Beckhoff EPP4374-0002 User Manual

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Documentation | EN

EPP4374-0002

EtherCAT P Box with analog inputs and outputs

2020-09-22 | Version: 1.1

Table of contents

1 Foreword ....................................................................................................................................................5

1.1 Safety instructions .............................................................................................................................5

1.2 Notes on the documentation..............................................................................................................6

1.3 Documentation issue status ..............................................................................................................7

2 Product group: EtherCATP Box modules ..............................................................................................8

3 Product overview.......................................................................................................................................9

3.1 Introduction........................................................................................................................................9

3.2 Technical data .................................................................................................................................10

3.3 Scope of supply ...............................................................................................................................12

3.4 Process image.................................................................................................................................13

4 Mounting and cabling..............................................................................................................................15

4.1 Mounting..........................................................................................................................................15

4.1.1 Dimensions ...................................................................................................................... 15

4.1.2 Fixing ............................................................................................................................... 16

4.1.3 Functional earth (FE) ....................................................................................................... 16

4.1.4 Tightening torques for plug connectors ........................................................................... 16

4.2 Cabling ............................................................................................................................................17

4.2.1 EtherCATP...................................................................................................................... 18

4.2.2 Analog interfaces ............................................................................................................. 21

4.3 UL Requirements.............................................................................................................................24

5 Commissioning and configuration ........................................................................................................25

5.1 Integration in TwinCAT ....................................................................................................................25

5.2 Parameterizing signal ranges ..........................................................................................................26

5.3 Object overview ...............................................................................................................................27

5.4 Object description and parameterization .........................................................................................33

5.4.1 Objects to be parameterized during commissioning........................................................ 33

5.4.2 Standard objects (0x1000-0x1FFF) ................................................................................. 38

5.4.3 Profile-specific objects (0x6000-0xFFFF) ........................................................................ 43

5.5 Restoring the delivery state .............................................................................................................46

6 Appendix ..................................................................................................................................................47

6.1 General operating conditions...........................................................................................................47

6.2 Accessories .....................................................................................................................................48

6.3 Version identification of EtherCAT devices .....................................................................................49

6.3.1 Beckhoff Identification Code (BIC)................................................................................... 53

6.4 Support and Service ........................................................................................................................55

EPP4374-0002 3Version: 1.1

Table of contents

EPP4374-00024 Version: 1.1

Foreword

1 Foreword

1.1 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.

EPP4374-0002 5Version: 1.1

Foreword

1.2 Notes on the documentation

Intended audience

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

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

Disclaimer

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

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

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

Trademarks

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

Patent Pending

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

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

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

EPP4374-00026 Version: 1.1

Foreword

1.3 Documentation issue status

Version Comment

1.1 • Front page updated

• Structure update

1.0 • First release

0.1 • First preliminary version

Firmware and hardware versions

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

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

Documentation Firmware Hardware

1.1 04 03

1.0 04 03

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

Syntax of the batch number (D-number)

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 [}49].

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

EPP4374-0002 7Version: 1.1

Product group: EtherCATP Box modules

2 Product group: EtherCATP Box modules

EtherCATP

EtherCATP supplements the EtherCAT technology with a process in which communication and supply voltages are transmitted on a common line. All EtherCAT properties are retained with this process.

Two supply voltages are transmitted per EtherCATP line. The supply voltages are electrically isolated from each other and can therefore be switched individually. The nominal supply voltage for both is 24 VDC.

EtherCAT P uses the same cable structure as EtherCAT: a 4-core Ethernet cable with M8 connectors. The connectors are mechanically coded so that EtherCAT connectors and EtherCATP connectors cannot be interchanged.

EtherCATP Box modules

EtherCATP Box modules are EtherCATP slaves with IP67 protection. They are designed for operation in wet, dirty or dusty industrial environments.

Fig.1: EtherCATP

EtherCAT basics

A detailed description of the EtherCAT system can be found in the EtherCAT system documentation.

EPP4374-00028 Version: 1.1

3 Product overview

3.1 Introduction

Product overview

Fig.2: EPP4374-0002

EtherCAT Box with analog inputs and outputs

EPP4374-0002 has two analog inputs and two analog outputs. The signal range can be individually parameterized for each analog input and output:

• -10 .. +10V

• 0 .. 10V

• 0 .. 20mA

• 4 .. 20mA

Quick links

Technical data [}10] Process image [}13] Signal connection [}21]

EPP4374-0002 9Version: 1.1

Product overview

3.2 Technical data

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

Technical data EPP4374-0002

Fieldbus

Fieldbus EtherCAT Connection EtherCAT P: Combined connection for EtherCAT and supply

voltages

Input: 1 x M8 socket, 4-pin, P-coded Downstream connection: 1 x M8 socket, 4-pin, P-coded

Supply voltages

Connection See Fieldbus connection Control voltage U Nominal voltage 24VDC (-15%/ +20%) Sum current max. 3A Consumers Module electronics: 120mA at 24V Peripheral voltage U Nominal voltage 24VDC (-15%/ +20%) Sum current max. 3A Consumers • Sensors

Analog inputs

Number 2 Connection M12 socket, 5-pin connection Signal range Parameterizable:

Electrical specifications [}11] Sensor/actuator

supply voltage

Analog outputs

Number 2 Connection M12 socket, 5-pin connection Output signal range Parameterizable:

Electrical specifications [}11] Sensor/actuator

supply voltage

• Actuators

• -10 .. +10V (default)

• 0 .. 10V

• 0 .. 20mA

• 4 .. 20mA

from the peripheral voltage U

max. 3A in total, not short-circuit proof

• -10 .. +10V (default)

• 0 .. 10V

• 0 .. 20mA

• 4 .. 20mA

from the peripheral voltage U

max. 3A in total, not short-circuit proof

Sum current of consumers and power transmission.

"Actuators": Field devices that are intended to be connected to outputs.

 "Sensors": Field devices that are intended to be connected to inputs.

Supply voltage that is available on the plug connectors of the analog interfaces.

EPP4374-000210 Version: 1.1

Product overview

Technical data EPP4374-0002

Environmental conditions

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

-25…+55°C according to cURus [}24]

0…+55°C according to ATEX Ambient temperature during storage -40…+85°C Vibration/ shock resistance conforms to EN 60068-2-6 / EN 60068-2-27;

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

Mechanics

Weight approx. 165g Installation position variable

Approvals and conformity

Approvals

Analog inputs

The signal range can be switched during operation. The following table shows the electrical specifications depending on the selected signal range.

CE, cURus [}24]

Technical data Signal range

-10 .. 10V 0 .. 10V 0 .. 20mA 4 .. 20mA

Input type Differential Input resistance >200kΩ >200kΩ 85Ω typ. + diode

voltage Digital resolution 16-bit 15-bit 15-bit 15-bit Measuring error < 0.3% relative to full scale value Conversion time approx. 100µs Input filter limit frequency 5kHz Value of the least significant

bit

The analog inputs and outputs have a common analog ground potential. The analog ground potential is electrically isolated from all other ground potentials in the box.

Analog outputs

The output signal range can be switched during operation. The following table shows the electrical specifications depending on the selected output signal range.

Technical data Output signal range

Load resistor / load >5kΩ >5kΩ <500Ω <500Ω Digital resolution 16-bit 15-bit 15-bit 15-bit Output error < 0.1 % (ambient temperature 0 °C ... +55 °C)

Conversion time approx. 40µs Value of the least significant

bit

approx. 305µV approx. 305µV approx. 610µA approx. 488µA

-10 .. 10V 0 .. 10V 0 .. 20mA 4 .. 20mA

< 0.2 % (ambient temperature < 0 °C or > 55 °C)

related to the final value.

approx. 305µV approx. 305µV approx. 610µA approx. 488µA

85Ω typ. + diode voltage

The analog inputs and outputs have a common analog ground potential. The analog ground potential is electrically isolated from all other ground potentials in the box.

EPP4374-0002 11Version: 1.1

Product overview

Additional checks

The boxes have been subjected to the following checks:

Verification Explanation

Vibration 10 frequency sweeps in 3 axes

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

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

Shocks 1000 shocks in each direction, in 3 axes

35g, 11ms

3.3 Scope of supply

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

• 1x EtherCAT P Box EPP4374-0002

• 2x protective cap for EtherCATP socket, M8, red (pre-assembled)

• 10x labels, blank (1 strip of 10)

Pre-assembled protective caps do not ensure IP67 protection

Protective caps are pre-assembled at the factory to protect connectors during transport. They may not be tight enough to ensure IP67 protection.

Ensure that the protective caps are correctly seated to ensure IP67 protection.

