Documentation | EN
EP9224-0037
Power distribution box ENP to EtherCAT P
2020-09-22 | Version: 1.1
Table of contents
Table of contents
1 Foreword ....................................................................................................................................................5
1.1 Notes on the documentation..............................................................................................................5
1.2 Safety instructions .............................................................................................................................6
1.3 Documentation issue status ..............................................................................................................7
2 EtherCAT Box - Introduction ....................................................................................................................8
3 Product overview.....................................................................................................................................10
3.1 Introduction......................................................................................................................................10
3.2 Technical data .................................................................................................................................11
3.3 Scope of supply ...............................................................................................................................12
3.4 Process image.................................................................................................................................13
4 Mounting and cabling..............................................................................................................................16
4.1 Mounting..........................................................................................................................................16
4.1.1 Dimensions ...................................................................................................................... 16
4.1.2 Mounting .......................................................................................................................... 17
4.1.3 Connector ........................................................................................................................ 17
4.2 Functional earth (FE).......................................................................................................................18
4.3 Power supply ...................................................................................................................................19
4.3.1 Connection....................................................................................................................... 19
4.3.2 Status LEDs..................................................................................................................... 20
4.3.3 Conductor losses ............................................................................................................. 20
4.4 EtherCAT.........................................................................................................................................21
4.4.1 Connection....................................................................................................................... 21
4.4.2 Status LEDs..................................................................................................................... 22
4.5 EtherCATP .....................................................................................................................................23
4.5.1 Connection....................................................................................................................... 23
4.5.2 Status LEDs..................................................................................................................... 24
4.6 Cabling ............................................................................................................................................25
5 Commissioning and configuration ........................................................................................................26
5.1 Configuration in TwinCAT................................................................................................................26
5.1.1 Assignment of the connectors ......................................................................................... 26
5.2 Warning and error messages ..........................................................................................................29
5.3 Protective functions .........................................................................................................................30
5.3.1 Overcurrent protection ..................................................................................................... 31
5.3.2 Overcurrent protection for sum currents .......................................................................... 32
5.3.3 Undervoltage protection................................................................................................... 33
5.3.4 Overtemperature protection............................................................................................. 33
5.4 Diagnostic functions ........................................................................................................................34
5.4.1 Peak value detector ......................................................................................................... 34
5.4.2 Data logger ...................................................................................................................... 37
5.5 Switch output voltages.....................................................................................................................39
5.6 Object description............................................................................................................................41
5.6.1 EP9224-0037 – Object description .................................................................................. 41
5.7 Restoring the delivery state .............................................................................................................58
EP9224-0037 3Version: 1.1
Table of contents
6 Appendix ..................................................................................................................................................59
6.1 General operating conditions...........................................................................................................59
6.2 Accessories .....................................................................................................................................60
6.3 Version identification of EtherCAT devices .....................................................................................61
6.3.1 Beckhoff Identification Code (BIC)................................................................................... 65
6.4 Support and Service ........................................................................................................................67
EP9224-00374 Version: 1.1
Foreword
1 Foreword
1.1 Notes on the documentation
Intended audience
This description is only intended for the use of trained specialists in control and automation engineering who
are familiar with the applicable national standards.
It is essential that the documentation and the following notes and explanations are followed when installing
and commissioning these components.
It is the duty of the technical personnel to use the documentation published at the respective time of each
installation and commissioning.
The responsible staff must ensure that the application or use of the products described satisfy all the
requirements for safety, including all the relevant laws, regulations, guidelines and standards.
Disclaimer
The documentation has been prepared with care. The products described are, however, constantly under
development.
We reserve the right to revise and change the documentation at any time and without prior announcement.
No claims for the modification of products that have already been supplied may be made on the basis of the
data, diagrams and descriptions in this documentation.
Trademarks
Beckhoff®, TwinCAT®, EtherCAT®, EtherCATG®, EtherCATG10®, EtherCATP®, SafetyoverEtherCAT®,
TwinSAFE®, XFC®, XTS® and XPlanar® are registered trademarks of and licensed by Beckhoff Automation
GmbH. Other designations used in this publication may be trademarks whose use by third parties for their
own purposes could violate the rights of the owners.
Patent Pending
The EtherCAT Technology is covered, including but not limited to the following patent applications and
patents: EP1590927, EP1789857, EP1456722, EP2137893, DE102015105702 with corresponding
applications or registrations in various other countries.
EtherCAT® is registered trademark and patented technology, licensed by Beckhoff Automation GmbH,
Germany.
Copyright
© Beckhoff Automation GmbH & Co. KG, Germany.
The reproduction, distribution and utilization of this document as well as the communication of its contents to
others without express authorization are prohibited.
Offenders will be held liable for the payment of damages. All rights reserved in the event of the grant of a
patent, utility model or design.
EP9224-0037 5Version: 1.1
Foreword
1.2 Safety instructions
Safety regulations
Please note the following safety instructions and explanations!
Product-specific safety instructions can be found on following pages or in the areas mounting, wiring,
commissioning etc.
Exclusion of liability
All the components are supplied in particular hardware and software configurations appropriate for the
application. Modifications to hardware or software configurations other than those described in the
documentation are not permitted, and nullify the liability of Beckhoff Automation GmbH & Co. KG.
Personnel qualification
This description is only intended for trained specialists in control, automation and drive engineering who are
familiar with the applicable national standards.
Description of instructions
In this documentation the following instructions are used.
These instructions must be read carefully and followed without fail!
DANGER
Serious risk of injury!
Failure to follow this safety instruction directly endangers the life and health of persons.
WARNING
Risk of injury!
Failure to follow this safety instruction endangers the life and health of persons.
CAUTION
Personal injuries!
Failure to follow this safety instruction can lead to injuries to persons.
NOTE
Damage to environment/equipment or data loss
Failure to follow this instruction can lead to environmental damage, equipment damage or data loss.
Tip or pointer
This symbol indicates information that contributes to better understanding.
EP9224-00376 Version: 1.1
Foreword
1.3 Documentation issue status
Version Comment
1.1 • Front page updated
1.0 • First release
Firmware and hardware versions
This documentation refers to the firmware and hardware version that was applicable at the time the
documentation was written.
The module features are continuously improved and developed further. Modules having earlier production
statuses cannot have the same properties as modules with the latest status. However, existing properties
are retained and are not changed, so that older modules can always be replaced with new ones.
The firmware and hardware version (delivery state) can be found in the batch number (D-number) printed on
the side of the EtherCAT Box.
Syntax of the batch number (D-number)
D: WW YY FF HH
WW - week of production (calendar week)
YY - year of production
FF - firmware version
HH - hardware version
Further information on this topic: Version identification of EtherCAT devices [}61].
Example with D no. 29 10 02 01:
29 - week of production 29
10 - year of production 2010
02 - firmware version 02
01 - hardware version 01
EP9224-0037 7Version: 1.1
EtherCAT Box - Introduction
2 EtherCAT Box - Introduction
The EtherCAT system has been extended with EtherCAT Box modules with protection class IP67. 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 126x30x26.5 mm (hxw xd) 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 M8connectors.
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 M12connectors.
The EtherCAT modules cover the typical range of requirements for I/O signals with protection class IP67:
• digital inputs with different filters (3.0ms or 10μs)
• digital outputs with 0.5 or 2A output current
• analog inputs and outputs with 16bit resolution
• Thermocouple and RTD inputs
• Stepper motor modules
XFC (eXtreme Fast Control Technology) modules, including inputs with time stamp, are also available.
EP9224-00378 Version: 1.1
Fig.2: EtherCAT Box with M8 connections for sensors/actuators
EtherCAT Box - Introduction
Fig.3: EtherCAT Box with M12 connections for sensors/actuators
Basic EtherCAT documentation
You will find a detailed description of the EtherCAT system in the Basic System Documentation for
EtherCAT, which is available for download from our website (www.beckhoff.com) under Downloads.
EtherCAT XML Device Description
You will find XML files (XML Device Description Files) for Beckhoff EtherCAT modules on our website (www.beckhoff.com) under Downloads, in the Configuration Files area.
EP9224-0037 9Version: 1.1
Product overview
3 Product overview
3.1 Introduction
Fig.4: EP9224-0037
EP9224-0037
The EP9224-0037 EtherCAT Box distributes an EtherCAT signal to four EtherCATP ports.
It measures supply voltages, output currents and its own temperature. The measured values are available as
process data.
Internal protective functions use the measured values to switch off the output voltages of the EtherCATP
ports in case of error. This prevents damage and malfunctions:
• Overloading of the supply line
• Overloading of the power supply unit
• Overloading of the EtherCATP cables
• Undervoltage of the supply voltages
EP9224-0037 has a peak value detector and a data logger for the diagnosis of errors.
EP9224-003710 Version: 1.1
Product overview
3.2 Technical data
Technical data EP9224-0037
Fieldbus
Fieldbus EtherCAT
Fieldbus connection ENP B17-connector
Electrical isolation 500 V (electrical isolation between EtherCAT cables and
supply voltages)
Supply
Nominal voltage 24VDC (-15 %/ +20 %)
Connections Supply (X70): Connector B17 5G 1.5 mm² ENP
Downstream connection (X71): Socket B17 5G 1.5 mm² ENP
Connections, current carrying capacity max. 15.5 A per US/UP to 45°C
Supply of the module electronics from the control voltage U
Current consumption of the module
electronics
typically 110mA from US,
typically 40mA from U
Outputs
Fieldbus EtherCAT P
Number of outputs 4
Connections M8 sockets, p-coded, shielded
Nominal current 3 A per US and UP on each EtherCAT P port
Nominal current (sum) 12 A per US and U
Capacitive load C
Load
Switch-on time delay
1)
max. 2200µF per US and UP on each EtherCAT P port
Adjustable [}39]:
P
„Fast“ = 10ms
„Moderate“ = 100ms (default)
„Slow“ = 200ms
Overcurrent protection
Nominal current I
n
Adjustable [}31]:
1…3A per US and UP on each EtherCAT P port.
Tripping characteristic
Current limitation I
Lim
Current limitation:
Switch-off time t
Lim
Adjustable [}31]. Default 100ms at 3x In.
5A per US and UP on each EtherCAT P port.
typically 75ms
Fuse (fail-safe Element) Rated current: 5A
Melting integral I²t: 5.566A²s. (with a pulse width of 8 ms)
Further protective functions and diagnosis
Overtemperature protection:
Threshold values
Undervoltage protection:
Threshold values
Data logger: Sampling interval
T
= 75°C → warning on exceeding
warn
T
= 85°C → error message on exceeding
err
U
= 21.6V → warning on falling below
warn
U
= 19.1V → error message on falling below
err
Adjustable [}37]:
1ms
10ms (default)
25ms
100ms
1000ms
Data logger: Buffer size 25 entries.
S
P
1)
The output voltages are switched on one after the other at the start so that the starting currents do not add
up. See chapter Switch output voltages [}39].
