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E-I/O EtherCAT I/O Modules

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1. 694 454 01 ao Ss ooo Front view of Counter Posi2 I O module Counter2 EtherCAT 210 O Power BEBHBEH OOGOGOOOGOGOHOGOOOO GO a 990990000000000000 o 694 444 01 oon ooo Front view of Counter2 I O module Berghof Automationstechnik GmbH Harretstrasse 1 72800 Eningen www berghof com L L AQut A A B ON QAAN AO OOOOOOOOOOODOOOOOOO Ref Ref 5V GND 24V ererueaiae Pinning Counter2 f H H H SONS MUB ON CO LUPA a da ld bea OOOOOQOOQOOOOQOOOOOED Pinning Counter Posi2 Counter Posi 1 Counter Posi 2 2VF100193FE02 docx EtherCAT_IO_HB_en_2D1722004ZD00 docx m u 0 O D A a A w a 2 2 TH 3 OUNE 3 4 ONO 5 5 Encoder 6 6 Ai 710 7 A 8 16 O B6 210 I B 010 10 Re 1 om Ref 12 ar 5 13 0 Ol GND 144 116 Ou 24V 15 es po L
2. State LED flash code Explanation Init Red on Initializing no data exchange Pre Op Red green 1 1 Pre operational no data exchange Safe Op Red green 3 1 Safe operation inputs readable Op Green on Operational unrestricted data exchange 70 Berghof Automationstechnik GmbH Harretstrasse 1 72800 Eningen www berghof com EtherCAT_IO_HB_en_2D1722004ZD00 docx 2VF100191FE02 docx USER MANUAL 1 3 E I O I O LED The LED labeled I O indicates the state of the module s I Os 1 0 State LED flash code Explanation Ok Green on No error Error Off Malfunction of module if E bus LED On Inoperative if E bus LED Off Red 4x EtherCAT watchdog control Red 6x Module specific fault Red 7x Configuration error E bus pre operational no of process data differs from that in the module Defective Red on Module defective Power LED There is no LED labeled Power because a separate power feed is not required Channel LEDs State LED flash code Explanation On Green on Channel enabled Off Off Channel disabled Error Red Short circuit broken wire 7 2 3 Function Module AI8 Pt Ni100 has 8 analogue inputs for Pt100 or Ni100 temperature sensors It can also measure resistances between 70 and 330 Q The letter n in the tables below represents the channel number n 0 7 Analogue inputs Check the following variable for the digitized input values Berghof Automationstechnik
3. MN COUPLER DI16 DO16 DI16 DO16 DI16 DO16 DI16 DO16 DI16 DO16 wm EtherCAT EtherCAT EtherCAT EtherCAT EtherCAT EtherCAT m Out m iO m O m 0 m lO m 0 Power Power m Power m Power gt Content gt Completeness Copyright Berghof Automationstechnik GmbH Reproduction and duplication of this document and utilisation and communication of its content is prohibited unless with our express permission All rights reserved Damages will be payable in case of in fringement Disclaimer The content of this publication was checked for compliance with the hardware and software described How ever discrepancies may arise therefore no liability is assumed regarding complete compliance The infor mation in this document will be checked regularly and all necessary corrections will be included in subse quent editions Suggestions for improvements are always welcome Subject to technical changes Trademarks gt CANtrol and CANtrol dialog are registered trademarks of Berghof Automationstechnik GmbH gt Microsoft Windows and the Windows Logo are registered trademarks of Microsoft Corporation in the USA and other countries gt EtherCAT is a registered trademark and patented technology licensed from Beckhoff Automation GmbH Germany gt CiA and CANopen are registered community trademarks of CA
4. lt 60 ppm C regarding range limit Critical frequency typical 2 Hz Measurement current lt 0 12 mA Sampling frequency gt 7 75 Hz if all channels are enabled Controller ASIC ET1200 Baud rate 100 Mbit s E bus port 10 pin system plug in side wall Term module not required Power supply 24 V DC 20 25 E bus load Berghof Automationstechnik GmbH Harretstrasse 1 72800 Eningen www berghof com 150 mA 2VF100191FE02 docx EtherCAT_IO_HB_en_2D1722004ZD00 docx 69 USER MANUAL 1 3 E I O 7 2 Analogue temperature inputs Al8 Pt Ni100 cho Chi Ch2 MDADA A I Ch3 N 3 wire o SD o cho 3 Enns i I Ch4 3 OMMO 3 1410 Ds N E 2 puies chs T o7r E Heid Ch2 E 1 Onno o h c 1 onma 12 onma cas N E a gungen Z Ch7 5 900 onmo 2 wire SMMO Al Pt Ni100 Front view of Pt Ni100 I O module 1 0 connection 7 2 1 Terminals The module needs no separate 24 V connector Power is supplied to the module through the E bus connector Operative earth shielding of analog wires gt section 3 1 1 Earth 7 2 2 Status LEDs EtherCAT LED The LED labeled EtherCAT indicates the state of the EtherCAT ASIC EtherCAT
5. 11 1 1 Terminals The module Potential Distributor 2 x 16 has 2 separate potential lines It distributes the potential optional o V DC or 24 V DC attached at the pins L1 or L2 on the pins o to 15 of the same row The E bus is passed on from the previous one to the next module 11 1 2 Status LEDS The module has no status LEDs 11 1 3 Function 2 wire or 3 wire terminals for digital I O modules Berghof Automationstechnik GmbH Harretstrasse 1 72800 Eningen www berghof com 111 2VF100195FE02 docx EtherCAT_IO_HB_en_2D1722004ZD00 docx USER MANUAL 1 3 E I O 112 11 1 4 Technical data Potential Distributor Label Potential Distributor 2 x 16 Part no 204802300 Plug in connector 36 pole 204800300 not part of the module E bus port 10 pin system plug in side wall E bus load none 11 2 Shield connection terminal block Shield connection terminal block 1 x 14 mm 2x8mm Measurements of the clamp 14 mm 11 2 1 Terminals The shield connection terminal block consists of the shield clamp the clamp holder 2 screws M3x5 2 washers and 2 spring washers Fasten the clamp holder with the 2 screws by using the washers and spring washers on the housing of the CANtrol E I O module Use the two tapped holes on the front side below They are provided for it Shield connection terminal block 14 mm Berghof Automationstechnik GmbH Harretstrasse 1 72800 Eningen www berghof com EtherCAT_IO
6. 5 2 5 2 1 5 2 2 5 2 3 5 2 4 5 3 5 3 1 5 3 2 5 3 3 5 3 4 5 4 5 4 1 5 4 2 5 4 3 5 4 4 6 1 6 1 1 6 1 2 6 1 3 6 1 4 6 2 6 2 1 6 2 2 6 2 3 6 2 4 6 3 6 3 1 6 3 2 6 3 3 6 3 4 6 4 6 4 1 6 4 2 6 4 3 6 4 4 7 1 7 1 1 7 1 2 7 1 3 7 1 4 Digital in and outputs DI16 DO16 uunnnesnnnnnusnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnennnnnnnnnn 27 Terminales A nee ee td loa e E een ee ee ehe 27 Status LEDS A a e e Se ER e Re o Lg eL red des ah ee 27 FUNCION 2 2 ar EA En E O nee 29 Technical dato caes ena Se ataco a ADM E a da a be 29 Digitalinputs DIB 2 diia 30 Terminals incita aa ds 30 Status LEDS 20 E A teta sic tad or oie dr do ale id a oil 30 FUNCION 2d a ed ri Ade Sana dl lia dla ebenda 31 Technical datar e ds dl la a ed I a en da e a 31 Digital inputs DING 0 iria 32 Terminals ir Rilke 32 Status LEDS et bee Cee eee ce Leste bret Cs Meee bse Ae ae eect A a 32 E UNCUION sist dic di E rn hie ra oh acces a ee ea eh es ak ee cae te 33 Technical a ii Ra 33 Digitakoutputs DO IO mn Hr a a a A ae 34 Terminals ee ee es Lo e e a de cae A a Le re et de ee el E ET T 34 Status LEDS a AA A ec ae A eh tee lado 34 RUNCUON E EEE ceros ee a ti ad ee des E ON 35 Technical dada ci A dois 36 ANALOGUE MODULES 00000 A A 37 Analogue inputs for current measurement AlA4 l uuussssnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnne 37 T
7. 0 O L L LOMMO L L L Counter1 Counter2 87 USER MANUAL 1 3 E I O 9 1 1 Terminals Counter Posi2 Counter2 Pin Signal Explanation 0 3 In_0 3 Digital inputs 4 Out_0 Digital output 5 6 A_Out Analogue output Counter Posi2 only 7 12 A B Ref Encoder signals 13 14 5V Encoder supply 5 V 0 2 A fuse 15 24 V Initiator supply 24 V 0 2 A fuse 16 17 24 V Module supply Operative earth shielding of analog wires gt section 3 1 1 Earth 9 1 2 Status LEDs EtherCAT LED The LED labeled EtherCAT indicates the state of the EtherCAT ASIC EtherCAT State LED flash code Explanation Init Red on Initializing no data exchange Pre Op Red green 1 1 Pre operational no data exchange Safe Op Red green 3 1 Safe operation inputs readable Op Green on Operational unrestricted data exchange I O LED The LED labeled I O indicates the state of the module s I Os 88 Berghof Automationstechnik GmbH Harretstrasse 1 72800 Eningen www berghof com EtherCAT_IO_HB_en_2D1722004ZD00 docx 2VF100193FE02 docx USER MANUAL 1 3 E I O 1 0 State LED flash code Explanation Ok Green on No error Error Off Malfunction of module if E bus LED On Inoperative if E bus LED Off Red 2x Low voltage Red 3x Watchdog internal Red 4x EtherCAT watchdog control Red 7x Configuration error E bus pre operational no of process data differ
8. E I O Contents 1 GENERAL INFORMATION 2 2 222 9 1 1 About This Manual 222 naneei 9 1 2 Hazard Categories and Terminology uuruununnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnennnnn 10 1 3 Conformity Declaration uusruesssnannnennnnnnnnnnnnnennnnnnnnnnnnnnnnennnnnnnnnnnnenennnnnnnnnnnnenennnnnnnnnnnnenennnn 10 1 42 Qualified Pers nnel 2 F re A 11 AS A ARA 4 Se a Ra a Ba a a Bl a saatest 11 1 5 1 Working on the controller module 4u us44444Hnnnnnnnennnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnenn 11 1 6 Use as Prescribed 2 u 12 2 INTRODUCTION ETHERCAT I O MODULES 4uu444400000000nnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnne 13 2 1 EtherCAT Ethernet Control Automation Technology uunsesnnnnnennnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn nn 13 2 2 CANtrol the automation platform unnsssnnnnnssnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn nn 13 2 3 E VO CANtrol EtherCAT V O System uuuuss4munnnnnnnnnnnnnnnnnnnnnnnnnennnnnnnnnnnnnnnnnnnnnnnnnnnnnennnnnnnnnnn 14 2 4 Electromagnetic compatibility uuuuusssnnnnnennnnnnnnnnnnnnennnnnnnnnnnnnnennnnnnnnnnnnnnennnnnnnnnnnnnnennnnnnn nn 15 2 4 1 ica ds 15 2 4 2 Interference emission iaa T 15 2 4 3 General notes on installation ooooccccncccnncnnnnnnnnnnnnonononnnnnnnnnnnnnnnnnn
9. Mode 0 20 mA 0 mA 20 mA 20 5 mA 0000 EF80 F580 0 mA 3 5 mA 4 mA 20 mA 20 5 mA 0000 29E0 2FEO EFso F580 Conversion Output value gt Current mA Current mA Output value 3066 336 Conversion Current mA gt Output value Output value Roundoff Current mA 191 646 16 Berghof Automationstechnik GmbH Harretstrasse 1 72800 Eningen www berghof com EtherCAT_IO_HB_en_2D1722004ZD00 docx 2VF100190FE03 docx USER MANUAL 1 3 E I O Analogue values current mA decimal CODESYS INT hexadecimal 0 0 0 0 1 3056 3056 16 0BFO 2 6128 6128 161 7FO 3 9184 9184 16 23E0 4 12256 12256 16 2FE0 5 15328 15328 16 3BE0 6 18384 18384 16 47D0 7 21456 21456 16 53D0 8 24528 24528 16 5FDO 9 27584 27584 16 6BC0 10 30656 30656 16 77C0 11 33728 31808 16 83C0 12 36784 28752 16 8FBO 13 39856 25680 16 9BBO 14 42928 22608 16 A7BO 15 45984 19552 16 B3A0 16 49056 16480 16 BFAO 17 52112 13424 16 CB90 18 55184 10352 16 D790 19 58256 7280 16 E390 20 61312 4224 16 EF80 20 5 62848 2688 16 F580 2 21 37 65520 16 16 FFFO Berghof Automationstechnik GmbH Harretstrasse 1 72800 Eningen www berghof com 47 2VF100190FE03 docx EtherCAT_IO_HB_en_2D1722004ZD00 docx USER MANUAL 1 3 E I O Module control The module provides you with various operational options To set up the module choose the options as appropriate and accept by setting cont
10. The delivery takes place in each current hard and software version Serial no five digits behind the hyphen Version defines the design level of the module as supplied ex works Supply voltage Production date year calendar week of the production CE mark The Version supply version panel specifies the design level of the module as supplied ex works When replacing a module users with the CNW CANtrol Node Wizard tool can read off the current software version of the newly supplied module and then reload their own software version for a particular project if necessary With the latter in mind before the download you should always keep a record of the existing software levels in your project documentation software version node IDs baud rate etc Berghof Automationstechnik GmbH Harretstrasse 1 72800 Eningen www berghof com EtherCAT_IO_HB_en_2D1722004ZD00 docx 2VF100055FE04 docx USER MANUAL 1 3 E I O 12 5 Addresses and Bibliography 12 5 1 Addresses CAN in Automation international manufacturers and users organisation for CAN users in the field ofauto gt CiA mation CAN in Automation e V CiA Am Weichselgarten 26 D 91058 Erlangen Germany headquarters can cia de www can cia de EtherCAT Technology Group gt ETG ETG Headquarters Ostendstra e 196 D 90482 Nuremberg Germany info ethercat org www ethercat org Beuth Verlag GmbH 10772 Berlin gt DIN EN a Standar
11. Output set delay Variable Output_0_0 Del Data type Explanation UINT Output set delay in us In frame synchronous mode Frame synchronous Frame Interrupts n n 1 n 2 5 t v v y Output set delay n Output set delay n 1 Frame Digital Output Variable Output set delay n TRUE Output set delay n n 1 FALSE Output set delay n 1 98 Berghof Automationstechnik GmbH Harretstrasse 1 72800 Eningen www berghof com EtherCAT_IO_HB_en_2D1722004ZD00 docx 2VF100193FE02 docx USER MANUAL 1 3 E I O In DC synchronous mode DC Interrupts n n 1 n 2 On Off t M l v M Output set delay n Output set delay n 1 DC synchronous Frame Digital Output Variable Output set delay n TRUE Output set delay n n 1 FALSE Output set delay n 1 9 1 8 Analogue outputs Counter Posi2 5V only The variables define the voltage of the analogue outputs Analogue outputs Variable Data type Explanation AnalogOutput_1 UINT Analogue output 1 Output values see table voltage page 53 Berghof Automationstechnik GmbH Harretstrasse 1 72800 Eningen www berghof com 99 2VF100193FE02 docx EtherCAT_IO_HB_en_2D1722004ZD00 docx USER MANUAL 1 3 E I O 9 1 9 Examples 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
12. on Input signal TRUE output enabled Off Off Input signal FALSE output disabled Berghof Automationstechnik GmbH Harretstrasse 1 72800 Eningen www berghof com EtherCAT_IO_HB_en_2D1722004ZD00 docx 2VF100189FE02 docx USER MANUAL 1 3 E I O 5 1 3 Function The DI16 DO16 module features 16 digital inputs and 16 digital outputs Variable Data type Explanation Digitallnputn BOOL Digital input n 0 15 DigitalOutputn BOOL Digital output n 0 15 5 1 4 Technical data DI16 DO16 Label E O DI16 DO16 1MS 0 5A Part no 204800100 Plug in connector 36 pole 204800300 not part of the module Digital inputs 16 Input delay 1ms 5ms typically Signal level Off 3 5V EN 61131 3 Type1 On 15V 30 V Digital outputs 16 Max current 0 5 A per output Total current max 8A Controller ASIC ET1200 Baud rate 100 Mbit s Connector 10 pin system plug in side wall Term module not required Power supply 24 V DC 20 25 E bus load 135 mA Berghof Automationstechnik GmbH Harretstrasse 1 72800 Eningen www berghof com 2VF100189FE02 docx EtherCAT_IO_HB_en_2D1722004ZD00 docx 29 USER MANUAL 1 3 E I O 30 5 2 Digital inputs DI32 D132 EtherCAT 0808888 HOOOOHOHOOOHOHHOHGOOOO GO E Y oo 000
13. 1 Count direction TRUE when up 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 also becomes FALSE again Term2 SetValue 1 diCounterValue Copy a number into the source var 0 Clear Term2 SetCounter 1 TRUE and copy to the counter current value Term2 CounterSet 1 TRUE if set Set compare value Configuration settings set in Z hler 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 Initialisierung 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