EPP4374-000212 Version: 1.1

3.4 Process image

3.4.1 Assignment of connectors to process data objects

Process image in TwinCAT Connector Process data object

X01

AI Inputs Channel1

Product overview

X02

X03

X04

AI Inputs Channel2

AO Outputs Channel 3

AO Outputs Channel 4

3.4.2 Content of the process data objects

AI Inputs Channel1

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

• Underrange: Value of the analog input is less than 0/4mA or -10/0V

• Overrange: Value of the analog input is greater than 20mA or +10V

• Limit1: with activated limit 1 (object 0x80x0:07 [}35]= 1) means 1: value less than limit 1 (set in object 0x80x0:13 [}35]) 2: value greater than limit 1 (set in object 0x80x0:13 [}35]) 3: value equal to limit 1 (set in object 0x80x0:13 [}35])

• Limit2: with activated limit 2 (object 0x80x0:08 [}35]= 1) means 1: value less than limit 2 (set in object 0x80x0:14 [}35]) 2: value greater than limit 2 (set in object 0x80x0:14 [}35]) 3: value equal to limit 2 (set in object 0x80x0:14 [}35])

• Error: This bit is set if overrange or underrange was detected.

EPP4374-0002 13Version: 1.1

Product overview

AI Inputs Channel2

The data of the second analog channelhave the same structure as those of the first channel.

AO Outputs Channel3

The data for the third analog channel can be found under AO Outputs Channel3.

AO Outputs Channel4

The data of the forth analog channelhave the same structure as those of the third channel.

EPP4374-000214 Version: 1.1

4 Mounting and cabling

119

126

3026.5

Ø 3.5

13.5

4.1 Mounting

4.1.1 Dimensions

Mounting and cabling

Fig.3: Dimensions

All dimensions are given in millimeters.

Housing features

Housing material PA6 (polyamide) Sealing compound polyurethane Mounting two fastening holes Ø 3.5 mm for M3 Metal parts brass, nickel-plated Contacts CuZn, gold-plated Installation position variable Protection class IP65, IP66, IP67 (conforms to EN 60529) when screwed together Dimensions (H x W x D) approx. 126 x 30 x 26.5 mm (without connectors) Weight approx. 165g

EPP4374-0002 15Version: 1.1

Mounting and cabling

4.1.2 Fixing

NOTE

Dirt during assembly

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

• Protect the plug connectors against dirt during the assembly.

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

4.1.3 Functional earth (FE)

The upper fastening hole also serves as a connection for functional earth (FE).

Make sure that the box is grounded to low impedance via the functional earth (FE) connection. You can achieve this, for example, by mounting the box on a grounded machine bed.

Fig.4: Connection for functional earth (FE)

4.1.4 Tightening torques for plug connectors

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

Connector diameter Tightening torque

M8 0.4Nm M12 0.6Nm

EPP4374-000216 Version: 1.1

Mounting and cabling

X50 X51

X01

X02

X03

X04

4.2 Cabling

Guidelines

Follow these guidelines to ensure IP67 protection:

• Mount plugs with the torque values specified below. Use a torque wrench, e.g. Beckhoff ZB8801.

• Seal unused connectors with protective caps.

• Ensure the correct seating of pre-assembled protective caps. Protective caps are pre-assembled at the factory to protect connectors during transport. They may not be tight enough to ensure IP67 protection.

Connector overview

NOTE

Risk of confusion: Inputs and outputs

Defects possible due to mixing up of inputs and outputs. The connectors of the inputs and outputs are of the same type.

• Observe the names of the connectors in order to avoid mistakes.

Fig.5: Connector overview

Name Connector

type

X01 M12 0.6Nm X02 X03 M12 0.6Nm X04 X50 M8 socket, p-coded 0.4Nm

X51 M8 socket, p-coded 0.4Nm

EPP4374-0002 17Version: 1.1

Tightening torque

Function

Analog inputs [}21]

Analog outputs [}21]

EtherCATP [}18] input

EtherCAT P [}18] downstream

connection

Mounting and cabling

1 2

4.2.1 EtherCATP

NOTE

Risk of damage to the device!

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

NOTE

Pay attention to the maximum permissible current!

Pay attention also for the redirection of EtherCATP, the maximum permissible current for M8 connectors of 3A must not be exceeded!

4.2.1.1 Connectors

Fig.6: Plug connectors for EtherCAT P

1 - input

2 - downstream connection

Connection

Fig.7: M8 socket, P-coded

Contact Signal Voltage Core color

1 Tx + GND 2 Rx + GND

3 Rx - UP: Peripheral voltage, +24V 4 Tx - US: Control voltage, +24V

yellow white blue orange

Housing Shield Shield Shield

The core colors apply to EtherCAT P cables and ECP cables from Beckhoff.

EPP4374-000218 Version: 1.1

Mounting and cabling

4.2.1.2 Status LEDs

4.2.1.2.1 Supply voltages

Fig.8: Status LEDs for the supply voltages

EtherCAT P Box Modules have two LEDs that display the status of the supply voltages. The status LEDs are labelled with the designations of the supply voltages: Us and Up.

A status LED lights up green when the respective supply voltage is present.

A Status LED lights up red if the respective supply voltage is short-circuited.

4.2.1.2.2 EtherCAT

Fig.9: Status LEDs for EtherCAT

L/A (Link/Act)

A green LED labelled "L/A" or “Link/Act” is located next to each EtherCAT/EtherCATP socket. The LED indicates the communication state of the respective socket:

LED Meaning

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

Run

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

LED Meaning

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

Description of the EtherCAT slave states

EPP4374-0002 19Version: 1.1

Mounting and cabling

I = 3 A

10 20

300

Vert. Faktor: 0,22 cm / V

Voltage drop (V)

Cable length (m)

0.14 mm²

0.22 mm²

0.34 mm²

4.2.1.3 Conductor losses

Take into account the voltage drop on the supply line when planning a system. Avoid the voltage drop being so high that the supply voltage at the box lies below the minimum nominal voltage.

Variations in the voltage of the power supply unit must also be taken into account.

Use the planning tool for EtherCAT P in TwinCAT.

Voltage drop on the supply line

Fig.10: Voltage drop on the supply line

EPP4374-000220 Version: 1.1

Mounting and cabling

4.2.2 Analog interfaces

NOTE

Signal ranges must be parameterized before carrying out the cabling

Defects possible due to incorrectly parameterized signal ranges.

• Parameterize the signal ranges [}26] before connecting the sensors and actuators.

• Parameterize the signal ranges in accordance with the specifications for the intended sensors and actuators.

NOTE

Risk of confusion: Inputs and outputs

Defects possible due to mixing up of inputs and outputs. The connectors of the inputs and outputs are of the same type.

• Observe the names of the connectors in order to avoid mistakes.

4.2.2.1 Connectors

M12 sockets

Fig.11: M12 socket

Pin Inputs X01 and X02 Outputs X03 and X04

Symbol Description Symbol Description

1 U

2 In+ Analog input + U 3 GND

4 In- Analog input - GND

Sensor supply + Out Analog output

Actuator supply +

Sensor supply Ground Out GND Analog ground

Actuator supply Ground

5 Shield Shield

EPP4374-0002 21Version: 1.1

Mounting and cabling

4.2.2.2 Status LEDs

Fig.12: Status LEDs at the M12 connections

Status LEDs at M12 connections 1 and 2 (inputs)

Connection LED Display Meaning

M12 socket no. 1 and 2 R

left

E right

off No data transfer to the D/A converter green Data transfer to the D/A converter off Function OK red Error: Open circuit or measured value outside of the

measuring range (smaller than 3.5mA/-11V or larger than 21mA/11V)

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

Status LEDs at M12 connections 3 and 4 (outputs)

Connection LED Display Meaning

M12 socket no. 3 and 4 R

left

off No data transfer to the D/A converter green Data transfer to the D/A converter

EPP4374-000222 Version: 1.1

Mounting and cabling

4.2.2.3 Samples

Analog inputs

Fig.13: Signal connection - Analog inputs

The sensor is connected via In+ and In-. The sensor can optionally be operated/supplied with 24VDC.

Analog outputs

Fig.14: Signal connection - Analog outputs

The actuator is connected via output+/- and outputGND. The actuator can optionally be operated/supplied with 24VDC.

EPP4374-0002 23Version: 1.1

Mounting and cabling

4.3 UL Requirements

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

Supply voltage

CAUTION

CAUTION!

This UL requirements are valid for all supply voltages of all marked EtherCAT Box Modules! For the compliance of the UL requirements the EtherCAT Box Modules should only be supplied

• by a 24 VDC supply voltage, supplied by an isolating source and protected by means of a fuse (in accordance with UL248), rated maximum 4 Amp, or

• by a 24 VDC power source, that has to satisfy NEC class 2. A NEC class 2 power supply shall not be connected in series or parallel with another (class 2) power source!

