-off of Us due to an error (edge triggered 0->1)

Error Up Switch-off of Up due to an error (edge triggered 0->1) Warning Us Imminent switch-off of Us due to a continuous overload >

100% (edge triggered 0->1)

Warning Up Imminent switch-off of Up due to a continuous overload >

100% (edge triggered 0->1)

Error Sum Current Switch-off of Us and Up due to a total current error (edge

triggered 0->1)

Warning Sum Current Imminent switch-off of Us and Up due to a total current error

(edge triggered 0->1) Minimum Current Us Minimum current on Us Maximum Current Us Maximum current on Us Minimum Current Up Minimum current on Up Maximum Current Up Maximum current on Up

EP9214-0023 and EP9224-002372 Version: 2.3.1

Reset of the values

Reset of Peak Value n and Timestamp for each channel

Fig.61: EP9224 - Reset extended diag data for the channel

Reset of Peak Value n and Timestamp of the module

Comissioning and Configuration

Fig.62: EP9224 - Reset extended diag data for the module

4.6.1.5 Data logging

Overview

With the data logging the continuous logging of all relevant EP9224 data can be started.

These data are written to a 40-line ring buffer.

On the first error the recording is stopped so that the data can be evaluated after an error or during normal operation.

In the event of an error, data are still written for a few cycles. The switching-off of a channel is indicated by OFF.

The writing rate or scanning rate is 10ms in the factory setting. The value can be adjusted from 1ms to 1000ms in the CoE.

EP9214-0023 and EP9224-0023 73Version: 2.3.1

Comissioning and Configuration

Setting of the scanning rate via CoE object 8040:11

Fig.63: EP9224 - Setting of the scanning rate

Starting the logger

The logger is started/stopped via the process data

• Start logger and

• Stop logger

These must be activated via the PDO mapping 0x1610 (see PDO settings [}68]).

DPO LOG Control

Fig.64: EP9224 - DPO LOG Control

The log file is written when stopping the logger or in the case of an error.

The state of the logger can be tracked in the PDO input area.

To do this it is necessary to activate the PDO 0x1A10 (see PDO settings [}68]).

EP9214-0023 and EP9224-002374 Version: 2.3.1

DPO LOG Status

Fig.65: EP9224 - DPO LOG Status

Comissioning and Configuration

Upload the file from the EP9224

The EP9224 creates the file, giving it the name logdata.csv. This cannot be changed.

When uploading, for example, it must be specified accordingly in TwinCAT.

EP9214-0023 and EP9224-0023 75Version: 2.3.1

Comissioning and Configuration

Fig.66: EP9224 - Uploading the file

Structure of the logging file: logdata.csv

The data are saved in the CSV format, so that simple viewing with EXCEL or a corresponding interpretation is possible.

EP9214-0023 and EP9224-002376 Version: 2.3.1

Comissioning and Configuration

Fig.67: EP9224 - Structure of the file: logdata.csv

Header

Type Description

Device name Name of the module File Version Version number (note: when importing from EXCEL the version, e.g.

1.5, is interpreted/displayed as a date (1st May))

Reason for which the snapshot was taken

Age of snapshot Period elapsed between preparing the file and the upload System timestamp (0 if DC not

supported)

Cause of switching off the data logger

current time stamp when uploading

Columns

Type Description

Time offset additional to snapshot age

I(U...) present current values of the channels Us / Up 1 - 4 in 100mA Internal Temperature internal module temperature in °C Us / Up Input voltage Us and Up at the 7/8" input in V Sum Current Us / Up Sum current of Us and Up in A I²t(U...) virtual overload, incremented or decremented depending on the nominal

Example: slow exceeding of the current (simulation with potentiometer)

logdata.csv (zip)

The age of the measured values in the row in relation to the stopping of the data logger (0 = stop, > 0 older values) in ms

current

• from 10% warning

• at 100% shut-off

EP9214-0023 and EP9224-0023 77Version: 2.3.1

Comissioning and Configuration

Fig.68: EP9224 - logdata.csv

Description:

• EP9224: Setting the Us channel to a nominal current of 1500mA

• Continuous increase of the current on channel 1 Us within the recorded range of 3.0A to 4.9A, then shut-off takes place.

• Overcurrent begins from 180ms

• 100% overload reached (99), channel is switched off

• the module now waits for an error correction or an active reset of the error

EP9214-0023 and EP9224-002378 Version: 2.3.1

Comissioning and Configuration

4.6.2 EP9224-0023 - Object description

Parameterization

Terminals' parameterization will be conducted by the CoE tab (double-click on the referring

Note

The CoE overview contains objects for different intended applications:

• Objects required for parameterization during commissioning

• Objects intended for regular operation e.g. through ADS access

• Objects for indicating internal settings (may be fixed)

• Further profile-specific objects indicating inputs, outputs and status information

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

object) or the Process data tab (PDO assignment)

EtherCAT XML Device Description

4.6.2.1 Objects for parameterization

4.6.2.1.1 Index 1011 Restore default parameters

Index Name Meaning Data type Flags Default

1011:0 Restore default

parameters

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

Restore default parameters UINT8 RO 0x01 (1

UINT32 RW 0x00000000 (0 alog, all backup objects are reset to their delivery state.

)

dec

)

dec

EP9214-0023 and EP9224-0023 79Version: 2.3.1

Comissioning and Configuration

4.6.2.1.2 Index 8000 DPO Settings Ch.1

Index Name Meaning Data type Flags Default

8000:0 DPO Set-

tings Ch.1

8000:02 Default

State Us

8000:03 Default

State Up

8000:04 Enable Sum

Current Limitation

8000:11 Characteris-

tic

8000:12 Nominal

Current Us

8000:13 Nominal

Current Up

8000:14 Nominal

Sum Current

8000:15 Timestamp

1 Trigger

8000:16 Timestamp

2 Trigger

The output adopts this value if Enable Control via Fieldbus (F707:01) is not set or no connection to the fieldbus

Sum current limitation: 0

: disabled

bin

: enabled

bin

Specifies the characteristic with which the current monitoring reacts: 0

: very fast acting

dec

: fast acting

dec

: slow acting

dec

: time delay

dec

Nominal current at the output UINT16 RW 0x0FA0 (4000

Nominal total current UINT16 RW 0x0FA0 (4000

Trigger condition for extended diagnosis UINT16 RW 0x0000 (0

UINT8 RO 0x16 (22

boolean RW 0x01 (1

boolean RW 0x00 (0

UINT16 RW 0x0001 (1

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

4.6.2.1.3 Index 8010 DPO Settings Ch.2

Index Name Meaning Data type Flags Default

8010:0 DPO Set-

tings Ch.2

8010:02 Default

State Us

8010:03 Default

State Up

8010:04 Enable Sum

Current Limitation

8010:11 Characteris-

tic

8010:12 Nominal

Current Us

8010:13 Nominal

Current Up

8010:14 Nominal

Sum Current

8010:15 Timestamp

1 Trigger

8010:16 Timestamp

2 Trigger

The output adopts this value if Enable Control via Fieldbus (F707:01) is not set or no connection to the fieldbus

Sum current limitation: 0

: disabled

bin

: enabled

bin

Specifies the characteristic with which the current monitoring reacts: 0

: very fast acting

dec

: fast acting

dec

: slow acting

dec

: time delay

dec

Nominal current at the output UINT16 RW 0x0FA0 (4000

Nominal total current UINT16 RW 0x0FA0 (4000

Trigger condition for extended diagnosis UINT16 RW 0x0000 (0

UINT8 RO 0x16 (22

boolean RW 0x01 (1

boolean RW 0x00 (0

UINT16 RW 0x0001 (1

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

EP9214-0023 and EP9224-002380 Version: 2.3.1

Comissioning and Configuration

4.6.2.1.4 Index 8020 DPO Settings Ch.3

Index Name Meaning Data type Flags Default

8020:0 DPO Set-

tings Ch.3

8020:02 Default

State Us

8020:03 Default

State Up

8020:04 Enable Sum

Current Limitation

8020:11 Characteris-

tic

8020:12 Nominal

Current Us

8020:13 Nominal

Current Up

8020:14 Nominal

Sum Current

8020:15 Timestamp

1 Trigger

8020:16 Timestamp

2 Trigger

The output adopts this value if Enable Control via Fieldbus (F707:01) is not set or no connection to the fieldbus

