Publisher`s Note - Murr Elektronik
Contents
1. A x BUS BUS X 00 01 02 03 X X 00 01 02 03 x x 00 01 02 03 x Run Port O Bun Port 1 9 Run port 4 0 O 9 1 IN D X 00 01 02 03 NC um x 00 01 02 03 m 01 02 03 NC OO A 1 ia s x 00 01 02 03 X X 01 02 03 T Port 2 00 01 02 03 x 81 02 03 Ay AN X OO T T T Fig 13 EtherCAT in bus topology V1 0 27 Fa Manual IMPACT20 EtherCAT 4 EtherCAT Bus System 4 1 Startup 4 1 1 ESI EtherCAT Slave Information The IMPACT20 EC ESI Murrelektronik IMPACT20 xml is a configuration file in XML format All cur rent IMPACT20 EC devices are capable of running2. i EtherCAT m EtherCAT Port 3 Klemmen terminals r OC 000 X0 terminales bornes m 1 00 01 02 03 1 s H LOI 2 mm X3 i m mmo i saha dues M US OV 00 03 cH 00 S41 X3 0 X1 X2 X2 xo CH 00 CH 03 00 03 CH 10 CH 13 f t 4 03 S X1 Ul OV 00 03 CH 20 CH 23 X2 00 03 CH 30 CH 33 X3 Fig 8 Terminal overview of Impact20 DI16 modules V1 0 23 a Manual IMPACT20 EtherCAT 3 2 2 2 DI8 008 Modules EtherCAT EtherCAT Port Klemmen terminals X0 terminales bornes X1 X2 X3
3. Device Device Device Ca Iunii HH HH HH BUS BUS BUS DO d Galvanic Isolation Fig 3 Impact20 modules galvanic isolation 2 3 Electromagnetic Compatibility EMC The units comply with the requirements of EC Directive 2004 108 EC Electromag C netic Compatibility These units conform with Class A devices They may cause radio interference in residential areas In this case the operator may be required to implement suitable countermeasures The devices described in this manual meet the relevant standards for electromagnetic compatibility in themselves However this does not assume that their electromagnetic compatibility is also guaranteed when built into a system For this reason the user is urgently advised to observe the instructions below concerning installation in accordance with EMC requirements Protection Against Electrostatic Discharge The products described in this manual contain complete semiconductor components that may be de stroyed or damaged by electrostatic discharge ESD V1 0 16 Fa Manual IMPACT20 EtherCAT Damage does not necessarily lead to an immediately detectable failure o
4. 250mm 1 97 in DJ Fig 6 Distances Fig 7 Installation position 1 0 21 Manual IMPACT20 EtherCAT 3 2 Wiring Terminals 3 2 1 Connecting Sensors and Actuators WARNING Devices from the IMPACT20 series are not safety devices conforming to the rele vant standards Do not use the OFF state of the outputs to implement safety related requirements of the system machine 3 2 1 1 Sensor Power Supply Sensor can be powered by the IMPACT20 module The sensor power supply is protected by self resetting short circuit proof transistor for each module The maximum current draw for the sensor power supply is 0 7 A per module 3 2 1 2 Actuators The maximum current draw of IMPACT20 modules per channel is 2 A Please remember that the max imum total current of 8 A at the UA terminal may not be exceeded CAUTION If the polarity of the module and actuator power supplies are reversed this may damage the module V1 0 Manual IMPACT20 EtherCAT 3 2 2 Terminal Overviews of IMPACT20 Modules 3 2 2 1 0116 Modules Please use the current INAs Point A only lists the EtherCAT without IN
5. um m me RM DO DI 0 7A v NATAL FE Ul UA 00 03 CH 20 CH 23 US OV 00 03 CH 00 CH 03 9 X3 X0 X0 X1 1 1 X2 X2 X2 X0 00 03 CH 30 CH 33 00 03 CH 10 CH 13 I X3 5 UA Ke r OV p I Fig 9 Terminal overview of Impact20 DIBDO8 modules V1 0 3 2 2 3 0016 Modules E 3 X 00 01 02 EM X0 01 02 MEM 1 Ha 2 x 00 01 02 Ul X0 X3 X0 X0 Fig 10 Terminal overview of Impact20 DO16 modules to our Cata
6. 8 NERSIERSIEROIERSUD s TOROTORO y i k Fig 26 Mounting Dimensions 7 9 3 Mounting Position Distances beliebig any Einbaulage Mounting position beliebig any Abstand Distance Ei 57 V1 0 Manual IMPACT20 EtherCAT 7 9 4 Mounting on DIN Mounting Rail and on Module 2 Q lt 2 9 max 2 Blocks e N lt l O 4 Z gt l No d DIN Rail TH35 7 5 DIN Rail TH35 15 A A Fig 27 Mounting the voltage terminal block on DIN mounting rails and on IMPACT2O module 1 0 58 1 7 9 5 7 9 5 1 Terminal Overview Nos 56078 56079 56080 56081 56084 56109 56110 56111 Art No 56078 Art No 56079 grau grey grau grey X0 en 00 X1 grau grey grau grey X1 00 24 X2 braun brown gelb yellow 2 2 00 0 V blau blue blau 0 V X3 00 Art No 56080 Art No 56081 Art No 56084 Art No 56111 FE Us 24 V 0 V XO gelb yellow braun brown grau grey blau blue 0 V 0 V FE X1 blau blue blau blue grau grey gelb yellow X1 FE Us 24 V Us 24 V X2 gelb yellow braun brown grau grey braun brown X2 0 V 0 V 0 V blau blue blau blue grau grey blau blue X3 Art No 56109 Ar
7. Publisher s Note EtherCAT IMPACT20 EC DI16 IMPACT20 EC DI8 DO8 IMPACT20 EC DO16 Version 1 1 Edition 02 11 EN Article Number 56 934 Murrelektronik GmbH Falkenstrasse 3 D 71570 Oppenweiler Phone 49 0 71 91 47 0 Fax 49 0 71 91 47 130 info murrelektronik de 1 0 EtherCAT Article Number 56 912 Article Number 56 913 Article Number 56 914 Fa Manual IMPACT20 EtherCAT Service and Support Website www murrelektronik com In addition our Customer Service Center CSC will be glad to assist you Our Customer Service Center can support you throughout your project during planning and the con ception of customer applications configuration installation and startup We also offer competent con sulting or in more complex cases we even provide direct onsite support The Customer Service Center provides support tools It performs measurements for fieldbus systems such as PROFINET DP DeviceNet CANopen and AS interface as well as energy heat and EMC measurements Our coworkers at the Customer Service Center provide their competence know how and years of experience They are familiar with how products made of various hardware and software manufactur ers interact You can contact the Customer Service Center at telephone number 49 0 71 91 47 424 or by email at csc murrelektronik de V1 0 Fa About the User Manual and its Structure