CAUTION

CAUTION!

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

Networks

CAUTION

CAUTION!

To meet the UL requirements, EtherCAT Box Modules must not be connected to telecommunication networks!

Ambient temperature range

CAUTION

CAUTION!

To meet the UL requirements, EtherCAT Box Modules has to be operated only at an ambient temperature range of 0 to 55°C!

Marking for UL

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

Fig.15: UL label

EPP4374-000224 Version: 1.1

Commissioning and configuration

5 Commissioning and configuration

5.1 Integration in TwinCAT

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

EPP4374-0002 25Version: 1.1

Commissioning and configuration

5.2 Parameterizing signal ranges

NOTE

Signal ranges must be parameterized before carrying out the cabling

Defects possible due to incorrectly parameterized signal ranges.

• Parameterize the signal ranges [}26] before connecting the sensors and actuators.

• Parameterize the signal ranges in accordance with the specifications for the intended sensors and actuators.

The signal range can be individually parameterized for each analog input and output. The parameters that define the signal range are located in the CoE directory:

Interface CoE Index

Analog input X01 F800:01 Analog input X02 F800:02 Analog output X03 F800:03 Analog output X04 F800:04

TwinCAT

Proceed as follows to change the signal range of an analog channel in TwinCAT:

1. Double-click the IO module EPP4374-0002 in the IO tree.

2. Click on the "CoE - Online" tab.

ð The CoE directory is displayed.

3. Double-click on the CoE index of the interface that you wish to parameterize (see table above).

4. Select the signal range in the dialog box which then opens.

EPP4374-000226 Version: 1.1

Commissioning and configuration

5.3 Object overview

EtherCAT XML Device Description

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

Index (hex) Name Flags Default value

1000 [}38]

1008 Device name RO EP4374-0002

1009 [}38]

100A [}38]

1011:0 [}33]

Subindex Restore default parameters RO 0x01 (1

1011:01 SubIndex 001 RW 0x00000000 (0

1018:0 Subindex Identity RO 0x04 (4

1018:01 Vendor ID RO 0x00000002 (2

1018:02 Product code RO 0x11164052 (286670930

1018:03 Revision RO 0x00110002 (1114114

1018:04 Serial number RO 0x00000000 (0

10F0:0 [}38]

1600:0 [}38]

1601:0 [}39]

1800:0 [}39]

1801:0 [}39]

1802:0 [}39]

1803:0 [}39]

1A00:0 [}39]

Subindex Backup parameter handling RO 0x01 (1

10F0:01 Checksum RO 0x00000000 (0

Subindex AO Outputs Ch.3 RO 0x01 (1

1600:01 SubIndex 001 RO 0x7020:11, 16

Subindex AO Outputs Ch.4 RO 0x01 (1

1601:01 SubIndex 001 RO 0x7030:11, 16

Subindex AI Inputs Ch.1 RO 0x06 (6

1800:06 Exclude TxPDOs RO 01 1A

Subindex AI Inputs Compact Ch.1 RO 0x06 (6

1801:06 Exclude TxPDOs RO 00 1A

Subindex AI Inputs Ch.2 RO 0x06 (6

1802:06 Exclude TxPDOs RO 03 1A

Subindex AI Inputs Compact Ch.2 RO 0x06 (6

1803:06 Exclude TxPDOs RO 02 1A

Subindex AI Inputs Ch.1 RO 0x0B (11

1A00:01 SubIndex 001 RO 0x6000:01, 1

1A00:02 SubIndex 002 RO 0x6000:02, 1

1A00:03 SubIndex 003 RO 0x6000:03, 2

1A00:04 SubIndex 004 RO 0x6000:05, 2

1A00:05 SubIndex 005 RO 0x6000:07, 1

1A00:06 SubIndex 006 RO 0x0000:00, 1

1A00:07 SubIndex 007 RO 0x0000:00, 5

1A00:08 SubIndex 008 RO 0x6000:0E, 1

1A00:09 SubIndex 009 RO 0x6000:0F, 1

1A00:0A SubIndex 010 RO 0x6000:10, 1

1A00:0B SubIndex 011 RO 0x6000:11, 16

Device type RO 0x00001389 (5001

Hardware version RO 00

Software version RO 02

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EPP4374-0002 27Version: 1.1

Commissioning and configuration

Index (hex) Name Flags Default value

1A01:0 [}40]

1A02:0 [}40]

Subindex AI Inputs Compact Ch.1 RO 0x01 (1

1A01:01 SubIndex 001 RO 0x6000:11, 16

Subindex AI Inputs Ch.2 RO 0x0B (11

1A02:01 SubIndex 001 RO 0x6010:01, 1

1A02:02 SubIndex 002 RO 0x6010:02, 1

1A02:03 SubIndex 003 RO 0x6010:03, 2

1A02:04 SubIndex 004 RO 0x6010:05, 2

1A02:05 SubIndex 005 RO 0x6010:07, 1

1A02:06 SubIndex 006 RO 0x0000:00, 1

1A02:07 SubIndex 007 RO 0x0000:00, 5

1A02:08 SubIndex 008 RO 0x6010:0E, 1

1A02:09 SubIndex 009 RO 0x6010:0F, 1

1A02:0A SubIndex 010 RO 0x6010:10, 1

1A02:0B SubIndex 011 RO 0x6010:11, 16

1A03:0 [}40]

1C00:0 [}40]

Subindex AI Inputs Compact Ch.2 RO 0x01 (1

1A03:01 SubIndex 001 RO 0x6010:11, 16

Subindex Sync manager type RO 0x04 (4

1C00:01 SubIndex 001 RO 0x01 (1

1C00:02 SubIndex 002 RO 0x02 (2

1C00:03 SubIndex 003 RO 0x03 (3

1C00:04 SubIndex 004 RO 0x04 (4

1C12:0 [}40]

Subindex RxPDO assign RW 0x02 (2

1C12:01 SubIndex 001 RW 0x1600 (5632

1C12:02 SubIndex 002 RW 0x1601 (5633

1C13:0 [}41]

Subindex TxPDO assign RW 0x02 (2

1C13:01 SubIndex 001 RW 0x1A00 (6656

1C13:02 SubIndex 002 RW 0x1A02 (6658

1C32:0 Subindex SM output parameter RO 0x20 (32

1C32:01 Sync mode RW 0x0001 (1

1C32:02 Cycle time RW 0x000F4240 (1000000

1C32:03 Shift time RO 0x00002710 (10000

1C32:04 Sync modes supported RO 0xC007 (49159

1C32:05 Minimum cycle time RO 0x0007A120 (500000

1C32:06 Calc and copy time RO 0x00001388 (5000

1C32:07 Minimum delay time RO 0x00001388 (5000

1C32:08 Command RW 0x0000 (0

1C32:09 Maximum delay time RO 0x00001388 (5000

1C32:0B SM event missed counter RO 0x0000 (0

1C32:0C Cycle exceeded counter RO 0x0000 (0

1C32:0D Shift too short counter RO 0x0000 (0

1C32:20 Sync error RO 0x00 (0

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EPP4374-000228 Version: 1.1

Commissioning and configuration

Index (hex) Name Flags Default value

1C33:0 [}42]

6000:0 [}43]

6010:0 [}43]

Subindex SM input parameter RO 0x20 (32

1C33:01 Sync mode RW 0x0022 (34

1C33:02 Cycle time RW 0x000F4240 (1000000

1C33:03 Shift time RO 0x00001388 (5000

1C33:04 Sync modes supported RO 0xC007 (49159

1C33:05 Minimum cycle time RO 0x0007A120 (500000

1C33:06 Calc and copy time RO 0x00002710 (10000

1C33:07 Minimum delay time RO 0x00001388 (5000

1C33:08 Command RW 0x0000 (0

1C33:09 Maximum delay time RO 0x00001388 (5000

1C33:0B SM event missed counter RO 0x0000 (0

1C33:0C Cycle exceeded counter RO 0x0000 (0

1C33:0D Shift too short counter RO 0x0000 (0

1C33:20 Sync error RO 0x00 (0

Subindex AI Inputs Ch.1 RO 0x11 (17

6000:01 Underrange RO 0x00 (0

6000:02 Overrange RO 0x00 (0

6000:03 Limit 1 RO 0x00 (0

6000:05 Limit 2 RO 0x00 (0

6000:07 Error RO 0x00 (0

6000:0E Sync error RO 0x00 (0

6000:0F TxPDO State RO 0x00 (0

6000:10 TxPDO Toggle RO 0x00 (0

6000:11 Value RO 0x0000 (0

Subindex AI Inputs Ch.2 RO 0x11 (17

6010:01 Underrange RO 0x00 (0

6010:02 Overrange RO 0x00 (0

6010:03 Limit 1 RO 0x00 (0

6010:05 Limit 2 RO 0x00 (0

6010:07 Error RO 0x00 (0

6010:0E Sync error RO 0x00 (0

6010:0F TxPDO State RO 0x00 (0

6010:10 TxPDO Toggle RO 0x00 (0

6010:11 Value RO 0x0000 (0

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EPP4374-0002 29Version: 1.1

Commissioning and configuration

Index (hex) Name Flags Default value

7020:0 [}43]