EP9224-0037 11Version: 1.1
Product overview
Technical data EP9224-0037
Measured values
Resolution Currents per port: 10mA
Sum currents US+UP: 10mA
Voltages: 100mV
Temperature: 1K
Representation Currents per port: 1mA/LSB
Sum currents US+UP: 10mA/LSB
Voltages: 100mV/LSB
Temperature: 1K/LSB (Celsius scale)
Environmental conditions
Permissible ambient temperature
during operation
Permissible ambient temperature
during storage
Vibration / shock resistance conforms to60068-2-6/ EN60068-2-27;
EMC immunity / emission conforms to EN 61000-6-2 / EN 61000-6-4
Protection class IP65, IP66, IP67 (according toEN 60529)
Mechanics
Dimensions 150 mm x 60 mm x 26.5 mm (not including connectors)
Weight approx. 540 g
Mounting position variable
Approvals and conformity
Approvals CE, UL in preparation
-25…+60°C
-25…+85°C
see also additional checks [}12].
Additional checks
The boxes have been subjected to the following checks:
Verification Explanation
Vibration 10 frequency sweeps in 3 axes
5Hz<f<60Hz displacement 0.35mm, constant amplitude
60.1Hz<f<500Hz acceleration 5g, constant amplitude
Shocks 1000 shocks in each direction, in 3 axes
35g, 11ms
3.3 Scope of supply
Make sure that the following components are included in the scope of delivery:
• 1x EtherCAT Box EP9224-0037
• 4x protective caps for EtherCAT P socket (mounted)
• 10x labels, blank (1 strip of 10)
Pre-assembled protective caps do not ensure IP67 protection
Protective caps are pre-assembled at the factory to protect connectors during transport. They may
not be tight enough to ensure IP67 protection.
Ensure that the protective caps are correctly seated to ensure IP67 protection.
EP9224-003712 Version: 1.1
Product overview
3.4 Process image
In the process image the EtherCATP ports are designated "Channel 1" to "Channel 4". The following table
shows the correlation between the designations in the process image and the designations of the
EtherCATP ports:
Designation in the process image EtherCATP port
„Channel 1“ X52
„Channel 2“ X53
„Channel 3“ X54
„Channel 4“ X55
The EP9224-0037 has four output channels, DPO Inputs
Channel n.
Subsequently, a status channel follows for the complete
device DPO Inputs Device.
In the output section there are 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.
Since EtherCAT is distributed in addition to power, an
EP9224-1037 device is included.
EP9224-0037 13Version: 1.1
Product overview
DPO Inputs Channel 1 to 4
The four channels each have status bits and status LEDs
for displaying the current channel state:
Error US: US was switched off due to overcurrent
Error UP: UP was switched off due to overcurrent
Warning US: If the current value set in CoE object
80n0:12 persists, the channel will be switched off
Warning UP: If the current value set in CoE object
80n0:13 persists, the channel will be switched off
Status US: Channel switched on or off
Status UP: Channel switched on or off
Channel Error: Error US or Error UP is TRUE
Error Sum Current: The sum value for Is and Ip of the
channel set in CoE object 8000:14 has been exceeded for
too long.
Warning Sum Current: If the sum current for IS+IP of the
channel persists, the channel will be switched off.
Current US, Current Up: Two 16-bit process words each
represent the present output current value of US or U
P
respectively.
DPO Inputs Device
Subsequently, a status word follows for the complete
device DPO Inputs Device.
Temperature Warning: The internal temperature of the
EP9224 will soon reach the shut-off point.
Temperature Error: The internal temperature was too
high. The output channels were switched off.
US/UP Warning: The value of the input voltage US/UP is
less than the upper threshold value U
warn
.
US/UP Error: The value of the input voltage US/UP has
fallen below the lower threshold value U
. The output
err
voltages have been switched off.
Global Error Bit: There is at least one error message
pending.
Sum Current Warning: The sum value for IS and IP of the
box set in CoE object F80E:12 has been exceeded for too
long.
Error Sum Current: If the sum value for IS and IP of the
channel set in CoE object 8000:14 persists, the channel
will be switched off.
Current US: Present sum current of the supply input
socket Us
Current UP: Present sum current of the supply input
socket Up
Voltage US: Present input voltage of the supply input
socket US in 1/10V
Voltage UP: Present input voltage of the supply input
socket UP in 1/10V
Temperature: Current internal temperature of the box
EP9224-003714 Version: 1.1
DPO Outputs Channel 1 to 4
DPO Outputs Device
Product overview
The EP9224 has 4 x 16-bit output data of the four output
channels DPO Outputs Channel n.
Output US/UP:
TRUE - switches on the output,
FALSE - switches off the output
Reset US/UP: TRUE - reset in case 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 output variables,
FALSE - automatic switch-on depending on the CoE
entries
Global Reset: Resets all errors in the box
EP9224-0037 15Version: 1.1
Mounting and cabling
150
60
141
Ø 4.5
4 Mounting and cabling
4.1 Mounting
4.1.1 Dimensions
Fig.5: Dimensions
All dimensions are given in millimeters.
Housing features
Housing material PA6 (polyamide)
Sealing compound polyurethane
Mounting two fastening holes Ø 4.5 mm for M4
Metal parts brass, nickel-plated
Contacts CuZn, gold-plated
Power feed through max. 15.5 A at 45 °C (B17 5G 1.5 mm2)
Installation position variable
Protection class IP65, IP66, IP67 (conforms to EN 60529) when screwed together
Dimensions (H x W x D) approx. 150 x 60 x 26.5mm (without connectors)
EP9224-003716 Version: 1.1
Mounting and cabling
4.1.2 Mounting
Mount EtherCAT Box modules with two M4 screws in the centrally located fixing holes.
The screws must be longer than 15mm. The fastening holes in the modules have no thread.
Protect connectors against soiling
Protect all module connections from soiling during installation! The protection classes IP65, 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 catalog for connector sets
and protective caps)!
Cooling plate
The EP9224-0037 module has a cooling plate on the underside. For the effective dissipation of 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!
Note when mounting that the overall height is increased further by the fieldbus connections. See chapter
Accessories.
4.1.3 Connector
M8 connector: X52, X53, X54, X55
Screw M8 connectors tight with a torque wrench. (e.g. ZB8801 from Beckhoff)
Torque: 0.4Nm.
B17 connector: X70, X71
Screw B17 connectors tight by hand:
Plug the cable connector into the connector on the box to the stop. Turn the cap nuts of the cable connector
clockwise by about 1/8 of a turn to the stop.
EP9224-0037 17Version: 1.1
Mounting and cabling
FE
FE
4.2 Functional earth (FE)
Functional earth via the fastening holes
The fastening holes [}17] also serve as connections for the functional earth (FE).
Make sure that the box is earthed with low impedance via both fastening screws.
Fig.6: Functional earth via the fastening holes
Functional earth via the supply lines
Pins 6 of the B17 connectors marked with "FE" are not directly connected with the functional earth potential
of the fastening holes.
Connect the functional earth of the "FE" cores in accordance with the following instructions:
• If the remote station is a device with B17 connector: connect the devices with a pre-configured cable.
Order number: Beckhoff ZK7208-3031-Axxx.
• Otherwise: Earth the "PE" core with low impedance as near as possible to the remote station.
• Leave the cap nuts and housing of the B17 connectors without contact.
EP9224-003718 Version: 1.1
4.3 Power supply
3
4 2
1 1
2 4
3
6
7
9
8
5
9
8
6
7
5
IN OUT
EtherCAT Box modules are supplied with two electrically isolated supply voltages:
Mounting and cabling
Control voltage U
S
Power is supplied to the fieldbus, the processor logic, the inputs and the sensors from the control voltage US.
The control voltage is electrically isolated from the fieldbus circuitry.
Peripheral voltage U
P
The peripheral voltage UP supplies the digital outputs; it can be brought in separately. Hence, if the
peripheral voltage is switched off, the fieldbus function as well as the supply and function of the inputs are
retained.
4.3.1 Connection
The supply and forwarding of the supply voltages takes place via two 5-pin ENP B17 hybrid connectors at
the lower end of the modules:
• X70 "IN": left B17 connector for feeding the supply voltages
• X71 "OUT": right B17 connector for routing the supply voltages
Fig.7: B17 pin assignment
Pin Voltage/signal Core colors
1 Tx+ yellow
2 Rx+ white
3 Rx- blue
4 Tx- orange
5 GNDP: ground for U
6 FE: functional earth green-yellow
7 UP: peripheral voltage, +24V
8 GNDS: ground for U
9 US: control voltage +24V
1)
The core colors apply to cables, connectors and flanges of the type
• Beckhoff ZB7203-xxxx
• Beckhoff ZK7208-xxxx
EP9224-0037 19Version: 1.1
P
DC
S
DC
1)
grey
black
blue
brown
Mounting and cabling
4.3.2 Status LEDs
The status of the supply voltages is signaled by two LEDs. A Status LED lights up green when the respective
supply voltage is present on the connector for the supply.
Fig.8: Status LEDs for the supply voltages
4.3.3 Conductor losses
Take into account the voltage drop on the supply line when planning a system. Avoid the voltage drop being
so high that the supply voltage at the box lies below the minimum permissible value. See Technical data
[}11].
Variations in the voltage of the power supply unit must also be taken into account.
The following graph illustrates the dependence of the voltage drop on the core cross-section, current and
cable length:
Fig.9: Losses on the supply line
EP9224-003720 Version: 1.1
Mounting and cabling
3
4 2
1 1
2 4
3
IN OUT
Shield Shield
4.4 EtherCAT
4.4.1 Connection
For the incoming and continuing EtherCAT connection the EP9224-0037 has two 9-pin B17 connectors,
each with
• 4-pin trapezoidal EtherCAT core
• 5-pin power supply unit
Fig.10: EtherCAT pin configuration
Pin Voltage/signal Core colors
1 Tx+ yellow
2 Rx+ white
3 Rx- blue
4 Tx- orange
Shroud Shield Cable shield
1)
The core colors apply to cables, connectors and flanges of the type
• Beckhoff ZB7203-xxxx
• Beckhoff ZK7208-xxxx
1)
EP9224-0037 21Version: 1.1
Mounting and cabling
4.4.2 Status LEDs
Fig.11: EtherCAT LEDs
L/A (Link/Act)
A green LED labelled "L/A" or “Link/Act” is located next to each EtherCAT/EtherCATP socket. The LED
indicates the communication state of the respective socket:
LED Meaning
off no connection to the connected EtherCAT device
lit LINK: connection to the connected EtherCAT device
flashes ACT: communication with the connected EtherCAT device
Run
Each EtherCAT slave and each EtherCATP slave has a green LED labelled "Run". The LED signals the
status of the slave in the EtherCAT network:
LED Meaning
off Slave is in "Init" state
flashes uniformly Slave is in "Pre-Operational“ state
flashes sporadically Slave is in "Safe-Operational" state
lit Slave is in "Operational" state
A description of the EtherCAT slave states can be found under
https://infosys.beckhoff.com/content/1033/ethercatsystem/1036980875.html?id=8582353789396071752.
EP9224-003722 Version: 1.1
Mounting and cabling
4.5 EtherCATP
NOTE
Defect possible through parallel connection.
Do not connect EtherCATP outputs in parallel.
EP9224-0037 converts the incoming EtherCAT signal into an EtherCATP signal by combining the EtherCAT
signal with the applied supply voltages. The EtherCATP signal is available at four output ports: X52, X53,
X54, X55.