8. ESD FE IEC IGMP IP20 ISO LED LSB MSB PAA V1 0 IMPACT20 EtherCAT Equivalent to 8 bits Digital Input Deutsches Institut f r Normung German Standards Institute Digital Output Digitale Ausg nge Input Output EtherCAT EMC Directive Electromagnetic Compatibility European Standard Electrostatic Discharge Function ground Current Input Output International Electrotechnical Commission Internet Group Management Protocol Ingress Protection protection degree to DIN EN 60529 1st digit protection against contact and foreign bodies 2nd digit protection against water 2 Protection against the ingress of solid foreign bodies above a di ameter of 12 5 mm protection against access by finger 0 No protection against inclusion International Standard Organization Light Emitting Diode Least Significant Bit Most Significant Bit Process map of outputs PELV Power LED SELV U US brown terminal UA red terminal Ul red terminal VDMA VZ ZVEI 1 0 IMPACT20 EtherCAT Process map of inputs Protective Extra Low Voltage LED to signal operating status Requested Packet Interval oafety Extra Low Voltage voltage Sensor power supply output Actuator Power Supply Module and sensor power supply Verband Deutscher Maschinen und Anlagenbau e V Association of German Machinery and Industrial Equipment Manufacturers Sign
9. IMPACT20 EtherCAT Fa Manual IMPACT20 EtherCAT The following links will provide you with more information on bus systems as well as the standards and specifications on which they are based t h e qe AT quem gt gt gt EtherCAT www ethercat or V1 0 Fa Manual IMPACT20 EtherCAT Table of Contents NOG 2 SEIVICE SUPPO we ne ee en ee ee nie 3 About the User Manual and its 4 oni L NE 2202 Tt lm 6 819 21018 uuu EE m 9 1 System 12 11 Description of the Impact20 Product Family 12 12 SOV SOT are en 13 1 2 1 Product Designation 13 1 2 2 Produc OVGIVICW les 13 1 2 3 System Design PriI CIple un 14 15 2 1 POWER OI yu 15 2 1 1 ONIN AOI ONS M 15 22 pendejo nee ee ee 16 23 Electromagnetic Compatibility 16 9 MOUNTING and InstallatlOEL orae eon enden 20 3 1 vieles 20
10. O 599 959 Local 192 168 255 31 1 1 Fig 16 Transferring filters during module startup V1 0 31 Fa IMPACT20 EtherCAT 4 1 2 3 IMPACT20 related Variable Names State ModuleState ActuatorShortcut wOutO wInO DigOutput Diglnput V1 0 Contains the variable module state and if necessary ActuatorShortcut not IMPACT20 DI16 EC 56912 Accordingly you will find all diagnostic data here Contains module diagnostic bits for undervoltage sensor short circuit and actuator short circuit only device related Contains the exact channel diagnostic for actuator short circuits Contains the digital output bits and a stuffing byte wOut Contains the digital input bits and a stuffing byte wInO 56913 DI8 DO 8 digital outputs 56914 DO16 16 digital outputs 56913 DI8 DO 8 digital inputs 56912 0116 16 digital inputs 4 1 3 Mapping I O Data EtherCAT The table below displays the input and output instances for each module with corresponding length IMPACT20 EC DI16 56912 Number of output bytes Diagnos tic Number of input bytes 1 stuffing byt 16 bits IMPACT20 EC DI8 DO8 56913 8 bits digital outputs 8 bits 2 x 8 bits 1 byte 1 stuffing byte IMPACT20 EC DO16 56914 16 bits digital outputs 3 X 8 bits 1 byte 1 stuffing byte Table 3 Input and output instances for every module with corresponding
11. or Zentralverband Elektrotechnik und Elektronikindustrie e V German Electrical and Electronic Manufacturers Association 66 Fa Manual IMPACT20 EtherCAT Legal Provisions Exclusion of Liability Murrelektronik GmbH has checked the contents of this technical documentation for conformity with the hardware and software described therein Deviations can not be excluded in individual cases For this reason Murrelektronik excludes the warranty for the correctness of its contents and any liability for errors in particular full conformity The limitation of liability shall not apply if the cause for damage is attributable to willful intent and or gross negligence or for all claims arising from the Product Liability Law Should a major contractual obligation be violated by criminal negligence the liability of Murrelek tronik GmbH shall be limited to damages that typically arise Subject to technical changes and alternations in content We advise that you check at regular intervals whether this documentation has been updated since corrections that may become necessary due to technical advances are included by Murrelektronik GmbH at regular intervals We are gratefully for any suggestions for improvement Copyright It is prohibited to transfer or photocopy the documentation either in paper or in digital form reuse or divulge its contents unless otherwise expressly permitted by Murrelektronik GmbH or in conjunction with the produc
12. 06 X5 schwarz black IT 00 06 II 00 06 10000 00 06 01 07 13 07 07 07 07 13 13 13 13 Manual IMPACT20 EtherCAT 7 9 6 Technical Data of IMPACT20 Voltage Terminal Blocks The IMPACT20 voltage terminal block is an expansion module for LS all IMPACT2O modules It is fitted with 4 terminal rows that are elec N 9 7 77 P24 M trically connected in various ways 20 27 243 T 224 7 24 7 37 77 7422 720624 77 247 27 COLIN L 22 7 9 6 1 Technical Data Art Nos 56078 56079 56080 56081 56084 56109 56110 56111 77 L7 247 ZZ Z 24 Technische Daten Technical data 7 4 74 74 4 Ld x 7 78 ha ha 4 4 4 3 7 A f 4 4 F s 4 N N Spannung voltage AC DC max 30 V Strom current max 10A Umgebungsbedingungen Ambient conditions Arbeitstemperatur Operating temperature 0 C to 55 C Lagertemperatur Storage temperature 40 C to 85 C Schutzart nach EN 60529 Enclosure type according to IEC 60529 IP20 Mechanische Beanspruchung Mechanical ambient conditions EN 60068 Part 2 6 Schwingpr fung Oscillation according to DIN IEC 60068 Part 2 6 EN 60068 Part 2 27 Schockpr fung Shock according to DIN IEC 60068 Part 2 27 159 11 ms Anschlussmoglichkeiten Connection possi
13. Online Online gl 1 0 Configuration c B 1 0 Devices Ger t 1 EtherCAT Ger t 1 Prozessabbild Ger t 1 Prozessabbild Info Comment t Eing nge Ausg nge InfoData Box 1 Impact20 018008 Se Mappings C Disabled Name Size Addr In Out Linked to T wind 1 0 53 0 Input 9 Dig Input 0 00 D 1 54 0 Input 9 Dig Input 0 01 D 1 54 1 Input 9 Dig Input 0 02 D 1 54 2 Input 9 Dig Input 0 03 0 1 54 3 Input 91 Dig Input X1 00 D 1 54 4 Input 9 Dig Input 1 01 0 1 54 5 Input 7 Dig Input 51 02 0 1 54 6 Input f Dig Input 1 03 0 1 54 7 Input 1 Undervoltage US 0 1 55 0 Input T Undervoltage UA 0 1 55 1 Input sensor Shortcut 0 1 55 2 Input 1 Actuator Shortcu 0 1 55 3 Input 1 Reserved 0 1 55 4 Input 1 Reserved 0 1 55 5 Input 1 Reserved 0 1 55 6 Input 1 Reserved 0 1 55 7 Input 7 ActuatorShortcut 0 1 56 0 Input 1 ActuatorShortcut 0 1 56 1 Input 1 ActuatorShortcut D 1 56 2 Input 1 ActuatorShortcut D 1 56 3 Input 7 ActuatorShortcut 0 1 56 4 Input 7 ActuatorShortcut 0 1 56 5 Input 7 ActuatorShortcut 0 1 56 6 Input f ActuatorShortcut 0 1 56 7 Input OT wcState D 1 1522 1 Input IE DIDI I O Oo o oo Local 192 168 255 31 1 1 Fig 14 Integrating an IMPACT20 device in a TwinCAT configuration 4 1 2 2 Parameterizing Input Filters 018 008 and 0116 only IMPACT20 modules offer you the opportunity to select fr
