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Instruction Manual
Kendrion Kuhnke Automation Gm bH
Manual
Kuhnke FIO (V2)
EtherCAT I/O modules in IP20
E 747-1 GB 11/25/2016
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Kendrion Kuhnke Automation GmbH Table of Contents
Table of Contents
1 Preface ................................................................................................................................................. 6
1.1 Imprint ....................................................................................................................................... 6
1.2 About this Manual ..................................................................................................................... 6
1.2.1 Target group ............................................................................................................................ 6
1.2.2 Limitation of Liability ................................................................................................................ 6
1.2.3 Terms of Delivery .................................................................................................................... 6
1.2.4 Copyright ................................................................................................................................. 6
1.2.5 Warranty .................................................................................................................................. 7
1.2.6 Literature ................................................................................................................................. 7
1.3 Reliability, Safety ....................................................................................................................... 8
1.3.1 Intended Use ........................................................................................................................... 8
1.3.2 Target Group of the Instruction Manual .................................................................................. 8
1.3.3 Intended Use ........................................................................................................................... 8
1.3.4 Reliability ................................................................................................................................. 8
1.3.5 Hazard and other Warnings .................................................................................................... 9
1.3.6 Other Notices .......................................................................................................................... 9
1.3.7 Safety ...................................................................................................................................... 9
1.3.8 Electromagnetic Compatibility ............................................................................................... 10
2 Introduction ......................................................................................................................................... 13
2.1 EtherCAT® — Ethernet Control Automation Technology ....................................................... 13
2.2 Kuhnke FIO (Fast Input Output) .............................................................................................. 13
2.3 Kuhnke FIO — Ventura FIO .................................................................................................... 14
3 System Description ............................................................................................................................. 15
3.1 General conditions of use ....................................................................................................... 15
3.2 Mechanical Design .................................................................................................................. 15
3.2.1 Earth ...................................................................................................................................... 15
3.2.2 Installation ............................................................................................................................. 16
3.3 System power supply .............................................................................................................. 18
3.3.1 General .................................................................................................................................. 18
3.3.2 Bus coupler ........................................................................................................................... 19
3.3.3 I/O-Modules ........................................................................................................................... 19
3.4 Status LEDs ........................................................................................................................... 21
3.4.1 LED "EtherCAT Run" ............................................................................................................ 21
3.4.2 LED "In L/A", LED "Out L/A".................................................................................................. 21
3.4.3 LED "IO" ................................................................................................................................ 21
3.4.4 LED "Power" .......................................................................................................................... 21
4 Modules .............................................................................................................................................. 22
4.1 Bus Coupler ............................................................................................................................ 22
4.1.1 Terminals ............................................................................................................................... 22
4.1.2 Status LEDs .......................................................................................................................... 22
4.1.3 Function ................................................................................................................................. 23
4.1.4 Technical Data ...................................................................................................................... 23
4.2 Bus coupler DI16/DO16 .......................................................................................................... 24
4.2.1 Terminals ............................................................................................................................... 24
4.2.2 Status LEDs .......................................................................................................................... 25
4.2.3 Function ................................................................................................................................. 26
4.2.4 Technical Data ...................................................................................................................... 26
4.3 DI8/DO8 .................................................................................................................................. 27
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4.3.1 Terminals ............................................................................................................................... 27
4.3.2 Status LEDs .......................................................................................................................... 27
4.3.3 Function ................................................................................................................................. 28
4.3.4 Technical data ....................................................................................................................... 28
4.4 DI16/DO16 .............................................................................................................................. 29
4.4.1 Terminals ............................................................................................................................... 29
4.4.2 Status LEDs .......................................................................................................................... 29
4.4.3 Function ................................................................................................................................. 30
4.4.4 Technical Data ...................................................................................................................... 30
4.5 DI16/DO8 ................................................................................................................................ 31
4.5.1 Terminals ............................................................................................................................... 31
4.5.2 Status LEDs .......................................................................................................................... 31
4.5.3 Function ................................................................................................................................. 32
4.5.4 Technical data ....................................................................................................................... 32
4.6 DI16/DO16 LS (Low side) ....................................................................................................... 33
4.6.1 Terminals ............................................................................................................................... 33
4.6.2 Status LEDs .......................................................................................................................... 33
4.6.3 Function ................................................................................................................................. 34
4.6.4 Technical data ....................................................................................................................... 34
4.7 DI32 ......................................................................................................................................... 35
4.7.1 Terminals ............................................................................................................................... 35
4.7.2 Status LEDs .......................................................................................................................... 35
4.7.3 Function ................................................................................................................................. 36
4.7.4 Technical data ....................................................................................................................... 36
4.8 DI16 ......................................................................................................................................... 37
4.8.1 Terminals ............................................................................................................................... 37
4.8.2 Status LEDs .......................................................................................................................... 37
4.8.3 Function ................................................................................................................................. 38
4.8.4 Technical data ....................................................................................................................... 38
4.9 DO16 ....................................................................................................................................... 39
4.9.1 Terminals ............................................................................................................................... 39
4.9.2 Status LEDs .......................................................................................................................... 39
4.9.3 Function ................................................................................................................................. 40
4.9.4 Technical data ....................................................................................................................... 40
4.10 DO8 ..................................................................................................................................... 41
4.10.1 Terminals ............................................................................................................................. 41
4.10.2 Status LEDs ........................................................................................................................ 41
4.10.3 Function ............................................................................................................................... 42
4.10.4 Technical data ..................................................................................................................... 42
4.11 DO8 Relay NO 24V ............................................................................................................. 43
4.11.1 Terminals ............................................................................................................................. 43
4.11.2 Status LEDs ........................................................................................................................ 43
4.11.3 Function ............................................................................................................................... 44
4.11.4 Technical data ..................................................................................................................... 44
4.12 DO8 Relay NO 230 VAC ..................................................................................................... 45
4.12.1 Terminals ............................................................................................................................. 45
4.12.2 Status LEDs ........................................................................................................................ 45
4.12.3 Function ............................................................................................................................... 46
4.12.4 Technical data ..................................................................................................................... 46
4.13 CounterPosi2 5V, Counter2 5V ........................................................................................... 47
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4.13.1 Terminals ............................................................................................................................. 47
4.13.2 Status LEDs ........................................................................................................................ 48
4.13.3 Function ............................................................................................................................... 49
4.13.4 Examples ............................................................................................................................. 58
4.13.5 Technical Data .................................................................................................................... 63
4.14 Extender 2 Port .................................................................................................................... 64
4.14.1 Terminals ............................................................................................................................. 64
4.14.2 Status LEDs ........................................................................................................................ 65
4.14.3 Function ............................................................................................................................... 65
4.14.4 Technical data ..................................................................................................................... 66
4.15 MIX 02 ................................................................................................................................. 67
4.15.1 Terminals ............................................................................................................................. 67
4.15.2 Status LEDs ........................................................................................................................ 68
4.15.3 Function (CoE-variant) ........................................................................................................ 69
4.15.4 Technical data ..................................................................................................................... 76
4.16 AO4-U/I ................................................................................................................................ 77
4.16.1 Terminals ............................................................................................................................. 77
4.16.2 Status LEDs ........................................................................................................................ 77
4.16.3 Function ............................................................................................................................... 78
4.16.4 Function 694 442 02 Kuhnke FIO AO4 12Bit ...................................................................... 79
4.16.5 Function 694 442 52 Kuhnke FIO AO4 16Bit ...................................................................... 81
4.16.6 Technical data ..................................................................................................................... 86
4.17 AI4/8-U ................................................................................................................................ 87
4.17.1 Terminals ............................................................................................................................. 87
4.17.2 Status LEDs ........................................................................................................................ 87
4.17.3 Function ............................................................................................................................... 88
4.17.4 Function 694 441 52 Kuhnke FIO AI4/8-U .......................................................................... 89
4.17.5 Technical data ..................................................................................................................... 94
4.18 AI8/16-U .............................................................................................................................. 95
4.18.1 Terminals ............................................................................................................................. 95
4.18.2 Status LEDs ........................................................................................................................ 95
4.18.3 Function ............................................................................................................................... 96
4.18.4 Function 694 441 53 Kuhnke FIO AI8/16-U ........................................................................ 97
4.18.5 Technical data ................................................................................................................... 103
4.19 AI4-I ................................................................................................................................... 104
4.19.1 Terminals ........................................................................................................................... 104
4.19.2 Status LEDs ...................................................................................................................... 104
4.19.3 Function ............................................................................................................................. 105
4.19.4 Function 694 441 51 Kuhnke FIO AI4-I 12Bit ................................................................... 106
4.19.5 Technical data ................................................................................................................... 111
4.20 AI8-I ................................................................................................................................... 112
4.20.1 Terminals ........................................................................................................................... 112
4.20.2 Status LEDs ...................................................................................................................... 112
4.20.3 Function ............................................................................................................................. 113
4.20.4 Function 694 441 51 Kuhnke FIO AI8-I 12Bit ................................................................... 114
4.20.5 Technical data ................................................................................................................... 120
4.21 AI4-Pt/Ni/TC ...................................................................................................................... 121
4.21.1 Terminals ........................................................................................................................... 121
4.21.2 Status LEDs ...................................................................................................................... 121
4.21.3 Function ............................................................................................................................. 122
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4.21.4 Function 694 443 57 Kuhnke FIO AI4-Pt/Ni/TC ................................................................ 123
4.21.5 Technical data ................................................................................................................... 130
4.22 AI8- Pt/Ni/TC ..................................................................................................................... 131
4.22.1 Terminals ........................................................................................................................... 131
4.22.2 Status LEDs ...................................................................................................................... 131
4.22.3 Function ............................................................................................................................. 132
4.22.4 Function 694 443 58 Kuhnke FIO AI8-Pt/Ni/TC ................................................................ 133
4.22.5 Technical data ................................................................................................................... 140
5 Accessories ...................................................................................................................................... 141
5.1 Potential distributor 2 x 16 .................................................................................................... 141
5.1.1 Terminals ............................................................................................................................. 141
5.1.2 Status LEDs ........................................................................................................................ 141
5.1.3 Function ............................................................................................................................... 141
5.1.4 . Technical data ................................................................................................................... 141
5.2 Shield connection terminal block .......................................................................................... 142
5.2.1 Terminals ............................................................................................................................. 142
5.2.2 Function ............................................................................................................................... 142
5.2.3 Technical data ..................................................................................................................... 142
6 Configuration .................................................................................................................................... 143
6.1 CoDeSys V2 (Beckhoff Configurator) ................................................................................... 143
6.1.1 Offline Configuration............................................................................................................ 143
6.1.2 Online Configuration............................................................................................................ 146
6.2 CODESYS V3 (CODESYS Configurator) ............................................................................. 147
6.2.1 Offline Configuration............................................................................................................ 147
6.2.2 Online Configuration............................................................................................................ 150
7 Appendix ........................................................................................................................................... 153
7.1 Technical data (Overview) .................................................................................................... 153
7.1.1 System properties Kuhnke FIO ........................................................................................... 153
7.1.2 Kuhnke FIO bus coupler ..................................................................................................... 153
7.1.3 Kuhnke FIO bus coupler DI16/DO16 .................................................................................. 153
7.1.4 Kuhnke FIO I/O modules ..................................................................................................... 154
7.2 Order specifications .............................................................................................................. 158
7.2.1 Kuhnke FIO modules........................................................................................................... 158
7.2.2 Kuhnke FIO Accessories ..................................................................................................... 159
8 Sales & Service ................................................................................................................................ 161
8.1 Index...................................................................................................................................... 162
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Kendrion Kuhnke Automation GmbH Preface
History of the manual
Date
29.05.2015
Original version
31.08.2015
AO, AI-U, AI-I added
11.11.2015
Coupler DI16/DO16 added
14.12.2015
Translation
01.03.2016
Counter/Posi2 added
07.03.2016
Correction analogue modules
26.04.2016
Extension at digital modules with 36-poled connectors: Both terminals of L+ and of L- are
regarding installation order adde d (3.2.2.2) Connectable ferrules Weidmüller plug (3.3.1)
06.06.2016
Added Relay-Modules - 4.11 DO8 Relay NO 24V; 4.12 DO8 Relay NO 230 VAC
10.07.2016
Revision of the measured value tables Figure 47, Analog values voltage and Figure 44: Analo g
values voltage/current
10.11.2016
Revision of 4.21.4 Function 694 443 57 Kuhnke FIO AI4-Pt/Ni/TC and 4.22.4 Function 694 443 58
Kuhnke FIO AI8-Pt/Ni/TC
25.11.2016
Data type adaptation in the chapter 4.13 C ou nterPosi2 5V,
1 Preface
1.1 Imprint
Contact Details
Kendrion Kuhnke Automation GmbH
Industrial Control Systems
Lütjenburger Straße 101
D-23714 Malente, Deutschland
Phone: +49 4523 402-0
Fax: +49 4523 402-201
Email: sales-ics@kendrion.com
Web: http://kuhnke.kendrion.com
Version Details
Comments / Modifications
each connected internally! (4.4-4.6) Note regarding installation position added (3.2.2.1) Note
1.2 About this Manual
1.2.1 Target group
This technical information is primarily directed to system designers, project engineers and device
developers. It does not contain any availability information. We reserve the rights for errors, omissions
and modifications. Pictures are similar.
1.2.2 Limitation of Liability
Specifications are for description only and are not to be understood as guaranteed product properties
in a legal sense. Exact properties and characteristics shall be agreed in the specific contract. Claims
for damages against us - on whatever grounds - are excluded, except in instances of deliberate intent
or gross negligence on our part.
1.2.3 Terms of Delivery
The general conditions of sales and service of Kendrion Kuhnke Automation GmbH shall apply.
1.2.4 Copyright
© Kendrion Kuhnke Automation GmbH
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Title / Theme
Number/ Author
Source
User Manual Kuhnke FIO (V2)
E747-1 GB
http://kuhnke.kendrion.com/ics/en/
User Manual Ventura FIO (V1)
E 747 GB
http://kuhnke.kendrion.com/ics/en/
Technical Info Kuhnke FIO
E 740 GB
http://kuhnke.kendrion.com/ics/en/
EtherCAT, Technology, FAQs, Downloads
http://www.ethercat.org
CODESYS manuals
http://www.CODESYS.com
IEC61131-3 mit CODESYS V3:
Jochen Petry
3S-Smart Software Solutions GmbH
SPS Programmierung nach IEC 61131-3
Heinrich Lepers
Franzis Verlag GmbH
This instruction manual is proprietary and protected by copyright.
No part of this document may be reproduced or copied in any way or by any means except expressly
permitted in writing by Kendrion Kuhnke Automation GmbH.
Microsoft®, Windows® and the Windows® logo are registered trademarks of Microsoft Corp. in the
USA and other countries. EtherCAT® is a registered trademark and patented technology, licenced by
Beckhoff Automation GmbH, Germany. Further information about the PLCopen organisation is
available at www.plcopen.o r g. CiA® and CAN ope n® ar e regist er ed jo int brands of CAN in Automation
e.V. Title to all companies and company names mentioned heron as well as to products and product
names is held by the respective enterprises.
CODESYS V3
©
is a product of 3S-Smart Software GmbH.
1.2.5 Warranty
Warranty is subject to the provisions of the conditions of sale of Kendrion Kuhnke Automation GmbH
or any contractual agreements between the parties.
Structure and goal of the manual
Kuhnke FIO are EtherCAT slave IO modules. They provide information about sensors and
actuators for the EtherCAT Master. Furthermore, there are modules for communicating with other
systems.
How to create network configuration and control program depends on t he used EtherCAT master
controller.
This guide aims to familiarize you with the use of the modul es .
In examples preferably CODESYS Version 3 is used, which contains an EtherCAT Master and
configurator. Use of other tools may need to be acted differ ent ly.
Further knowledge of the programming in accordance with IEC 611131-3, please refer to the
CoDeSys online help or the literature.
For beginners in CoDeSys it may be appropriate to use the comprehensive training offer from 3SSmart Software Solutions GmbH.
This manual is structured as follows:
Chapter 1 contains general information on the use of equipment
Chapter 2 provides an int r oduction to the EtherCAT technology
Chapter 3 describes the system properties of Kuhnke FIO
Chapter 4 describes the Kuhnke FIO modules
Chapter 5 provides information on the configuration of EtherCAT networks
Chapter 6 lists the Kuhnke FIO modules and accessories
1.2.6 Literature
(available as PDF in the CODESYS –
directory of the Programming PC)
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1.3 Reliability, Safety
1.3.1 Intended Use
For reasons of personal safety and to avoid material damages when working with or handling this
Kuhnke product, you are advised to take heed of the notes and information contained in this
instruction manual.
1.3.2 Target Group of the Instruction Manual
This instruction manual contains all information necessary for the use of the described product (control
device, control terminal, software, etc.) according to instructions. It is written for design, project
planning, servicing and commissioning experts. For proper understanding and error-free application of
technical descriptions, instructions for use and particularly of notes of danger and warning, extensive
knowledge of automation technology is compulsory.
1.3.3 Intended Use
Kuhnke's products are designed, developed and manufactured for standard industrial use. They must
not be used for any other purposes than the ones specified in the catalogue or the associated
technical documentation. Proper and safe operation depends on the products being transported,
stored, lined up, mounted, installed, put into service, operated, and serviced correctly. Ambient
conditions must be within the admissible limits. Notes and information in the associated
documentation apply at all times.
1.3.4 Reliability
Reliability of Kuhnke products is brought to the highest possible standards by extensive and costeffective means in their design and manufacture.
These include:
selecting high-quality components,
quality agreements with our suppliers,
actions to avoid static charges when handling MOS circuits,
worst case planning and design of all circuits,
visual inspections at various stages of fabrication,
computer-aided tests of all assemblies and their interaction in the circuit,
statistical assessment of the quality of fabrication and of all returned goods for the immediate
taking of appropriate corrective actions.
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Measures for the prevention of dangerous faults or errors may be rendered ineffective or new
1.3.5 Hazard and other Warnings
Despite the actions described in section 1.3.4, the occurrence of faults or errors in electronic control
units - even if most highly improbable - must be taken into consideration.
Please pay particular attention to the additional notices which we have marked by symbols throughout
this instruction manual. While some of these notices make you aware of possible dangers, others are
intended as a means of orientation. They are described further down below in descending order of
importance.
Every alert and hazard warning is made up as follows:
Type and source of risk
Potential consequences of non-observance
Preventive measures
DANGER
A DANGER warning makes you aware of an immediately hazardous situation which WILL
cause a serious or fatal accident if not observed.