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.
4.5.1 Connection
Fig.12: M8 socket, p-coded
Contact Signal Voltage Core colors
1 Tx + GND
2 Rx + GND
S
P
3 Rx - UP: Peripheral voltage, +24V
4 Tx - US: control voltage +24V
DC
DC
yellow
white
blue
orange
Housing Shield Shield Shield
1)
The core colors apply to EtherCATP cables and ECP cables from Beckhoff.
1)
EP9224-0037 23Version: 1.1
Mounting and cabling
(1) (2)
4.5.2 Status LEDs
The status of an EtherCATP port is signaled by two LEDs:
Fig.13: LEDs of EtherCATP ports (example: X54)
(1) EtherCAT Link/Activity (L/A)
The L/A LEDs of EtherCATP ports behave like the L/A LEDs of EtherCAT ports. See chapter Status LEDs
[}22] of EtherCAT ports.
(2) Output voltage status
Each EtherCATP port is assigned an LED that signals the states of the output voltages of this port.
LED signal Meaning
Off The output voltages US and UP are switched off.
Green illuminated At least one of the output voltages (US, UP) is switched on.
The output currents are within the nominal operating range. (I < In)
Flashing green
Flashes red
Red illuminated
Red running light
(all four Status LEDs)
Warning message [}29].
Overcurrent on at least one of the output voltages.
Error message [}29].
This signal is output in two cases:
• At least one of the output voltages has been switched off within the last
20seconds due to a protective function.
• The box has been switched on within the last 20seconds. Prior to
switching on there was an error message that had not yet been reset.
Error message [}29].
At least one of the output voltages has been switched off due to a
protective function.
Error message [}29].
Undervoltage or overtemperature.
EP9224-003724 Version: 1.1
Mounting and cabling
4.6 Cabling
For connecting EtherCAT devices only shielded Ethernet cables that meet the requirements of at least
category5 (CAT5) according to EN50173 or ISO/IEC11801 should be used.
EtherCAT uses four wires for signal transmission.
Thanks to automatic line detection ("Auto MDI-X"), both symmetrical (1:1) or cross-over cables can be used
between Beckhoff EtherCAT.
Detailed recommendations for the cabling of EtherCAT devices
EP9224-0037 25Version: 1.1
Commissioning and configuration
5 Commissioning and configuration
5.1 Configuration in TwinCAT
An EtherCAT Box must be configured in TwinCAT so that its functions can be used in a PLC program.
The following link will take you to a quick start guide describing the configuration of an EtherCAT Box in
TwinCAT:
https://infosys.beckhoff.com/content/1033/epioconfiguration/index.html?id=6991403443235907429
5.1.1 Assignment of the connectors
This chapter describes the assignment of the EP9224-0037 connectors to their representation in TwinCAT.
You require this assignment in order to correctly map an EtherCAT network in the "offline" configuration in
TwinCAT.
An EP9224-0037 is represented by two IO modules in the TwinCAT IO tree:
Fig.14: EP9224-0037 in the TwinCAT IO tree
Each IO module has four ports. Some ports represent connectors, while others represent internal interfaces.
The following illustration shows the assignment of the ports to the IO modules in TwinCAT:
EP9224-003726 Version: 1.1
Commissioning and configuration
X52
X53
X54
X55
X71X70
Fig.15: Designations of the connectors
Type EP9224-0037 TwinCAT
Connector IO module Port
EtherCATP output X52
EtherCATP output X53 B
EtherCATP output X54 C
EtherCATP output X55
EtherCAT input X70 A
EtherCAT output X71 C
On the following page you will find examples of the use of the table.
EP9224-1037
EP9224-0037
D
B
EP9224-0037 27Version: 1.1
Commissioning and configuration
Example: Appending an EtherCATP Box to EP9224-0037
ü Requirement: an EP9224-0037 is appended in the IO tree in TwinCAT.
1. Decide which connector of the EP9224-0037 to connect the EtherCATP Box to.
(e.g. to X54)
2. Determine the corresponding IO module and port with the help of the table.
(e.g. EP9224-1037, Port C)
3. Right-click on the IO module determined in the IO tree.
(e.g. EP9224-1037)
4. Click on the menu item Add new Item…
5. In the window that appears, select the EtherCATP Box to be appended and the port determined.
(e.g. EPP1008-0001, Port C)
6. Click OK
ð Result: The box was appended in the correct place in the IO tree.
Example: Connect an already appended EtherCATP Box to a different connector
1. Double-click on the EtherCATP Box in the IO tree.
(e.g. an EPP1008-0001 that was previously connected to X54)
2. Click on the EtherCAT tab.
3. Determine the corresponding IO module and port of the new connector with the help of the table.
(e.g. X55 → EP9224-0037, Port B)
4. Select the determined IO module and port in the drop-down list Previous Port.
(e.g. "Box 1 (EP9224-0037) – B")
ð Result: The EtherCATP Box is connected to the new connector.
Checking the IO configuration graphically
1. Double-click the EtherCAT master device in the IO tree.
2. Click the EtherCAT tab.
3. Click the Topology button.
ð Result: A graphical illustration of the network structure created in TwinCAT appears.
Move the mouse pointer over the icons of the IO modules to display their description.
EP9224-003728 Version: 1.1
Commissioning and configuration
5.2 Warning and error messages
Protective functions output warning and error messages.
Warning messages are temporary. They indicate that a measured variable lies outside of the nominal
operating range. The warning message is canceled if the measured variable returns to within the nominal
operating range.
Error messages are persistent. They persist until they are actively reset: Resetting an error status [}30].
They also persist after a voltage reset (US).
A protective function signals through an error message that it has switched off at least one output voltage.
Warning messages and error messages are signaled in two ways:
• Status LEDs [}24]
• Status bits in the process data
Use the Status bits to narrow down the cause of warnings or errors.
Status bits for group errors
• „Global Error Bit“
(Input variable "DPO Inputs Device" > "Device Status").
This Status bit is set with every error message. If it is not set, there is no error message from any
protective function.
• „Channel Error“
(Input variables "DPO Inputs Channel n" > "Status").
These Status bits are set with every error message that concerns the respective EtherCATP port.
Global Status bits
Input variable: „DPO Inputs Device“ > „Device Status“:
Status bit Responsible protective function
Warning Temperature
Error Temperature
Warning Us
Error Us
Warning Up
Error Up
Warning Sum Current
Error Sum Current
Status bits per EtherCATP port
Input variable: „DPO Inputs Channel n“ > „Status“
(n=0 for X52, n=1 for X53, n=2 for X54, n=3 for X55)
Status bit Responsible protective function
Error Us
Error Up
Warning Us
Warning Up
Error Sum Current
Warning Sum Current
Overtemperature protection [}33]
Undervoltage protection [}33]
Overcurrent protection for sum currents [}32]
Overcurrent protection [}31]
Overcurrent protection for sum currents [}32]
EP9224-0037 29Version: 1.1
Commissioning and configuration
5.3 Protective functions
Protective functions protect against overload and malfunctions by switching off output voltages of
EtherCATP ports in case of error.
They signal warnings and errors: Warning and error messages [}29]
Resetting an error state
If a protective function has signaled an error, you must reset the error state so that the switched-off supply
voltages can be switched on again.
1. Eliminate the cause of the error.
2. Apply a positive edge to the output variable:
„DPO Outputs Device“ > „Global Reset“.
Comment: The designation "Reset" refers only to the error state. Parameters and settings remain
unchanged.
Further information can be found in the sections "Resetting an error state" in the chapter for the individual
protective functions.
EP9224-003730 Version: 1.1
Commissioning and configuration
Output
voltage
0 A
I
Lim
I
n
1 2 3 4
Nominal operation Overcurrent Current limitation Malfuction
5.3.1 Overcurrent protection
Both output voltages (US and UP) on each EtherCATP port are protected against overcurrent.
The overcurrent protection can be divided into several operating ranges:
Fig.16: Overcurrent protection operating ranges
(1) Nominal operation
The overcurrent protection is inactive in nominal operation.
(2) Overcurrent
If the nominal current In is exceeded, this is detected as overcurrent. A warning message [}29] is output.
If the overcurrent persists, the respective output voltage is switched off in accordance with the tripping
characteristic and an error message [}29] is output.
The nominal current and the tripping characteristic can be parameterized individually for each output current:
• Nominal current In:
CoE Index 80x0:12 "Nominal Current Us"
CoE Index 80x0:13 "Nominal Current Up"
Value range: see chapter Technical data [}11].
• Tripping characteristic:
CoE Index 80x0:11 "Characteristic"
The tripping characteristic is comparable with that of fuses. The fuse blows with a delay, depending on the
magnitude of the overcurrent:
Current Very fast acting Fast acting Slow acting Time delay
100% I
110% I
120% I
150% I
210% I
275% I
300% I
n
n
n
n
n
n
n
1h - - 1h 4h - 7min 4h - 30s 30min 1h 4h
500ms 20s 20s 100s
500ms 1s 20s 10s
20ms 100ms 1s 3s
(3) Current limitation
The current limitation limits each output current to I
. I
is higher than the nominal current In.
Lim
Lim
The current limitation switches the supply voltage of the respective output off if it has to limit the current for
longer than t
I
and t
Lim
The delay of the switch-off procedure by t
. An error message [}29] is output.
Lim
cannot be parameterized. See chapter Technical data [}11].
Lim
allows short-term overcurrents in order among other things to
Lim
switch capacitive loads.
Current limitation and overcurrent protection are active at the same time. Depending on the parameterization
it may be the case that the overcurrent protection switches an output off before t
EP9224-0037 31Version: 1.1
has expired.
Lim
Commissioning and configuration
(4) Malfunction
In case of a malfunction of overcurrent protection and current limitation, each output voltage is protected by a
short-circuit protection. The short-circuit protection is dimensioned such that it only becomes active if the
overcurrent protection and current limitation fail.
As a last resort, each output voltage is protected by a fuse. If the fuse has blown the box is defective. The
fuse specifications can be found in the chapter Technical data [}11].
Resetting an error state
If an output voltage has been switched off by the overcurrent protection, it can be activated again through
one of the following actions:
• a positive edge on the output variables
"DPO Inputs Channel n" > "Reset Ux" of the respective EtherCATP port
(n=0 for X52, n=1 for X53, n=2 for X54, n=3 for X55)
• a positive edge on the output variables
„DPO Outputs Device“ > „Global Reset“
The error message is also reset as a result.
5.3.2 Overcurrent protection for sum currents
EP9224-0037 determines two types of sum currents:
• Sum current for each individual EtherCATP port (calculated)
US+U
• Sum current for all EtherCATP ports (measured)
∑(US+U
The overcurrent protection for sum currents is deactivated in the factory settings. It can be individually
activated and parameterized for each sum current.
Sum current CoE indices
X52: US+U
X53: US+U
X54: US+U
X55: US+U
∑(US+UP)
(Sum of all output
currents)
P
P)
Activation
„Enable Sum Current
Limitation“
P
P
P
P
8000:04 8000:14 8000:11
8010:04 8010:14 8010:11
8020:04 8020:14 8020:11
8030:04 8030:14 8030:11
Nominal current
„Nominal Sum Current“
Tripping characteristic
„Sum Current Characteristic“
F80E:02 F80E:12 F80E:13
EP9224-003732 Version: 1.1
Commissioning and configuration
5.3.3 Undervoltage protection
The undervoltage protection prevents connected EtherCATP devices from being operated with a supply
voltage that is too low. A malfunction of the EtherCATP devices due to undervoltage is thus impossible.