14. 1 4 Technical data PROFIBUS DP Slave PROFIBUS Label E 1 O DP SLAVE Part no 204802600 Fieldbus1 System EtherCAT 100 Mbit s EtherCAT file Berghof ElO Modules xml Fieldbus2 PROFIBUS DP Slave Implementation type VPC3 Connector D SUB Plug 9 pole female not part of the module Baud rate max 12 Mbit s Detection automatically Addressing via EtherCAT variable GSD file E IO DP S GSD WxHxD 25x120x90 mm Mounting 35 mm DIN top hat rail Controller ASIC ET1200 Connection 10 pole system plug at the side wall Term module not required Power supply from EtherCAT Coupler via E bus plug E bus load 210 mA 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 Zone B Berghof Automationstechnik GmbH Harretstrasse 1 72800 Eningen www berghof com EtherCAT_IO_HB_en_2D1722004ZD00 docx 2VF100192FE02 docx USER MANUAL 1 3 E I O 9 Counter modules 9 1 Counters with analogues outputs Counter Posi2 5V Counter2 5V Counter Posi2 EtherCAT a O Power HHH OOOOGOOHGOGOGOGOOGGHOOHO GH a 8009099009099909998
15. 16 digital outputs Variable Data type Explanation DigitalOutputn BOOL Digital output n 0 15 Berghof Automationstechnik GmbH Harretstrasse 1 72800 Eningen www berghof com 35 2VF100189FE02 docx EtherCAT_IO_HB_en_2D1722004ZD00 docx USER MANUAL 1 3 E I O 5 4 4 Technical data Label E O DO16 0 5A Part no 204801000 Plug in connector 18 pole 204800400 not part of the module Digital outputs 16 Max current 0 5 A per output Total current max 8A Controller ASIC ET1200 Baud rate 100 Mbit s Connector 10 pin system plug in side wall Term module not required Power supply 24 V DC 20 25 E bus load 130 mA 36 Berghof Automationstechnik GmbH Harretstrasse 1 72800 Eningen www berghof com EtherCAT_IO_HB_en_2D1722004ZD00 docx 2VF100189FE02 docx USER MANUAL 1 3 E I O 6 Analogue modules 6 1 Analogue inputs for current measurement Al4 I Som wer ES 1 nF were 1 8 L ov 0ov 3 00 ie zvoc i De au ma sm L ov ov 7 00 ie avoc e D CH2 CH2 a bs gt Lov ov 11 10 oa avoc 12 nn 13 ee me a e m 0V o 15 MO Oo passive Stromquelle aktive Stromquelle L mo 2 Front view of Al4 I I O module I O connection passive active power source 6 1 1 Terminals Module supply L 24 V DC L
16. 442 02 anna 3905 Front view of AO4 I O module 1 0 connection 6 4 1 Terminals Power supply to module I Os L 24 V DC L 0 V 6 4 2 Status LEDs EtherCAT LED The LED labeled EtherCAT indicates the state of the EtherCAT ASIC State LED flash code Explanation Init Red on Initializing no data exchange Pre Op Red green 1 1 Pre operational no data exchange Safe Op Red green 3 1 Safe operation inputs readable Op Green on Operational unrestricted data exchange Berghof Automationstechnik GmbH Harretstrasse 1 72800 Eningen www berghof com 57 2VF100190FE03 docx EtherCAT_IO_HB_en_2D1722004ZD00 docx USER MANUAL 1 3 E I O I O LED The LED labeled I O indicates the state of the module s I Os 1 0 State LED flash code Explanation Ok Green on No error Error Off 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 Red 7x Configuration error E bus pre operational no of process data differs from that in the module Defective Red on Module defective Power LED The LED labeled Power indicates the state of the I O module s I O power supply State LED flash code Explanation On Green on 24 V DC supply ok Off Off 24 V DC supply not ok Channel LEDs State LED flash code Explanation On Green on Channel enabl
17. A e cronos eae 112 PA a a ar 113 11 23 Technical data Jesse seen dd 113 Berghof Automationstechnik GmbH Harretstrasse 1 72800 Eningen www berghof com 7 EtherCAT_IO_HB_en_2D1722004ZD00 docx USER MANUAL 1 3 E I O 12 12 1 12 1 1 12 1 2 12 2 12 3 12 3 1 12 4 12 5 12 5 1 12 5 2 PN D GHRSERREEENE EEE EEE EN decre detested A A T 115 Environmental Protection 2 2 1 2 2221 1 sn den steel cccceacetecsesd ctcepecicaseyastauicecs diecyesecteceeslens 115 Emission e a SR 115 Disp sali 4 43 222232 2 a RA ei Reis kein 115 Maintenance Upkeep viooiionniinii id dde 115 E A OR 115 Weart E a E A Sa 115 Nameplate ion 116 Nameplate descriptions example ooononooncccnnnnnnnnccoocccnnnconnnnnrnnnonnncnnnnnn ono nnnnnnnr naar nn nc rra nr ernennen 116 Addresses and Bibliography uussssnnnnenennnnnnnnnnnnennnnnnnnnnnnnnennnnnnnnnnnnnnnnnnnnnnnnnnnnenennnnnnnnnnnnen 117 Addresses a el 117 Standards Bibliogra hy a 2 jene ee er RI Rn in 118 Berghof Automationstechnik GmbH Harretstrasse 1 72800 Eningen www berghof com EtherCAT_IO_HB_en_2D1722004ZD00 docx USER MANUAL 1 3 E I O 1 General Information Documentation This equipment manual is intended for qualified personnel and contains information regarding mounting installation commissioning and maintenance The information contained in this manual is subject to change without prior notice 1 1 Abo
18. CANtrol E 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 Base Tx line can be plugged in to connect the next EtherCAT unit to the second bus coupler port If the bus coupler is the last station of the EtherCAT network i e ifits RJ45 Out socket remains unplugged the connection between the forward and return lines is automatically closed 3 1 Mechanical design The figure shows the basic layout of the CANtrol E I O modules The bus coupler and the I O modules differ in their connectors and indicators however Module structure Entriegelungshebel Unlock button Status LEDs Beschriftungsclip Signalzustands LEDs Status LEDs Label clip Signal state indicators LEDs Griffkante WA 4 Grip Aufnahme f r Federzugsammelstecker Slot for spring assisted combi plug Schirmanschluss am Geh usetr ger Shield to housing mount connector A A r migi z u e 3 Modulverriegelung und E Bus Konvektionsschlitze Module lock and E bus a a Ventilation slots VE ig n gt ih A er 4 i 4 lt 2 AS Hutschienenbefestigung und Funktionserde EN lt Carrier rail mount and operative earth 2VF100534DG00 VSD The housing mount consists of an aluminium profile with an integral snap on
19. CompareSet_1 THEN Step 2 END IF Set Set_Options and SetCompare in the starting position 100 Berghof Automationstechnik GmbH Harretstrasse 1 72800 Eningen www berghof com EtherCAT_IO_HB_en_2D1722004ZD00 docx 2VF100193FE02 docx USER MANUAL 1 3 E I O 23 Term2 SetOptions 1 FALSE Term2 SetCompare_1 FALSE Step 0 bInit FALSI El END_CASE END_IF Set preset value 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 also becomes FALSE again Term2 SetValue 1 diPresetValue Copy a number into the source var Term2 SetPreset_1 TRUE and copy to the preset value Term2 PresetSet_1 TRUE if set Set maximum value Copying the value of SetValue_1 into the maximum 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 also becomes FALSE again Term2 SetValue 1 diMaxValue Copy a number into the source var Term2 SetMax 1 TRUE and copy to the maximum value Term2 MaxSet 1 TRUE if set Digital output see also page 92 Z hler 1 Optionen The digital output can be controlled optionally by the variable Output_o_o or the compare function
20. Decision is done by the variable ControlOutput_1 Set options see also page 100 The current status of the output is read from the module and displayed in In_Output_o_o 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 Operating as A B Ref Counter or Event Counter see also page 92 Z hler 1 Optionen 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 100 Term2 SelectEncoder 1 FALSE A B Ref with self detection of the direction Term2 SelectEncoder 1 TRUE Event counter at A B FALSE down B TRUE up Single and multiple counting This option is valid in the event counter mode only see also page 92 Z hler 1 Optionen The counter can count edges all rising and falling edges or pulses only the rising edges Berghof Automationstechnik GmbH Harretstrasse 1 72800 Eningen www berghof com 101 2VF100193FE02 docx EtherCAT_IO_HB_en_2D1722004ZD00 docx USER MANUAL 1 3 E I O The selection is done by the variable SetResolution_1 Set options see also page 100 Term2 SetResolution 1 FALSE All edges Term2 SetResolution 1 TRUE Pulses Referencing The counter can be set to preset value when a
21. GmbH Harretstrasse 1 72800 Eningen www berghof com 71 2VF100191FE02 docx EtherCAT_IO_HB_en_2D1722004ZD00 docx USER MANUAL 1 3 E I O 72 Variable Data type Explanation Channel_n INT Value measured on channel n n 0 7 Default in 1 10 C ResMode Pt100 in 1 100 Q Module control The module provides you with various operational options 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 I O LED To reset the error bits set control bit ResetError to a rising edge Variable Datatype Explanation SetOptions BOOL Rising edge gt accepts module options ResetError BOOL Rising edge gt acknowledges error Module options The following options are available for module AI8 Pt Ni100 Module options Variable Data type Explanation Channel_n_Ni BOOL Set channel n to Ni100 sensor Channel_n_On BOOL Enables channel n Channel_n_ResMode BOOL Set channel n to resistance mode Channel_n_Filter USINT Set filter for channel n The arithmetic mean is output after n 1 conversions n 0 7 Channel number To set and accept options see Module control Berghof Automationstechnik GmbH Harretstrasse 1 72800 Enin
22. LED flash code Explanation Not connected Off No Ethernet connection Connected Green on Connected to Ethernet Traffic Green flashing Exchanging telegrams 4 3 Function The CANtrol E I O 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 CANtrol E 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 Atthe end ofthe modular device the connection between the forward and return lines is automatically closed the effect being that another 100 Base Tx line can be plugged in to connect the next EtherCAT unit to the second bus coupler port Module state Variable Data type Explanation Undervoltage BOOL Low voltage supplied power lt 19 2 V 24 Berghof Automationstechnik GmbH Harretstrasse 1 72800 Eningen www berghof com EtherCAT_IO_HB_en_2D1722004ZD00 docx 2VF100188FE02 docx USER MANUAL 1 3 E I O 4 4 Technical data Bus coupler Label E 1 O BUSKOPPLER 3A Part no 204800000 Plug in connector 2 pole 204801800 part of the package Function Connects a 100Base TX EtherCAT with the CANtrol E I O Modules Generates the LVDS system voltages Controller ASIC ET1100 Baud rate 100Mbit s Cable CAT5
23. Length of cable max 100 m between 2 bus couplers Terminal EtherCAT 2 x RJ45 Power supply 24 V DC 20 25 Connector power Plug 2 pole part of the module Input current 50 mA E bus power supply E bus power supply max 3 A ca 20 modules E bus load Berghof Automationstechnik GmbH Harretstrasse 1 72800 Eningen www berghof com 2VF100188FE02 docx EtherCAT_IO_HB_en_2D1722004ZD00 docx 195 mA 25 USER MANUAL 1 3 E I O Blank page 26 Berghof Automationstechnik GmbH Harretstrasse 1 72800 Eningen www berghof com EtherCAT_IO_HB_en_2D1722004ZD00 docx 2VF100188FE02 docx USER MANUAL 1 3 E I O 5 Digital modules 5 1 Digital in and outputs DI16 DO16 EE O 0 po 116 1 DH8DO16 2 8 3 2 EtherCAT 8 S ol E Power SOMO ueni oo 00 9 no OW nolo OO ul Ste oo O S 8 oo 1 Bar oo IS E L O L 00 he la a Mn L Onm L R ER En O O L L DI DO L L no OW L L IS D DO 684 400 00 ooo CB E Front view of DI16 DO16 I O module I O connect
24. Pt Ni100 Label E O Al8 PT NI100 16 BIT Part no 204800500 Plug in connector 36 pole 204800300 not part of the module Analogue inputs 8 Resolution 16 bit resistance 0 01 temperature 0 1 C Pt100 measuring range 75 C 670 C Ni100 measuring range 60 C 250 C Resistance 70 330 Q Temperature drift lt 50 ppm C regarding range limit Critical frequency typical 2 Hz Measurement current lt 0 50 mA Sampling frequency gt 3 88 Hz if all channels are enabled Controller ASIC ET1200 Baud rate 100 Mbit s E bus port 10 pin system plug in side wall Term module not required Power supply 24 V DC 20 25 E bus load Berghof Automationstechnik GmbH Harretstrasse 1 72800 Eningen www berghof com 170 mA 2VF100191FE02 docx EtherCAT_IO_HB_en_2D1722004ZD00 docx 75 USER MANUAL 1 3 E I O 76 7 3 Analogue temperature inputs Al4 cm lt f cn AZ 5 cm lt 4 cm E DOODGOOLIDODOTDO poooooooooo0o000o0o Al Thermo Front view of Al4 TE I O module 1 O connection 7 3 1 Terminals The module needs no separate 24 V connector Power is supplied to the module through the E bus connector Operative earth shielding of analog wires gt section 3 1 1 Earth 7
25. channel Disabling one or several channels will shorten the entire A D conversion cycle Filter in this case means to compute an average when the set filter time is over Analogue value conversion runs cyclically and is not synchronized with the receipt of EtherCAT telegrams The cycle consists of the analogue value conversion plus transmitting the values into the EtherCAT data area Berghof Automationstechnik GmbH Harretstrasse 1 72800 Eningen www berghof com 2VF100191FE02 docx EtherCAT_IO_HB_en_2D1722004ZD00 docx 73 USER MANUAL 1 3 E I O Number of channels Cycle time in ms Number of channels Cycle time in ms all filters 0 all filters 0 1 34 5 162 2 66 6 194 3 98 7 226 4 130 8 258 If you are aiming for a high sampling frequency the EtherCAT master should do the filtering averaging because it will normally have much more processing power Take the EtherCAT cycle into account to assess how much the values stored by the EtherCAT master are up to date The module described in this section will accept the above times as the ideal EtherCAT cycle setup Quality of analogue values i NOTICE Best results are obtained by connecting the shield of the signal cables to FF _ 74 Berghof Automationstechnik GmbH Harretstrasse 1 72800 Eningen www berghof com EtherCAT_IO_HB_en_2D1722004ZD00 docx 2VF100191FE02 docx USER MANUAL 1 3 E I O 7 2 4 Technical data Al8 Pt Ni100 Al8
26. channel has terminals for one encoder and 4 digital inputs and 1 digital output Fee a E The Counter Posi2 module has 1 additional analogue output a GF There are structured groups of variables for gt Controlling and watching the entire module Modul Kontrolle Modul Status Module control Module status gt Controlling and watching of Counter 1 resp 2 Optionen Kontrolle Status Fehler Options Control Status Errors gt Counter values of Counter 1 resp 2 Sollwerte Istwerte Set values Current values gt State of the digital I Os of Counter 1 resp 2 Digitale Ausgange Digitale Eing nge Eingangsflanken Zeitstempel Ausgangsverz gerung Digital outputs Digital inputs Input change time stamp Output delay gt State of the analogue outputs of Counter 1 resp 2 Optional Analogausgang Analogue output Function with module Counter Posi2 only Principle of control controller 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 O NOTICE In the following the functions of the counter module are described by Counter Posi 1 For Counter Posi 2 the data are valid accordingly Frame or DC synchronous mode Dependent on whether Distributed Clocks
27. code Explanation Init Red on Initializing no data exchange Pre Op Red green 1 1 Pre operational no data exchange Safe Op Red green 3 1 Safe operation inputs readable Op Green on Operational unrestricted data exchange Berghof Automationstechnik GmbH Harretstrasse 1 72800 Eningen www berghof com 63 2VF100191FE02 docx EtherCAT_IO_HB_en_2D1722004ZD00 docx USER MANUAL 1 3 E I O 64 I O LED The LED labeled I O indicates the state of the module s I Os 1 0 State LED flash code Explanation Ok Green on No error Error Off Malfunction of module if E bus LED On Inoperative if E bus LED Off Red 4x EtherCAT watchdog control Red 6x Module specific fault Red 7x Configuration error E bus pre operational no of process data differs from that in the module Defective Red on Module defective Power LED There is no LED labeled Power because a separate power feed is not required Channel LEDs State LED flash code Explanation On Green on Channel enabled Off Off Channel disabled Error Red Short circuit broken wire 7 1 3 Function Module AI4 Pt Ni100 has 4 analogue inputs for Pt100 or Ni100 temperature sensors It can also measure resistances between 70 and 330 Q Module AI4 Pt Ni1000 has 4 analogue inputs for Pt1000 or Ni1000 temperature sensors It can also measure resistances between 700 and 3000 Q The letter n in the tables below represents the channel