WARNING
A WARNING makes you aware of a potentially hazardous situation which MAY cause a
serious or fatal accident or damage to this or other devices if not observed.
CAUTION
A CAUTION alert makes you aware of a potential ly hazardous situation which MAY cause
an accident or damage to this or other devices if not observed.
NOTE
A NOTE makes you aware of a potentially hazard ous situation which MAY cause damage
to this or other devices if not observed.
1.3.6 Other Notices
Information
This symbol draws your attention to additional information concerning the use of the
described product. This may include cross references to information found elsewhere
(e.g. in other manuals).
1.3.7 Safety
Our products normally become part of larger systems or installations. The information below is
intended to help you integrate the product into its environment without dangers to humans or
material/equipment.
DANGER
Non-observance of the instruction manual
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Kendrion Kuhnke Automation GmbH Preface
hazard sources created.
wrong handling could
Thoroughly read the instruction manual
Take particular heed of the hazard warnings
Information
To achieve a high degree of conceptual safety in planning and installing an electronic controller,
it is essential to exactly follow the instructions given in the manual because
lead to rendering measures against dangers ineffective or to creating additional dangers.
Project Planning
24 VDC power supply: generate as electrically safely separated low voltage. Suitable devices
include split-winding transformers built in compliance with European Standar d E N 60742
(corresponds to VDE 0551).
Power breakdowns or power fades: the program structure is to ensure that a defined state at
restart excludes all dangerous states.
Emergency-off installations must comply with EN 60204/IEC 204 (VDE 0113). They must be
operative at any time.
Safety and precautions regulations for qualified applications have to be complied with.
Please pay particular attention to the notices of warning which, at relevant places, will make
you aware of possible sources of dangerous mistakes or faults.
Relevant standards and VDE regulations are to be complied with in every case.
Control elements are to be installed in such a way as to exclude unintended operation.
Lay control cables such that interference (inductive or capacitive) is excluded if this
interference could influence controller operation or its functionality.
Maintenance and Servicing
Precautions regulation BGV A3 (Elektrische Anlagen und Betriebsmittel) to be observed when
measuring or checking a controller after power-up. This applies to section 8 (Admissible
deviations when working on parts) in particular.
Spare parts: Only use parts approved of by Kuhnke. Only genuine Kuhnke modules must be
used in modular controllers.
Modular systems: always plug or unplug modules in a power-down state. You may otherwise
damage the modules or (possibly not immediately recognizably!) inhibit their functionality.
Always dispose of (rechargeable) batteries as hazardous waste.
1.3.8 Electromagnetic Compatibility
Definition
Electromagnetic compatibility is the ability of a device to function satisfactorily in its electromagnetic
environment without itself causing any electromagnetic interferenc e that would be into lera bl e to other
devices in this environment.
Of all known phenomena of electromagnetic noise, only a certain range occurs at the location of a
given device. These kinds of noise are specified in the applicable product standards.
The design and immunity to interference of programmable logic controllers are internationally
governed by standard
IEC 61131-2 which, in Europe, has been the basis for European Standard
EN 61131-2.
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Kendrion Kuhnke Automation GmbH Preface
Information
Refer to IEC 61131-4, User's Guideline, for general installation instructions to be complied with
to ensure that hardware interface factors and the ensuing noise voltages are limited to tolerable
levels.
Interference Emission
Interfering emission of electromagnetic fields, HF
compliant to EN 55011, limiting value class A, Group 1
Information
If the controller is designed for use in residential areas, high-frequency emissions must comply
with limiting value class B as described in EN 55011.
Fitting the controller into earthed metal cabinets and installing filters in the supply lines may
produce a shielding compliant to the above standard.
General Notes on Install ati on
As component parts of machines, facilities and systems, electronic control systems must comply with
valid rules and regulations, depending on their field of application.
General requirements concerning the electrical equipment of machines and aiming at the safety of
these machines are contained in Part 1 of European Standard EN 60204 (corresponds to VDE 0113).
Electrical Immission Safeguard
To eliminate electromagnetic interference, connect the control system to the protective earth
conductor. Practice best cable routing.
Cable Routing and Wiring
Keep power circuits separate from control circuits:
DC voltages 60 V ... 400 V
AC voltages 25 V ... 400 V
Joint laying of control circuits is allowed for:
shielded data signals
shielded analogue signals
unshielded digital I/O lines
unshielded DC voltages < 60 V
unshielded AC voltages < 25 V
Location of Installation
Ensure that temperatures, contaminations, impact, vibration or electromagnetic interference are no
impediment to the installation.
Temperature
Consider heat sources such as general heating of rooms, sunlight, heat accumulation in assembly
rooms or control cabinets.
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Kendrion Kuhnke Automation GmbH Preface
Contamination
Use suitable casings to avoid possible negative influences due to humidity, corrosive gas, liquid or
conducting dust.
Impact and Vibration
Consider possible influences caused by motors, compressors, transfer lines, presses, ramming
machines and vehicles.
Electromagnetic Interference
Consider electromagnetic interference from various local sources: motors, switching devices,
switching thyristors, radio-controlled devices, welding equipment, arcing, switched-mode power
supplies, converters / inverters.
Particular Sources of Interference
Inductive Actuators
Switching off inductances (such as from relays, contactors, solenoids or switching magnets) produces
surge voltages. It is necessary to reduce these extra voltages to a minimum.
Throttling elements could be diodes, Z-d io des , varis tor s or RC elements. Their rating should conform
to the specifications provided by the manufacturer or supplier of the actuators.
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Kendrion Kuhnke Automation GmbH Introduction
2 Introduction
2.1 EtherCAT®1 — Ethernet Control Automation T echnology
EtherCAT is the most powerful Ethernet-based fieldbus system currently available on the market. EtherCAT
puts up the top speed mark, and its flexible topology and simple configuration make it the perfect means of
controlling extremely fast processes. To give you a clue: 1000 I/Os can be addressed in 30 μs.
Because of its high performance, the simple wiring and its open protocol support, EtherCAT is often used as
a fast motion control and I/O bus driven by an industrial PC or in conjunction with control technology on a
smaller scale. EtherCAT moves beyond the limits of conventional fieldbus systems. Its interconnections
between the controller at one end and both the I/O modules and drives at the other are as fast as those of a
backplane bus. EtherCAT controllers thus nearly act like centralised control systems, overcoming the issue
of bus transfer times that conventional fieldbus systems are burdened with.
2.2 Kuhnke FIO (Fast Input Output)
Kuhnke FIO is a system of I/O modules for connecting the process signals to an EtherCAT network.
Kuhnke FIO consists of the Ventura FIO bus coupler and a range of Ventura FIO I/O modules.
The Ventura FIO bus coupler converts the physical transfer technology (twisted pair) to LVDS (E-bus) and
generates the system voltages required by the LVDS modules. The standard 100 Base Tx lines used for
office network communications connect to the one side, the Ventura FIO I/O modules for the process signals
connect to the other. This is how the Ethernet EtherCAT protocol is retained right through to the last I/O
module. At the end of the modular device, the connection between the forward and return lines is
automatically closed, the effect being that another 100 BaseTx line can be plugged in to connect the next
EtherCAT unit to the second bus coupler port.
If the bus coupler is the last device of the EtherCAT network, i.e. the RJ45-socket "Out" remains free, the
connection of the forward and return line are closed automatically.
Figure 1: Kuhnke FIO Buscoupler with I/O-modules
1
EtherCAT® is a registered trade mark and a patented technology of Beckhoff Automation GmbH, Germany.
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Kendrion Kuhnke Automation GmbH Introduction
Characteristic
Ventura FIO
Kuhnke FIO
successively from
Design
green dot
no dot
Module locking
green
gray
Release latch
green
black
LED designation
EtherCAT
EtherCAT Run
EtherCAT LED
green/red
green/off
LED designation (RJ45)
In, Out
In L/A, Out L/A
process image
CoE
extra
inclusive
green release latch
black release latch
spring terminal (36-pole)
Push In (36-pole)
2.3 Kuhnke FIO — Ventura FIO
In the course of product maintenance the Ventura FIO modules have been revised progressively from 2014.
Focus of the revision was to improve the EMC / ESD properties and the preparation of the ETG-conformity.
The revised modules bear the name of Kuhnke FIO, or FIO V2.
Kuhnke FIO with the same part number as Ventura FIO are compatible, i.e., they can be interchan ged
without control programs need to be modified.
Ventura FIO modules are controlled via a broad process image.
For Kuhnke FIO modules with controllers such as the analog modules are offered both to the Ventura FIO
modules compatible versions with process image control, as well as variants with object control CoE (CAN
over EtherCAT).
Exceptions, such as the signal range in case of the AO4 module are noted in this manual in the respective
module description.
The externally visible differences between Ventura FIO and Kuhnke FIO are listed in the following table.
Manufacturing date
Module control process image
Process signal plug
(also 2-pole)
2014
(2-pole screw flange)
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Unlock button
Status LEDs
Shield-to-housing
mount connector
Module lock and Ebus
Carrier rail mount and
operative earth
Ventilation slots
Signal state indicators
(LEDs)
Grip
Label clip
Slot for springassisted combi plug
3 System Description
3.1 General conditions of use
This section describes the general characteristics of Kuhnke FIO modules which are important for the
installation, wiring and troubleshooting.
You can find an overview of the system properties of Kuhnke FIO in section 7.1.1 on page 153.
The specific characteristics of the individual modules will be presented in chapter 4.
3.2 Mechanical Design
For the basic layout of the Kuhnke FIO-modules see Figure 2: Module layout.
The bus coupler and the I/O modules differ in their connectors and indicators, however.
The housing mount consists of an aluminum profile with an integral snap-on devic e used to snap the module
to a 35mm DIN rail. The housing trough including the optical fibers for the status indicators, the side face and
the front is made of plastic and contains the module. The optical fibers for the signal state indicators (LEDs)
are located next to the spring-assisted combi plug. They slightly protrude from the housing and allow a clear
diagnosis at a glance.
Figure 2: Module layout
3.2.1 Earth
Connect the Ventura FIO modules to earth by attaching the metal housing to operative earth.
Since the operative earth connector dissipates HF currents, it is of utmost importance for the module's noise
immunity.
HF interference is dissipated from the electronics board to the metal housing. The metal housing therefore
needs to be suitably connected to an operative earth connector.
You will normally have to ensure that
• the connection between module housing and DIN rail conducts well,
• the connection between DIN rail and switching cabinet conducts well,
• the switching cabinet is safely connected to earth.
In special cases you may attach the earth wire straight to the module.
.
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Earth wires should be short and have a large surface (copper mesh). Further
details has site
Figure 3: Aluminium profile
Attach cable shield here
Connect DIN rail with
operati
M3x5 bolt
connection
ve earth
http://en.wikipedia.org/wiki/Ground_(electricity)
3.2.2 Installation
The Ventura FIO modules are intended for mounting rail installation (DIN EN
50022, 35 x 7.5 mm).
3.2.2.1 Installation position
The mounting rail is placed horizontally and the female connector
strip of the modules face forward. For a sufficient ventilation of the
convection slits the minimum distance must not fall below 20mm
upward and 35mm to adjacent equipment and control cabinets The
lateral distance to external devices and cabinet controls must not fall
below 20mm.
Figure 4: Installation position
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1
2
Figure 6: Uninstalling a module
1
2
3
To ensure smooth function of the entire FIO system, the FIO modules must be arranged based
on their e
the head modules (bus coupler or
the head module. Kuhnke FIO Safety I/O shall be arranged directly next to the head module.
Das verknüpfte Bild kann nicht angezeigt werden. Möglicherweise wurde
Unlock button
3.2.2.2 Installation order within a FIO system
NOTE
-bus load. The modules with the biggest e-bus load are to be arran ged di r ectl y next to
controller). Make sure that you note the maximum bus load of
3.2.2.3 To snap on a single module
1. Push up the module against the mounting rail from below,
allowing the metal spring to snap in between mounting rail
and mounting area as illustrated.
2. Push the module against the mounting wall until is snaps in.
Figure 5: Rail mounting of module
3.2.2.4 To interconnect two modules
• After snapping on the first module to the rail, snap on the second module about 1cm
away towards the right of the first module.
• Push the second module along the rail towards the first module until you hear the locking device
snap in.
3.2.2.5 To disconnect two modules
• Push down the unlock button (see Figure 6) of the module that you wish to disconnect from the
module to the left of it.
• Push both modules away from one another until they are about 1 cm apart.
3.2.2.6 To take down a single module
1. Push the module up and against the metal spring located on the
underside of the rail guide.
2. Tip the module away from the rail as shown in the illustration.
3. Pull the module down and out of the mounting rail.
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Type of core end sleeve
0,13
0,25
0,34
0,50
0,75 1 1,5
Wire end sleeve with collar to
Wire end sleeve without collar
Type of core end sleeve
0,14
0,25
0,34
0,50
0,75 1 1,5
Wire end sleeve with collar to
Wire end sleeve without collar
3.3 System power supply
3.3.1 General
Multipole connectors stand for high port density in a confined space.
Release latches facilitate the separation of the plug connection in tight spaces.
Screw flanges ensure for a snug fit, if the plugs are small
Spring-assisted plugs ensure quick and easy wiring.
1-row:
Tool: Screwdriver blade 0,4 x 2,5 x 75 (DIN 5264-A)
Wires: 320V/ 10 A/ 0.2 – 1.5 mm² (IEC)
Rated current: 300V/ 10 A/ 28 - 14 AWG (UL)
Connectable conductors with ferrules:
Conductor cross ssection [mm2]
DIN 46 228/4
to DIN 46 228/1
The Push-in spring connector enables fast, tool-free wire connection by direct plug-in technology. The
stripped solid wires or flexible wires with crimped ferrules are plugged all the way into the terminal point.
2 rows:
Wires: 320V/ 13.4 A/ 0.14 – 1.5 mm² (IEC)
Rated current: 300V/ 9.5A/ 26 - 16 AWG (UL)
Connectable conductors with ferrules:
DIN 46 228/4
to DIN 46 228/1
8 / 10 8 / 10 8 / 10
8 / 10 8 / 10 8 / 10
Stripping length [mm] / sleeve length [mm]
Conductor cross ssection [mm2]
8 / 10 8 / 10 8 / 10 10 / 12 12 / 14 12 / 15
10 / 10
Stripping length [mm] / sleeve length [mm]
NOTE
The power supply lines may not be connected by one supply terminal of the Kuhnke FIO
to the next. In order to ensure trouble-free operation, the supply lines must be routed in
star formation with the shortest possible lines from a central supply terminal to Kuhnke
FIO.
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3.3.2 Bus coupler
A 2-pin plug-in terminal block with screw flange is used to connect the system supply to the bus coupler.
Since the bus coupler supplies power to both the E-bus and the logic circuits of the I/O modules, its power
consumption depends on the number of I/O modules connected.
Power to the I/O module outputs is supplied separately
Figure 7: Spring-assisted terminal block with screw flange for the Bus coupler
3.3.3 I/O-Modules
The connection of the I/O supply takes place via the IO plug. Plug-in terminal blocks can be used with
different numbers of poles
The logic of I/O modules without own microcontroller is powered by the bus coupler. Modules with
microcontroller can have its own power supply, which is then supplied via the IO connector.
Figure 8: Spring-assisted terminal block, 1 row with release latch for I/O-modules
Figure 9: Push In terminal block, 2 rows with release latch for I/O-modules
A rapid shut-down of all outputs can be performed by external switch-off of
the I/O supply voltage L+.
The missing supply voltage is indicated by the power LED.
However, not all modules have an undervoltage monitoring, which can
report this status to the control unit.
If you need the monitoring of the I/O power supply in the control program,
connect L+ with a digital input and use it representative for the IO power
supply.
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Here however, note the following:
Outputs must not be supplied reverse, when the power supply of the
This is the case if the system continues to be supplied with power.
Outputs that are set forth by the program can be supplied via the protection diode of a reverse supplied
output and in this way set the switch off function for these outputs overridden. In addition, the protection
diode of the feeding output can be destroyed at high load.
outputs is switched.
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State
LED flash code
Explanation
Init
Off
Initialization, no data exchange
Pre-Op
Off/green, 1:1
Pre-operational, no data exchange
Safe-Op
Off/green, 5:1
Safe operation, inputs readable
Op
Green, on
Operational, unrestricted data exchange
State
LED flash code
Explanation
Not connected
Off
No Ethernet connection
Connected
Green, on
Connected to Ethernet
Traffic
Green, flashing
Exchanging telegrams
State
LED flash code
Explanation
On
Green, on
24 VDC supply ok
Off
Off
24 VDC supply not ok
Label old
Label new
LED old
LED new
EtherCAT
EtherCAT Run
Red/Green
Off/Green
In, Out
In L/A, Out L/A
unchanged
3.4 Status LEDs 1
3.4.1 LED "EtherCAT Run"
An LED labeled "EtherCAT Run" is located on both the bus coupler and the I/O modules. It indicates the
state of the EtherCAT ASIC.
3.4.2 LED "In L/A", LED "Out L/A"
The "In L/A" and "Out L/A" LEDs are located on the bus coupler. They indicate the physical state of the
Ethernets (Link/Activity).
3.4.3 LED "IO"
Every I/O module has an LED labeled "IO". It indicates the state of the module's I/Os. Refer to the I/O
module sections in this manual to know which states of a module are monitored and indicated.
3.4.4 LED "Power"
An LED labeled "Power" is located on every module that has a power supply connector (e.g. for digital
outputs). It indicates the state of the I/O module's I/O power supply.
1
Due to the specification "ETG.1300 Indicator and Labeling" successively following changes in name and
flashing were performed from October 2012:
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Kendrion Kuhnke Automation GmbH Bus coupler
You will get the best results concerning disturbing emission, if you put the
shielding of the EtherCAT cable on the function earth.
Use for it e.g.
L+
24 VDC
L-
0 V EtherCAT
IN
RJ45 socket
input (from previous EtherCAT station)
OUT
RJ45 socket
output (to next EtherCAT station)
State
LED flash code
Explanation
Init
Off
Initialization, no data exchange
Pre-Op
Off/green, 1:1
Pre-operational, no data exchange
Safe-Op
Off/green, 5:1
Safe operation, inputs readable
Op
Green, on
Operational, unrestricted data exchange
4 Modules
4.1 Bus Coupler
The Ventura FIO bus coupler Converts the physical transfer technology
(twisted pair) to LVDS (E-bus) and gene rates the system Voltages required
by the LVDS modules. The standard 100 Base Tx lines used for office
communications network connect to the one side, de Ventura FIO I / O
modules for the process signals connect to the other. This is how the
Ethernet EtherCAT protocol is retained right through to the load I / O
modules. At the end of the modular device, the connection between the
forward and return lines is automatically closed, the effect being did another
100 Base Tx line can be plugged in to connect the next EtherCAT unit to the
second bus coupler port.