14. Manual IMPACT20 EtherCAT 7 9 Voltage Terminal Block 56 7 9 1 B a eS PER 56 7 9 2 Mounting 57 7 9 3 Mounting Position Distances RETE omo 57 7 9 4 Mounting on DIN Mounting Rail and on Module 58 7 9 5 l P Eu u u 59 7 9 6 Technical Data of IMPACT20 Voltage Terminal Blocks 61 Clo P E 65 LEGAL ETOVISIOFIS een 67 V1 0 Fa Manual IMPACT20 EtherCAT Important Information Basic Knowledge Required This manual contains general information on the system and the product To understand this manual you need to know about automation systems Symbols and This manual contains information and instructions you must comply with in order to maintain safety and avoid personal injury or damage to property They are identified as follows Notes indicate important information Warnings contain information that if ignored may cause damage to equipment or other assets or if you fail to comply with safety precautions may constitute a danger to the user s health and life These instructions are recommendations issued by Murrelektron
15. PELV that must comply with the regulations for conventional industrial power supplies To optimize immunity from interference we advise you to tap sensor bus and actuator power supply from a number of different power sources Primary switch ed mode or regulated power supplies should be used Power supply unit performance is dependent on the number and power requirements of the connected USers In any case make sure that the system voltage measured at most remote slave does not drop below 18 VDC when viewed from the system power sup plies System behavior becomes undefined if the sensor and bus power supply drops below 18 VDC IMPACT20 modules then generate an undervoltage diagnos tic visually and over the fieldbus Primary switched mode power supply units generally permit an increase in output voltage via nominal voltage in order to compensate for line losses Modules with digital inputs support the direct connection of commercially available sensors Depend ing on the total power requirements resulting from the number of slaves or the use of sensors with high power consumption a separate power supply may be required for the sensors V1 0 15 Fa Manual IMPACT20 EtherCAT 2 2 Galvanic Isolation To optimize electromagnetic compatibility and increase bus stability the bus must be galvanically iso lated from the remaining electronics
16. 00000000 4 Watchdog Watchdog Timeout occurred Fumar G a oft fone nse 00000 green Ce Link present no or defective activity on bus Flickering Activity Link present device in data exchange Table 7 Bus status LEDs on module front panel Flickering INITIALIZATION or Device boots and has not yet reached INIT BOOTSTRAP state V1 0 37 a IMPACT20 EtherCAT A distinction is made between the following indicator states LED on Constant on LED off Constant off LED flickering On off phase at a rate of approx 10 Hz on for approx 50 ms and off for ap prox 50 ms LED blinking On off phase at a rate of approx 2 5 Hz on for approx 200 ms followed by off for approx 200 ms LED single flash a single flash approx 200 ms followed by a long off phase approx 1000 ms LED double flash sequence of two short flashes approx 200 ms the pause between two flashes is approx 200 ms This sequence is terminated by a long off phase approx 1000 ms LED triple flash A sequence of three short flashes approx 200 ms the pause between three flashes is approx 200 ms This sequence is terminated by a long off phase approx 1000 ms flickering red flickering green blinking green single flash red single flash green double flash red triple flash red V1 0 on off off on off on off on off on o
17. auto mation systems For this reason we recommend this system type to power modules Murrelektronik offers a comprehensive selection of primary switched mode power supply units Refer to our catalog or visit our inline shop at www murrelektronik com V1 0 o4 Z 7 8 MICO Fire protection EN 60950 1 Operating voltage protection EN 61131 2 IMPACT20 EtherCAT Operating state memory device EN 61131 1 9000 41034 0100400 4 4 4 nels 9000 41034 0100600 MICO 4 6 4 chan nels 9000 41034 0401000 nels 9000 41042 0100400 MICO 2 4 2 chan nels 9000 41042 0100600 MICO 2 6 2 chan nels 9000 41042 0401000 MICO 2 10 2 chan nels MICO 4 10 4 chan Nominal operating branch circuit cur rent full load each 10A each 10 EE 4 tT Table 19 Overview of MICO variants V1 0 Manual 20 EtherCAT 79 Voltage Terminal Block Table 20 Voltage Terminal Block Accessories 7 9 1 Description Voltage terminal blocks are small aids that assist in the simple bridging or chaining of a required level or voltage Fig 25 Application information 1 0 56 1 IMPACT20 EtherCAT Manual 7 9 2 Mounting Dimensions urzoor 972 IsO EO m 5
18. certain methods to conform with the EMC Directive for the systems you have Murrelektronik Pr fzentrum Test Center Grabenstrasse 27 D 71570 Oppenweiler Phone 49 0 71 91 47 334 Fax 49 0 71 91 47 323 pruefzentrum murrelektronik de 1 0 19 Fa Manual IMPACT20 EtherCAT 3 Mounting and Installation 3 1 Mounting 3 1 1 Mounting IMPACT20 Modules on DIN Mounting Rails Make sure that the DIN mounting rail on which the device is mounted has a low impedance connection to ground Q eq CI _ c C1 ed Fig 5 Mounting IMPACT20 modules on DIN mounting rails V1 0 20 Fa 3 1 2 Distances C 250mm 1 97 in IV 50mm 1 97 in 3 1 3 Installation Position gt Hoo0000 525828 o 000000 2 52 20 EtherCAT 250mm 1 97 in 20 EE E J 00 v1 oz 4 2 max 2 St pcs
19. length 4 2 V1 0 Correlation Between Terminal and Channel ID 2 e x e o o N o Fig 17 Example of channel ID Channel ID 1st digit terminal row 2nd digit terminal Example Terminal row X3 terminal 00 channel 30 Terminal row X3 terminal 01 channel 31 Manual IMPACT20 EtherCAT 4 2 1 1 Overview of Channel Bit Assignment 00 DI 01 DI 02 DI 03 DI 24 V current as per input characteristic Type Table 4 Channel assignment for DI modules 01 DO 02 DO 03 DO 01 DO 02 DO 03 DO 00 DO 01 DO 02 DO 03 DO Er 24 V max 2 Table 5 Channel assignment for DO modules V1 0 Fa 1 0 DI8 DO8 02 DI 00 DO 01 DO KN 20 KN 21 KN 22 Output bit X 0 Output bit X 1 Output bit X 2 KN 30 KN 31 KN 32 Output bit X 4 Output bit X 5 Output bit X 6 DI 24 V current as per input characteristic Type 3 DO 24 V max 2 Table 6 Channel assignment for DIDO modules IMPACT20 EtherCAT 03 DI KN 03 Input bit X 3 03 DI KN 13 Input bit X 7 03 DO KN 23 Output bit X 3 03 DO KN 33 Output bit X 7 35 Fa 5 Diagnostics and LED Displays All IMPACT20 modules have separate and well arranged LEDs for device and 1 0 status These dis play