28. destruction or malfunction Disconnect all incoming power supplies before working on our modules this also applies to connected peripheral equipment such as externally powered sensors programming devices etc All ventilation openings must always be kept free of any obstruction gt The modules are maintenance free when used correctly gt Clean only with a dry non fluffing cloth gt Do not use detergents 12 3 Repairs Service Repair work may only be carried out by the manufacturer or its authorised ser vice engineers 12 3 1 Warranty Sold under statutory warranty conditions Warranty lapses in the event of unauthorised attempts to repair the equipment and or product or in the event of any other form of intervention Berghof Automationstechnik GmbH Harretstrasse 1 72800 Eningen www berghof com 115 2VF100055FE04 docx EtherCAT_IO_HB_en_2D1722004ZD00 docx USER MANUAL 1 3 E I O 12 4 Nameplate Nameplate descriptions example D O w S D 0090 NOTICE 116 O A O EC1000 MP400 00 1131 WAB Num 204900100 ms Version 0000 SELV 24V DC 12A max OC www berghof com 2VF100080DG02 cdr Barcode same as identification number Module type plain text name of module Identification no is the unique labeling of the module consists of two elements Part no the first nine digits The designation of this number suffices for ordering a module
29. device used to snap the module to a 35mm DIN rail The housing trough including the optical fibres for the status indicators the side face and the front is made of plastic and contains the module The optical fibres 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 Berghof Automationstechnik GmbH Harretstrasse 1 72800 Eningen www berghof com 17 2VF100187FE02 docx EtherCAT_IO_HB_en_2D1722004ZD00 docx USER MANUAL 1 3 E I O 18 3 1 1 Earth The CANtrol E I O modules shall be earthed Thereto the metal housing shall be attached to operative earth Since the operative earth connectors dissipate 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 gt the connection between module housing and DIN rail conducts well gt the connection between DIN rail and switching cabinet conducts well gt the switching cabinet is safely connected to earth In special cases you may attach the earth wire straight to the module Attach cable shield here M3x5 Bolt connection Connect DIN rail with operative earth Aluminium profile NOTICE Earth wires should be short and have a
30. in side wall Term module not required Power supply from coupler through E bus connector E bus load 160 mA Berghof Automationstechnik GmbH Harretstrasse 1 72800 Eningen www berghof com EtherCAT_IO_HB_en_2D1722004ZD00 docx 2VF100190FE03 docx USER MANUAL 1 3 E I O 6 3 Analogue inputs for voltage measurement Al4 8 U o gt a 4 oO gt a i K l K K l Jf SOOSOOSGOOOOOGOOOOOO89 o gt ne A o gt V b o gt N H 003002 UND CO oO Ed e o Ed on ee A A 4 o gt nm o Ed m AA rs fe 7 N Ground Cc wo o Udit gt Front view of Al4 8 U 1 O connection 1 0 module 6 3 1 Terminals The module needs no separate 24 V connector Power is supplied to the module through the E bus connector Operative earth shielding of analog wires gt section 3 1 1 Earth 6 3 2 Status LEDs EtherCAT LED The LED labeled EtherCAT indicates the state of the EtherCAT ASIC State LED flash code Explanation Init Red on Initializing no data exchange Pre Op Red green 1 1 Pre operational no data exchange Safe Op Red green 3 1 Safe operation inputs readable Op Green on Operational unrestricted data exchange Berg
31. large surface copper mesh Further details has site http en wikipedia org wiki Ground_ electricity Berghof Automationstechnik GmbH Harretstrasse 1 72800 Eningen www berghof com EtherCAT_IO_HB_en_2D1722004ZD00 docx 2VF100187FE02 docx USER MANUAL 1 3 E I O 3 1 2 Installation The CANtrol E I O modules are intended for mounting rail installation DIN EN 50022 35 x 7 5 mm gt 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 gt Push the module above against the mounting wall until it snapsin gt Tosnapona single module Rail mounting of module 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 To disconnect two modules Push down the unlock button see figure below of the module that you wish to disconnect from the module to the left ofit Push both modules away from one another until they are about 1 cm apart gt Totakedowna gt Push the module up and against the metal spring single module located on the underside of the rail guide gt Tip the module away from the rail as shown in the illustration gt Pull the module down and out of the mounting rail Unlock button Uninstalli
32. mm DIN top hat rail Controller ASIC ET1200 E bus port 10 pole system plug at the side wall Term module not required E bus load 300 mA Analogue outputs 2 Voltage 10 V 10 V Resolution 12 bit Power supply Logic by EtherCAT coupler via E bus plug Power 24 V 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 Zone B Berghof Automationstechnik GmbH Harretstrasse 1 72800 Eningen www berghof com 105 2VF100193FE02 docx EtherCAT_IO_HB_en_2D1722004ZD00 docx USER MANUAL 1 3 E I O Blank page 106 Berghof Automationstechnik GmbH Harretstrasse 1 72800 Eningen www berghof com EtherCAT_IO_HB_en_2D1722004ZD00 docx 2VF100193FE02 docx USER MANUAL 1 3 E I O 10 Extender 10 1 Extender 2 Port Extender EtherCAT Qut2 Outi 694 400 02 eee aoa Extender 2 Port CANtrol E l O PLC with I O modules EC1000 10 1 1 Terminals The purpose of the CANtrol E I O Extender is the extension of a CANtrol E I O block or an EC1000 by EtherCAT slaves which have 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
33. module error messages there is a set of messages containing details about the current state of the module Messages Variable Data type Explanation ProfibusRunning BOOL PROFIBUS runs Berghof Automationstechnik GmbH Harretstrasse 1 72800 Eningen www berghof com 83 2VF100192FE02 docx EtherCAT_IO_HB_en_2D1722004ZD00 docx USER MANUAL 1 3 E I O Configuring ofthe data modules For the configuration of the EtherCAT and the PROFIBUS the appropriate configuration files are needed gt EtherCAT Berghof EIO Modules xml gt PROFIBUS E IO DP S GSD Number and size of the data modules are configurable The relationship of input data and output data is al ways thereby 1 1 Select the desired data modules in the respective configurator tools Make sure that configuring on the EtherCAT side and the PROFIBUS side must be implemented identically NOTICE PROFIBUS For the configuration of the PROFIBUS you need E IO DP S GSD Those is to be imported into the PROFIBUS Master configurator which can be used Example Maximally 4 modules with a maximum data area length of 160 bytes for each direction can be selected The individual modules are consistent for themselves The module provides the following module specific diagnosis data Ext_Diag_ Data Ext_Diag_Data Octet Value Explanation 1 4 Standard diagnosis 5 0x43 Standard diagnosis Module Id 6943 6 0x69 7 3 3 1 2 byte extended diagn
34. number n 0 3 Analogue inputs Check the following variable for the digitized input values Berghof Automationstechnik GmbH Harretstrasse 1 72800 Eningen www berghof com EtherCAT_IO_HB_en_2D1722004ZD00 docx 2VF100191FE02 docx USER MANUAL 1 3 E I O Variable Data type Explanation Channel_n INT Value measured on channel n n 0 3 Default in 1 10 C ResMode Pt100 in 1 100 Q Pt1000 in1 10Q Module control The module provides you with various operational options 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 I O LED To reset the error bits set control bit ResetError to a rising edge Variable Data type Explanation SetOptions BOOL Rising edge gt accepts module options ResetError BOOL Rising edge gt acknowledges error Module options The following options are available for module AI4 Pt Ni100 or 1000 Module options Variable Data type Explanation Channel_n_Ni BOOL Set channel n to Ni100 sensor Channel_n_On BOOL Enables channel n Channel_n_ResMode BOOL Set channel n to resistance mode Channel_n_Filter USINT Set filter for channel n The arithmetic mean is output after n 1 conversi
35. of poles Power to the I O module logic circuits is supplied by the bus coupler Spring assisted connector with I O module unlock button 2VF100533DG00 cdr Berghof Automationstechnik GmbH Harretstrasse 1 72800 Eningen www berghof com EtherCAT_IO_HB_en_2D1722004ZD00 docx 2VF100187FE02 docx USER MANUAL 1 3 E I O 3 3 Status LEDs 3 3 1 EtherCAT LED An LED labeled EtherCAT is located on both the bus coupler and the I O Modules It indicates the state of the EtherCAT ASIC EtherCAT State LED flash code Explanation Init Red on Initializing no data exchange Pre Op Red green 1 1 Pre operational no data exchange Safe Op Red green 3 1 Safe operation inputs readable Op Green on Operational unrestricted data exchange 3 3 2 In LED Out LED The In and Out LEDs are located on the bus coupler They indicate the respective physical state ofthe Ethernet State LED flash code Explanation Not connected Off No Ethernet connection Connected Green on Connected to Ethernet Traffic Green flashing Exchanging telegrams 3 3 3 I O LED 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 3 4 Power LED An LED labeled Power is located on every I O Module that has a power supply connector e g for di
36. of the block In addition the Extender can be used in arbitrary place behind the bus coupler and or the EC1000 PLC controller Thus EtherCAT slaves can also be connected in star topology CANtrol E 1 O bus coupler with I O modules 2VF100531DG00 cdr Supply of the module via E bus EtherCAT RJ45 socket OUT1 Output port to the next EtherCAT device OUT2 Output port to the next EtherCAT device Berghof Automationstechnik GmbH Harretstrasse 1 72800 Eningen www berghof com 107 2VF100194FE02 docx EtherCAT_IO_HB_en_2D1722004ZD00 docx USER MANUAL 1 3 E I O 108 10 1 2 Status LEDs EtherCAT LED The LED labeled EtherCAT indicates the state of the EtherCAT ASIC State LED flash code Explanation Init Red on Initializing no data exchange Pre Op Red green 1 1 Pre operational no data exchange Safe Op Red green 3 1 Safe operation inputs readable Op Green on Operational unrestricted data exchange Qut2 LED Out1 LED The Out2 LED and the Out LED indicate the physical state of the Ethernet port they are allocated to State LED flash code Explanation Not connected Off No Ethernet connection Connected Green on Connected to Ethernet Traffic Green flashing Exchanging telegrams light 10 1 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 Anothe
37. of the time stamp becomes to OxFFFF when no signal change takes place between two frame or DC interrupts 96 Berghof Automationstechnik GmbH Harretstrasse 1 72800 Eningen www berghof com EtherCAT_IO_HB_en_2D1722004ZD00 docx 2VF100193FE02 docx USER MANUAL 1 3 E I O 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 Interrupts n n 1 n 2 On Off i t M y M Timestamp n Timestamp n 1 Frame Digital Input Variable Time stamp n 1 TRUE Time stamp n n 2 FALSE Time stamp n 1 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 DC Interrupts n Frame n 1 n 2 On Off t Timestamp n Timestamp n 1 Berghof Automationstechnik GmbH Harretstrasse 1 72800 Eningen www berghof com 97 2VF100193FE02 docx EtherCAT_IO_HB_en_2D1722004ZD00 docx USER MANUAL 1 3 E I O DC synchronous Frame Digital Input Variable Time stamp n 1 TRUE Time stamp n n 2 FALSE Time stamp n 1 Digital outputs The variables indicate the status of the digital outputs Digital outputs Variable Output_0_0 Data type Explanation BOOL Digital output O Output set delay in preparation This variable defines the time when the output is set
38. overcurrent 6 1 3 Function The AI4 I module has 4 analogue current signal inputs Their measuring range can be set separately for every channel i e either to 0 20 mA or to 4 20 mA Berghof Automationstechnik GmbH Harretstrasse 1 72800 Eningen www berghof com EtherCAT_IO_HB_en_2D1722004ZD00 docx 2VF100190FE03 docx USER MANUAL 1 3 E I O Analogue inputs Check the following variable for the digitized input values Variable Data type Explanation Channel_n INT Value measured on channel n n 0 3 Measured value The maximal measuring value OxFFFo of the current input module is 0 5 V 23 4 Q 21 3675 mA The status is shown by the channel LED Measuring values variable values and status Measuring range 0000 FB80 FFFO 0 mA 21 mA 21 37 mA The measurement range is provided by the module i e the maximal output value is HEX FB80 Mode 0 20 mA Conversion Output value gt Current mA Current mA Output value 3066 336 Conversion Current mA gt Output value Output value Roundoff Current mA 191 646 16 Berghof Automationstechnik GmbH Harretstrasse 1 72800 Eningen www berghof com 39 2VF100190FE03 docx EtherCAT_IO_HB_en_2D1722004ZD00 docx USER MANUAL 1 3 E I O Analogue values current mA decimal CODESYS INT hexadecimal 0 0 0 0 1 3056 3056 16 0BFO 2 6128 6128 161 7FO 3 9184 9184 16 23E0 4 12256
39. pulse occurs at the Ref input The preset value can be O but also any other 32 bit number Task An encoder with 500 pulses provides 2000 increments per turn in 4 fold mode Every Ref pulse shall set the counter to the preset value 2000 It shall be counted down to o within 1 turn The counting direction is determined by the turning direction of the encoder PROGRAM Referenzierung Referencing VAR bInit BOOL TRU StepInit USINT El bInitReady BOOL Step USINT END_VAR 1 Initializing Enabling of the counter and setting of the preset value IF bInit THEN CASE Steplnit OF Selecing of the options and setting them by a rising edge of 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 dl 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 T rm2 sS tPreset_1 FALSE Steplnit 0 bInit FALSE bInitReady TRUI END CASE El se END_IF 102 Berghof Automationstechnik GmbH Harretstrasse 1 72800 Eningen www berghof com EtherCAT_IO_HB_en_2D1722004ZD00 docx 2VF100193FE02 docx USER MANUAL 1 3 E I O 2 Controlling of the referencing IF blInitReady
40. state of the module and output to the I O LED as module specific error Conversion time The analogue signals are converted one by one down every channel Disabling one or several channels will shorten the entire A D conversion cycle Filter in this case means to compute an average when the set filter time is over Analogue value conversion runs cyclically and is not synchronized with the receipt of EtherCAT telegrams The cycle consists of the analogue value conversion plus transmitting the values into the EtherCAT data area Berghof Automationstechnik GmbH Harretstrasse 1 72800 Eningen www berghof com EtherCAT_IO_HB_en_2D1722004ZD00 docx 2VF100191FE02 docx USER MANUAL 1 3 E I O Channel Number of channels Cycle time in ms all filters 0 1 32 2 65 3 97 4 129 If you are aiming for a high sampling frequency the EtherCAT master should do the filtering averaging because it will normally have much more processing power Take the EtherCAT cycle into account to assess how much the values stored by the EtherCAT master are up to date The module described in this section will accept the above times as the ideal EtherCAT cycle setup Quality of analogue values Best results are obtained by connecting the shield of the signal cables to oper ative earth Berghof Automationstechnik GmbH Harretstrasse 1 72800 Eningen www berghof com 67 2VF100191FE02 docx EtherCAT_IO_HB_en_2D1722004ZD00 d
