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LSystem Manual
EDSPM-TXXX!Qz&
Global DriveI/O system IP20EPM-T110, EPM-T2xx, EPM-T3xx,EPM-T4xx, EPM-T83x, EPM-T9xx
Ä!Qz&ä
PW
ER
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ADR.
DC24V+
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2
01
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epm-t007
Contents
1Preface
1.1
l 1.1-1EDSPM-TXXX-3.0-04/2004
1 Preface
1.1 Contents
1.2 The I/O system IP20 1.2-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.3 How to use this System Manual 1.3-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.3.1 Information provided by the System Manual 1.3-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.3.2 Products to which the System Manual applies 1.3-2. . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.4 Legal regulations 1.4-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
The I/O system IP20
1Preface
1.2
l 1.2-1EDSPM-TXXX-3.0-04/2004
1.2 The I/O system IP20
Automation is playing an ever more important part in the operation of machinesand systems. The increasing number of peripherals has increased the amount ofwiring required. This is where distributed I/O systems bring order to the chaos.Lenze has developed two new product concepts with IP20 protection which aresuitable for both basic digital applications and more complex automation tasks.
The modular system
Lenze can now provide you with a modular system for complex automationapplications, consisting of three components: a gateway, electronic modules andabackplanebus. Thekey element is the gateway which processes all process datatraffic via the system bus (CAN) or CANopen. An internal backplane bus is alsoused for the in-station communication between process and parameter data, aswell as diagnostics data.
The compact system
This system comprises a range of compact products with a fixed number of digitalinputs and outputs. The integrated gateway serves as a communication interfacewhich processes the complete process data traffic via system bus (CAN) orCANopen.
Application as of version NoteGlobal Drive Control 4.4 Device data are only available after a software update.
4.5 Device data are available, except for the following modules of themodular system:• ”16×digital input”, ”16×digital output”, ”4×analog
input/output”, ”SSI interface”, ”1×counter/16×digital input”After a software update, device data are available for all modules.
Drive Developer Studio 1.4 Libraries are only available after a software update.p
2.1 Libraries are available, except for the following modules of themodular system:• ”16×digital input”, ”16×digital output”, ”4×analog
input/output”, ”SSI interface”, ”1×counter/16×digital input”After a software update, libraries are available for all modules.
The system
The I/O system IP20 issupported by
How to use this System ManualInformation provided by the System Manual
1Preface
1.31.3.1
l 1.3-1EDSPM-TXXX-3.0-04/2004
1.3 How to use this System Manual
1.3.1 Information provided by the System Manual
This System Manual is intended for all persons who design, install, set up, andadjust the I/O system IP20.
Together with the catalog it provides the basis of project planning for themanufacturers of plants and machinery.
The System Manual complements the Mounting Instructions included in thescopeof supply:
The features and functions are described in detail.
It provides detailed information on further possible fields of application.
The parameter setting for typical applications is explained by means ofexamples.
Each main chapter is a unit in itself and covers all information on the correspondingsubject:
Therefore, you only need to read the chapter that is relevant to you.
The contents and table of keywords allow you to easily find informationabout specific topics.
Descriptions and data of other Lenze products (drive PLC, Lenze operatorterminals, ...) are included in the corresponding Catalogues, OperatingInstructions, and Manuals. The required documentation can be ordered atyour Lenze sales partner or downloaded as PDF file from the internet.
The System Manual is designed as a loose-leaf collection so that we are able toinform you quickly and specifically about news and changes. Each page is markedby publication date and version.
We also make the System Manual available as PDF file in the internet.
Note!Current documentation and software updates for Lenze productscan be found in the internet in the area ”Downloads” underhttp:/ /www.Lenze.com
Target group
Contents
How to find information
Paper or PDF
How to use this System ManualProducts to which the System Manual applies
1 Preface
1.31.3.2
l1.3-2 EDSPM-TXXX-3.0-04/2004
1.3.2 Products to which the System Manual applies
EPM-T XXX 1A. 10 LXX XxDC24V
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LXX XxDC24V
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110 CAN gateway
LXX XxDC24V
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210 8×digital input
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211 16×digital input
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221 8×digital output 2A
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223 16×digital output 1A
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330 4×analog input / output
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410 2/4×counter
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411 SSI interface
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830 8×dig. I/O compact
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831 16×dig. I/O compact (single-wireconductor)
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832 32×dig. I/O compact
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833 16×dig. I/O compact (single-wireconductor)
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Hardware version
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Software versionTypes EPM-T110, EPM-T3XX, EPM-T4XX and EPM-T8XX only
LXX XxDC24V
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Legal regulations
1Preface
1.4
l 1.4-1EDSPM-TXXX-3.0-04/2004
1.4 Legal regulations
All components of the Lenze I/O system IP20 are unequivocally identified throughthe contents of the nameplate.
Lenze Drive Systems GmbH, Postfach 101352, D-31763 Hameln
Conforms to the EC Low-Voltage Directive
Components of the Lenze I/O system IP20
must only be operated under the conditions prescribed in this Manual.
are not approved for use in potentially explosive environments.
are electric units for the installation into control cabinets or similar enclosedoperating housing.
comply with the requirements of the Low-Voltage Directive.
are not machines for the purpose of the Machinery Directive.
are not to be used as domestic appliances, but for industrial purposes only.
The user is responsible for the compliance of his application with the EC directives.
Any other use shall be deemed inappropriate!
The information, data, and notes in this Manual met the state of the art at the timeof printing. Claims on modifications referring to components of the I/O systemIP20 which have already been supplied cannot be derived from the information,illustrations, and descriptions given in this Manual.
The specifications, processes, and circuitry described in this System Manual arefor guidance only and must be adapted to your own specific application. Lenzedoes not take responsibility for the suitability of the process and circuit proposals.
The specifications in this System Manual describe the product features withoutguaranteeing them.
Lenze does not accept any liability for damage and operating interference causedby:
Non-compliance with the System Manual
Unauthorised modifications to components of the I/O system IP20
Operating errors
Improper working on and with the I/O system IP20
See terms of sales and delivery of Lenze Drive Systems GmbH
Warranty claims must bemade to Lenze immediately after detecting thedeficiencyor fault.
The warranty is void in all cases where liability claims cannot be made.
Labelling
Manufacturer
CE conformity
Application as directed
Liability
Warranty
Contents
2Guide
2.1
l 2.1-1EDSPM-TXXX-3.0-04/2004
2 Guide
2.1 Contents
2.2 Glossary 2.2-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.2.1 Terminology and abbreviations used 2.2-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.3 Total index 2.3-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.4 List of illustrations 2.4-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
GlossaryTerminology and abbreviations used
2Guide
2.22.2.1
l 2.2-1EDSPM-TXXX-3.0-04/2004
2.2 Glossary
2.2.1 Terminology and abbreviations used
AI Analog input data
AIO Analog input and output data
Controller Any frequency inverter, servo inverter or DC speed controller
AO Analog output data
CAN Control Area Network
CANopen Communication profile to DS 301, published by CiA (CAN inAutomation)
CE Communauté Européene
DI Digital input data
DO Digital output data
DIO Digital input and output data
DC DC current or DC voltage
DIN Deutsches Institut für Normung
EMC Electromagnetic compatibility
EN European standard
fref [Hz] Reference frequency
IEC International Electrotechnical Commission
IP International Protection Code
Ixxxx/yhex Subindex y of index Ixxxx(e. g. I1004/2 = Subindex 2 of index I1004)
Node ID Node address which serves to clearly assign each node in thenetwork
NMT Network management
PDO Process Data Object
PDO-Rx Process data input object
PDO-Tx Process data output object
PES HF shield termination through large-surface connection to PE
R [Ω] Resistor
SDO Service Data Object (parameter data object)
SDO-Rx Parameter data input object
GlossaryTerminology and abbreviations used
2 Guide
2.22.2.1
l2.2-2 EDSPM-TXXX-3.0-04/2004
SDO-Tx Parameter data output object
SSI Synchronous serial interface
System bus (CAN) Lenze system bus
T Period
UL Underwriters Laboratories
VDE Verband deutscher Elektrotechniker
Cross-reference to a chapter with the corresponding pagenumber
Total index
2Guide
2.3
l 2.3-1EDSPM-TXXX-3.0-04/2004
2.3 Total index
16xdig. I/O compact (single-wire conductor)
- Description, 6.3-1
- Features, 6.3-1
- Overview, 6.3-1
- Status display, 6.3-5
- Technical data, 6.3-7
- Terminal assignment, 6.3-5
- Wiring diagram, 6.3-6
16xdig. I/O compact (three-wire conductor)
- Description, 6.4-1
- Features, 6.4-1
- Overview, 6.4-1
- Status display, 6.4-5
- Technical data, 6.4-7
- Terminal assignment, 6.4-5
- Wiring diagram, 6.4-6
16xdigital input
- Connection, 5.4-2
- Description, 5.4-1
- Features, 5.4-1
- Overview, 5.4-1
- Status display, 5.4-2
- Technical data, 5.4-2
- Terminal assignment, 5.4-2
16xdigital output 1A
- Description, 5.6-1
- Features, 5.6-1
- Overview, 5.6-1
- Status display, 5.6-2
- Technical data, 5.6-2
- Terminal assignment, 5.6-2
- Wiring diagram, 5.6-2
1xcounter/16xdigital input
- Connection, 5.15-2
- Counter mode2 x 32-bit counter, 12.6-7Clock-up/clock-down evaluation, 12.6-9Encoder, 12.6-5Measuring the frequency, 12.6-12Measuring the period, 12.6-14
- Counter modes, overview, 5.15-2, 12.6-1
- Description, 5.15-1
- Features, 5.15-1
- Input data transfer, 12.6-2
- Output data transfer, 12.6-2
- Overview, 5.15-1
- Parameter setting, 12.6-1
- Status display, 5.15-2
- Technical data, 5.15-3
- Terminal assignment, 5.15-2
2/4xcounter
- Connection, 5.13-2
- Counter mode2 × 32 bit-counter with GATE and set/reset, 12.4-352 × 32-bit counter with GATE and RES edge-triggered,12.4-452 × 32-bit counter with GATE and RES level-triggered,12.4-162 × 32-bit counter with GATE, RES edge-triggered andAuto Reload, 12.4-482 × 32-bit counter with GATE, RES level-triggered andAuto Reload, 12.4-192 x 32 bit counter with G/RES, 12.4-392 x 32-bit counter, 12.4-62 x 32-bit counter with GATE, 12.4-514 × 16-bit counter, 12.4-14Encoder, 12.4-8Encoder with G/RES, 12.4-41Encoder with GATE, 12.4-53Measuring the frequency, 12.4-22Measuring the period, 12.4-26Measuring the pulse depth, freely programmable,12.4-29Measuring the pulse width with GATE, freelyprogrammable, 12.4-32Measuring the pulse width, fref 50 kHz, 12.4-12
- Counter mode, overview, 5.13-2, 12.4-1- Description, 5.13-1
- Overview, 5.13-1- Parameter setting, 12.4-1- Status display, 5.13-2
- Technical data, 5.13-5- Terminal assignment, 5.13-2
- Transmitting input data, 12.4-4- Transmitting output data, 12.4-4
2/4xcounters, Features, 5.13-1
32xdig. I/O compact
- Description, 6.5-1- Features, 6.5-1
- Overview, 6.5-1- Status display, 6.5-5- Technical data, 6.5-7
- Terminal assignment, 6.5-5- Wiring diagram, 6.5-6
4xanalog input
- ConnectionFour-wire connection, 5.10-3Two-wire connection, 5.10-3
- Description, 5.10-1- Features, 5.10-1- Overview, 5.10-1
- Status display, 5.10-2- Technical data, 5.10-4
- Terminal assignment, 5.10-2
4xanalog input / output
- Description, 5.12-1
- Features, 5.12-1- Overview, 5.12-1
Total index
2 Guide
2.3
l2.3-2 EDSPM-TXXX-3.0-04/2004
4xanalog input /output
- Connection, 5.12-2
- Status display, 5.12-2
- Technical data, 5.12-3
- Terminal assignment, 5.12-2
4xanalog output
- Connection, 5.11-2
- Description, 5.11-1
- Features, 5.11-1
- Overview, 5.11-1
- Status display, 5.11-2
- Technical data, 5.11-3
- Terminal assignment, 5.11-2
4xrelay
- Description, 5.8-1
- Features, 5.8-1
- Overview, 5.8-1
- Status display, 5.8-2
- Technical data, 5.8-3
- Terminal assignment, 5.8-2
- Wiring diagram, 5.8-2
8xdig. I/O compact
- Description, 6.2-1
- Fault indications, 6.2-4, 6.3-4, 6.4-4, 6.5-4
- Features, 6.2-1
- Overview, 6.2-1
- Status display, 6.2-4, 6.2-5, 6.3-4, 6.4-4, 6.5-4
- Technical data, 6.2-7
- Terminal assignment, 6.2-5
- Wiring diagram, 6.2-6
8xdigital input
- Connection, 5.3-2
- Description, 5.3-1
- Features, 5.3-1
- Overview, 5.3-1
- Status display, 5.3-2
- Technical data, 5.3-2
- Terminal assignment, 5.3-2
8xdigital input / output
- Connection, 5.9-2
- Features, 5.9-1
- Status display, 5.9-2
- Technical data, 5.9-3
- Terminal assignment, 5.9-2
8xdigital input /output
- Description, 5.9-1
- Overview, 5.9-1
8xdigital output 1A
- Connection, 5.5-2
- Description, 5.5-1
- Features, 5.5-1
- Overview, 5.5-1
- Status display, 5.5-2- Technical data, 5.5-2
- Terminal assignment, 5.5-2
8xdigital output 2A
- Connection, 5.7-2- Description, 5.7-1
- Features, 5.7-1
- Overview, 5.7-1
- Status display, 5.7-2
- Technical data, 5.7-2
- Terminal assignment, 5.7-2
AAnalog inputs, Status request, 9.11-5, 10.11-5
Analog modules
- 4xanalog input, Parameter setting, 12.3-1
- 4xanalog input / output, Parameter setting, 12.3-4
- 4xanalog output, Parameter setting, 12.3-3- Converting measured values, 12.3-16
- Transmitting input data, 12.3-7
- Transmitting output data, 12.3-7
Analog outputs, #Status request, 9.11-5, 10.11-5
Application, as directed, 1.4-1
Application as directed, 1.4-1
Application examples, I/O system IP20 on thecontroller 93xx, 11.3-1
BBaud rate
- Setting, 9.6-1, 10.6-1
- Setting at the CAN Gateway, 5.2-3, 6.2-3, 6.3-3,6.4-3, 6.5-3
CCable resistance, 8.5-1
Cable type, 8.5-1
CAN Gateway
- Baud rate setting, 5.2-3, 6.2-3, 6.3-3, 6.4-3, 6.5-3
- Setting the node address, 5.2-3, 6.2-3, 6.3-3, 6.4-3,6.5-3
CAN gateway
- Description, 5.2-1
- Fault indications, 5.2-4