20. 05001 286281 723 1 20 EC 018008 ModuleState RO Mappings ActuatorShortcut M R Hardware version M RO Software version M R Identity M R Filter Aw Filter Aw Read Input 8 Bit RO Write Output 8 Bit Rw Mame Size Addr In Out User Linked to T wind Input 7 Dig Input 0 00 Input Dig Input 01 Input 1 Dig Input 0 02 4 Input 7 Dig Input 0 03 Input Q Dig Input 1 00 Input f Dig Input 1 01 Input 7 Dig Input X1 02 Input 1 Dig Input 51 03 Input 1 Undervoltage US Input OT Undervoltage UA Input sensor Shortcut Input 1 Actuator Shortcu Input 1 Reserved Input QT Reserved Input T Reserved Input 1 Reserved 2 Input 7 ActuatorShortcut Input f ActuatorShortcut Input 7 ActuatorShortcut Input gt Oo Q Cr O C 0 1 0 0 Q O O Q 0 00 oO Local 192 168 255 31 1 1 EMALE Fig 15 Transferring filters using CoE online V1 0 30 Fa Manual IMPACT20 EtherCAT Transferring filters during module startup parameters are transferred when the module is logged on to the bus 1 Choose the module you want to parameterize from the left of TwinCAT 2 Select the Startup tab from the right 3 Click on the New button 4 Expand the Index 2000 by clicking on the symbol 5 Choose the Sublndex 2000 01 6 In the input field Data write the required v
21. 3 1 1 Mounting IMPACT20 Modules on DIN Mounting Rails 20 3 1 2 Bllca 21 3 1 3 INStaHaUon 21 32 mm 22 3 2 1 Connecting Sensors and 22 3 2 2 Terminal Overviews of IMPACT20 23 3 3 Installing the EtherCAT 27 2 0 205 0850 ici 28 T M 28 4 1 1 ESI EtherCAT Slave 28 Fa Manual IMPACT20 EtherCAT 4 1 2 EEEN 28 4 1 3 Mcleelqegjieyb X OA P 33 4 2 Correlation Between Terminal and 33 o Diagnosis and une 36 5 1 F ncti n of BUS Status LEDS u u uuu u nee 36 5 1 1 Signal States of Bus Status LEDSs 37 5 1 2 Module and Actuator Power 39 5 1 3 Threshold Values of the Module Power Supply Ll 39 5 1 4 Threshold Values of the
22. CT20 modules to short circuit or overload of outputs e The bus transmits diagnostic data to the Master he diagnostic LED on the associated terminal lights up red Off yellow Output with no overload short circuit Output in overload short circuit case Table 12 LED at output of digital modules V1 0 42 1 Manual IMPACT20 EtherCAT After rectifying the overload or short circuit the output is only available after UA switchoff or channel reset 5 5 Diagnostics via the Fieldbus 5 5 1 Diagnostics via I O Data The following diagnostics are reported Sensor short circuit group signal e Actuator shutdown by channel and group signal e Module sensor power supply undervoltage The power supply US is lower than 18V e Actuator power supply undervoltage the power supply UA is lower than 18 V With EtherCAT the diagnostics are sent in separate diagnostic telegrams 5 5 2 Diagnostics via Data In the 1 data section access to the diagnostic messages is via Objects 1001H Module State and 1002H ActuatorShortcut not for IMPACT20 EC DI16 56912 The associated transmit PDO is the Object 1A01 ErrorState V1 0 Manual IMPACT20 EtherCAT Bit assignment in Object 1001H ModuleState This object contains device related diagnostics A set bit corresponds to an existing diagnostic Bit No Error 7 5 4 2 t Module and sensor power supply undervol tage Actuator power supply under
23. Connection Possibilities sensor and actuator supply Cage clamp max 2 5 Bus connection 2x RJ45 Sensor 4 x 4 terminal 2 x 4 terminal block block connectors connectors Outputs 2 x 4 terminal block 4 x 4 terminal block connectors connectors Maximum length of output with 0 75 mm max 10 m cable with 0 34 mm max 5 m Maximum length of input 30m cable Power Supply Operating voltage range 18 30 2 V DC logic UI Current consumption 120 mA only UI Actuator supply UA power 8A over cage clamp connection Reverse voltage protection Yes module electronics Reverse voltage protection actuator supply Reverse voltage protection Yes sensor supply US lt D o Overvoltage protection Yes suppressor diode I lt 1 0 Manual 20 EtherCAT IMPACT20 EC IMPACT20 EC DI8 IMPACT20 EC DI16 DO8 DO16 Art No 56912 Art No 56913 Art No 56914 Number of inputs 16 Delay time for signal change min 500 us Input characteristics EN 61131 2 Type 3 approx 2 A per actuator Number of outputs Actuator current load Delay time for signal change min 500 us Delay time for signal change with inductive load max 100 ms Lamp load max 40 W Sensor power supply US Wes OTA Short circuit protection for Yes sensors with automatic res tart Table 13 Technical Data V1 0 51 6 1 1 Dimension
24. Power Supply 39 5 1 5 LED Displays Uland 8 C 40 5 2 Signal Logic Display and LED Behavior 41 5 2 1 Correlation Between Signal logic Display and LED Behavior at the Input 41 0 2 2 Correlation Between Signal logic Display and LED Behavior at the Output 41 5 3 Short Circuit or Overload of Sensor Power Supply 42 54 Short Circuit or Overload of Actuators 42 5 5 Diagnostics the 43 5 9 1 Diagnostics via 9 Did mann ea einen 43 5 5 2 Diagnostics via aoe 43 WSC ID EE 48 6 1 EtherCAT IP20 Mod le een nee ee 48 6 1 1 EIN ERS cease tae cleric ean 52 22 FAC CCS 0 01 53 12 Label SEO eier ehe ee 53 7 2 Coding Elements for 53 RII 53 51 5 018 261 0 7 53 125 1 eel uBenUee citm M o4 Lo 925 560 54 77 Recommended Power Supply nennen nnne nnne nnns o4 Po ceo on 55 1 0 Fa
25. XO and X1 Terminals X2 and X3 EMC EN 61131 2 EN 61000 4 2 ESD EN 61000 4 3 RF Field amp GSM EN 61000 4 4 Burst EN 61000 4 5 Surge EN 61000 4 6 HF asymmetric EN 61000 4 8 Magnetic field 50 Hz EN 55011 Emission IMPACT20 EC IMPACT20 EC DI8 IMPACT20 EC DI16 DO8 DO16 Art No 56912 Art No 56913 Art No 56914 16 inputs 16 outputs 8 outputs Product standard Contact 4 kV air 8 kV 10 V m 2 kV DC inputs 1 kV signal lines Asym sym 500 V Asym 1 kV 30 A m QP 40 30 230 MHz 47 dBuV m 230 1000 MHz Class Ambient Conditions Operating temperature Storage temperature Enclosure type according to EN 60529 V1 0 0 C 55 C 25 C 70 C IP 20 Manual 20 EtherCAT IMPACT20 EC IMPACT20 EC DI8 IMPACT20 EC DI16 DO8 DO16 Art No 56912 Art No 56913 Art No 56914 Mechanical Ambient Conditions Oscillation according to EN 5 60 Hz constant amplitude 0 35 mm 60068 Part 2 6 60 150 Hz constant acceleration 5 g 60068 Part 2 27 V1 0 49 T Manual 20 EtherCAT IMPACT20 EC IMPACT20 EC DI8 IMPACT20 EC DO16 DI16 DO8 Art No 56914 Art No 56912 Art No 56913 Bus Data Transfer protocol EtherCAT Cycle time 50 us Electrical isolation 500 V between bus and internal logic by opto couplers Vendor ID 79 4Fhex I O data length input and 4 bytes 4 bytes 4 bytes diagnostics