Sum current limitation: 0

: disabled

bin

: enabled

bin

Specifies the characteristic with which the current monitoring reacts: 0

: very fast acting

dec

: fast acting

dec

: slow acting

dec

: time delay

dec

Nominal current at the output UINT16 RW 0x0FA0 (4000

Nominal total current UINT16 RW 0x0FA0 (4000

Trigger condition for extended diagnosis UINT16 RW 0x0000 (0

UINT8 RO 0x16 (22

boolean RW 0x01 (1

boolean RW 0x00 (0

UINT16 RW 0x0001 (1

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

4.6.2.1.5 Index 8030 DPO Settings Ch.4

Index Name Meaning Data type Flags Default

8030:0 DPO Set-

tings Ch.4

8030:02 Default

State Us

8030:03 Default

State Up

8030:04 Enable Sum

Current Limitation

8030:11 Characteris-

tic

8030:12 Nominal

Current Us

8030:13 Nominal

Current Up

8030:14 Nominal

Sum Current

8030:15 Timestamp

1 Trigger

8030:16 Timestamp

2 Trigger

The output adopts this value if Enable Control via Fieldbus (F707:01) is not set or no connection to the fieldbus

Sum current limitation: 0

: disabled

bin

: enabled

bin

Specifies the characteristic with which the current monitoring reacts: 0

: very fast acting

dec

: fast acting

dec

: slow acting

dec

: time delay

dec

Nominal current at the output UINT16 RW 0x0FA0 (4000

Nominal total current UINT16 RW 0x0FA0 (4000

Trigger condition for extended diagnosis UINT16 RW 0x0000 (0

UINT8 RO 0x16 (22

boolean RW 0x01 (1

boolean RW 0x00 (0

UINT16 RW 0x0001 (1

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

EP9214-0023 and EP9224-0023 81Version: 2.3.1

Comissioning and Configuration

4.6.2.1.6 Index 8040 LOG Settings

Index Name Meaning Data type Flags Default

8040:0 LOG Set-

tings

8040:11 Sampling

Rate

permitted values: 1: 1ms 10: 10ms 25: 25ms 100: 100ms

UINT8 RO 0x11 (17

UINT16 RW 0x000A (10

)

dec

)

dec

EP9214-0023 and EP9224-002382 Version: 2.3.1

Comissioning and Configuration

4.6.2.1.7 Index F607 DPO Inputs Device

Index Name Meaning Data type Flags Default

F607:0 DPO Inputs Device UINT8 RO 0x19 (25

F607:01 Temperature Warning A temperature of about 80°C

has been reached

F607:02 Temperature Error A critical temperature of about

85°C has been reached, the outputs will be switched off. The bit must be reset by a Global Reset (F707:04) or by a voltage reset. No output can be switched on if the error bit is set.

F607:03 Us Warning Us is less than 21.5V, no fur-

ther outputs can be switched on.

F607:04 Us Error Us is less than 19V, all Us out-

puts will be switched off. The bit must be reset by a Global Re- set (F707:04) or by a voltage reset. No Us output can be switched on if the error bit is set.

F607:05 Up Warning Up is less than 21.5V, no fur-

ther outputs can be switched on.

F607:06 Up Error Up is less than 19V, all Up out-

puts will be switched off. The bit must be reset by a Global Re- set (F707:04) or by a voltage reset. No Up output can be switched on if the error bit is set.

F607:07 Global Error Bit One of the error bits of the four

channels or F607:02 or F607:04 or F607:06 is set

F607:08 Sum Current Warning Sum current monitoring has de-

sected a peak current

F607:09 Sum Current Error Sum current monitoring has de-

sected an over current. All outputs are switched off

F607:0C Reset Input Us is less than 21.5V, no fur-

ther outputs can be switched on.

F607:0F TxPDO State boolean RO 0x00 (0

F607:10 TxPDO Toggle boolean RO 0x00 (0

F607:11 Current Us Sum current of the module atUsINT16 RO 0x0000 (0

boolean RO 0x00 (0

dec

)

dec

)

dec

F607:12 Current Up Sum current of the module atUpINT16 RO 0x0000 (0

F607:13 Voltage Us Voltage at input Us INT16 RO 0x0000 (0

F607:14 Voltage Up Voltage at input Up INT16 RO 0x0000 (0

F607:15 Temperature Internal temperature of power

INT16 RO 0x0000 (0

stage

F607:16 Peak Value 1 Extended diagnosis INT16 RO 0x0000 (0

F607:17 Peak Value 2 Extended diagnosis INT16 RO 0x0000 (0

F607:18 Timestamp 1 UINT64 RO

F607:19 Timestamp 2 UINT64 RO

EP9214-0023 and EP9224-0023 83Version: 2.3.1

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

Comissioning and Configuration

4.6.2.1.8 Index F707 DPO Outputs Device

Index Name Meaning Data type Flags Default

F707:0 DPO Out-

puts Device

F707:01 Enable Con-

trol Via Fieldbus

F707:04 Global Re-

set

F707:11 Reset Ex-

tended Diag Data

: All outputs are set to their default values

bin

(80X0:02, 80X0:03)

: All outputs are set according to their PDOs

bin

(70X0:01, 70X0:02)

All error bits are reset boolean RO 0x00 (0

Peak Values and time stamps from F607 are reset boolean RO 0x00 (0

UINT8 RO 0x11 (17

boolean RO 0x00 (0

)

dec

)

dec

)

dec

)

dec

EP9214-0023 and EP9224-002384 Version: 2.3.1

Comissioning and Configuration

4.6.2.1.9 Index F80E DPO Settings Device

Index Name Meaning Data type Flags Default

F80E:0 DPO Set-

tings Device

F80E:02 Enable Sum

Current Limitation

F80E:03 Automatic

Restart After Uncritic Events on Us

F80E:04 Automatic

Restart After Uncritic Events on Up

F80E:11 Startup De-

lay

F80E:12 Nominal

Sum Current

F80E:13 Sum Cur-

rent Characteristic

F80E:15 Timestamp

1 Trigger

F80E:16 Timestamp

2 Trigger

Sum Current monitoring: 0

: enabled

bin

: disabled

bin

Switch on automatically after undervoltage und overtemperature: 0

: enabled

bin

: disabled

bin

Switch on automatically after undervoltage und overtemperature: 0

: enabled

bin

: disabled

bin

Sets the time that is kept between two switch-on procedures: 1

: fast (10ms)

dec

: moderate (100ms)

dec

: slow (200ms)

dec

Nominal sum current INT16 RW 0x2710 (10000

Characteristic of sum current monitoring UINT16 RW 0x0001 (1

Item that ist to be monitored for extended diagnosis: 0: Temperature Warning 1: Temperature Error 2: Us Warning 3: Us Error 4: Up Warning 5: Up Error 6: Global Error Bit 7: Sum Current Warning 8: Sum Current Error 16: Minmum Current Us 17: Maximum Current Us 18: Minimum Current Up 19: Maximum Current Up 20: Minimum Voltage Us 21: Maximum Voltage Us 22: Minimum Voltage Up 23: Maximum Voltage Up 25: Maximum Temperature 24: Minimum Temperature

UINT8 RO 0x16 (22

boolean RW 0x00 (0

UINT16 RW 0x0001 (1

UINT16 RW 0x0000 (0

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

EP9214-0023 and EP9224-0023 85Version: 2.3.1

Comissioning and Configuration

4.6.2.2 Standard objects

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

4.6.2.2.1 Index 1000 Device type

Index Name Meaning Data type Flags Default

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

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

4.6.2.2.2 Index 1008 Device name

Index Name Meaning Data type Flags Default

1008:0 Device name Device name of the EtherCAT slave STRING RO EP9224-0023

4.6.2.2.3 Index 1009 Hardware version

Index Name Meaning Data type Flags Default

1009:0 Hardware ver-

sion

Hardware version of the EtherCAT slave STRING RO

UINT32 RO 0x00001389 (5001

)

dec

4.6.2.2.4 Index 100A Software version

Index Name Meaning Data type Flags Default

100A:0 Software ver-

Firmware version of the EtherCAT slave STRING RO 01

sion

4.6.2.2.5 Index 1018 Identity

Index Name Meaning Data type Flags Default

1018:0 Identity Information for identifying the slave UINT8 RO 0x04 (4

)

dec

1018:01 Vendor ID Vendor ID of the EtherCAT slave UINT32 RO 0x00000002 (2

1018:02 Product code Product code of the EtherCAT slave UINT32 RO 0x24084052

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

(604520530

UINT32 RO 0x00000000 (0

dec

(bit 0-15) indicates the special terminal number, the high word (bit 16-31) refers to the device description

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

UINT32 RO 0x00000000 (0 (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 production, the high word (bit 16-31) is 0