- Features, 5.2-1
- Overview, 5.2-1
- Status display, 5.2-4
- Technical data, 5.2-5
Total index
2Guide
2.3
l 2.3-3EDSPM-TXXX-3.0-04/2004
CANopen
- Connecting, 5.2-2, 6.2-2, 6.3-2, 6.4-2, 6.5-2
- Connection to the module, Pin assignment, 5.2-2,6.2-2, 6.3-2, 6.4-2, 6.5-2
- Networking via, 10.1-1
- Wiring, 8.5-1
Capacitance per unit length, 8.5-1
CE conformity, 1.4-1
COB-ID, 9.2-2, 10.2-2
Commissioning, 11.1-1
- I/O system IP20 on the controller 93xx, 11.3-1
Communication Object Identifier, 9.2-2, 10.2-2
Compact modules, Compatibility, with drive andautomation components, 9.4-9, 10.4-9
Compact system
- Dimensions, 7.3-1
- Mounting dimensions, 7.3-1
Compatibility
- Compact modules, with drive and automationcomponents, 9.4-9, 10.4-9
- Modular system, with drive and automationcomponents, 9.4-9, 10.4-9
Conformity, 1.4-1, 4.2-1
Connecting the supply voltage, 8.4-1
Connection
- CANopen, 5.2-2, 6.2-2, 6.3-2, 6.4-2, 6.5-2Pin assignment at the module, 5.2-2, 6.2-2, 6.3-2,6.4-2, 6.5-2
- System bus (CAN), 5.2-2, 6.2-2, 6.3-2, 6.4-2, 6.5-2Pin assignment at the module, 5.2-2, 6.2-2, 6.3-2,6.4-2, 6.5-2
D
Definitions, Terms, 2.2-1
Degree of pollution, 4.2-1
Description
- 16xdig. I/O compact (single-wire conductor), 6.3-1
- 16xdig. I/O compact (three-wire conductor), 6.4-1
- 16xdigital input, 5.4-1
- 16xdigital output 1A, 5.6-1
- 1xcounter/16xdigital input, 5.15-1
- 2/4xcounter, 5.13-1
- 32xdig. I/O compact, 6.5-1
- 4xanalog input, 5.10-1
- 4xanalog input / output, 5.12-1
- 4xanalog output, 5.11-1
- 4xrelay, 5.8-1
- 8xdig. I/O compact, 6.2-1
- 8xdigital input, 5.3-1
- 8xdigital input / output, 5.9-1
- 8xdigital output 1A, 5.5-1
- 8xdigital output 2A, 5.7-1
- CAN gateway, 5.2-1
- SSI interface, 5.14-1
- Terminal module, 5.16-1
Device status
- of the heartbeat producer, 9.8-2, 10.8-2
- of the I/O system IP20, 9.7-2, 10.7-2
- of the slave, 9.7-2, 10.7-2
Diagnostic data, Transmission with analog modules,12.3-6
Digital inputs, Status request, 9.11-3, 10.11-3
Digital modules
- 16xdigital input, Parameter setting, 12.2-1
- 16xdigital output, Parameter setting, 12.2-1
- 8xdigital input, Parameter setting, 12.2-1
- 8xdigital input / output, Parameter setting, 12.2-1
- 8xdigital output, Parameter setting, 12.2-1
Digital outputs, Status request, 9.11-4, 10.11-4
Dimensions
- Compact system, 7.3-1
- Modular system, 7.2-1
Disassembly, Module, 7.2-3
disassembly, Module, 7.3-2
EEMC
- Assembly, 8.2-1
- Earthing, 8.2-1
- Shielding, 8.2-1
Emergency telegram, 9.11-2, 10.11-2
Total index
2 Guide
2.3
l2.3-4 EDSPM-TXXX-3.0-04/2004
Enclosure, 4.2-1
Error Response, 9.5-2, 10.5-2
FFault indications
- at 8xdig. I/O compact, 6.2-4, 6.3-4, 6.4-4, 6.5-4
- at CAN gateway, 5.2-4
Fault messages, 13.2-1
Features, 5.2-1, 5.3-1, 5.4-1, 5.5-1, 5.6-1, 5.7-1,5.8-1, 5.9-1, 5.10-1, 5.11-1, 5.12-1, 5.13-1, 5.14-1,5.15-1, 5.16-1, 6.2-1, 6.3-1, 6.4-1, 6.5-1, 8.5-1
- 16xdig. I/O compact (single-wire conductor), 6.3-1
- 16xdig. I/O compact (three-wire conductor), 6.4-1
- 16xdigital input, 5.4-1
- 16xdigital output 1A, 5.6-1
- 1xcounter/16xdigital input, 5.15-1
- 2/4xcounters, 5.13-1
- 32xdig. I/O compact, 6.5-1
- 4xanalog input, 5.10-1
- 4xanalog input / output, 5.12-1
- 4xanalog output, 5.11-1
- 4xrelay, 5.8-1
- 8xdig. I/O compact, 6.2-1
- 8xdigital input, 5.3-1
- 8xdigital input / output, 5.9-1
- 8xdigital output 1A, 5.5-1
- 8xdigital output 2A, 5.7-1
- CAN gateway, 5.2-1
- SSI interface, 5.14-1
- Terminal module, 5.16-1
GGeneral data, 4.2-1
Guide, 2.1-1
HHeartbeat, 9.8-1, 10.8-1
Heartbeat Consumer, 9.8-1, 10.8-1
Heartbeat Producer, 9.8-1, 10.8-1
Humidity class, 4.2-1
II/O system IP20, components
- Application as directed, 1.4-1
- Labelling, 1.4-1
Identifier, 9.2-2, 10.2-2
Index, 9.5-3, 10.5-3
Input data
- Transfer at 1xcounter/16xdigital input, 12.6-2- Transmitting - SSI interface, 12.5-3
- transmitting with 2/4xcounter, 12.4-4- Transmitting with analog modules, 12.3-7
Installation
- CANopen, 8.5-1
- CE-typical drive systemAssembly, 8.2-1Earthing, 8.2-1Shielding, 8.2-1
- Connecting the supply voltage, 8.4-1- System bus (CAN), 8.5-1
Instruction code, 9.5-2, 10.5-2
Insulation resistance, 4.2-1
LLabelling, Components of the I/O system IP20, 1.4-1
Layout of the safety instructions, 3.2-1
Legal regulations, 1.4-1
Liability, 1.4-1
List of illustrations, 2.4-1
Loading default setting, 12.8-1
MManufacturer, 1.4-1
Measured values, Conversion with analog modules,12.3-16
Modular system
- Compatibility, with drive and automation components,9.4-9, 10.4-9
- Dimensions, 7.2-1
- Mounting dimensions, 7.2-1
Module
- Mounting on DIN rail, 7.2-2, 7.3-2- Remove from the backplane bus, 7.2-3
- Remove from the DIN rail, 7.3-2
Module identifiers, reading out, 9.11-3, 10.11-3
Monitoring, 9.10-1, 10.10-1
- Analog outputs, 9.10-3, 10.10-3
Mounting, Module on the DIN rail, Mounting on DINrail, 7.2-2, 7.3-2
Mounting dimensions
- Compact system, 7.3-1
- Modular system, 7.2-1
Mounting positions, 4.2-1
NNetwork management (NMT), 9.3-1, 10.3-1
- Command, 9.3-1, 10.3-1
- Device address, 9.3-1, 10.3-1
Total index
2Guide
2.3
l 2.3-5EDSPM-TXXX-3.0-04/2004
Network status, 9.3-1, 10.3-1
Networking
- CANopen, 10.1-1
- via system bus (CAN), 9.1-1
Node address
- Setting, 9.6-2, 10.6-2
- Setting at the CAN Gateway, 5.2-3, 6.2-3, 6.3-3,6.4-3, 6.5-3
Node Guarding, 9.7-1, 10.7-1
Noise emission, 4.2-1
Noise immunity, 4.2-1
O
Operating conditions, 4.2-1
Operating state, System bus (CAN), 9.11-3, 10.11-3
Output data
- Transfer at 1xcounter/16xdigital input, 12.6-2
- Transmitting - SSI interface, 12.5-3
- transmitting with 2/4xcounter, 12.4-4
- Transmitting with analog modules, 12.3-7
P
Packaging, 4.2-1
Parameter data, 9.5-3, 10.5-3
- Assigning to analog modules, 12.3-1, 12.3-3, 12.3-4
- assigning with digital modules, 12.2-1
- Meaning for 1xcounter/16xdigital input, 12.6-1
- Meaning for 2/4xcounter, 12.4-1, 12.4-4
- Meaning for analog modules, 12.3-2, 12.3-3, 12.3-4
- Meaning for digital modules, 12.2-1
- Meaning for the SSI interface, 12.5-2
- storing in the 2/4xcounter, 12.4-1
- Storing with 1xcounter/16xdigital input, 12.6-1
- storing with SSI interface, 12.5-1
- Telegram structure, 9.5-1, 10.5-1
Parameter setting, 12.1-1
- 1xcounter/16xdigital inputDisplay of the parameter data, 12.6-1Input data transfer, 12.6-2Meaning of the parameter data, 12.6-1Output data transfer, 12.6-2
- 2/4xcounterDisplay of the parameter data, 12.4-1Meaning of the parameter data, 12.4-1, 12.4-4Transmitting input data, 12.4-4Transmitting output data, 12.4-4
- Analog mdoules, 12.3-4
- Analog modules, 12.3-1, 12.3-3Display of the parameter data, 12.3-1, 12.3-4Meaning of the parameter data, 12.3-2, 12.3-3,12.3-4Signal functions 4xanalog input, 12.3-7Signal functions 4xanalog output, 12.3-11Transmitting input data, 12.3-7Transmitting output data, 12.3-7
- Digital modulesDisplay of the parameter data, 12.2-1Meaning of the parameter data, 12.2-1
- SSI interfaceDisplay of the parameter data, 12.5-1Meaning of the parameter data, 12.5-2Transmitting input data, 12.5-3Transmitting output data, 12.5-3
parameter setting, Analog modules, Display of theparameter data, 12.3-3
Parameter settingR, Digital modules, 12.2-1
Preface, 1.1-1
Process data, Transmission mode, 9.4-3, 10.4-3
Process data objects, Identifier, 9.4-2, 10.4-2
- Assigning individually, 9.4-3, 10.4-3
Process data telegram, 9.4-1, 10.4-1
Process image
- compact system, 9.4-8, 10.4-8
- Modular system, 9.4-5, 10.4-5
Protective measures, 4.2-1
RRead Request, 9.5-2, 10.5-2
Read Response, 9.5-2, 10.5-2
Reading a parameter, 9.5-5, 10.5-5
Reset node, 9.9-1, 10.9-1
SSafety instructions, 3.1-1
Shielding, EMC, 8.2-1
Signal functions
- 4xanalog input, 12.3-7
- 4xanalog output, 12.3-11
Total index
2 Guide
2.3
l2.3-6 EDSPM-TXXX-3.0-04/2004
SSI interface
- Connection, 5.14-2
- Description, 5.14-1
- Features, 5.14-1
- Overview, 5.14-1
- Parameter setting, 12.5-1
- Status display, 5.14-2
- Technical data, 5.14-3
- Terminal assignment, 5.14-2
- Transmitting input data, 12.5-3
- Transmitting output data, 12.5-3
Status display
- 16xdig. I/O compact (single-wire conductor), 6.3-5
- 16xdig. I/O compact (three-wire conductor), 6.4-5
- 16xdigital input, 5.4-2
- 16xdigital output 1A, 5.6-2
- 1xcounter/16xdigital input, 5.15-2
- 2/4xcounter, 5.13-2
- 32xdig. I/O compact, 6.5-5
- 4xanalog input, 5.10-2
- 4xanalog input /output, 5.12-2
- 4xanalog output, 5.11-2
- 4xrelay, 5.8-2
- 8xdig. I/O compact, 6.2-5
- 8xdigital input, 5.3-2
- 8xdigital input / output, 5.9-2
- 8xdigital output 1A, 5.5-2
- 8xdigital output 2A, 5.7-2
- at 8xdig. I/O compact, 6.2-4, 6.3-4, 6.4-4, 6.5-4
- at CAN gateway, 5.2-4
- SSI interface, 5.14-2
Subindex, 9.5-3, 10.5-3
Sync telegram, for cyclic process data, 9.4-4, 10.4-4
System bus (CAN)
- Connecting, 5.2-2, 6.2-2, 6.3-2, 6.4-2, 6.5-2
- Connection to the module, Pin assignment, 5.2-2,6.2-2, 6.3-2, 6.4-2, 6.5-2
- Networking via, 9.1-1
- Operating state, 9.11-3, 10.11-3
- Wiring, 8.5-1
TTechnical data, 4.1-1
- 16xdig. I/O compact (single-wire conductor), 6.3-7
- 16xdig. I/O compact (three-wire conductor), 6.4-7
- 16xdigital input, 5.4-2
- 16xdigital output 1A, 5.6-2
- 1xcounter/16xdigital input, 5.15-3
- 2/4xcounter, 5.13-5
- 32xdig. I/O compact, 6.5-7
- 4xanalog input, 5.10-4
- 4xanalog input /output, 5.12-3
- 4xanalog output, 5.11-3
- 4xrelay, 5.8-3
- 8xdig. I/O compact, 6.2-7
- 8xdigital input, 5.3-2
- 8xdigital input / output, 5.9-3
- 8xdigital output 1A, 5.5-2
- 8xdigital output 2A, 5.7-2
- CAN gateway, 5.2-5
- General data/operating conditions, 4.2-1
- SSI interface, 5.14-3
- Terminal module, 5.16-2
Temperature ranges, 4.2-1
Terminal assignment
- 16xdig. I/O compact (single-wire conductor), 6.3-5
- 16xdig. I/O compact (three-wire conductor), 6.4-5
- 16xdigital input, 5.4-2
- 16xdigital output 1A, 5.6-2
- 1xcounter/16xdigital input, 5.15-2
- 2/4xcounter, 5.13-2
- 32xdig. I/O compact, 6.5-5
- 4xanalog input, 5.10-2
- 4xanalog input /output, 5.12-2
- 4xanalog output, 5.11-2
- 4xrelay, 5.8-2
- 8xdig. I/O compact, 6.2-5
- 8xdigital input, 5.3-2
- 8xdigital input /output, 5.9-2
- 8xdigital output 1A, 5.5-2
- 8xdigital output 2A, 5.7-2
- SSI interface, 5.14-2
Terminal module
- Description, 5.16-1
- Features, 5.16-1
- Internal wiring, 5.16-1
- Overview, 5.16-1
- Technical data, 5.16-2
Terms
- Controller, 2.2-1
- Definitions, 2.2-1
Time monitoring, 9.10-1, 10.10-1
Total index, 2.3-1
Troubleshooting, Fault messages, 13.2-1
Total index
2Guide
2.3
l 2.3-7EDSPM-TXXX-3.0-04/2004
Troubleshooting and fault elimination, 13.1-1
UUser data, 9.4-1, 10.4-1
VVibration resistance, 4.2-1
W
Warranty, 1.4-1
Write Request, 9.5-2, 10.5-2
Write Response, 9.5-2, 10.5-2
Writing parameters, 9.5-4, 10.5-4
List of illustrations
2Guide
2.4
l 2.4-1EDSPM-TXXX-3.0-04/2004
2.4 List of illustrations
Fig. 5.2-1 Overview of CAN gateway 5.2-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Fig. 5.2-2 Connection to the system bus (CAN)/CANopen with 9-pole Sub-D plug 5.2-2. . . . . . . . . . . . .
Fig. 5.2-3 Coding switch a CAN gateway 5.2-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Fig. 5.3-1 Overview of 8×digital input 5.3-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Fig. 5.3-2 Front view and connection of 8×digital input 5.3-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Fig. 5.4-1 Overview of 16×digital input 5.4-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Fig. 5.4-2 Front view and connection of 16×digital input 5.4-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Fig. 5.5-1 Overview of 8×Digital output 1A 5.5-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Fig. 5.5-2 Front view and connection of 8×digital output 1A 5.5-2. . . . . . . . . . . . . . . . . . . . . . . . . . . .
Fig. 5.6-1 Overview of 16×digital output 1A 5.6-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Fig. 5.6-2 Front view and connection of 16×digital output 1A 5.6-2. . . . . . . . . . . . . . . . . . . . . . . . . . .
Fig. 5.7-1 Overview of 8×digital output 2A 5.7-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Fig. 5.7-2 Front view and connection of 8×digital output 2A 5.7-2. . . . . . . . . . . . . . . . . . . . . . . . . . . .
Fig. 5.8-1 Overview of 4×relay 5.8-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Fig. 5.8-2 Front view and connection of 4×relay 5.8-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Fig. 5.8-3 Diagrams for the module 4×relay 5.8-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Fig. 5.9-1 Overview of 8×digital input / output 5.9-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Fig. 5.9-2 Front view and connection of 8×digital input / output 5.9-2. . . . . . . . . . . . . . . . . . . . . . . . .
Fig. 5.10-1 Overview of 4×analog input 5.10-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Fig. 5.10-2 Front view 4×analog input 5.10-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Fig. 5.10-3 Sensor connection 5.10-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Fig. 5.11-1 Overview of 4×analog output 5.11-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Fig. 5.11-2 Front view and connection of 4×analog output 5.11-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Fig. 5.12-1 Overview of 4×analog input / output 5.12-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Fig. 5.12-2 Front view and connection of 4×analog input / output 5.12-2. . . . . . . . . . . . . . . . . . . . . . . . .
Fig. 5.13-1 Overview of 2/4×counter 5.13-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Fig. 5.13-2 Front view and connection of 2/4×counter 5.13-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Fig. 5.14-1 Overview of SSI interface 5.14-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Fig. 5.14-2 Front view and connection of SSI interface 5.14-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Fig. 5.15-1 Overview of 1×counter/16×digital input 5.15-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Fig. 5.15-2 Front view and connection 1×counter/16×digital input 5.15-2. . . . . . . . . . . . . . . . . . . . . . . .
Fig. 5.16-1 Overview and internal wiring of the terminal module 5.16-1. . . . . . . . . . . . . . . . . . . . . . . . .
Fig. 6.2-1 8×dig. I/O compact 6.2-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Fig. 6.2-2 Connection to the system bus (CAN)/CANopen with 9-pole Sub-D plug 6.2-2. . . . . . . . . . . . .
List of illustrations
2 Guide
2.4
l2.4-2 EDSPM-TXXX-3.0-04/2004
Fig. 6.2-3 Coding switch a CAN gateway 6.2-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Fig. 6.2-4 Front view of 8×dig. I/O compact 6.2-5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Fig. 6.2-5 Wiring diagram of 8×dig. I/O compact 6.2-6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Fig. 6.3-1 16×dig. I/O compact (single-wire conductor) 6.3-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Fig. 6.3-2 Connection to the system bus (CAN)/CANopen with 9-pole Sub-D plug 6.3-2. . . . . . . . . . . . .
Fig. 6.3-3 Coding switch a CAN gateway 6.3-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Fig. 6.3-4 Front view of 16×dig. I/O compact (single-wire conductor) 6.3-5. . . . . . . . . . . . . . . . . . . . .
Fig. 6.3-5 Wiring diagram of 16×dig. I/O compact (single-wire conductor) 6.3-6. . . . . . . . . . . . . . . . . .