41. that they also know the contents of the user manual and especially of the safety notes therein gt the device markings identifications safety and warning notes attached to the EtherCAT I O Modules are not removed and are always kept in a legible state gt the national and international regulations for controlling machines and systems which apply at the relevant usage site are observed gt _ therelevant information about the EtherCAT I O Modules and their application and operation is always available to the users Y Ny y y y 1 5 1 Working on the controller module Before carrying out work on the EtherCAT I O Modules you must always gt first ensure that the controller and the system are in a secure state gt only then switch off the controller and the system and gt only now disconnect the EtherCAT I O Modules from the system Berghof Automationstechnik GmbH Harretstrasse 1 72800 Eningen www berghof com 11 2VF100181FE01 docx EtherCAT_IO_HB_en_2D1722004ZD00 docx USER MANUAL 1 3 E I O 12 1 6 Use as Prescribed This is a modular automation system based on the CANbus intended for industrial control applications with in the medium to high performance range The automation system is designed for use within Overvoltage Category I IEC 364 4 443 for the controlling and regulating of machinery and industrial processes in low voltage installations in which the rated supply voltage does not exceed 1 000 VAC 50 6
42. 0 Hz or 1 500 VDC Qualified project planning and design proper transport storage installation use and careful maintenance are essential to the flawless and safe operation of the automation system The automation system may only be used within the scope ofthe data and applications specified in the present documentation and associated user manuals The automation system is to be used only as follows as prescribed in technically flawless condition without arbitrary or unauthorized changes and exclusively by qualified users Y y Ny The regulations ofthe German professional and trade associations the German technical supervisory board T V the VDE Association of German electricians or other corresponding national bodies are to be observed Safety oriented fail safe systems Particular measures are required in connection with the use of PLCs in safety oriented systems If a PLC is to be used in a safety oriented system the user ought to seek the full advice of the PLC manufacturer in addition to observing any standards or guidelines on safety installations which may be available As with any electronic control system the failure of particular compo nents may result in uncontrolled and or unpredictable operation All types of failure and the associated fuse systems are to be taken into ac count at system level The advice of the PLC manufacturer should be sought if necessary Berghof Automationstechnik GmbH Harretstras
43. 00000000000000 694 451 02 oon ono Front view of DI32 I O module 5 2 1 Terminals Power supply to module I Os L 0 V 5 2 2 Status LEDs EtherCAT LED Bier u OMMO 017 I 1 OMDO 1 _ One 2 onmo onno onu onno emmo onno One onmo onmo orme nme eonme E ps s nma 5 bid L LL L DI DI L L Ls L 1 0 connection The LED labeled EtherCAT indicates the state of the EtherCAT ASIC EtherCAT State LED flash code Explanation Init Red on Initializing no data exchange Pre Op Red green 1 1 Pre operational no data exchange Safe Op Red green 3 1 Safe operation inputs readable Op Green on Operational unrestricted data exchange I O LED There is no LED labeled I O Power LED There is no LED labeled Power because a separate power feed is not required Berghof Automationstechnik GmbH Harretstrasse 1 72800 Eningen www berghof com EtherCAT_IO_HB_en_2D1722004ZD00 docx 2VF100189FE02 docx USER MANUAL 1 3 E I O Channel LEDs State LED Explanation On Green on Input signal TRUE Off Off Input signal FALSE 5 2 3 Function The DI32 module has 32 digital inputs Variable Data type Explanation Digitallnputn BOOL Digital input n 0 31 5 2 4 Technical data Label E
44. 0V Operative earth shielding of analog wires gt section 3 1 1 Earth 6 1 2 Status LEDs EtherCAT LED The LED labeled EtherCAT indicates the state of the EtherCAT ASIC State LED flash code Explanation Init Red on Initializing no data exchange Pre Op Red green 1 1 Pre operational no data exchange Safe Op Red green 3 1 Safe operation inputs readable Op Green on Operational unrestricted data exchange Berghof Automationstechnik GmbH Harretstrasse 1 72800 Eningen www berghof com 37 2VF100190FE03 docx EtherCAT_IO_HB_en_2D1722004ZD00 docx USER MANUAL 1 3 E I O 38 I O LED The LED labeled I O indicates the state of the module s I Os 1 0 State LED flash code Explanation Ok Green on No error Error Off Malfunction of module if E bus LED On Inoperative if E bus LED Off Red 2x Undervoltage not implemented Red 3x Watchdog Red 4x EtherCAT watchdog control Red 6x Module specific fault Red 7x Configuration error E bus pre operational no of process data differs from that in the module Defective Red on Module defective Power LED The LED labeled Power indicates the state of the I O module s I O power supply State LED flash code Explanation On Green on 24 V DC supply ok Off Off 24 V DC supply not ok Channel LEDs State LED flash code Explanation On Green on Channel enabled Off Off Channel disabled Error Red Open
45. 1 3 E I O To reset the messages see Module control Module specific messages There are no module specific messages for this module Conversion time The analogue signals are converted one by one down every channel Disabling one or several channels will shorten the entire A D conversion cycle Filter in this case means to compute an average when the set filter time is over Analogue value conversion runs cyclically and is not synchronized with the receipt of EtherCAT telegrams The cycle consists of the analogue value conversion plus transmitting the values into the EtherCAT data area Conversion time Number of channels Cycle time in ms Number of channels Cycle time in ms all filters 0 all filters 0 1 270 us 5 630 us 2 360 us 6 710 us 3 450 us 7 800 us 4 540 us 8 890 us If you are aiming for a high sampling frequency the EtherCAT master should do the filtering averaging because it will normally have much more processing power ap NOTICE Take the EtherCAT cycle into account to assess how much the values stored by the EtherCAT master are up to date The module described in this section will accept the above times as the ideal EtherCAT cycle setup Quality of analogue values NOTICE Best results are obtained by gt connecting the shield of the signal cables to operative earth gt connecting unused single ended lines to Ground gt short circuiting unused differential inputs Berghof Automa
46. 1 conversions n 0 3 Channel number To set and accept options see Module control 78 Berghof Automationstechnik GmbH Harretstrasse 1 72800 Eningen www berghof com EtherCAT_IO_HB_en_2D1722004ZD00 docx 2VF100191FE02 docx USER MANUAL 1 3 E I O Module state The following module states are indicated Module state Variable Datatype Explanation Shortcut BOOL Not used Undervoltage BOOL Not used Watchdog BOOL Internal watchdog of module EtherCAT_Error BOOL Configuration error or watchdog control Specific_Error BOOL Module specific fault OptionsSet BOOL Sent by module to acknowledge SetOptions To reset the messages see Module control Module specific messages Apart from the module error messages there is a set of messages containing details about the current state of the module Variable Data type Explanation Channel_n_ Out_of_ Range BOOL Measuring value is out of range These messages are automatically reset when the state concerned has returned to normal They are combined into a single Specific_Error state of the module and output to the I O LED as module specific error Conversion time The analogue signals are converted one by one down every channel Disabling one or several channels will shorten the entire A D conversion cycle Filter in this case means to compute an average when the set filter time is over Analogue value conversion runs cyclically and is not synchronized w
47. 12256 16 2FE0 5 15328 15328 16 3BE0 6 18384 18384 16 47D0 7 21456 21456 16 53D0 8 24528 24528 16 5FDO 9 27584 27584 16 6BC0 10 30656 30656 16 77C0 11 33728 31808 16 83C0 12 36784 28752 16 8FBO 13 39856 25680 16 9BBO 14 42928 22608 16 A7BO 15 45984 19552 16 B3A0 16 49056 16480 16 BFAO 17 52112 13424 16 CB90 18 55184 10352 16 D790 19 58256 7280 16 E390 20 61312 4224 16 EF80 20 5 62848 2688 16 F580 2 21 37 65520 16 16 FFFO 40 Berghof Automationstechnik GmbH Harretstrasse 1 72800 Eningen www berghof com EtherCAT_IO_HB_en_2D1722004ZD00 docx 2VF100190FE03 docx USER MANUAL 1 3 E I O Module control The module provides you with various operational options 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 I O LED To reset the error bits set control bit ResetError to a rising edge Variable Data type Explanation SetOptions BOOL Rising edge gt accepts module options ResetError BOOL Rising edge gt acknowledges error Module options The following options are available for module AI4 I Module options Variable Data type Explanation Channel_n_0_20mA BOOL TRUE Channel n to 0 20 mA FALSE Cha
48. 3 2 Status LEDs EtherCAT LED The LED labeled EtherCAT indicates the state of the EtherCAT ASIC State LED flash code Explanation Init Red on Initializing no data exchange Pre Op Red green 1 1 Pre operational no data exchange Safe Op Red green 3 1 Safe operation inputs readable Op Green on Operational unrestricted data exchange Berghof Automationstechnik GmbH Harretstrasse 1 72800 Eningen www berghof com EtherCAT_IO_HB_en_2D1722004ZD00 docx 2VF100191FE02 docx USER MANUAL 1 3 E I O I O LED The LED labeled I O indicates the state of the module s I Os 1 0 State LED flash code Explanation Ok Green on No error Error Off Malfunction of module if E bus LED On Inoperative if E bus LED Off Red 4x EtherCAT watchdog control Red 6x Module specific fault Red 7x Configuration error E bus pre operational no of process data differs from that in the module Defective Red on Module defective Power LED There is no LED labeled Power because a separate power feed is not required Channel LEDs State LED flash code Explanation On Green on Channel enabled Off Off Channel disabled Error Red Measuring value is out of range 7 3 3 Function Module AI4 TE has 4 analogue inputs for thermo element sensors It can also measure mV voltages The letter n in the tables below represents the channel number n 0 3 Analogue inputs Check the fol
49. 4Hnnnnnnnnnnnnnnnnnnnnnnnnnnnnanennnnnnnnnnnnnn nenn 91 9 1 5 Controlling Watching Counter 1 uuu22244444444Hnnnnnnnnnnnnnnnnennnnnnennnnnnnnnnnnnnennnnnnnennnnnnennnnnnnnnnnnnnnnnn 92 9 1 6 Counter values of Z hler 1 Counter 1 uuusuu422444444nnnnennnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnanennnnnnnnnnnnan nn 94 DAT Digital Os ara Ha RI Ind 95 9 1 8 Analogue outputs Counter Posi2 5V only uueeeesssessnnnnnnennnsnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnennnnnnnnnnnnnn nenn 99 91 92 EXAIMPIOS gt is as atest xcs cect ae faces tte tea OA erated ees LE ene ete a 100 9 1 10 Technical datar na a En dr SS ae Se Sh einen engen 105 10 3 A O 107 10 1 Extender 2 Port u ne aaa dais 107 10 151 Terminals tt Bene 107 109 1 2 StalUSIEEDS HH HN ete ee bee ee tae ee bel thee ed te u ee erde ee 108 NOE TES BATLER res E Set ass see Den Se ota tar od shes celts Sel obi sel hen cot Sete oe Re 108 10 1 4 Technicalidata ua a dla cabal 109 11 SUPPIEMENT E E E E AE R EE este csnecetazataneaectencetsenteateeaneacetieatannes 111 11 1 Potential Distributor 2 xX 16 2 2 2 2 2 24423 ne ms ie ala 111 MiTo Re ee SE E e o ee Pe 111 11 13 2 StatUS EEDSHE ss a ee en te 111 11 2153 FUNCION ss ae Po an ASN 111 11 1 4 Technical data 2 2 2 2 A AA ad aa a 112 11 2 Shield connection terminal DloCK ooonnocccccccconncccnnnconoccnonccanancncncnonnnnnnnnnnnnnnnnnnnnnnn nn nnnnannnnnnnannnnn 112 1121 Terminal ocaso E
50. DC L 0 V 24 VDC 0V 0V aa 24VDC Aa CH3 0V ov L Js passive aktive Stromquelle DNQ UNION O OOOOOOOOOOOQOOOOOOO IBBRERRERERRE ERR OOGOOGOOOOOOQOOOODOOOO BERBEREEEEEEEEEEEEEE 2 1 O connection passive active power source Operative earth shielding of analog wires gt section 3 1 1 Earth 6 2 2 Status LEDs EtherCAT LED The LED labeled EtherCAT indicates the state of the EtherCAT ASIC 24VDC 24VDC Ai eon 2 0V ov 24VDC 24VDC Er El p CHS 0V ov 24VDC 24 VDC A CHB ae 0V ov 24VDC 24VDC CH7 Bene 0V ov L les aktive passive Stromquelle State LED flash code Explanation Init Red on Initializing no data exchange Pre Op Red green 1 1 Pre operational no data exchange Safe Op Red green 3 1 Safe operation inputs readable Op Green on Operational unrestricted data exchange Berghof Automationstechnik GmbH Harretstrasse 1 72800 Eningen www berghof com EtherCAT_IO_HB_en_2D1722004ZD00 docx 2VF100190FE03 docx USER MANUAL 1 3 E I O I O LED The LED labeled I O indicates the state of the module s I Os 1 0 State LED flash code Explanation Ok Green on No error Error Off Malfunction of module if E bus LED On Inoperative if E bus LED Off Red 2x Under
51. 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 90 Berghof Automationstechnik GmbH Harretstrasse 1 72800 Eningen www berghof com EtherCAT_IO_HB_en_2D1722004ZD00 docx 2VF100193FE02 docx USER MANUAL 1 3 E I O 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 DC synchronous Ifthe module is adjusted to DC synchronous mode it produces interrupts according to the rules ofthe 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 ifa 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 With this method time synchronous functions for digital inputs and digital outputs for several modules in one EtherCAT network are possible 9 1 4 Controlling and watching the entire module The
52. EM Si tro 37 Status LEDS O eda ee eee 37 FUNCION a Meek pl de ce Ok pu dre eek de cote ok etek Ae a tee Ae ee ed ee 38 Technical datas se er rn Ri a a rl nl aa 43 Analogue inputs for current measurement AlS l uuusssunnnnsnnnnnennnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnne 44 Terminals ae did ee 44 Status LEDS o e o e dd eat 44 E UNCUON is ion ee en cate tt ct ta AE ee 45 Technicalidata 3 2 sched een a a E A E 50 Analogue inputs for voltage measurement Al4 8 U cccccccccccccncncncnonenenenenenenenenenenenonennnnnnnos 51 E A Rd 51 Status LEDS de end ele ser ine Dt rm Me Molle mu Habe 51 AAPP OO 52 Technical dt nA rl Ri ng 56 Analogue outputs voltage current ADA UI uunnsssnnnnnnunnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnne 57 A ni DI ka 57 Status EDS Fr ee o e N e re e Eh N Eee IE EA ner el e o a te 57 FURGON at a a a o lt Lege ln 59 Technical di A a Na cis 61 TEMPERATURE MOD L ES 22 2 22T el 63 Analogue temperature inputs Al4 Pt Ni100 AI4 Pt Ni1000 ccccccccccccccccccccccccccncncncnnnnnnnnnnnnnos 63 TerminalS isis cn cl abs De en an Ae A A o Ae ARE o eS 63 Status LEDS A alada 63 FUNCION atacada I eo A a e led a o rd a N o 64 Technical datzAl4 PU NI100 22 do ano do ateo e ona nl ed oh ts 68 Berghof Automationstechnik GmbH Harretstrasse 1 72800 Eningen www berghof com EtherCAT_IO_HB_en_2D1722004ZD00 docx USER MANUAL 1 3 E I O 71 5 Technical dataAl4 PUNITOOB a
53. IO_HB_en_2D1722004ZD00 docx 2VF100190FE03 docx USER MANUAL 1 3 E I O Analogue values voltage Measuring Variable value for 16 bit bipolar unipolar volt decimal CODESYS hexadecimal decimal CODESYS hexadecimal INT INT 10 32768 32768 16 8000 9 36044 29492 16 8CCC 8 39321 26215 16 9999 7 42598 22938 16 A666 6 45875 19661 16 B333 5 49152 16384 16 C000 4 52428 13108 16 CCCC 3 55705 9831 16 D999 2 58982 6554 16 E666 1 62244 3292 16 F324 0 0 0 0 0 0 0 1 3276 3276 16 0CCC 6553 6553 16 1999 2 6553 6553 16 1999 13107 13107 16 3332 3 9830 9830 16 2666 19660 19660 16 4CCC 4 13106 13106 16 3332 26214 26214 16 6665 5 16383 16383 16 3FFF 32767 32767 16 7FFF 6 19660 19660 16 4CCC 39320 26216 16 9998 7 22936 22936 16 5998 45874 19662 16 B332 8 26213 26213 16 6665 52427 13109 16 CCCB 9 29490 29490 16 7332 58981 6555 16 E665 10 32767 32767 16 7FFF 65534 2 16 FFFE Berghof Automationstechnik GmbH Harretstrasse 1 72800 Eningen www berghof com 2VF100190FE03 docx EtherCAT_IO_HB_en_2D1722004ZD00 docx 53 USER MANUAL 1 3 E I O 54 Module control The module provides you with various operational options 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 modul