26. alue please enter the leading zero 7 Under Transition tick the checkboxes gt and 5 gt 8 Close the box by clicking on OK 9 Restart the module and the controller to accept the filter z Unbenannt TwinCAT System Manager SR m sa HR BQ allene e SYSTEM Configuration PLC Configuration General EtherCAT Process Data Startup CoE Online Online gl 1 0 Configuration B 1 0 Devices Transition Protocol Index Data Comment l Ger t 1 EtherCAT Ger t 1 Prozessabbild Ger t 1 Prozessabbild Info t Eing nge Ausg nge 8 9 InfoData Box 1 Impact20 018008 F ri Edit CANopen Startup Entry Transition D gt P Index hex 12000 Pos 15 Sub Index dec 1 zT 15 0 10 55 Validate C Complete Access 1 Data hexbin 00 Comment Filter Index Name Binary 1 1000 Device type 0 11105001 286281 729 1001 0 ModuleState Bit Size O3 O 1002 0 ActuatorShortcut 1008 Device name In Out User 1008 Hardware version Input 1004 Software version Input 10180 Identity Input 2000 0 Filter Input 2000 01 Filter Input 5000 0 Read Input 8 Bit Input 5200 0 Write Output 8 Bit Input Input Input Input Input Input Input
27. bilities Federkraftklemmen spring clamps Bet tigungswerkzeug Operation tool mit teilisoliertem Schaft with partly insulated shaft Klinge blade 2 5 x 0 4 mm Anschlussquerschnitt Terminal cross section 0 14 mm to 2 5 AWG 25 AWG 12 0 33 in Sonstiges Miscellaneous N Gewicht Weight 0 Ma e x B x H Dimensions L x W x H IMPACT20 EtherCAT Manual zo o 907 0 ro IsO EO EO DO LAOH ERO LAOH CAO CRO CRO LQ ERO E860 EO LOU LEO ERO LEO LQ LEQ E860 LEQ LEQ LEQ EBON EEA LEQ LEQ LEO LEQ LCROLTEROIH 56 0 5 42 0 5 1 65 0 02 in LO o 8 LO H OO Montage Mounting beliebig any 9 Q lt 5 5 O 2 2 5 Ei 62 beliebig any Abstand Distance 1 0 Manual IMPACT20 EtherCAT 7 9 6 2 Technical Data Art No 56082 Art No Benennung Name Ausf hrung Construction 56082 Potenzialklemmenblock Potential terminal block 00 01 02 03 04 05 06 07 08 09 10 11 12 13 Technische Daten Technical Data opannung voltage AC DC max 30 V Strom current max 10A mit Leitungen f r with cables for min 85 C Summenstrom combined current 20A Umgebungsbedingungen Ambient Conditions Arbeitstempera
28. ff on off 50 ms 200 200 ms ms 200 200 200 1000 200 200 200 200 200 1000 ms me me m 7 Fig 19 Status of bus displays and flash rates Manual IMPACT20 EtherCAT 5 1 2 Module and Actuator Power Supplies An LED is provided for each of the module power supply terminals UI and actuator power supply terminals UA he LEDs under UI show the status of the module and sensor power supplies The LEDs under UA show the status of the digital outputs 5 1 3 Threshold Values of the Module Power Supply UI There are two thresholds for undervoltage detection 12V UI lt 18V The device continues to function but e TheUI LED lights up red associated diagnostic was transferred to the Master 12V The device performs a power reset All outputs are reset to O 5 1 4 Threshold Values of the Power Supply UA There is one threshold for undervoltage detection 12V UA lt 18 V The device continues to function but The UA LED lights up red e The associated diagnostic was transferred to the Master lt 12V e he UALED is off All outputs are reset to V1 0 Manual IMPACT20 EtherCAT 5 1 5 LED Displays Ul and UA Ul and UA MN Undervoltage 18 V BN Table 8 LED module power supply Please note that the sensor power supply voltage US terminal is connected in ternally to the module power su
29. ik V1 0 Fa Manual IMPACT20 EtherCAT Intended Purpose Before starting the devices read this manual carefully Keep it in a location that is accessible to all users at all times The products that are described in this manual were developed manufactured tested and docu mented in compliance with the relevant safety standards In normal cases these products do not con stitute any danger to persons or objects provided the handling specifications and safety instructions described in this manual are observed They meet the specifications of the European EMC Directive 2004 108 Devices from IMPACT20 series are not safety devices conforming to rele vant standards Do not use the OFF state of the outputs to implement safety related requirements of the system machine The products are designed for industrial use An industrial environment is defined as one in which loads are not connected directly to the public low voltage power grid Additional measures must be taken if the products are used in private business or trade environments The safe troublefree functioning of the products requires proper transportation storage mounting and careful operation Operation of the devices for their intended purposes is only guaranteed when the devices are fully mounted Current safety and accident prevention laws valid for a specific application must be observed for the configuration
30. ing 15 0 59 In 1 9 0 295 In 117 1 38 In Fig 24 Dimensioning The dimensions of all IMPACT20 modules are identical V1 0 IMPACT20 EtherCAT Manual IMPACT20 EtherCAT 7 Accessories 7 1 Label Sheets 56113 Label Sheets Table 14 Accessories Label Sheets 7 2 Coding Elements for Terminals 56115 Coding elements for terminals Table 15 Accessories Coding Elements for Terminals 7 3 Blind Plugs RJ45 58150 Blind plugs RJ45 Table 16 Accessories blind plugs 7 4 Fieldbus Cables 7000 00000 8409999 Bus cable for EtherNet IP 100 m collar 7000 99711 7960060 Bus cable RJ45 RJ45 straight 0 6 m 7000 99711 7960100 Bus cable RJ45 RJ45 straight 1 0 m 7000 99711 7960150 Bus RJ45 RJ45 straight 1 5 m 7000 99711 7960300 Bus cable RJ45 RJ45 straight 3 0 m Table 17 Fieldbus cables V1 0 53 Z Manual 20 EtherCAT 7 5 Fieldbus Connectors 7000 99051 0000000 RJ45 Ethernet connector straight shielded 4 pin IP20 self connecting Table 18 Fieldbus connectors 7 6 I O Cable Murrelektronik offers wide range of actuator and sensor products This ranges m from connectors cables and adapters through to special purpose requirements Refer to our catalog or visit our inline shop at www murrelektronik com 7 7 Recommended Power Supply Units Primary switched mode power supply units from Murrelektronik are specially designed to power