7030:0 [}43]

8000:0 [}34]

800E:0 [}43]

800F:0 [}44]

8010:0 [}35]

Subindex AO Outputs Ch.3 RO 0x11 (17

7020:11 Analog output RO 0x0000 (0

Subindex AO Outputs Ch.4 RO 0x11 (17

7030:11 Analog output RO 0x0000 (0

Subindex AI Settings Ch.1 RW 0x18 (24

8000:01 Enable user scale RW 0x00 (0

8000:02 Presentation RW 0x00 (0

8000:05 Siemens bits RW 0x00 (0

8000:06 Enable filter RW 0x00 (0

8000:07 Enable limit 1 RW 0x00 (0

8000:08 Enable limit 2 RW 0x00 (0

8000:0A Enable user calibration RW 0x00 (0

8000:0B Enable vendor calibration RW 0x01 (1

8000:0E Swap limit bits RW 0x00 (0

8000:11 User scale offset RW 0x0000 (0

8000:12 User scale gain RW 0x00010000 (65536

8000:13 Limit 1 RW 0x0000 (0

8000:14 Limit 2 RW 0x0000 (0

8000:15 Filter settings RW 0x0000 (0

8000:17 User calibration offset RW 0x0000 (0

8000:18 User calibration gain RW 0x4000 (16384

Subindex AI Internal data Ch.1 RO 0x01 (1

800E:01 ADC raw value RO 0x0000 (0

Subindex AI Vendor data Ch.1 RW 0x06 (6

800F:01 R0 offset RW 0x0000 (0

800F:02 R0 gain RW 0x4000 (16384

800F:03 R1 offset RW 0x0000 (0

800F:04 R1 gain RW 0x4000 (16384

800F:05 R2 offset RW 0x0000 (0

800F:06 R2 gain RW 0x4000 (16384

Subindex AI Settings Ch.2 RW 0x18 (24

8010:01 Enable user scale RW 0x00 (0

8010:02 Presentation RW 0x00 (0

8010:05 Siemens bits RW 0x00 (0

8010:06 Enable filter RW 0x00 (0

8010:07 Enable limit 1 RW 0x00 (0

8010:08 Enable limit 2 RW 0x00 (0

8010:0A Enable user calibration RW 0x00 (0

8010:0B Enable vendor calibration RW 0x01 (1

8010:0E Swap limit bits RW 0x00 (0

8010:11 User scale offset RW 0x0000 (0

8010:12 User scale gain RW 0x00010000 (65536

8010:13 Limit 1 RW 0x0000 (0

8010:14 Limit 2 RW 0x0000 (0

8010:15 Filter settings RW 0x0000 (0

8010:17 User calibration offset RW 0x0000 (0

8010:18 User calibration gain RW 0x4000 (16384

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EPP4374-000230 Version: 1.1

Commissioning and configuration

Index (hex) Name Flags Default value

801E:0 [}44]

801F:0 [}44]

8020:0 [}36]

802E:0 [}44]

802F:0 [}44]

Subindex AI Internal data Ch.2 RO 0x01 (1

801E:01 ADC raw value RO 0x0000 (0

Subindex AI Vendor data Ch.2 RW 0x06 (6

801F:01 R0 offset RW 0x0000 (0

801F:02 R0 gain RW 0x4000 (16384

801F:03 R1 offset RW 0x0000 (0

801F:04 R1 gain RW 0x4000 (16384

801F:05 R2 offset RW 0x0000 (0

801F:06 R2 gain RW 0x4000 (16384

Subindex AO Settings Ch.3 RW 0x16 (22

8020:01 Enable user scale RW 0x00 (0

8020:02 Presentation RW 0x00 (0

8020:05 Watchdog RW 0x00 (0

8020:07 Enable user calibration RW 0x00 (0

8020:08 Enable vendor calibration RW 0x01 (1

8020:11 User scale offset RW 0x0000 (0

8020:12 User scale gain RW 0x00010000 (65536

8020:13 Default output RW 0x0000 (0

8020:14 Default output ramp RW 0xFFFF (65535

8020:15 User calibration offset RW 0x0000 (0

8020:16 User calibration gain RW 0x4000 (16384

Subindex AO Internal data Ch.3 RO 0x01 (1

802E:01 DAC raw value RO 0x0000 (0

Subindex AO Vendor data Ch.3 RW 0x06 (6

802F:01 R0 Calibration Offset RW 0x0000 (0

802F:02 R0 Calibration Gain RW 0x4000 (16384

802F:03 R1 Calibration Offset RW 0x0000 (0

802F:04 R1 Calibration Gain RW 0x4000 (16384

802F:05 R2 Calibration Offset RW 0x0000 (0

802F:06 R2 Calibration Gain RW 0x4000 (16384

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EPP4374-0002 31Version: 1.1

Commissioning and configuration

Index (hex) Name Flags Default value

8030:0 [}37]

803E:0 [}44]

803F:0 [}45]

F000:0 [}45]

F008 [}45]

F010:0 [}45]

F800:0 [}37]

Subindex AO Settings Ch.4 RW 0x16 (22

8030:01 Enable user scale RW 0x00 (0

8030:02 Presentation RW 0x00 (0

8030:05 Watchdog RW 0x00 (0

8030:07 Enable user calibration RW 0x00 (0

8030:08 Enable vendor calibration RW 0x01 (1

8030:11 User scale offset RW 0x0000 (0

8030:12 User scale gain RW 0x00010000 (65536

8030:13 Default output RW 0x0000 (0

8030:14 Default output ramp RW 0xFFFF (65535

8030:15 User calibration offset RW 0x0000 (0

8030:16 User calibration gain RW 0x4000 (16384

Subindex AO Internal data Ch.4 RO 0x01 (1

803E:01 DAC raw value RO 0x0000 (0

Subindex AO Vendor data Ch.4 RW 0x06 (6

803F:01 R0 Calibration Offset RW 0x0000 (0

803F:02 R0 Calibration Gain RW 0x4000 (16384

803F:03 R1 Calibration Offset RW 0x0000 (0

803F:04 R1 Calibration Gain RW 0x4000 (16384

803F:05 R2 Calibration Offset RW 0x0000 (0

803F:06 R2 Calibration Gain RW 0x4000 (16384

Subindex Modular device profile RO 0x02 (2

F000:01 Module index distance RO 0x0010 (16

F000:02 Maximum number of modules RO 0x0004 (4

Code word RW 0x00000000 (0

Subindex Module list RW 0x04 (4

F010:01 SubIndex 001 RW 0x0000012C (300

F010:02 SubIndex 002 RW 0x0000012C (300

F010:03 SubIndex 003 RW 0x00000190 (400

F010:04 SubIndex 004 RW 0x00000190 (400

Subindex AIAO Range settings RW 0x04 (4

F800:01 Input type Ch1 RW 0x0000 (0

F800:02 Input type Ch2 RW 0x0000 (0

F800:03 Output type Ch3 RW 0x0000 (0

F800:04 Output type Ch4 RW 0x0000 (0

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Legend

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

EPP4374-000232 Version: 1.1

Commissioning and configuration

5.4 Object description and parameterization

EtherCAT XML Device Description

Parameterization via the CoE list (CAN over EtherCAT)

The EtherCAT device is parameterized via the CoE - Online tab (double-click on the respective object) or via the Process Data tab (allocation of PDOs).

Introduction

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 [}43] 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.