Figure 10: Bus coupler front view
Shield connection terminal block (see section 5.2)
4.1.1 Terminals
Module power supply
4.1.2 Status LEDs
4.1.2.1 "EtherCAT Run" LED
The LED labeled "EtherCAT Run" indicates the state of the EtherCAT ASIC.
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State
LED flash code
Explanation
Not connected
Off
No Ethernet connection
Connected
Green, on
Connected to Ethernet
Traffic
Green, flashing
Exchanging telegrams
Variable
Data type
Explanation
Undervoltage
BOOL
Low voltage (supplied power < 19.2V)
4.1.2.2 LED "In L/A", LED "Out L/A"
"In L/A"-LED and "Out L/A"-LED indicate the physical state of the Ethernets port they are allocated to.
(Link/Activity
4.1.3 Function
See page 22
4.1.3.1 Module state
4.1.4 Technical Data
Function ......................................................... Connects a 100 Base-TX EtherCAT with the Ventura FIO I/O
modules.
Generates the LVDS system voltages.
Controller ....................................................... ASIC ET1100
Baud rate ....................................................... 100 Mbit/s
Cable ............................................................. CAT5
Length of cable .............................................. max. 100m between 2 bus couplers
Ports ............................................................. 2x RJ45
Power supply ................................................. 24 VDC -20% +25%
Connector Power ........................................... Plug 2-pole (part of the module)
Input current .................................................. 50mA & E-bus power supply
E-bus power supply ....................................... max. 3A (approx. 20 modules)
E-bus load...................................................... 195 mA
Part no. .......................................................... 694.400.00
Approvals .......................................................
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You will get the best results concerning disturbing emission, if you put the
shielding of the EtherCAT cable on the function earth.
Use for it e.g.
L+
24 VDC
L-
0 V EtherCAT
IN
RJ45 socket
input (from previous EtherCAT station)
OUT
RJ45 socket
output (to next EtherCAT station)
4.2 Bus coupler DI16/DO16
The Kuhnke FIO bus coupler DI16/DO16 is an EtherCAT IO module that
combines the functionalities of the existing single modules Kuhnke FIO bus
coupler and Kuhnke FIO DI16/DO16 into one device . It is designed with a
reduced E-bus supply of 2A specifically for use in smaller module blocks. In
the bus coupler part the module converts the transmission physics from
Twisted Pair to LVDS (E-Bus) and the generation of the voltage for the
LVDS modules takes place. In addition, the module has 16 digital inputs and
16 digital outputs. About the lateral E-bus connection, the bus coupler
DI16/DO16 can also be flexibly extended with EtherCAT I/O modules of the
series Kuhnke FIO.
Figure 11: Front view Bus coupler DI16/DO16
Shield connection terminal block (see section 5.2)
Figure 12: I/O connectio n
4.2.1 Terminals
Module power supply
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State
LED flash code
Explanation
Init
Off
Initialization, no data exchange
Pre-Op
Off/green, 1:1
Pre-operational, no data exchange
Safe-Op
Off/green, 5:1
Safe operation, inputs readable
Op
Green, on
Operational, unrestricted data exchange
State
LED flash code
Explanation
Ok
Off
No error
KS
Red, flashing
Short circuit on a digital output
The output drivers have a thermal fuse to automatically turn off any shortcircuited outputs. In case the short circuit prevails, the outputs are allowed to
cool down to be turned back on until the thermal fuse blows
State
LED flash code
Explanation
On
Green, on
24 VDC supply ok
Off
Off
24 VDC supply not ok
State
LED flash code
Explanation
Not connected
Off
No Ethernet connection
Connected
Green, on
Connected to Ethernet
Traffic
Green, flashing
Exchanging telegrams
State
LED
Explanation
On
Green, on
Input signal TRUE / Output switched on
Off
Off
Input signal FALSE / Output switched off
4.2.2 Status LEDs
4.2.2.1 LED "EtherCAT Run"
The LED labeled "EtherCAT Run" indicates the state of the EtherCAT-ASIC.
4.2.2.2 LED "IO"
The LED labeled "IO" indicates the state of the I/Os of the module.
again.
4.2.2.3 LED "Power"
The LED labeled "Power" indicates the state of the I/O module's I/O power supply.
The module is monitored for low voltage states of logic and load!
4.2.2.4 LED "In L/A", LED "Out L/A"
"In L/A"-LED and "Out L/A"-LED indicate the physical state of the Ethernets port they are allocated to.
(Link/Activity)
4.2.2.5 LEDs "Channel"
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State
LED
Explanation
U24_Load
BOOL
Undervoltage (Supply < 19,2V)
U24_Logic
BOOL
Undervoltage (Supply < 19,2V)
ShortcutOutput
BOOL
Short circuit on a digital output
4.2.3 Function
See page 24
4.2.3.1 Module status
4.2.4 Technical Data
Function ......................................................... Connects a 100 Base-TX EtherCAT with the Ventura FIO I/O
modules
Generates the LVDS system voltages (E-bus)
IO-module
Controller ....................................................... ASIC ET1100
Baud rate ....................................................... 100 Mbit/s
Cable ............................................................. CAT5
Length of cable .............................................. max. 100m between 2 bus couplers
Ports ............................................................. 2x RJ45
Power supply ................................................. 24 VDC -20% +25%
Connector Power ........................................... Plug 2-pole (part of the module)
Input current .................................................. 40mA & E-bus power supply
E-bus power supply ....................................... max. 2A (approx. 11 modules)
E-Bus Connector .......................................... 10-pole system plug in the side wall
End module ................................................... not necessary
Digital Inputs .................................................. 16
Input delay ..................................................... 3 ms (typically)
Signal level .................................................... Off: -3 … 5V (EN 61131-3, type1)
On: 15V … 30V
Digital Outputs ............................................... 16
max. current ................................................... 0.5A per output
Sum current ................................................... max. 8A
Part no. .......................................................... 694.400.10
Approvals ....................................................... (planned)
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Power supply to module I/Os
L+
24 VDC
L-
0 V
State
LED flash code
Explanation
Init
Off
Initialization, no data exchange
Pre-Op
Off/green, 1:1
Pre-operational, no data exchange
Safe-Op
Off/green, 5:1
Safe operation, inputs readable
Op
Green, on
Operational, unrestricted data exchange
State
LED flash code
Explanation
Ok
Off
No error
SC
Red, on
Short-circuited digital out pu t
4.3 DI8/DO8
Figure 14: Front view I/O-module DI8/DO8
Figure 13: I/O connection
4.3.1 Terminals
4.3.2 Status LEDs
4.3.2.1 "EtherCAT Run" LED
The LED labeled "EtherCAT Run" indicates the state of the EtherCAT ASIC.
4.3.2.2 LED "IO"
The LED labeled "IO" indicates the state of the module's I/Os.
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The output drivers have a thermal fuse to automatically turn off any shortcircuited outputs. In case the short circuit prevails, the outputs are allowed
to cool down to be turned back on until the thermal fuse blows again.
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State
LED flash code
Explanation
On
Green, on
24 VDC supply ok
Off
Off
24 VDC supply not ok
State
LED
Explanation
On
Green, on
Input signal TRUE / output enabled
Off
Off
Input signal FALSE / output disabled
Variable
Data type
Explanation
DigitalInputn
BOOL
Digital input (n=0...7)
DigitalOutputn
BOOL
Digital output (n=0...7)
4.3.2.3 LED "Power"
The LED labeled "Power" indicates the state of the I/O module's I/O power supply.
Das Modul hat keine Unterspannungsüberwachung.
4.3.2.4 "Channel" LEDs
4.3.3 Function
The DI16/DO16 module features 16 digital inputs and 16 digital outputs.
.
4.3.3.1 Variable
4.3.4 Technical data
Digital inputs .................................................. 8
Input delay ..................................................... 1ms / 5ms (typically)
Signal level .................................................... Off: -3 … 5V (EN 61131-3, type1)
On: 15V … 30V
Digital outputs ................................................ 8
Max. current ................................................... 0.5A per output
Total current .................................................. max. 8A
Connector IO/Power ...................................... Plug 18-pole
Controller ....................................................... ASIC ET1200
Baud rate ....................................................... 100 Mbit/s
Connector E-Bus ........................................... 10-pin system plug in side wall
End module ................................................... not required
Power supply ................................................. 24 VDC -20% +25%
E-bus load...................................................... 135mA
Part no.
Kuhnke FIO DI8/DO8 5ms/0.5A ................... 694.450.04
Kuhnke FIO DI8/DO8 1ms/0.5A ................... 694.450.05
Approvals: ......................................................
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State
LED flash code
Explanation
Init
Off
Initialization, no data exchange
Pre-Op
Off/green, 1:1
Pre-operational, no data exchange
Safe-Op
Off/green, 5:1
Safe operation, inputs readable
Op
Green, on
Operational, unrestricted data exchange
State
LED flash code
Explanation
Ok
Off
No error
SC
Red, on
Short-circuited digital out pu t
The output drivers have a thermal fuse to automatically turn off any shortcircuited outputs. In case the short circuit prevails, the outputs are allowed to
cool down to be turned back on until the thermal fuse blows again.
4.4 DI16/DO16
Figure 16: Front view I/O-Modul DI16/DO16
Figure 15: I/O connection
4.4.1 Terminals
Power supply to module I/Os
L+ 24 V DC
L- 0 V
Connect L+ to both L+ terminals if the total current exceeds the 6A limit.
Both terminals of L+ and of L- are each connected internally!
4.4.2 Status LEDs
4.4.2.1 "EtherCAT Run" LED
The LED labeled "EtherCAT Run" indicates the state of the EtherCAT ASIC.
4.4.2.2 LED "IO"
The LED labeled "IO" indicates the state of the module's I/Os.
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State
LED flash code
Explanation
On
Green, on
24 VDC supply ok
Off
Off
24 VDC supply not ok
State
LED
Explanation
On
Green, on
Input signal TRUE / output enabled
Off
Off
Input signal FALSE / output disabled
Variable
Data type
Explanation
DigitalInputn
BOOL
Digital input (n=0...15)
DigitalOutputn
BOOL
Digital output (n=0...15)
4.4.2.3 LED "Power"
The LED labeled "Power" indicates the state of the I/O module's I/O power supply.
The module is not monitored for low voltage states.
4.4.2.4 LEDs "Channel"
4.4.3 Function
The DI16/DO16 module features 16 digital inputs and 16 digital outputs.
4.4.3.1 Variable
4.4.4 Technical Data
Digital inputs .................................................. 16
Input delay ..................................................... 1ms / 5ms (typically)
Input delay ..................................................... Off: -3 … 5V (EN 61131-3, Typ1)
On: 15V … 30V
Digital outputs ................................................ 16
Max. current ................................................... 0.5A per output
Total current .................................................. max. 8A
Connector IO/Power .......... ........................... Plug 36-pole
Controller ....................................................... ASIC ET1200
Baud rate ....................................................... 100 Mbit/s
Connector E-Bus ........................................... 10-pin system plug in side wall
End module ................................................... not required
Power supply ................................................. 24V DC -20% +25%
E-bus load...................................................... 135mA
Part no
Kuhnke FIO DI16/DO16 5ms/0.5A ............... 694.450.01
Kuhnke FIO DI16/DO16 1ms/0.5A . .............. 694.450.03
Approvals: ......................................................
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State
LED flash code
Explanation
Init
Off
Initialization, no data exchange
Pre-Op
Off/green, 1:1
Pre-operational, no data exchange
Safe-Op
Off/green, 5:1
Safe operation, inputs readable
Op
Green, on
Operational, unrestricted data exchange
State
LED flash code
Explanation
Ok
Off
No error
SC
Red, on
Short-circuited digital out pu t
Out
Pin
0
0
1
2
2 4 3
6
4
8
5
10 6 12
7
14
4.5 DI16/DO8
Figure 18: Front view I/O-Modul DI16/DO8
Figure 17: I/O connection
4.5.1 Terminals
Power supply to module I/Os
L+ 24 V DC
L- 0 V
Connect L+ to both L+ terminals if the total current exceeds the 6A limit.
Both terminals of L+ and of L- are each c onn ect ed internally!
4.5.2 Status LEDs
4.5.2.1 LED "EtherCAT Ru n"
The LED labeled "EtherCAT Run" indicates the state of the EtherCAT ASIC
4.5.2.2 LED "IO"
The LED labeled "IO" indicates the state of the module's I/Os
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The output drivers have a thermal fuse to automatically turn off any shortcircuited outputs. In case the short circuit prevails, the outputs are allowed
to cool down to be turned back on until the thermal fuse blows again.
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State
LED flash code
Explanation
On
Green, on
24 VDC supply ok
Off
Off
24 VDC supply not ok
State
LED
Explanation
On
Green, on
Input signal TRUE / output enabled
Off
Off
Input signal FALSE / output disabled
Variable
Data type
Explanation
DigitalInputn
BOOL
Digital input (n=0...15)
DigitalOutputn
BOOL
Digital output (n=0...7)
reserved
BOOL
Unused output addresses
4.5.2.3 LED "Power"
The LED labeled "Power" indicates the state of the I/O module's I/O power supply.
The module is not monitored for low voltage states.
4.5.2.4 LEDs "Channel"
4.5.3 Function
The DI16/DO16 module features 16 digital inputs and 16 digital outputs.
4.5.3.1 Variable
4.5.4 Technical data
Digital inputs .................................................. 16
Input delay ..................................................... 1ms (typically)
Signal level .................................................... Off: -3 … 5V (EN 61131-3, Typ1)
On: 15V … 30V
Digital Outputs ............................................... 8
Max. current ................................................... 1.0A per output
Total current .................................................. max. 8A
Connector IO/Power ...................................... Plug 36-pole
Controller ....................................................... ASIC ET1200
Baud rate ....................................................... 100 Mbit/s
Connector E-Bus ........................................... 10-pin system plug in side wall
End module ................................................... not required
Power supply ................................................. 24V DC -20% +25%
E-bus load...................................................... 135mA
Part no ........................................................... 694.450.02
Approvals: ......................................................
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Kendrion Kuhnke Automation GmbH DI16/DO16 LS
State
LED flash code
Explanation
Init
Off
Initialization, no data exchange
Pre-Op
Off/green, 1:1
Pre-operational, no data exchange
Safe-Op
Off/green, 5:1
Safe operation, inputs readable
Op
Green, on
Operational, unrestricted data exchange
State
LED flash code
Explanation
On
Green, on
24 VDC supply ok
Off
Off
24 VDC supply not ok
4.6 DI16/DO16 LS (Low side)
Figure 20: Front view I/O-Modul DI16/DO16 LS
Figure 19: I/O connection
4.6.1 Terminals
Power supply to module I/Os
L+ 24 V DC
L- 0 V
Connect L- to both L- terminals if the total current exceeds the 6A limit.
Both terminals of L+ and of L- are each c onn ect ed internally!
4.6.2 Status LEDs
4.6.2.1 LED "EtherCAT Ru n"
The LED labeled "EtherCAT Run" indicates the state of the EtherCAT ASIC.
4.6.2.2 LED "IO"
There is no LED labeled "IO".
4.6.2.3 LED "Power"
The LED labeled "Power" indicates the state of the I/O module's I/O power supply.
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Kendrion Kuhnke Automation GmbH DI16/DO16 LS
State
LED
Explanation
On
Green, on
Input signal Low (TRUE) / output enabled
Off
Off
Input signal High (FALSE) / output disabled
Variable
Data type
Explanation
DigitalInputn
BOOL
Digital input (n=0...15)
DigitalOutputn
BOOL
Digital output (n=0...15)
4.6.2.4 LEDs "Channel"
4.6.3 Function
The DI16/DO16 LS module features 16 di g it al low-side inputs and 16 digital low-side outputs.
The output drivers have a thermal fuse to automatically turn off any short-
4.6.3.1 Variable
circuited outputs. In case the short circuit prevails, the outputs are allowed
to cool down to be turned back on until the thermal fuse blows again.
The module is not monitored for low voltage states.
4.6.4 Technical data
Digital inputs .................................................. 16
Input delay ..................................................... 1ms (typically)
Signal level .................................................... On: -3 … 5V
Off: 15V … 30V
Input current .................................................. 2mA (typically)
Digital outputs ................................................ 16
max. Current .................................................. 0.5A per output
Total current .................................................. max. 8A
Connector IO/Power ...................................... Plug 36-pole
Controller ....................................................... ASIC ET1200
Baud rate ....................................................... 100 Mbit/s
Connector E-Bus ........................................... 10-pin system plug in side wall
End module ................................................... not required
Power supply ................................................. 24V DC -20% +25%
E-bus load...................................................... 135mA
Part no ........................................................... 694.450.13
Approvals: ......................................................
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Kendrion Kuhnke Automation GmbH DI32
State
LED flash code
Explanation
Init
Off
Initialization, no data exchange
Pre-Op
Off/green, 1:1
Pre-operational, no data exchange
Safe-Op
Off/green, 5:1
Safe operation, inputs readable
Op
Green, on
Operational, unrestricted data exchange
State
LED
Explanation
On
Green, on
Input signal = TRUE
Off
Off
Input signal = FALSE
4.7 DI32
Figure 22: Front view I/O-Modul DI32
Figure 21: I/O connection
4.7.1 Terminals
Power supply to module I/Os
L- 0 V
4.7.2 Status LEDs
4.7.2.1 LED "EtherCAT Ru n"
The LED labeled "EtherCAT Run" indicates the state of the EtherCAT ASIC.
4.7.2.2 LED "IO"
There is no LED labeled "IO".
4.7.2.3 LED "Power"
There is no LED labeled "Power" because a separate power feed is not required.
4.7.2.4 LEDs "Channel"
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Kendrion Kuhnke Automation GmbH DI32
Variable
Data type
Explanation
DigitalInputn
BOOL
Digital input (n=0...31)
4.7.3 Function
The DI32 module has 32 digital inputs.