Fig. 6.4-1 16×dig. I/O compact (three-wire conductor) 6.4-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Fig. 6.4-2 Connection to the system bus (CAN)/CANopen with 9-pole Sub-D plug 6.4-2. . . . . . . . . . . . .
Fig. 6.4-3 Coding switch a CAN gateway 6.4-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Fig. 6.4-4 Front view of 16×dig. I/O compact (three-wire conductor) 6.4-5. . . . . . . . . . . . . . . . . . . . . .
Fig. 6.4-5 Wiring diagram of 16×dig. I/O compact (three-wire conductor) 6.4-6. . . . . . . . . . . . . . . . . .
Fig. 6.5-1 32×dig. I/O compact 6.5-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Fig. 6.5-2 Connection to the system bus (CAN)/CANopen with 9-pole Sub-D plug 6.5-2. . . . . . . . . . . . .
Fig. 6.5-3 Coding switch a CAN gateway 6.5-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Fig. 6.5-4 Front view of 32×dig. I/O compact 6.5-5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Fig. 6.5-5 Wiring diagram of 32×dig. I/O compact 6.5-6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Fig. 7.2-1 Module dimensions of the modular system 7.2-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Fig. 7.2-2 Mounting the module on the DIN rail 7.2-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Fig. 7.2-3 Remove the module from the backplane bus 7.2-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Fig. 7.3-1 Module dimensions of the compact system 7.3-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Fig. 7.3-2 Mounting the module on the DIN rail 7.3-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Fig. 7.3-3 Remove the module from the DIN rails 7.3-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Fig. 8.3-1 Wiring of the terminal strips 8.3-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Fig. 8.4-1 Connecting the supply voltage 8.4-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Fig. 8.4-2 Connecting the supply voltage 8.4-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Fig. 8.5-1 Basic wiring of the system bus (CAN) / CANopen 8.5-1. . . . . . . . . . . . . . . . . . . . . . . . . . . .
Fig. 9.2-1 Basic structure of the CAN telegram 9.2-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Fig. 9.4-1 Synchronisation of cyclical process data with the help of a sync telegram(asynchronous data not considered) 9.4-4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Fig. 9.4-2 Data transmission between I/O system IP20 and controller 9.4-10. . . . . . . . . . . . . . . . . . . . .
Fig. 9.5-1 Writing a parameter 9.5-4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Fig. 9.5-2 Reading a parameter 9.5-5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Fig. 9.6-1 Coding switch a CAN gateway 9.6-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Fig. 9.7-1 Node Guarding Protocol 9.7-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
List of illustrations
2Guide
2.4
l 2.4-3EDSPM-TXXX-3.0-04/2004
Fig. 9.8-1 Heartbeat Protocol 9.8-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Fig. 10.2-1 Basic structure of the CAN telegram 10.2-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Fig. 10.4-1 Synchronisation of cyclical process data with the help of a sync telegram(asynchronous data not considered) 10.4-4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Fig. 10.4-2 Data transmission between I/O system IP20 and controller 10.4-11. . . . . . . . . . . . . . . . . . . . .
Fig. 10.5-1 Writing a parameter 10.5-4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Fig. 10.5-2 Reading a parameter 10.5-5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Fig. 10.6-1 Coding switch a CAN gateway 10.6-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Fig. 10.7-1 Node Guarding Protocol 10.7-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Fig. 10.8-1 Heartbeat Protocol 10.8-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Fig. 11.3-1 9300 drive controller and I/O system IP20 with 6 digital inputs and 2 digital outputs 11.3-1. . .
Fig. 12.2-1 Display of the parameter data ”digital module” 12.2-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Fig. 12.3-1 Display of the parameter data 4xanalog input 12.3-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Fig. 12.3-2 Display of the parameter data 4xanalog output 12.3-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Fig. 12.3-3 Display of the parameter data 4xanalog input /output 12.3-4. . . . . . . . . . . . . . . . . . . . . . . . .
Fig. 12.4-1 Display of the parameter data of 2/4xcounter 12.4-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Fig. 12.4-2 Data input / output of 2/4xcounter 12.4-4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Fig. 12.4-3 Setting the counter content for the 2/4xcounter 12.4-5. . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Fig. 12.4-4 Terminal assignment of the 2/4xcounter in the mode 0 12.4-6. . . . . . . . . . . . . . . . . . . . . . . .
Fig. 12.4-5 Counter access of the 2/4xcounter in the mode 0 12.4-7. . . . . . . . . . . . . . . . . . . . . . . . . . . .
Fig. 12.4-6 Signal characteristic of 2/4xcounter in the mode 0 (upcounter) 12.4-7. . . . . . . . . . . . . . . . . .
Fig. 12.4-7 Signal characteristic of 2/4xcounter in the mode 0 (downcounter) 12.4-7. . . . . . . . . . . . . . . .
Fig. 12.4-8 Terminal assignment of the 2/4xcounter in the modes 1, 3 and 5 12.4-8. . . . . . . . . . . . . . . .
Fig. 12.4-9 Counter access of the 2/4xcounter in the modes 1, 3 and 5 12.4-9. . . . . . . . . . . . . . . . . . . .
Fig. 12.4-10 Signal characteristic of 2/4xcounter in the mode 1 (upcounter) 12.4-9. . . . . . . . . . . . . . . . . .
Fig. 12.4-11 Signal characteristic of 2/4xcounter in the mode 1 (downcounter) 12.4-9. . . . . . . . . . . . . . . .
Fig. 12.4-12 Signal characteristic of 2/4xcounter in the mode 3 (upcounter) 12.4-10. . . . . . . . . . . . . . . . . .
Fig. 12.4-13 Signal characteristic of 2/4xcounter in the mode 3 (downcounter) 12.4-10. . . . . . . . . . . . . . . .
Fig. 12.4-14 Signal characteristic of 2/4xcounter in the mode 5 (upcounter) 12.4-11. . . . . . . . . . . . . . . . . .
Fig. 12.4-15 Signal characteristic of 2/4xcounter in the mode 5 (downcounter) 12.4-11. . . . . . . . . . . . . . . .
Fig. 12.4-16 Terminal assignment of the 2/4xcounter in the mode 6 12.4-12. . . . . . . . . . . . . . . . . . . . . . . .
Fig. 12.4-17 Counter access of the 2/4xcounter in the mode 6 12.4-13. . . . . . . . . . . . . . . . . . . . . . . . . . . .
Fig. 12.4-18 Signal characteristic of 2/4xcounter in the mode 6 (upcounter) 12.4-13. . . . . . . . . . . . . . . . . .
Fig. 12.4-19 Signal characteristic of 2/4xcounter in the mode 6 (downcounter) 12.4-13. . . . . . . . . . . . . . . .
Fig. 12.4-20 Terminal assignment of the 2/4xcounter in the modes 8 ... 11 12.4-14. . . . . . . . . . . . . . . . . . .
Fig. 12.4-21 Counter access of the 2/4xcounter in the modes 8 ... 11 12.4-15. . . . . . . . . . . . . . . . . . . . . . .
List of illustrations
2 Guide
2.4
l2.4-4 EDSPM-TXXX-3.0-04/2004
Fig. 12.4-22 Signal characteristic of 2/4xcounter in mode 8considering as example the counters 0.1 and 0.2 12.4-15. . . . . . . . . . . . . . . . . . . . . . . . . . . .
Fig. 12.4-23 Terminal assignment of the 2/4xcounter in the modes 12 and 13 12.4-16. . . . . . . . . . . . . . . .
Fig. 12.4-24 Counter access of the 2/4xcounter in the modes 12 and 13 12.4-17. . . . . . . . . . . . . . . . . . . .
Fig. 12.4-25 Signal characteristic of 2/4xcounter in the mode 12 12.4-18. . . . . . . . . . . . . . . . . . . . . . . . . .
Fig. 12.4-26 Terminal assignment of the 2/4xcounter in the modes 14 and 15 12.4-19. . . . . . . . . . . . . . . .
Fig. 12.4-27 Counter access of the 2/4xcounter in the modes 14 and 15 12.4-20. . . . . . . . . . . . . . . . . . . .
Fig. 12.4-28 Signal characteristic of 2/4xcounter in the mode 14 (upcounter) 12.4-21. . . . . . . . . . . . . . . . .
Fig. 12.4-29 Terminal assignment of the 2/4xcounter in the modes 16 and 18 12.4-22. . . . . . . . . . . . . . . .
Fig. 12.4-30 Counter access of the 2/4xcounter in the modes 16 and 18 12.4-24. . . . . . . . . . . . . . . . . . . .
Fig. 12.4-31 Signal characteristic of 2/4xcounter in the mode 16 12.4-25. . . . . . . . . . . . . . . . . . . . . . . . . .
Fig. 12.4-32 Signal characteristic of 2/4xcounter in the mode 18 12.4-25. . . . . . . . . . . . . . . . . . . . . . . . . .
Fig. 12.4-33 Terminal assignment of the 2/4xcounter in the modes 17 and 19 12.4-26. . . . . . . . . . . . . . . .
Fig. 12.4-34 Counter access of the 2/4xcounter in the modes 17 and 19 12.4-27. . . . . . . . . . . . . . . . . . . .
Fig. 12.4-35 Signal characteristic of 2/4xcounter in the mode 17 12.4-28. . . . . . . . . . . . . . . . . . . . . . . . . .
Fig. 12.4-36 Signal characteristic of 2/4xcounter in the mode 19 12.4-28. . . . . . . . . . . . . . . . . . . . . . . . . .
Fig. 12.4-37 Terminal assignment of the 2/4xcounter in the mode 20 12.4-29. . . . . . . . . . . . . . . . . . . . . . .
Fig. 12.4-38 Counter access of the 2/4xcounter in the mode 20 12.4-30. . . . . . . . . . . . . . . . . . . . . . . . . . .
Fig. 12.4-39 Signal characteristic of 2/4xcounter in the mode 20 (upcounter) 12.4-31. . . . . . . . . . . . . . . . .
Fig. 12.4-40 Signal characteristic of 2/4xcounter in the mode 20 (downcounter) 12.4-31. . . . . . . . . . . . . . .
Fig. 12.4-41 Terminal assignment of the 2/4xcounter in the modes 21 and 22 12.4-32. . . . . . . . . . . . . . . .
Fig. 12.4-42 Counter access of the 2/4xcounter in the modes 21 and 22 12.4-33. . . . . . . . . . . . . . . . . . . .
Fig. 12.4-43 Signal characteristic of 2/4xcounter in the mode 21 (upcounter) 12.4-33. . . . . . . . . . . . . . . . .
Fig. 12.4-44 Signal characteristic of 2/4xcounter in the mode 22 (downcounter) 12.4-34. . . . . . . . . . . . . . .
Fig. 12.4-45 Terminal assignment of the 2/4xcounter in the modes 23 ... 26 12.4-35. . . . . . . . . . . . . . . . . .
Fig. 12.4-46 Counter access of the 2/4xcounter in the modes 23 ... 26 12.4-36. . . . . . . . . . . . . . . . . . . . . .
Fig. 12.4-47 Signal characteristic of 2/4xcounter in the mode 23 (upcounter, set function) 12.4-37. . . . . . . .
Fig. 12.4-48 Signal characteristic of 2/4xcounter in the mode 24 (downcounter, set function) 12.4-37. . . . . .
Fig. 12.4-49 Signal characteristic of 2/4xcounter in the mode 25 (upcounter, reset function) 12.4-37. . . . . .
Fig. 12.4-50 Signal characteristic of 2/4xcounter in the mode 26 (downcounter, reset function) 12.4-38. . . .
Fig. 12.4-51 Terminal assignment of the 2/4xcounter in the mode 27 12.4-39. . . . . . . . . . . . . . . . . . . . . . .
Fig. 12.4-52 Counter access of the 2/4xcounter in the mode 27 12.4-40. . . . . . . . . . . . . . . . . . . . . . . . . . .
Fig. 12.4-53 Signal characteristic of 2/4xcounter in the mode 27 (upcounter) 12.4-40. . . . . . . . . . . . . . . . .
Fig. 12.4-54 Signal characteristic of 2/4xcounter in the mode 27 (downcounter) 12.4-40. . . . . . . . . . . . . . .
Fig. 12.4-55 Terminal assignment of the 2/4xcounter in the modes 28 ...30 12.4-41. . . . . . . . . . . . . . . . . .
Fig. 12.4-56 Counter access of the 2/4xcounter in the modes 28 ... 30 12.4-42. . . . . . . . . . . . . . . . . . . . . .
List of illustrations
2Guide
2.4
l 2.4-5EDSPM-TXXX-3.0-04/2004
Fig. 12.4-57 Signal characteristic of 2/4xcounter in the mode 28 (downcounter) 12.4-42. . . . . . . . . . . . . . .
Fig. 12.4-58 Signal characteristic of 2/4xcounter in the mode 29 (upcounter) 12.4-43. . . . . . . . . . . . . . . . .
Fig. 12.4-59 Signal characteristic of 2/4xcounter in the mode 29 (downcounter) 12.4-43. . . . . . . . . . . . . . .
Fig. 12.4-60 Signal characteristic of 2/4xcounter in the mode 30 (upcounter) 12.4-44. . . . . . . . . . . . . . . . .
Fig. 12.4-61 Signal characteristic of 2/4xcounter in the mode 30 (downcounter) 12.4-44. . . . . . . . . . . . . . .
Fig. 12.4-62 Terminal assignment of the 2/4xcounter in the modes 31 and 32 12.4-45. . . . . . . . . . . . . . . .
Fig. 12.4-63 Counter access of the 2/4xcounter in the modes 31 and 32 12.4-46. . . . . . . . . . . . . . . . . . . .
Fig. 12.4-64 Signal characteristic of 2/4xcounter in the mode 31 12.4-47. . . . . . . . . . . . . . . . . . . . . . . . . .
Fig. 12.4-65 Terminal assignment of the 2/4xcounter in the modes 33 and 34 12.4-48. . . . . . . . . . . . . . . .
Fig. 12.4-66 Counter access of the 2/4xcounter in the modes 33 and 34 12.4-49. . . . . . . . . . . . . . . . . . . .
Fig. 12.4-67 Signal characteristic of 2/4xcounter in the mode 33 (upcounter) 12.4-50. . . . . . . . . . . . . . . . .
Fig. 12.4-68 Terminal assignment of the 2/4xcounter in the mode 35 12.4-51. . . . . . . . . . . . . . . . . . . . . . .
Fig. 12.4-69 Counter access of the 2/4xcounter in the mode 35 12.4-52. . . . . . . . . . . . . . . . . . . . . . . . . . .
Fig. 12.4-70 Signal characteristic of 2/4xcounter in the mode 35 (upcounter) 12.4-52. . . . . . . . . . . . . . . . .
Fig. 12.4-71 Signal characteristic of 2/4xcounter in the mode 35 (downcounter) 12.4-52. . . . . . . . . . . . . . .
Fig. 12.4-72 Terminal assignment of the 2/4xcounter in the modes 36 ... 38 12.4-53. . . . . . . . . . . . . . . . . .
Fig. 12.4-73 Counter access of the 2/4xcounter in the modes 36, 37 and 38 12.4-54. . . . . . . . . . . . . . . . .
Fig. 12.4-74 Signal characteristic of 2/4xcounter in the mode 36 (upcounter) 12.4-54. . . . . . . . . . . . . . . . .
Fig. 12.4-75 Signal characteristic of 2/4xcounter in the mode 36 (downcounter) 12.4-54. . . . . . . . . . . . . . .
Fig. 12.4-76 Signal characteristic of 2/4xcounter in the mode 37 (upcounter) 12.4-55. . . . . . . . . . . . . . . . .
Fig. 12.4-77 Signal characteristic of 2/4xcounter in the mode 37 (downcounter) 12.4-55. . . . . . . . . . . . . . .
Fig. 12.4-78 Signal characteristic of 2/4xcounter in the mode 38 (upcounter) 12.4-56. . . . . . . . . . . . . . . . .
Fig. 12.4-79 Signal characteristic of 2/4xcounter in the mode 38 (downcounter) 12.4-56. . . . . . . . . . . . . . .
Fig. 12.5-1 Display of the parameter data of the SSI interface 12.5-1. . . . . . . . . . . . . . . . . . . . . . . . . . .
Fig. 12.5-2 Data input /output of SSI interface 12.5-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Fig. 12.5-3 Counter access SSI interface, Hold function deactivated 12.5-4. . . . . . . . . . . . . . . . . . . . . . .
Fig. 12.5-4 Counter access SSI interface, Hold function activated 12.5-4. . . . . . . . . . . . . . . . . . . . . . . . .
Fig. 12.5-5 Example - How to assign parameter data when using SSI interface 12.5-5. . . . . . . . . . . . . . .
Fig. 12.5-6 Example - How to assign a comparison value to channel 0 when using SSI interface 12.5-5. .
Fig. 12.5-7 Example - How to assign a comparison value to channel 1 when using SSI interface 12.5-5. .
Fig. 12.6-1 Display of the parameter data of 1xcounter/16xdigital input 12.6-1. . . . . . . . . . . . . . . . . . . .
Fig. 12.6-2 Data input / data output 1xcounter/16xdigital input 12.6-2. . . . . . . . . . . . . . . . . . . . . . . . . . .