5.4.1 Objects to be parameterized during commissioning

Index 1011 Restore default parameters

Index (hex) Name Meaning Data type Flags Default

1011:0 Restore default pa-

rameters

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

Restore default parameters UINT8 RO 0x01 (1

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

UINT32 RW 0x00000000

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EPP4374-0002 33Version: 1.1

Commissioning and configuration

Index 8000 AI Settings Ch.1

Index (hex) Name Meaning Data type Flags Default

8000:0 AI Settings Ch.1 Maximum subindex UINT8 RO 0x18 (24

8000:01 Enable user scale 0

8000:02 Presentation 0

8000:05 Siemens bits BOOLEAN RW 0x00 (0

8000:06 Enable filter 0

8000:07 Enable limit 1 0

8000:08 Enable limit 2 0

8000:0A Enable user calibra-

tion

8000:0B Enable vendor cali-

bration

8000:0E Swap limit bits 1

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

8000:12 User scale gain User scaling: Gain

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

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

8000:15 Filter settings This object determines the digital filter settings, if it is ac-

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

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

User scaling is not active. BOOLEAN RW 0x00 (0

bin

User scale is active.

bin

Signed presentation BIT3 RW 0x00 (0

dec

Unsigned presentation

dec

Absolute value with MSB as sign (signed amount

dec

representation)

Filter not enabled BOOLEAN RW 0x00 (0

bin

Filter enabled, which makes PLC-cycle-synchro-

bin

nous data exchange unnecessary

Limit 1 not enabled BOOLEAN RW 0x00 (0

bin

Limit 1 enabled

bin

Limit 2 not enabled BOOLEAN RW 0x00 (0

bin

Limit 2 enabled

bin

User calibration not enabled BOOLEAN RW 0x00 (0

bin

User calibration enabled

bin

Vendor calibration not enabled BOOLEAN RW 0x01 (1

bin

Vendor calibration enabled

bin

Limit bits swapped BOOLEAN RW 0x00 (0

bin

INT32 RW 0x00010000

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

-16

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

(0x00010000

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UINT16 RW 0x0000 (0

tive via Enable filter (index 0x80n0:06 [}34]). The possible settings are sequentially numbered.

50Hz FIR

dec

60Hz FIR

dec

IIR 1

dec

IIR 2

dec

IIR 3

dec

IIR 4

dec

IIR 5

dec

IIR 6

dec

IIR 71

dec

IIR 8

dec

(65536

(16384

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EPP4374-000234 Version: 1.1

Commissioning and configuration

Index 8010 AI Settings Ch.2

Index (hex) Name Meaning Data type Flags Default

8010:0 AI Settings Ch.2 Maximum subindex UINT8 RO 0x18 (24

8010:01 Enable user scale 0

8010:02 Presentation 0

8010:05 Siemens bits BOOLEAN RW 0x00 (0

8010:06 Enable filter 0

8010:07 Enable limit 1 0

8010:08 Enable limit 2 0

8010:0A Enable user calibra-

tion

8010:0B Enable vendor cali-

bration

8010:0E Swap limit bits 1

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

8010:12 User scale gain User scaling: Gain

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

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

8010:15 Filter settings This object determines the digital filter settings, if it is ac-

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

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

User scaling is not active. BOOLEAN RW 0x00 (0

bin

User scale is active.

bin

Signed presentation BIT3 RW 0x00 (0

dec

Unsigned presentation

dec

Absolute value with MSB as sign (signed amount

dec

representation)

Filter not enabled BOOLEAN RW 0x00 (0

bin

Filter enabled, which makes PLC-cycle-synchro-

bin

nous data exchange unnecessary

Limit 1 not enabled BOOLEAN RW 0x00 (0

bin

Limit 1 enabled

bin

Limit 2 not enabled BOOLEAN RW 0x00 (0

bin

Limit 2 enabled

bin

User calibration not enabled BOOLEAN RW 0x00 (0

bin

User calibration enabled

bin

Vendor calibration not enabled BOOLEAN RW 0x01 (1

bin

Vendor calibration enabled

bin

Limit bits swapped BOOLEAN RW 0x00 (0

bin

INT32 RW 0x00010000

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

-16

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

(0x00010000

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UINT16 RW 0x0000 (0

tive via Enable filter (index 0x80n0:06 [}34]). The possible settings are sequentially numbered.

50Hz FIR

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60Hz FIR

dec

IIR 1

dec

IIR 2

dec

IIR 3

dec

IIR 4

dec

IIR 5

dec

IIR 6

dec

IIR 71

dec

IIR 8

dec

(65536

(16384

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EPP4374-0002 35Version: 1.1

Commissioning and configuration

Index 8020 AO Settings Ch.3

Index (hex) Name Meaning Data type Flags Default

8020:0 AO Settings Ch.3 Maximum subindex UINT8 RO 0x16 (22

8020:01 Enable user scale 0

8020:02 Presentation 0

8020:05 Watchdog 0

8020:07 Enable user calibra-

tion

8020:08 Enable vendor cali-

bration

8020:11 User scale offset User scaling: Offset INT16 RW 0x0000 (0

8020:12 User scale gain User scaling: Gain

8020:13 Default output Default output value INT16 RW 0x0000 (0

8020:14 Default output ramp This value defines the ramps for the ramp-down to the

8020:15 User calibration offset User calibration: Offset INT16 RW 0x0000 (0

8020:16 User calibration gain User calibration: Gain UINT16 RW 0x4000

User scaling not active BOOLEAN RW 0x00 (0

bin

User scaling active

bin

Signed presentation

dec

The output value range 0x7pp1:11 is shown as

BIT3 RW 0x00 (0

16bit signed integer. For unipolar terminals (0-10Vor 0-20mA) the negative range is set to zero.

Unsigned presentation

dec

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

Absolute value with MSB as sign

dec

Signed amount representation is active.

Absolute value

dec

The absolute value of the signed representation is formed.

Default watchdog value

dec

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

Watchdog ramp

dec

The ramp (0x8pp0:14) for moving to the default

BIT2 RW 0x00 (0

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

Last output value

dec

In the event of an error (triggering of the watchdog) the last process data is output.

User calibration not active BOOLEAN RW 0x00 (0

bin

User calibration active

bin

Manufacturer calibration not active BOOLEAN RW 0x01 (1

bin

Vendor calibration active

bin

INT32 RW 0x00010000 This is the user scaling gain. The gain is represented in fixed-point format, with the factor 2

-16

. The value one cor-

responds to 65535 (0x00010000).

UINT16 RW 0xFFFF default value. The value is specified in digits/ms.

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

(65536

(65535

(16384

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EPP4374-000236 Version: 1.1

Commissioning and configuration

Index 8030 AO Settings Ch.4

Index (hex) Name Meaning Data type Flags Default

8030:0 AO Settings Ch.4 Maximum subindex UINT8 RO 0x16 (22

8030:01 Enable user scale 0

8030:02 Presentation 0

8030:05 Watchdog 0

8030:07 Enable user calibra-

tion

8030:08 Enable vendor cali-

bration

8030:11 User scale offset User scaling: Offset INT16 RW 0x0000 (0

8030:12 User scale gain User scaling: Gain

8030:13 Default output Default output value INT16 RW 0x0000 (0

8030:14 Default output ramp This value defines the ramps for the ramp-down to the

8030:15 User calibration offset User calibration: Offset INT16 RW 0x0000 (0

8030:16 User calibration gain User calibration: Gain UINT16 RW 0x4000

User scaling not active BOOLEAN RW 0x00 (0

bin

User scaling active

bin

Signed presentation

dec

The output value range 0x7pp1:11 is shown as

BIT3 RW 0x00 (0

16 bit signed integer. For unipolar terminals (0-10Vor 0-20mA) the negative range is set to zero.

Unsigned presentation

dec

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

Absolute value with MSB as sign

dec

Signed amount representation is active.

Absolute value

dec

The absolute value of the signed representation is formed.

Default watchdog value

dec

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

Watchdog ramp

dec

The ramp (0x8pp0:14) for moving to the default

BIT2 RW 0x00 (0

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

Last output value

dec

In the event of an error (triggering of the watchdog) the last process data is output.

User calibration not active BOOLEAN RW 0x00 (0

bin

User calibration active

bin

Manufacturer calibration not active BOOLEAN RW 0x01 (1

bin

Vendor calibration active

bin

INT32 RW 0x00010000 This is the user scaling gain. The gain is represented in fixed-point format, with the factor 2

-16

. The value one cor-

responds to 65535 (0x00010000).

UINT16 RW 0xFFFF default value. The value is specified in digits/ms. If the entry is 100 and the default value 0, forexample, it takes 327ms (32767/100) for the output value to change from the maximum value (32767) to the default value in the event of a fault.