The undervoltage protection has two threshold values, see Technical data [}11]:
• U
• U
: A warning message is output if a supply voltage US or UP falls below the upper threshold value
warn
U
.
warn
: If a supply voltage falls below the lower threshold value U
err
, all outputs are switched off and an
err
error message is output.
The threshold values of the undervoltage protection cannot be parameterized.
Deactivation for U
p
The undervoltage protection for the peripheral voltage UP can be deactivated in the CoE index F80E:05
"Disable Up Undervoltage Error". That is useful in applications in which UP is not needed. In such
applications UP would otherwise only have to be connected so as not to trigger the undervoltage protection.
Resetting an error state
If the output voltages have been switched off by the undervoltage protection, they can be re-activated in two
ways:
• a positive edge on the output variables
„DPO Inputs Device“ > „Global Reset“.
• A voltage reset (US)
Requirement: Both supply voltages are higher at this point in time than the upper threshold value U
warn
.
5.3.4 Overtemperature protection
The overtemperature protection monitors the internal temperature of EP9224-0037.
It has two threshold values (see Technical data [}11]):
• T
: If the internal temperature exceeds T
warn
• T
: If the internal temperature exceeds T
err
voltages off.
Resetting an error state
1. Allow the box to cool down until the internal temperature has fallen below T
2. Apply a positive edge to the output variable
„DPO Outputs Device“ > „Global Reset“.
ð The error message is reset.
ð All output voltages are switched on again if no other protective function signals an error.
the box outputs a warning message.
warn
the box outputs an error message and switches all output
err
.
warn
EP9224-0037 33Version: 1.1
Commissioning and configuration
Measured variable
t
Peak value
t
Timestamp
t
5.4 Diagnostic functions
5.4.1 Peak value detector
The peak value detector detects two types of event:
• Occurrence of an extreme value of a measured variable (output current, supply voltage, temperature).
• Output of a warning message or error message.
The value of the maximum extreme value and the time of occurrence in input variables are available at all
times.
The following diagrams illustrate the mode of operation of the peak value detector taking the example of the
maximum of a measured variable:
Fig.17: Peak value detector example: Maximum of a measured variable
EP9224-003734 Version: 1.1
Commissioning and configuration
Activate peak value detector
You have to activate additional process data objects in the process image in order to be able to use the peak
value detector:
Scope Process data objects for control Process data objects for evaluation
Index
(Sync Manager
SM2)
EtherCATP port
X52
EtherCATP port
X53
EtherCATP port
X54
EtherCATP port
X55
Global 0x1609 DPO Extended Diag
Proceed as follows:
0x1601 DPO Extended Diag
0x1603 DPO Extended Diag
0x1605 DPO Extended Diag
0x1607 DPO Extended Diag
Name Index
(Sync Manager
SM3)
0x1A01 DPO Extended Diag
Outputs Channel 1
0x1A03 DPO Extended Diag
Outputs Channel 2
0x1A05 DPO Extended Diag
Outputs Channel 3
0x1A07 DPO Extended Diag
Outputs Channel 4
0x1A09 DPO Extended Diag
Outputs Device
Name
Inputs Channel 1
Inputs Channel 2
Inputs Channel 3
Inputs Channel 4
Inputs Device
1. Double-click on the EP9224-0037 IO module in the IO tree.
2. Click on the Process Data tab.
3. Click on the "Outputs" entry in the Sync Manager field.
4. Activate the PDO Assignment (0x1C12) checkbox next to the desired PDOs.
ð The corresponding process data object "DPO Extended Diag Outputs […]" appears in the IO tree.
5. Click on the "Inputs" entry in the Sync Manager field.
6. Activate the PDO Assignment (0x1C13) checkbox next to the desired PDOs.
ð The corresponding process data object "DPO Extended Diag Inputs […]" appears in the IO tree.
ð Result: The process data objects for controlling and evaluating the peak value detector are activated.
EP9224-0037 35Version: 1.1
Commissioning and configuration
Select measured variables/messages
You can select ten measured variables or messages for which events are to be detected.
• Two measured variables or messages per EtherCATP port.
• Two global measured variables or messages that concern the complete box (temperatures, supply
voltages, sum currents).
The following table shows the CoE indices in which the measured variables or messages can be selected:
Scope Input variables CoE Index
EtherCATP port X52 „DPO Extended Diag Inputs Channel 1“
> „Peak Value 1“
> „Timestamp 1“
„DPO Extended Diag Inputs Channel 1“
> „Peak Value 2“
> „Timestamp 2“
EtherCATP port X53 „DPO Extended Diag Inputs Channel 2“
> „Peak Value 1“
> „Timestamp 1“
„DPO Extended Diag Inputs Channel 2“
> „Peak Value 2“
> „Timestamp 2“
EtherCATP port X54 „DPO Extended Diag Inputs Channel 3“
> „Peak Value 1“
> „Timestamp 1“
„DPO Extended Diag Inputs Channel 3“
> „Peak Value 2“
> „Timestamp 2“
EtherCATP port X55 „DPO Extended Diag Inputs Channel 4“
> „Peak Value 1“
> „Timestamp 1“
„DPO Extended Diag Inputs Channel 4“
> „Peak Value 2“
> „Timestamp 2“
Global „DPO Extended Diag Inputs Device“
> „Peak Value 1“
> „Timestamp 1“
„DPO Extended Diag Inputs Device“
> „Peak Value 2“
> „Timestamp 2“
8000:15
8000:16
8010:15
8010:16
8020:15
8020:16
8030:15
8030:16
F80E:15
F80E:16
Reset
Resetting the peak value detector leads to the current measured value and the current timestamp being
adopted as the new peak value and new timestamp.
You can reset the peak value detector for each port and for the global peak values individually.
To do this, apply a positive edge to the respective output variable "Reset Extended Diag Data".
Evaluation
The peak values and timestamp can be found in the process data objects "DPO Extended Diag Inputs" as
input variables:
• Peak value "Peak Value 1" and the associate timestamp "Timestamp 1"
• Peak value "Peak Value 2" and the associate timestamp "Timestamp 2"
EP9224-003736 Version: 1.1
Commissioning and configuration
5.4.2 Data logger
The data logger enables the recording of measured values. The recording can be used for the analysis of
errors.
Once the recording has been started, it saves all measured values continuously in a ring buffer. The
recording stops automatically if a protective function signals an error. With the recorded measured values
you can trace the events that led to the error.
Activate control
You have to activate additional process data objects in the process image in order to be able to use the data
logger:
• PDO 0x1610 (Sync Manager SM2 "Outputs")
• PDO 0x1A10 (Sync Manager SM3 "Inputs")
Proceed as follows:
ü Requirement: an EP9224-0037 is appended in the IO tree in TwinCAT.
1. Double-click on the EP9224-0037 IO module in the IO tree.
2. Click on the Process Data tab.
3. Click on the "Outputs" entry in the Sync Manager field.
4. Activate the PDO Assignment (0x1C12) checkbox next to the entry "0x1610".
ð The process data object "LOG Control" appears in the IO tree.
5. Click on the "Inputs" entry in the Sync Manager field.
6. Activate the PDO Assignment (0x1C13) checkbox next to the entry "„0x1A10".
ð The process data object "LOG Status" appears in the IO tree.
ð Result: The process data objects for controlling the data logger are activated.
Parameterization
The sampling rate for the recording can be selected in the index 8040:11 "Sampling Rate".
Start recording
The output variable "Start Logger" is located in the process data object "LOG Control". The recording is
started by a positive edge on this output variable.
If the recording is running, the Status bit
"LOG Status" > "Status" > "Logger Running"
is set.
Stop recording
The recording stops in two cases:
• if a protective function signals an error.
• upon a positive edge on the output variable
"LOG Control" > "Control" > "Stop Logger".
If the recording has stopped, the input variable
"LOG Status" > "Status" > "Logger Running"
has the value "0".
EP9224-0037 37Version: 1.1
Commissioning and configuration
Evaluate recorded measured values
The recorded measured values are available as a .csv file. The file must be uploaded from the box to the
control computer in order to be able to evaluate it.
Proceed as follows to upload the recorded measured values to the control computer:
1. Double-click on the EP9224-0037 IO module in the IO tree.
2. Click on the Online tab.
3. Click on the Upload button.
ð A dialog box with the title "Save As" appears.
4. Select a directory and write in the field File Name:
„logdata.csv“
5. Click on the Save button.
ð A dialog box appears with the title "Edit FoE Name".
6. Click OK.
ð The file with the measured values was uploaded to the control computer.
File format
The file with the measured values begins with a header "****LogfilefromEthercatSlave****".
Below that follow
• a file header
• a measured value table
Format of the file header:
Field 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 time elapsed from stopping the data logger until the upload
System timestamp (0 if DC not
supported)
Format of the measured value table:
Type Description
Time offset additional to snapshot age The age of the measured values in the row in relation to the
I(U...) present current values of the channels Us / Up 1 - 4 in 100mA
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
Reason for stopping the data logger
current timestamp when uploading
stopping of the data logger (0 = stop, > 0 older values) in ms
nominal current
• from 10% warning
• at 100% shut-off
EP9224-003738 Version: 1.1
Commissioning and configuration
5.5 Switch output voltages
For each EtherCATP port the output voltages US and UP can be switched individually.
Protective functions [}30] can prevent the switching-on of the output voltages.
A switched-on output voltage is signaled in two ways:
• Status LEDs [}24]
• Status bits in the process data:
„DPO Inputs Channel n“ > „Status“ > „Status Us“
„DPO Inputs Channel n“ > „Status“ > „Status Up“
(where: n=0 for X52, n=1 for X53, n=2 for X54, n=3 for X55)
The output variable "DPO Outputs Device" > "Enable Control Via Fieldbus" defines whether the output
voltages are switched manually or automatically.
• „0“: automatic (factory setting)
• „1“: manual
Inadvertent switching of output voltages.
If you change the value of "Enable Control Via Fieldbus", it is possible that the output voltages may
be switched on or off.
To prevent that, match the values of the CoE indices (automatic switching) and output variables
(manual switching) mentioned below to each other before changing the value of "Enable Control Via
Fieldbus".
Automatic switching
You can specify whether the output voltages are automatically switched on after application of the supply
voltage US.
The following table shows the correlation of the output voltages and the CoE indices that control the
automatic switch-on.
EtherCATP port Output voltage CoE Index Name
X52 U
X53 U
X54 U
X55 U
S
U
P
S
U
P
S
U
P
S
U
P
8000:02 „DPO Settings Ch. 1“ > „Default State Us“
8000:03 „DPO Settings Ch. 1“ > „Default State Up“
8010:02 „DPO Settings Ch. 2“ > „Default State Us“
8010:03 „DPO Settings Ch. 2“ > „Default State Up“
8020:02 „DPO Settings Ch. 3“ > „Default State Us“
8020:03 „DPO Settings Ch. 3“ > „Default State Up“
8030:02 „DPO Settings Ch. 4“ > „Default State Us“
8030:03 „DPO Settings Ch. 4“ > „Default State Up“
Value range:
• „1“: US/UP is switched on automatically when US is applied (factory setting).