31. ing wires e Keep the greatest possible distance from frequency converters motor cables and other de vices and from cables that emit high frequency interference V1 0 17 Fa Manual IMPACT20 EtherCAT Power Failures and Dips Transient power failures and dips 10 ms do not normally impair operation since the power supply to the electronics is buffered by integrated capacitors However this does not apply to the power supply of sensors and actuators connected to the module Their high power demand can not be met by capa citors integrated in the device For this reason short term interruptions in actuator voltage may cause undesired switching operations If an input signal that lasts for less than 1 ms changes the input filters prevent the change of the input state reported to the controller Longer interruptions to sensor power supply may lead to an input sig nal change Separate Power Supplies Sensors and actuators can be powered by a separate power supply unit A separate power supply improves the electromagnetic compatibility of the overall system Suppression of Inductive Loads The outputs of the devices described in this manual have an integrated protection circuit against high energy interference voltages e g that occur when inductive loads are switched Inductive load U e g solenoid valve Varistor or bipolar suppressor diode Fig 4 Suppression of inductive loads A suppressor diode g
32. inor changes to the starting product or deviations in the intended applications may render incorrect the specifications con tained in the technical documentation For this reason the customer is obliged to identify the technical documentation originating from Murrelektronik GmbH if and inasmuch as the documentation is changed by the customer The customer shall be obliged to release Murrelektronik from the damage claims of third parties if the latter are attributable to any deficits in the documentation This shall not apply to damages to the rights of third parties caused by deliberate or criminal intent The customer shall be entitled to use the company brands of Murrelektronik GmbH exclusively for his product advertising but only inasmuch as the products of Murrelektronik GmbH are integrated in the products marketed by the customer The customer shall refer to the brands of Murrelektronik GmbH in an adequate manner if the brands of Murrelektronik GmbH were used V1 0 67 Fa
33. installation setup maintenance and testing of the devices The power supply must comply with SELV or PELV Power sources in accordance with EN 61558 2 6 transformer or EN 60950 1 switched mode power supply meet these requirements Only use cables that meet the requirements and regulations for safety electromagnetic compatibility and if necessary telecommunications terminal equipment specifications Information on cables and accessories made by Murrelektronik GmbH for this product is contained in Chapter Accessories V1 0 10 Fa Manual IMPACT20 EtherCAT Qualified Personnel Only qualified trained electricians knowledgeable in the safety standards of automation systems may configure install set up maintain and test the devices The requirements concerning qualified per sonnel are dependent on the requirements profiles described in ZVEI and VDMA For this reason electricians must know the contents of the manual Weiterbildung in der Automatisierung Further Training in Automation Systems issued by ZVEI and VDMA and published by Maschinenbau Verlag Post Box 710864 60498 Frankfurt Germany before installing and maintaining the devices They are therefore electricians who are capable of assessing the work executed and any possible dangers aris ing from this due to their professional training knowledge experience and their knowledge of the pertinent standards or who have a level of knowledge equivalent to professi
34. log V1 0 EtherCAT EtherCAT Port Klemmen terminals terminales bornes 00 03 CH 00 CH 03 X0 00 03 CH 10 CH 13 00 03 CH 20 CH 23 X2 00 03 CH 30 CH 33 X3 n C X2 IMPACT20 EtherCAT OV X2 Murrelektronik offers label sheet Art No 56113 to label the terminals Please refer Manual 20 EtherCAT m 7 c lt 0 6x2 5 8 9mm Federkraftklemmen 0 33in spring clamps mm 0 14 2 5 25 14 mit teilisoliertem Schaft u with partially insulated shaft Fig 11 Wiring terminals 3 2 2 4 Removing Terminals Fig 12 Removing terminals Fa V1 0 26 Manual 20 EtherCAT 3 3 Installing the EtherCAT Bus Impact20 modules Figure are depicted connected to the bus in bus topology This requires the use of a special switch Two RJ45 sockets for EtherCAT are located the Impact20 module One socket is for incoming sig nals the other is for looping through the bus signal
35. nputs and 8 digital outputs e Module with 16 digital outputs Functions Easy to recognize directly assigned status and diagnostic LEDs e Clear unmistakable slot designation e Signal identification on the module Terminal specific disconnection in the event of an error e Group diagnostic and single channel short circuit diagnostic over the bus V1 0 Manual IMPACT20 EtherCAT 1 2 System Components 1 2 1 Product Designation Code The designation of the IMPACT20 product family is based on a scheme that indicates the fieldbus and function of individual devices Examples Name Description 2 I O Channels Digital Input Output Fieldbus System P ProfiBus C CANopen DN DeviceNet EC EtherCat E EtherNet IP PN ProfiNet Product Family Fig 1 Example of product designation 1 2 22 Product Overview 56 912 IMPACT20 EC DI16 56 913 IMPACT20 EC DI8 DO8 56 914 IMPACT20 EC DO16 Table 1 Fieldbus module EtherCAT V1 0 13 Manual IMPACT20 EtherCAT 1 2 3 System Design Principle Device IMPACT20 EC EtherCAT al Fig 2 System design principle Fa V1 0 14 Manual IMPACT20 EtherCAT 2 Configuration This chapter contains information that is relevant during the electromechanical planning phase 2 1 Power Supply 2 1 1 Configuration Notes Bus modules require a DC voltage power supply of typically 24 VDC SELV
36. om 4 different filters for input signals 0 1 ms default 1 250 us 2 500 us 3 1ms 4 3ms In order to be clearly detected a stable gHigh signal must be present for at least the time you se lected The 1 ms filter is activated as default after the modules are switched on To select another filter trans fer a value corresponding to filters using the CoE index 2000 Sublndex 1 Refer to the table below for this value V1 0 29 Fa Manual IMPACT20 EtherCAT CoE Index 2000 1 Table 2 Filter selection Transferring Filters using CoE Online also possible in service 1 Choose the module you want to parameterize from the left of TwinCAT 2 Select the CoE Online tab from the right 3 Expand the Index 2000 by clicking on symbol 4 Double click to transfer the required value to the module Unbenannt System Manager File Edit Actions View Options Help 21 m SYSTEM Configuration um a PLC Configuration General EtherCAT Process Data Startup CoE Online Online 1 0 Configuration Bj 1 0 Devices d i to Update Single Update Show Offline Data Ger t 1 EtherCAT 1 1 Ger t 1 Prozessabbild Ger t 1 Prozessabbild Info OffineData Module DD AoE Port 0 t Eing nge Ausg nge Flags Value amp InfoData Device type M RO 0x111