4.7.3.1 Variable
4.7.4 Technical data
Digital inputs .................................................. 32
Input delay ..................................................... 1ms (typically)
Signal level .................................................... Off: -3 … 5V (EN 61131-3, Typ1)
On: 15V … 30V
Connector IO/Power ...................................... Plug 36-pole
Controller ....................................................... ASIC ET1100
Baud rate ....................................................... 100 Mbit/s
Connector E-Bus ........................................... 10-pin system plug in side wall
End module ................................................... not required
Power supply ................................................. 24V DC -20% +25%
E-bus load...................................................... 85mA
Part no
Kuhnke FIO DI32, 1ms .................................. 694.451.02
Approvals: ......................................................
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Page 37
Kendrion Kuhnke Automation GmbH DI16
State
LED flash code
Explanation
Init
Off
Initialization, no data exchange
Pre-Op
Off/green, 1:1
Pre-operational, no data exchange
Safe-Op
Off/green, 5:1
Safe operation, inputs readable
Op
Green, on
Operational, unrestricted data exchange
State
LED
Explanation
On
Green, on
Input signal = TRUE
Off
Off
Input signal = FALSE
4.8 DI16
Figure 24: Front view I/O-Modul DI16
Figure 23: I/O connection
4.8.1 Terminals
Power supply to module I/Os
L- 0 V
4.8.2 Status LEDs
4.8.2.1 LED "EtherCAT Ru n"
The LED labeled "EtherCAT Run" indicates the state of the EtherCAT ASIC.
4.8.2.2 LED "IO"
There is no LED labeled "IO".
4.8.2.3 LED "Power"
There is no LED labeled "Power" because a separate power feed is not required.
4.8.2.4 LEDs "Channel"
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Kendrion Kuhnke Automation GmbH DI16
Variable
Data type
Explanation
DigitalInputn
BOOL
Digital input (n=0...15)
4.8.3 Function
The DI16 module has 16 digital inputs.
4.8.3.1 Variable
4.8.4 Technical data
Digital inputs .................................................. 16
Input delay ..................................................... 1ms (typically)
Signal level .................................................... Off: -3 … 5V (EN 61131-3, Typ1)
On: 15V … 30V
Connector IO/Power ...................................... Plug 18-pole
Controller ....................................................... ASIC ET1200
Baud rate ....................................................... 100 Mbit/s
Connector E-Bus ........................................... 10-pin system plug in side wall
End module ................................................... not required
Power supply ................................................. 24V DC -20% +25%
E-bus load...................................................... 100mA
Part no
Kuhnke FIO DI16, 1ms .................................. 694.451.03
Approvals: ......................................................
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Page 39
Kendrion Kuhnke Automation GmbH DO16
State
LED flash code
Explanation
Init
Off
Initialization, no data exchange
Pre-Op
Off/green, 1:1
Pre-operational, no data exchange
Safe-Op
Off/green, 5:1
Safe operation, inputs readable
Op
Green, on
Operational, unrestricted data exchange
State
LED flash code
Explanation
Ok
Off
No error
SC
Red, on
Short-circuited digital out pu t
4.9 DO16
Figure 26: Front view I/O-Modul DO16
Figure 25: I/O connection
4.9.1 Terminals
Power supply to module I/Os
L+ 24 V DC
L- 0 V
4.9.2 Status LEDs
4.9.2.1 LED "EtherCAT Ru n"
The LED labeled "EtherCAT Run" indicates the state of the EtherCAT ASIC.
4.9.2.2 LED "IO"
The LED labeled "IO" indicates the state of the module's I/Os.
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The output drivers have a thermal fuse to automatically turn off any shortcircuited outputs. In case the short circuit prevails, the outputs are allowed
to cool down to be turned back on until the thermal fuse blows again.
Page 40
Kendrion Kuhnke Automation GmbH DO16
State
LED flash code
Explanation
On
Green, on
24 VDC supply ok
Off
Off
24 VDC supply not ok
State
LED
Explanation
On
Green, on
Output enabled
Off
Off
Output disabled
Variable
Data type
Explanation
DigitalOutputn
BOOL
Digital output (n=0…15)
4.9.2.3 LED "Power"
The LED labeled "Power" indicates the state of the I/O module's I/O power
supply.
The module is not monitored for low voltage states.
4.9.2.4 LEDs "Channel"
4.9.3 Function
The DO16 module has 16 digital outputs
4.9.3.1 Variable
4.9.4 Technical data
Digital outputs ................................................ 16
max. Current .................................................. 0.5A per output
Total current .................................................. max. 8A
Connector IO/Power ...................................... Plug 18-pole
Controller ....................................................... ASIC ET1200
Baud rate ....................................................... 100 Mbit/s
Connector E-Bus ........................................... 10-pin system plug in side wall
End module ................................................... not required
Power supply ................................................. 24V DC -20% +25%
E-bus load...................................................... 130mA
Part no ........................................................... 694.452.01
Approvals: ......................................................
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Page 41
Kendrion Kuhnke Automation GmbH DO8
State
LED flash code
Explanation
Init
Off
Initialization, no data exchange
Pre-Op
Off/green, 1:1
Pre-operational, no data exchange
Safe-Op
Off/green, 5:1
Safe operation, inputs readable
Op
Green, on
Operational, unrestricted data exchange
State
LED flash code
Explanation
Ok
Off
No error
SC
Red, on
Short-circuited digital out pu t
Out
Pin 0 0
1
2
2 4 3
6
4
8
5
10 6 12
7
14
4.10 DO8
Figure 27: Front view Relay-Modul DO8
Figure 28: I/O connection
4.10.1 Terminals
Power supply to module I/Os
L+ 24 V DC
L- 0 V
4.10.2 Status LEDs
4.10.2.1 LED "EtherCAT Run "
The LED labeled "EtherCAT Run" indicates the state of the EtherCAT ASIC.
4.10.2.2 LED "IO"
The LED labeled "IO" indicates the state of the module's I/Os.
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The output drivers have a thermal fuse to automatically turn off any shortcircuited outputs. In case the short circuit prevails, the outputs are allowed
to cool down to be turned back on until the thermal fuse blows again.
Page 42
Kendrion Kuhnke Automation GmbH DO8
State
LED flash code
Explanation
On
Green, on
24 VDC supply ok
Off
Off
24 VDC supply not ok
State
LED
Explanation
On
Green, on
Output enabled
Off
Off
Output disabled
Variable
Data type
Explanation
DigitalOutputn
BOOL
Digital output (n=0...7)
reserved
BOOL
Unused output addresses
4.10.2.3 LED "Power"
The LED labeled "Power" indicates the state of the I/O module's I/O power
supply.
The module is not monitored for low voltage states.
4.10.2.4 LEDs "Channel"
4.10.3 Function
The DO8 module has 8 digital outputs.
4.10.3.1 Variable
4.10.4 Technical data
Digital outputs ................................................ 8
max. Current .................................................. 1.0A per output
Total current .................................................. max. 8A
Connector IO/Power ...................................... Plug 18-pole
Controller ....................................................... ASIC ET1200
Baud rate ....................................................... 100 Mbit/s
Connector E-Bus ........................................... 10-pin system plug in side wall
End module ................................................... not required
Power supply ................................................. 24V DC -20% +25%
E-bus load...................................................... 130mA
Part no ........................................................... 694.452.02
Approvals: ......................................................
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Page 43
Kendrion Kuhnke Automation GmbH DO8 Relay NO 24V
State
LED flash code
Explanation
Init
Off
Initialization, no data exchange
Pre-Op
Off/green, 1:1
Pre-operational, no data exchange
Safe-Op
Off/green, 5:1
Safe operation, inputs readable
Op
Green, on
Operational, unrestricted data exchange
State
LED flash code
Explanation
On
Green, on
24 VDC supply ok
Off
Off
24 VDC supply not ok
Out
Pin
0-a
0
0-b
1
1-a
2
1-b
3
2-a
4
2-b
5
3-a
6
3-b
7
4-a
8
4-b
9
5-a
10
5-b
11
6-a
12
6-b
13
7-a
14
7-b
15
24V
16
0V
17
4.11 DO8 Relay NO 24V
Figure 30: Front view I/O-Module DO8 Relay NO 24V
Figure 29: I/O connection
4.11.1 Terminals
Power supply to module I/Os
L+ 24 V DC
L- 0 V
4.11.2 Status LEDs
4.11.2.1 LED "EtherCAT Run"
The LED labeled "EtherCAT Run" indicates the state of the EtherCAT ASIC.
4.11.2.2 LED "IO"
The LED labeled "IO" is not used.
4.11.2.3 LED "Power"
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The LED labeled "Power" indicates the state of the I/O module's I/O power
supply.
The module is not monitored for low voltage states.
Page 44
Kendrion Kuhnke Automation GmbH DO8 Relay NO 24V
State
LED
Explanation
On
Green, on
Output enabled
Off
Off
Output disabled
Variable
Data type
Explanation
DigitalOutputn
BOOL
Digital output (n=0...7)
reserved
BOOL
Unused output addresses
4.11.2.4 LEDs "Channel"
4.11.3 Function
The DO8 Relay NO 24V module has 8 relay outputs.
4.11.3.1 Variable
4.11.4 Technical data
Digital outputs ................................................ 8 relay, N O
max. switching current (ohmic) ...................... 5.0A per output
max. switching current (inductive) ................. 2.0A per output
min. permitted Load ...................................... 10nA @ 5 VDC
Operating cycles mech. (min.) ....................... 2 x 10
Operating cycles electr. (min.) ....................... 3 x 10
Switching voltage ........................................... max. 24 VDC/ VAC
Connector IO/Power ...................................... Plug 18-pole
Controller ....................................................... ASIC ET1200
Baud rate ....................................................... 100 Mbit/s
Connector E-Bus ........................................... 10-pin system plug in side wall
End module ................................................... not required
Power supply ................................................. 24V DC -20% +25%
E-bus load...................................................... 130mA
Part no ........................................................... 694.452.03
7
5
(2A/30VDC)
Approvals: ...................................................... planed!
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Kendrion Kuhnke Automation GmbH DO8 Relay NO 230 VAC
State
LED flash code
Explanation
Init
Off
Initialization, no data exchange
Pre-Op
Off/green, 1:1
Pre-operational, no data exchange
Safe-Op
Off/green, 5:1
Safe operation, inputs readable
Op
Green, on
Operational, unrestricted data exchange
State
LED flash code
Explanation
On
Green, on
24 VDC supply ok
Off
Off
24 VDC supply not ok
Out
Pin
0-a
0
0-b
1
1-a
2
1-b
3
2-a
4
2-b
5
3-a
6
3-b
7
4-a
8
4-b
9
5-a
10
5-b
11
6-a
12
6-b
13
7-a
14
7-b
15
24V
16
0V
17
4.12 DO8 Relay NO 230 VAC
Figure 32: Front view I/O-Modul DO8 Relay NO 230VAC
Figure 31: I/O connection
4.12.1 Terminals
Power supply to module I/Os
L+ 24 V DC
L- 0 V
4.12.2 Status LEDs
4.12.2.1 LED "EtherCAT Run"
The LED labeled "EtherCAT Run" indicates the state of the EtherCAT ASIC.
4.12.2.2 LED "IO"
The LED labeled "IO" is not used.
4.12.2.3 LED "Power"
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The LED labeled "Power" indicates the state of the I/O module's I/O power
supply.
The module is not monitored for low voltage states.
Page 46
Kendrion Kuhnke Automation GmbH DO8 Relay NO 230 VAC
State
LED
Explanation
On
Green, on
Output enabled
Off
Off
Output disabled
Variable
Data type
Explanation
DigitalOutputn
BOOL
Digital output (n=0...7)
reserved
BOOL
Unused output addresses
4.12.2.4 LEDs "Channel"
4.12.3 Function
The DO8 Relay NO 24V module has 8 relay outputs.
4.12.3.1 Variable
4.12.4 Technical data
Digital outputs ................................................ 8 relay, NO
max. switching current (ohmic) ...................... 5.0A per output
max. switching current (inductive) ................. 2.0A per output
min. permitted load ....................................... 10nA @ 5 VDC
Operating cycles mech. (min.) ....................... 2 x 10
Operating cycles electr. (min.) ....................... 3 x 10
Switching voltage ........................................... max. 24 VDC/ 230 VAC
Connector IO/Power ...................................... Plug 18-pole
Controller ....................................................... ASIC ET1200
Baud rate ....................................................... 100 Mbit/s
Connector E-Bus ........................................... 10-pin system plug in side wall
End module ................................................... not required
Power supply ................................................. 24V DC -20% +25%
E-bus load...................................................... 130mA
Part no ........................................................... 694.452.04
7
5
(2A/30VDC)
Approvals: ...................................................... each planed!
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Kendrion Kuhnke Automation GmbH Counter/Posi2, Counter2
Pin
Signal
Explanation
0..3
In_0..3
Digital Inputs
4
Out_0
Digital Output
5..6
A_Out
Analog output (Counter/Posi2 only)
7..12
A, B, Ref
Encoder signals*
13..14
5V
Encoder supply 5V (0.2A fuse)
15
n. c.
Initiator supply (0.2A fuse)
16..17
24V
Module supply
Figure 33: Pinning Counter/Posi2
Figure 35: Pinning Counter2
4.13 CounterPosi2 5V, Counter2 5V
Figure 34: Front view of the Counter2 module
Figure 36: Front view of the Counter2 module
4.13.1 Terminals
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* 24V encoders: for >25kHz not used encoder signals connected to +5V
Operative earth / shielding of analog wires chapter 3.2.1 page 15
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Kendrion Kuhnke Automation GmbH Counter/Posi2, Counter2
State
LED flash code
Explanation
Init
Off
Initialization, no data exchange
Pre-Op
Off/green, 1:1
Pre-operational, no data exchange
Safe-Op
Off/green, 5:1
Safe operation, inputs readable
Op
Green, on
Operational, unrestricted data exchange
Malfunction of module if E-bus LED = On
Inoperative if E-bus LED = Off
Red, 2 x
Low voltage
Red, 3 x
Watchdog internal
Red, 4 x
EtherCAT watchdog control
Configuration error (E-b us pre-operational), no. of
Defective
Red, on
Module defective
State
LED flash code
Explanation
On
Green, on
24 V DC exists
Off
Off
24 V DC does not exist
Pin
Voltage
LED
Explanation
0..3
24V
Green
Digital Inputs
4
24V
Green
Digital Outputs
7, 9, 11
5V
Green
Encoder signals A, B, Ref
4.13.2 Status LEDs
4.13.2.1 LED "EtherCAT"
The LED labeled "EtherCAT" indicates the state of the EtherCAT ASIC.
4.13.2.2 LED "IO"
The LED labeled "IO" indicates the state of the module's I/Os.
State LED flash code Explanation
Ok Green, on No error
Off
Error
4.13.2.3 LED "Power"
The LED labeled "IO" indicates the state of the I/O-supply of the module.
4.13.2.4 Status LEDs of the IOs
The Status-LEDs of the several IOs indicate the state of the individual I/Os.
Red, 7 x
process data differs from that in the module
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Kendrion Kuhnke Automation GmbH Counter/Posi2, Counter2
In the following the functions of the counter module are described by
counter 1. For counter 2 the data are valid accordingly.
4.13.3 Function
The module Counter2 has 2 identical channels.
Each channel has terminals for 1 encoder and 4 digital inputs and 1 digital
output.
The Counter/Posi2 module has 1 additional analog output.
There are structured groups of variables for:
1. Controlling and watching the entire module:
• Modul Kontr ol le/ Mod ul Status (Module control/Module status)
2. Controlling and watching of Counter 1 resp. 2:
• Optionen/Kontrolle/Status/Fehler (Options/Control/Status/Errors)
3. Counter values of Counter 1 resp. 2:
• Sollwer te/Is t wert e (Set val u es /Cur rent va lues)
4. State of the digital IOs of Counter 1 resp. 2:
• Digitale Ausgänge/Di git ale Ein gä nge/ Ei ng angs f lankenZeitstempel/Ausgangsverzögerung
(Digital Outputs/Digital Inputs/Input change time stamp/ output delay)
Principle of Kontrolle (Control) and Status:
If a control bit is set (=TRUE), the module will operate the corresponding
function due to the rising edge of the bit.
The module indicates the execution of the function by setting the
corresponding status bit (=TRUE). When the control bit is reset (=FALSE)
the module will also reset the status bit (=FALSE).
4.13.3.1 Frame- or DC-synchronous mode
Dependent on whether Distributed Clocks (DC) are used or not, the module
adjusts itself independently on the suitable mode of operation. The module is
preset on Frame synchronous mode. With the receipt of the first DC
telegram the module is changed over to DC-synchronous mode and
maintains this mode of operation up to next switching off.
4.13.3.1.1 Frame-synchronous
The EtherCAT master sends EtherCAT frames with the output data for the
module. With the arrival of such frame the output data are taken over and
processed by the module. The module places its input data into the
EtherCAT frame, so that the master can receive it.
4.13.3.1.2 DC-synchronous
If the module is adjusted to DC-synchronous mode, it produces interrupts
according to the rules of the Distributed Clocks DC. The EtherCAT master
sends also here EtherCAT Frames away with the output data for the module.
With the arrival of such frames the output data of the module are taken over
however then processed only if a DC interrupt has occurred. With the DC
interrupt the module places its input data into a buffer, from which they are
transported with the next EtherCAT Frame to the master.
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Kendrion Kuhnke Automation GmbH Counter/Posi2, Counter2
Variable
Data type
Explanation
ResetError
BOOL
rising edge error confirmation
Variable
Data type
Explanation
LowSupplyVoltage
BOOL
Low voltage
Watchdog
BOOL
module internal Watchdog
EtherCAT_Error
BOOL
Configuration error or Timeout
The use of the counter module in a variety of different applic at ions is
possible by use of the variables from the groups of Zähler 1
Kontrolle and
With this method time-synchronous functions for digital inputs and digit al
outputs for several modules in 1 EtherCAT network are possible.
See also beginning at page 54Zähler 1 Eingangsflanken-Zeitstempel
(Counter 1 Input Edge Timestamp) and Ausgangsverzögerung (Outp ut Set
Delay) (in preparation).
4.13.3.2 Controlling and watching the entire mo dule
The module control is carried out with the variables from the group "Modul
Kontrolle“. The status of the settings having been carried out becomes
shown in the variables of the group "Modul Status".
4.13.3.2.1 Modul Kontrolle (Module Control)
The module does not have any options at present.
The module reports faults with different "Modul Status" bits. These bits are
stored. They can be reset only then if the fault is not there any more.