• „0“: US/UP remains switched off when US is applied.
The output voltages are switched on with a time offset. The time offset prevents the starting currents of the
connected EtherCATP devices adding together.
You can set the time offset in the CoE index F80E:11 "Startup Delay":
• „0“: „Fast“
• „1“: „Moderate“
• „2“: „Slow“
EP9224-0037 39Version: 1.1
Commissioning and configuration
Manual switching
Set "Enable Control Via Fieldbus" to "1" to switch output voltages manually via output variables.
EtherCATP port Output voltage Output variable
X52 U
X53 U
X54 U
X55 U
S
U
P
S
U
P
S
U
P
S
U
P
„DPO Outputs Channel 1“ > „Output Us“
„DPO Outputs Channel 1“ > „Output Up“
„DPO Outputs Channel 2“ > „Output Us“
„DPO Outputs Channel 2“ > „Output Up“
„DPO Outputs Channel 3“ > „Output Us“
„DPO Outputs Channel 3“ > „Output Up“
„DPO Outputs Channel 4“ > „Output Us“
„DPO Outputs Channel 4“ > „Output Up“
EP9224-003740 Version: 1.1
Commissioning and configuration
5.6 Object description
5.6.1 EP9224-0037 – Object description
Parameterization
The terminal is parameterized via the CoE - Online tab (double-click on the respective object) or via
the Process Data tab (assignment of PDOs).
EtherCAT XML Device Description
The display matches that of the CoE objects from the EtherCAT XML Device Description. We recommend downloading the latest XML file from the download area on the Beckhoff website (http://
www.beckhoff.de/german/default.htm?download/elconfg.htm) and installing it according to the installation instructions.
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 required for normal operation, followed by a complete
overview of missing objects.
5.6.1.1 Objects for parameterization
5.6.1.1.1 Index 1011 Restore default parameters
Index Name Meaning Data type Flags Default
1011:0 Restore default pa-
rameters
1011:01 SubIndex 001 If this object is set to "0x64616F6C" in the Set Value Di-
Restore default parameters UINT8 RO 0x01 (1
UINT32 RW 0x00000000 (0
alog, all backup objects are reset to their delivery state.
dec
)
)
dec
EP9224-0037 41Version: 1.1
Commissioning and configuration
5.6.1.1.2 Index 8000 DPO Settings Ch.1
Parameters for the EtherCATP port X52.
Index Name Meaning Data type Flags Default
8000:0 DPO Settings Ch.1 UINT8 RO 0x16 (22
8000:02 Default State Us The output adopts this value if F707:01 is not set boolean RW 1
8000:03 Default State Up The output adopts this value if F707:01 is not set boolean RW 1
8000:04 Enable Sum Current
Limitation
8000:11 Characteristic Specifies the characteristic with which the current moni-
8000:12 Nominal Current Us Nominal maximum current at the output (value range
8000:13 Nominal Current Up Nominal maximum current at the output (value range
8000:14 Nominal Sum Cur-
rent
8000:15 Timestamp 1 Trig-
ger
8000:16 Timestamp 2 Trig-
ger
Activates the overcurrent protection for the sum current
boolean RW 0
Us+Up on this output.
UINT16 RW 0x0001 (1
toring reacts:
0
very fast acting
dec:
1
: fast acting
dec
2
: slow acting
dec
3
: time delay
dec
UINT16 RW 0x0FA0 (3000
1000 ... 3000
)
dec
UINT16 RW 0x0FA0 (3000
1000 ... 3000
)
dec
Nominal maximum sum current (Us+Up) at the output. UINT16 RW 0x1770 (6000
Defines which events are detected by the peak value de-
UINT16 RW 0x0000 (0
tector at this port.
Defines which events are detected by the peak value de-
UINT16 RW 0x0000 (0
tector at this port.
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
5.6.1.1.3 Index 8010 DPO Settings Ch.2
Parameters for the EtherCATP port X53.
Index Name Meaning Data type Flags Default
8010:0 DPO Settings Ch.2 UINT8 RO 0x16 (22
8010:02 Default State Us The output adopts this value if F707:01 is not set boolean RW 1
8010:03 Default State Up The output adopts this value if F707:01 is not set boolean RW 1
8010:04 Enable Sum Current
Limitation
8010:11 Characteristic Specifies the characteristic with which the current moni-
8010:12 Nominal Current Us Nominal maximum current at the output (value range
8010:13 Nominal Current Up Nominal maximum current at the output (value range
8010:14 Nominal Sum Cur-
rent
8010:15 Timestamp 1 Trig-
ger
8010:16 Timestamp 2 Trig-
ger
Activates the overcurrent protection for the sum current
boolean RW 0
Us+Up on this output.
UINT16 RW 0x0001 (1
toring reacts:
0
very fast acting
dec:
1
: fast acting
dec
2
: slow acting
dec
3
: time delay
dec
UINT16 RW 0x0FA0 (3000
1000 ... 3000
)
dec
UINT16 RW 0x0FA0 (3000
1000 ... 3000
)
dec
Nominal maximum sum current (Us+Up) at the output. UINT16 RW 0x1770 (6000
Defines which events are detected by the peak value de-
UINT16 RW 0x0000 (0
tector at this port.
Defines which events are detected by the peak value de-
UINT16 RW 0x0000 (0
tector at this port.
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
EP9224-003742 Version: 1.1
Commissioning and configuration
5.6.1.1.4 Index 8020 DPO Settings Ch.3
Parameters for the EtherCATP port X54.
Index Name Meaning Data type Flags Default
8020:0 DPO Settings Ch.3 UINT8 RO 0x16 (22
8020:02 Default State Us The output adopts this value if F707:01 is not set boolean RW 1
8020:03 Default State Up The output adopts this value if F707:01 is not set boolean RW 1
8020:04 Enable Sum Current
Limitation
8020:11 Characteristic Specifies the characteristic with which the current moni-
8020:12 Nominal Current Us Nominal maximum current at the output (value range
8020:13 Nominal Current Up Nominal maximum current at the output (value range
8020:14 Nominal Sum Cur-
rent
8020:15 Timestamp 1 Trig-
ger
8020:16 Timestamp 2 Trig-
ger
Activates the overcurrent protection for the sum current
boolean RW 0
Us+Up on this output.
UINT16 RW 0x0001 (1
toring reacts:
0
very fast acting
dec:
1
: fast acting
dec
2
: slow acting
dec
3
: time delay
dec
UINT16 RW 0x0FA0 (3000
1000 ... 3000
)
dec
UINT16 RW 0x0FA0 (3000
1000 ... 3000
)
dec
Nominal maximum sum current (Us+Up) at the output. UINT16 RW 0x1770 (6000
Defines which events are detected by the peak value de-
UINT16 RW 0x0000 (0
tector at this port.
Defines which events are detected by the peak value de-
UINT16 RW 0x0000 (0
tector at this port.
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
5.6.1.1.5 Index 8030 DPO Settings Ch.4
Parameters for the EtherCATP port X55.
Index Name Meaning Data type Flags Default
8030:0 DPO Settings Ch.4 UINT8 RO 0x16 (22
8030:02 Default State Us The output adopts this value if F707:01 is not set boolean RW 1
8030:03 Default State Up The output adopts this value if F707:01 is not set boolean RW 1
8030:04 Enable Sum Current
Limitation
8030:11 Characteristic Specifies the characteristic with which the current moni-
8030:12 Nominal Current Us Nominal maximum current at the output (value range
8030:13 Nominal Current Up Nominal maximum current at the output (value range
8030:14 Nominal Sum Cur-
rent
8030:15 Timestamp 1 Trig-
ger
8030:16 Timestamp 2 Trig-
ger
Activates the overcurrent protection for the sum current
boolean RW 0
Us+Up on this output.
UINT16 RW 0x0001 (1
toring reacts:
0
very fast acting
dec:
1
: fast acting
dec
2
: slow acting
dec
3
: time delay
dec
UINT16 RW 0x0FA0 (3000
1000 ... 3000
)
dec
UINT16 RW 0x0FA0 (3000
1000 ... 3000
)
dec
Nominal maximum sum current (Us+Up) at the output. UINT16 RW 0x1770 (6000
Defines which events are detected by the peak value de-
UINT16 RW 0x0000 (0
tector at this port.
Defines which events are detected by the peak value de-
UINT16 RW 0x0000 (0
tector at this port.
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
EP9224-0037 43Version: 1.1
Commissioning and configuration
5.6.1.1.6 Index F707 DPO Outputs Device
Index Name Meaning Data type Flags Default
F707:0 DPO Outputs De-
UINT8 RO 0x11 (17
vice
F707:01 Enable Control Via
Fieldbus
0
: All outputs are set according to their default values
bin
(80X0:02, 80X0:03)
1
: All outputs are set according to their PDOs (70X0:01,
bin
70X0:02)
boolean RO 0x00 (0
F707:04 Global Reset All error bits are reset boolean RO 0x00 (0
5.6.1.1.7 Index F80E DPO Settings Device
Index Name Meaning Data type Flags Default
F80E:0 DPO Settings De-
vice
F80E:02 Enable Sum Current
Limitation
F80E:05 Disable Up Under-
voltage Error
Activates the overcurrent protection for the sum current
∑Us+∑Up.
Deactivates the undervoltage protection for the peripheral
voltage Up.
F80E:11 Startup Delay Sets the time that is kept between two switch-on proce-
dures:
1
: fast (10ms)
dec
2
: moderate (100ms)
dec
3
: slow (200ms)
dec
F80E:12 Nominal Sum Cur-
Nominal maximum current for the sum current. UINT16 RW 0x5DC0 (24000
rent
F80E:13 Sum Current Char-
acteristic
F80E:15 Timestamp1 Trig-
ger
F80E:16 Timestamp2 Trig-
ger
Specifies the characteristic with which the current monitoring reacts:
0
: very fast acting
dec
1
: fast acting
dec
2
: slow acting
dec
3
: time delay
dec
Defines which events are detected by the peak value detector.
Defines which events are detected by the peak value detector.
UINT8 RW 0x16 (22
boolean RW 0
boolean RW 0
UINT16 RW 0x0001 (1
UINT16 RW 0x0001 (1
UINT16 RW 0
UINT16 RW 0
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
5.6.1.2 Standard objects
The standard objects have the same meaning for all EtherCAT slaves.
5.6.1.2.1 Index 1000 Device type
Index Name Meaning Data type Flags Default
1000:0 Device type Device type of the EtherCAT slave: The Lo-Word con-
UINT32 RO 0x00001389 (5001)
tains the CoE profile used (5001). The Hi-Word contains
the module profile according to the modular device profile.