Fig. 12.6-3 Counter access - 1xcounter/16xdigital input 12.6-4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Fig. 12.6-4 Counter access of 1xcounter/16xdigital input in the mode 0 12.6-5. . . . . . . . . . . . . . . . . . . .
Fig. 12.6-5 Signal characteristic of 1xcounter/16xdigital input in the mode 0 (upcounter) 12.6-6. . . . . . . .
Fig. 12.6-6 Signal characteristic of 1xcounter/16xdigital input in the mode 0 (downcounter) 12.6-6. . . . . .
List of illustrations
2 Guide
2.4
l2.4-6 EDSPM-TXXX-3.0-04/2004
Fig. 12.6-7 Counter access of 1xcounter/16xdigital input in the mode 1 12.6-7. . . . . . . . . . . . . . . . . . . .
Fig. 12.6-8 Signal characteristic of 1xcounter/16xdigital input in the mode 1 (upcounter) 12.6-8. . . . . . . .
Fig. 12.6-9 Signal characteristic of 1xcounter/16xdigital input in the mode 1 (downcounter) 12.6-8. . . . . .
Fig. 12.6-10 Counter access of 1xcounter/16xdigital input in the mode 2 12.6-9. . . . . . . . . . . . . . . . . . . .
Fig. 12.6-11 Signal characteristic of 1xcounter/16xdigital input in the mode 2 12.6-10. . . . . . . . . . . . . . . . .
Fig. 12.6-12 Counter access of 1xcounter/16xdigital input in the mode 3 12.6-12. . . . . . . . . . . . . . . . . . . .
Fig. 12.6-13 Signal characteristic of 1xcounter/16xdigital input in the mode 3 12.6-12. . . . . . . . . . . . . . . . .
Fig. 12.6-14 Counter access of 1xcounter/16xdigital input in the mode 4 12.6-14. . . . . . . . . . . . . . . . . . . .
Fig. 12.6-15 Signal characteristic of 1xcounter/16xdigital input in the mode 4 12.6-14. . . . . . . . . . . . . . . . .
Contents
3Safety instructions
3.1
l 3.1-1EDSPM-TXXX-3.0-04/2004
3 Safety instructions
3.1 Contents
3.2 Layout of the safety instructions 3.2-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Layout of the safety instructions
3Safety instructions
3.2
l 3.2-1EDSPM-TXXX-3.0-04/2004
3.2 Layout of the safety instructions
All safety information given in these Instructions have the same structure:
Pictograph (indicates the type of danger)
Signal word! (indicates the severity of danger)
Note (describes the danger and informs the reader how to avoiddanger)
Pictograph Signal word Consequences if the safetyinstructions are
Signal word Meaninginstructions aredisregarded
Stop! Possible damage to material Damage to the I/O systemIP20 or its environment
Note! Useful note or tipwhich, if observed, will simplifyhandling of the I/O system IP20.
Contents
4Technical data
4.1
l 4.1-1EDSPM-TXXX-3.0-04/2004
4 Technical data
4.1 Contents
4.2 General data/operating conditions 4.2-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
General data/operating conditions
4Technical data
4.2
l 4.2-1EDSPM-TXXX-3.0-04/2004
4.2 General data/operating conditions
Conformity CE Low-Voltage Directive (73/23/EWG)
Approvals UL508 Industrial Control Equipment
Vibration resistance 1G/12G, in accordance with IEC 60068-2-6 / 60068-2-27
Climatic conditions RH1 in accordance with EN 61131-2 (without moisture condensation, relativehumidity 50 % ... 95 %)
Degree of pollution Degree of pollution 2 in accordance with EN 61131-2
Packaging (DIN 4180) Transport packaging
Permissible temperatureranges
Transport -25 °C... +70 °C
Storage -45 °C ... +85 °COperation Horizontal installation 0 °C ... +55 °Cp
Vertical installation 0 °C ... +45 °C
Mounting positions Horizontal and vertical
Noise emission Compliance with the limit value class A to EN 6100-6-4
Noise immunity Requirements Standard Degrees of severityo yESD EN 61000-4-2 3, i. e. 8 kV for air discharge,
6 kV on contact discharge
Conducted highfrequency
EN 61000-4-6 150 kHz ... 80 MHz, 10 V/m 80 % AM(1 kHz)
HF interference(enclosure)
EN 61000-4-3 80 MHz ... 1000 MHz, 10 V/m 80 % AM(1 kHz)895 MHz ... 905 MHz, 10 V/m 50 % dutytime PM (200 Hz)
Burst EN 61000-4-4 3
Insulation resistance In accordance with IEC 61131-2
Insulation voltage toreference earth
Inputs and outputs: 50 VAC/DC, test voltage 500 VAC
Electrical isolation fromb (CAN)
Modular systemYes via optocouplers
o o osystem bus (CAN) Compact modules
Yes, via optocouplers
Electrical isolation fromprocess level
Modular system Yes, via optocouplers
Enclosure IP20
Protective measures against Short circuit
Max. number of modules 33 (1 CAN gateway module + 32 modules)
Physical construction 1 CAN gateway module; up to 32 modules are attached to it on the right withoutany free space
Note!The technical data of the modules of the modular system isincluded in the chapter ”The modular system” in thecorresponding module description.The technical data of the modules of the compact system isincluded in the chapter ”The compact system” in thecorresponding module description.
Standards and applicationconditions
General electrical data
Modular system components
Contents
5The modular system
5.1
l 5.1-1EDSPM-TXXX-3.0-04/2004
5 The modular system
5.1 Contents
5.2 CAN gateway 5.2-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.3 8×digital input 5.3-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.4 16×digital input 5.4-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.5 8×digital output 1A 5.5-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.6 16×digital output 1A 5.6-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.7 8×digital output 2A 5.7-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.8 4×relay 5.8-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.9 8×digital input / output 5.9-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.10 4×analog input 5.10-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.11 4×analog output 5.11-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.12 4×analog input / output 5.12-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.13 2/4×counter 5.13-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.14 SSI interface 5.14-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.15 1×counter/16×digital input 5.15-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.16 Terminal module 5.16-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
CAN gateway
5The modular system
5.2
l 5.2-1EDSPM-TXXX-3.0-04/2004
5.2 CAN gateway
The CAN gateway is the interface between the process level and the master bussystem. The control signals at the process level are transmitted by the electronicmodules. These modules are connected with the CAN gateway via the backplanebus (EPM-T9XX). CAN gateway and the connected electronic modulescommunicate via the backplane bus. A configuration is not required.
Up to 32 modules can be connected to a CAN gateway
Integrated power supply unit for the own voltage supply and the voltagesupply of the connected electronic modules
Load capacity of the integrated power supply unit up to 3 A
Power supply unit fed via an external DC voltage source
Connection to the system bus (CAN) / CANopen via a 9-pole Sub-D plug
Address and baud rate setting via coding switch
The baud rate is stored permanently in an EEPROM in the module
LED shows the status
PW
ER
RD
BA
ADR.
DC24V
+
-1
2
X1
EPM– T110 xx.xx
01
epm-t009
Fig. 5.2-1 Overview of CAN gateway
LED for status display9-pole Sub-D plug for connection to the system bus (CAN)Coding switch to set address and baud rateExternal voltage supply connection
Description
Features
Overview
CAN gateway
5 The modular system
5.2
l5.2-2 EDSPM-TXXX-3.0-04/2004
1
2
3
45
6
7
8
9
epm-t023
Fig. 5.2-2 Connection to the system bus (CAN)/CANopen with 9-pole Sub-D plug
Pin Assignment1 Not assigned2 CAN-LOW3 CAN-GND4 Not assigned5 Not assigned6 Not assigned7 CAN-HIGH8 Not assigned9 Not assigned
Use the coding switch to set the baud rate.
The node address must be set via the coding switch.
0 1
+ +
– –
epm-t024
Fig. 5.2-3 Coding switch a CAN gateway
– Decrease numerical value
+ Increase numerical value
Connecting systembus (CAN)/CANopen
Baud rate and node address
CAN gateway
5The modular system
5.2
l 5.2-3EDSPM-TXXX-3.0-04/2004
System bus (CAN) CANopen Baud rate
Coding switch value Coding switch value [kbit/s]
90 80 1000
91 81 500
92 82 250
93 83 125
94 84 100
95 85 50
96 86 20
97 87 10
98 88 800
Bold print = Lenze setting
1. Switch off the voltage supply of the module.
2. Use the coding switch to set the required baud rate.– Select ”9x”, when using the ”system bus (CAN)” protocol (x = value for the
required baud rate)– Select ”8x” when using the ”CANopen” protocol (x = value of required
baud rate)
3. Switch on the voltage supply of the module.– The LEDs ER, RD and BA are blinking with a frequency of 1 Hz.
4. LEDs ER and BA go off after 5 seconds, and the set baud rate is stored.
5. Now set the node address with the coding switch for the module. You havefive seconds for this.– Each node address must be assigned only once.
6. The set node address will be accepted after 5 seconds.– LED RD goes off.– The module changes to the pre-operational mode.
Note!The node address can be changed any time with the codingswitch. The setting is accepted after switching on the supplyvoltage.After switching on the supply voltage, the modular systemneeds approx. 10 ms for initialisation. During this time, themodules cannot be parameterised.
Baud rate setting
Setting the node address
CAN gateway
5 The modular system
5.2
l5.2-4 EDSPM-TXXX-3.0-04/2004
LED Status Meaning
PW (yellow) on Module supply voltage on
ER (red) on Incorrect data transmission on the backplane bus.
RD (green)on Signals error-free data transmission on the backplane bus.
RD (green)See table below
BA (yellow) See table below
PW (yellow) ER (red) RD (green) BA (yellow) Meaning
on off blinking (1 Hz) off Self test and initialisation in progress
on off on onSystem bus (CAN)/CANopen in the”Operational”state
on off on blinking (1 Hz)System bus (CAN)/CANopen in the”Pre-Operational”state
on off on blinking (10 Hz)System bus (CAN)/CANopen in the”Stopped”state
on blinking (10 Hz) on onblinking (1 Hz)
System bus (CAN)/CANopen ”Offline”state
on blinking (1 Hz) onblinking (1 Hz)blinking (10 Hz) System bus (CAN)/CANopen ”Warning”state
on on on on Error during RAM or EEPROM initialisation
on blinking (1 Hz) blinking (1 Hz) blinking (1 Hz) Baud rate setting mode active
on blinking (10 Hz) blinking (10 Hz) blinking (10 Hz) Error during baud rate setting
on off blinking (1 Hz) off Address setting mode active
Note!NMT telegrams for changing to the different states can be found inthe chapter ”Networking via system bus (CAN)” or ”Networking viaCANopen”.
Status display
CAN gateway
5The modular system
5.2
l 5.2-5EDSPM-TXXX-3.0-04/2004
Type CAN gateway
Voltage supply DC 24 V / max. 700 mA (DC 20.4 ... 28.8 V)
Max. current consumption of electronicmodules
3A
Connectable cable cross-section ≤ 2.5 mm2 (≥ AWG 14)
Communication
Communication protocol • System bus (CAN)• CANopen (CAL-based communication profile DS301/DS401)
Communication medium DIN ISO 11898
Network topology Line (terminated at both ends)
Cable length
Baud rate [kbit/s] 10 20 50 100 125 250 500 800 1000
Max. bus length [m] 5000 2500 1000 600 500 250 80 50 25
Max. number of nodes 63
Electrical isolation from system bus Yes, via optocouplers
Connectable electronic modules
Max. number of elements 32
Max. number of digital input/outputmodules
32
Max. number of digital input/outputmodules
9
Max. number 2/4×counter 4
Max. number SSI interface 9
Max. number 1×counter/16×digital input 9
Max. digital input data 72 bytes
Max. digital output data 72 bytes
Max. analog input data 72 bytes
Max. analog output data 72 bytes
Dimensions
Width 25.4 mm
Height 76.0 mm
Depth 76.0 mm
Weight 80 g
Order designation EPM-T110
Technical data
8×digital input
5The modular system
5.3
l 5.3-1EDSPM-TXXX-3.0-04/2004
5.3 8×digital input
The module 8×digital input detects the binary control signals of the process leveland transfers them to the master bus system.
8 digital inputs
Suitable for switches and proximity switches
LED displays the states of the digital inputs
epm-t015
Fig. 5.3-1 Overview of 8×digital input
LED for status displayBit address label cardPlug-in terminal strip
Description
Features
Overview
8×digital input
5 The modular system
5.3
l5.3-2 EDSPM-TXXX-3.0-04/2004
DI 8xDC24V
.0
.1
.2
.3
.4
.5
.6
.7
1
2
3
4
5
6
7
8
9
L
10
EPM – T210 1A
+–
1
2
3
4
5
6
7
8
9
10
DC 24 V (DC 18 … 28.8 V)
epm-t025 epm-t026
Fig. 5.3-2 Front view and connection of 8×digital input
Status display .0 ... .7; LED (green) islit h HIGH l l i i d
Terminal strip assignment detailsy (g )lit when a HIGH level is recognised 1 Not assigned
2 Digital input E.03 Digital input E.14 Digital input E.25 Digital input E.36 Digital input E.47 Digital input E.58 Digital input E.69 Digital input E.710 GND (reference potential)
Connection to backplane bus
Type 8×digital input
Voltage supply DC 5 V / 20 mA (via backplane bus)
Connectable cable cross-section ≤ 2.5 mm2 (≥ AWG 14)
Digital inputs
Rated input voltage DC 24 V (DC 18 ... 28.8 V)
Number of inputs 8
Level LOW: DC 0 ... 5 VHIGH: DC 15 ... 30 V
Input resistance 3.3 kΩDelay time 3 ms
Electrical isolation from backplane bus Yes, via optocouplers
Communication
Input data 1 byte
Dimensions
Width 25.4 mm
Height 76.0 mm
Depth 76.0 mm
Weight 50 g
Order designation EPM-T210
Status display and terminalassignment
Technical data
16×digital input
5The modular system
5.4
l 5.4-1EDSPM-TXXX-3.0-04/2004
5.4 16×digital input
The module 16×digital input detects the binary control signals of the process leveland transfers them to the master bus system.
Note!The chapter ”Parameter setting” describes how to parameterisethe module.
16 digital inputs
Suitable for switches and proximity switches
LED displays the states of the digital inputs
epm-t129
Fig. 5.4-1 Overview of 16×digital input
LED for status displayPlug-in terminal strip
Description
Features
Overview
16×digital input
5 The modular system
5.4
l5.4-2 EDSPM-TXXX-3.0-04/2004
DI 16xDC24V
EPM – T211
1
2.0
3.1
4.2
5.3
6.4
7.5
8.6
9.7
10.0
11.1
12.2
13.3
14.4
15.5
16.6
17.7
18
+–
1
2
3
4
14
15
16
17
18
DC 24 V (DC 18 … 28.8 V)
epm-t125 epm-t121
Fig. 5.4-2 Front view and connection of 16×digital input
2 × status display .0 ... .7; LED( ) i lit h HIGH l l i
Terminal strip assignment detailsy(green) is lit when a HIGH level isrecognised
1 Not assignedrecognised
2 Digital input E.03 Digital input E.14 Digital input E.2... ...14 Digital input E.1215 Digital input E.1316 Digital input E.1417 Digital input E.1518 GND (reference potential)
Connection to backplane bus
Type 16×digital input
Voltage supply DC 5 V / 30 mA (via backplane bus)
Connectable cable cross-section ≤ 1.5 mm2 (≥ AWG 16)
Digital inputs
Rated input voltage DC 24 V (DC 18 ... 28.8 V)
Number of inputs 16
Level LOW: DC 0 ... 5 VHIGH: DC 15 ... 30 V
Input resistance 3.3 kΩDelay time 3 ms
Electrical isolation from backplane bus Yes, via optocouplers
Communication
Input data 2 bytes
Dimensions
Width 25.4 mm
Height 76.0 mm
Depth 76.0 mm
Weight 50 g
Order designation EPM-T211
Status display and terminalassignment
Technical data
8×digital output 1A
5The modular system
5.5
l 5.5-1EDSPM-TXXX-3.0-04/2004
5.5 8×digital output 1A
The module 8×digital output 1A detects the binary control signals from the masterbus system and transports them to the process level via the outputs. The digitaloutputs are supplied via an external voltage supply (DC 24 V).
Note!The chapter ”Parameter setting” describes how to parameterisethe module.