4.6.2.2.6 Index 10F0 Backup parameter handling

Index Name Meaning Data type Flags Default

10F0:0 Backup pa-

rameter 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

)

dec

EP9214-0023 and EP9224-002386 Version: 2.3.1

Comissioning and Configuration

4.6.2.2.7 Index 1600 DPO RxPDO-Map Outputs Ch.1

Index Name Meaning Data type Flags Default

1600:0 DPO RxPDO-

Map Outputs

PDO Mapping RxPDO 1 UINT8 RO 0x06 (6

)

dec

Ch.1

1600:01 SubIndex 001 1. PDO Mapping entry (object 0x7000 (DPO Outputs

UINT32 RO 0x7000:01, 1 Ch.1), entry 0x01 (Output Us))

1600:02 SubIndex 002 2. PDO Mapping entry (object 0x7000 (DPO Outputs

UINT32 RO 0x7000:02, 1 Ch.1), entry 0x02 (Output Up))

1600:03 SubIndex 003 3. PDO Mapping entry (2 bits align) UINT32 RO 0x0000:00, 2

1600:04 SubIndex 004 4. PDO Mapping entry (object 0x7000 (DPO Outputs

UINT32 RO 0x7000:05, 1 Ch.1), entry 0x05 (Reset Us))

1600:05 SubIndex 005 5. PDO Mapping entry (object 0x7000 (DPO Outputs

UINT32 RO 0x7000:06, 1 Ch.1), entry 0x06 (Reset Up))

1600:06 SubIndex 006 6. PDO Mapping entry (10 bits align) UINT32 RO 0x0000:00, 10

4.6.2.2.8 Index 1601 DPO RxPDO-Map Extended Diag Outputs Ch.1

Index Name Meaning Data type Flags Default

1601:0 DPO RxPDO-

Map Extended Diag Outputs Ch.1

1601:01 SubIndex 001 1. PDO Mapping entry (object 0x7010 (DPO Outputs

1601:02 SubIndex 002 2. PDO Mapping entry (object 0x7010 (DPO Outputs

PDO Mapping RxPDO 2 UINT8 RO 0x02 (2

UINT32 RO 0x7000:11, 1 Ch.2), entry 0x01 (Output Us))

UINT32 RO 0x0000:00, 15 Ch.2), entry 0x02 (Output Up))

)

dec

4.6.2.2.9 Index 1602 DPO RxPDO-Map Outputs Ch.2

Index Name Meaning Data type Flags Default

1602:0 DPO RxPDO-

Map Outputs

PDO Mapping RxPDO 3 UINT8 RO 0x06 (6

)

dec

Ch.2

1602:01 SubIndex 001 1. PDO Mapping entry (object 0x7020 (DPO Outputs

UINT32 RO 0x7010:01, 1 Ch.3), entry 0x01 (Output Us))

1602:02 SubIndex 002 2. PDO Mapping entry (object 0x7020 (DPO Outputs

UINT32 RO 0x7010:02, 1 Ch.3), entry 0x02 (Output Up))

1602:03 SubIndex 003 3. PDO Mapping entry (2 bits align) UINT32 RO 0x0000:00, 2

1602:04 SubIndex 004 4. PDO Mapping entry (object 0x7020 (DPO Outputs

UINT32 RO 0x7010:05, 1 Ch.3), entry 0x05 (Reset Us))

1602:05 SubIndex 005 5. PDO Mapping entry (object 0x7020 (DPO Outputs

UINT32 RO 0x7010:06, 1 Ch.3), entry 0x06 (Reset Up))

1602:06 SubIndex 006 6. PDO Mapping entry (10 bits align) UINT32 RO 0x0000:00, 10

4.6.2.2.10 Index 1603 DPO RxPDO-Map Extended Diag Outputs Ch.2

Index Name Meaning Data type Flags Default

1603:0 DPO RxPDO-

Map Extended Diag Outputs Ch.2

1603:01 SubIndex 001 1. PDO Mapping entry (object 0x7030 (DPO Outputs

1603:02 SubIndex 002 2. PDO Mapping entry (object 0x7030 (DPO Outputs

PDO Mapping RxPDO 4 UINT8 RO 0x02 (2

UINT32 RO 0x7010:11, 1 Ch.4), entry 0x01 (Output Us))

UINT32 RO 0x0000:00, 15 Ch.4), entry 0x02 (Output Up))

)

dec

EP9214-0023 and EP9224-0023 87Version: 2.3.1

Comissioning and Configuration

4.6.2.2.11 Index 1604 DPO RxPDO-Map Outputs Ch.3

Index Name Meaning Data type Flags Default

1604:0 DPO RxPDO-

Map Outputs

PDO Mapping RxPDO 5 UINT8 RO 0x06 (6

)

dec

Ch.3

1604:01 SubIndex 001 1. PDO Mapping entry (object 0x7020 (DPO Outputs

UINT32 RO 0x7020:01, 1 Ch.3), entry 0x01 (Output Us))

1604:02 SubIndex 002 2. PDO Mapping entry (object 0x7020 (DPO Outputs

UINT32 RO 0x7020:02, 1 Ch.3), entry 0x02 (Output Up))

1604:03 SubIndex 003 3. PDO Mapping entry (2 bits align) UINT32 RO 0x0000:00, 2

1604:04 SubIndex 004 4. PDO Mapping entry (object 0x7020 (DPO Outputs

UINT32 RO 0x7020:05, 1 Ch.3), entry 0x05 (Reset Us))

1604:05 SubIndex 005 5. PDO Mapping entry (object 0x7020 (DPO Outputs

UINT32 RO 0x7020:06, 1 Ch.3), entry 0x06 (Reset Up))

1604:06 SubIndex 006 6. PDO Mapping entry (10 bits align) UINT32 RO 0x0000:00, 10

4.6.2.2.12 Index 1605 DPO RxPDO-Map Extended Diag Outputs Ch.3

Index Name Meaning Data type Flags Default

1605:0 DPO RxPDO-

Map Extended Diag Outputs Ch.3

1605:01 SubIndex 001 1. PDO Mapping entry (object 0x7020 (DPO Outputs

1605:02 SubIndex 002 2. PDO Mapping entry (15 bits align) UINT32 RO 0x0000:00, 15

PDO Mapping RxPDO 6 UINT8 RO 0x02 (2

UINT32 RO 0x7020:11, 1 Ch.3), entry 0x11 (Reset Extended Diag Data))

)

dec

4.6.2.2.13 Index 1606 DPO RxPDO-Map Outputs Ch.4

Index Name Meaning Data type Flags Default

1606:0 DPO RxPDO-

Map Outputs

PDO Mapping RxPDO 7 UINT8 RO 0x06 (6

)

dec

Ch.4

1606:01 SubIndex 001 1. PDO Mapping entry (object 0x7030 (DPO Outputs

UINT32 RO 0x7030:01, 1 Ch.4), entry 0x01 (Output Us))

1606:02 SubIndex 002 2. PDO Mapping entry (object 0x7030 (DPO Outputs

UINT32 RO 0x7030:02, 1 Ch.4), entry 0x02 (Output Up))

1606:03 SubIndex 003 3. PDO Mapping entry (2 bits align) UINT32 RO 0x0000:00, 2

1606:04 SubIndex 004 4. PDO Mapping entry (object 0x7030 (DPO Outputs

UINT32 RO 0x7030:05, 1 Ch.4), entry 0x05 (Reset Us))

1606:05 SubIndex 005 5. PDO Mapping entry (object 0x7030 (DPO Outputs

UINT32 RO 0x7030:06, 1 Ch.4), entry 0x06 (Reset Up))

1606:06 SubIndex 006 6. PDO Mapping entry (10 bits align) UINT32 RO 0x0000:00, 10

4.6.2.2.14 Index 1607 DPO RxPDO-Map Extended Diag Outputs Ch.4

Index Name Meaning Data type Flags Default

1607:0 DPO RxPDO-

Map Extended Diag Outputs Ch.4

1607:01 SubIndex 001 1. PDO Mapping entry (object 0x7030 (DPO Outputs

1607:02 SubIndex 002 2. PDO Mapping entry (15 bits align) UINT32 RO 0x0000:00, 15

PDO Mapping RxPDO 8 UINT8 RO 0x02 (2

UINT32 RO 0x7030:11, 1 Ch.4), entry 0x11 (Reset Extended Diag Data))

)

dec

EP9214-0023 and EP9224-002388 Version: 2.3.1

Comissioning and Configuration

4.6.2.2.15 Index 1608 DPO RxPDO-Map Outputs Device

Index Name Meaning Data type Flags Default

1608:0 DPO RxPDO-

Map Outputs

PDO Mapping RxPDO 9 UINT8 RO 0x04 (4

)

dec

Device

1608:01 SubIndex 001 1. PDO Mapping entry (object 0xF707 (DPO Outputs

UINT32 RO 0xF707:01, 1 Device), entry 0x01 (Enable Control Via Fieldbus))