(65536

(65535

(16384

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

Index F800 AIAO Range settings

Index (hex) Name Meaning Data type Flags Default

F800:0 AIAO Range settings Maximum subindex UINT8 RO 0x04 (4

F800:01 Input type Ch1 Input signal range for channel 1 UINT16 RW 0x0000 (0

-10…+10V

dec

0...20mA

dec

4...20mA

dec

0...10V

dec

F800:02 Input type Ch2 Input signal range for channel 2 (values see channel1) UINT16 RW 0x0000 (0

F800:03 Output type Ch3 Output signal range for channel 3 UINT16 RW 0x0000 (0

-10…+10V

dec

0...20mA

dec

4...20mA

dec

0...10V

dec

F800:04 Output type Ch4 Output signal range for channel 4 (values see channel3) UINT16 RW 0x0000 (0

EPP4374-0002 37Version: 1.1

)

dec

)

dec

)

dec

)

dec

)

dec

Commissioning and configuration

5.4.2 Standard objects (0x1000-0x1FFF)

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

Index 1000 Device type

Index (hex) Name Meaning Data type Flags Default

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

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

Index 1008 Device name

Index (hex) Name Meaning Data type Flags Default

1008:0 Device name Device name of the EtherCAT slave STRING RO EPP4374-000

Index 1009 Hardware version

Index (hex) Name Meaning Data type Flags Default

1009:0 Hardware version Hardware version of the EtherCAT slave STRING RO 00

UINT32 RO 0x00001389

(5001

)

dec

Index 100A Software version

Index (hex) Name Meaning Data type Flags Default

100A:0 Software version Firmware version of the EtherCAT slave STRING RO 02

Index 1018 Identity

Index (hex) Name Meaning Data type Flags Default

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

)

dec

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

)

dec

1018:02 Product code Product code of the EtherCAT slave UINT32 RO 0x6476D769

(1685509993

)

1018:03 Revision Revision numberof the EtherCAT slave; the Low Word

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

1018:04 Serial number Serial number of the EtherCAT slave; the Low Byte (bit

0-7) of the Low Word contains the year of production, the High Byte (bit 8-15) of the Low Word contains the week

UINT32 RO 0x00110002

(1114114

dec

UINT32 RO 0x00000000

)

dec

of production, the High Word (bit 16-31) is 0

Index 10F0 Backup parameter handling

Index (hex) Name Meaning Data type Flags Default

10F0:0 Backup parameter

handling

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

Information for standardized loading and saving of backup entries

slave

UINT8 RO 0x01 (1

)

dec

UINT32 RO 0x00000000

)

dec

)

Index 1600 AO Outputs Ch.3

Index (hex) Name Meaning Data type Flags Default

1600:0 AO Outputs Ch.3 PDO Mapping RxPDO 1 UINT8 RO 0x01 (1

1600:01 SubIndex 001 1. PDO Mapping entry (object 0x7020 (AO outputs Ch.3),

UINT32 RO 0x7020:11, 16 entry 0x11 (Analog output))

EPP4374-000238 Version: 1.1

)

dec

Commissioning and configuration

Index 1601 AO Outputs Ch.4

Index (hex) Name Meaning Data type Flags Default

1601:0 AO Outputs Ch.4 PDO Mapping RxPDO 2 UINT8 RO 0x01 (1

1601:01 SubIndex 001 1. PDO Mapping entry (object 0x7030 (AO outputs Ch.4),

UINT32 RO 0x7030:11, 16 entry 0x11 (Analog output))

Index 1800 AI Inputs Ch.1

Index (hex) Name Meaning Data type Flags Default

1800:0 AI Inputs Ch.1 PDO Parameter TxPDO 1 UINT8 RO 0x06 (6

1800:06 Exclude TxPDOs Specifies the TxPDOs (index of TxPDO mapping objects)

that must not be transferred together with TxPDO 1

OCTET-

STRING[2]

RO 01 1A

Index 1801 AI Inputs Compact Ch.1

Index (hex) Name Meaning Data type Flags Default

1801:0 AI Inputs Compact

PDO Parameter TxPDO 2 UINT8 RO 0x06 (6

Ch.1

1801:06 Exclude TxPDOs Specifies the TxPDOs (index of TxPDO mapping objects)

that must not be transferred together with TxPDO 2

OCTET-

STRING[2]

RO 00 1A

Index 1802 AI Inputs Ch.2

)

dec

)

dec

)

dec

Index (hex) Name Meaning Data type Flags Default

1802:0 AI Inputs Ch.2 PDO Parameter TxPDO 3 UINT8 RO 0x06 (6

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

that must not be transferred together with TxPDO 3

OCTET-

STRING[2]

RO 03 1A

)

dec

Index 1803 AI Inputs Compact Ch.2

Index (hex) Name Meaning Data type Flags Default

1803:0 AI Inputs Compact

Ch.2

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

PDO Parameter TxPDO 4 UINT8 RO 0x06 (6

that must not be transferred together with TxPDO 4

OCTET-

STRING[2]

RO 02 1A

)

dec

Index 1A00 AI Inputs Ch.1

Index (hex) Name Meaning Data type Flags Default

1A00:0 AI Inputs Ch.1 PDO Mapping TxPDO 1 UINT8 RO 0x0B (11

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

UINT32 RO 0x6000:01, 1 0x01 (Underrange))

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

UINT32 RO 0x6000:02, 1 0x02 (Overrange))

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

UINT32 RO 0x6000:03, 2 0x03 (Limit 1))

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

UINT32 RO 0x6000:05, 2 0x05 (Limit 2))

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

UINT32 RO 0x6000:07, 1 0x07 (Error))

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

1A00:07 SubIndex 007 7. PDO Mapping entry (5 bits align) UINT32 RO 0x0000:00, 5

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

UINT32 RO 0x6000:0E, 1 0x0E (Sync error))

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

UINT32 RO 0x6000:0F, 1 0x0F (TxPDO State))

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

UINT32 RO 0x6000:10, 1 0x10 (TxPDO Toggle))

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

UINT32 RO 0x6000:11, 16 0x11 (Value))

dec

)

EPP4374-0002 39Version: 1.1

Commissioning and configuration

Index 1A01 AI Inputs Compact Ch.1

Index (hex) Name Meaning Data type Flags Default

1A01:0 AI Inputs Compact

Ch.1

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

PDO Mapping TxPDO 2 UINT8 RO 0x01 (1

UINT32 RO 0x6000:11, 16

)

dec

0x11 (Value))

Index 1A02 AI Inputs Ch.2

Index (hex) Name Meaning Data type Flags Default

1A02:0 AI Inputs Ch.2 PDO Mapping TxPDO 3 UINT8 RO 0x0B (11

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

UINT32 RO 0x6010:01, 1 0x01 (Underrange))

1A02:02 SubIndex 002 2. PDO Mapping entry (object 0x6010 (AI Inputs), entry

UINT32 RO 0x6010:02, 1 0x02 (Overrange))

1A02:03 SubIndex 003 3. PDO Mapping entry (object 0x6010 (AI Inputs), entry

UINT32 RO 0x6010:03, 2 0x03 (Limit 1))

1A02:04 SubIndex 004 4. PDO Mapping entry (object 0x6010 (AI Inputs), entry

UINT32 RO 0x6010:05, 2 0x05 (Limit 2))

1A02:05 SubIndex 005 5. PDO Mapping entry (object 0x6010 (AI Inputs), entry

UINT32 RO 0x6010:07, 1 0x07 (Error))

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

1A02:07 SubIndex 007 7. PDO Mapping entry (5bits align) UINT32 RO 0x0000:00, 5

1A02:08 SubIndex 008 8. PDO Mapping entry (object 0x6010 (AI Inputs), entry

UINT32 RO 0x6010:0E, 1 0x0E (Sync error))

1A02:09 SubIndex 009 9. PDO Mapping entry (object 0x6010 (AI Inputs), entry

UINT32 RO 0x6010:0F, 1 0x0F (TxPDO State))

1A02:0A SubIndex 010 10. PDO Mapping entry (object 0x6010 (AI Inputs), entry

UINT32 RO 0x6010:10, 1 0x10 (TxPDO Toggle))

1A02:0B SubIndex 011 11. PDO Mapping entry (object 0x6010 (AI Inputs), entry

UINT32 RO 0x6010:11, 16 0x11 (Value))

dec

)

Index 1A03 AI Inputs Compact Ch.2

Index (hex) Name Meaning Data type Flags Default

1A03:0 AI Inputs Compact

PDO Mapping TxPDO 4 UINT8 RO 0x01 (1

Ch.2

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

UINT32 RO 0x6010:11, 16 0x11 (Value))

Index 1C00 Sync manager type

Index (hex) Name Meaning Data type Flags Default

1C00:0 Sync manager type Using the sync managers UINT8 RO 0x04 (4

1C00:01 SubIndex 001 Sync-Manager Type Channel 1: Mailbox Write UINT8 RO 0x01 (1

1C00:02 SubIndex 002 Sync-Manager Type Channel 2: Mailbox Read UINT8 RO 0x02 (2

1C00:03 SubIndex 003 Sync-Manager Type Channel 3: Process Data Write

UINT8 RO 0x03 (3 (Outputs)

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

UINT8 RO 0x04 (4 puts)

Index 1C12 RxPDO assign

Index (hex) Name Meaning Data type Flags Default

1C12:0 RxPDO assign PDO Assign Outputs UINT8 RW 0x02 (2

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

ated RxPDO mapping object)

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

ated RxPDO mapping object)