5.6.1.2.2 Index 1008 Device name
Index Name Meaning Data type Flags Default
1008:0 Device name Device name of the EtherCAT slave STRING RO EP9224-0037
5.6.1.2.3 Index 1009 Hardware version
Index Name Meaning Data type Flags Default
1009:0 Hardware version Hardware version of the EtherCAT slave STRING RO
EP9224-003744 Version: 1.1
Commissioning and configuration
5.6.1.2.4 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
5.6.1.2.5 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 0x24084052
(6045205300
1018:03 Revision Revision numberof 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
UINT32 RO 0x00000000 (0
0-7) of the Low Word contains the year of production, the
High Byte (bit 8-15) of the Low Word contains the week
of production, the High Word (bit 16-31) is 0
)
dec
)
dec
)
dec
)
dec
)
dec
5.6.1.2.6 Index 10F0 Backup parameter handling
Index Name Meaning Data type Flags Default
10F0:0 Backup parameter
handling
10F0:01 Checksum Checksum across all backup entries of the EtherCAT
Information for standardized loading and saving of
backup entries
UINT8 RO 0x01 (1
)
dec
UINT32 RO 0x00000000 (0
slave
5.6.1.2.7 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
1600:02 SubIndex 002 2. PDO Mapping entry (object 0x7000 (DPO Outputs
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
1600:05 SubIndex 005 5. PDO Mapping entry (object 0x7000 (DPO Outputs
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
Ch.1), entry 0x01 (Output Us))
UINT32 RO 0x7000:02, 1
Ch.1), entry 0x02 (Output Up))
UINT32 RO 0x7000:05, 1
Ch.1), entry 0x05 (Reset Us))
UINT32 RO 0x7000:06, 1
Ch.1), entry 0x06 (Reset Up))
)
dec
)
dec
5.6.1.2.8 Index 1601 DPO RxPDO-Map Outputs Ch.2
Index Name Meaning Data type Flags Default
1601:0 DPO RxPDO-Map
Outputs Ch.2
1601:01 SubIndex 001 1. PDO Mapping entry (object 0x7010 (DPO Outputs
1601:02 SubIndex 002 2. PDO Mapping entry (object 0x7010 (DPO Outputs
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
1601:05 SubIndex 005 5. PDO Mapping entry (object 0x7010 (DPO Outputs
1601:06 SubIndex 006 6. PDO Mapping entry (10 bits align) UINT32 RO 0x0000:00, 10
EP9224-0037 45Version: 1.1
PDO Mapping RxPDO 2 UINT8 RO 0x06 (6
UINT32 RO 0x7010:01, 1
Ch.2), entry 0x01 (Output Us))
UINT32 RO 0x7010:02, 1
Ch.2), entry 0x02 (Output Up))
UINT32 RO 0x7010:05, 1
Ch.2), entry 0x05 (Reset Us))
UINT32 RO 0x7010:06, 1
Ch.2), entry 0x06 (Reset Up))
)
dec
Commissioning and configuration
5.6.1.2.9 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
1602:02 SubIndex 002 2. PDO Mapping entry (object 0x7020 (DPO Outputs
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
1602:05 SubIndex 005 5. PDO Mapping entry (object 0x7020 (DPO Outputs
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
Ch.3), entry 0x01 (Output Us))
UINT32 RO 0x7020:02, 1
Ch.3), entry 0x02 (Output Up))
UINT32 RO 0x7020:05, 1
Ch.3), entry 0x05 (Reset Us))
UINT32 RO 0x7020:06, 1
Ch.3), entry 0x06 (Reset Up))
)
dec
5.6.1.2.10 Index 1603 DPO RxPDO-Map Outputs Ch.4
Index Name Meaning Data type Flags Default
1603:0 DPO RxPDO-Map
Outputs Ch.4
1603:01 SubIndex 001 1. PDO Mapping entry (object 0x7030 (DPO Outputs
1603:02 SubIndex 002 2. PDO Mapping entry (object 0x7030 (DPO Outputs
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
1603:05 SubIndex 005 5. PDO Mapping entry (object 0x7030 (DPO Outputs
1603:06 SubIndex 006 6. PDO Mapping entry (10 bits align) UINT32 RO 0x0000:00, 10
PDO Mapping RxPDO 4 UINT8 RO 0x06 (6
UINT32 RO 0x7030:01, 1
Ch.4), entry 0x01 (Output Us))
UINT32 RO 0x7030:02, 1
Ch.4), entry 0x02 (Output Up))
UINT32 RO 0x7030:05, 1
Ch.4), entry 0x05 (Reset Us))
UINT32 RO 0x7030:06, 1
Ch.4), entry 0x06 (Reset Up))
)
dec
5.6.1.2.11 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
EP9224-003746 Version: 1.1
Commissioning and configuration
5.6.1.2.12 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
1A00:02 SubIndex 002 2. PDO Mapping entry (object 0x6000 (DPO Inputs
1A00:03 SubIndex 003 3. PDO Mapping entry (object 0x6000 (DPO Inputs
1A00:04 SubIndex 004 4. PDO Mapping entry (object 0x6000 (DPO Inputs
1A00:05 SubIndex 005 5. PDO Mapping entry (object 0x6000 (DPO Inputs
1A00:06 SubIndex 006 6. PDO Mapping entry (object 0x6000 (DPO Inputs
1A00:07 SubIndex 007 7. PDO Mapping entry (object 0x6000 (DPO Inputs
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
1A00:0A SubIndex 010 10. PDO Mapping entry (object 0x6000 (DPO Inputs
1A00:0B SubIndex 011 11. PDO Mapping entry (object 0x6000 (DPO Inputs
PDO Mapping TxPDO 1 UINT8 RO 0x0B (11
UINT32 RO 0x6000:01, 1
Ch.1), entry 0x01 (Error Us))
UINT32 RO 0x6000:02, 1
Ch.1), entry 0x02 (Error Up))
UINT32 RO 0x6000:03, 1
Ch.1), entry 0x03 (Warning Us))
UINT32 RO 0x6000:04, 1
Ch.1), entry 0x04 (Warning Up))
UINT32 RO 0x6000:05, 1
Ch.1), entry 0x05 (Status Us))
UINT32 RO 0x6000:06, 1
Ch.1), entry 0x06 (Status Up))
UINT32 RO 0x6000:07, 1
Ch.1), entry 0x07 (Channel Error))
UINT32 RO 0x6000:0E, 1
Ch.1), entry 0x0E (Sync error))
UINT32 RO 0x6000:0F, 1
Ch.1), entry 0x0F (TxPDO State))
UINT32 RO 0x6000:10, 1
Ch.1), entry 0x10 (TxPDO Toggle))
dec
)
5.6.1.2.13 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
1A01:02 SubIndex 002 2. PDO Mapping entry (object 0x6010 (DPO Inputs
1A01:03 SubIndex 003 3. PDO Mapping entry (object 0x6010 (DPO Inputs
1A01:04 SubIndex 004 4. PDO Mapping entry (object 0x6010 (DPO Inputs
1A01:05 SubIndex 005 5. PDO Mapping entry (object 0x6010 (DPO Inputs
1A01:06 SubIndex 006 6. PDO Mapping entry (object 0x6010 (DPO Inputs
1A01:07 SubIndex 007 7. PDO Mapping entry (object 0x6010 (DPO Inputs
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
1A01:0A SubIndex 010 10. PDO Mapping entry (object 0x6010 (DPO Inputs
1A01:0B SubIndex 011 11. PDO Mapping entry (object 0x6010 (DPO Inputs
PDO Mapping TxPDO 2 UINT8 RO 0x0B (11
UINT32 RO 0x6010:01, 1
Ch.2), entry 0x01 (Error Us))
UINT32 RO 0x6010:02, 1
Ch.2), entry 0x02 (Error Up))
UINT32 RO 0x6010:03, 1
Ch.2), entry 0x03 (Warning Us))
UINT32 RO 0x6010:04, 1
Ch.2), entry 0x04 (Warning Up))
UINT32 RO 0x6010:05, 1
Ch.2), entry 0x05 (Status Us))
UINT32 RO 0x6010:06, 1
Ch.2), entry 0x06 (Status Up))
UINT32 RO 0x6010:07, 1
Ch.2), entry 0x07 (Channel Error))
UINT32 RO 0x6010:0E, 1
Ch.2), entry 0x0E (Sync error))
UINT32 RO 0x6010:0F, 1
Ch.2), entry 0x0F (TxPDO State))
UINT32 RO 0x6010:10, 1
Ch.2), entry 0x10 (TxPDO Toggle))
dec
)
EP9224-0037 47Version: 1.1
Commissioning and configuration
5.6.1.2.14 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
1A02:02 SubIndex 002 2. PDO Mapping entry (object 0x6020 (DPO Inputs
1A02:03 SubIndex 003 3. PDO Mapping entry (object 0x6020 (DPO Inputs
1A02:04 SubIndex 004 4. PDO Mapping entry (object 0x6020 (DPO Inputs
1A02:05 SubIndex 005 5. PDO Mapping entry (object 0x6020 (DPO Inputs
1A02:06 SubIndex 006 6. PDO Mapping entry (object 0x6020 (DPO Inputs
1A02:07 SubIndex 007 7. PDO Mapping entry (object 0x6020 (DPO Inputs
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
1A02:0A SubIndex 010 10. PDO Mapping entry (object 0x6020 (DPO Inputs
1A02:0B SubIndex 011 11. PDO Mapping entry (object 0x6020 (DPO Inputs
PDO Mapping TxPDO 3 UINT8 RO 0x0B (11
UINT32 RO 0x6020:01, 1
Ch.3), entry 0x01 (Error Us))
UINT32 RO 0x6020:02, 1
Ch.3), entry 0x02 (Error Up))
UINT32 RO 0x6020:03, 1
Ch.3), entry 0x03 (Warning Us))
UINT32 RO 0x6020:04, 1
Ch.3), entry 0x04 (Warning Up))
UINT32 RO 0x6020:05, 1
Ch.3), entry 0x05 (Status Us))
UINT32 RO 0x6020:06, 1
Ch.3), entry 0x06 (Status Up))
UINT32 RO 0x6020:07, 1
Ch.3), entry 0x07 (Channel Error))
UINT32 RO 0x6020:0E, 1
Ch.3), entry 0x0E (Sync error))
UINT32 RO 0x6020:0F, 1
Ch.3), entry 0x0F (TxPDO State))
UINT32 RO 0x6020:10, 1
Ch.3), entry 0x10 (TxPDO Toggle))
dec
)
5.6.1.2.15 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
1A03:02 SubIndex 002 2. PDO Mapping entry (object 0x6030 (DPO Inputs
1A03:03 SubIndex 003 3. PDO Mapping entry (object 0x6030 (DPO Inputs
1A03:04 SubIndex 004 4. PDO Mapping entry (object 0x6030 (DPO Inputs
1A03:05 SubIndex 005 5. PDO Mapping entry (object 0x6030 (DPO Inputs
1A03:06 SubIndex 006 6. PDO Mapping entry (object 0x6030 (DPO Inputs
1A03:07 SubIndex 007 7. PDO Mapping entry (object 0x6030 (DPO Inputs
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
1A03:0A SubIndex 010 10. PDO Mapping entry (object 0x6030 (DPO Inputs
1A03:0B SubIndex 011 11. PDO Mapping entry (object 0x6030 (DPO Inputs
PDO Mapping TxPDO 4 UINT8 RO 0x0B (11
UINT32 RO 0x6030:01, 1
Ch.4), entry 0x01 (Error Us))
UINT32 RO 0x6030:02, 1
Ch.4), entry 0x02 (Error Up))
UINT32 RO 0x6030:03, 1
Ch.4), entry 0x03 (Warning Us))
UINT32 RO 0x6030:04, 1
Ch.4), entry 0x04 (Warning Up))
UINT32 RO 0x6030:05, 1
Ch.4), entry 0x05 (Status Us))
UINT32 RO 0x6030:06, 1
Ch.4), entry 0x06 (Status Up))
UINT32 RO 0x6030:07, 1
Ch.4), entry 0x07 (Channel Error))
UINT32 RO 0x6030:0E, 1
Ch.4), entry 0x0E (Sync error))
UINT32 RO 0x6030:0F, 1
Ch.4), entry 0x0F (TxPDO State))
UINT32 RO 0x6030:10, 1
Ch.4), entry 0x10 (TxPDO Toggle))
dec
)
EP9224-003748 Version: 1.1
Commissioning and configuration
5.6.1.2.16 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
)
5.6.1.2.17 Index 1C00 Sync manager type
Index Name Meaning Data type Flags Default
1C00:0 Sync manager type Using the Sync Managers UINT8 RO 0x04 (4
1C00:01 SubIndex 001 Sync-Manager Type Channel 1: Mailbox Write UINT8 RO 0x01 (1
1C00:02 SubIndex 002 Sync-Manager Type Channel 2: Mailbox Read UINT8 RO 0x02 (2
1C00:03 SubIndex 003 Sync-Manager Type Channel 3: Process Data Write
UINT8 RO 0x03 (3
(Outputs)
1C00:04 SubIndex 004 Sync-Manager Type Channel 4: Process Data Read (In-
UINT8 RO 0x04 (4
puts)
5.6.1.2.18 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
EP9224-0037 49Version: 1.1