37. onal training due to their many years of activity in a comparable field Only Murrelektronik technical personnel are allowed to execute work on the hardware and software of our devices if they are devices not described in this manual Unqualified tampering with the hardware or software or failure to observe the warnings cited in this manual may result in severe personal injury damage to property V1 0 11 Fa Manual IMPACT20 EtherCAT 1 System Description 1 1 Description of the Impact20 Product Family IMPACT20 is a compact fieldbus I O station It combines 8 inputs and 8 outputs 16 inputs or 16 outputs in a confined space Due to its compact dimensions the IMPACT20 is designed for use in switch cabinets terminal boxes and on control panels An IMPACT20 module comprises a fieldbus specific connection and a fixed number of slots The I O functions are module dependent and are unchangeable All I O connections are designed as spring loaded clamping terminals They are clearly arranged so that functional relationships are logically recognizable The IMPACT20 product family groups signals at I O level decentrally and places this information on the fieldbus e g Ethernet IP Fieldbus Protocols Impact20 is supplied for the following fieldbus protocols e PROFIBUS e CANopen e DeviceNet e EtherCAT e Ethernet IP e ProfiNet Module Variants e Module with 16 digital inputs e Module with 8 digital i
38. pply voltage UI terminal This ensures that the two terminals have the same voltage V1 0 40 Manual IMPACT20 EtherCAT 5 2 Signal Logic Display and LED Behavior A separate status display is assigned to every channel This is labeled 00 to 03 The status display is located below the associated terminal and shows the status of the inputs and outputs 5 2 1 Correlation Between Signal logic Display and LED Behavior at the Input LED Display Logic Value Voltage at Input Signal Input with NO contact function 11 to 30 2 V dependent on US Table 9 LED at input of digital modules 5 2 2 Correlation Between Signal logic Display and LED Behavior at the Output LED Display Logic Value Voltage at output Signal off OV Output Yellow 12 to 30 2 V dependent on UA Table 10 LED at output of digital modules V1 0 41 Manual IMPACT20 EtherCAT 5 3 Short Circuit or Overload of Sensor Power Supply US Response of IMPACT20 modules to short circuit or overload of sensor power supply he bus transmits the diagnostic data to the Master e diagnostic LED at the associated terminal lights up red Power supply OK Overload or short circuit of sensor power supply Table 11 LED periphery power supply After rectification of the overload or short circuit the sensor power supply is immediately available again 5 4 Short Circuit or Overload of Actuators Response of IMPA
39. r malfunction However it may become evident with a delayed reaction or sporadically When handling these devices make sure that the safety precautions for ESD sensitive devices that are well known in general practice are maintained In particular note the following items Do disconnect or connect plugs or connectors live The person handling the devices must discharge themselves electrostatically be fore they come in direct contact with the devices e g by touching a grounded part of the system or by wearing an ESD antistatic wrist strap connected to ground Grounding A short as short as possible low impedance connection is required between the grounding point and reference ground to discharge interference voltages that act between the device and reference ground The inductance of normal FE cables represents a high impedance for high frequency interference voltages Make sure that the DIN mounting rail on which device is mounted has low impedance connection to ground Wiring Arrangement Avoid EMC problems by keeping to the following basic rules of wiring arrangement Route data wiring at the greatest possible distance from the power lines Keep a minimum distance of 10 cm e Only cross data and power lines at right angles Route data wires and power cables in separate shielded ducts e Take into consideration the potential interference of other devices or wires when arrang
40. s are located on the front of the device The following diagnostics are displayed visually and signaled over the fieldbus Sensor short circuit as group signal Actuator short circuit by channel and group signal Module power supply undervoltage UI module power supply is less than 18 V Actuator power supply undervoltage UA actuator power supply is less than 18 V 5 1 Function of Bus Status LEDs ELEKTRONIK D 71570 Oppenweiler gt 54 gt lt Fig 18 EtherCAT module Bus LEDs V1 0 Manual IMPACT20 EtherCAT Manual IMPACT20 EtherCAT 5 1 1 Signal States of Bus Status LEDs ee fof lt Device operating normally Device OK red Single flash Unsolicited State Slave changed the EtherCAT status The Change Change parameter in the AL status register was set to 01 Flickering Booting Error A Abooting error was detected error was detected Double flash Application Watchdog Watchdog Timeout occurred Timeout Triple flash Reserved
41. t No 56110 Us 24 V 0 V braun brown blau blue L 00 09 Us 24 V 0 V X1 braun brown blau blue X1 00 09 0 mm X2 blau blue gelb yellow X2 00 09 0 V FE n blau blue gelb yellow X3 00 09 V1 0 Installation ee 18888 IMPACT20 EtherCAT Modulverbindung Module connection Federkraft klemmen spring clamps 8 9mm 0 4 x 2 5 mit teilisoliertem Schaft with partially insulated shaft 00 00 00 00 09 09 09 09 59 Fa 7 9 5 2 Terminal Overview Art No 56082 V1 0 IMPACT20 EtherCAT Nennwerte nominal values U AC DC max 30 V i max 10A 20 Leitungen cables min 85 OUX X ps 00 01 02 03 04 05 06 07 08 09 10 11 12 13 with partially insulated shaft 0 4 x 2 5 i E 8 mm 9 mm I mm 0 08 4 AWG 28 12 mit teilisoliertem Schaft A O Modulverbindung Module connection Einspeiseklemmme Input terminal Q Art No 56082 gr n green schwarz black ing schwarz black schwarz black u 00 X1 00 06 X3 X4 schwarz black 00