Send a rising edge to "ResetError" to reset the "Modul Status" bits.
4.13.3.2.2 Modul Status (Module State)
The following module status bits are indicated:
Reset: see 4.13.3.2.1 Modul Kontrolle
4.13.3.3 Controlling/Watching Counter 1
The setting of the functions of the counter is carried out with the variables
from the group "Zähler 1 Optionen".
The module control is carried out with the variables from the group
"Zähler 1 Kontrolle".
The status of the settings is indicated in the variables of the group
"Zähler 1 Status".
-Status.
-Optionen, -
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Kendrion Kuhnke Automation GmbH Counter/Posi2, Counter2
Data
0
Deactivate compare function
1
Activate compare function
0
A, B, Ref with detection of direction
B=0 down
B=1 up
Only if SelectEncoder=1 (Event counter)
0
Rising and falling edges
1
Only rising edges
0
Output_0_0 is a regular digital output
Output_0_0 is controlled by the compare
In case of module error all digital and analog
In case of module error all digital and analog
SetOptions_1
BOOL
0/1
Take over "Zähler 1 Optionen"
ResetReferenced_1
BOOL
0/1
Reset of status bit "Referenced_1"
ResetCompared_1
BOOL
0/1
Reset of status bit "Compared_1"
ResetCaptured_1
BOOL
0/1
Reset of status bit "Captured_1"
0
Disable counter
1
Enable counter
0
Disable Referencing
1
Enable Referencing
SetCounter_1
BOOL
0/1
Set counter to preset value
SetCompare_1
BOOL
0/1
Set compare value register
SetPreset_1
BOOL
0/1
Set preset value register
SetMax_1
BOOL
0/1
Set maximum value register
4.13.3.3.1 Zähler 1 Optionen (Counter 1 Options)
The module offers you different options for the operation of Counter 1. The
options are set in the module with the help of the control bit "SetOptions_1"
(see also 4.13.3.3.2 Zähler 1 Kontrolle) and then valid up to the next setting
procedure.
• At first select the options, please. For taking over send a rising edge to
the control bit "SetOptions_1". The module indicates the execution by
"OptionsSet_1=TRUE". When "SetOptions_1" becomes FALSE again,
the module responses by "OptionsSet_1=FALSE". So the module is
ready for the next setting process.
Variable
Enable_Compare_1 BOOL
SelectEncoder_1 BOOL
SetResolution_1 BOOL
ControlOutput_1 BOOL
OnErrorForceOutputsOff_1
(since release 3 )
type
BOOL
Value Explanation
1 Event counter at A
1
0
1
4.13.3.3.2 Zähler 1 Kontrolle (Counter 1 Control)
Enabling and disabling of counting and referencing are determined by the
state of the control variables.
Set and Reset functions are activated by setting of the appropriate variable.
The execution is indicated in the corresponding status variable.
If the control variable is reset, the counter module also resets the
corresponding status variable.
function.
outputs are continued to update.
outputs are forced to 0.
Variable Data type Value Explanation
EnableCounter_1 BOOL
EnableReferencing_1 BOOL
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Variable
Data type
Explanation
Counting_1
BOOL
Counter is enabled
Reference function was executed
Clockwise_1
BOOL
Counter counts up
Compare function was exec uted
Capture function was executed
CounterSet_1
BOOL
Counter is set to preset value
CompareSet_1
BOOL
Compare value is set
PresetSet_1
BOOL
Preset value is set
MaxSet_1
BOOL
Maximum value is set
OptionsSet_1
BOOL
Options of counter 1 are set
Outputs will be switched off in case of error
Variable
Data type
Explanation
Outputs have been forced to 0 because of a module
Err_Reserved_1_x
BOOL
reserved error bits
Variable
Explanation
SetCounter_1
Copy "SetValue_1" to the current counter value
SetCompare_1
Copy "SetValue_1" to the compare value register
SetPreset_1
Copy "SetValue_1" to the preset value register
SetMax_1
Copy "SetValue_1" to the maximum value register
4.13.3.3.3 Zähler 1 Stat us (Counter 1 State)
The status variables indicate the status of the counter. This concerns
• the appearance of events and
• the indication of the execution of settings.
Referenced_1 BOOL
Compared_1 BOOL
Captured_1 BOOL
OutputsOnErrorOff_1 BOOL
Reset by ResetReferenced_1
Reset by ResetCompared_1
Reset by ResetCaptured_1
(since release 3)
4.13.3.3.4 Zähler 1 Fehler (Counter 1 Errors)
The variables are provided for the indication of error states.
OutputsForcedOff_1 BOOL
error (since version 3)
4.13.3.4 Counter values of Counter 1
4.13.3.4.1 Zähler 1 Sollwerte (Counter 1 Set Values)
The counter can be preset with different set va lues.
That is done by help of the variable "SetValue_1". After setting the following
control bits the contents of "SetValue_1" will be copied in the corresponding
register.
The current set values can be read in the variable "SelectedValue" from the
"Zähleristwerte" (Counter current values) group.
• Select by the variable "Select_1", which value you want to see in the
variable "SelectedValue ".
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Variable
Data type
Explanation
Selection which value of counter1 shall be displayed in
0
none
1
Vergleichswert (Compare value)
2
Vorwahlwert (Preset value)
3
Endwert (Max value) (Default:2.147.483.647)
4
Fangwert (Capture value)
5
Counter pulses/second
6
Revolutions per minute
128
Version info
Set value of counter 1 (source) to copy (operated by a
Variable
Data type
Explanation
Counter_1
UDINT
Current value of counter 1
Selection of that value of counter 1, which is displayed
0
none
1
Vergleichswert (Compare value)
2
Vorwahlwert (Preset value)
3
Endwert (Max value)
4
Fangwert (Capture value)
5
Counter pulses/second
6
Revolutions per minute
128
Version info
SelectedValue
UDINT
Selected current value of counter 1
Byte 3 2 1 0
Explanation
Version #
Release
Level
Type code
0x2
0x00
0x00
0x53 2 0 0 S
the variable "SelectedValue ":
Select_1 UINT
SetValue_1 UDINT
control bit) into a set value register (target)
4.13.3.4.2 Zähler 1 Istwerte (Counter 1 Actual Values)
These variables display the current counter value and the current set values.
The set values are represented multiplexedly in the variable
"SelectedValue" (Select ion b y Select_1) .
in the variable SelectedValue.
(Value of Select_1 read from the module)
Selected_1 UINT
Version info:
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Example
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Variable
Data type
Explanation
Input_0_0
BOOL
Digital Input 0
Input_0_1
BOOL
Digital Input 1
Input_0_2
BOOL
Digital Input 2
Input_0_3
BOOL
Digital Input 3
In_Output_0_0
BOOL
Status of Digital Output 0 (Reads the status)
Variable
Data type
Explanation
Input_0_0_TS
UINT
Time stamp for Digital Input 0 (Hardware Trigger)
Input_0_1_TS
UINT
Time stamp for Digital Input 1 (Software Polling)
Input_0_2_TS
UINT
Time stamp for Digital Input 2 (Software Polling)
Input_0_3_TS
UINT
Time stamp for Digital Input 3 (Software Polling)
The time stamp is metered between frame- or DC-interrupts and signal
changes on the
T
takes place between two f
4.13.3.5 Digital I/Os
4.13.3.5.1 Zahler 1 Digitale Eingänge (Counter 1 Digital Inputs)
The variables indicate the status of the digital inputs.
4.13.3.5.2 Zähler 1 Eingangsflanken-Zeitstempel (Counter 1 Input Edge Timestamp)
The variables indicate the time, on which the status of the digital input has
changed. When the time measurement is started, depends on the mode of
operation.
(See also chapter 4.13.3.1 at page 49)
he value of the time stamp becomes to 0xFFFF, when no signal change
input in µs.
rame- or DC-interrupts.
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Digital Input
Variable
Timestamp
Digital Input
Variable
Timestamp
t
Digital Input
DC-Interrupts
Timestamp (n)
n
Off
On
n+1
n+2
Timestamp (n+1)
Frame
t
Digital Input
Frame-Interrupts
Timestamp (n)
n
Off
On
n+1
n+2
Timestamp (n+1)
in frame-synchronous mode:
The time from the last frame-interrupt to the status change of the input is
stored in the time stamp and sent in the following frame to the EtherCAT
master.
Frame
in DC-synchronous mode:
The time from the last DC-interrupt to the status change of the input is stored
in the time stamp and sent in the following frame to the EtherCAT master.
n+1 TRUE Timestamp (n)
n+2 FALSE Timestamp (n+1)
Frame
n+1 TRUE Timestamp (n)
n+2 FALSE Timestamp (n+1)
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Variable
Data type
Explanation
Output_0_0
BOOL
Digital Output 0 (Sets the output)
Variable
Data type
Explanation
Output_0_0_Del
UINT
Output set delay in µs
Digital Output
Variable
Output set delay
t
Digital Output
DC-Interrupts
Output set delay (n)
n
Off
On
n+1
n+2
Output set delay (n+1)
Frame
t
Digital Output
Frame-Interrupts
n
Off
On
n+1
n+2
Output set delay (n)
Output set delay (n+1)
4.13.3.5.3 Digitale Ausgänge (Digital Outputs)
The variables indicate the status of the digital outputs.
4.13.3.5.4 Ausgangsverzögerung (Output Set Delay) (in preparation)
This variable defines the time, when the output is set.
im Frame-synchronen Betrieb:
Frame
im DC-synchronen Betrieb:
n TRUE Output set delay (n)
n+1 FALSE Output set delay (n+1)
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Digital Output
Variable
Output set delay
Variable
Data type
Explanation
AnalogOutput_1
UINT
Analog Output 1
Frame
n TRUE Output set delay (n)
n+1 FALSE Output set delay (n+1)
4.13.3.6 Analoge Ausgänge (Analog Outputs) (Counter/Posi2 5V only )
The variables define the Voltage of the analog outputs.
Output values: See Figure 50: Analog values voltage page 96
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4.13.4 Examples
4.13.4.1 Enable Counter
The counter is active, when the variable " EnableCounter_1" is TRUE.
Term2_EnableCounter_1:=TRUE; (*Release of the counter*)
Term2_Counting_1; (*TRUE, if counter is enabled*)
Term2_Clockwise_1; (*Count direction, TRUE, when up*)
4.13.4.2 Counter Set/ Clear
Copying the contents of "SetValue_1" into the current value is executed by a
rising edge to " SetCounter_1". Execution is indicated by
"CounterSet_1=TRUE".
If "SetCounter_1" is reset (FALSE) again, "CounterSet_1" becomes also
again FALSE.
Term2_SetValue_1:=diCounterValue ; (*Copy a number into the source var*)
(* 0 = Clear*) and
Term2_SetCounter_1:=TRUE; (*copy to the counter current value*)
Term2_CounterSet_1; (*TRUE, if set*)
4.13.4.3 Set Compare Value
Configuration settings set in "Zähler 1 Optionen" are activated by the rising
edge of the control bit "SetOptions_1". The successful take-over of the
options is confirmed with the status bit "OptionsSet_1".
e.g. Set compare function.
PROGRAM Initialization
VAR
bInit: BOOL := TRUE;
Step: USINT;
END_VAR
-------------------------------------------------------------------------------IF bInit THEN
CASE Step OF
(*Select options, activate them by a rising edge to "Set_Options"*)
0: Term2_EnableCounter_1:=TRUE; (*Release counter*)
Term2_EnableCompare_1:=TRUE; (*Activate compare function*)
Term2_ControlOutput_1:=TRUE; (*Compare function controls Output*)
Term2_SetValue_1:=10000; (*Set value = 10000..*)
Term2_SetCompare_1:=TRUE; (*..use as compare value*)
Term2_SetOptions_1:=TRUE; (*Activate selected options*)
Step:= 1;
(* Wait for confirmations "OptionsSet" and " CompareSet"*)
1: IF Term2_OptionsSet_1 AND Term2_CompareSet_1 THEN
Step:= 2;
END_IF
(* Set "Set_Options" and " SetCompare" in the starting position*)
2: Term2_SetOptions_1:=FALSE;
Term2_SetCompare_1:=FALSE;
Step:=0;
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bInit:=FALSE;
END_CASE
END_IF
4.13.4.4 Set Preset Val u e
Copying the value of "SetValue_1" into the preset value is executed by a
rising edge to "SetPreset_1". The execution is indicated by
"PresetSet_1=TRUE".
If " SetPreset_1" is reset (FALSE) again, " PresetSet_1" becomes also again
FALSE.
Term2_SetValue_1:=diPresetValue ; (*Copy a number into the source var*)
Term2_SetPreset_1:=TRUE; (*Copy to the preset value*)
Term2_PresetSet_1; (*TRUE, if set*)
4.13.4.5 Set Maximum Value
Copying the value of "SetValue_1" into the preset value is executed by a
rising edge to "SetMax_1". The execution is indicated by
"MaxSet_1=TRUE".
If "SetMax_1" is reset (FALSE) again, "MaxSet_1" becomes also again
FALSE.
Term2_SetValue_1:=diMaxValue ; (*Copy a number into the source var*)
Term2_SetMax_1:=TRUE; (*Copy to the maximum value *)
Term2_MaxSet_1; (*TRUE, if set*)
4.13.4.6 Digital Output
See also page 51: Zähler 1 Optionen (Counter 1 Options).
The digital output can be controlled optionally by the variab le "Out put _ 0_ 0"
or the compare function. Decision is done by the variable "ControlOutput_1"
(Set Options see also page 58)
The current status of the output is read from the module and displayed in
"In_Output_0_0".
Term2_ControlOutput_1:=FALSE; (*Term2_Output_0_0 controls output*)
Term2_ControlOutput_1:=TRUE; (*Compare function controls output*)
Term2_In_Output_0_0; (*Status of the output*)
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4.13.4.7 Operating as A-B-Ref-Counter or Event Counter
(See also page 51: Zähler 1 Optionen (Counter 1 Options))
The counter can be operated as A, B, Ref -Counter with self detection of the
direction or as event counter. The selection is done by the variable
" SelectEncoder_1"
(Set Options see also page 58)
Term2_SelectEncoder_1:=FALSE; (*A, B, Ref *)
Term2_SelectEncoder_1:=TRUE; (*Event counter at A*)
(*B=FALSE:down, B=TRUE:up*)
4.13.4.8 Single- und Multiple Counting
This option is valid in the event counter mode only.
(See also page 51: Zähler 1 Optionen (Counter 1 Options))
The counter can count edges (all rising and falling edges) or pulses (only the
rising edges). The selection is done by the variable "SetResolution_1"
(Set Options see also page 58)
Term2_SetResolution_1:=FALSE; (*all edges*)
Term2_SetResolution_1:=TRUE; (*Pulses*)
4.13.4.9 Referencing
The counter can be set to preset value when a pulse occurs at the Ref input.
The preset value can be 0, but also any other 32-bit number .
Task:
An encoder with 500 Pulses provides 2000 increments per turn in the all
edges mode.
Every Ref pulse shall set the counter to the preset value 2000.
It shall be counted down to 0 within 1 turn.
(The counting direction is determined by the turning direction of the
encoder.)
PROGRAM Referenzierung
VAR
bInit: BOOL := TRUE;
StepInit: USINT;
bInitReady: BOOL;
Step: USINT;
END_VAR
--------------------------------------------------------------------------------
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(*1. Initializing: Enabling of the counter and setting of the preset value*)
IF bInit THEN
CASE StepInit OF
(*Selecing of the options and setting them by a rising edge v. "Set_Options"*)
0: Term2_EnableCounter_1:=TRUE;
Term2_SetValue_1:=2000;
Term2_SetPreset_1:=TRUE;
Term2_SetOptions_1:=TRUE;
StepInit:=1;
(* Wait for confirmations "OptionsSet" and "PresetSet"*)
1: IF Term2_OptionsSet_1 AND Term2_PresetSet_1 THEN
StepInit:=2;
END_IF
(* Reset "Set_Options" und "Set_Preset" into the start position*)
2: Term2_SetOptions_1:=FALSE;
Term2_SetPreset_1:=FALSE;
StepInit:=0;
bInit:=FALSE;
bInitReady:=TRUE;
END_CASE
END_IF
(*2. Controlling of the referencing*) IF bInitReady THEN CASE Step OF (*Switch on the referencing mode*) 0: Term2_EnableReferencing_1:=TRUE; Step:=1; (* Wait for a referencing pulse*) 1: IF Term2_Referenced_1 THEN Step:=2; END_IF (* Reset of the referencing message*) 2: Term2_ResetReferenced_1:=TRUE; Step:=3; 3: IF NOT Term2_Referenced_1 THEN (* Reset "ResetReferenced_1" into the start position *) Term2_ResetReferenced_1:=FALSE; (*Switch on the referencing mode *) Term2_EnableReferencing_1:=FALSE; Step:=0; (*Next turn the same procedure.*) END_IF END_CASE END_IF
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4.13.4.10 Capture
A falling edge at the Digital Input 1can be used as trigger in order to save the
current counter value (capture).
You get a message in the status bit "Captured_1" that a capture event has
appeared.
You have to reset " Captured_1" by "ResetCaptured_1" that the next capture
event can be indicated.
Term2_Input_0_1; (*Status of Input 1*)
Term2_Select_1:=4; (*Copy capture register to Term2_SelectedValue_1*)
Term2_Selected_1; (* =4, if capture value in Term2_SelectedValue_1*)
Term2_SelectedValue_1; (*Here you can read the capture value*)
Term2_Captured_1; (*A capture event has appeared *)
Term2_ResetCaptured_1; (*Reset of Term2_Captured_1*)
4.13.4.11 Digital Inputs (Input_0_x)
The status of the digital inputs is indicated in the variables "Input_0_x".
Permanente additional function:
The current counter value is saved in the capture register when a falling
edge appears at Input_0_1.
Term2_Input_0_0; (*Status of Input 0*)
Term2_Input_0_1; (*Status of Input 1*)
Term2_Input_0_2; (*Status of Input 2*)
Term2_Input_0_3; (*Status of Input 3*)
4.13.4.12 Analog Outputs (Counter/Posi2 5V only)
The output values of the analog outputs are written into the variables
" AnalogOutput _x".