8 digital outputs
DC 24 V supply voltage
Each digital output has a capacity of up to 1 A
Suitable for solenoid valves and DC contactors
LED displays the states of the digital outputs
epm-t015
Fig. 5.5-1 Overview of 8×Digital output 1A
LED for status displayBit address label cardPlug-in terminal strip
Description
Features
Overview
8×digital output 1A
5 The modular system
5.5
l5.5-2 EDSPM-TXXX-3.0-04/2004
DO 8xDC24V 1A
.0
L+
.1
.2
.3
.4
.5
.6
.7
F
1
2
3
4
5
6
7
8
9
L
10
EPM – T220 1A
1
2
3
4
5
6
7
8
9
10
– +
Z
Z
Z
Z
Z
Z
Z
Z
DC 24 V (DC 18 … 35 V)
epm-t017 epm-t016
Fig. 5.5-2 Front view and connection of 8×digital output 1A
Status display L+; LED (yellow) is litwhen a supply voltage is applied
Terminal strip assignmentdetailswhen a su ly voltage is a lied
1 DC 24 V supply voltage2 Digital output A.0
Status display .0 ... .7; LED (green) islit h th di t t i
3 Digital output A.1y (g )lit when the corresponding output istriggered
4 Digital output A.2triggered
5 Digital output A.3Status display F; LED (red) is lit in
f l d h ti6 Digital output A.4y ( )
case of overload, overheating orshort circuit
7 Digital output A.5short circuit
8 Digital output A.69 Digital output A.710 GND (reference potential)
Connection to backplane busZ Load
Type 8×digital output 1A
Voltage supply DC 5 V / 20 mA (via backplane bus)
Connectable cable cross-section ≤ 2.5 mm2 (≥ AWG 14)
Digital output data
Rated load voltage DC 24 V (DC 18 ... 35 V)
Number of outputs 8
Max. output current per output 1 A (sustained short-circuit-proof)
Delay time < 1 ms
Electrical isolation from backplane bus Yes, via optocouplers
Communication
Output data 1 byte
Dimensions
Width 25.4 mm
Height 76.0 mm
Depth 76.0 mm
Weight 50 g
Order designation EPM-T220
Status display and terminalassignment
Technical data
16×digital output 1A
5The modular system
5.6
l 5.6-1EDSPM-TXXX-3.0-04/2004
5.6 16×digital output 1A
The module 16×digital output 1A detects the binary control signals from themaster bus system and transports them to the process level via the outputs. Thedigital outputs are supplied via an external voltage source (DC 24 V).
Note!The chapter ”Parameter setting” describes how to parameterisethe module.
16 digital outputs
DC 24 V supply voltage
Each digital output has a capacity of up to 1 A
Suitable for solenoid valves and DC contactors
LED displays the states of the digital outputs
epm-t129
Fig. 5.6-1 Overview of 16×digital output 1A
LED for status displayPlug-in terminal strip
Description
Features
Overview
16×digital output 1A
5 The modular system
5.6
l5.6-2 EDSPM-TXXX-3.0-04/2004
DO 16xDC24V 1A
EPM – T223 1A
1
2.0
3.1
4.2
L+
5.3
6.4
7.5
8.6
9.7
10.0
11.1
12.2
13.3
14.4
15.5
16.6
17.7
F 18
1
2
3
4
14
15
16
17
18
Z
Z
Z
Z
Z
Z
Z
– +DC 24 V (DC 18 … 35 V)
epm-t126 epm-t122
Fig. 5.6-2 Front view and connection of 16×digital output 1A
Status display L+; LED (yellow) is litwhen a supply voltage is applied
Terminal strip assignmentdetailswhen a su ly voltage is a lied
1 DC 24 V supply voltage2 Digital output A.0
2 ×Status display .0 ... .7; LED( ) i lit h th di
3 Digital output A.1y(green) is lit when the correspondingoutput is triggered
4 Digital output A.2output is triggered
5 Digital output A.3Status display F; LED (red) is lit in
f l d h ti... ...y ( )
case of overload, overheating orshort circuit
15 Digital output A.13short circuit
16 Digital output A.1417 Digital output A.1518 GND (reference potential)
Connection to backplane busZ Load
Type 16×digital output 1A
Voltage supply DC 5 V / 80 mA (via backplane bus)
Connectable cable cross-section ≤ 1.5 mm2 (≥ AWG 16)
Digital output data
Rated load voltage DC 24 V (DC 18 ... 35 V)
Number of outputs 16
Max. output current per output 1 A (sustained short-circuit-proof)
Max. output summation current 10A
Delay time < 1 ms
Electrical isolation from backplane bus Yes, via optocouplers
Communication
Output data 2 bytes
Dimensions
Width 25.4 mm
Height 76.0 mm
Depth 76.0 mm
Weight 50 g
Order designation EPM-T223
Status display and terminalassignment
Technical data
8×digital output 2A
5The modular system
5.7
l 5.7-1EDSPM-TXXX-3.0-04/2004
5.7 8×digital output 2A
The module 8×digital output 2A detects the binary control signals from the masterbus system and transports them to the process level via the outputs. The digitaloutputs are supplied via an external voltage source (DC 24 V).
Note!The chapter ”Parameter setting” describes how to parameterisethe module.
8 digital outputs
DC 24 V supply voltage
Each digital output has a capacity of up to 2 A
Suitable for solenoid valves and DC contactors
LED displays the states of the digital outputs
epm-t015
Fig. 5.7-1 Overview of 8×digital output 2A
LED for status displayBit address label cardPlug-in terminal strip
Description
Features
Overview
8×digital output 2A
5 The modular system
5.7
l5.7-2 EDSPM-TXXX-3.0-04/2004
DO 8xDC24V 1A
.0
L+
.1
.2
.3
.4
.5
.6
.7
F
1
2
3
4
5
6
7
8
9
L
10
EPM – T220 1A
1
2
3
4
5
6
7
8
9
10
– +
Z
Z
Z
Z
Z
Z
Z
Z
DC 24 V (DC 18 … 35 V)
epm-t017 epm-t016
Fig. 5.7-2 Front view and connection of 8×digital output 2A
Status display L+; LED (yellow) is litwhen a supply voltage is applied
Terminal strip assignmentdetailswhen a su ly voltage is a lied
1 DC 24 V supply voltage2 Digital output A.0
Status display .0 ... .7; LED (green) islit h th di t t i
3 Digital output A.1y (g )lit when the corresponding output istriggered
4 Digital output A.2triggered
5 Digital output A.3Status display F; LED (red) is lit in
f l d h ti6 Digital output A.4y ( )
case of overload, overheating orshort circuit
7 Digital output A.5short circuit
8 Digital output A.69 Digital output A.710 GND (reference potential)
Connection to backplane busZ Load
Type 8×digital output 2A
Voltage supply DC 5 V / 20 mA (via backplane bus)
Connectable cable cross-section ≤ 2.5 mm2 (≥ AWG 14)
Digital output data
Rated load voltage DC 24 V (DC 18 ... 35 V)
Number of outputs 8
Max. output current per output 2 A (sustained short-circuit-proof)
Max. output summation current 10A
Delay time < 1 ms
Electrical isolation from backplane bus Yes, via optocouplers
Communication
Output data 1 byte
Dimensions
Width 25.4 mm
Height 76.0 mm
Depth 76.0 mm
Weight 50 g
Order designation EPM-T221
Status display and terminalassignment
Technical data
4×relay
5The modular system
5.8
l 5.8-1EDSPM-TXXX-3.0-04/2004
5.8 4×relay
The module 4×relay detects the binary control signals from the master bus systemand transports them to the process level via the outputs. The module has fourrelays with a switch each (NO contact).
Note!The chapter ”Parameter setting” describes how to parameterisethe module.
Four isolated relay outputs
Up to 230 V AC or up to 30 V DC contact voltage
Max. 5 A contact current
Suitable for motors, lamps, solenoid valves and DC contactors
LED displays the switching states
epm-t015
Fig. 5.8-1 Overview of 4×relay
LED for status displayBit address label cardPlug-in terminal strip
Description
Features
Overview
4×relay
5 The modular system
5.8
l5.8-2 EDSPM-TXXX-3.0-04/2004
DO 4xRELAIS
.0
.1
.2
.3
1
2
3
4
5
6
7
8
9
L
10
EPM – T222 1A
1+5 V
2
3
4
5
6
7
8
9
10
Z
Z
Z
Z
epm-t020 epm-t021
Fig. 5.8-2 Front view and connection of 4×relay
Status display; LED (green) is lit whena relay output is triggered
Terminal strip assignmentdetailsa relay out ut is triggered
1 Not assigned2/3 Relay output A.0
.0 Relay output A.0 4/5 Relay output A.11. Relay output A.1 6/7 Relay output A.2.2 Relay output A.2 8/9 Relay output A.3.3 Relay output A.3 10 Not assigned
Connection to backplane busExternal AC voltage sourceAC 0 ... 230 VExternal DC voltage sourceDC 0 ... +30 V
Z Load
Status display and terminalassignment
4×relay
5The modular system
5.8
l 5.8-3EDSPM-TXXX-3.0-04/2004
Maximum relay contact switching capacity Relay contact life
20 30 50 100 200 300 U [V]
0.2
0.5
2
345
1
0.30.4
I [A]
100
50
30
20
10
0.5 1 2 3 4 5 10 100
n
epm-t018 epm-t019
Fig. 5.8-3 Diagrams for the module 4×relay
I Contact current n Number of switching cycles × 104
U Contact voltage Service life at AC 125 VSwitching capacity at AC voltage Service life at DC 30 VSwitching capacity at DC voltage Service life at AC 230 V
Type 4×relay
Voltage supply DC 5 V 125 mA (via backplane bus)
Connectable cable cross-section ≤ 2.5 mm2 (≥ AWG 14)
Relay outputs
Number 4
Max. contact voltage AC 230 VDC 30 V
Max. contact current 5A
Max. relay switching frequency 100 Hz
Communication
Output data 1 byte (bit 0 ... bit 3)
Dimensions
Width 25.4 mm
Height 76.0 mm
Depth 76.0 mm
Weight 80 g
Order designation EPM-T222
Technical data
8×digital input / output
5The modular system
5.9
l 5.9-1EDSPM-TXXX-3.0-04/2004
5.9 8×digital input / output
The channels of the module 8×digital input / output can be used either as digitalinputs or outputs. The digital inputs or outputs are supplied via an external voltagesource.
Note!The chapter ”Parameter setting” describes how to parameterisethe module.
8 digital inputs or outputs at option
DC 24 V supply voltage
Each digital output has a capacity of up to 1 A
LED shows the status
epm-t015
Fig. 5.9-1 Overview of 8×digital input / output
LED for status displayBit address label cardPlug-in terminal strip
Description
Features
Overview
8×digital input / output
5 The modular system
5.9
l5.9-2 EDSPM-TXXX-3.0-04/2004
DIO 8xDC24V 1A
.0
L+
.1
.2
.3
.4
.5
.6
.7
F
1
2
3
4
5
6
7
8
9
L
10
EPM – T230 1A
–
+
2
1
3
4
5
6
7
8
9
10
Z
Z
Z
Z
DC 24 V
(DC +18 … +35 V)
epm-t027 epm-t028
Fig. 5.9-2 Front view and connection of 8×digital input / output
Status display L+; LED (yellow) is litwhen a supply voltage is applied
Terminal strip assignmentdetailswhen a su ly voltage is a lied
1 DC 24 V supply voltage2 Digital input / output E/A.0
Status display .0 ... .7; LED (green) islit h th di t t i
3 Digital input / output E/A.1y (g )lit when the corresponding output istriggered
4 Digital input / output E/A.2triggered
5 Digital input / output E/A.3Status display F; LED (red) is lit in
f l d h ti6 Digital input / output E/A.4y ( )
case of overload, overheating orshort circuit
7 Digital input / output E/A.5short circuit
8 Digital input / output E/A.69 Digital input / output E/A.710 GND (reference potential)
Connection to backplane busEmergency-off switch
Z Load
Stop!If the voltage supply (DC 5 V via the backplane bus) fails, themodule will malfunction:
Switched outputs carry voltage if one input is assigned with aHIGH level,The module can be destroyed since the outputs are notresistant to short circuits anymore.
The emergency-off switch ensures that when being operated, theoutputs do not carry any voltage and the inputs are not assignedwith a HIGH level.
Status display and terminalassignment
8×digital input / output
5The modular system
5.9
l 5.9-3EDSPM-TXXX-3.0-04/2004
Type 8×digital input / output
Voltage supply DC 5 V / 50 mA (via backplane bus)
Connectable cable cross-section ≤ 2.5 mm2 (≥ AWG 14)
Digital inputs / outputs
Number 8, can be optionally parameterised as inputs or outputs
Electrical isolation from backplane bus Yes, via optocouplers
Digital inputs
Inputs 8
Rated input voltage DC 24 V (DC 18 ... 35 V)
Level LOW: DC 0 V ... 5 VHIGH: DC 15 V ... 30 V
Input resistance 3.3 kΩDelay time 3 ms
Digital outputs
Outputs 8
Rated load voltage DC 24 V (DC 18 ... 35 V)
Max. output current per output 1 A (resistant to short circuits)
Delay time < 1 ms
Communication
Input data 1 byte
Output data 1 byte
Dimensions
Width 25.4 mm
Height 76.0 mm
Depth 76.0 mm
Weight 50 g
Order designation EPM-T230
Technical data
4×analog input
5The modular system
5.10
l 5.10-1EDSPM-TXXX-3.0-04/2004
5.10 4×analog input
The module 4×analog input has four analog inputs which can be parameterisedindividually. The module assigns a total of eight bytes of input data in the processimage (two bytes per input). The analog inputs are isolated with regard to thebackplane bus.
Note!The chapter ”Parameter setting” describes how to parameterisethe module.
4 analog inputs
The inputs can be parameterised individually
Any unused inputs can be deactivated
The reference potentials (GND) of the analog inputs are electricallyseparated from each other
The reference potentials may vary from each other by a voltage differential ofup to 5 V
Input ranges: Voltage, current, temperature, resistance
LED diagnostics display a wire breakage or overcurrent in the currentmeasuring range
epm-t015
Fig. 5.10-1 Overview of 4×analog input
LED for status displayBit address label cardPlug-in terminal strip
Description
Features
Overview
4×analog input
5 The modular system
5.10
l5.10-2 EDSPM-TXXX-3.0-04/2004
AI 4x16BIT
F0
F1
F2
F3
1
2
3
4
5
6
7
8
9
L
10
EPM – T310 1A 10
epm-t029
Fig. 5.10-2 Front view 4×analog input
Status display
LED (red) is lit in case of a wire breakage in the measuring range of 4 ... 20 mA
LED (red) is blinking at an input current of >40 mAF0 Analog input E.0F1 Analog input E.1F2 Analog input E.2F3 Analog input E.3Terminal strip
Assignment:Two-wire connection Four-wire connection
1 Not assigned -V / analog input E.02 + / analog input E.0 -I / analog input E.03 - / analog input E.0 Not assigned4 + / analog input E.1 +V / analog input E.05 - / analog input E.1 -I / analog input E.06 + / analog input E.2 -I / analog input E.27 - / analog input E.2 Not assigned8 + / analog input E.3 +V / analog input E.29 - / analog input E.3 -I / analog input E.210 Not assigned -V / analog input E.2
Status display and terminalassignment
4×analog input
5The modular system
5.10
l 5.10-3EDSPM-TXXX-3.0-04/2004
Connection
Two-wire connection Four-wire connection
2
1
3
5
7
9
10
4
6
8
D
AµP
MU
X
PES
PES PES
PESPES
PES PES
PES
D
AµP
MU
X
9
10
+U
+U
-U
-U
I
I
I
I
8
7
6
5
4
3
2
1
PESPES
PES
PES
epm-t036 epm-t033
Fig. 5.10-3 Sensor connection
Analog input E.0Analog input E.2Connection to backplane bus
PES HF shield termination through large-surface connection to PESensor:
Voltage or current source
Thermal element
Resistor
Resistor, temperature-dependent
Note!Short-circuit unused inputs (connect positive and negativeterminals) or deactivate them by assigning the function numberFFh.The 4×analog input module does not supply any auxiliaryvoltage for sensors. For information on how to connect sensors,please refer to the relevant sensor documentation.
4×analog input
5 The modular system
5.10
l5.10-4 EDSPM-TXXX-3.0-04/2004
Type 4×analog input
Voltage supply DC 5 V / 240 mA (via backplane bus)
Connectable cable cross-section ≤ 2.5 mm2 (≥ AWG 14)
Analog inputs
Number 4
Input area
Voltage -10 ... +10 V-4 ... +4 V-400 ... +400 mV0 ... +50 mV
Current -20 ... +20 mA+4 ... +20 mA
Information on tolerancescan be found in the chapter”Parameter setting”
Resistor 60 Ω, 600 Ω, 3 kΩ,6 kΩ”Parameter setting”
Resistor, temperature-dependent PT100, PT1000, Ni100,NI1000
Thermal element J, K, N, R, S, T
Input resistance
Voltage range 2 MΩCurrent range 50 Ω
Delay times Conversion time/resolution
Conversion rate [Hz] 3.7 7.5 15 30 60 123 168 202
Processing time per channel [ms] 290 150 84 54 36 28 26 26
Resolution [Bit] 16 16 16 16 15 14 12 10
Electrical isolation from backplane bus Yes, via optocouplers
Communication
Input data 8 bytes (2 bytes per analog input)
Parameter data 10 bytes
Diagnostic data 4 bytes
Dimensions
Width 25.4 mm
Height 76.0 mm
Depth 76.0 mm
Weight 100 g
Order number EPM-T310
Technical data
4×analog output
5The modular system
5.11
l 5.11-1EDSPM-TXXX-3.0-04/2004
5.11 4×analog output
The module 4×analog output has four analog outputs which can be parameterisedindividually. The analog outputs are isolated with regard to the backplane bus.
Note!The chapter ”Parameter setting” describes how to parameterisethe module.