Commissioning and configuration
5.6.1.2.19 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
EP9224-003750 Version: 1.1
Commissioning and configuration
5.6.1.2.20 Index 1C32 SM output parameter
Index Name Meaning Data type Flags Default
1C32:0 SM output param-
eter
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 sup-
ported
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: Synchron with SM 2 Event
• 2: DC-Mode - Synchron with SYNC0 Event
• 3: DC-Mode - Synchron with SYNC1 Event
UINT32 RW 0x000F4240
• Free Run: Cycle time of the local timer
(1000000
• Synchron with SM 2 Event: Master cycle time
• DC mode: SYNC0/SYNC1 Cycle Time
UINT32 RO 0x00000384 (900
ns, DC mode only)
Supported synchronization modes:
UINT16 RO 0xC007 (49159
• Bit 0 = 1: free run is supported
• Bit 1 = 1: Synchron with SM 2 Event is supported
• Bit 2-3 = 01: DC mode is supported
• Bit 4-5 = 10: Output Shift with SYNC1 event (only
DC mode)
• Bit 14 = 1: dynamic times (measurement through
writing of 1C32:08)
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, 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
UINT16 RO 0x0000 (0
mode only)
Number of occasions the cycle time was exceeded in
UINT16 RO 0x0000 (0
OPERATIONAL (cycle was not completed in time or the
next cycle began too early)
Number of occasions that the interval between SYNC0
UINT16 RO 0x0000 (0
and SYNC1 event was too short (DC mode only)
boolean RO 0x00 (0
puts were output too late; DC mode only)
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
EP9224-0037 51Version: 1.1
Commissioning and configuration
5.6.1.2.21 Index 1C33 SM input parameter
Index Name Meaning Data type Flags Default
1C33:0 SM input parame-
ter
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 sup-
ported
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
dec
UINT16 RW 0x0000 (0
• 0: Free Run
• 1: Synchron with SM 3 Event (no outputs
available)
• 2: DC - Synchron with SYNC0 Event
• 3: DC - Synchron with SYNC1 Event
• 34: Synchron with SM 2 Event (outputs available)
(1000000
UINT32 RO 0x00000384 (900
ns, only DC mode)
Supported synchronization modes:
UINT16 RO 0xC007 (49159
• Bit 0: free run is supported
• Bit 1: Synchron with SM 2 Event is supported
(outputs available)
• Bit 1: Synchron with SM 3 Event is supported (no
outputs available)
• Bit 2-3 = 01: DC mode is supported
• Bit 4-5 = 01: Input Shift through local event
(outputs available)
• Bit 4-5 = 10: Input Shift with SYNC1 event (no
outputs available)
• Bit 14 = 1: dynamic times (measurement through
writing of 1C32:08 or 1C33:08)
as 1C32:05 UINT32 RO 0x000F4240
(1000000
Time between reading of the inputs and availability of the
UINT32 RO 0x00000000 (0
inputs for the master (in ns, only DC mode)
UINT32 RO 0x00000384 (900
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
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
EP9224-003752 Version: 1.1
Commissioning and configuration
5.6.1.3 Profile-specific objects (0x6000-0xFFFF)
The profile-specific objects have the same meaning for all EtherCAT slaves that support the profile 5001.
5.6.1.3.1 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 0x10 (16
6000:01 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 warning bit is 1.
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
boolean RO 0x00 (0
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
boolean RO 0x00 (0
of output Us on this channel is imminent if the current consumption of the branch does not decrease.
6000:05 Status Us 0: The output is switched off
boolean RO 0x00 (0
1: The output supplies 24V
6000:06 Status Up 0: The output is switched off
boolean RO 0x00 (0
1: The output supplies 24V
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
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
5.6.1.3.2 Index 6010 DPO Inputs Ch.2
Index Name Meaning Data type Flags Default
6010:0 DPO Inputs Ch.2 Inputs of the second channel UINT8 RO 0x10 (16
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 (7000:05). The output cannot be activated
as long as the warning bit is 1.
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
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: The output is switched off
1: The output supplies 24V
6010:06 Status Up 0: The output is switched off
1: The output supplies 24V
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
boolean RO 0x00 (0
boolean RO 0x00 (0
boolean RO 0x00 (0
boolean RO 0x00 (0
boolean RO 0x00 (0
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
EP9224-0037 53Version: 1.1
Commissioning and configuration
5.6.1.3.3 Index 6020 DPO Inputs Ch.3
Index Name Meaning Data type Flags Default
6020:0 DPO Inputs Ch.3 Inputs of the third channel UINT8 RO 0x10 (16
6020:01 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 warning bit is 1.
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
of output Us on this channel is imminent if the current consumption of the branch does not decrease.
6020:04 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.
6020:05 Status Us 0: The output is switched off
1: The output supplies 24V
6020:06 Status Up 0: The output is switched off
1: The output supplies 24V
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
boolean RO 0x00 (0
boolean RO 0x00 (0
boolean RO 0x00 (0
boolean RO 0x00 (0
boolean RO 0x00 (0
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
5.6.1.3.4 Index 6030 DPO Inputs Ch.4
Index Name Meaning Data type Flags Default
6030:0 DPO Inputs Ch.4 Inputs of the fourth channel UINT8 RO 0x10 (16
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 warning 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 24V
6030:06 Status Up 0: The output is switched off
boolean RO 0x00 (0
1: The output supplies 24V
6030:07 Channel Error 6020:01 or 6020:02 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
5.6.1.3.5 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
EP9224-003754 Version: 1.1
)
dec
)
dec
)
dec
)
dec
)
dec
Commissioning and configuration
5.6.1.3.6 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
5.6.1.3.7 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
boolean RO 0x00 (0
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
5.6.1.3.8 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
boolean RO 0x00 (0
)
dec
)
dec
)
dec
)
dec
)
dec
5.6.1.3.9 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
5.6.1.3.10 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
EP9224-0037 55Version: 1.1
)
dec
)
)
dec
)
Commissioning and configuration
5.6.1.3.11 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
5.6.1.3.12 Index 803F DPO Vendor data Ch.4
Index Name Meaning Data type Flags Default
803F:0 DPO Vendor
data Ch.4
803F:11 GainS UINT16 RW 0x4000 (16384
803F:12 OffsetS INT16 RW 0x0000 (0
803F:13 GainP UINT16 RW 0x4000 (16384
803F:14 OffsetP INT16 RW 0x0000 (0
UINT8 RO 0x14 (20
)
dec
dec
dec
)
dec
)
)
dec
)
)
dec
)
)
dec
)
5.6.1.3.13 Index F000 Modular device profile
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 distance of the objects of the individual channels UINT16 RO 0x0010 (16
Number of channels UINT16 RO 0x0004 (4
)
)
dec
)
dec
modules
5.6.1.3.14 Index F008 Code word
Index Name Meaning Data type Flags Default
F008:0 Code word UINT32 RW 0x00000000 (0
5.6.1.3.15 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
EP9224-003756 Version: 1.1
Commissioning and configuration
5.6.1.3.16 Index F607 DPO Inputs Device
Index Name Meaning Data type Flags Default
F607:0 DPO Inputs
Device
F607:01 Temperature
A temperature of about 80 °C has been reached boolean RO 0x00 (0
Warning
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 21.5V, no further outputs can be
switched on.
F607:04 Us Error Us is less than 19V, all Us outputs will be switched off.
This 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 F60706 is set
F607:0C Reset Input 0: There is no voltage on the external reset input
1: 24V is present on the external reset input
(only if there is a reset input)
F607:0F TxPDO State boolean RO 0x00 (0
F607:10 TxPDO Tog-
gle
UINT8 RO 0x10 (16
boolean RO 0x00 (0
boolean RO 0x00 (0
boolean RO 0x00 (0
boolean RO 0x00 (0
boolean RO 0x00 (0
boolean RO 0x00 (0
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
5.6.1.3.17 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 Cali-
reserved boolean RW 0x00 (0
bration 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 Temper-
reserved UINT16 RW 0x4000 (16384
ature
F81F:1A Offset Tem-
reserved INT16 RW 0x0000 (0
perature
UINT8 RO 0x1A (26
)
dec
)
dec
)
dec
)
dec
dec
dec
dec
dec
dec
)
dec
)
)
dec
)
)
dec
)
)
dec
)
)
dec
)
EP9224-0037 57Version: 1.1
Commissioning and configuration
5.7 Restoring the delivery state
To restore the delivery state for backup objects in ELxxxx terminals / EPxxxx- and EPPxxxx boxes, the CoE
object Restore default parameters, SubIndex 001 can be selected in the TwinCAT System Manager (Config
mode).
Fig.18: Selecting the Restore default parameters PDO
Double-click on SubIndex 001 to enter the Set Value dialog. Enter the value 1684107116 in field Dec or the
value 0x64616F6C in field Hex and confirm with OK.
All backup objects are reset to the delivery state.
Fig.19: Entering a restore value in the Set Value dialog
Alternative restore value
In some older terminals / boxes the backup objects can be switched with an alternative restore
value:
Decimal value: 1819238756
Hexadecimal value: 0x6C6F6164
An incorrect entry for the restore value has no effect.
EP9224-003758 Version: 1.1
Appendix
6 Appendix
6.1 General operating conditions
Protection degrees (IP-Code)
The standard IEC 60529 (DIN EN 60529) defines the degrees of protection in different classes.