Term2_ AnalogOutput_1:= 16#7FFF; (* Set AnalogOutput_1 to +10V *)
Term2_ AnalogOutput_2:= 16#8000; (* Set AnalogOutput_2 to -10V *)
Output values: See Figure 50: Analog values voltage page 96
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4.13.5 Technical Data
Counter2 5V
Encoder ......................................................... 2 A, B, Ref
Encoder type ................................................. RS422, 5V, 24VDC
Count rate ...................................................... RS422: 200kHz
24V: 200kHz*
* for >25kHz not used Encoder signals must be connected to +5V
Digital Inputs .................................................. 8
Input delay ..................................................... 1ms
Signal level .................................................... Off: -3 … 5V
On: 15V … 30V (EN 61131-3, Typ1)
Digital Outputs ............................................... 2
max. Current .................................................. 2A per output
Feldbus .......................................................... EtherCAT 100 Mbit/s
EtherCAT-Datei ............................................. KuhnkeCounterPosiModul.xml
WxHxD ........................................................... 25x120x90 mm
Montage ......................................................... 35mm DIN-Hutschiene
Controller ....................................................... ASIC ET1200
E-Bus port ...................................................... 10-pin system plug in side wall
Term.module ................................................. not required
E-Bus-Load .................................................... 300mA
Power supply:
Logic by Ether CAT-Coupler via E-Bus-plug
Connector IO/Power ...................................... Plug 36-pole (not part of the module)
Power24V DC -20% +25%
Galvanic separation ....................................... Separated from one another and versus the bus
Storage temperature ...................................... -25 °C…+70 °C
Operating temperature .................................. 0°C…+55°C
Relative humidity ........................................... 5%...95% without dewing
Protection....................................................... IP20
Interference immunity .................................... Z one B
part no............................................................ 694.444.01
Counter/Posi2 5V
additional
Analog Outputs .............................................. 2
Voltage........................................................... -10V ...+10V
Resolution ...................................................... 12 bit
part no............................................................ 694.454.01
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Extender 2 Port
Kuhnke FIO Control
Kuhnke FIO
Kuhnke FIO
4.14 Extender 2 Port
The purpose of the Kuhnke FIO Extender is the extension of a Kuhnke FIO
block or a Kuhnke FIO Control (Embedded PC) by an EtherCAT slave,
which has a standard 100 base TX connection.
The Extender module changes the transmitting physics of LVDS (E bus) on
Twisted pair.
The module is usually arranged thereby at the end of the block. In addition,
the Extender can be used in arbitrary place behind the bus coupler and/or
the FIO Control module.
Thus EtherCAT Slaves can also be connected in star topology
Figure 37:
4.14.1 Terminals
Supply of the module:
via E-Bus
EtherCAT:
OUT1 RJ45-Buchse Output port (to the next EtherCAT-device)
OUT2 RJ45-Buchse Output port (to the next EtherCAT-device)
Figure 38: Kuhnke FIO Control, extended by Kuhnke FIO-blocks
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A B C
D
State
LED flash code
Explanation
Init
Off
Initialization, no data exchange
Pre-Op
Off/green, 1:1
Pre-operational, no data exchange
Safe-Op
Off/green, 5:1
Safe operation, inputs readable
Op
Green, on
Operational, unrestricted data exchange
State
LED flash code
Explanation
Not connected
Off
No Ethernet connection
Connected
Green, on
Connected to Ethernet
Traffic
Green, flashing
Exchanging telegrams
Port
Connection
Order
Port A
E-Bus In
1
Port B
Out 2
3
Port C
E-Bus Out
4
Port D
Out 1
2
4.14.2 Status LEDs
4.14.2.1 LED "EtherCAT Run "
The LED labeled "EtherCAT Run" indicates the state of the EtherCAT ASIC.
4.14.2.2 LED "Out2", LED "Out1"
The "Out2" and "Out1" LEDs indicate the physical state of the Ethernets port they are allocated to.
4.14.3 Function
The Extender 2 port module has actually 4 ports. Name 2 port module was
chosen because of the 2 standard 100 base TX (OUT1, OUT2) RJ45
connections. Another 2 ports are covered by the E-bus.
It is important to the configuration in which sequence the connections are
operated, i.e. which way the EtherCAT frame runs..
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4.14.4 Technical data
Function ......................................................... Extension of a Kuhnke FIO block resp. a Kuhnke FIO Control
(Embedded PC).
Transformation of transmission physics from
LVDS (E-Bus) to 100Base-TX.
Controller ....................................................... ASIC ET1100
Baud rate ....................................................... 100Mbit/s
Cable ............................................................. CAT5
Cable length .................................................. max. 100m
Connector EtherCAT ..................................... 2 x RJ45
Power supply ................................................. via E-Bus
E-bus load...................................................... 160mA for Out1 / 210mA for Out1+Out2
Part no ........................................................... 694.400.02
Approvals: ......................................................
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Kendrion Kuhnke Automation GmbH Mix 02
Side
Pin
Signal
Meaning
0..15
DO8..DO23
Digital Outputs 8..23
16, 17
+24VDC, 0V
Module supply CPU
0..7
DO0..DO7
Digital Outputs 1..7
AI0..AI3,
Analog Inputs
12
DI4
Digital Input DI
Counter clock input (rising
FALSE: up
TRUE: down
15
DI7
C_Clear
DI
Counter Clear (rising edge)
16, 17
+24VDC, 0V
IO-supply
Figure 39: I/O connection
4.15 MIX 02
Figure 40: Front view I/O-Modul MIX 02
4.15.1 Terminals
4.15.1.1 IO-Connector 36-pole, male
left
8..11
right
Operative earth / shielding of analog and clock wires chapter 3.2.1
13 DI5 C_Clock DI
14 DI6 C_Dir DI
DI0..DI3
(Use as DI, too)
edge)
Counter
Direction
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Kendrion Kuhnke Automation GmbH Mix 02
Pin
Signal
Explanation
1
DGND
Data ground potential (reference to TxD/RxD)
2
GND
Ground potential
3
RxD/TxD-P
Data+
4
RxD/TxD-N
Data-
State
LED flash code
Explanation
Init
Off
Initialization, no data exchange
Pre-Op
Off/green, 1:1
Pre-operational, no data exchange
Safe-Op
Off/green, 5:1
Safe operation, inputs readable
Op
Green, on
Operational, unrestricted data exchange
State
LED flash code
Explanation
Ok
Green, on
No error
1x Shortcut
Start, Defect
Red
Module is not initialised
State
LED flash code
Explanation
On
Green, on
24 VDC supply ok
Off
Off
24 VDC supply not ok
State
LED flash code
Explanation
On
Green, on
Input signal TRUE / Output switched on.
Off
Off
Input signal FALSE / Output switched off.
Figure
4.15.1.2 RS484-Port
41: Molex Micro Fit 4- pole male
4.15.2 Status LEDs
4.15.2.1 LED "RN"
The LED labeled "Run" indicates the state of the EtherCAT-ASICs.
4.15.2.2 LED "IO"
The LED labeled "IO" indicates the state of the module's I/Os.
Error Red, flashlight
2x Undervoltage
4.15.2.3 LED "PW"
The LED labeled "Pwr" indicates the state of the I/O-supply of the module.
4.15.2.4 LEDs "Channel"
The channel-LEDs indicate the state of the associated In-/Output-Signals.
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4.15.3 Function (CoE-variant)
The module has 4 MIX 02 interruptible digital inputs (can be used as a counter), 4 analog inputs (can be
used as digital inputs) and 24 digital outputs.
Access to the IOs and the module status takes place via Process Data Objects, which are reflected in the
control program of the EtherCAT master in variables.
Service Data Objects are created for settings and information.
Settings for the MIX 02 module, for example, the RS485 baud rate, can be already made in the offline
configurator. These are then executed by the EtherCAT master at startup..
With the SDO transfer blocks available for the EtherCAT master is it possible to make settings at run time
and to transfer data via the RS485.
.
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Variable
Data type
Meaning
Status word
Bit0
RS485 Receive data available
Bit1
RS485 Receive data overflow
Bit2
Short circuit (overload) outputs
Bit3
Undervoltage CPU
Bit4
Undervoltage In/Out (Load)
Bit5
EtherCAT Watchdog error
Bit6..15
unused
DigitalInput0
BOOL
Digital Input0
DigitalInput1
BOOL
Digital Input1
DigitalInput2
BOOL
Digital Input2
DigitalInput3
BOOL
Digital Input3
DigitalInput4
BOOL
Digital Input4
DigitalInput5
BOOL
Digital Input5
DigitalInput6
BOOL
Digital Input6
DigitalInput7
BOOL
Digital Input7
Counter
UDINT
Value of the event counter associated to DI5..7
SampleCycleCounter
UINT
is incremented, when new analog values are present
Variable
Data type
Meaning
AnalogIn0_Sample0
UINT
Analog Input 0, Sample n
AnalogIn0_Sample1
UINT
Analog Input 0, Sample n+1
AnalogIn0_Sample2
UINT
Analog Input 0, Sample n+2
AnalogIn0_Sample3
UINT
Analog Input 0, Sample n+3
AnalogIn0_Sample4
UINT
Analog Input 0, Sample n+4
Variable
Data type
Meaning
AnalogIn1_Sample0
UINT
Analog Input 1, Sample n
AnalogIn1_Sample1
UINT
Analog Input 1, Sample n+1
AnalogIn1_Sample2
UINT
Analog Input 1, Sample n+2
AnalogIn1_Sample3
UINT
Analog Input 1, Sample n+3
AnalogIn1_Sample4
UINT
Analog Input 1, Sample n+4
4.15.3.1 Inputs
In the Inputs group, see the following input values:
StateWord UINT
4.15.3.2 AnalogIn0
In the AnalogIn1 group, see the following input values:
4.15.3.3 AnalogIn1
In the AnalogIn1 group, see the following input values:
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Variable
Data type
Meaning
AnalogIn2_Sample0
UINT
Analog Input 2, Sample n
AnalogIn2_Sample1
UINT
Analog Input 2, Sample n+1
AnalogIn2_Sample2
UINT
Analog Input 2, Sample n+2
AnalogIn2_Sample3
UINT
Analog Input 2, Sample n+3
AnalogIn2_Sample4
UINT
Analog Input 2, Sample n+4
Variable
Data type
Meaning
AnalogIn3_Sample0
UINT
Analog Input 3, Sample n
AnalogIn3_Sample1
UINT
Analog Input 3, Sample n+1
AnalogIn3_Sample2
UINT
Analog Input 3, Sample n+2
AnalogIn3_Sample3
UINT
Analog Input 3, Sample n+3
AnalogIn3_Sample4
UINT
Analog Input 3, Sample n+4
Variable
Data type
Meaning
Bit 0
Error message Reset
Bit 1
Counter Reset (Function by 0->1 edge)
Bit 2..15
unused
DigitalOutput0
BOOL
Digital Output 0
DigitalOutput1
BOOL
Digital Output 1
DigitalOutput2
BOOL
Digital Output 2
DigitalOutput3
BOOL
Digital Output 3
DigitalOutput4
BOOL
Digital Output 4
DigitalOutput5
BOOL
Digital Output 5
DigitalOutput6
BOOL
Digital Output 6
DigitalOutput7
BOOL
Digital Output 7
DigitalOutput8
BOOL
Digital Output 8
DigitalOutput9
BOOL
Digital Output 9
DigitalOutput10
BOOL
Digital Output 10
DigitalOutput11
BOOL
Digital Output 11
DigitalOutput12
BOOL
Digital Output 12
DigitalOutput13
BOOL
Digital Output 13
DigitalOutput14
BOOL
Digital Output 14
DigitalOutput15
BOOL
Digital Output 15
DigitalOutput16
BOOL
Digital Output 16
DigitalOutput17
BOOL
Digital Output 17
DigitalOutput18
BOOL
Digital Output 18
DigitalOutput19
BOOL
Digital Output 19
DigitalOutput20
BOOL
Digital Output 20
DigitalOutput21
BOOL
Digital Output 21
DigitalOutput22
BOOL
Digital Output 22
4.15.3.4 AnalogIn2
In the AnalogIn2 group, see the following input values:
4.15.3.5 AnalogIn3
In the AnalogIn3 group, see the following input values:
4.15.3.6 Outputs
In the Output group, see the following output values:
ControlWord UINT
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DigitalOutput23
BOOL
Digital Output 23
DigitalOutput24
BOOL
Digital Output 24
Min
1000
Device Type
UINT32
0xF0191
RO
1008
Device Name
String
MIX 02
RO
1009
Hardware Version
String
1.0 RO
100A
Software Version
String
2.00
RO
1018
Identity Object
Array
1018, 1
Vendor Id
UINT32
0x0048554B
RO
1018, 2
Product Code
UINT32
177173
RO
1018, 3
Revision Number
UINT32
2 RO
2000
OversamplingCount
UINT8
5
1.5
RW
2001
Rs485Baud rate
UINT8
2
0.9
RW
2002
Rs485Data
Octet-String 10
RW
6000
Counter
UINT32
RO P
6001
Digital Inputs
Array
6001, 1..8
DigitalIn0..7
BOOL
RO P
6010
SampleCycleCounter
UINT16
RO P
6401
AnalogIn0
Array
6401, 1..5
Sample0..4
UINT16
RO P
6402
AnalogIn1
Array
6402, 1
Sample0
UINT16
RO P
6402, 2
Sample1
UINT16
RO P
6402, 3
Sample2
UINT16
RO P
6402, 4
Sample3
UINT16
RO P
6402, 5
Sample4
UINT16
RO P
6403
AnalogIn2
Array
6403, 1..5
Sample0..5
UINT16
RO P
6404
AnalogIn3
Array
6404, 1..5
Sample0..5
UINT16
RO P
6500
StateWord
UINT16
RO P
7000
DigitalOutputs
Array
7001
ControlWord
UINT16
RW P
4.15.3.7 Object directory
Index Name Type Default
1018, 4 Serial Number UINT32 0 RO
Max
Access
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7000, 1..24 DigitalOut0..23 BOOL RW P
RO=Read only, RW= Read/Write, P=Process image
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4.15.3.8 Analog Inputs / Oversampling
The samples of the analog inputs are cyclically determined on the module and provided in variables for
pickup by the EtherCAT master. For the evaluation of an analog value pattern both the cycle time of the
analog conversions and the EtherCAT cycle play a role.
For an accurate assessment the module provides oversampling with adjustable parameters. There are two
methods of control that can be selected already in the configurator.
SM-Synchronous (SM=Sync-Master)
DC-Synchronous (DC=Distributed Clocks)
4.15.3.8.1 Analog Inputs / Oversampling SM-Synchronous
The module measures every millisecond 4 analog values. Depending on the setting of the oversampling
parameter (object index 0x2000) these values are copied into the process image. The default is 5.
In this setting, the analog process image will be updated after 5ms (indicated by the incremented counter
Inputs, Sample Cycle Counter).
The millisecondly measured values are respectively in Sample0..4 of the variables from AnalogIn0 ..
AnalogIn4.
If the parameter is smaller, the process image is updated accordingly faster and the unused sample values
remain empty.
Example:
If the oversampling parameter is 1, a new process image is generated after 1 millisecond.
The values are then only on Sample0. Sample 1..4 are unused.
4.15.3.8.2 Oversampling DC-Synchronous
The SYNC0 interrupt is used for analog measurement and the SYNC1 Interrupt for transmitting the data to
the process image.
SYNC0 may be faster by a factor of 1 to 5 than SYNC1.
Example1:
Bus Cycle is 5ms. "DC synchron 5 x oversampling" is set.
This Sync1 is triggered every 5ms and SYNC0 all 1ms.
The analog values are therefore measured every millisecond and copied after 5ms to the process image in
Sample 0-4. The SampleCycleCounter is incremented after 5ms.
Example2:
Bus Cycle is 2ms. "DC synchron 4 x oversampling" is set.
This Sync1 is triggered every 2ms and SYNC0 all 0.5ms.
The analog values are therefore measured every half millisecond and copied after 2ms to the process image
in Sample 0-3. Sample4 remains empty. The SampleCycleCounter is incremented after 2ms.
Example 3:
Bus Cycle is 1ms. "DC synchron”
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Wert
Baud rate
0
2400
1
4800
2 (default)
9600
3
19200
4
38400
5
57600
6
115200
7
230400
8
460800
9
921600
Byte
Explanation
0
Number of data
1 - 2
Data byte 0
… … 9
Data byte 7
The Sync0 is triggered every 1ms.
The analog values are therefore measured every millisecond and copied to the process image in Sample 0.
Sample1-4 remains empty.
The SampleCycleCounter is incremented after 2ms.
4.15.3.9 Rs485
The Baud rate of the RS485 is set via Object 0x2001.
Data are sent and received via object 0x2002.
If the object is written [number of data] from the data bytes 0..7 are sent.
If the object is read a maximum of 8 data bytes will be removed from the
receive queue.
Is [number of data] = 0, so nothing was received.
The SDO transfer to and from the object is always 10 bytes long.
Bit0 in the StateWord indicates that data are in the receiving queue. The
receive buffer contains a maximum of 1024 bytes. An overflow is indicated by Bit1 in the StateWord.
4.15.3.10 Counter
Parallel to the use as digital inputs, the inputs DI5..7 are evaluated for an event counter.
The counter value Inpu ts , Counter is a 32 bit value.
• The clock signal to count is connected to DI5.
• The counting direction is determined by the state of DI6.
If DI6 = FALSE each rising edge at DI5 leads for incrementing of Inputs, Counter.
If DI6 = TRUE, each rising edge at DI5 executes the decrementing of input data, position counter.
• Rising edge at DI7 sets Inputs, Counter to the value 0.
The counter value can be reset by software (rising edge at Outputs , C ontro lWord, Bit 1).
4.15.3.11 Analog Inputs / Oversampling
The analog conversions occur cyclically every 1ms and asynchronously to the arrival of EtherCAT
telegrams. The module offers oversampling.
Depending on the setting of the oversampling parameter, the measured values are copied in the process
image. The default is 5:
In this setting, the analog values are renewed in the process image as a consistent set (indicated by the
incremented counter in the StateWord ) only after 5ms. The interval of 1ms measured values are then in the
variables AnalogInx_Sample0..4. (x = 0..3)
If the oversampling parameter is smaller, the process image is updated accordingly faster and the unused
sample values remain empty.
If the oversampling parameter is 1, a new process image is generated after 1 millisecond.
The values are then only on Sample0. Sample 1..4 are unused..
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Look at the EtherCAT cycle for the assessment of the timeliness of the
measured values
module would
The module delivers consistent sets of analog values. Note that you must
evaluate the sample values
You will get the best results if you apply the shield of the signal cable to the
ground terminal.