1608:02 SubIndex 002 2. PDO Mapping entry (2 bits align) UINT32 RO 0x0000:00, 2

1608:03 SubIndex 003 3. PDO Mapping entry (object 0xF707 (DPO Outputs

UINT32 RO 0xF707:04, 1 Device), entry 0x04 (Global Reset))

1608:04 SubIndex 004 4. PDO Mapping entry (12 bits align) UINT32 RO 0x0000:00, 12

4.6.2.2.16 Index 1609 DPO RxPDO-Map Extended Diag Outputs Device

Index Name Meaning Data type Flags Default

1609:0 DPO RxPDO-

Map Extended Diag Outputs Device

1609:01 SubIndex 001 1. PDO Mapping entry (object 0xF707 (DPO Outputs

1609:02 SubIndex 002 2. PDO Mapping entry (15 bits align) UINT32 RO 0x0000:00, 15

PDO Mapping RxPDO 10 UINT8 RO 0x02 (2

UINT32 RO 0xF707:11, 1 Device), entry 0x11 (Reset Extended Diag Data))

)

dec

4.6.2.2.17 Index 1610 LOG RxPDO-Map Control

Index Name Meaning Data type Flags Default

1610:0 LOG Rx-

PDO-Map Control

1610:01 SubIndex

001

1610:02 SubIndex

002

1610:03 SubIndex

003

PDO Mapping RxPDO 17 UINT8 RO 0x03 (3

1. PDO Mapping entry (object 0x7040 (LOG Control),

UINT32 RO 0x7040:01, 1 entry 0x01 (Start Logger))

2. PDO Mapping entry (object 0x7040 (LOG Control),

UINT32 RO 0x7040:02, 1 entry 0x02 (Stop Logger))

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

)

dec

EP9214-0023 and EP9224-0023 89Version: 2.3.1

Comissioning and Configuration

4.6.2.2.18 Index 1A00 DPO TxPDO-Map Inputs Ch.1

Index Name Meaning Data type Flags Default

1A00:0 DPO Tx-

PDO-Map Inputs Ch.1

1A00:01 SubIndex

001

1A00:02 SubIndex

002

1A00:03 SubIndex

003

1A00:04 SubIndex

004

1A00:05 SubIndex

005

1A00:06 SubIndex

006

1A00:07 SubIndex

007

1A00:08 SubIndex

008

1A00:09 SubIndex

009

1A00:0A SubIndex

010

1A00:0B SubIndex

011

1A00:0C SubIndex

012

1A00:0D SubIndex

013

1A00:0E SubIndex

014

PDO Mapping TxPDO 1 UINT8 RO 0x0E (14

1. PDO Mapping entry (object 0x6000 (DPO Inputs Ch.1), entry 0x01 (Error Us))

2. PDO Mapping entry (object 0x6000 (DPO Inputs Ch.1), entry 0x02 (Error Up))

3. PDO Mapping entry (object 0x6000 (DPO Inputs Ch.1), entry 0x03 (Warning Us))

4. PDO Mapping entry (object 0x6000 (DPO Inputs Ch.1), entry 0x04 (Warning Up))

5. PDO Mapping entry (object 0x6000 (DPO Inputs Ch.1), entry 0x05 (Status Us))

6. PDO Mapping entry (object 0x6000 (DPO Inputs Ch.1), entry 0x06 (Status Up))

7. PDO Mapping entry (object 0x6000 (DPO Inputs Ch.1), entry 0x07 (Channel Error))

8. PDO Mapping entry (object 0x6000 (DPO Inputs Ch.1), entry 0x08 (Error Sum Current))

9. PDO Mapping entry (object 0x6000 (DPO Inputs Ch.1), entry 0x09 (Warning Sum Current))

10. PDO Mapping entry (4 bits align) UINT32 RO 0x0000:00, 5

11. PDO Mapping entry (object 0x6000 (DPO Inputs Ch.1), entry 0x0E (Sync error))

12. PDO Mapping entry (object 0x6000 (DPO Inputs Ch.1), entry 0x0F (TxPDO State))

13. PDO Mapping entry (object 0x6000 (DPO Inputs Ch.1), entry 0x10 (TxPDO Toggle))

14. PDO Mapping entry (object 0x6000 (DPO Inputs Ch.1), entry 0x11 (Current Us))

UINT32 RO 0x6000:01, 1

UINT32 RO 0x6000:02, 1

UINT32 RO 0x6000:03, 1

UINT32 RO 0x6000:04, 1

UINT32 RO 0x6000:05, 1

UINT32 RO 0x6000:06, 1

UINT32 RO 0x6000:07, 1

UINT32 RO 0x6000:08, 1

UINT32 RO 0x6000:09, 1

UINT32 RO 0x6000:0F, 1

UINT32 RO 0x6000:10, 1

UINT32 RO 0x6000:11, 16

UINT32 RO 0x6000:12, 16

)

dec

4.6.2.2.19 Index 1A01 DPO TxPDO-Map Extended Diag Inputs Ch.1

Index Name Meaning Data type Flags Default

1A01:0 DPO Tx-

PDO-Map Extended Diag Inputs Ch.1

1A01:01 SubIndex

001

1A01:02 SubIndex

002

1A01:03 SubIndex

003

1A01:04 SubIndex

004

PDO Mapping TxPDO 2 UINT8 RO 0x04 (4

1. PDO Mapping entry (object 0x6000 (DPO Inputs Ch.1), entry 0x13 (Maximum Current Us))

2. PDO Mapping entry (object 0x6000 (DPO Inputs Ch.1), entry 0x14 (Maximum Current Up))

3. PDO Mapping entry (object 0x6000 (DPO Inputs Ch.1), entry 0x15 (Minimum Current Us))

4. PDO Mapping entry (object 0x6000 (DPO Inputs Ch.1), entry 0x16 (Minimum Current Up))

UINT32 RO 0x6000:13, 16

UINT32 RO 0x6000:14, 16

UINT32 RO 0x6000:17, 64

UINT32 RO 0x6000:18, 64

)

dec

EP9214-0023 and EP9224-002390 Version: 2.3.1

Comissioning and Configuration

4.6.2.2.20 Index 1A02 DPO TxPDO-Map Inputs Ch.2

Index Name Meaning Data type Flags Default

1A02:0 DPO Tx-

PDO-Map Inputs Ch.2

1A02:01 SubIndex

001

1A02:02 SubIndex

002

1A02:03 SubIndex

003

1A02:04 SubIndex

004

1A02:05 SubIndex

005

1A02:06 SubIndex

006

1A02:07 SubIndex

007

1A02:08 SubIndex

008

1A02:09 SubIndex

009

1A02:0A SubIndex

010

1A02:0B SubIndex

011

1A02:0C SubIndex

012

1A02:0D SubIndex

013

1A02:0E SubIndex

014

PDO Mapping TxPDO 3 UINT8 RO 0x0E (14

1. PDO Mapping entry (object 0x6010 (DPO Inputs Ch.2), entry 0x01 (Error Us))

2. PDO Mapping entry (object 0x6010 (DPO Inputs Ch.2), entry 0x02 (Error Up))

3. PDO Mapping entry (object 0x6010 (DPO Inputs Ch.2), entry 0x03 (Warning Us))

4. PDO Mapping entry (object 0x6010 (DPO Inputs Ch.2), entry 0x04 (Warning Up))

5. PDO Mapping entry (object 0x6010 (DPO Inputs Ch.2), entry 0x05 (Status Us))

6. PDO Mapping entry (object 0x6010 (DPO Inputs Ch.2), entry 0x06 (Status Up))

7. PDO Mapping entry (object 0x6010 (DPO Inputs Ch.2), entry 0x07 (Channel Error))

8. PDO Mapping entry (object 0x6010 (DPO Inputs Ch.2), entry 0x08 (Error Sum Current))

9. PDO Mapping entry (object 0x6010 (DPO Inputs Ch.2), entry 0x09 (Warning Sum Current))

10. PDO Mapping entry (4 bits align) UINT32 RO 0x0000:00, 5

11. PDO Mapping entry (object 0x6010 (DPO Inputs Ch.2), entry 0x0E (Sync error))

12. PDO Mapping entry (object 0x6010 (DPO Inputs Ch.2), entry 0x0F (TxPDO State))

13. PDO Mapping entry (object 0x6010 (DPO Inputs Ch.2), entry 0x10 (TxPDO Toggle))

14. PDO Mapping entry (object 0x6010 (DPO Inputs Ch.2), entry 0x11 (Current Us))

UINT32 RO 0x6010:01, 1

UINT32 RO 0x6010:02, 1

UINT32 RO 0x6010:03, 1

UINT32 RO 0x6010:04, 1

UINT32 RO 0x6010:05, 1

UINT32 RO 0x6010:06, 1

UINT32 RO 0x6010:07, 1

UINT32 RO 0x6010:08, 1

UINT32 RO 0x6010:09, 1

UINT32 RO 0x6010:0F, 1

UINT32 RO 0x6010:10, 1

UINT32 RO 0x6010:11, 16

UINT32 RO 0x6010:12, 16

)