42. tion of documentation for third party products that contain products made by Murrelek tronik GmbH Violations will result in liability for damages All rights reserved in particular in the event of the award of patents or granting of utility models Right of Use Murrelektronik GmbH grants its customers a non exclusive right revocable at any time and for an inde finite period of time to use this documentation to produce their own technical documentation For this purpose the documentation produced by Murrelektronik GmbH may be changed in parts or amended or copied and transferred to the customer s users as part of the customer s own technical documentation on paper or on electronic media The customer shall then bear sole responsibility for the correctness of the contents of the technical documentation produced by him If the technical documentation is integrated in part or in full in the customer s technical documentation the customer shall refer to the copyright of Murrelektronik GmbH Furthermore special attention shall be paid to compliance with the safety instructions Although the customer is obliged to make reference to the copyright of Murrelektronik GmbH provided the technical documentation of Murrelektronik GmbH is used the customer shall market and or use the technical documentation on his sole responsibility The reason is that Murrelektronik GmbH has no influence on changes or applications of the technical documentation and even m
43. tur Operating temperature 0 C to 55 C Lagertemperatur Storage temperature 40 C to 85 C Schutzart nach EN 60529 Enclosure type according to IEC 60529 IP20 Mechanische Beanspruchung Mechanical ambient conditions EN 60068 Part 2 6 Schwingprufung 5g Oscillation according to DIN 60068 Part 2 6 EN 60068 Part 2 27 Schockprufung 15g 11 ms Shock according to DIN IEC 60068 Part 2 27 Anschlussmoglichkeiten zwei Einspeiseklemmen Connection possibilities two Input terminals Bet tigungswerkzeug Operation tool mit teilisoliertem Schaft with partly Wago No 210 620 insulated shaft Type 2 Klinge blade 3 5 x 0 5 mm Anschlussquerschnitt Terminal cross section 0 08 mm 4 mm AWG 28 AWG 12 V1 0 63 1 Manual IMPACT20 EtherCAT Anschlussmoglichkeiten 2 x 35 Potenzialklemmen Connection possibilities 2 x 35 Potential terminals Push In Feder Anschluss Push In spring connection ws Anschlussquerschnitt Terminal cross section 0 13 mm 1 5 mm AWG 28 AWG 16 Sonstiges Miscellaneous Gewicht Weight Ma e L x B x H Dimensions L x W x H 42 0 5 gt 1 65 0 02 in 2 20 0 02 in Montage Mounting Einbaulage Mounting position beliebig any Abstand Distance beliebig any 1 0 64 Fa Glossary Byte DI DIN DO 2004 108
44. uarantees rapid reduction in the energy stored in the magnetic field of an induc tive load However with inductive loads e g loads within the maximum current carrying capacity range of a channel and at switching frequencies 1 Hz we advise the use of commercially available protection circuits that are capable of reducing the energy stored in the connected inductances The high voltages when inductive loads are switched off generate strong fields in the wiring and this may lead to interference in adjacent circuits or devices Murrelektronik offers a wide selection of suppressor products Refer to our cata log or visit our online shop at www murrelektronik com V1 0 18 Fa Manual IMPACT20 EtherCAT Other Measures and Limits In specific system configurations the requirements for interference emission and immunity from inter ference can only be met with additional measures since the EMC within a system is dependent on the individual components made by other manufacturers Mains filters are a suitable measure to reduce cable bound interference Various manufacturers offers optical fiber converters This type of data transmission is basically immune to EMC interference How ever it does not apply to the converter electronics Therefore use of fiber optics does not eliminate all EMC problems Our accredited test center will answer any further queries you may have concern ing EMC There you will receive advice on
45. voltage Sensor short circuit Actuator short circuit device related Reserved Reserved Reserved Reserved Fig 20 Bit assignment in Object 1001H ModuleState V1 0 44 1 Bit assignment in Object 1002H ActuatorShortcut IMPACT20 EtherCAT This object contains channel precise actuator short circuit diagnostics A set bit corresponds to an existing diagnostic Bit assignment DI8 DO8 V1 0 Bit No Channel 7 6 5 2 Jo 2 20 2 21 2 22 2 23 30 31 32 33 Fig 21 Actuator short circuit bit assignment DI8DO8 IMPACT20 EtherCAT Bit assignment for DO16 Part 1 Bit No Channel 5 2 h 0 1 0 00 01 02 03 Row X1 10 Row X1 11 Row X1 12 Row X1 13 Fig 22 Actuator short circuit bit assignment DO16 1 Manual IMPACT20 EtherCAT Bit assignment for DO16 Part 2 V1 0 Bit No Channel 15 14 12 141 10 o Row X2 KN 20 Row X2 KN 21 Row X2 KN 22 Row X2 KN 23 Row X3 KN 30 Row X3 KN 31 Row X3 KN 32 Row X3 KN 33 Fig 23 Actuator short circuit bit assignment DO16 Part 2 20 EtherCAT 6 Technical Data 6 1 EtherCAT IP20 Module Terminals
46. with this file The latest XML files are retrievable over the web from http www murrelektronik com in the service section under Technical Data If the corresponding ESI file is installed incorrectly all the relevant parameters can be read out from the device automatically 4 1 2 Configuration 4 1 2 1 Example Integrating an IMPACT20 device in TwinCAT configura tion The section below describes an example of simply integrating and putting into service an IMPACT20 EC device in a TwinCAT configuration First connect the IMPACT20 EC module to your control unit and add it to an existing project or create a new project as described in the manufacturer s instruc tions 1 Copy the IMPACT20 EC ESI to the TwinCAT folder in which the other ESI files are located as default you will find them under Programme TwinCAT IO EtherCAT 2 Openthe TwinCAT System Manager 3 Create a new project if necessary and insert your I O device Ethernet card in the new project V1 0 Manual 20 EtherCAT 4 Right click on your device to scan all the connected EtherCAT slaves boxes On the left side you will then find the associated IMPACT20 EtherCAT module y Unbenannt TwinCAT System Manager led File Edit Actions View Options Help Dc uk 5 5 Bao ss o OQ Ge EQ A 696 9 SYSTEM Configuration PLC Configuration General EtherCAT Process Data Startup CoE
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