54. N in Automation e V All rights reserved by the individual copyright holders General Information on this Manual This equipment manual contains product specific information valid at the time of publication This equipment manual is only complete in conjunction with the product related hardware and software user manuals required for the individual application You can reach us at Berghof Automationstechnik GmbH Harretstr 1 72800 Eningen Germany T 49 7121 894 0 F 49 7121 894 100 e mail controls berghof com www berghof com Berghof Automationstechnik GmbH works in accordance with DIN EN ISO 9001 2000 USER MANUAL 1 3 E I O Update Version Date Subject 1 01 16 10 2012 First Version 1 1 09 11 2012 Update of document title and the trademarks 1 2 04 04 2013 Transition in new CD Update of chapter Temperature modules with module Al8 Pt Ni100 Update of Technical data in all chapters 1 3 25 07 2013 Update of tables Analogue values current and Analogue values voltage Update of table Analogue outputs in chapter Analogue outputs voltage current AO4 U l section Function Berghof Automationstechnik GmbH Harretstrasse 1 72800 Eningen www berghof com EtherCAT_IO_HB_en_2D1722004ZD00 docx USER MANUAL 1 3 E I O Blank page 4 Berghof Automationstechnik GmbH Harretstrasse 1 72800 Eningen www berghof com EtherCAT_IO_HB_en_2D1722004ZD00 docx USER MANUAL 1 3
55. 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 23 Term2 ResetReferenced_1 TRUE Step 3 3 IF NOT Term2 Referenced 1 THEN Exit reset of the referencing message Term2 ResetReferenced_1 FALSE Switch off the referencing mode Term2 EnableReferencing 1 FALSE Step 0 reference in the next turn again END IF END CASE END_IF Capture A falling edge at the digital input 1 can 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 Digital inputs Input_o_x The statuses of the digital inputs are indicated in the variables Input_o_x Permanent additional function The current counter value is saved in
56. V O DI32 1MS Part no 204800900 Plug in connector 36 pole 204800300 not part of the module Digital inputs 32 Input delay 1 ms 5 ms typically Signal level Off 3 5V EN61131 3 Typel On 15V 30V Controller ASIC ET1100 Baud rate 100 Mbit s Connector 10 pin system plug in side wall Term module not required Power supply 24 V DC 20 25 E bus load 85 mA Berghof Automationstechnik GmbH Harretstrasse 1 72800 Eningen www berghof com 31 2VF100189FE02 docx EtherCAT_IO_HB_en_2D1722004ZD00 docx USER MANUAL 1 3 E I O 5 3 Digital inputs DI16 0 1 00 Dre Y GO a 39 O E EMercar E ESA END B m EJO o le o CIO HE ol 0 D g 20 CLIO 0 IE of 14 OO ol O IS EE da Oo OD also Le O o 00 a pea DI E LODO E L L 94 451 01 ana AE Front view of DI16 I O module 1 O connection 5 3 1 Terminals Power supply to module I Os L 0 V 5 3 2 Status LEDs EtherCAT LED The LED labeled EtherCAT indicates the state of the EtherCAT ASIC EtherCAT State LED flash code Explanation Init Red on Initializing no data exchange Pre Op Red green 1 1 Pre operational no data exchange Safe Op Red green 3 1 Safe operation inputs readable Op Green on Operational unrestricted data exchange I O LED There is no LED la
57. _2D1722004ZD00 docx 2VF100055FE04 docx
58. _HB_en_2D1722004ZD00 docx 2VF100195FE02 docx USER MANUAL 1 3 E I O 11 2 2 Function The shield connection terminal block makes it easy to apply the cable shield The shield connection terminal block conducts the potential ofthe cable screen on the DIN top hat rail on which the CANtrol E I O module is picked up The mounting rail must have a suitable earth connection The shield connection terminal blocks may not be used as strain relief See also section 3 1 1 Earth 11 2 3 Technical data Shield connection terminal block Label E 1 O Shield connection terminal block 2 x 8 mm Part no 204802400 Berghof Automationstechnik GmbH Harretstrasse 1 72800 Eningen www berghof com 113 2VF100195FE02 docx EtherCAT_IO_HB_en_2D1722004ZD00 docx USER MANUAL 1 3 E I O Blank page 114 Berghof Automationstechnik GmbH Harretstrasse 1 72800 Eningen www berghof com EtherCAT_IO_HB_en_2D1722004ZD00 docx 2VF100195FE02 docx USER MANUAL 1 3 E I O 12 Annex 12 1 Environmental Protection 12 1 1 Emission When used correctly our modules do not produce any harmful emissions 12 1 2 Disposal At the end of their service life modules may be returned to the manufacturer against payment of an all inclusive charge to cover costs The manufacturer will then arrange for the modules to be recycled 12 2 Maintenance Upkeep Do not insert apply detach or touch connections while in operation risk of
59. aud rate 100 Mbit s E bus port 10 pin system plug in side wall Term module not required Power supply 24 V DC 20 25 E bus load 150 mA Berghof Automationstechnik GmbH Harretstrasse 1 72800 Eningen www berghof com 2VF100190FE03 docx EtherCAT_IO_HB_en_2D1722004ZD00 docx 61 USER MANUAL 1 3 E I O Blank page 62 Berghof Automationstechnik GmbH Harretstrasse 1 72800 Eningen www berghof com EtherCAT_IO_HB_en_2D1722004ZD00 docx 2VF100190FE03 docx USER MANUAL 1 3 E I O 7 Temperature modules 7 1 Analogue temperature inputs Al4 Pt Ni100 Al4 Pt Ni1000 o UW N E N u Oe Al4 PtiNI100 Cho _ Cho E 2 mo 3 DEtherCaT ne Ch1 u Ch1 E s mo o E 7 DO R oe ESE 19 p E z ch2 ch2 ls y TO ls me o O 2 10 al Sa 3 TO ay ch3 _ ch3 Lu m E LI oJ I 5 10 q CIO mo gj HE 3 wire 2 wire mo Q Al Pt Ni100 Al 694 443 01 ona 35905 Front view of Pt Ni100 I O module 1 0 connection 7 1 1 Terminals The module needs no separate 24 V connector Power is supplied to the module through the E bus connector Operative earth shielding of analog wires gt section 3 1 1 Earth 7 1 2 Status LEDs EtherCAT LED The LED labeled EtherCAT indicates the state of the EtherCAT ASIC State LED flash
60. beled I O Power LED There is no LED labeled Power because a separate power feed is not required 32 Berghof Automationstechnik GmbH Harretstrasse 1 72800 Eningen www berghof com EtherCAT_IO_HB_en_2D1722004ZD00 docx 2VF100189FE02 docx USER MANUAL 1 3 E I O Channel LEDs State LED Explanation On Green on Input signal TRUE Off Off Input signal FALSE 5 3 3 Function The DI16 module has 16 digital inputs Variable Data type Explanation Digitallnputn BOOL Digital input n 0 15 5 3 4 Technical data Label E O DI16 1MS Part no 204800800 Plug in connector 18 pole 204800400 not part of the module Digital inputs 16 Input delay 1ms 5ms typically Signal level Off 3 5V EN 61131 3 Type1 On 15V 30V Controller ASIC ET1200 Baud rate 100 Mbit s Connector 10 pin system plug in side wall Term module not required Power supply 24 V DC 20 25 E bus load 100 mA Berghof Automationstechnik GmbH Harretstrasse 1 72800 Eningen www berghof com 33 2VF100189FE02 docx EtherCAT_IO_HB_en_2D1722004ZD00 docx USER MANUAL 1 3 E I O 5 4 Digital outputs DO16 0 U 1 BO 2100 3 GH Il El EtherCAT Es E Power EJ OD OD CAL CLIO OO CO OD CLIO 14 DD 9 LIO L 00 L o EMO DO L L Front view of the DO16 I O
61. ce to the o V terminal of the module Connector channel n ri NOTICE 6 1 4 Technical data Label Current Best results are obtained by connected the shield of the signal cables to opera tive earth E 1 O Al4 1 12BIT Part no 204801100 Plug in connector 18 pole 204800400 not part of the module Analogue inputs 4 single ended Resolution 12 Bit 5 2 uA Measuring range 0 20 mA 4 20 mA limit 21 3675 mA Temperature drift lt 25 ppm C regarding range limit Critical frequency typical 12 5 kHz Burden lt 750 Sampling frequency 1 45 kHz if all channels are enabled Controller ASIC ET1200 Baud rate 100 Mbit s E bus port 10 pin system plug in side wall Term module not required Power supply from coupler through E bus connector E bus load 140 mA Berghof Automationstechnik GmbH Harretstrasse 1 72800 Eningen www berghof com 2VF100190FE03 docx EtherCAT_IO_HB_en_2D1722004ZD00 docx 43 USER MANUAL 1 3 E I O 44 6 2 Analogue inputs for current measurement Al8 l AIG I therCAT ooo 7 OOGGOOHOHGOGOOHHOGOGOOOHOG 00000000000 0000000 gt gt 694 441 04 oon ooo Front view of Al8 I I O module 6 2 1 Terminals Module supply L 24 V
62. compatibility EMP Part 6 2 Generic standard immunity for industrial environments gt DIN EN 61000 6 4 2011 9 Electromagnetic compatibility EMP Part 6 4 Generic standard electrostatic discharge for industrial environments 10 Berghof Automationstechnik GmbH Harretstrasse 1 72800 Eningen www berghof com EtherCAT_IO_HB_en_2D1722004ZD00 docx 2VF100181FE01 docx USER MANUAL 1 3 E I O 1 4 Qualified Personnel Only qualified personnel may install operate and maintain the EtherCAT I O Modules Within the context of this documentation and the safety information it contains qualified personnel constitutes trained specialists who have the authority to mount install commission ground and identify equipment systems and power circuits in accordance with the standards of safety technology and who are familiar with the safety concepts of automation technology 1 5 Due Diligence The operator or the processor OEM must ensure that the EtherCAT I O Modules are only used for the purpose for which they are intended the EtherCAT I O Modules are only operated in impeccable full working order the user manual is always available in full and in a legible condition only specialists with sufficient qualification and authorisation mount install commission and maintain the controller module these specialists are regularly instructed in all relevant questions of occupational health and safety and environmental protection and
63. d reset by ResetCompared_1 Captured_1 BOOL Capture function was executed reset by ResetCaptured_1 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 Berghof Automationstechnik GmbH Harretstrasse 1 72800 Eningen www berghof com 93 2VF100193FE02 docx EtherCAT_IO_HB_en_2D1722004ZD00 docx USER MANUAL 1 3 E I O Z hler Fehler Counter 1 Errors The variables are provided for the indication of error states Counter 1 Errors Variable Data type Explanation Err_Reserved_1_x BOOL Reserved error bits 9 1 6 Counter values of Z hler 1 Counter 1 Z hler 1 Sollwerte Counter 1 Set Values The counter can be preset with different set values That is done by help of the variable SetValue_1 After setting the following control bits from the group Z hler 1 Kontrolle the content of SetValue_1 will be copied as set value in the corresponding registers Counter 1 Set Values 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 The current set values can be read in the variable SelectedValue from the Zahleristwerte Counter curren
64. ds VDE Verlag GmbH 10625 Berlin VDE Verlag GmbH 10625 Berlin gt IEC Standards or Internet search www iec ch Berghof Automationstechnik GmbH Harretstrasse 1 72800 Eningen www berghof com 117 2VF100055FE04 docx EtherCAT_IO_HB_en_2D1722004ZD00 docx USER MANUAL 1 3 E I O 12 5 2 Standards Bibliography Standard Label IEC61131 1 EN61131 1 Programmable controllers Part 1 General information IEC61131 2 EN61131 2 Programmable controllers Part 2 Equipment requirements and tests IEC61131 3 EN61131 3 Programmable controllers Part 3 Programming languages IEC61131 4 EN61131BI1 Programmable logic controllers Supplementary Sheet 1 User guidelines 1EC61000 6 4 EN61000 6 4 German EMC Standard Emitted interference IEC61000 6 2 EN61000 6 2 German EMC Standard Noise immunity ISO DIS 11898 Draft International Standard Road vehicles Interchange of digital information Controller Area Network CAN for high speed communication DIN EN ISO 13849 1 Safety of machinery Safety related parts of control systems Part 1 Bibliography A variety of specialist publications on the CANbus is available from specialist bookshops or can be obtained through the CiA users or ganisation Notice Our Technical Support team will be glad to provide other literature references on request 118 Berghof Automationstechnik GmbH Harretstrasse 1 72800 Eningen www berghof com EtherCAT_IO_HB_en
65. e uses to indicate errors The states of the error bits are retained and also used for error indication by the I O LED To reset the error bits set control bit ResetError to a rising edge Variable Data type Explanation SetOptions BOOL Rising edge gt accepts module options ResetError BOOL Rising edge gt acknowledges error Module options The following options are available for module AI4 8 U Module options Variable Data type Explanation Channel_n_n 1_Differential BOOL The difference in voltages of channel n and channel n 1 is measured and output to channel n Channel_n_On BOOL Enable channel n Channel_n_Unipolar BOOL Change measuring range of channel n from bipolar 10 V 10 V to unipolar 0 10 V doubles the resolution Channel_n_ Filter USINT Filter on channel n New values avail in k 3 ms k 0 255 n 0 7 Channel number To set and accept options see Module control Module state The following states are indicated Module state Variable Data type Explanation Shortcut BOOL Not used Undervoltage BOOL Not used Watchdog BOOL Internal watchdog of module EtherCAT_Error BOOL Configuration error or watchdog control Specific_Error BOOL Module specific fault OptionsSet BOOL Sent by module to acknowledge SetOptions Berghof Automationstechnik GmbH Harretstrasse 1 72800 Eningen www berghof com EtherCAT_IO_HB_en_2D1722004ZD00 docx 2VF100190FE03 docx USER MANUAL
66. ed Off Off Channel disabled Error Red 1x Short circuit Red 3x Broken wire Red 5x Excessive temp of output drivers 58 Berghof Automationstechnik GmbH Harretstrasse 1 72800 Eningen www berghof com EtherCAT_IO_HB_en_2D1722004ZD00 docx 2VF100190FE03 docx USER MANUAL 1 3 E I O 6 4 3 Function The AO4 module has 4 analogue outputs Every channel can be separately set to the unipolar or bipolar out put of voltages or currents The letter n in the tables below represents the channel number n 0 3 Analogue outputs Write the output values into the following variables Variable Data type Explanation Channel_n INT Output value for channel n n 0 3 Analog values voltage see table page 53 Current O OXFFFo for 0 20 mA Module control The module provides you with various operational options 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 I O LED To reset the error bits set control bit ResetError to a rising edge Variable Data type Explanation SetOptions BOOL Rising edge gt accepts module options ResetError BOOL Rising edge gt acknowledges error Berghof Automationstechnik GmbH Harretstras
67. equency typical 0 33 Hz Sampling frequency gt 7 63 Hz if all channels are enabled Controller ASIC ET1200 Baud rate 100 Mbit s E bus port 10 pin system plug in side wall Term module not required Power supply 24 V DC 20 25 E bus load 80 150 mA Berghof Automationstechnik GmbH Harretstrasse 1 72800 Eningen www berghof com EtherCAT_IO_HB_en_2D1722004ZD00 docx 2VF100191FE02 docx USER MANUAL 1 3 E I O 8 Communication modules 8 1 PROFIBUS DP Slave Pin Signal Explanation 1 Shield Shield functional ground 2 M24 Not connected 3 RxD TxD P Receive Transmit data plus B wire 4 CNTR P Repeater control signal direction control RTS signal DGND Data ground reference potential for VP VP Supply voltage plus P5V P24 Not connected RxD TxD N Receive Transmit data minus A wire oloo NI oO on CNTR N Repeater control signal direction control Front view of PROFIBUS Pinning PROFIBUS DP Slave module 8 1 1 Terminals The module needs no separate 24 V connector Power is supplied to the module through the E bus connector Operative earth shielding of analog wires gt section 3 1 1 Earth 8 1 2 Status LEDs EtherCAT LED The LED labeled EtherCAT indicates the state of the EtherCAT ASIC State LED flash code Explanation Init Red on Initializing no data exchange Pre Op Red green 1 1 Pre operati