UINT16 RW 0x1600

(5632

UINT16 RW 0x1601

(5633

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

EPP4374-000240 Version: 1.1

Commissioning and configuration

Index 1C13 TxPDO assign

Index (hex) Name Meaning Data type Flags Default

1C13:0 TxPDO assign PDO Assign Inputs UINT8 RW 0x02 (2

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

UINT16 RW 0x1A00 ated TxPDO mapping object)

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

UINT16 RW 0x1A02 ated TxPDO mapping object)

(6656

(6658

dec

)

dec

)

dec

Index 1C32 SM output parameter

Index (hex) Name Meaning Data type Flags Default

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

1C32:01 Sync mode Value Current synchronization mode UINT16 RW 0x0001 (1

0 Free Run

1 Synchron with SM 2 Event

2 DC-Mode - Synchron with SYNC0 Event

3 DC-Mode - Synchron with SYNC1 Event

1C32:02 Cycle time Cycle time (in ns): UINT32 RW 0x000F4240

Free Run Cycle time of the local timer

Synchron with SM

Master cycle time

(1000000

2 Event

DC-Mode SYNC0/SYNC1 Cycle Time

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

ns, DC mode only)

1C32:04 Sync modes sup-

ported

Bit Value Supported synchronization modes: UINT16 RO 0xC007

0 1 free run is supported

UINT32 RO 0x00002710

(10000

(49159

1 1 Synchronous with SM 2 event is sup-

ported

3.2 01 DC mode is supported

5.4 10 Output shift with SYNC1 event (only

DC mode)

14 1 dynamic times (measurement through

writing of 0x1C32:08 [}41])

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

(500000

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

DC mode only)

UINT32 RO 0x00001388

(5000

1C32:07 Minimum delay time UINT32 RO 0x00001388

(5000

1C32:08 Command 0 Measurement of the local cycle time is stopped UINT16 RW 0x0000 (0

1 Measurement of the local cycle time is started

The entries 0x1C32:03 [}41], 0x1C32:05 [}41],

0x1C32:06 [}41], 0x1C32:09 [}41], 0x1C33:03, 0x1C33:06 [}41], 0x1C33:09

1C32:09 Maximum Delay time Time between SYNC1 event and output of the outputs (in

ns, DC mode only)

1C32:0B SM event missed

counter

1C32:0C Cycle exceeded

counter

Number of missed SM events in OPERATIONAL (DC mode only)

Number of occasions the cycle time was exceeded in OPERATIONAL (cycle was not completed in time or the

UINT32 RO 0x00001388

(5000

UINT16 RO 0x0000 (0

next cycle began too early)

1C32:0D Shift too short counter Number of occasions that the interval between SYNC0

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

1C32:20 Sync error The synchronization was not correct in the last cycle

BOOLEAN RO 0x00 (0 (outputs were output too late; DC mode only)

dec

)

dez

)

dec

dez

)

dez

)

dez

)

dez

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

EPP4374-0002 41Version: 1.1

Commissioning and configuration

Index 1C33 SM input parameter

Index (hex) Name Meaning Data type Flags Default

1C33:0 SM input parameter Synchronization parameters for the inputs UINT8 RO 0x20 (32

1C33:01 Sync mode Current synchronization mode:

UINT16 RW 0x0022 (34

• 0: Free Run

• 1: Synchronous with SM 3 Event (no outputs available)

• 2: DC - Synchron with SYNC0 Event

• 3: DC - Synchron with SYNC1 Event

• 34: Synchronous with SM 2 Event (outputs available)

1C33:02 Cycle time as 0x1C32:02 UINT32 RW 0x000F4240

(1000000

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

ns, only DC mode)

1C33:04 Sync modes sup-

ported

Supported synchronization modes:

• Bit 0: free run is supported

UINT32 RO 0x00001388

(5000

UINT16 RO 0xC007

(49159

• Bit 1: Synchronous with SM 2 Event is supported (outputs available)

• Bit 1: Synchronous with SM 3 Event is supported (no outputs available)

• Bit 2-3 = 01: DC mode is supported

• Bit 4-5 = 01: input shift through local event (outputs available)

• Bit 4-5 = 10: input shift with SYNC1 event (no outputs available)

• Bit 14 = 1: dynamic times (measurement through writing of 0x1C32:08 or 0x1C33:08 [}42])

1C33:05 Minimum cycle time as 0x1C32:05 UINT32 RO 0x0007A120

(500000

1C33:06 Calc and copy time Time between reading of the inputs and availability of the

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

UINT32 RO 0x00002710

(10000

1C33:07 Minimum delay time UINT32 RO 0x00001388

(5000

1C33:08 Command as 0x1C32:08 UINT16 RW 0x0000 (0

1C33:09 Maximum delay time Time between SYNC1 event and reading of the inputs (in

ns, only DC mode)

1C33:0B SM event missed

as 0x1C32:11 UINT16 RO 0x0000 (0

UINT32 RO 0x00001388

(5000

counter

1C33:0C Cycle exceeded

as 0x1C32:12 UINT16 RO 0x0000 (0

counter

1C33:0D Shift too short counter as 0x1C32:13 UINT16 RO 0x0000 (0

1C33:20 Sync error as 0x1C32:32 BOOLEAN RO 0x00 (0

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

EPP4374-000242 Version: 1.1

Commissioning and configuration

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

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

Index 6000 AI Inputs Ch.1

Index (hex) Name Meaning Data type Flags Default

6000:0 AI Inputs Ch.1 UINT8 RO 0x11 (17

6000:01 Underrange Underrange event active BOOLEAN RO 0x00 (0

6000:02 Overrange Overrange event active BOOLEAN RO 0x00 (0

6000:03 Limit 1 Bit0 = 1

Bit1 = 1

6000:05 Limit 2 Bit0 = 1

Bit1 = 1

6000:07 Error Bit set when Over- or Underrange BOOLEAN RO 0x00 (0

6000:0E Sync error BOOLEAN RO 0x00 (0

6000:0F TxPDO State BOOLEAN RO 0x00 (0

6000:10 TxPDO Toggle BOOLEAN RO 0x00 (0

6000:11 Value INT16 RO 0x0000 (0

Index 6010 AI Inputs Ch.2

Value greater than limit 1 BIT2 RO 0x00 (0

bin

Value less than limit 1

bin

Value greater than limit 2 BIT2 RO 0x00 (0

bin

Value less than limit 2

bin

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

Index (hex) Name Meaning Data type Flags Default

6010:0 AI Inputs Ch.2 UINT8 RO 0x11 (17

6010:01 Underrange Underrange event active BOOLEAN RO 0x00 (0

6010:02 Overrange Overrange event active BOOLEAN RO 0x00 (0

6010:03 Limit 1 Bit0 = 1

Bit1 = 1

6010:05 Limit 2 Bit0 = 1

Bit1 = 1

Value greater than limit 1 BIT2 RO 0x00 (0

bin

Value less than limit 1

bin

Value greater than limit 2 BIT2 RO 0x00 (0

bin

Value less than limit 2

bin

6010:07 Error Bit set when Over- or Underrange BOOLEAN RO 0x00 (0

6010:0E Sync error BOOLEAN RO 0x00 (0

6010:0F TxPDO State BOOLEAN RO 0x00 (0

6010:10 TxPDO Toggle BOOLEAN RO 0x00 (0

6010:11 Value INT16 RO 0x0000 (0

Index 7020 AO Outputs Ch.3

Index (hex) Name Meaning Data type Flags Default

7020:0 AO Outputs Ch.3 UINT8 RO 0x11 (17

7020:11 Analog output Analog output data INT16 RO 0x0000 (0

Index 7030 AO Outputs Ch.4

Index (hex) Name Meaning Data type Flags Default

7030:0 AO Outputs Ch.4 UINT8 RO 0x11 (17

7030:11 Analog output Analog output data INT16 RO 0x0000 (0

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

Index 800E AI Internal data Ch.1

Index (hex) Name Meaning Data type Flags Default

800E:0 AI Internal data Ch.1 UINT8 RO 0x01 (1

800E:01 ADC raw value INT16 RO 0x0000 (0

EPP4374-0002 43Version: 1.1

)

dec

)

dec

Commissioning and configuration

Index 800F AI Vendor data Ch.1

Index (hex) Name Meaning Data type Flags Default

800F:0 AI Vendor data Ch.1 UINT8 RO 0x06 (6

800F:01 R0 offset INT16 RW 0x0000 (0

800F:02 R0 gain INT16 RW 0x4000

(16384

800F:03 R1 offset INT16 RW 0x0000 (0

800F:04 R1 gain INT16 RW 0x4000

(16384

800F:05 R2 offset INT16 RW 0x0000 (0

800F:06 R2 gain INT16 RW 0x4000

(16384

Index 801E AI Internal data Ch.2

Index (hex) Name Meaning Data type Flags Default

801E:0 AI Internal data Ch.2 UINT8 RO 0x01 (1

801E:01 ADC raw value INT16 RO 0x0000 (0

Index 801F AI Vendor data Ch.2

Index (hex) Name Meaning Data type Flags Default

801F:0 AI Vendor data Ch.2 UINT8 RO 0x06 (6

801F:01 R0 offset INT16 RW 0x0000 (0

801F:02 R0 gain INT16 RW 0x4000

(16384

801F:03 R1 offset INT16 RW 0x0000 (0

801F:04 R1 gain INT16 RW 0x4000

(16384

801F:05 R2 offset INT16 RW 0x0000 (0

801F:06 R2 gain INT16 RW 0x4000

(16384

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

Index 802E AO Internal data Ch.3

Index (hex) Name Meaning Data type Flags Default

802E:0 AO Internal data Ch.3 UINT8 RO 0x01 (1

802E:01 DAC raw value This is the raw DAC value. UINT16 RO 0x0000 (0

Index 802F AO Vendor data Ch.3

Index (hex) Name Meaning Data type Flags Default

802F:0 AO Vendor data Ch.3 UINT8 RO 0x06 (6

802F:01 R0 Calibration Offset Vendor calibration: Offset for +/-10V INT16 RW 0x0000 (0