dec

4.6.2.2.21 Index 1A03 DPO TxPDO-Map Extended Diag Inputs Ch.2

Index Name Meaning Data type Flags Default

1A03:0 DPO Tx-

PDO-Map Extended Diag Inputs Ch.2

1A03:01 SubIndex

001

1A03:02 SubIndex

002

1A03:03 SubIndex

003

1A03:04 SubIndex

004

PDO Mapping TxPDO 4 UINT8 RO 0x04 (4

1. PDO Mapping entry (object 0x6010 (DPO Inputs Ch.2), entry 0x13 (Maximum Current Us))

2. PDO Mapping entry (object 0x6010 (DPO Inputs Ch.2), entry 0x14 (Maximum Current Up))

3. PDO Mapping entry (object 0x6010 (DPO Inputs Ch.2), entry 0x15 (Minimum Current Us))

4. PDO Mapping entry (object 0x6010 (DPO Inputs Ch.2), entry 0x16 (Minimum Current Up))

UINT32 RO 0x6010:13, 16

UINT32 RO 0x6010:14, 16

UINT32 RO 0x6010:17, 64

UINT32 RO 0x6010:18, 64

)

dec

EP9214-0023 and EP9224-0023 91Version: 2.3.1

Comissioning and Configuration

4.6.2.2.22 Index 1A04 DPO TxPDO-Map Inputs Ch.3

Index Name Meaning Data type Flags Default

1A04:0 DPO Tx-

PDO-Map Inputs Ch.3

1A04:01 SubIndex

001

1A04:02 SubIndex

002

1A04:03 SubIndex

003

1A04:04 SubIndex

004

1A04:05 SubIndex

005

1A04:06 SubIndex

006

1A04:07 SubIndex

007

1A04:08 SubIndex

008

1A04:09 SubIndex

009

1A04:0A SubIndex

010

1A04:0B SubIndex

011

1A04:0C SubIndex

012

1A04:0D SubIndex

013

1A04:0E SubIndex

014

PDO Mapping TxPDO 5 UINT8 RO 0x0E (14

1. PDO Mapping entry (object 0x6020 (DPO Inputs Ch.3), entry 0x01 (Error Us))

2. PDO Mapping entry (object 0x6020 (DPO Inputs Ch.3), entry 0x02 (Error Up))

3. PDO Mapping entry (object 0x6020 (DPO Inputs Ch.3), entry 0x03 (Warning Us))

4. PDO Mapping entry (object 0x6020 (DPO Inputs Ch.3), entry 0x04 (Warning Up))

5. PDO Mapping entry (object 0x6020 (DPO Inputs Ch.3), entry 0x05 (Status Us))

6. PDO Mapping entry (object 0x6020 (DPO Inputs Ch.3), entry 0x06 (Status Up))

7. PDO Mapping entry (object 0x6020 (DPO Inputs Ch.3), entry 0x07 (Channel Error))

8. PDO Mapping entry (object 0x6020 (DPO Inputs Ch.3), entry 0x08 (Error Sum Current))

9. PDO Mapping entry (object 0x6020 (DPO Inputs Ch.3), entry 0x09 (Warning Sum Current))

10. PDO Mapping entry (4 bits align) UINT32 RO 0x0000:00, 5

11. PDO Mapping entry (object 0x6020 (DPO Inputs Ch.3), entry 0x0E (Sync error))

12. PDO Mapping entry (object 0x6020 (DPO Inputs Ch.3), entry 0x0F (TxPDO State))

13. PDO Mapping entry (object 0x6020 (DPO Inputs Ch.3), entry 0x10 (TxPDO Toggle))

14. PDO Mapping entry (object 0x6020 (DPO Inputs Ch.3), entry 0x11 (Current Us))

UINT32 RO 0x6020:01, 1

UINT32 RO 0x6020:02, 1

UINT32 RO 0x6020:03, 1

UINT32 RO 0x6020:04, 1

UINT32 RO 0x6020:05, 1

UINT32 RO 0x6020:06, 1

UINT32 RO 0x6020:07, 1

UINT32 RO 0x6020:08, 1

UINT32 RO 0x6020:09, 1

UINT32 RO 0x6020:0F, 1

UINT32 RO 0x6020:10, 1

UINT32 RO 0x6020:11, 16

UINT32 RO 0x6020:12, 16

)

dec

4.6.2.2.23 Index 1A05 DPO TxPDO-Map Extended Diag Inputs Ch.3

Index Name Meaning Data type Flags Default

1A05:0 DPO Tx-

PDO-Map Extended Diag Inputs Ch.3

1A05:01 SubIndex

001

1A05:02 SubIndex

002

1A05:03 SubIndex

003

1A05:04 SubIndex

004

PDO Mapping TxPDO 6 UINT8 RO 0x04 (4

1. PDO Mapping entry (object 0x6020 (DPO Inputs Ch.3), entry 0x13 (Maximum Current Us))

2. PDO Mapping entry (object 0x6020 (DPO Inputs Ch.3), entry 0x14 (Maximum Current Up))

3. PDO Mapping entry (object 0x6020 (DPO Inputs Ch.3), entry 0x15 (Minimum Current Us))

4. PDO Mapping entry (object 0x6020 (DPO Inputs Ch.3), entry 0x16 (Minimum Current Up))

UINT32 RO 0x6020:13, 16

UINT32 RO 0x6020:14, 16

UINT32 RO 0x6020:17, 64

UINT32 RO 0x6020:18, 64

)

dec

EP9214-0023 and EP9224-002392 Version: 2.3.1

Comissioning and Configuration

4.6.2.2.24 Index 1A06 DPO TxPDO-Map Inputs Ch.4

Index Name Meaning Data type Flags Default

1A06:0 DPO Tx-

PDO-Map Inputs Ch.4

1A06:01 SubIndex

001

1A06:02 SubIndex

002

1A06:03 SubIndex

003

1A06:04 SubIndex

004

1A06:05 SubIndex

005

1A06:06 SubIndex

006

1A06:07 SubIndex

007

1A06:08 SubIndex

008

1A06:09 SubIndex

009

1A06:0A SubIndex

010

1A06:0B SubIndex

011

1A06:0C SubIndex

012

1A06:0D SubIndex

013

1A06:0E SubIndex

014

PDO Mapping TxPDO 7 UINT8 RO 0x0E (14

1. PDO Mapping entry (object 0x6030 (DPO Inputs Ch.4), entry 0x01 (Error Us))

2. PDO Mapping entry (object 0x6030 (DPO Inputs Ch.4), entry 0x02 (Error Up))

3. PDO Mapping entry (object 0x6030 (DPO Inputs Ch.4), entry 0x03 (Warning Us))

4. PDO Mapping entry (object 0x6030 (DPO Inputs Ch.4), entry 0x04 (Warning Up))

5. PDO Mapping entry (object 0x6030 (DPO Inputs Ch.4), entry 0x05 (Status Us))

6. PDO Mapping entry (object 0x6030 (DPO Inputs Ch.4), entry 0x06 (Status Up))

7. PDO Mapping entry (object 0x6030 (DPO Inputs Ch.4), entry 0x07 (Channel Error))

8. PDO Mapping entry (object 0x6030 (DPO Inputs Ch.4), entry 0x08 (Error Sum Current))

9. PDO Mapping entry (object 0x6030 (DPO Inputs Ch.4), entry 0x09 (Warning Sum Current))

10. PDO Mapping entry (4 bits align) UINT32 RO 0x0000:00, 5

11. PDO Mapping entry (object 0x6030 (DPO Inputs Ch.4), entry 0x0E (Sync error))

12. PDO Mapping entry (object 0x6030 (DPO Inputs Ch.4), entry 0x0F (TxPDO State))

13. PDO Mapping entry (object 0x6030 (DPO Inputs Ch.4), entry 0x10 (TxPDO Toggle))

14. PDO Mapping entry (object 0x6030 (DPO Inputs Ch.4), entry 0x11 (Current Us))

UINT32 RO 0x6030:01, 1

UINT32 RO 0x6030:02, 1

UINT32 RO 0x6030:03, 1

UINT32 RO 0x6030:04, 1

UINT32 RO 0x6030:05, 1

UINT32 RO 0x6030:06, 1

UINT32 RO 0x6030:07, 1

UINT32 RO 0x6030:08, 1

UINT32 RO 0x6030:09, 1

UINT32 RO 0x6030:0F, 1

UINT32 RO 0x6030:10, 1

UINT32 RO 0x6030:11, 16

UINT32 RO 0x6030:12, 16

)