68. equirements concerning the electrical equipment of machines and aiming at the safety of these machines are contained in Part 1 of European Standard EN 60204 same as VDE 0113 For safe installation of our control system please observe the information given below 2 4 4 Electrical immission safeguard Connect the control system to the protective earth conductor to eliminate electromagnetic interference Practice best cable routing Berghof Automationstechnik GmbH Harretstrasse 1 72800 Eningen www berghof com 15 2VF100186FE02 docx EtherCAT_IO_HB_en_2D1722004ZD00 docx USER MANUAL 1 3 E I O 2 4 5 Cable routing and wiring Keep power circuits separate from control circuits gt DCvoltages 60 V 400 V gt ACvoltages 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 lt 60 V unshielded AC voltages lt 25 V Y Ny Nx yy 2 4 6 Location of installation Exclude any and all impediments due to temperature dirt impact vibration or electromagnetic interference Temperature Consider heat sources such as general heating of rooms sunlight heat accumulation in assembly rooms or control cabinets 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 compre
69. er module in a variety of different applications is possible u by use of the variables from the groups of Z hler 1 Optionen Kontrolle and Status Z hler 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 Z hler Kontrolle and then valid up to the next setting procedure gt At first select the options please For taking over send a rising edge to the control bit SetOptions_1 gt The module indicates the execution by OptionsSet_1 TRUE gt When SetOptions_1 becomes FALSE again the module responses by OptionsSet_1 FALSE So the module is ready for the next setting process Counter 1 Options Variable Data type Value Explanation Enable_Compare_1 BOOL 0 Deactivate compare function 1 Activate compare function SelectEncoder_1 BOOL 0 A B Ref with detection of direction 1 Event counter at A B 0 down B 1 up SetResolution_1 BOOL Only if SelectEncoder 1 Event counter 0 Rising and falling edges 1 Only rising edges ControlOutput_1 BOOL 0 Output_0_0 is a regular digital output 1 Output_0_0 is controlled by the compare function Zahler 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 ap
70. gen www berghof com EtherCAT_IO_HB_en_2D1722004ZD00 docx 2VF100191FE02 docx USER MANUAL 1 3 E I O Module state The following module states are indicated Module state Variable Data type Explanation Shortcut BOOL Not used Undervoltage BOOL Not used Watchdog BOOL Internal watchdog of module EtherCAT_Error BOOL Configuration error or watchdog control Specific_Error BOOL Module specific fault OptionsSet BOOL Sent by module to acknowledge SetOptions To reset the messages see Module control Module specific messages Apart from the module error messages there is a set of messages containing details about the current state of the module Messages Variable Data type Explanation Channel_n_Open BOOL Channel n load gt maximum Broken wire of connector 0 Broken wire of connector 3 Broken wire of connector 0 3 gt Specific_Error TRUE Channel_n_Shortcut BOOL Channel n load lt minimum Short circuit of connector 0 3 Broken wire of connector 1 gt Specific_Error TRUE The causes of Short circuit and Broken wire 0 3 are shown for channel 0 equivalent applies to other channels These messages are automatically reset when the state concerned has returned to normal They are combined into a single Specific_Error state of the module and output to the I O LED as module specific error Conversion time The analogue signals are converted one by one down every
71. gital outputs It indicates the state of the I O module s I O power supply 1 0 power supply State LED flash code Explanation On Green on 24 V DC supply ok Off Off 24 V DC supply not ok Berghof Automationstechnik GmbH Harretstrasse 1 72800 Eningen www berghof com 21 2VF100187FE02 docx EtherCAT_IO_HB_en_2D1722004ZD00 docx USER MANUAL 1 3 E I O Blank page 22 Berghof Automationstechnik GmbH Harretstrasse 1 72800 Eningen www berghof com EtherCAT_IO_HB_en_2D1722004ZD00 docx 2VF100187FE02 docx USER MANUAL 1 3 E I O 4 Bus coupler Bus coupler front view 4 1 Terminals Module power supply L 24 V DC L 0 V EtherCAT RJ45 socket IN input from previous EtherCAT station OUT output to next EtherCAT station 4 2 Status LEDs EtherCAT LED The LED labeled EtherCAT indicates the state of the EtherCAT ASIC State LED flash code Explanation Init Red on Initializing no data exchange Pre Op Red green 1 1 Pre operational no data exchange Safe Op Red green 3 1 Safe operation inputs readable Op Green on Operational unrestricted data exchange Berghof Automationstechnik GmbH Harretstrasse 1 72800 Eningen www berghof com 23 2VF100188FE02 docx EtherCAT_IO_HB_en_2D1722004ZD00 docx USER MANUAL 1 3 E I O In LED Out LED The In and Out LEDs indicate the physical state of the Ethernet s ports they are allocated to State
72. hof Automationstechnik GmbH Harretstrasse 1 72800 Eningen www berghof com 51 2VF100190FE03 docx EtherCAT_IO_HB_en_2D1722004ZD00 docx USER MANUAL 1 3 E I O 52 I O LED The LED labeled I O indicates the state of the module s I Os 1 0 State LED flash code Explanation Ok Green on No error Error Off Malfunction of module if E bus LED On Inoperative if E bus LED Off Red 3x Watchdog Red 4x EtherCAT watchdog control Red 6x Module specific fault Red 7x Configuration error E bus pre operational no of process data differs from that in the module Defective Red on Module defective Power LED There is no LED labeled Power because a separate power feed is not required Channel LEDs State LED flash code Explanation On Green on Channel enabled Off Off Channel disabled 6 3 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 Analogue inputs Check the following variable for the digitized input values Variable Data type Explanation Channel_n INT Value measured on channel n n 0 7 Berghof Automationstechnik GmbH Harretstrasse 1 72800 Eningen www berghof com EtherCAT_
73. ion 5 1 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 5 1 2 Status LEDs EtherCAT LED The LED labeled EtherCAT indicates the state of the EtherCAT ASIC EtherCAT State LED flash code Explanation Init Red on Initializing no data exchange Pre Op Red green 1 1 Pre operational no data exchange Safe Op Red green 3 1 Safe operation inputs readable Op Green on Operational unrestricted data exchange Berghof Automationstechnik GmbH Harretstrasse 1 72800 Eningen www berghof com 2VF100189FE02 docx EtherCAT_IO_HB_en_2D1722004ZD00 docx 27 USER MANUAL 1 3 E I O 28 I O LED The LED labeled IO indicates the state of the module s I Os Ie State LED flash code Explanation Ok Off No error SC Red on Short circuited digital output The output drivers have a thermal fuse to automatically turn off any short 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 Power LED The LED labeled Power indicates the state of the I O module s I O power supply State LED flash code Explanation On Green on 24 V DC supply ok Off Off 24 V DC supply not ok The module is not monitored for low voltage states Channel LEDs Channel State LED Explanation On Green
74. ion will accept the above times as the ideal EtherCAT cycle setup Quality of analogue values The inputs connect to both active or passive current sensors The module provides terminals for the 24 V DC supply to the transmitter of every channel Berghof Automationstechnik GmbH Harretstrasse 1 72800 Eningen www berghof com 49 2VF100190FE03 docx EtherCAT_IO_HB_en_2D1722004ZD00 docx USER MANUAL 1 3 E I O 50 Passive current sensors gt Interconnect the and o V terminals Active current sensors Use the power supplied by the module if at all possible If power to the current sensors is supplied by an external source connect the o V terminal of that power source to the O V terminal of the module Connector channel n NOTICE 6 2 4 Technical data Label Current Best results are obtained by connected the shield of the signal cables to opera tive earth E I O Al8 1 12 BIT Part no 204802700 Plug in connector 18 pole 204800400 not part of the module Analogue inputs 8 single ended Resolution 12 Bit 5 2 uA Measuring range 0 20 mA 4 20 mA limit 21 3675 mA Temperature drift lt 25 ppm C regarding range limit Critical frequency typical 12 5 kHz Burden lt 750 Sampling frequency 0 76 kHz if all channels are enabled Controller ASIC ET1200 Baud rate 100 Mbit s E bus port 10 pin system plug
75. ith the receipt of EtherCAT telegrams The cycle consists of the analogue value conversion plus transmitting the values into the EtherCAT data area Number of channels Cycle time in ms all filters 0 1 35 2 67 3 99 4 131 Berghof Automationstechnik GmbH Harretstrasse 1 72800 Eningen www berghof com 2VF100191FE02 docx EtherCAT_IO_HB_en_2D1722004ZD00 docx 79 USER MANUAL 1 3 E I O NOTICE Me le Quality of analogue values NOTICE 7 3 4 Technical data If you are aiming for a high sampling frequency the EtherCAT master should do the filtering averaging because it will normally have much more processing power Take the EtherCAT cycle into account to assess how much the values stored by the EtherCAT master are up to date The module described in this section will accept the above times as the ideal EtherCAT cycle setup Best results are obtained by connecting the shield of the signal cables to oper ative earth Label E 1 O Al4 THERMO 16 BIT Part no 204801400 Plug in connector 18 pole 204800400 not part of the module Analogue inputs 4 Resolution 16 bit mV measuring range mV 40 65 mV values in 2 uV Type K measuring range Typ K 200 C 1372 C in 0 1 C Measurement failure 25 C lt 0 4 regarding range limit Less measurement failure on demand Cold junction compensation yes Critical fr
76. lowing variable for the digitized input values Variable Data type Explanation Channel_n INT Measuring value of channel n n 0 3 mV Mode in uV resp 2 uV Default in 1 10 C Berghof Automationstechnik GmbH Harretstrasse 1 72800 Eningen www berghof com 77 2VF100191FE02 docx EtherCAT_IO_HB_en_2D1722004ZD00 docx USER MANUAL 1 3 E I O Module control The module provides you with various operational options 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 I O LED To reset the error bits set control bit ResetError to a rising edge Variable Data type Explanation SetOptions BOOL Rising edge gt accepts module options ResetError BOOL Rising edge gt acknowledges error Module options The following options are available for module AI4 TE Module options Variable Data type Explanation Channel_n_SensorType USINT Sensor type 16400 mV not used 16410 mV 40 65 mV values in 2 uV 16404 Type K not used 16414 Type K 200 C 1372 C in 0 1 C Channel_n_On BOOL Enable channel n Channel_n_Filter USINT Set filter for channel n The arithmetic mean is output after n
77. module 1 O connection 5 4 1 Terminals Power supply to module I Os L 24 V DC L 0 V 5 4 2 Status LEDs EtherCAT LED The LED labeled EtherCAT indicates the state of the EtherCAT ASIC State LED flash code Explanation Init Red on Initializing no data exchange Pre Op Red green 1 1 Pre operational no data exchange Safe Op Red green 3 1 Safe operation inputs readable Op Green on Operational unrestricted data exchange 34 Berghof Automationstechnik GmbH Harretstrasse 1 72800 Eningen www berghof com EtherCAT_IO_HB_en_2D1722004ZD00 docx 2VF100189FE02 docx USER MANUAL 1 3 E I O I O LED The LED labeled I O indicates the state of the module s I Os 1 0 State LED flash code Explanation Ok Off No error SC Red on Short circuited digital output The output drivers have a thermal fuse to automatically turn off any short 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 Power LED The LED labeled Power indicates the state of the I O module s I O power supply State LED flash code Explanation On Green on 24 V DC supply ok Off Off 24 V DC supply not ok The module is not monitored for low voltage states Channel LEDs Channel State LED Explanation On Green on Output enabled Off Off Output disabled 5 4 3 Function The DO16 module has
78. 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 Modulkontrolle 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 Variable Data type Explanation ResetError BOOL Rising edge gt acknowledges error Modulstatus Module Status The following module status bits are indicated Module status Variable Data type Explanation LowSupplyVoltage BOOL Low voltage Watchdog BOOL Module internal Watchdog EtherCAT_Error BOOL Configuration error or watchdog control Acknowledgement see Module control Berghof Automationstechnik GmbH Harretstrasse 1 72800 Eningen www berghof com 2VF100193FE02 docx EtherCAT_IO_HB_en_2D1722004ZD00 docx 91 USER MANUAL 1 3 E I O 9 1 5 Controlling Watching Counter 1 The setting of the functions of the counter is carried out with the variables from the group Z hler 1 Optionen The module control is carried out with the variables from the group Z hler Kontrolle The status of the settings is indicated in the variables of the group Z hler 1 Status 1 NOTICE The use of the count
79. mp oil da Ra 69 7 2 Analogue temperature inputs Al8 Pt Ni100 uuuunnsssnnnnnennnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn 70 12 1 A A 70 1 2 2 Status LEDS cti ad 70 7 2 3 RUNCUON ao ER ete Od poh Eee 71 Te Technical data Al8 PUNIOO o ibi 75 7 3 Analogue temperature inputs AlA uuuuunnnssnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnennnnnnnnnnn 76 7 3 1 gt TOrminalS ric cece E ee ees ee npc ce eo es ed es ede Bede E 76 732a Status LEDS zer 2 1222 en ae te a laesst este 76 13 3 FUNCION iaaa A a N ee 77 13 4 Technicaldata nare a a ee Br Dea Te co ee ehe 80 8 COMMUNICATION MODULES uuu222200022220000000000n00nnnnnnnnnnn nun nnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn 81 8 1 PROFIBUS DP Sl ve u a ai 81 8 1 1 Terminal Siri Ben ann re rn ale 81 821224 Status LEDS tin a od a a a a IA een 81 81 3 FUNCION LE ee ee e de ee eK En Be te a the u re EATA ret 82 8 1 4 Technical data PROFIBUS DP SlaVe ooooocnnccccnccccccoonnccnononononnnnnonnnnonononnnnnnnnnononnnnnnnnnnnnnnnnnannnanons 86 9 COUNTER MODULES u na ne 87 9 1 Counters with analogues outputs Counter Posi2 5V Counter2 5V cccccccccccncccnncnnnnonennnnnnnns 87 Sable TerminalS te a da redes Rohe hae Bc soho el E de lod LE 88 9 1 2 Status EDS rt een lc dl ea 88 91 3 A A A te Ba nenne ee ae 90 9 1 4 Controlling and watching the entire module 4uusss4s4
80. n_2D1722004ZD00 docx 2VF100190FE03 docx USER MANUAL 1 3 E I O Module specific messages Apart from the module error messages there is a set of messages containing details about the current state of the module Messages Variable Data type Explanation Channel_n_Open BOOL 4 20 mA mode input current lt 3 5 mA gt Specific_Error TRUE Channel_n_Overcurrent BOOL Input current gt 20 5 mA gt Specific_Error TRUE These messages are automatically reset when the state concerned has returned to normal Conversion time The analogue signals are converted one by one down every channel Disabling one or several channels will shorten the entire A D conversion cycle Filter in this case means to compute an average when the set filter time is over Analogue value conversion runs cyclically and is not synchronized with the receipt of EtherCAT telegrams The cycle consists of the analogue value conversion plus transmitting the values into the EtherCAT data area Conversion time Number of channels Cycle time in ms Number of channels Cycle time in ms 1 0 40 5 0 92 2 0 53 6 1 06 3 0 66 7 1 19 4 0 79 8 1 32 If you are aiming for a high sampling frequency the EtherCAT master should do the filtering averaging because it will normally have much more processing power Take the EtherCAT cycle into account to assess how much the values stored by the EtherCAT master are up to date The module described in this sect