4 analog outputs
DC 24 V supply voltage
The outputs can be parameterised individually
One reference potential (GND) for all outputs
Output ranges: Voltage, current
LED diagnostics displays a wire breakage at current output and a shortcircuit at voltage output
epm-t015
Fig. 5.11-1 Overview of 4×analog output
LED for status displayBit address label cardPlug-in terminal strip
Description
Features
Overview
4×analog output
5 The modular system
5.11
l5.11-2 EDSPM-TXXX-3.0-04/2004
AO 4x12BIT
Q0
M0
Q1
M1
Q2
M2
Q3
M3
M
L+ 1
2
3
4
5
6
7
8
9
L
10
EPM – T320 1A 10
2
1
3
5
7
9
10
4
6
8
D
A
D
A
D
A
D
A
µP
PES
PES
PES
PES
PES
PES
PES
PES
–
+DC 24 V
(DC 19.2
… 28.8 V)
epm-t030 epm-t037
Fig. 5.11-2 Front view and connection of 4×analog output
Status display L+; LED (yellow) is lith l lt i li d
Terminal strip assignment detailsy (y )when a supply voltage is applied 1 DC 24 V supply voltageStatus display M3; LED (red) is lit in
f th f ll i f lt2 Analog output A.0y ( )
case of the following faults:
Short-circuit on voltage output3 GND1 (reference potential for
analog signals)Short circuit on voltage out ut
Open circuit on current output 4 Analog output A.1O en circuit on current out ut
CAN gateway is not supplied withvoltage
5 GND1 (reference potential foranalog signals)voltage
6 Analog output A.27 GND1 (reference potential for
analog signals)8 Analog output A.39 GND1 (reference potential for
analog signals)10 GND (reference potential for
supply voltage)Connection to backplane busInput resistor of actuator
PES HF shield termination throughlarge-surface connection to PE
Note!Ensure correct polarity when connecting the actuators.The 4×analog output module does not supply any auxiliaryvoltage for actuators. For information on how to connectactuators requiring auxiliary voltage, please refer to the relevantactuator documentation.Unused outputs remain unassigned.
Status display and terminalassignment
4×analog output
5The modular system
5.11
l 5.11-3EDSPM-TXXX-3.0-04/2004
Type 4×analog output
Voltage supply DC 5 V / 20 mA (via backplane bus)
External voltage supply DC 24 V / 200 mA (DC 19.2 ... 28.8 V)
Connectable cable cross-section ≤ 2.5 mm2 (≥ AWG 14)
Analog outputs
Number 4 outputs
Output current consumption 200 mA
Analog-to-digital converter 12 bits
Output ranges
Voltage -10 ... +10 V+1 ... +5 V0 ... +10 V Information on tolerances can be
found in the chapter ”ParameterCurrent -20 ... +20 mA
+4 ... +20 mA0 ... +20 mA
found in the chapter ”Parametersetting”
Actuator - input resistance
Voltage range min. 500 ΩCurrent range max. 500 Ω
Delay time 10 ms
Electrical isolation from backplane bus Yes, via optocouplers
Communication
Output data 8 bytes (2 bytes per analog output)
Parameter data 6 bytes
Diagnostic data 4 bytes
Dimensions
Width 25.4 mm
Height 76.0 mm
Depth 76.0 mm
Weight 100 g
Order number EPM-T320
Technical data
4×analog input / output
5The modular system
5.12
l 5.12-1EDSPM-TXXX-3.0-04/2004
5.12 4×analog input / output
The module 4×analog input / output has two analog inputs and two analog outputswhich can be parameterised individually. The analog inputs and outputs areisolated from the backplane bus and the voltage supply.
Note!The chapter ”Parameter setting” describes how to parameterisethe module.
2 analog inputs
2 analog outputs
DC 24 V supply voltage
The inputs and outputs can be parameterised individually
Input ranges: Voltage, current
Output ranges: Voltage, current
LED diagnostics displays a wire breakage in the current measuring range
epm-t015
Fig. 5.12-1 Overview of 4×analog input / output
LED for status displayBit address label cardPlug-in terminal strip
Description
Features
Overview
4×analog input / output
5 The modular system
5.12
l5.12-2 EDSPM-TXXX-3.0-04/2004
AI/AO 2/2x12BIT
+0
M0
+1
M1
Q0
M0
Q1
M1
F
L+
L
EPM – T330 1A. 10
1
2
3
4
5
6
7
8
9
10
D
A
D
A
µP
2
1
3
5
7
9
10
4
6
8
PES
PES
PES
PES
PES
PES
PES
PES
–
+DC 24 V
(DC 20.4
… 28.8 V)
MU
XD
A
epm-t127 epm-t123
Fig. 5.12-2 Front view and connection of 4×analog input / output
Status display L+; LED (yellow) is lith l lt i li d
Terminal strip assignment detailsy (y )when a supply voltage is applied 1 DC 24 V supply voltageStatus display F; LED (red) is lit in
f th f ll i f lt2 + analog input E.0y ( )
case of the following faults:
N t l l lt3 - analog input E.0
No external supply voltage
Wi b k i h4 + analog input E.1
Wire breakage in the currentmeasuring range
5 - analog input E.1measuring range 6 Analog output A.0
7 GND (reference potential foranalog signals)
8 Analog output A.19 GND (reference potential for
analog signals)10 GND (reference potential for
supply voltage)Connection to backplane busInput resistorof actuatorSensor (voltage or current source)
PES HF shield termination throughlarge-surface connection to PE
Note!Short-circuit unused inputs (connect positive and negativeterminals) or deactivate them by assigning the function numberFFh.Ensure correct polarity when connecting the actuators.Unused outputs remain unassigned.The 4×analog input/output module does not supply anyauxiliary voltage for sensors/actuators. For information on howto connect sensors/actuators requiring auxiliary voltage, pleaserefer to the relevant sensor/actuator documentation.
Status display and terminalassignment
4×analog input / output
5The modular system
5.12
l 5.12-3EDSPM-TXXX-3.0-04/2004
Type 4×analog input / output
Voltage supply DC 5 V / 100 mA (via backplane bus)
External voltage supply DC 24 V / 110 mA (DC 20.4 ... 28.8 V)
Short-circuit current 30 mA
Connectable cable cross-section ≤ 2.5 mm2 (≥ AWG 14)
Analog inputs
Number 2
Input area
Voltage DC 0 ... +10 VDC -10 ... +10 VDC +1 ... +5 V Information on tolerances
can be found in the chapterCurrent 0 ... +20 mA
-20 ... +20 mA+4 ... +20 mA
can be found in the chapter”Parameter setting”
Conversion rate [Hz] 3.7 7.5 15 30 60 123 168 202
Processing time per channel [ms] 290 150 84 54 36 28 26 26
Resolution [Bit] 16 16 16 16 15 14 12 10
Electrical isolation from backplane bus Yes, via optocouplers
Analog outputs
Number 2
Analog-to-digital converter 12 bits
Output ranges(Tolerances refer to the upper limit of effectiverange)
Voltage DC 0 ... +10 V (±0.4 %)DC -10 ... +10 V (±0.2 %)DC +1 ... +5 V (±0.6 %)
Current 0 ... +20 mA (±0.6 %)-20 ... +20 mA (±0.3 %)+4 ... +20 mA (±0.8 %)
Actuator input resistor
Voltage range min. 500 ΩCurrent range max. 500 Ω
Delay time 10 ms
Electrical isolation from backplane bus Yes, via optocouplers
Communication
Input data 4 bytes (one word per channel)
Output data 4 bytes
Parameter data 12 bytes
Diagnostic data 12 bytes
Dimensions
Width 25.4 mm
Height 76.0 mm
Depth 76.0 mm
Weight 100 g
Order number EPM-T330
Technical data
2/4×counter
5The modular system
5.13
l 5.13-1EDSPM-TXXX-3.0-04/2004
5.13 2/4×counter
The module 2/4×counter detects the pulses of the connected encoders andprocesses these pulses according to the mode selected. The module has two32-bit counters or four 16-bit counters. Each 32-bit counter has a digital outputwhich can be triggered depending on the mode.
Note!The chapter ”Parameter setting” describes how to parameterisethe module.
Two 32-bit counters or four 16-bit counters
One freely configurable digital output per 32-bit counter with an outputcurrent of 0.5 A
Counter and compare registers loaded via control byte
Up / down counter, optionally with a channel width of 32 or 16 bits
Compare and Auto Reload functionality
Various modes for encoder pulses
Period and frequency measuring
LED displays status of the inputs and outputs
epm-t015
Fig. 5.13-1 Overview of 2/4×counter
LED for status displayBit address label cardPlug-in terminal strip
Description
Features
Overview
2/4×counter
5 The modular system
5.13
l5.13-2 EDSPM-TXXX-3.0-04/2004
2 Counter 2 DO
R0
C0
D0
O0
R1
C1
D1
O1
F
L+ 1
2
3
4
5
6
7
8
9
L
10
EPM – T410 1A 10
2
C0
C2
1
OUT0
OUT1
GND
IN1
IN4
IN3
IN6
IN2
IN5
3
5
7
9
10
4
6
8
+
–
DC 24 V
(DC 18
… 30 V)
Z
Z
epm-t038 epm-t039
Fig. 5.13-2 Front view and connection of 2/4×counter
Status display L+; LED (yellow) islit h l lt i li d
Terminal strip assignment detailsy (y )lit when a supply voltage is applied 1 DC 24 V supply voltage
2 IN1: Input 1 of counter 0Status display 00; LED (green) is lit 3 IN2: Input 2 of counter 0Status dis lay 00 LED (green) is litwhen the digital output OUT0 ist i d b t 0
4 IN3: Input 3 of counter 0gtriggered by counter 0 5 OUT0: Counter 0 outputStatus display 01; LED (green) is lit 6 IN4: Input 1 of counter 1Status dis lay 01 LED (green) is litwhen the digital output OUT1 ist i d b t 1
7 IN5: Input 2 of counter 1gtriggered by counter 1 8 IN6: Input 3 of counter 1Status display F; LED (red) is lit in 9 OUT1: Counter 1 outputStatus dis lay F LED (red) is lit incase of overload, overheating, andshort circuit
10 GND (reference potential forsupply voltage)
Connection to backplane busC0 32-bit counter 0c1 32-bit counter 1
BufferCounter register
Z Load
Counter mode overview
Mode of Function IN1 IN2 IN3 IN4 IN5 IN6 OUT0 OUT1 AutoR l d
CompareL d[h] [dec]
o oReload
o pLoad
2 counters 0 1
00h 0 32-bit counter RES CLK DIR RES CLK DIR • • – –
01h 1 Encoder 1 edge RES A B RES A B • • – –
03h 3 Encoder 2 edges RES A B RES A B • • – –
05h 5 Encoder 4 edges RES A B RES A B • • – –
4 counters 0.1 0.2 1.1 1.2
08h 8 2 × 16-bit counters(counting direction up/up)
– CLK CLK – CLK CLK – – – –
09h 9 2 × 16-bit counters(counting direction down/up)
– CLK CLK – CLK CLK – – – –
0Ah 10 2 × 16-bit counters(counting direction up/down)
– CLK CLK – CLK CLK – – – –
0Bh 11 2 × 16-bit counters(counting direction down/down)
– CLK CLK – CLK CLK – – – –
Status display and terminalassignment
2/4×counter
5The modular system
5.13
l 5.13-3EDSPM-TXXX-3.0-04/2004
Mode of CompareLoad
AutoReload
OUT1OUT0IN6IN5IN4IN3IN2IN1Function
[h]
CompareLoad
AutoReload
OUT1OUT0IN6IN5IN4IN3IN2IN1Function
[dec]
2 counters 0 1
0Ch 12 2 × 32-bit counters(counting direction up)
RES CLK GATE RES CLK GATE • • –
0Dh 13 2 × 32-bit counters(counting direction down)
RES CLK GATE RES CLK GATE • • –
0Eh 14 2 × 32-bit counters(counting direction up)
RES CLK GATE RES CLK GATE • •
0Fh 15 2 × 32-bit counters(counting direction down)
RES CLK GATE RES CLK GATE • •
1 counter 0/1
10h 16 Frequency measuring RES CLK START STOP – – • • –
11h 17 Measuring the period RES CLK START STOP – – • • –
12h 18 Frequency measuring(Counter output on/off)
RES CLK START STOP – – • • –
13h 19 Measuring the period(Counter output on/off)
RES CLK START STOP – – • • –
2 counters 0 1
06h 6 Measuring the pulse width(fref 50 kHz, counting direction isselectable)
RES PULSE DIR RES PULSE DIR – – – –
14h 20 Measuring the pulse width(fref programmable, countingdirection is selectable)
RES PULSE DIR RES PULSE DIR – – – –
15h 21 Measuring the pulse width(fref programmable, countingdirection: Upwards)
RES PULSE GATE RES PULSE GATE – – – –
16h 22 Measuring the pulse width(fref programmable, countingdirection: Downwards)
RES PULSE GATE RES PULSE GATE – – – –
2 counters 0 1
17h 23 2 × 32-bit counters(counting direction up, ”Set”function)
RES CLK GATE RES CLK GATE – – –
18h 24 2 × 32-bit counters(counting direction down, ”Set”function)
RES CLK GATE RES CLK GATE – – –
19h 25 2 × 32-bit counters(counting direction up, ”Reset”function)
RES CLK GATE RES CLK GATE – – –
1Ah 26 2 × 32-bit counters(counting direction down, ”Reset”function)
RES CLK GATE RES CLK GATE – – –
2/4×counter
5 The modular system
5.13
l5.13-4 EDSPM-TXXX-3.0-04/2004
Mode of CompareLoad
AutoReload
OUT1OUT0IN6IN5IN4IN3IN2IN1Function
[h]
CompareLoad
AutoReload
OUT1OUT0IN6IN5IN4IN3IN2IN1Function
[dec]
2 counters 0 1
1Bh 27 32-bit counter G/RES CLK DIR G/RES CLK DIR • • – –
1Ch 28 Encoder 1 edge G/RES A B G/RES A B • • – –
1Dh 29 Encoder 2 edges G/RES A B G/RES A B • • – –
1Eh 30 Encoder 4 edges G/RES A B G/RES A B • • – –
2 counters 0 1
1Fh 31 2 × 32-bit counters(counting direction up)
RES CLK GATE RES CLK GATE • • –
20h 32 2 × 32-bit counters(counting direction down)
RES CLK GATE RES CLK GATE • • –
21h 33 2 × 32-bit counters(counting direction up)
RES CLK GATE RES CLK GATE • •
22h 34 2 × 32-bit counters(counting direction down)
RES CLK GATE RES CLK GATE • •
2 counters 0 1
23h 35 32-bit counter GATE CLK DIR GATE CLK DIR • • – –
24h 36 Encoder 1 edge GATE A B GATE A B • • – –
25h 37 Encoder 2 edges GATE A B GATE A B • • – –
26h 38 Encoder 4 edges GATE A B GATE A B • • – –
• Digital output can signal an eventFunction available.
– No function / function not availableA Encoder signal AAuto Reload ”Auto Reload” causes the counter to accept a preset value as soon
as the counter content matches the Compare register content.B Encoder signal BCompare Load You may use ”Compare Load” to specify a counter limit value to
trigger an output when reached or to restart the counters via AutoReload.
CLK Clock signal of a connected encoder
HIGH level starts and / or stops the counting processDIR Indicates counting direction depending on signal level
LOW: Upcounter
HIGH: DowncounterGATE Gate signal is level-triggered
HIGH: Pulses are measuredG/RES Gate signal is level-triggered and reset signal is edge-triggered
HIGH: Pulses are measured
LOW-HIGH edge: Deletes one or both countersPULSE The pulse width of the supplied signal is measured with an internal
time baseRES Reset signal is level-triggered
HIGH: Deletes one or both countersRES Reset signal is edge-triggered
LOW-HIGH edge: Deletes one or both countersSTART Start signal is edge-triggeredSTOP Stop signal is edge-triggered
2/4×counter
5The modular system
5.13
l 5.13-5EDSPM-TXXX-3.0-04/2004
Type 2/4×counter
Order designation EPM-T410
Voltage supply DC 5 V / 80 mA (via backplane bus)
Connectable cable cross-section ≤ 2.5 mm2 (≥ AWG 14)
Counters
Number 2 × 32-bit counter or 4 × 16-bit counter
Operating modes 36 modes
Counting frequency 1 MHz
Inputs / outputs
External voltage supply DC 24 V (DC 18 ... 28.8 V)
Input signal level LOW: DC -30 ... +5 VHIGH: DC +13 ... +36 V
Max. output current per output 0,5A
Communication
Input data 10 bytes
Output data 10 bytes
Parameter data 2 bytes
Dimensions
Width 25.4 mm
Height 76.0 mm
Depth 76.0 mm
Weight 100 g
Technical data
SSI interface
5The modular system
5.14
l 5.14-1EDSPM-TXXX-3.0-04/2004
5.14 SSI interface
An SSI interface (Synchronous Serial Interface) is a synchronously pulsed, serialinterface.
SSI interface module permits the connection of absolutely coded sensors with SSIinterfaces. The module converts the serial information of the sensor into a parallelinformation and makes it available to the control.
Note!The chapter ”Parameter setting” describes how to parameterisethe module.