dec

4.6.2.2.25 Index 1A07 DPO TxPDO-Map Extended Diag Inputs Ch.4

Index Name Meaning Data type Flags Default

1A07:0 DPO Tx-

PDO-Map Extended Diag Inputs Ch.4

1A07:01 SubIndex

001

1A07:02 SubIndex

002

1A07:03 SubIndex

003

1A07:04 SubIndex

004

PDO Mapping TxPDO 8 UINT8 RO 0x04 (4

1. PDO Mapping entry (object 0x6030 (DPO Inputs Ch.4), entry 0x13 (Maximum Current Us))

2. PDO Mapping entry (object 0x6030 (DPO Inputs Ch.4), entry 0x14 (Maximum Current Up))

3. PDO Mapping entry (object 0x6030 (DPO Inputs Ch.4), entry 0x15 (Minimum Current Us))

4. PDO Mapping entry (object 0x6030 (DPO Inputs Ch.4), entry 0x16 (Minimum Current Up))

UINT32 RO 0x6030:13, 16

UINT32 RO 0x6030:14, 16

UINT32 RO 0x6030:17, 64

UINT32 RO 0x6030:18, 64

)

dec

EP9214-0023 and EP9224-0023 93Version: 2.3.1

Comissioning and Configuration

4.6.2.2.26 Index 1A08 DPO TxPDO-Map Inputs Device

Index Name Meaning Data type Flags Default

1A08:0 DPO Tx-

PDO-Map Inputs Device

1A08:01 SubIndex

001

1A08:02 SubIndex

002

1A08:03 SubIndex

003

1A08:04 SubIndex

004

1A08:05 SubIndex

005

1A08:06 SubIndex

006

1A08:07 SubIndex

007

1A08:08 SubIndex

008

1A08:09 SubIndex

009

1A08:0A SubIndex

010

1A08:0B SubIndex

011

1A08:0C SubIndex

012

1A08:0D SubIndex

013

1A08:0E SubIndex

014

1A08:0F SubIndex

015

1A08:10 SubIndex

016

1A08:11 SubIndex

017

1A08:12 SubIndex

018

1A08:13 SubIndex

019

PDO Mapping TxPDO 9 UINT8 RO 0x13 (19

1. PDO Mapping entry (object 0xF607 (DPO Inputs Device), entry 0x01 (Temperature Warning))

2. PDO Mapping entry (object 0xF607 (DPO Inputs Device), entry 0x02 (Temperature Error))

3. PDO Mapping entry (object 0xF607 (DPO Inputs Device), entry 0x03 (Us Warning))

4. PDO Mapping entry (object 0xF607 (DPO Inputs Device), entry 0x04 (Us Error))

5. PDO Mapping entry (object 0xF607 (DPO Inputs Device), entry 0x05 (Up Warning))

6. PDO Mapping entry (object 0xF607 (DPO Inputs Device), entry 0x06 (Up Error))

7. PDO Mapping entry (object 0xF607 (DPO Inputs Device), entry 0x07 (Global Error Bit))

8. PDO Mapping entry (object 0xF607 (DPO Inputs Device), entry 0x08 (Sum Current Warning))

9. PDO Mapping entry (object 0xF607 (DPO Inputs Device), entry 0x09 (Sum Current Error))

10. PDO Mapping entry (2 bits align) UINT32 RO 0x0000:00, 2

11. PDO Mapping entry (object 0xF607 (DPO Inputs Device), entry 0x0C (Reset Input))

12. PDO Mapping entry (2 bits align) UINT32 RO 0x0000:00, 2

13. PDO Mapping entry (object 0xF607 (DPO Inputs Device), entry 0x0F (TxPDO State))

14. PDO Mapping entry (object 0xF607 (DPO Inputs Device), entry 0x10 (TxPDO Toggle))

15. PDO Mapping entry (object 0xF607 (DPO Inputs Device), entry 0x11 (Current Us))

16. PDO Mapping entry (object 0xF607 (DPO Inputs Device), entry 0x12 (Current Up))

17. PDO Mapping entry (object 0xF607 (DPO Inputs Device), entry 0x13 (Voltage Us))

18. PDO Mapping entry (object 0xF607 (DPO Inputs Device), entry 0x14 (Voltage Up))

19. PDO Mapping entry (object 0xF607 (DPO Inputs Device), entry 0x15 (Temperature))

UINT32 RO 0xF607:01, 1

UINT32 RO 0xF607:02, 1

UINT32 RO 0xF607:03, 1

UINT32 RO 0xF607:04, 1

UINT32 RO 0xF607:05, 1

UINT32 RO 0xF607:06, 1

UINT32 RO 0xF607:07, 1

UINT32 RO 0xF607:08, 1

UINT32 RO 0xF607:09, 1

UINT32 RO 0xF607:0C, 1

UINT32 RO 0xF607:0F, 1

UINT32 RO 0xF607:10, 1

UINT32 RO 0xF607:11, 16

UINT32 RO 0xF607:12, 16

UINT32 RO 0xF607:13, 16

UINT32 RO 0xF607:14, 16

UINT32 RO 0xF607:15, 16

)

dec

4.6.2.2.27 Index 1A09 DPO TxPDO-Map Extended Diag Inputs Device

Index Name Meaning Data type Flags Default

1A09:0 DPO Tx-

PDO-Map Extended Diag Inputs Device

1A09:01 SubIndex

001

1A09:02 SubIndex

002

1A09:03 SubIndex

003

1A09:04 SubIndex

004

PDO Mapping TxPDO 10 UINT8 RO 0x04 (4

1. PDO Mapping entry (object 0xF607 (DPO Inputs Device), entry 0x16 (Peak Value 1))

2. PDO Mapping entry (object 0xF607 (DPO Inputs Device), entry 0x17 (Peak Value 2))

3. PDO Mapping entry (object 0xF607 (DPO Inputs Device), entry 0x18 (Timestamp 1))

4. PDO Mapping entry (object 0xF607 (DPO Inputs Device), entry 0x19 (Timestamp 2))

UINT32 RO 0xF607:16, 16

UINT32 RO 0xF607:17, 16

UINT32 RO 0xF607:18, 64

UINT32 RO 0xF607:19, 64

EP9214-0023 and EP9224-002394 Version: 2.3.1

)

dec

Comissioning and Configuration

4.6.2.2.28 Index 1A10 LOG TxPDO-Map Status

Index Name Meaning Data type Flags Default

1A10:0 LOG Tx-

PDO Mapping TxPDO 17 UINT8 RO 0x04 (4

PDO-Map Status

1A10:01 SubIndex

001

1A10:02 SubIndex

1. PDO Mapping entry (object 0x6040 (LOG Status),

UINT32 RO 0x6040:01, 1 entry 0x01 (Logger Running))

2. PDO Mapping entry (15 bits align) UINT32 RO 0x0000:00, 15

002

1A10:03 SubIndex

003

1A10:04 SubIndex

004

3. PDO Mapping entry (object 0x6040 (LOG Status), entry 0x11 (Elapsed Time))

4. PDO Mapping entry (object 0x6040 (LOG Status), entry 0x12 (Trigger Reason))

UINT32 RO 0x6040:11, 32

UINT32 RO 0x6040:12, 16

4.6.2.2.29 Index 1C00 Sync manager type

Index Name Meaning Data type Flags Default

1C00:0 Sync man-

ager type

1C00:01 SubIndex

001

1C00:02 SubIndex

002

1C00:03 SubIndex

003

1C00:04 SubIndex

004

Using the sync managers UINT8 RO 0x04 (4

Sync-Manager Type Channel 1: Mailbox Write UINT8 RO 0x01 (1

Sync-Manager Type Channel 2: Mailbox Read UINT8 RO 0x02 (2

Sync-Manager Type Channel 3: Process Data Write

UINT8 RO 0x03 (3 (Outputs)

Sync-Manager Type Channel 4: Process Data Read

UINT8 RO 0x04 (4 (Inputs)