1. Number: dust protection and
touch guard
0 Non-protected
1 Protected against access to hazardous parts with the back of a hand. Protected against solid
2 Protected against access to hazardous parts with a finger. Protected against solid foreign ob-
3 Protected against access to hazardous parts with a tool. Protected against solid foreign objects
4 Protected against access to hazardous parts with a wire. Protected against solid foreign objects
5 Protected against access to hazardous parts with a wire. Dust-protected. Intrusion of dust is not
6 Protected against access to hazardous parts with a wire. Dust-tight. No intrusion of dust.
Definition
foreign objects of Ø50mm
jects of Ø12.5mm.
Ø2.5mm.
Ø1mm.
totally prevented, but dust shall not penetrate in a quantity to interfere with satisfactory operation
of the device or to impair safety.
2. Number: water* protection Definition
0 Non-protected
1 Protected against water drops
2 Protected against water drops when enclosure tilted up to 15°.
3 Protected against spraying water. Water sprayed at an angle up to 60° on either side of the ver-
4 Protected against splashing water. Water splashed against the disclosure from any direction
5 Protected against water jets
6 Protected against powerful water jets
7 Protected against the effects of temporary immersion in water. Intrusion of water in quantities
tical shall have no harmful effects.
shall have no harmful effects
causing harmful effects shall not be possible when the enclosure is temporarily immersed in water for 30min. in 1m depth.
*) These protection classes define only protection against water!
Chemical Resistance
The Resistance relates to the Housing of the IP 67 modules and the used metal parts. In the table below you
will find some typical resistance.
Character Resistance
Steam at temperatures >100°C: not resistant
Sodium base liquor
(ph-Value > 12)
Acetic acid not resistant
Argon (technical clean) resistant
at room temperature: resistant
> 40°C: not resistant
Key
• resistant: Lifetime several months
• non inherently resistant: Lifetime several weeks
• not resistant: Lifetime several hours resp. early decomposition
EP9224-0037 59Version: 1.1
Appendix
6.2 Accessories
Labeling material, protective caps
Ordering information Description
ZS5000-0010 Protective cap for M8 sockets, IP67 (50 pieces)
ZS5100-0000 Inscription labels, unprinted, 4 strips of 10
ZS5000-xxxx Printed inscription labels on enquiry
Cables
A complete overview of pre-assembled cables for EtherCAT Box modules can be found here.
Ordering information Description
ZK700x-xxxx-xxxx
ZK7208-3xxx-Axxx
Tools
Ordering information Description
ZB8801-0000 Torque wrench for plugs, 0.4…1.0Nm
ZB8801-0001 Torque cable key for M8/ wrench size 9 for ZB8801-0000
EtherCAT P cable M8 Link to website
ENP cable B17 5G 1.5 mm2 Link zur Website
Further accessories
Further accessories can be found in the price list for fieldbus components from Beckhoff and online
at https://www.beckhoff.com.
EP9224-003760 Version: 1.1
Appendix
6.3 Version identification of EtherCAT devices
Designation
A Beckhoff EtherCAT device has a 14-digit designation, made up of
• family key
• type
• version
• revision
Example Family Type Version Revision
EL3314-0000-0016 EL terminal
(12 mm, nonpluggable connection
level)
ES3602-0010-0017 ES terminal
(12 mm, pluggable
connection level)
CU2008-0000-0000 CU device 2008 (8-port fast ethernet switch) 0000 (basic type) 0000
3314 (4-channel thermocouple
terminal)
3602 (2-channel voltage
measurement)
0000 (basic type) 0016
0010 (highprecision version)
0017
Notes
• The elements mentioned above result in the technical designation. EL3314-0000-0016 is used in the
example below.
• EL3314-0000 is the order identifier, in the case of “-0000” usually abbreviated to EL3314. “-0016” is the
EtherCAT revision.
• The order identifier is made up of
- family key (EL, EP, CU, ES, KL, CX, etc.)
- type (3314)
- version (-0000)
• The revision -0016 shows the technical progress, such as the extension of features with regard to the
EtherCAT communication, and is managed by Beckhoff.
In principle, a device with a higher revision can replace a device with a lower revision, unless specified
otherwise, e.g. in the documentation.
Associated and synonymous with each revision there is usually a description (ESI, EtherCAT Slave
Information) in the form of an XML file, which is available for download from the Beckhoff web site.
From 2014/01 the revision is shown on the outside of the IP20 terminals, see Fig. “EL5021 EL terminal,
standard IP20 IO device with batch number and revision ID (since 2014/01)”.
• The type, version and revision are read as decimal numbers, even if they are technically saved in
hexadecimal.
Identification number
Beckhoff EtherCAT devices from the different lines have different kinds of identification numbers:
Production lot/batch number/serial number/date code/D number
The serial number for Beckhoff IO devices is usually the 8-digit number printed on the device or on a sticker.
The serial number indicates the configuration in delivery state and therefore refers to a whole production
batch, without distinguishing the individual modules of a batch.
Structure of the serial number: KKYYFFHH
KK - week of production (CW, calendar week)
YY - year of production
FF - firmware version
HH - hardware version
EP9224-0037 61Version: 1.1
Appendix
Example with
Ser. no.: 12063A02: 12 - production week 12 06 - production year 2006 3A - firmware version 3A 02 hardware version 02
Exceptions can occur in the IP67 area, where the following syntax can be used (see respective device
documentation):
Syntax: D ww yy x y z u
D - prefix designation
ww - calendar week
yy - year
x - firmware version of the bus PCB
y - hardware version of the bus PCB
z - firmware version of the I/O PCB
u - hardware version of the I/O PCB
Example: D.22081501 calendar week 22 of the year 2008 firmware version of bus PCB: 1 hardware version
of bus PCB: 5 firmware version of I/O PCB: 0 (no firmware necessary for this PCB) hardware version of I/O
PCB: 1
Unique serial number/ID, ID number
In addition, in some series each individual module has its own unique serial number.
See also the further documentation in the area
• IP67: EtherCAT Box
• Safety: TwinSafe
• Terminals with factory calibration certificate and other measuring terminals
Examples of markings
Fig.20: EL5021 EL terminal, standard IP20 IO device with serial/ batch number and revision ID (since
2014/01)
EP9224-003762 Version: 1.1
Fig.21: EK1100 EtherCAT coupler, standard IP20 IO device with serial/ batch number
Appendix
Fig.22: CU2016 switch with serial/ batch number
Fig.23: EL3202-0020 with serial/ batch number 26131006 and unique ID-number 204418
EP9224-0037 63Version: 1.1
Appendix
Fig.24: EP1258-00001 IP67 EtherCAT Box with batch number/ date code 22090101 and unique serial
number 158102
Fig.25: EP1908-0002 IP67 EtherCAT Safety Box with batch number/ date code 071201FF and unique serial
number 00346070
Fig.26: EL2904 IP20 safety terminal with batch number/ date code 50110302 and unique serial number
00331701
Fig.27: ELM3604-0002 terminal with unique ID number (QR code) 100001051 and serial/ batch number
44160201
EP9224-003764 Version: 1.1
Appendix
6.3.1 Beckhoff Identification Code (BIC)
The Beckhoff Identification Code (BIC) is increasingly being applied to Beckhoff products to uniquely identify
the product. The BIC is represented as a Data Matrix Code (DMC, code scheme ECC200), the content is
based on the ANSI standard MH10.8.2-2016.
Fig.28: BIC as data matrix code (DMC, code scheme ECC200)
The BIC will be introduced step by step across all product groups.
Depending on the product, it can be found in the following places:
• on the packaging unit
• directly on the product (if space suffices)
• on the packaging unit and the product
The BIC is machine-readable and contains information that can also be used by the customer for handling
and product management.
Each piece of information can be uniquely identified using the so-called data identifier
(ANSIMH10.8.2-2016). The data identifier is followed by a character string. Both together have a maximum
length according to the table below. If the information is shorter, spaces are added to it. The data under
positions 1 to 4 are always available.
The following information is contained:
EP9224-0037 65Version: 1.1
Appendix
Item
Type of
no.
information
1 Beckhoff order
number
2 Beckhoff Traceability
Number (BTN)
3 Article description Beckhoff article
4 Quantity Quantity in packaging
5 Batch number Optional: Year and week
6 ID/serial number Optional: Present-day
7 Variant number Optional: Product variant
...
Explanation Data
Beckhoff order number 1P 8 1P072222
Unique serial number,
see note below
description, e.g.
EL1008
unit, e.g. 1, 10, etc.
of production
serial number system,
e.g. with safety products
number on the basis of
standard products
Number of digits
identifier
S 12 SBTNk4p562d7
1K 32 1KEL1809
Q 6 Q1
2P 14 2P401503180016
51S 12 51S678294104
30P 32 30PF971, 2*K183
incl. data identifier
Example
Further types of information and data identifiers are used by Beckhoff and serve internal processes.
Structure of the BIC
Example of composite information from item 1 to 4 and 6. The data identifiers are marked in red for better
display:
BTN
An important component of the BIC is the Beckhoff Traceability Number (BTN, item no.2). The BTN is a
unique serial number consisting of eight characters that will replace all other serial number systems at
Beckhoff in the long term (e.g. batch designations on IO components, previous serial number range for
safety products, etc.). The BTN will also be introduced step by step, so it may happen that the BTN is not yet
coded in the BIC.
NOTE
This information has been carefully prepared. However, the procedure described is constantly being further
developed. We reserve the right to revise and change procedures and documentation at any time and without prior notice. No claims for changes can be made from the information, illustrations and descriptions in
this information.
EP9224-003766 Version: 1.1
Appendix
6.4 Support and Service
Beckhoff and their partners around the world offer comprehensive support and service, making available fast
and competent assistance with all questions related to Beckhoff products and system solutions.
Beckhoff's branch offices and representatives
Please contact your Beckhoff branch office or representative for local support and service on Beckhoff
products!
The addresses of Beckhoff's branch offices and representatives round the world can be found on her internet
pages:
http://www.beckhoff.com
You will also find further documentation for Beckhoff components there.
Beckhoff Headquarters
Beckhoff Automation GmbH & Co. KG
Huelshorstweg 20
33415 Verl
Germany
Phone: +49 5246 963 0
Fax: +49 5246 963 198
e-mail: info@beckhoff.com
Beckhoff Support
Support offers you comprehensive technical assistance, helping you not only with the application of
individual Beckhoff products, but also with other, wide-ranging services:
• support
• design, programming and commissioning of complex automation systems
• and extensive training program for Beckhoff system components
Hotline: +49 5246 963 157
Fax: +49 5246 963 9157
e-mail: support@beckhoff.com
Beckhoff Service
The Beckhoff Service Center supports you in all matters of after-sales service:
• on-site service
• repair service
• spare parts service
• hotline service
Hotline: +49 5246 963 460
Fax: +49 5246 963 479
e-mail: service@beckhoff.com
EP9224-0037 67Version: 1.1
More Information:
www.beckhoff.com/ep9224-0037/
Beckhoff Automation GmbH & Co. KG
Hülshorstweg 20
33415 Verl
Germany
Phone: +49 5246 9630
info@beckhoff.com
www.beckhoff.com
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