1 SSI channel
Data transmission in the Gray code or binary code (safe data collection byusing the Gray code)
Adjustable baud rate of 100 ... 600 kbits/s
Maximum data integrity by using symmetrical clock and data signals
Isolation from receiver and encoder by optocoupler
Two parameterisable digital outputs, one of which parameterisable as holdinput to ”freeze” the current SSI encoder value
Integrated power supply unit of the interface electronics and the connectedsensor
LED shows the status
epm-t015
Fig. 5.14-1 Overview of SSI interface
LED for status displayBit address label cardPlug-in terminal strip
Description
Features
Overview
SSI interface
5 The modular system
5.14
l5.14-2 EDSPM-TXXX-3.0-04/2004
Status display and terminal assignment
SSI
Cl+
Cl-
D+
D-
Us
M
.0
.1
F
L+ 1
2
3
4
5
6
7
8
9
L
10
EPM – T411 1A. 10
2
1
3
5
7
9
10
4
6
8
PES
PES
–
–
++
DC 24 V
(DC 18
… 28.8 V)
µP
Z
SSI
epm-t124 epm-t130
Fig. 5.14-2 Front view and connection of SSI interface
Status display L+; LED (yellow) islit h l lt i li d
Terminal strip assignment detailsy (y )lit when a supply voltage is applied 1 DC 24 V supply voltage
2 Clock pulseStatus display Cl+; LED (green) islit ith t t l k i l
3 Clock pulse convertedy (g )lit with an output clock signal 4 Data
5 Data convertedStatus display D+; LED (green) is litwhen the SSI sensor is receiving
6 DC 24 V supply voltage forSSI sensorwhen the SSI sensor is receiving
data 7 GND (reference potential ofl lt f SSI )Status display .0; LED (green) is lit
h HIGH l l i li d t
(supply voltage for SSI sensor)y (g )
when a HIGH level is applied to oroutput at input/output 0
8 Input/output .0output at input/output .0
9 Input/output .1Status display .1; LED (green) is litwhen a HIGH level is applied to or
10 GND (reference potential forsupply voltage)when a HIGH level is a lied to or
output at input/output .1 Connection to backplane busSSI SSI sensor
Status display F; LED (red) is lith th i t / t t 0 1
Z Loady ( )when the inputs / outputs .0 or .1are short-circuited or overloadedare short-circuited or overloaded
SSI interface
5The modular system
5.14
l 5.14-3EDSPM-TXXX-3.0-04/2004
Type SSI interface
Voltage supply DC 5 V / 200 mA (via backplane bus)
External voltage supply DC 24 V / 50 mA mA (DC 18 ... 28.8 V)
Connectable cable cross-section ≤ 2.5 mm2 (≥ AWG 14)
SSI interface
External voltage supply DC 24 V (DC 18 ... 28.8 V)
Number of channels 1
Data line RS422, isolated
Clockline RS422, isolated
Cable specification Shielded cable with cores twisted in pairs
Cable length
Baud rate [kbit/s] 100 300 600
Max. bus length [m] 400 100 50
Inputs / outputs
Number 2, optional parameter setting
Input signal level LOW: DC -5 ... +7 VHIGH: DC +13 ... +36 V
Max. output current per output 0.5A
Communication
Input data 4 bytes
Output data 4 bytes, further 8 bytes in the module serving as buffer
Parameter data 4 bytes
Dimensions
Width 25.4 mm
Height 76.0 mm
Depth 76.0 mm
Weight 100 g
Order designation EPM-T411
Technical data
1×counter/16×digital input
5The modular system
5.15
l 5.15-1EDSPM-TXXX-3.0-04/2004
5.15 1×counter/16×digital input
The module 1×counter/16×digital input detects the binary control signals of theprocess level and transfers them to the master bus system. In addition, a countercan be triggered via the first two inputs.
Note!The chapter ”Parameter setting” describes how to parameterisethe module.
16 digital inputs
Adjustable counter function (pulse, frequency) for the first two inputs
Suitable for switches and proximity switches
LED displays the states of the digital inputs
epm-t129
Fig. 5.15-1 Overview of 1×counter/16×digital input
LED for status displayPlug-in terminal strip
Description
Features
Overview
1×counter/16×digital input
5 The modular system
5.15
l5.15-2 EDSPM-TXXX-3.0-04/2004
1C/DI 16xDC24V
EPM – T430 1A
1
2.0
3.1
4.2
5.3
6.4
7.5
8.6
9.7
10.0
11.1
12.2
13.3
14.4
15.5
16.6
17.7
18
+–
2
1
3
4
14
15
16
17
18
DC 24 V (DC 18 … 28.8 V)
A
B
epm-t128 epm-t131
Fig. 5.15-2 Front view and connection 1×counter/16×digital input
2 × status display .0 ... .7; LED( ) i lit h HIGH l l i
Terminal strip assignment detailsy(green) is lit when a HIGH level isrecognised
1 Not assignedrecognised
2 Digital input E.0 or counterinput A
3 Digital input E.1 or counterinput B
4 Digital input E.2... ...16 Digital input E.1417 Digital input E.1518 GND (reference potential)Connection to backplane busPre-assign the counter with a countvalueOutput the current count value32-bit counter with channel A andchannel B
Counter mode overview
Mode Function E.0 E.1
0 4-fold pulse evaluation CLK CLK
1 Pulse and direction evaluation CLK DIR
2 Clock up/clock down evaluation CLK-UP CLK-DOWN
3 Frequency measurement CLK –
4 Period measurement CLK –
– No functionCLK Clock signal of a connected encoder
HIGH level starts and / or stops the counting processCLK-UP Clock signal of a connected encoder
With each LOW-HIGH edge the counter counts up by 1CLK-DOWN Clock signal of a connected encoder
With each LOW-HIGH edge the counter counts down by 1DIR Indicates counting direction depending on signal level
LOW: Upcounter
HIGH: Downcounter
Status display and terminalassignment
1×counter/16×digital input
5The modular system
5.15
l 5.15-3EDSPM-TXXX-3.0-04/2004
Type 1×counter/16×digital input
Voltage supply DC 5 V / 100 mA (via backplane bus)
Connectable cable cross-section ≤ 1.5 mm2 (≥ AWG 16)
Digital inputs
Rated input voltage DC 24 V (DC 18 ... 28.8 V)
Number of inputs 16
Level LOW: DC 0 ... 5 VHIGH: DC 15 ... 28.8 V
Input current 7 mA
Input resistance 3.3 kΩDelay time 3 ms
Delay - pulse input 100 µsCounter
Number 1
Inputs 2
Max. frequency 100 kHz
Electrical isolation from the backplane bus Yes, via optocouplers
Communication
Input data 6 bytes
Output data 6 bytes
Parameter data 1 byte
Dimensions
Width 25.4 mm
Height 76.0 mm
Depth 76.0 mm
Weight 50 g
Order designation EPM-T430
Technical data
Terminal module
5The modular system
5.16
l 5.16-1EDSPM-TXXX-3.0-04/2004
5.16 Terminal module
The terminal module offers two terminal strips with 11 terminals each. All terminalsof a terminal strip are connected with each other. The terminal strips arepotential-free.
Sensors which must be supplied with external voltage, for instance, can be wiredwith the help of the terminal module with a minimum of effort.
Note!Designing the modular system requires the consideration of theterminal module.Since the backplane bus is also guided via the terminal module, itmust be considered when calculating the project stage (max. 32modules).
2 terminal strips with 11 terminals each
All terminals of a terminal strip are interconnected with each other.
The terminal strips are potential-free
XXX XXX xx
epm-t108 epm-t109
Fig. 5.16-1 Overview and internal wiring of the terminal module
Description
Features
Overview
Terminal module
5 The modular system
5.16
l5.16-2 EDSPM-TXXX-3.0-04/2004
Type Terminal module
Terminals
Terminal strips 2 spring-mounted clamps, not plug-in
Terminals per strip 11
Max. current capacity per terminal strip 10A
Connectable cable cross-section ≤ 2.5 mm2 (≥ AWG 14)
Dimensions
Width 25.4 mm
Height 76.0 mm
Depth 76.0 mm
Weight 50 g
Order designation EPM-T940
Technical data
Contents
6The compact system
6.1
l 6.1-1EDSPM-TXXX-3.0-04/2004
6 The compact system
6.1 Contents
6.2 8×dig. I/O compact 6.2-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.3 16×dig. I/O compact (single-wire conductor) 6.3-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.4 16×dig. I/O compact (three-wire conductor) 6.4-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.5 32×dig. I/O compact 6.5-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8×dig. I/O compact
6The compact system
6.2
l 6.2-1EDSPM-TXXX-3.0-04/2004
6.2 8×dig. I/O compact
The 8×dig. I/O compact module consists of a CAN gateway which serves as aninterface to the master bus system as well as eight digital inputs/outputs(optionally configurable) and two terminal strips.
The channels can be optionally used as digital inputs or outputs. Each output canbe loaded with up to 1 A. The status of the channels is displayed by the LEDs.
8 digital inputs or outputs, optionally configurable
Voltage supply via an external 24 V DC voltage source
Connection to the system bus (CAN) via a 9-pole Sub-D plug
Address and baud rate setting via coding switch
The baud rate is stored permanently in an EEPROM in the module
LEDs display the status
01
epm-t040
Fig. 6.2-1 8×dig. I/O compact
LEDs for status display9-pole Sub-D plug for connection to the system bus (CAN)Coding switch to set address and baud rateExternal voltage supply connectionTerminal strip for digital input/output signalsTerminal strips, additional terminals for wiring
Description
Features
Overview
8×dig. I/O compact
6 The compact system
6.2
l6.2-2 EDSPM-TXXX-3.0-04/2004
1
2
3
45
6
7
8
9
epm-t023
Fig. 6.2-2 Connection to the system bus (CAN)/CANopen with 9-pole Sub-D plug
Pin Assignment1 Not assigned2 CAN-LOW3 CAN-GND4 Not assigned5 Not assigned6 Not assigned7 CAN-HIGH8 Not assigned9 Not assigned
Use the coding switch to set the baud rate.
The node address must be set via the coding switch.
0 1
+ +
– –
epm-t024
Fig. 6.2-3 Coding switch a CAN gateway
– Decrease numerical value
+ Increase numerical value
Connecting systembus (CAN)/CANopen
Baud rate and node address
8×dig. I/O compact
6The compact system
6.2
l 6.2-3EDSPM-TXXX-3.0-04/2004
System bus (CAN) CANopen Baud rate
Coding switch value Coding switch value [kbit/s]
90 80 1000
91 81 500
92 82 250
93 83 125
94 84 100
95 85 50
96 86 20
97 87 10
98 88 800
Bold print = Lenze setting
1. Switch off the voltage supply of the module.
2. Use the coding switch to set the required baud rate.– Select ”9x” , when using the ”system bus (CAN)” protocol (x = value for the
required baud rate)– Select ”8x” when using the ”CANopen” protocol (x = value of required
baud rate)
3. Switch on the voltage supply of the module.– The LEDs ER, RD and BA are blinking with a frequency of 1 Hz.
4. LEDs ER and BA go off after 5 seconds, and the set baud rate is stored.
5. Now set the node address with the coding switch for the module. You havefive seconds for this.– Each node address must be assigned only once.
6. The set node address will be accepted after 5 seconds.– LED RD goes off.– The module changes to the pre-operational mode.
Note!The node address can be changed any time with the codingswitch. The setting is accepted after switching on the supplyvoltage.After switching on the supply voltage, the compact systemneeds approx. 1 ms for initialisation. During this time, noparameters can be set.
Baud rate setting
Setting the node address
8×dig. I/O compact
6 The compact system
6.2
l6.2-4 EDSPM-TXXX-3.0-04/2004
LED Status Meaning
PW (yellow) on Supply voltage is applied
ER (red) on Incorrect data transmission between microcontroller and digital inputs/outputs
RD (green)on Error-free data transmission between microcontroller and digital inputs/outputs
RD (green)See table below
BA (yellow) See table below
PW (yellow) ER (red) RD (green) BA (yellow) Meaning
on off blinking (1 Hz) off Self test and initialisation in progress
on off on onSystem bus (CAN)/CANopen in the”Operational”state
on off on blinking (1 Hz)System bus (CAN)/CANopen in the”Pre-Operational”state
on off on blinking (10 Hz)System bus (CAN)/CANopen in the”Stopped”state
on blinking (10 Hz) on onblinking (1 Hz)
System bus (CAN)/CANopen ”Offline”state
on blinking (1 Hz) onblinking (1 Hz)blinking (10 Hz) System bus (CAN)/CANopen ”Warning”state
on on on on Error during RAM or EEPROM initialisation
on blinking (1 Hz) blinking (1 Hz) blinking (1 Hz) Baud rate setting mode active
on blinking (10 Hz) blinking (10 Hz) blinking (10 Hz) Error during baud rate setting
on off blinking (1 Hz) off Address setting mode active
Note!NMT telegrams for changing to the different states can be found inthe chapter ”Networking via system bus (CAN)” or ”Networking viaCANopen” .
Status display
8×dig. I/O compact
6The compact system
6.2
l 6.2-5EDSPM-TXXX-3.0-04/2004
DIO 8xDC24V 1A
L+
.0
.1
.2
.3
.4
.5
.6
.7
F
1
X4 X4–
2
3
4
5
6
7
8
9
10
L
PW
ER
RD
BA
ADR.0 1
+ – PE
X1DC24V DIO 8xDC24V 1A
X 2x11COM
EPM-T830 1A.10
X3
epm-t042
Fig. 6.2-4 Front view of 8×dig. I/O compact
Status display for digital inputs/outputs at terminal strip X3L+ LED (yellow) is lit when supply voltage is applied..0 ... .7 LED (green) is lit when the output is triggered and / or a HIGH
level is detected at the input, respectively.F LED (red) is lit in case of overload, overheating, short-circuit
errors.Terminal strip X3 assignmentX3/1 +24 V DC (supply voltage)X3/2 ... X3/9 Digital inputs/outputs E/A.0 ... E/A.7X3/10 GND (reference potential)Terminal strips (2 × 11 terminals)X4 Electrically isolated terminal stripX4– Terminal strip GND
Status display and terminalassignment
8×dig. I/O compact
6 The compact system
6.2
l6.2-6 EDSPM-TXXX-3.0-04/2004
µC
+ – X1PE
X4 X4–
–
+
+
+X3/2
X3/1
X3/3
X3/4
X3/5
X3/6
X3/7
X3/8
X3/9
X3/10
Z
Z
Z
Z
DC 24 V
(DC +18 … +35 V)
epm-t041
Fig. 6.2-5 Wiring diagram of 8×dig. I/O compact
Emergency-off switchX4, X4– Terminal strips
Z Load
Stop!If the voltage supply (DC 24 V) fails, the module will malfunction:
Switched outputs carry voltage if one input is assigned with aHIGH level,The module can be destroyed since the outputs are notresistant to short circuits anymore.
The emergency-off switch ensures that when being operated theoutputs do not carry any voltage and the inputs are not assignedwith a HIGH level.
Connection
8×dig. I/O compact
6The compact system
6.2
l 6.2-7EDSPM-TXXX-3.0-04/2004
Type 8×dig. I/O compact
Voltage supply DC 24 V / 55 mA (DC 20.4 ... 28.8 V)
Connectable cable cross-section ≤ 2.5 mm2 (≥ AWG 14)
Communication
Communication protocol • System bus (CAN)• CANopen (CAL-based communication profile DS301/DS401)
Communication medium DIN ISO 11898
Network topology Line (terminated at both ends)
Baud rate [kbit/s] 10 20 50 100 125 250 500 800 1000
Max. bus length [m] 5000 2500 1000 600 500 250 80 50 25
Max. number of nodes 63
Digital inputs/outputs
Number 8 optionally configurable digital inputs/outputs
Electrical isolation from system bus Yes, via optocouplers
Digital inputs
Input resistance 3.3 kΩDelay time 3 ms
Level LOW: DC 0 ... 5 VHIGH: DC 15 ... 30 V
Digital outputs
Rated load voltage DC 24 V (DC 18 ... 35 V)
Max. output current per output 1 A (resistant to short circuits)
Delay time < 1 ms
Communication
Input data 1 byte
Output data 1 byte
Diagnostic data 2 bits
Dimensions
Width 101 mm
Height 76 mm
Depth 48 mm
Weight 200 g
Order designation EPM-T830
Technical data
16×dig. I/O compact (single-wire conductor)
6The compact system
6.3
l 6.3-1EDSPM-TXXX-3.0-04/2004
6.3 16×dig. I/O compact (single-wire conductor)
The 16×dig. I/O compact (single-wire conductor) module consists of 1 CANgateway which serves as the interface to the master bus system as well as 8 digitalinputs, 4 digital inputs/outputs (optionally configurable) and 4 digital outputs.
Each output can be loaded with up to 1 A. The status of the channels is displayedby LEDs.