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

4.6.2.2.30 Index 1C12 RxPDO assign

Index Name Meaning Data type Flags Default

1C12:0 RxPDO as-

sign

1C12:01 Subindex

001

1C12:02 Subindex

002

1C12:03 Subindex

003

1C12:04 Subindex

004

1C12:05 Subindex

005

1C12:06 Subindex

006

1C12:07 Subindex

007

1C12:08 Subindex

008

1C12:09 Subindex

009

1C12:0A Subindex

010

1C12:0B Subindex

011

PDO Assign Outputs UINT8 RW 0x05 (5

1. allocated RxPDO (contains the index of the associ-

UINT16 RW 0x1600 (5632 ated RxPDO mapping object)

2. allocated RxPDO (contains the index of the associ-

UINT16 RW 0x1602 (5634 ated RxPDO mapping object)

3. allocated RxPDO (contains the index of the associ-

UINT16 RW 0x1604 (5636 ated RxPDO mapping object)

4. allocated RxPDO (contains the index of the associ-

UINT16 RW 0x1606 (5638 ated RxPDO mapping object)

5. allocated RxPDO (contains the index of the associ-

UINT16 RW 0x1608 (5640 ated RxPDO mapping object)

6. allocated RxPDO (contains the index of the associ-

UINT16 RW 0x0000 (0 ated RxPDO mapping object)

7. allocated RxPDO (contains the index of the associ-

UINT16 RW 0x0000 (0 ated RxPDO mapping object)

8. allocated RxPDO (contains the index of the associ-

UINT16 RW 0x0000 (0 ated RxPDO mapping object)

9. allocated RxPDO (contains the index of the associ-

UINT16 RW 0x0000 (0 ated RxPDO mapping object)

10. allocated RxPDO (contains the index of the asso-

UINT16 RW 0x0000 (0 ciated RxPDO mapping object)

11. allocated RxPDO (contains the index of the asso-

UINT16 RW 0x0000 (0 ciated RxPDO mapping object)

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

EP9214-0023 and EP9224-0023 95Version: 2.3.1

Comissioning and Configuration

4.6.2.2.31 Index 1C13 TxPDO assign

Index Name Meaning Data type Flags Default

1C13:0 TxPDO as-

sign

1C13:01 Subindex

001

1C13:02 Subindex

002

1C13:03 Subindex

003

1C13:04 Subindex

004

1C13:05 Subindex

005

1C13:06 Subindex

006

1C13:07 Subindex

007

1C13:08 Subindex

008

1C13:09 Subindex

009

1C13:0A Subindex

010

1C13:0B Subindex

011

PDO Assign Inputs UINT8 RW 0x05 (5

1. allocated TxPDO (contains the index of the associ-

UINT16 RW 0x1A00 (6656 ated TxPDO mapping object)

2. allocated TxPDO (contains the index of the associ-

UINT16 RW 0x1A02 (6658 ated TxPDO mapping object)

3. allocated TxPDO (contains the index of the associ-

UINT16 RW 0x1A04 (6660 ated TxPDO mapping object)

4. allocated TxPDO (contains the index of the associ-

UINT16 RW 0x1A06 (6662 ated TxPDO mapping object)

5. allocated TxPDO (contains the index of the associ-

UINT16 RW 0x1A08 (6664 ated TxPDO mapping object)

6. allocated TxPDO (contains the index of the associ-

UINT16 RW 0x0000 (0 ated TxPDO mapping object)

7. allocated TxPDO (contains the index of the associ-

UINT16 RW 0x0000 (0 ated TxPDO mapping object)

8. allocated TxPDO (contains the index of the associ-

UINT16 RW 0x0000 (0 ated TxPDO mapping object)

9. allocated TxPDO (contains the index of the associ-

UINT16 RW 0x0000 (0 ated TxPDO mapping object)

10. allocated TxPDO (contains the index of the asso-

UINT16 RW 0x0000 (0 ciated TxPDO mapping object)

11. allocated TxPDO (contains the index of the asso-

UINT16 RW 0x0000 (0 ciated TxPDO mapping object)

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

EP9214-0023 and EP9224-002396 Version: 2.3.1

Comissioning and Configuration

4.6.2.2.32 Index 1C32 SM output parameter

Index Name Meaning Data type Flags Default

1C32:0 SM output

parameter

1C32:01 Sync mode Current synchronization mode:

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

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

1C32:04 Sync modes

supported

1C32:05 Minimum

cycle time

1C32:06 Calc and

copy time

1C32:07 Minimum

delay time

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

1C32:09 Maximum

delay time

1C32:0B SM event

missed counter

1C32:0C Cycle ex-

ceeded counter

1C32:0D Shift too

short counter

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

Synchronization parameters for the outputs UINT8 RO 0x20 (32

UINT16 RW 0x0000 (0

• 0: Free Run

• 1: Synchronous with SM 2 event

• 2: DC-Mode - Synchronous with SYNC0 Event

• 3: DC-Mode - Synchronous with SYNC1 event

UINT32 RW 0x000F4240 (1000000

• Free Run: Cycle time of the local timer

• Synchronous with SM 2 event: Master cycle time

• DC-Mode: SYNC0/SYNC1 Cycle Time

UINT32 RO 0x00000384 (900

puts (in ns, DC mode only)

Supported synchronization modes:

UINT16 RO 0x0001 (1

• Bit 0 = 1: free run is supported

• 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 1C32:08)

Minimum cycle time (in ns) UINT32 RO 0x000F4240 (1000000

Minimum time between SYNC0 and SYNC1 event (in

UINT32 RO 0x00000000 (0

ns, DC mode only)

UINT32 RO 0x00000384 (900

UINT16 RW 0x0000 (0

stopped

• 1: Measurement of the local cycle time is started

The entries 1C32:03, 1C32:05, 1C32:06, 1C32:09, 1C33:03, 1C33:06, and 1C33:09 are updated with the maximum measured values. For a subsequent measurement the measured values are reset

Time between SYNC1 event and output of the out-

UINT32 RO 0x00000384 (900

puts (in ns, DC mode only)

Number of missed SM events in OPERATIONAL (DC

UINT16 RO 0x0000 (0

mode only)

Number of occasions the cycle time was exceeded in

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

Number of occasions that the interval between

UINT16 RO 0x0000 (0 SYNC0 and SYNC1 event was too short (DC mode only)

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

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

EP9214-0023 and EP9224-0023 97Version: 2.3.1

Comissioning and Configuration

4.6.2.2.33 Index 1C33 SM input parameter

Index Name Meaning Data type Flags Default

1C33:0 SM input

parameter

1C33:01 Sync mode Current synchronization mode:

1C33:02 Cycle time as 1C32:02 UINT32 RW 0x000F4240 (1000000

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

1C33:04 Sync modes

supported

1C33:05 Minimum

cycle time

1C33:06 Calc and

copy time

1C33:07 Minimum

delay time

1C33:08 Command • 0: Measurement of the local cycle time is

1C33:09 Maximum

delay time

1C33:0B SM event

missed counter

1C33:0C Cycle ex-

ceeded counter

1C33:0D Shift too

short counter

1C33:20 Sync error as 1C32:32 boolean RO 0x00 (0

Synchronization parameters for the inputs UINT8 RO 0x20 (32

UINT16 RW 0x0000 (0

)

dec

)

dec

• 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)

puts (in ns, only DC mode)

Supported synchronization modes:

UINT32 RO 0x00000384 (900

UINT16 RO 0x0001 (1

dec

)

dec

• Bit 0: free run is supported

• 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 1C32:08 or 1C33:08)

Minimum cycle time (in ns) UINT32 RO 0x000F4240 (1000000

Time between reading of the inputs and availability of the inputs for the master (in ns, only DC mode)

stopped

UINT32 RO 0x00000000 (0

dec

UINT32 RO 0x00000384 (900

UINT16 RW 0x0000 (0

)

dec

)

dec

• 1: Measurement of the local cycle time is started

The entries 1C32:03, 1C32:05, 1C32:06, 1C32:09, 1C33:03, 1C33:06, and 1C33:09 are updated with the maximum measured values. For a subsequent measurement the measured values are reset

Time between SYNC1 event and reading of the inputs (in ns, only DC mode)

as 1C32:11 UINT16 RO 0x0000 (0

as 1C32:12 UINT16 RO 0x0000 (0

as 1C32:13 UINT16 RO 0x0000 (0

UINT32 RO 0x00000384 (900

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

4.6.2.3 Profile-specific objects (0x6000-0xFFFF)

The profile-specific objects have the same meaning for all EtherCAT slaves that support profile 5001.