802F:02 R0 Calibration Gain Vendor calibration: Gain for +/-10V UINT16 RW 0x4000

(16384

802F:03 R1 Calibration Offset Vendor calibration: Offset for 0-20mA INT16 RW 0x0000 (0

802F:04 R1 Calibration Gain Vendor calibration: Gain for 0-20mA UINT16 RW 0x4000

(16384

802F:05 R2 Calibration Offset Vendor calibration: Offset for 4-20mA INT16 RW 0x0000 (0

802F:06 R2 Calibration Gain Vendor calibration: Gain for 4-20mA UINT16 RW 0x4000

(16384

Index 803E AO Internal data Ch.4

Index (hex) Name Meaning Data type Flags Default

803E:0 AO Internal data Ch.4 UINT8 RO 0x01 (1

803E:01 DAC raw value This is the raw DAC value. UINT16 RO 0x0000 (0

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

EPP4374-000244 Version: 1.1

Commissioning and configuration

Index 803F AO Vendor data Ch.4

Index (hex) Name Meaning Data type Flags Default

803F:0 AO Vendor data Ch.4 UINT8 RO 0x06 (6

803F:01 R0 Calibration Offset Vendor calibration: Offset for +/-10V INT16 RW 0x0000 (0

803F:02 R0 Calibration Gain Vendor calibration: Gain for +/-10V UINT16 RW 0x4000

(16384

803F:03 R1 Calibration Offset Vendor calibration: Offset for 0-20mA INT16 RW 0x0000 (0

803F:04 R1 Calibration Gain Vendor calibration: Gain for 0-20mA UINT16 RW 0x4000

(16384

803F:05 R2 Calibration Offset Vendor calibration: Offset for 4-20mA INT16 RW 0x0000 (0

803F:06 R2 Calibration Gain Vendor calibration: Gain for 4-20mA UINT16 RW 0x4000

(16384

Index F000 Modular device profile

Index (hex) Name Meaning Data type Flags Default

F000:0 Modular device profile General information for the modular device profile UINT8 RO 0x02 (2

F000:01 Module index dis-

tance

F000:02 Maximum number of

modules

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

Number of channels UINT16 RO 0x0004 (4

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

Index F008 Code word

Index (hex) Name Meaning Data type Flags Default

F008:0 Code word UINT32 RW 0x00000000

)

dec

Index F010 Module list

Index (hex) Name Meaning Data type Flags Default

F010:0 Module list UINT8 RW 0x04 (4

F010:01 SubIndex 001 UINT32 RW 0x0000012C

(300

F010:02 SubIndex 002 UINT32 RW 0x0000012C

(300

F010:03 SubIndex 003 UINT32 RW 0x00000190

(400

F010:04 SubIndex 004 UINT32 RW 0x00000190

(400

)

dec

)

dec

)

dec

)

dec

)

dec

EPP4374-0002 45Version: 1.1

Commissioning and configuration

5.5 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.16: 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.17: 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.

EPP4374-000246 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 Ø50mm

jects of Ø12.5mm.

Ø2.5mm.

Ø1mm.

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 30min. in 1m 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

EPP4374-0002 47Version: 1.1

Appendix

6.2 Accessories

Mounting

Ordering information Description

ZS5300-0001 Mounting rail (500mmx129mm)

Cables

A complete overview of pre-assembled cables for EtherCAT Box modules can be found here.

Ordering information Description

ZK2000-5xxx-xxxx ZK2000-71xx-xxxx

ZK2000-6xxx-xxxx

ZK700x-xxxx-xxxx

Labeling material, protective caps

Ordering information Description

ZS5000-0010 Protective cap for M8 sockets, IP67 (50 pieces) ZS5000-0020 Protective cap M12, IP67 (50 pieces) ZS5100-0000 Inscription labels, unprinted, 4 strips of 10 ZS5000-xxxx Printed inscription labels on enquiry

Sensor cable M12 5-wire Link to website

Sensor cable M12 4-wire Link to website

EtherCAT P cable M8 Link to website

Tools

Ordering information Description

ZB8801-0000 Torque wrench for plugs, 0.4…1.0Nm ZB8801-0001 Torque cable key for M8/ wrench size 9 for ZB8801-0000 ZB8801-0002 Torque cable key for M12/ wrench size 13 for ZB8801-0000 ZB8801-0003 Torque cable key for M12 field assembly/ wrench size 18 for ZB8801-0000

Further accessories

Further accessories can be found in the price list for fieldbus components from Beckhoff and online at https://www.beckhoff.com.

EPP4374-000248 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: KKYYFFHH

KK - week of production (CW, calendar week) YY - year of production FF - firmware version HH - hardware version

EPP4374-0002 49Version: 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.18: EL5021 EL terminal, standard IP20 IO device with serial/ batch number and revision ID (since 2014/01)

EPP4374-000250 Version: 1.1

Fig.19: EK1100 EtherCAT coupler, standard IP20 IO device with serial/ batch number

Appendix

Fig.20: CU2016 switch with serial/ batch number

Fig.21: EL3202-0020 with serial/ batch number 26131006 and unique ID-number 204418

EPP4374-0002 51Version: 1.1

Appendix

Fig.22: EP1258-00001 IP67 EtherCAT Box with batch number/ date code 22090101 and unique serial number 158102

Fig.23: EP1908-0002 IP67 EtherCAT Safety Box with batch number/ date code 071201FF and unique serial number 00346070

Fig.24: EL2904 IP20 safety terminal with batch number/ date code 50110302 and unique serial number 00331701

Fig.25: ELM3604-0002 terminal with unique ID number (QR code) 100001051 and serial/ batch number 44160201

EPP4374-000252 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.26: 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 (ANSIMH10.8.2-2016). 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:

EPP4374-0002 53Version: 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.

EPP4374-000254 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

EPP4374-0002 55Version: 1.1

More Information:

www.beckhoff.com/epp4374/

Beckhoff Automation GmbH & Co. KG Hülshorstweg 20 33415 Verl Germany Phone: +49 5246 9630 info@beckhoff.com www.beckhoff.com

Beckhoff EPP4374-0002 User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

Table of contents

1 Foreword

1.1 Safety instructions

1.2 Notes on the documentation

1.3 Documentation issue status

3 Product overview

3.1 Introduction

3.2 Technical data

3.3 Scope of supply

3.4 Process image

3.4.1 Assignment of connectors to process data objects

3.4.2 Content of the process data objects

4 Mounting and cabling

4.1 Mounting

4.1.1 Dimensions

4.1.2 Fixing

4.1.3 Functional earth (FE)

4.1.4 Tightening torques for plug connectors

4.2 Cabling

4.2.1.1 Connectors

4.2.1.2 Status LEDs

4.2.1.2.1 Supply voltages

4.2.1.2.2 EtherCAT

4.2.1.3 Conductor losses

4.2.2 Analog interfaces

4.2.2.1 Connectors

4.2.2.2 Status LEDs

4.2.2.3 Samples

4.3 UL Requirements

5 Commissioning and configuration

5.1 Integration in TwinCAT

5.2 Parameterizing signal ranges

5.3 Object overview

5.4 Object description and parameterization

5.4.1 Objects to be parameterized during commissioning

5.4.2 Standard objects (0x1000-0x1FFF)

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

5.5 Restoring the delivery state

6 Appendix

6.1 General operating conditions

6.2 Accessories

6.3 Version identification of EtherCAT devices

6.3.1 Beckhoff Identification Code (BIC)

6.4 Support and Service