81. netic compatibility is the ability of a device to function satisfactorily in its electromagnetic environment without itself causing any electromagnetic interference that would be intolerable 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 It is defined in the relevant 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 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 2 4 2 Interference emission Interfering emission of electromagnetic fields HF compliant to EN 55011 limiting value class A Group 1 i NOTICE If the controller is designed for use in residential areas high frequency emis sions must comply with limiting value class B as described in EN 55011 Fitting the controller into earthed metal cabinets and in stalling filters in the supply lines may produce a shielding compliant to the above standard 2 4 3 General notes on installation 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 r
82. ng a module Berghof Automationstechnik GmbH Harretstrasse 1 72800 Eningen www berghof com 19 2VF100187FE02 docx EtherCAT_IO_HB_en_2D1722004ZD00 docx USER MANUAL 1 3 E I O 20 3 2 System power supply 3 2 1 General General Spring assisted blocks of sockets allow fast and simple wiring A multiple socket connector densely packs the wires on a small footprint Use the unlock button to easily disconnect the wires where there is little space Tool 0 4 x 2 5 blade screwdriver Cores 0 20 1 0 mm IEC 28 18 ENC UL Rated current 5 A CSA 10 A UL Do not connect the power supply lines through from one I O power sup ply port to the next To ensure that there is as little interference as possible install a central power supply point and establish a star topology of as short wires as possible be tween the central point and the I O Modules 3 2 2 Bus coupler The system power supply connects to the bus coupler through a 2 pole plug type terminal block 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 Spring assisted connector and bus coupler unlock button 2VF100532DG00 cdr 3 2 3 I O Modules The I O supply connects to the I O module normally together with the I Os using plug type terminal blocks with different numbers
83. nnel n to 4 20 mA Channel_n_On BOOL Enables channel n Channel_n_ Filter USINT 0 255 Filter on channel n New values avail in k 3 ms k 0 255 n 0 3 Channel number To set and accept options see Module control Module state The following states are indicated Module state Variable Data type Explanation Shortcut BOOL Short circuit Undervoltage BOOL Low voltage supplied power lt 19 2 V Watchdog BOOL Internal watchdog of module EtherCAT_Error BOOL Configuration error or watchdog control Specific_Error BOOL Module specific fault OptionsSet BOOL Sent by module to acknowledge SetOptions To reset the messages see Module control Berghof Automationstechnik GmbH Harretstrasse 1 72800 Eningen www berghof com 41 2VF100190FE03 docx EtherCAT_IO_HB_en_2D1722004ZD00 docx USER MANUAL 1 3 E I O 42 Module specific messages Apart from the module error messages there is a set of messages containing details about the current state of the module Messages Variable Data type Explanation Channel_n_Open BOOL 4 20 mA mode input current lt 3 5 mA gt Specific_Error TRUE Channel_n_Overcurrent BOOL Input current gt 20 5 mA gt Specific_Error TRUE These messages are automatically reset when the state concerned has returned to normal Conversion time The analogue signals are converted one by one down every channel Disabling one or several channels will shorten the entire A D conver
84. nnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnns 15 2 4 4 Electrical immission safeguard uu 4444444nnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn 15 2 4 5 Cable routing and Wiring rn einen ts 16 2 4 6 Location of install tion ea teen a a aa aia 16 2 4 7 Particular sources of interference 44444440nnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnonnnnnnnnnnnnnnannnnnnnnnn 16 3 SYSTEM DESCRIPTION ETHERCAT I O MODULES uuusuuuunssnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn nn 17 3 1 Mechanical design voice eich 17 3AA Eann O o 18 3 1 2 Installation E E A AA A AA DR 19 3 25 System OWEN He nern canes raa Sanae sakopoti Sakasena sekos suede 20 3 2 1 General niena in Rn Re a a a a a aa aa e a a aa e E a Ea aaiae 20 EAA Ee E o T E T TATA 20 32 3 VOModulES a a le OA E aes oth OER aa a DOE kennen 20 SO O 21 301 SEtherCAT LED dba cil 21 332 In LED Out LED ica A A AA 21 330 MO ED casas 21 3 3 4 POWER LED e o a e uo in 21 4 BUS COUPLER E ooo oocctoe 23 4 1 Temas cc 23 4 2 Status LEDS cinc a 23 43 FUNCTION isiin eocce 24 4 42 O A A O 25 5 DIGITAL MODULES 2 5 22 22 22222 indicio fede tai dia dctasra ee duatce tack edecendeaddetectadecenduatde tenn 27 Berghof Automationstechnik GmbH Harretstrasse 1 72800 Eningen www berghof com 5 EtherCAT_IO_HB_en_2D1722004ZD00 docx USER MANUAL 1 3 E I O 5 1 5 1 1 5 1 2 5 1 3 5 1 4
85. ocx USER MANUAL 1 3 E I O 68 7 1 4 Technical data Al4 Pt Ni100 Al4 Pt Ni100 Label E 1 O Al4 PT NI100 16 BIT Part no 204801300 Plug in connector 18 pole 204800400 not part of the module Analogue inputs 4 Resolution 16 bit resistance 0 01 temperature 0 1 C Pt100 measuring range 75 C 670 C Ni100 measuring range 60 C 250 C Resistance 70 330 Q Temperature drift lt 50 ppm C regarding range limit Critical frequency typical 2 Hz Measurement current lt 0 50 mA Sampling frequency gt 7 75 Hz if all channels are enabled Controller ASIC ET1200 Baud rate 100 Mbit s E bus port 10 pin system plug in side wall Term module not required Power supply 24 V DC 20 25 E bus load 150 mA Berghof Automationstechnik GmbH Harretstrasse 1 72800 Eningen www berghof com EtherCAT_IO_HB_en_2D1722004ZD00 docx 2VF100191FE02 docx USER MANUAL 1 3 E I O 7 1 5 Technical data Al4 Pt Ni1000 Al4 Pt Ni1000 Label E 1 O Al4 PT NI1000 16 BIT Part no 204802800 Plug in connector 18 pole 204800400 not part of the module Analogue inputs 4 Resolution 16 bit resistance 0 1 temperature 0 1 C Pt100 measuring range 75 C 570 C Ni100 measuring range 60 C 250 C Resistance 700 3000 Q Temperature drift
86. onal no data exchange Safe Op Red green 3 1 Safe operation inputs readable Op Green on Operational unrestricted data exchange Berghof Automationstechnik GmbH Harretstrasse 1 72800 Eningen www berghof com 81 2VF100192FE02 docx EtherCAT_IO_HB_en_2D1722004ZD00 docx USER MANUAL 1 3 E I O 82 LED PROFIBUS The LED labeled PROFIBUS indicates the state of the module regarding PROFIBUS PROFIBUS State LED flash code Explanation Ok Green on No error Error Red flashing light Connection fault Start Defect Red on Module not initialized 8 1 3 Function The module PROFIBUS DP Slave is an EtherCAT PROFIBUS DP gateway It accomplishes the data transfer between an EtherCAT system and a PROFIBUS DP system Data Utilizable data you will find in 4 groups of input variables and 4 groups of output variables Utilizable data Variable Data type Number Explanation InByteM1_0 _15 USINT 16 Input data module1 Byte_0 Byte_15 InByteM2_0 _31 USINT 32 Input data module2 Byte_0 Byte_31 InByteM3_0 _47 USINT 48 Input data module3 Byte_0 Byte_47 InByteM4_0 63 USINT 64 Input data module4 Byte_0 Byte_63 OutByteM1_0 _15 USINT 16 Output data module1 Byte_0 Byte_15 OutByteM2_0 _ 31 USINT 32 Output data module2 Byte_0 Byte_31 OutByteM3_0 _47 USINT 48 Output data module3 Byte_0 Byte_47 OutByteM4_0 _63 USINT 64 Output data module4 Byte_0 Byte_63 See section Configuring of
87. ons n 0 3 Channel number To set and accept options see Module control Berghof Automationstechnik GmbH Harretstrasse 1 72800 Eningen www berghof com 65 2VF100191FE02 docx EtherCAT_IO_HB_en_2D1722004ZD00 docx USER MANUAL 1 3 E I O 66 Module state The following module states are indicated Module state Variable Data type Explanation Shortcut BOOL Not used Undervoltage BOOL Not used Watchdog BOOL Internal watchdog of module EtherCAT_Error BOOL Configuration error or watchdog control Specific_Error BOOL Module specific fault OptionsSet BOOL Sent by module to acknowledge SetOptions To reset the messages see Module control Module specific messages Apart from the module error messages there is a set of messages containing details about the current state of the module Messages Variable Data type Explanation Channel_n_Open BOOL Channel n load gt maximum Broken wire of connector 0 Broken wire of connector 3 Broken wire of connector 0 3 gt Specific_Error TRUE Channel_n_ Shortcut BOOL Channel n load lt minimum Short circuit of connector 0 3 Broken wire of connector 1 gt Specific_Error TRUE The causes of Short circuit and Broken wire 0 3 are shown for channel o equivalent applies to other channels These messages are automatically reset when the state concerned has returned to normal They are combined into a single Specific_Error
88. orted for networking CANtrol con trollers and industrial PCs used as EtherCAT masters feature a CoDeSys PLC Berghof Automationstechnik GmbH Harretstrasse 1 72800 Eningen www berghof com 13 2VF100186FE02 docx EtherCAT_IO_HB_en_2D1722004ZD00 docx USER MANUAL 1 3 E I O 2 3 E 1 O CANtrol EtherCAT l O System CANtrol E I O is a system of I O modules for connecting the process signals to an EtherCAT network CANtrol E I O consists of the E I O bus coupler and a range of I O modules The CANtrol E I O 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 CANtrol E 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 Base Tx line can be plugged in to connect the next EtherCAT unit to the second bus coupler port 2VF100530DG00 cdr 14 Berghof Automationstechnik GmbH Harretstrasse 1 72800 Eningen www berghof com EtherCAT_IO_HB_en_2D1722004ZD00 docx 2VF100186FE02 docx USER MANUAL 1 3 E I O 2 4 Electromagnetic compatibility 2 4 1 Definition Electromag
89. osis 8 0 EtherCAT runs 6 EtherCAT error 9 0x11 Revision 1 0x12 Revision 2 with DP address change EtherCAT You need Berghof EIO Modules xml for the EtherCAT configuration Those is to be imported in the EtherCAT Master configurator which can be used i NOTICE Online configuration Scan Boxes Reading of the configuration data from the i connected EtherCAT devices is not possible because of a too large amount of data 84 Berghof Automationstechnik GmbH Harretstrasse 1 72800 Eningen www berghof com EtherCAT_IO_HB_en_2D1722004ZD00 docx 2VF100192FE02 docx USER MANUAL 1 3 E I O Example Berghof EC1000 as EtherCAT Master configuration with EtherCAT configurator in CoDeSys 2 3 For the configuration of the EtherCAT appropriate PDOs are available Index Input variable Index Output variable 0x1601 ModulKontrolle 0x1A01 ModulStatus 0x1602 Modulspezifische Meldungen 0x1A02 SPC3address_Adress 0x1603 Profibusdata_InByteM1_0 _15 0x1A03 Profibusdata_OutByteM1_0 _15 0x1604 Profibusdata_InByteM2_0 _31 0x1A04 Profibusdata_OutByteM2_0 _31 0x1605 Profibusdata_InByteM3_0 _47 0x1A05 Profibusdata_OutByteM3_0 _47 0x1606 Profibusdata_InByteM4_0 _63 0x1A06 Profibusdata_OutByteM4_0 _63 Make sure that configuring on the EtherCAT side and the PROFIBUS side must be implemented identically Selection of the PROFIBUS address The PROFIBUS address is written into the variable Address of the PLC p
90. per minute 128 Version info SelectedValue DINT Selected current value of counter 1 Byte 3 2 1 0 Explanation Version Release Level Type code Example 0x02 0x00 0x00 0x53 2 0 0 S 9 1 7 Digital l Os Zahler 1 Counter 1 Digital inputs The variables indicate the status of the digital inputs Digital inputs Variable Data type Explanation Input_0_0 BOOL Digital input O 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 Berghof Automationstechnik GmbH Harretstrasse 1 72800 Eningen www berghof com 95 2VF100193FE02 docx EtherCAT_IO_HB_en_2D1722004ZD00 docx USER MANUAL 1 3 E I O Z hler 1 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 section 9 1 3 Frame synchronous DC synchronous Input edge timestamp Variable Data type Explanation Input_0_0 TS UINT Time stamp for digital input O Hardware Capture 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 i NOTICE The time stamp is metered between frame or DC interrupts and signal changes on the input in us The value
91. propriate variable The execution is indicated in the corresponding status variable If the control variable is reset the counter module also resets the correspon ding status variable 92 Berghof Automationstechnik GmbH Harretstrasse 1 72800 Eningen www berghof com EtherCAT_IO_HB_en_2D1722004ZD00 docx 2VF100193FE02 docx USER MANUAL 1 3 E I O Counter 1 Control Variable Data type Value Explanation SetOptions_1 BOOL 0 1 Take over Z hler 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 EnableCounter_1 BOOL 0 Disable counter 1 Enable counter EnableReferencing_1 BOOL 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 Z hler 1 Status 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 Counter 1 Status Variable Data type Explanation Counting_1 BOOL Counter is enabled Referenced_1 BOOL Reference function was executed reset by ResetReferenced_1 Clockwise_1 BOOL Counter counts up Compared_1 BOOL Compare function was execute
92. r 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 Port Connection Sequence Port A E Bus In 1 Port B Out 1 3 Port C Out 2 4 Port D E Bus Out 2 Berghof Automationstechnik GmbH Harretstrasse 1 72800 Eningen www berghof com EtherCAT_IO_HB_en_2D1722004ZD00 docx 2VF100194FE02 docx USER MANUAL 1 3 E I O 10 1 4 Technical data Extender 2 Port Label E 1 O EXTENDER 2 PORT Part no 204801500 Function Extension of a CANtrol E 1 O block resp of an EC1000 Transformation of transmission physics from LVDS E bus to 100Base TX Controller ASIC ET1100 Baud rate 100 Mbit s Cable CAT5 Cable length max 100 m EtherCAT Connection 2 x RJ45 Power supply via E bus E bus load 160 mA for Out1 210 mA for Out1 Out2 Berghof Automationstechnik GmbH Harretstrasse 1 72800 Eningen www berghof com 109 2VF100194FE02 docx EtherCAT_IO_HB_en_2D1722004ZD00 docx USER MANUAL 1 3 E I O Blank page 110 Berghof Automationstechnik GmbH Harretstrasse 1 72800 Eningen www berghof com EtherCAT_IO_HB_en_2D1722004ZD00 docx 2VF100194FE02 docx USER MANUAL 1 3 E I O 11 Supplement 11 1 Potential Distributor 2 x 16 10 10 11 11 12 12 13 13 14 14 15 15 L1 L2 L1 2 L1 L1 Front view of Potential Distributor Connections
93. rogram and transmitted as PDO 1602 to the PROFIBUS DP Slave module With the setting of the bit SetOption the assumption of the address in the module becomes released The module acknowledges the assumption of the address by setting of OptionsSet After receipt of a valid PROFIBUS address the module initializes the PROFIBUS If a master accesses the module over the PROFIBUS and transfers a valid configuration the professional bus is functional This is in dicated by the bit ProfibusRunning Only then data exchange EtherCAT lt gt PROFIBUS is possible Since revision 2 the address change at runtime is possible The connection with the PROFIBUS master will be cut for a short time but the master will rebuild the connection to the new address by its GAP update The status of the connection is shown in ProfibusRunning Example Setting of usiDP_Adresse as DP Slave address Start Single action Term2 Address usiDP Adresse Copying the DP Slave address Term2 SetOptions Byte 0 TRUE Start of the address setting Controlling IF Term2 SetOptions Byte 0 TRUE THEN IF Term2 Shortcut Byte 7 TRUE THEN Wait for confirmation Term2 SetOptions Byte 0 FALSE Reset END IF END_IF Berghof Automationstechnik GmbH Harretstrasse 1 72800 Eningen www berghof com 85 2VF100192FE02 docx EtherCAT_IO_HB_en_2D1722004ZD00 docx USER MANUAL 1 3 E I O 8