Timeliness of analog values in the EtherCAT master:
Consistency of analog values:
Quality of analog values:
in the EtherCAT master. From the perspective of this
be 1..5ms ideal EtherCAT cycle settings.
in the Master consistent..
4.15.3.12 Undervoltage
When undervoltage CPU or undervoltage load occurs the outputs are switched off, the bits 3 and 4 in Inputs,
StateWord are set and the module IO LED flashes (2x).
If the voltage is again within the permissible range (24V -20% .. +25%) , the er ror st ate can be reset by
Outputs, Control Word Bit 0. Then, the outputs are turned on again.
4.15.3.13 Short Circuit
The outputs are protected thermally at the output driver. If the permissible current is exceeded, the output
concerned is switched off, Bits3 in Inputs, StateWord is set and the module IO LED flashes (1x).
If the short circuit is removed, the error state can be reset by Outputs, ControlWord Bit 0.
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4.15.4 Technical data
Digital inputs .................................................. 4 (8)
DI0...3 ....................................................... 1ms
DI4 ............................................................ 0,1ms
DI5..7 ........................................................ 0,001ms
Counter (DI5) ................................................. 500kHz (up to 1 MHz)3
Digital outputs ................................................ 24
DO0..7: 0.5A
DO8..23: 0,1A
Analog Inputs ................................................. 4 x 0..10V
Resolution ...................................................... 12 Bit
Sampling rate ................................................ 1ms
RS485 ............................................................ electricall y isolated
Baud rate ....................................................... 2,4…921,6 kBit/s
Termination .................................................... e.g. 4 x KDT 621 (9,6 or 19,2 kBit/s)
Connector IO/Power ...................................... Plug 36-pole
Controller ....................................................... ASIC ET1200
Baud rate ....................................................... 100 Mbit/s
Connector E-Bus ........................................... 10-pin system plug in side wall
End module ................................................... not required
Power supply ................................................. 24V DC -20% +25%
E-bus load...................................................... 90mA
Part no ........................................................... 694 444 62 CoE-Variant
Approvals: ......................................................
3
Value in brackets with ideal clock signal and ground
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State
LED flash code
Explanation
Init
Off
Initialization, no data exchange
Pre-Op
Off/green, 1:1
Pre-operational, no data exchange
Safe-Op
Off/green, 5:1
Safe operation, inputs readable
Op
Green, on
Operational, unrestricted data exchange
State
LED flash code
Explanation
Ok
Green, on
No error
Malfunction of module if E-bus LED = On
Inoperative if E-bus LED = Off
Red, 1x
Short circuit
Red, 2x
Low voltage
Red, 4x
EtherCAT watchdog control
Red, 6x
Module-specific fault
Configuration error (E-bus pre-operational), no. of
Defective
Red, on
Module defective
+ -
Channel0
0 1 Channel1
2 3 Channel2
4 5 Channel3
6
7
4.16 AO4-U/I
Figure 43: Front view I/O-module AO4
Figure 42: I/O connection
4.16.1 Terminals
Power supply to module I/Os
L+ 24 V DC
L- 0 V
4.16.2 Status LEDs
4.16.2.1 LED "EtherCAT Run "
The LED labeled "EtherCAT Run" indicates the state of the EtherCAT ASIC.
4.16.2.2 LED "IO"
The LED labeled "IO" indicates the state of the module's I/Os.
Error
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Off
Red, 7x
process data differs from that in the module
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State
LED flash code
Explanation
On
Green, on
24 VDC supply ok
Off
Off
24 VDC supply not ok
State
LED flash code
Explanation
On
Green, on
Channel enabled
Off
Off
Channel disabled
Red, 1x
Short circuit
Red, 3x
Broken wire
Red, 5x
Excessive temp. of output drivers
Measured value
Variable value (if 16Bit)
±20
0..20
4..20
0..24
Bipolar [UINT]
Unipolar [UINT]
Volt
mA
mA
mA
mA
decimal
hexadezimal
decimal
hexadecimal
-10
20 32768
16#8000
-9
18 36044
16#8CCC
-8
16 39321
16#9999
-7
14 42598
16#A666
-6
12 45875
16#B333
-5
10 49152
16#C000
-4 8
52428
16#CCCC
-3 6
55705
16#D999
-2 4
58982
16#E666
-1 2
62244
16#F324
0 0 0 4 0 0 0 0 0
1
-2 2 5,6
2,4
3276
16#0CCC
6553
16#1999
2
-4 4 7,2
4,8
6553
16#1999
13107
16#3332
3
-6 6 8,8
7,2
9830
16#2666
19660
16#4CCC
4
-8 8 10,4
9,6
13106
16#3332
26214
16#6665
5
-10
10
12
12
16383
16#3FFF
32767
16#7FFF
6
-12
12
13,6
14,4
19660
16#4CCC
39320
16#9998
7
-14
14
15,2
16,8
22936
16#5998
45874
16#B332
8
-16
16
16,8
19,2
26213
16#6665
52427
16#CCCB
9
-18
18
18,4
21,6
29490
16#7332
58981
16#E665
10
-20
20
20
24
32767
16#7FFF
65534
16#FFFE
Figure 44: Analog values voltage/current
4.16.2.3 LED "Power"
The LED labeled "Power" indicates the state of the I/O module's I/O power supply.
4.16.2.4 LEDs "Channel"
The LEDs labeled "Channel" indicate the state of the respective channel.
Error
4.16.3 Function
The AO4 module has 4 analogue outputs. Every channel can be separately set to the unipolar or bipolar
output of voltages or currents.
To produce the desired voltage or current at the analog outputs (measured values), the values must be
written in 2 byte two's complement format in the corresponding output variables.
The letter 'n' in the tables below represents the channel number (n=0…3).
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Ventura FIO AO4 12Bit (old)
Kuhnke FIO AO4 12Bit (new)
Current: 0…±20mA
Current: 0…+20mA
Short circuit is detected
Short circuit is not detected, but
Variable
Data type
Explanation
Channel_n
UINT
Output value for channel n (n=0…3).
Variable
Data type
Explanation
SetOptions
BOOL
Rising edge accepts module options
ResetError
BOOL
Rising edge acknowledges error
Variable
Data type
Explanation
Enables channel n
Channel_n_Current
BOOL
Sets channel n to current output mode
Channel_n_n+1_Unipolar
BOOL
Sets channels 1 and 2 or 2 and 3 to unipolar mode
Outputs_Active_Shortcut
BOOL
Leave outputs unchanged after short circuit
Outputs_Active_Undervoltage
BOOL
Leave outputs unchanged after low volta ge
Leave outputs unchanged after module-specific
Outputs_Active_EtherCAT_Error
BOOL
Leave outputs unchanged after short circuit
n 0 … 3
n
4.16.4 Function 694 442 02 Kuhnke FIO AO4 12Bit
4.16.4.1 Note
The module 694 442 02 Kuhnke FIO AO4 12Bit is the compatible successor (exceptions see below) of the
module 694 442 02 Ventura FIO AO4 12Bit. That means the modules can be replaced in an existing FIO
block against each other without the control program of the EtherCAT master must be changed.
Note the following differences:
outputs are protected against short
circuit
4.16.4.2 Analog outputs
Write the output values into the following variables:
4.16.4.3 Module control
The module offers various options for the operation.
To set up the module choose the options as appropriate and accept by setting control bit
"SetOptions" to a rising edge. The module will confirm by returning "OptionsSet".
There are various "module error" bits that the module uses to indicate errors. The states of the error bits are
retained and also used for error indication by the "IO" LED.
To reset the error bits set control bit "ResetError" to a rising edge.
4.16.4.4 Module options
The following options are available for module AO4:
Channel_n_On BOOL
(set to high impedance to disable)
Outputs_Active_Specific_Error BOOL
To set and accept options, see section 4.16.4.3.
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error (see 4.16.4.6)
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Variable
Data type
Explanation
Shortcut
BOOL
Short circuit (not used)
Undervoltage
BOOL
Low voltage (supplied power < 19.2V)
Watchdog
BOOL
module internal watchdog
EtherCAT_Error
BOOL
Configuration error or watchdog control
Specific_Error
BOOL
Module-specific fault
OptionsSet
BOOL
Sent by module to acknowledge SetOptions
Variable
Data type
Explanation
Temperature of output driver of channel n is > 140°C
Power supply to module is < 19.2V
Current mode: channel n load is > 500Ω
Voltage mode: channel n load is < 600Ω
4.16.4.5 Module state
The following module states are indicated:
To reset the messages, see section 4.16.4.3
4.16.4.6 Module-specific messages
Apart from the module error messages, there is a set of messages containing details about the current state
of the module:
Channel_n_Overtemp BOOL
Undervoltage_24 BOOL
Channel_n_Open BOOL
Channel_n_Shortcut BOOL
These messages are automatically reset when the state concerned has returned to normal.
Channel_n_Open and Channel_n_Shortcut are combined into a single "Specific_Error" state of the module
and output to the IO LED as "module-specific error".
(automatic switch-off), i.e. shortcut
See Module options, Outputs_Active_Shortcut
See Module options, Outputs_Active_Undervoltage
Specific_Error = TRUE
Specific_Error = TRUE
4.16.4.7 Conversion time
Module AO4 has a set cycle time of 320µs that is not affected by the number of active channels. (The cycle
time is the time between receipt of the output values and the start of the D/A converters.)
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Ventura FIO AO4 12Bit (old)
Kuhnke FIO AO4 16Bit (new)
Current: 0…±20mA
Current: 0…+20mA
Short circuit is detected
Short circuit is not detected, but
Output asynchronous to EtherCAT
Output SM-or DC-synchronous
4.16.5 Function 694 442 52 Kuhnke FI O AO4 16Bit
4.16.5.1 Note
The module 694 442 52 Kuhnke FIO AO4 16Bit is the not compatible successor of the module 694 442 02
Ventura FIO AO4 12Bit.
The module is ETG-conform.
That means the m odul es when an ex istin g FIO block 694 442 02 shall be replaced by a module 694 442 52
the control program of the EtherCAT master must be changed.
Note the following differences:
outputs are protected against short
circuit
The output of the analog signals can be executed DC-synchronous (Distributed Clocks) or SM-synchronous
(Sync Manager).
The access to the output values and the module status is done via process data objects that are mapped in
variables of the control program of the EtherCAT master
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For information and settings Service data objects are designed.
Settings for AO4 16bit module, such as the properties of the individual outputs can be made in the
configurator already offline. These are then executed by the EtherCAT master at startup.
It is also possible to make adjustments during runtime by executing the SDO transfer blocks of the EtherCAT
master control.
Press the button "Hinzufügen…", select the object and set the desired va lue.
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Bit
Name
Explanation
0
ResetErrorAck
Acknowledge of "Res et Err or" in Module Control
1
Undervoltage24
Undervoltage 24V supply
2
EtherCATError
Sync Manager Watchdog
3
ConfigError
Sync Manager quantity structure does not match
4 - 5 - 6 - 7 - 8
Output 0 Overtemp
Output driver has recognized overtemperature (independent shutdown)
9
Output 1 Overtemp
Output driver has recognized overtemperature (independent shutdown)
10
Output 2 Overtemp
Output driver has recognized overtemperature (independent shutdown)
11
Output 3 Overtemp
Output driver has recognized overtemperature (independent shutdown)
12
Output 0 Open
no current detected in current mode (broken wire)
13
Output 1 Open
no current detected in current mode (broken wire)
14
Output 2 Open
no current detected in current mode (broken wire)
15
Output 3 Open
no current detected in current mode (broken wire)
Variable
Data type
Explanation
Channel_n
UINT
Output value for channel n (n=0…3).
Bit
Name
Explanation
0
ResetError
0 -> error events are saved, 1 -> errors are deleted after the event has gone
1-15
-
not used
4.16.5.2 StateWord
Im Statuswort finden Sie die Meldungen über den Zustand des Moduls:
4.16.5.3 Analog Outputs
Write the output values into the following variables:
4.16.5.4 ControlWord
There is a control bit to quit the error messages.
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Index
Name
Type
Default
Min Max
Access
1000
Device Type
UINT32
0xF0191
RO
1001
Error Register
UINT8
RO
1008
Device Name
String
RO
1009
Hardware Version
String
1.00
RO
100A
Software Version
String
1.00
RO
1018
Identity Object
Array
1018, 0
Number of Entries
UINT8
4 RO
1018, 1
Vendor Id
UINT32
0x0048554B
RO
1018, 2
Product Code
UINT32
RO
1018, 3
Revision Number
UINT32
2 RO
1018, 4
Serial Number
UINT32
0 RO
2000
Analog Output Properties
Array
2000, 0
Number of Entries
UINT8
4 RO
2000, 1
Properties Output 0
UINT8
0-10V
Off (0),
RW
2000, 2
Properties Output 1
UINT8
0-10V
Off,
RW
2000, 3
Properties Output 2
UINT8
0-10V
Off,
RW
2000, 4
Properties Output 3
UINT8
0-10V
Off,
RW
2001
ErrorBehavior Output 0
Array
2001, 0
Number of Entries
UINT8
2 RO
2001, 1
Active on Undervoltage 24
BOOL
FALSE
RW
2001, 1
Active on EtherCAT Watchdog Error
BOOL
FALSE
RW
2002
ErrorBehavior Output 1
Array
2002, 0
Number of Entries
UINT8
2 RO
2002, 1
Active on Undervoltage 24
BOOL
FALSE
RW
2002, 1
Active on EtherCAT Watchdog Error
BOOL
FALSE
RW
2003
ErrorBehavior Output 2
Array
2003, 0
Number of Entries
UINT8
2 RO
4.16.5.5 Object dictionary
0-10V (1),
+-10V (3),
0-20mA (6),
4-20mA (5),
0-24mA (7)
0-10V,
+-10V,
0-20mA,
4-20mA,
0-24mA
0-10V,
+-10V,
0-20mA,
4-20mA,
0-24mA
0-10V,
+-10V,
0-20mA,
4-20mA,
0-24mA
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2003, 1
Active on Undervoltage 24
BOOL
FALSE
RW
2003, 1
Active on EtherCAT Watchdog Error
BOOL
FALSE
RW
2004
ErrorBehavior Output 3
Array
2004, 0
Number of Entries
UINT8
2 RO
2004, 1
Active on Undervoltage 24
BOOL
FALSE
RW
2004, 1
Active on EtherCAT Watchdog Error
BOOL
FALSE
RW
6411
Analog Outputs
Array
6411, 0
Number of Entries
UINT8
4 RO
6411, 1
Analog Output 0
UINT16
RW P
6411, 2
Analog Output 1
UINT16
RW P
6411, 3
Analog Output 2
UINT16
RW P
6411, 4
Analog Output 3
UINT16
RW P
6500
State Word
Array
6500, 0
Number of Entries
UINT8
16 RO
6500, 1
Reset Error Ack
BOOL
RO P
6500, 2
Undervoltage24
BOOL
RO P
6500, 3
EtherCAT Error
BOOL
RO P
6500, 4
ConfigError
BOOL
RO P
6500, 5
-
BOOL
RO P
6500, 6
-
BOOL
RO P
6500, 7
-
BOOL
RO P
6500, 8
-
BOOL
RO P
6500, 9
Output 0 Overtemp
BOOL
RO P
6500, 10
Output 1 Overtemp
BOOL
RO P
6500, 11
Output 2 Overtemp
BOOL
RO P
6500, 12
Output 3 Overtemp
BOOL
RO P
6500, 13
Output 0 Open
BOOL
RO P
6500, 14
Output 1 Open
BOOL
RO P
6500, 15
Output 2 Open
BOOL
RO P
6500, 16
Output 3 Open
BOOL
RO P
7001
Control Word
Array
7001, 0
Number of Entries
UINT8
1 RO
7001, 1
Reset Error
BOOL
RW P
(E 747-1 GB) 85
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RO=Read only, RW= Read/Write, P=Process image
Page 86
Kendrion Kuhnke Automation GmbH AO4-U/I
4.16.6 Technical data
Analog Outputs .............................................. 4
Resolution ...................................................... 16 Bit, 12 Bit
Output rate ..................................................... 16 Bit: SM-/DC-synchronous,
12 Bit: Free run
Basic error ..................................................... ±0.2%
Temperature error ......................................... ±0.005%/K
Destroy limit against voltage from outside ..... 15V
Voltage:
Measuring range ............................................ 0 … 10V, ± 10V
Shot circuit protection .................................... yes
Shot circuit current ......................................... max. 30mA
Load resistance ............................................. min. 1kΩ
Settling time ................................................... 010V: ≤22µs when 2kΩ/<200pF
Current:
Measuring range 16 Bit ................................. 0…20mA, 4…20mA, 4…24mA
Measuring range 12 Bit ................................. 0…20mA
Load resistance ............................................. max. 500Ω, max. 1mH (inductive)
Settling time ................................................... 016V: ≤25µs when 300Ω/<1mH
Baud rate ....................................................... 100 Mbit/s
Controller ....................................................... ASIC ET1200
Connector E-Bus ........................................... 10-pin system plug in side wall
End module ................................................... not required
Connector IO/Power ...................................... 18-pole plug
Power supply ................................................. 24V DC -20% +25%
E-bus load...................................................... 150mA
Part no ........................................................... 694.442.52 16 Bit (CoE)
Part no ........................................................... 694.442.02 12 Bit
Approvals: ......................................................
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State
LED flash code
Explanation
Init
Off
Initialization, no data exchange
Pre-Op
Off/green, 1:1
Pre-operational, no data exchange
Safe-Op
Off/green, 5:1
Safe operation, inputs readable
Op
Green, on
Operational, unrestricted data exchange
State
LED flash code
Explanation
Ok
Green, on
No error
Malfunction of module if E-bus LED = On
Inoperative if E-bus LED = Off
Red, 4 x
EtherCAT watchdog control
Configuration error (E-bus pre-operational), no. of
Defective
Red, on
Module defective
4.17 AI4/8-U
Figure 46: Front view I/O-module AI4/8-U
Figure 45: I/O connection
4.17.1 Terminals
The module needs no separate 24V connector. Power is supplied to the module through the E-bus
connector.
Operative earth / shielding of analog wires section 3.2.1
4.17.2 Status LEDs
4.17.2.1 LED "EtherCAT Run "
The LED labeled "EtherCAT Run" indicates the state of the EtherCAT ASIC.
4.17.2.2 LED "IO"
The LED labeled "IO" indicates the state of the module's I/Os.