EP9214-0023 and EP9224-002398 Version: 2.3.1

Comissioning and Configuration

4.6.2.3.1 Index 6000 DPO Inputs Ch.1

Index Name Meaning Data type Flags Default

6000:0 DPO Inputs Ch.1 Input of the first channel UINT8 RO 0x18 (24

6000:01 Error Us The current monitoring of Us

has tripped. The bit must be reset by a Global Reset (F707:04) or by the corresponding Reset Us (7000:05). The output cannot be activated as long as the bit is set.

6000:02 Error Up The current monitoring of Up

has tripped. The bit must be reset by a Global Reset (F707:04) or by the corresponding Reset Us (7000:06). The output cannot be activated as long as the bit is set.

6000:03 Warning Us The monitoring has detected

overcurrent; the switching off of output Us on this channel is imminent if the current consumption of the branch does not decrease.

6000:04 Warning Up The monitoring has detected

overcurrent; the switching off of output Us on this channel is imminent if the current consumption of the branch does not decrease.

6000:05 Status Us 0

6000:06 Status Up 0

: The output is switched off

bin

: The output supplies 24V

bin

: The output is switched off

bin

: The output supplies 24V

bin

6000:07 Channel Error 6000:01 or 6000:02 are set boolean RO 0x00 (0

6000:08 Error Sum Current Sum current oft he channel has

been exceeded. So the output is switched off. An active reset is required to set the output again.

6000:09 Warning Sum Current An overcurrent peak has beenn

detected. If the output will be loaded furtermore in this way it will switch of.

6000:0F TxPDO State boolean RO 0x00 (0

6000:10 TxPDO Toggle boolean RO 0x00 (0

6000:11 Current Us Current from Us INT16 RO 0x0000 (0

6000:12 Current Up Current from Up INT16 RO 0x0000 (0

6000:13 Peak Value 1 Peak value of the 1. item, that

was measured for extended diagnosis of channel 1.

6000:14 Peak Value 2 Peak value of the 2. item, that

was measured for extended diagnosis of channel 1.

6000:17 Timestamp 1 Time stamp when the peak

value 6000:13 was measured

6000:18 Timestamp 2 Time stamp when the peak

value 6000:14 was measured

boolean RO 0x00 (0

dec

INT16 RO 0x0000 (0

UINT64 RO

)

dec

)

dec

)

dec

)

dec

)

dec

EP9214-0023 and EP9224-0023 99Version: 2.3.1

Comissioning and Configuration

4.6.2.3.2 Index 6010 DPO Inputs Ch.2

Index Name Meaning Data type Flags Default

6010:0 DPO Inputs Ch.2 Input of the first channel UINT8 RO 0x18 (24

6010:01 Error Us The current monitoring of Us

has tripped. The bit must be reset by a Global Reset (F707:04) or by the corresponding Reset Us (7010:05). The output cannot be activated as long as the bit is set.

6010:02 Error Up The current monitoring of Up

has tripped. The bit must be reset by a Global Reset (F707:04) or by the corresponding Reset Us (7010:06). The output cannot be activated as long as the bit is set.

6010:03 Warning Us The monitoring has detected

overcurrent; the switching off of output Us on this channel is imminent if the current consumption of the branch does not decrease.

6010:04 Warning Up The monitoring has detected

overcurrent; the switching off of output Us on this channel is imminent if the current consumption of the branch does not decrease.

6010:05 Status Us 0

6010:06 Status Up 0

: The output is switched off

bin

: The output supplies 24V

bin

: The output is switched off

bin

: The output supplies 24V

bin

6010:07 Channel Error 6010:01 or 6010:02 are set boolean RO 0x00 (0

6010:08 Error Sum Current Sum current oft he channel has

been exceeded. So the output is switched off. An active reset is required to set the output again.

6010:09 Warning Sum Current An overcurrent peak has beenn

detected. If the output will be loaded furtermore in this way it will switch of.

6010:0F TxPDO State boolean RO 0x00 (0

6010:10 TxPDO Toggle boolean RO 0x00 (0

6010:11 Current Us Current from Us INT16 RO 0x0000 (0

6010:12 Current Up Current from Up INT16 RO 0x0000 (0

6010:13 Peak Value 1 Peak value of the 1. item, that

was measured for extended diagnosis of channel 2.

6010:14 Peak Value 2 Peak value of the 2. item, that

was measured for extended diagnosis of channel 2.

6010:17 Timestamp 1 Time stamp when the peak

value 6010:13 was measured

6010:18 Timestamp 2 Time stamp when the peak

value 6010:14 was measured

boolean RO 0x00 (0

INT16 RO 0x0000 (0

UINT64 RO

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

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dec

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dec

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EP9214-0023 and EP9224-0023100 Version: 2.3.1

Beckhoff EP9214-0023, EP9224-0023 Documentation

Specifications and Main Features

Frequently Asked Questions

User Manual

Table of contents

1 Foreword

1.1 Notes on the documentation

1.2 Safety instructions

1.3 Documentation issue status

2 Product overview

2.1 EtherCAT Box - Introduction

2.2 EP9214 - Introduction

2.3 EP9224 - Introduction

2.4 Technical data

3 Mounting and cabling

3.1 Mounting

3.1.1 Dimensions

3.1.2 Mounting

3.1.3 Nut torque for connectors

3.2 EtherCAT

3.2.1 EtherCAT connection

3.2.2 EtherCAT - Fieldbus LEDs

3.3 Power supply

3.3.1 Power Connection

3.3.2 Power LEDs

3.3.3 Power cable conductor losses M8

3.3.4 Power cable 7/8"

3.3.5 Conductor losses 7/8"

3.3.6 Power outputs

3.4 Cabling

3.5 Status LEDs and status bits

3.6 Monitoring and reset contacts

4 Comissioning and Configuration

4.1 Inserting into the EtherCAT network

4.2 Configuration via TwinCAT

4.3 Operation with or without EtherCAT master

4.4 Switch of behavior

4.4.1 Switch-off characteristics

4.4.2 Current limitation, switching the load circuits off

4.4.3 Setting the current limitation

4.4.4 Status LEDs and status bits

4.5 EP9214-0023

4.5.1 EP9214-0023 - Object description

4.5.1.1 Objects for parameterization

4.5.1.1.1 Index 1011 Restore default parameters

4.5.1.1.2 Index 8000 DPO Settings Ch.1

4.5.1.1.3 Index 8010 DPO Settings Ch.2

4.5.1.1.4 Index 8020 DPO Settings Ch.3

4.5.1.1.5 Index 8030 DPO Settings Ch.4

4.5.1.1.6 Index F707 DPO Outputs Device

4.5.1.1.7 Index F80E DPO Settings Device

4.5.1.2 Standard objects

4.5.1.2.1 Index 1000 Device type

4.5.1.2.2 Index 1008 Device name

4.5.1.2.3 Index 1009 Hardware version

4.5.1.2.4 Index 100A Software version

4.5.1.2.5 Index 1018 Identity

4.5.1.2.6 Index 10F0 Backup parameter handling

4.5.1.2.7 Index 1600 DPO RxPDO-Map Outputs Ch.1

4.5.1.2.8 Index 1601 DPO RxPDO-Map Outputs Ch.2

4.5.1.2.9 Index 1602 DPO RxPDO-Map Outputs Ch.3

4.5.1.2.10 Index 1603 DPO RxPDO-Map Outputs Ch.4

4.5.1.2.11 Index 1604 DPO RxPDO-Map Outputs Device

4.5.1.2.12 Index 1A00 DPO TxPDO-Map Inputs Ch.1

4.5.1.2.13 Index 1A01 DPO TxPDO-Map Inputs Ch.2

4.5.1.2.14 Index 1A02 DPO TxPDO-Map Inputs Ch.3

4.5.1.2.15 Index 1A03 DPO TxPDO-Map Inputs Ch.4

4.5.1.2.16 Index 1A04 DPO TxPDO-Map Inputs Device

4.5.1.2.17 Index 1C00 Sync manager type

4.5.1.2.18 Index 1C12 RxPDO assign

4.5.1.2.19 Index 1C13 TxPDO assign

4.5.1.2.20 Index 1C32 SM output parameter

4.5.1.2.21 Index 1C33 SM input parameter

4.5.1.3 Profile-specific objects (0x6000-0xFFFF)

4.5.1.3.1 Index 6000 DPO Inputs Ch.1

4.5.1.3.2 Index 6010 DPO Inputs Ch.2

4.5.1.3.3 Index 6020 DPO Inputs Ch.3

4.5.1.3.4 Index 6030 DPO Inputs Ch.4

4.5.1.3.5 Index 7000 DPO Outputs Ch.1

4.5.1.3.6 Index 7010 DPO Outputs Ch.2