94. rol 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 I O LED To reset the error bits set control bit ResetError to a rising edge Variable Data type Explanation SetOptions BOOL Rising edge gt accepts module options ResetError BOOL Rising edge gt acknowledges error Module options The following options are available for module AI8 I Module options Variable Data type Explanation Channel_n_0_20mA BOOL TRUE Channel n to 0 20 mA FALSE Channel n to 4 20 mA Channel_n_On BOOL Enables channel n Channel_n_Filter USINT 0 255 Filter on channel n New values avail in k 3 ms k 0 255 n 0 7 Channel number To set and accept options see Module control Module state The following states are indicated Module state Variable Data type Explanation Shortcut BOOL Short circuit Undervoltage BOOL Low voltage supplied power lt 19 2 V Watchdog BOOL Internal watchdog of module EtherCAT_Error BOOL Configuration error or watchdog control Specific_Error BOOL Module specific fault OptionsSet BOOL Sent by module to acknowledge SetOptions To reset the messages see Module control 48 Berghof Automationstechnik GmbH Harretstrasse 1 72800 Eningen www berghof com EtherCAT_IO_HB_e
95. s from that in the module Defective Red on Module defective Power LED The LED labeled Power indicates the state of the I O module s I O power supply State LED flash code Explanation On Green on 24 V DC supply ok Off Off 24 V DC supply not ok Status LEDs of the I Os The Status LEDs of the several I Os indicate the state of the individual digital I Os Pin Voltage LED Explanation 0 3 24 V Green Digital inputs 4 24 V Green Digital output 7 9 11 5V Green Encoder signals A B Ref Berghof Automationstechnik GmbH Harretstrasse 1 72800 Eningen www berghof com 89 2VF100193FE02 docx EtherCAT_IO_HB_en_2D1722004ZD00 docx USER MANUAL 1 3 E I O 9 1 3 Function Term 2 VFIO Counter2 54 DC Modul Status Z hler 1 Status Z hler 1 Fehler Z hler 1 Digitale Eing nge Z hler 1 Istwerte Y Z hler 1 Eingangsflanken Zeitstempel Qf Z hler 2 Status Z hler 2 Fehler Z hler 2 Digitale Eing nge Qt Z hler 2 Istwerte Z hler 2 Eingangsflanken Zeitstempel Modul Kontrolle Z hler 1 Kontrolle Z hler 1 Optionen Z hler 1 Digitale Ausg nge Optional Z hler 1 Analogausgang l Z hler 1 Sollwerte Z hler 1 Ausgangsverz gerung Z hler 2 Kontrolle Z hler 2 Optionen l Z hler 2 Digitale Ausg nge Optional Z hler 2 Analogausgang Ql Z hler 2 Sollwerte Z hler 2 Ausgangsverz gerung Westate u The module Counter2 has 2 identical channels Each
96. se 1 72800 Eningen www berghof com EtherCAT_IO_HB_en_2D1722004ZD00 docx 2VF100181FE01 docx USER MANUAL 1 3 E I O 2 Introduction EtherCAT I O Modules 2 1 EtherCAT Ethernet Control Automation Technology EtherCAT is one of the most powerful Ethernet based fieldbus systems EtherCAT puts up the top speed mark and its flexible topology and simple configuration make it the perfect means of controlling extremely fast processes 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 be tween 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 centralized control systems overcoming the issue of bus transfer times that conventional fieldbus systems are burdened with 2 2 CANtrol the automation platform The automation platform CANtrol EC and CANtrol Dialog has been specifically engineered with applications near to the machine in mind CANtrol provides flexible automation solutions including hardware and soft ware PLCs based around industrial PCs remote I Os PLCs with without display and decentralized drives EtherCAT PROFINET Bacnet PROFIBUS DP and CANopen are supp
97. se 1 72800 Eningen www berghof com 59 2VF100190FE03 docx EtherCAT_IO_HB_en_2D1722004ZD00 docx USER MANUAL 1 3 E I O 60 Module options The following options are available for module AO4 Module options Variable Data type Explanation Channel_n_On BOOL Enables channel n set to high impedance to disable 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 voltage Outputs_Active_Specific_Error BOOL Leave outputs unchanged after module specific error Outputs_Active_EtherCAT_Error BOOL Leave outputs unchanged after short circuit n 0 3 Channel number To set and accept options see section Module control Module state The following states are indicated Module state Variable Data type Explanation Shortcut BOOL Short circuit not used Undervoltage BOOL Low voltage supplied power lt 19 2 V Watchdog BOOL Internal watchdog of module EtherCAT_Error BOOL Configuration error or watchdog control Specific_Error BOOL Module specific fault OptionsSet BOOL Sent by module to acknowledge SetOptions To reset the messages see Module control Module specific messages Apart from the module error messages there is a set of messages containing details about the current
98. sion cycle Filter in this case means to compute an average when the set filter time is over Analogue value conversion runs cyclically and is not synchronized with the receipt of EtherCAT telegrams The cycle consists of the analogue value conversion plus transmitting the values into the EtherCAT data area Channel Number of channels Cycle time in ms all filters 0 1 0 27 2 0 41 3 0 55 4 0 69 i NOTICE If you are aiming for a high sampling frequency the EtherCAT master should do the filtering averaging because it will normally have much more processing power i NOTICE Take the EtherCAT cycle into account to assess how much the values stored by the EtherCAT master are up to date The module described in this section DER will accept the above times as the ideal EtherCAT cycle setup Quality of analogue values The inputs connect to both active or passive current sensors The module provides terminals for the 24 V DC supply to the transmitter of every channel Berghof Automationstechnik GmbH Harretstrasse 1 72800 Eningen www berghof com EtherCAT_IO_HB_en_2D1722004ZD00 docx 2VF100190FE03 docx USER MANUAL 1 3 E I O Passive current sensors Interconnect the and o V terminals Active current sensors Use the power supplied by the module if at all possible If power to the current sensors is supplied by an external source connect the o V terminal of that power sour
99. ssors 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 2 4 7 Particular sources of interference Inductive actuators Switching offinductances such as from relays contactors solenoids or switching magnets produces surge voltages It is necessary to reduce these extra voltages to a minimum Reducing elements may be diodes Z diodes varistors or RC elements To find the best adapted elements we recommend that you contact the manufacturer or supplier of the corresponding actuators for the relevant information 16 Berghof Automationstechnik GmbH Harretstrasse 1 72800 Eningen www berghof com EtherCAT_IO_HB_en_2D1722004ZD00 docx 2VF100186FE02 docx USER MANUAL 1 3 E I O 3 System description EtherCAT I O Modules CANtrol E I O is a system of I O modules for connecting the process signals to any EtherCAT network station CANtrol E I O consists of the CANtrol E I O bus coupler and a range of CANtrol E I O modules The CANtrol E I O 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
100. state of the module Berghof Automationstechnik GmbH Harretstrasse 1 72800 Eningen www berghof com EtherCAT_IO_HB_en_2D1722004ZD00 docx 2VF100190FE03 docx USER MANUAL 1 3 E I O Messages Variable Data type Explanation Channel_n_Overtemp BOOL Temperature of output driver of channel n gt 140 C au tomatic switch off gt Outputs_Active_Shortcut TRUE Undervoltage_24 BOOL Power supplied to module gt 19 2V gt Outputs_Active_Undervoltage TRUE Channel_n_Open BOOL Current mode channel n load is gt 5000 gt Specific_Error TRUE Channel_n_Shortcut BOOL Voltage mode channel n load is lt 600 Q gt Specific_Error TRUE These messages are automatically reset when the state concerned has returned to normal These messages are summarized as Specific_Error in the module status and mapped as Module specific error onto the I O LED Conversion time The AO4 module operates with a cycle time of 320us which is independent of the number of the enabled channels time from the acquisition of the output values to the start ofthe D A converters 6 4 4 Technical data AO4 U I Label E 1 O AO4 U I 12BIT Part no 204801200 Plug in connector 18 pole 204800400 not part of the module Analogue outputs 4 Resolution 16 bit 12 bit Measuring range 0 10 V 10 V 0 20 mA 20 mA Output frequency 3 125 kHz Controller ASIC ET1200 B
101. t values group Select by the variable Select_1 which value you want to see in the variable SelectedValue SelectedValue Variable Data type Explanation Select_1 USINT Selection which value of counter1 shall be displayed in the variable SelectedValue 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 SetValue_1 DINT Set value of counter 1 source to copy operated by a control bit into a set value register target 94 Berghof Automationstechnik GmbH Harretstrasse 1 72800 Eningen www berghof com EtherCAT_IO_HB_en_2D1722004ZD00 docx 2VF100193FE02 docx USER MANUAL 1 3 E I O Z hler 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 Selection by Select_1 Counter 1 Actual Values Variable Data type Explanation Counter_1 DINT Current value of counter 1 Selected_1 USINT Selection of that value of counter 1 which is displayed in the variable SelectedValue value of Select_1 read from the module 0 none 1 Vergleichswert Compare value Vorwahlwert Preset value Endwert Max value Counter pulses second 2 3 4 Fangwert Capture value 5 6 Revolutions
102. 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 Berghof Automationstechnik GmbH Harretstrasse 1 72800 Eningen www berghof com 2VF100193FE02 docx EtherCAT_IO_HB_en_2D1722004ZD00 docx 103 USER MANUAL 1 3 E I O Analogue outputs Counter Posi2 5V only The output values of the analogue outputs are written into the variables AnalogOutput _x Term2 Analog0utput 1 16 7FFF Set Analog0utput_1 to 10V Term2 AnalogO0utput 2 168000 Set AnalogOutput 2 to 10V Output values see table AI4 8 U Analogue values voltage 104 Berghof Automationstechnik GmbH Harretstrasse 1 72800 Eningen www berghof com EtherCAT_IO_HB_en_2D1722004ZD00 docx 2VF100193FE02 docx USER MANUAL 1 3 E I O 9 1 10 Technical data Counter Posi2 5V Label E O COUNTER POSI 2 5V Part no 204801700 Plug in connector 36 pole 204800300 not part of the module Encoder 2A B Ref Encoder type 5 V RS422 Count rate max 400 kHz Digital inputs 8 Input delay 1 ms Signal level Off 3 5 V On 15 V 30 V EN 61131 3 Type1 Digital outputs 2 Max current 2 A per output Fieldbus EtherCAT 100 Mbit s EtherCAT file Berghof ElO Modules xml WxHxD 25x120x90 mm Mounting 35
103. the data modules for configuring the data Module control The module provides no operational options but a PROFIBUS address which is set by the EtherCAT Master The module indicates errors by different Module state bits These error bits are stored To reset the error bits set control bit ResetError to a rising edge Variable Data type Explanation SetOptions BOOL Rising edge gt accepts the PROFIBUS address ResetError BOOL Rising edge gt acknowledges error Berghof Automationstechnik GmbH Harretstrasse 1 72800 Eningen www berghof com EtherCAT_IO_HB_en_2D1722004ZD00 docx 2VF100192FE02 docx USER MANUAL 1 3 E I O SPC3 address The PROFIBUS DP Slave address is set by the following variable SPC3 Variable Data type Explanation Address USINT PROFIBUS DP Slave Address The assumption of the address is released with the rising edge of SetOptions The execution is indicated with OptionsSet Since revision 2 the PROFIBUS DP slave address can be changed also at runtime Module state The following module states are indicated Module state Variable Data type Explanation Shortcut BOOL Not used Undervoltage BOOL Not used Watchdog BOOL Internal watchdog of module EtherCAT_Error BOOL Configuration error or watchdog control Specific_Error BOOL Not used OptionsSet BOOL Sent by module to acknowledge SetOptions To reset the messages see Module control Module specific messages Apart from the
104. tionstechnik GmbH Harretstrasse 1 72800 Eningen www berghof com 55 2VF100190FE03 docx EtherCAT_IO_HB_en_2D1722004ZD00 docx USER MANUAL 1 3 E I O 6 3 4 Technical data Al4 8 U Label E 1 O Al4 8 U 13 BIT Part no 204800200 Plug in connector 18 pole 204800400 not part of the module Analogue inputs 8 single ended or 4 differential Resolution 13 Bit 1 221 uV unipolar 2 442 uV bipolar Measuring range 0 10V 10V Temperature drift lt 15 ppm C regarding range limit Critical frequency typical 1 MHz Input resistance gt 100 MO Sampling frequency 1 12 kHz if all channels are enabled Controller ASIC ET1200 Baud rate 100 Mbit s E bus port 10 pin system plug in side wall Term module not required Power supply from coupler through E bus connector E bus load 56 190 mA Berghof Automationstechnik GmbH Harretstrasse 1 72800 Eningen www berghof com EtherCAT_IO_HB_en_2D1722004ZD00 docx 2VF100190FE03 docx USER MANUAL 1 3 E I O 6 4 Analogue outputs voltage current AO4 U I 1 Cho 0 A04 UN 1 ChannelO 0 1 a O en 4 Spar aa ca 4 Channel 2 3 i Ch3 Der Channel2 4 5 a ajos Channel3 6 7 ol CIO O o y CIO oll i g Oo a cS ay oo L L Le IE ce ol O Hi CIO HALODO AO 694
105. ut This Manual This equipment manual is an integral part of the product Make sure the equipment manual is always availa ble near the product s point of employment The manual contains information about the following topics Areas of application Safety Mechanical construction Electrical construction Connections Commissioning Care and maintenance Decommissioning Disposal VUVVVVVVY Berghof Automationstechnik GmbH Harretstrasse 1 72800 Eningen www berghof com 9 2VF100181FE01 docx EtherCAT_IO_HB_en_2D1722004ZD00 docx USER MANUAL 1 3 E I O 1 2 Hazard Categories and Terminology A DANGER Immediate danger Failure to observe the information indicated by this warning will result in death serious injury or extensive property damage Potential danger Failure to observe the information indicated by this warning may result in death serious injury or extensive property damage Danger Failure to observe the information indicated by this warning may result in injury or property damage No hazard Information indicated in this manner provides additional notes concerning the product Bu a 1 3 Conformity Declaration The EtherCAT I O Modules comply with and make allowance for the following directives and standards gt EMP Directive 2004 108 EC gt DIN EN 61131 2 2009 1 Programmable controllers Part 2 Equipment requirements and tests gt DIN EN 61000 6 2 2011 06 Electromagnetic
106. voltage not implemented Red 3x Watchdog Red 4x EtherCAT watchdog control Red 6x Module specific fault Red 7x Configuration error E bus pre operational no of process data differs from that in the module Defective Red on Module defective Power LED The LED labeled Power indicates the state of the I O module s I O power supply State LED flash code Explanation On Green on 24 V DC supply ok Off Off 24 V DC supply not ok Channel LEDs State LED flash code Explanation On Green on Channel enabled Off Off Channel disabled Error Red Open overcurrent 6 2 3 Function The AI8 I module has 8 analogue current signal inputs Their measuring range can be set separately for every channel i e either to 0 20 mA or to 4 20 mA Berghof Automationstechnik GmbH Harretstrasse 1 72800 Eningen www berghof com 45 2VF100190FE03 docx EtherCAT_IO_HB_en_2D1722004ZD00 docx USER MANUAL 1 3 E I O 46 Analogue inputs Check the following variable for the digitized input values Variable Data type Explanation Channel_n INT Value measured on channel n n 0 7 Measured value The maximal measuring value OxFFFo of the current input module is 0 5 V 23 4 Q 21 3675 mA The status is shown by the channel LED Measuring values variable values and status Measuring range 0000 FB80 FFFO 0 mA 21 mA 21 37 mA The measurement range is provided by the module i e the maximal output value is HEX FB80

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