Error
4.17.2.1 LED "Power"
There is no LED labeled "Power" because a separate power supply is not required.
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Off
Red, 7 x
process data differs from that in the module
Page 88
Kendrion Kuhnke Automation GmbH AI4/8-U
State
LED flash code
Explanation
On
Green, on
Channel enabled
Off
Off
Channel disabled
Variable
Data type
Explanation
Channel_n
INT
Value measured on channel n (n= 0…7)
Measuring value
Variable value (if 16Bit)
Unipolar [UINT*]
Volt
Volt
Volt
decimal
hexadecimal
decimal
hexadecimal
-10
-5
-2.5
-32768
16#8000
-9
-4.5
-2.25
-29492
16#8CCC
-8
-4
-2
-26215
16#9999
-7
-3.5
-1.75
-22938
16#A666
-6
-3
-1.5
-19661
16#B333
-5
-2.5
-1,.5
-16384
16#C000
-4
-2
-1
-13108
16#CCCC
-3
-1.5
-0.5
-9831
16#D999
-2
-1
-0.5
-6574
16#E666
-1
-0.5
-0.25
-3292
16#F324
0 0 0 0 0 0 0 1 0.5
0.25
3276
16#0CCC
6553
16#1999
2 1 0.5
6553
16#1999
13107
16#3332
3
1.5
0.75
9830
16#2666
19660
16#4CCC
4 2 1
13106
16#3332
26214
16#6665
5
2.5
1.25
16383
16#3FFF
32767
16#7FFF
6 3 1,5
19660
16#4CCC
39320
16#9998
7
3.5
1.75
22936
16#5998
45874
16#B332
8 4 2
26213
16#6665
52427
16#CCCB
9
4.5
2.25
29490
16#7332
58981
16#E665
10 5 2.5
32767
16#7FFF
65534
16#FFFE
4.17.2.2 LEDs "Channel"
The LEDs labeled "Channel" indicate the state of the respective channel.
4.17.3 Function
The AI4/8-U module has 8 analogue inputs. If signal lines are single-ended (measured against earth, L-), 8
channels are available. To measure differential signals, you will need 2 channels for every signal, i.e. you
can pick up no more than 4 differential signals. Channels can be combined as follows: 0/1, 2/3, 4/5 and 6/7.
4.17.3.1 Analog inputs
Check the following variable for the digitized input values:
4.17.3.2 Measuring value
±10V ±5V ±.,5V Bipolar
*Datatype conversion required
Figure 47, Analog values voltage
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4.17.4 Function 694 441 52 Kuhnke F IO AI4/8-U
4.17.4.1 Note
The module 694 441 52 Kuhnke FIO AI4/8-U is the not compatible successor of the module 694 441 02
Ventura FIO AI4/8-U.
The module is ETG-conform.
That means when an existing FIO block 694 441 02 shall be replaced by a module 694 441 52 the control
program of the EtherCAT master must be changed.
4.17.4.2 Setting Options
The transformation of the analog signals can be executed DC-synchronous (Distributed Clocks) or SMsynchronous (Sync Manager).
The access to the input values and the module status is done via process data objects that are mapped in
variables of the control program of the EtherCAT master.
For information and settings Service data objects are designed.
Settings for the AI4/8-U module, such as the properties of the individual inputs can be made in the
configurator already offline. These are then executed by the EtherCAT master at startup.
It is also possible to make adjustments during runtime by executing the SDO transfer blocks of the EtherCAT
master control.
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Name
Value
Explanation
0
Off (default)
1
0-10V
2
±5V
3
±10V
4
±2.5V
0
Single-Ended (default)
1
Differential
Average
n=1..255
Inputn= Average after n cycles (default=1)
Bit
Name
Explanation
0
ResetErrorAck
Acknowledge of "Reset Error" in Module Control
1 not used
2
EtherCATError
Sync Manager Watchdog
3
ConfigError
Sync Manager quantity structure does not match
4-15
not used
Variable
Data type
Explanation
Input_n
UINT
Input value for channel n (n=0…7).
Press the button "Hinzufügen…", select the object and set the desired value.
4.17.4.3 Options
The following options can be set:
InputProperties
InputSwitch
4.17.4.4 StateWord
In the StateWord you can watch the state of the module:
4.17.4.5 Analog inputs
You find the digitalized input values in the following variables:
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Bit
Name
Explanation
0
ResetError
0 -> error events are saved, 1 -> errors are deleted after the event has gone
1-15
-
not used
Index
Name
Type
Default
Min Max
Access
1000
Device Type
UINT32
0x40191
RO
1001
Error Register
UINT8
RO
1008
Device Name
String
AI4/8-U 13 Bit
RO
1009
Hardware Version
String
1.00
RO
100A
Software Version
String
1.00
RO
1018
Identity Object
Array
1018, 0
Number of Entries
UINT8
4 RO
1018, 1
Vendor Id
UINT32
0x0048554B
RO
1018, 2
Product Code
UINT32
185340
RO
1018, 3
Revision Number
UINT32
2 RO
1018, 4
Serial Number
UINT32
0 RO
2000
Analog Input Properties
Array
2000, 0
Number of Entries
UINT8
8 RO
2000, 1
Input 0
UINT8
Off
Off (0),
RW
2000, 2
Input 1
UINT8
Off
Off (0),
RW
2000, 3
Input 2
UINT8
Off
Off (0),
RW
2000, 4
Input 3
UINT8
Off
Off (0),
RW
2000, 5
Input 4
UINT8
Off
Off (0),
RW
2000, 6
Input 5
UINT8
Off
Off (0),
RW
4.17.4.6 ControlWord
There is a control bit to quit the error messages.
4.17.4.7 Object dir ec tor y
0-10V (1),
+-5V (2)
+-10V (3)
+-2.5V (4)
0-10V (1),
+-5V (2)
+-10V (3)
+-2.5V (4)
0-10V (1),
+-5V (2)
+-10V (3)
+-2.5V (4)
0-10V (1),
+-5V (2)
+-10V (3)
+-2.5V (4)
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0-10V (1),
+-5V (2)
+-10V (3)
+-2.5V (4)
0-10V (1),
Page 92
Kendrion Kuhnke Automation GmbH AI4/8-U
+-5V (2)
2000, 7
Input 6
UINT8
Off
Off (0),
RW
2000, 8
Input 7
UINT8
Off
Off (0),
RW
2001
Input Switch
Array
2001, 0
Number of Entries
UINT8
4 RO
2001, 1
Input 0_1 Switch
UINT8
Single-ended
Single-ended (0)
RW
2001, 2
Input 2_3 Switch
UINT8
Single-ended
Single-ended (0)
RW
2001, 3
Input 4_5 Switch
UINT8
Single-ended
Single-ended (0)
RW
2001, 4
Input 6_7 Switch
UINT8
Single-ended
Single-ended (0)
RW
2003
Input Filter
Array
2003, 0
Number of Entries
UINT8
8 RO
2003, 1
Input 0 Average
UINT8
1
1..255
RW
2003, 2
Input 1 Average
UINT8
1
1..255
RW
2003, 3
Input 2 Average
UINT8
1
1..255
RW
2003, 4
Input 3 Average
UINT8
1
1..255
RW
2003, 5
Input 4 Average
UINT8
1
1..255
RW
2003, 6
Input 5 Average
UINT8
1
1..255
RW
2003, 7
Input 6 Average
UINT8
1
1..255
RW
2003, 8
Input 7 Average
UINT8
1
1..255
RW
6401
Analog Input
Array
6401, 0
Number of Entries
UINT8
8 RO
6401, 1
Analog Input 0
UINT16
RO P
6401, 2
Analog Input 1
UINT16
RO P
6401, 3
Analog Input 2
UINT16
RO P
6401, 4
Analog Input 3
UINT16
RO P
6401, 5
Analog Input 4
UINT16
RO P
6401, 6
Analog Input 5
UINT16
RO P
6401, 7
Analog Input 6
UINT16
RO P
6401, 8
Analog Input 7
UINT16
RO P
6500
StateWord
Array
6500, 0
Number of Entries
UINT8
16 RO
6500, 1
ResetErrorAck
BOOL
RO P
6500, 3
EtherCAT Error
BOOL
RO P
6500, 4
ConfigError
BOOL
RO P
7001
Module Control
Array
+-10V (3)
+-2.5V (4)
0-10V (1),
+-5V (2)
+-10V (3)
+-2.5V (4)
0-10V (1),
+-5V (2)
+-10V (3)
+-2.5V (4)
Differential (1)
Differential (1)
Differential (1)
Differential (1)
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7001, 0
Number of Entries
UINT8
1 RO
7001, 1
Reset Error
BOOL
RW P
RO=Read only, RW= Read/Write, P=Process image
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4.17.5 Technical data
Analog Inputs ................................................. 8 single-ended or 4 differentials
Measuring range ............................................ 0 …10V, ± 5V, ± 10V, ± 2,5V
Resolution ...................................................... 13 Bit
Start AD-conversion ...................................... DC-synchronous, SM-synchronous
Conversion time ............................................. 464 µs (if all channels are active)
Internal resistance ......................................... > 1MΩ
Limit frequency Input filter ............................. typically 1 kHz
Measuring error ............................................. < ±0,4%, typically < ±0,2% of the end value
Baud rate ....................................................... 100 Mbit/s
Controller ....................................................... ASIC ET1200
Connector E-Bus ........................................... 10-pin system plug in side wall
End module ................................................... not required
Connector IO/Power ...................................... Plug 18-pole
Power supply ................................................. 24V DC -20% +25%
E-bus load...................................................... 190mA
Part no ........................................................... 694.441.52 13 Bit (CoE)
Part no ........................................................... 694.441.02 13 Bit (plann ed)
Approvals: ......................................................
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State
LED flash code
Explanation
Init
Off
Initialization, no data exchange
Pre-Op
Off/green, 1:1
Pre-operational, no data exchange
Safe-Op
Off/green, 5:1
Safe operation, inputs readable
Op
Green, on
Operational, unrestricted data exchange
State
LED flash code
Explanation
Ok
Green, on
No error
Malfunction of module if E-bus LED = On
Inoperative if E-bus LED = Off
Red, 4 x
EtherCAT watchdog control
Configuration error (E-bus pre-operational), no. of
Defective
Red, on
Module defective
4.18 AI8/16-U
Figure 49: Front view I/O-module AI8/16-U
Figure 48: I/O connection
4.18.1 Terminals
The module needs no separate 24V connector. Power is supplied to the module through the E-bus
connector.
Operative earth / shielding of analog wires section 3.2.1
4.18.2 Status LEDs
4.18.2.1 LED "EtherCAT Run"
The LED labeled "EtherCAT Run" indicates the state of the EtherCAT ASIC.
4.18.2.2 LED "IO"
The LED labeled "IO" indicates the state of the module's I/Os.
Error
4.18.2.3 LED "Power"
There is no LED labeled "Power" because a separate power supply is not required.
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Off
Red, 7 x
process data differs from that in the module
Page 96
Kendrion Kuhnke Automation GmbH AI8/16-U
State
LED flash code
Explanation
On
Green, on
Channel enabled
Off
Off
Channel disabled
Variable
Data type
Explanation
Channel_n
INT
Value measured on channel n (n= 0…15)
Measuring value
Variable value (if 16Bit)
Unipolar [UINT*]
Volt
Volt
Volt
decimal
hexadecimal
decimal
hexadecimal
-10
-5
-2.5
-32768
16#8000
-9
-4.5
-2.25
-29492
16#8CCC
-8
-4
-2
-26215
16#9999
-7
-3.5
-1.75
-22938
16#A666
-6
-3
-1.5
-19661
16#B333
-5
-2.5
-1,.5
-16384
16#C000
-4
-2
-1
-13108
16#CCCC
-3
-1.5
-0.5
-9831
16#D999
-2
-1
-0.5
-6574
16#E666
-1
-0.5
-0.25
-3292
16#F324
0 0 0 0 0 0 0 1 0.5
0.25
3276
16#0CCC
6553
16#1999
2 1 0.5
6553
16#1999
13107
16#3332
3
1.5
0.75
9830
16#2666
19660
16#4CCC
4 2 1
13106
16#3332
26214
16#6665
5
2.5
1.25
16383
16#3FFF
32767
16#7FFF
6 3 1,5
19660
16#4CCC
39320
16#9998
7
3.5
1.75
22936
16#5998
45874
16#B332
8 4 2
26213
16#6665
52427
16#CCCB
9
4.5
2.25
29490
16#7332
58981
16#E665
10 5 2.5
32767
16#7FFF
65534
16#FFFE
4.18.2.4 LEDs "Channel"
The LEDs labeled "Channel" indicate the state of the respective channel.
4.18.3 Function
The AI8/16-U module has 16 analogue inputs. If signal lines are single-ended (measured against earth, L-),
16 channels are available. To measure differential signals, you will need 2 channels for every signal, i.e. you
can pick up no more than 8 differential signals. Channels can be combined as follows: 0/1, 2/3, 4/5, 6/7, 8/9,
10/11, 12/13 und 14/15.
4.18.3.1 Analog inputs
Check the following variable for the digitized input values:
4.18.3.2 Measuring value
±10V ±5V ±.,5V Bipolar
*Datatype conversion required
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Figure 50: Analog values voltage
Page 97
Kendrion Kuhnke Automation GmbH AI8/16-U
4.18.4 Function 694 441 53 Kuhnke FIO AI8/16-U
4.18.4.1 Note
The module 694 441 53 Kuhnke FIO AI8/16-U is the not compatible successor of the module 694 441 03
Ventura FIO AI8/16-U.
The module is ETG-conform.
That means when an existing FIO block 694 441 03 shall be replaced by a module 694 441 53 the control
program of the EtherCAT master must be changed.
4.18.4.2 Setting Options
The transformation of the analog signals can be executed DC-synchronous (Distributed Clocks) or SMsynchronous (Sync Manager)
.
The access to the input values and the module status is done via process data objects that are mapped in
variables of the control program of the EtherCAT master.
For information and settings Service data objects are designed.
Settings for the AI4/8-U module, such as the properties of the individual inputs can be made in the
configurator already offline. These are then executed by the EtherCAT master at startup.
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Name
Value
Explanation
0
Off (default)
1
0-10V
2
±5V
3
±10V
4
±2.5V
0
Single-Ended (default)
1
Differential
Average
n=1..255
Inputn= Average after n cycles (default=1)
Bit
Name
Explanation
0
ResetErrorAck
Acknowledge of "Reset Error" in Module Control
1 not used
2
EtherCATError
Sync Manager Watchdog
3
ConfigError
Sync Manager quantity structure does not match
4-15
not used
Variable
Data type
Explanation
Input_n
UINT
Input value for channel n (n=0…15).
It is also possible to make adjustments during runtime by executing the SDO transfer blocks of the EtherCAT
master control.
Press the button "Hinzufügen…", select the object and set the desired value.
4.18.4.3 Options
The following options can be set:
InputProperties
InputSwitch
4.18.4.4 StateWord
In the StateWord you can watch the state of the module:
4.18.4.5 Analog inputs
You find the digitalized input values in the following variables:
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Bit
Name
Explanation
0
ResetError
0 -> error events are saved, 1 -> errors are deleted after the event has gone
1-15
-
not used
Index
Name
Type
Default
Min Max
Access
1000
Device Type
UINT32
0x40191
RO
1001
Error Register
UINT8
RO
1008
Device Name
String
AI8/16-U 13 Bit
RO
1009
Hardware Version
String
1.00
RO
100A
Software Version
String
1.00
RO
1018
Identity Object
Array
1018, 0
Number of Entries
UINT8
4 RO
1018, 1
Vendor Id
UINT32
0x0048554B
RO
1018, 2
Product Code
UINT32
185341
RO
1018, 3
Revision Number
UINT32
1 RO
1018, 4
Serial Number
UINT32
0 RO
2000
Analog Input Properties
Array
2000, 0
Number of Entries
UINT8
16 RO
2000, 1
Input 0
UINT8
Off
Off (0),
RW
2000, 2
Input 1
UINT8
Off
Off (0),
RW
2000, 3
Input 2
UINT8
Off
Off (0),
RW
2000, 4
Input 3
UINT8
Off
Off (0),
RW
2000, 5
Input 4
UINT8
Off
Off (0),
RW
4.18.4.6 ControlWord
There is a control bit to quit the error messages.
4.18.4.7 Object dir ec tor y
0-10V (1),
+-5V (2)
+-10V (3)
+-2.5V (4)
0-10V (1),
+-5V (2)
+-10V (3)
+-2.5V (4)
0-10V (1),
+-5V (2)
+-10V (3)
+-2.5V (4)
0-10V (1),
+-5V (2)
+-10V (3)
+-2.5V (4)
(E 747-1 GB) 99
11/25/2016
0-10V (1),
+-5V (2)
+-10V (3)
+-2.5V (4)
Page 100
Kendrion Kuhnke Automation GmbH AI8/16-U
2000, 6
Input 5
UINT8
Off
Off (0),
RW
2000, 7
Input 6
UINT8
Off
Off (0),
RW
2000, 8
Input 7
UINT8
Off
Off (0),
RW
2000, 9
Input 8
UINT8
Off
Off (0),
RW
2000, 10
Input 9
UINT8
Off
Off (0),
RW
2000, 11
Input 10
UINT8
Off
Off (0),
RW
2000, 12
Input 11
UINT8
Off
Off (0),
RW
2000, 13
Input 12
UINT8
Off
Off (0),
RW
2000, 14
Input 13
UINT8
Off
Off (0),
RW
2000, 15
Input 14
UINT8
Off
Off (0),
RW
0-10V (1),
+-5V (2)
+-10V (3)
+-2.5V (4)
0-10V (1),
+-5V (2)
+-10V (3)
+-2.5V (4)
0-10V (1),
+-5V (2)
+-10V (3)
+-2.5V (4)
0-10V (1),
+-5V (2)
+-10V (3)
+-2.5V (4)
0-10V (1),
+-5V (2)
+-10V (3)
+-2.5V (4)
0-10V (1),
+-5V (2)
+-10V (3)
+-2.5V (4)
0-10V (1),
+-5V (2)
+-10V (3)
+-2.5V (4)
0-10V (1),
+-5V (2)
+-10V (3)
+-2.5V (4)
0-10V (1),
+-5V (2)
+-10V (3)
+-2.5V (4)
0-10V (1),
+-5V (2)
+-10V (3)
+-2.5V (4)
(E 747-1 GB) 100
11/25/2016
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