8 digital inputs
4 optionally configurable digital inputs/outputs
4 digital outputs
Voltage supply via an external 24 V DC voltage source
Connection to the system bus (CAN) via a 9-pole Sub-D plug
Address and baud rate setting via coding switch
The baud rate is stored permanently in an EEPROM in the module
LEDs display the status
01
epm-t050
Fig. 6.3-1 16×dig. I/O compact (single-wire conductor)
LEDs for status display9-pole Sub-D plug for connection to the system bus (CAN)Coding switch to set address and baud rateExternal voltage supply connectionTerminal strip for digital input signalsTerminal strip for digital output signalsTerminal strip for digital input / output signals (optionally configurable)
Description
Features
Overview
16×dig. I/O compact (single-wire conductor)
6 The compact system
6.3
l6.3-2 EDSPM-TXXX-3.0-04/2004
1
2
3
45
6
7
8
9
epm-t023
Fig. 6.3-2 Connection to the system bus (CAN)/CANopen with 9-pole Sub-D plug
Pin Assignment1 Not assigned2 CAN-LOW3 CAN-GND4 Not assigned5 Not assigned6 Not assigned7 CAN-HIGH8 Not assigned9 Not assigned
Use the coding switch to set the baud rate.
The node address must be set via the coding switch.
0 1
+ +
– –
epm-t024
Fig. 6.3-3 Coding switch a CAN gateway
– Decrease numerical value
+ Increase numerical value
Connecting systembus (CAN)/CANopen
Baud rate and node address
16×dig. I/O compact (single-wire conductor)
6The compact system
6.3
l 6.3-3EDSPM-TXXX-3.0-04/2004
System bus (CAN) CANopen Baud rate
Coding switch value Coding switch value [kbit/s]
90 80 1000
91 81 500
92 82 250
93 83 125
94 84 100
95 85 50
96 86 20
97 87 10
98 88 800
Bold print = Lenze setting
1. Switch off the voltage supply of the module.
2. Use the coding switch to set the required baud rate.– Select ”9x” , when using the ”system bus (CAN)” protocol (x = value for the
required baud rate)– Select ”8x” when using the ”CANopen” protocol (x = value of required
baud rate)
3. Switch on the voltage supply of the module.– The LEDs ER, RD and BA are blinking with a frequency of 1 Hz.
4. LEDs ER and BA go off after 5 seconds, and the set baud rate is stored.
5. Now set the node address with the coding switch for the module. You havefive seconds for this.– Each node address must be assigned only once.
6. The set node address will be accepted after 5 seconds.– LED RD goes off.– The module changes to the pre-operational mode.
Note!The node address can be changed any time with the codingswitch. The setting is accepted after switching on the supplyvoltage.After switching on the supply voltage, the compact systemneeds approx. 1 ms for initialisation. During this time, noparameters can be set.
Baud rate setting
Setting the node address
16×dig. I/O compact (single-wire conductor)
6 The compact system
6.3
l6.3-4 EDSPM-TXXX-3.0-04/2004
LED Status Meaning
PW (yellow) on Supply voltage is applied
ER (red) on Incorrect data transmission between microcontroller and digital inputs/outputs
RD (green)on Error-free data transmission between microcontroller and digital inputs/outputs
RD (green)See table below
BA (yellow) See table below
PW (yellow) ER (red) RD (green) BA (yellow) Meaning
on off blinking (1 Hz) off Self test and initialisation in progress
on off on onSystem bus (CAN)/CANopen in the”Operational”state
on off on blinking (1 Hz)System bus (CAN)/CANopen in the”Pre-Operational”state
on off on blinking (10 Hz)System bus (CAN)/CANopen in the”Stopped”state
on blinking (10 Hz) on onblinking (1 Hz)
System bus (CAN)/CANopen ”Offline”state
on blinking (1 Hz) onblinking (1 Hz)blinking (10 Hz) System bus (CAN)/CANopen ”Warning”state
on on on on Error during RAM or EEPROM initialisation
on blinking (1 Hz) blinking (1 Hz) blinking (1 Hz) Baud rate setting mode active
on blinking (10 Hz) blinking (10 Hz) blinking (10 Hz) Error during baud rate setting
on off blinking (1 Hz) off Address setting mode active
Note!NMT telegrams for changing to the different states can be found inthe chapter ”Networking via system bus (CAN)” or ”Networking viaCANopen” .
Status display
16×dig. I/O compact (single-wire conductor)
6The compact system
6.3
l 6.3-5EDSPM-TXXX-3.0-04/2004
DI 8xDC24V DIO/DO 4/4xDC24V 1A
L+ L+
.0 .0
.1 .1
.2 .2
.3 .3
.4 .4
.5 .5
.6 .6
.7 .7
F F
1 1
2 2
3 3
4 4
5 5
6 6
7 7
8 8
9 9
10 10
L
PW
ER
RD
BA
ADR.0 1
+ – PE
X1DC24V
DI 8xDC24VDIO 4xDC24V 1ADO 4xDC24V 1A
X3 X4
EPM-T831 1A.10
epm-t051
Fig. 6.3-4 Front view of 16×dig. I/O compact (single-wire conductor)
Status display for digital inputs / outputs at the terminal strips X3 and X4L+ LED (yellow) is lit when the supply voltage is applied..0 ... .7 LED (green) is lit when the output is triggered and/or a HIGH
level is detected at the inputF LED (red) is lit in case of overload, overheating, short-circuit
errors.Terminal strip X3 assignmentX3/1 Not assignedX3/2 ... X3/9 Digital inputs E.0 ... E.7X3/10 GND (reference potential)Terminal strip X4 assignmentX4/1 DC 24 V supply voltageX4/2 ... X4/5 Digital inputs/outputs E/A.0 ... E/A.3X4/6 ... X4/9 Digital outputs A.4 ... A.7X4/10 GND (reference potential)
Status display and terminalassignment
16×dig. I/O compact (single-wire conductor)
6 The compact system
6.3
l6.3-6 EDSPM-TXXX-3.0-04/2004
X4/1
X4/2
X3/10
X3/9
X3/8
X3/7
X3/6
X3/5
X3/4
X3/3
X3/2
X3/1
X4/3
X4/4
X4/5
X5/6
X4/7
X4/8
X4/9
X4/10
Z
Z
Z
Z
Z
Z
+ – X1PE
µC
+
+
+
–
+
DC 24 V
(DC +18 … +35 V)
epm-t052
Fig. 6.3-5 Wiring diagram of 16×dig. I/O compact (single-wire conductor)
Emergency-off switch
Z Load
Stop!If the voltage supply (DC 24 V) fails, the module will malfunction:
Switched outputs carry voltage if one input is assigned with aHIGH level,The module can be destroyed since the outputs are notresistant to short circuits anymore.
The emergency-off switch ensures that when being operated theoutputs do not carry any voltage and the inputs are not assignedwith a HIGH level.
Connection
16×dig. I/O compact (single-wire conductor)
6The compact system
6.3
l 6.3-7EDSPM-TXXX-3.0-04/2004
Type 16×dig. I/O compact (single-wire conductor)
Voltage supply DC 24 V / 55 mA (DC 20.4 ... 28.8 V)
Connectable cable cross-section ≤ 2.5 mm2 (≥ AWG 14)
Communication
Communication protocol • System bus (CAN)• CANopen (CAL-based communication profile DS301/DS401)
Communication medium DIN ISO 11898
Network topology Line (terminated at both ends)
Baud rate [kbit/s] 10 20 50 100 125 250 500 800 1000
Max. bus length [m] 5000 2500 1000 600 500 250 80 50 25
Max. number of nodes 63
Digital inputs/outputs
Number 8 digital inputs8 optionally configurable digital inputs/outputs4 digital outputs
Electrical isolation from system bus Yes, via optocouplers
Digital inputs
Input resistance 3.3 kΩDelay time 3 ms
Level LOW: DC 0 ... 5 VHIGH: DC 15 ... 30 V
Digital outputs
Rated load voltage DC 24 V (DC 18 ... 35 V)
Max. output current per output 1 A (resistant to short circuits)
Current consumption if all outputs= LOW
50 mA
Delay time < 1 ms
Communication
Input data 2 bytes
Output data 1 byte
Diagnostic data 2 bits
Dimensions
Width 101 mm
Height 76 mm
Depth 48 mm
Weight 200 g
Order designation EPM-T831
Technical data
16×dig. I/O compact (three-wire conductor)
6The compact system
6.4
l 6.4-1EDSPM-TXXX-3.0-04/2004
6.4 16×dig. I/O compact (three-wire conductor)
The 16×dig. I/O compact (three-wire conductor) module consists of 1 CANgateway which serves as the interface to the master bus system as well as 8 digitalinputs, 4 digital inputs/outputs (optionally configurable) and 4 digital outputs.
Each output can be loaded with up to 1 A. The status of the channels is displayedby LEDs.
8 digital inputs
4 optionally configurable digital inputs/outputs
4 digital outputs
Voltage supply via an external 24 V DC voltage source
Connection to the system bus (CAN) via a 9-pole Sub-D plug
Address and baud rate setting via coding switch
The baud rate is stored permanently in an EEPROM in the module
LEDs display the status
01
epm-t044
Fig. 6.4-1 16×dig. I/O compact (three-wire conductor)
LEDs for status display9-pole Sub-D plug for connection to the system bus (CAN)Coding switch to set address and baud rateExternal voltage supply connectionTerminal strip for digital input signalsTerminal strips, additional terminals for wiringTerminal strip for digital output signalsTerminal strip for digital input / output signals (optionally configurable)
Description
Features
Overview
16×dig. I/O compact (three-wire conductor)
6 The compact system
6.4
l6.4-2 EDSPM-TXXX-3.0-04/2004
1
2
3
45
6
7
8
9
epm-t023
Fig. 6.4-2 Connection to the system bus (CAN)/CANopen with 9-pole Sub-D plug
Pin Assignment1 Not assigned2 CAN-LOW3 CAN-GND4 Not assigned5 Not assigned6 Not assigned7 CAN-HIGH8 Not assigned9 Not assigned
Use the coding switch to set the baud rate.
The node address must be set via the coding switch.
0 1
+ +
– –
epm-t024
Fig. 6.4-3 Coding switch a CAN gateway
– Decrease numerical value
+ Increase numerical value
Connecting systembus (CAN)/CANopen
Baud rate and node address
16×dig. I/O compact (three-wire conductor)
6The compact system
6.4
l 6.4-3EDSPM-TXXX-3.0-04/2004
System bus (CAN) CANopen Baud rate
Coding switch value Coding switch value [kbit/s]
90 80 1000
91 81 500
92 82 250
93 83 125
94 84 100
95 85 50
96 86 20
97 87 10
98 88 800
Bold print = Lenze setting
1. Switch off the voltage supply of the module.
2. Use the coding switch to set the required baud rate.– Select ”9x” , when using the ”system bus (CAN)” protocol (x = value for the
required baud rate)– Select ”8x” when using the ”CANopen” protocol (x = value of required
baud rate)
3. Switch on the voltage supply of the module.– The LEDs ER, RD and BA are blinking with a frequency of 1 Hz.
4. LEDs ER and BA go off after 5 seconds, and the set baud rate is stored.
5. Now set the node address with the coding switch for the module. You havefive seconds for this.– Each node address must be assigned only once.
6. The set node address will be accepted after 5 seconds.– LED RD goes off.– The module changes to the pre-operational mode.
Note!The node address can be changed any time with the codingswitch. The setting is accepted after switching on the supplyvoltage.After switching on the supply voltage, the compact systemneeds approx. 1 ms for initialisation. During this time, noparameters can be set.
Baud rate setting
Setting the node address
16×dig. I/O compact (three-wire conductor)
6 The compact system
6.4
l6.4-4 EDSPM-TXXX-3.0-04/2004
LED Status Meaning
PW (yellow) on Supply voltage is applied
ER (red) on Incorrect data transmission between microcontroller and digital inputs/outputs
RD (green)on Error-free data transmission between microcontroller and digital inputs/outputs
RD (green)See table below
BA (yellow) See table below
PW (yellow) ER (red) RD (green) BA (yellow) Meaning
on off blinking (1 Hz) off Self test and initialisation in progress
on off on onSystem bus (CAN)/CANopen in the”Operational”state
on off on blinking (1 Hz)System bus (CAN)/CANopen in the”Pre-Operational”state
on off on blinking (10 Hz)System bus (CAN)/CANopen in the”Stopped”state
on blinking (10 Hz) on onblinking (1 Hz)
System bus (CAN)/CANopen ”Offline”state
on blinking (1 Hz) onblinking (1 Hz)blinking (10 Hz) System bus (CAN)/CANopen ”Warning”state
on on on on Error during RAM or EEPROM initialisation
on blinking (1 Hz) blinking (1 Hz) blinking (1 Hz) Baud rate setting mode active
on blinking (10 Hz) blinking (10 Hz) blinking (10 Hz) Error during baud rate setting
on off blinking (1 Hz) off Address setting mode active
Note!NMT telegrams for changing to the different states can be found inthe chapter ”Networking via system bus (CAN)” or ”Networking viaCANopen” .
Status display
16×dig. I/O compact (three-wire conductor)
6The compact system
6.4
l 6.4-5EDSPM-TXXX-3.0-04/2004
DI 8xDC24V DIO/DO4/4xDC24V1A
L+
.0
.1
.2
.3
.4
.5
.6
.7
F
1
X4 X4–
2
3
4
5
6
7
8
9
10
L
PW
ER
RD
BA
ADR.0 1
+ – PE
X1DC24V
DI 8xDC24V
X 4x11COM
DIO 4xDC24V 1ADO 4xDC24V 1A
X3
L+
.0
.1
.2
.3
.4
.5
.6
.7
F
1
X5 X6 X6–
2
3
4
5
6
7
8
9
10
EPM-T833 1A.10
epm-t045
Fig. 6.4-4 Front view of 16×dig. I/O compact (three-wire conductor)
Status display for digital inputs / outputs at the terminal strips X3 and X5L+ LED (yellow) is lit when the supply voltage is applied..0 ... .7 LED (green) is lit when the output is triggered and/or a HIGH
level is detected at the inputF LED (red) is lit in case of overload, overheating, short-circuit
errors.Terminal strip X3 assignmentX3/1 Not assignedX3/2 ... X3/9 Digital inputs E.0 ... E.7X3/10 GND (reference potential)Terminal strips (2 × 11 terminals)X4 Electrically isolated terminal stripX4– Terminal strip GNDTerminal strip X5 assignmentX5/1 DC 24 V supply voltageX5/2 ... X5/5 Digital inputs/outputs E/A.0 ... E/A.3X5/6 ... X5/9 Digital outputs A.4 ... A.7X5/10 GND (reference potential)Terminal strips (2 × 11 terminals)X6 Electrically isolated terminal stripX6– Terminal strip GND
Status display and terminalassignment
16×dig. I/O compact (three-wire conductor)
6 The compact system
6.4
l6.4-6 EDSPM-TXXX-3.0-04/2004
X5/1
X5/2
X3/10
X3/9
X3/8
X3/7
X3/6
X3/5
X3/4
X3/3
X3/2
X3/1
X5/3
X5/4
X5/5
X5/6
X5/7
X5/8
X5/9
X5/10
Z
Z
Z
Z
Z
Z
+ – X1PE
µC
+
+
+
–
+
DC 24 V
(DC +18 … +35 V)
X4 X4– X6 X6–
epm-t046
Fig. 6.4-5 Wiring diagram of 16×dig. I/O compact (three-wire conductor)
Emergency-off switchX4, X4– Terminal stripsX6, X6 Terminal strips
Z Load
Connection
16×dig. I/O compact (three-wire conductor)
6The compact system
6.4
l 6.4-7EDSPM-TXXX-3.0-04/2004
Type 16×dig. I/O compact (three-wire conductor)
Voltage supply DC 24 V / 55 mA (DC 20.4 ... 28.8 V)
Connectable cable cross-section ≤ 2.5 mm2 (≥ AWG 14)
CommunicationCommunication protocol • System bus (CAN)
• CANopen (CAL-based communication profile DS301/DS401)
Communication medium DIN ISO 11898
Network topology Line (terminated at both ends)
Baud rate [kbit/s] 10 20 50 100 125 250 500 800 1000
Max. bus length [m] 5000 2500 1000 600 500 250 80 50 25
Max. number of nodes 63
Digital inputs/outputsNumber 8 digital inputs
8 optionally configurable digital inputs/outputs4 digital outputs
Electrical isolation from system bus Yes, via optocouplers
Digital inputs
Input resistance 3.3 kΩDelay time 3 ms
Level LOW: DC 0 ... 5 VHIGH: DC 15 ... 30 V
Digital outputs
Rated load voltage DC 24 V (DC 18 ... 35 V)
Max. output current per output 1 A (resistant to short circuits)
Current consumption if all outputs= LOW
50 mA
Delay time < 1 ms
Communication
Input data 2 bytes
Output data 1 byte
Diagnostic data 2 bitsDimensions
Width 152 mm
Height 76 mm
Depth 48 mm
Weight 300 g
Order designation EPM-T833
Technical data
32×dig. I/O compact
6The compact system
6.5
l 6.5-1EDSPM-TXXX-3.0-04/2004
6.5 32×dig. I/O compact
The 32×dig. I/O compact module consists of 1 CAN gateway which serves as theinterface to the master bus system as well as 24 digital inputs and 8 digital outputs.
Each output can be loaded with up to 1 A. The status of the channels is displayedby LEDs.
24 digital inputs
8 digital outputs
Voltage supply via an external 24 V DC voltage source
Connection to the system bus (CAN) via a 9-pole Sub-D plug
Address and baud rate setting via coding switch
The baud rate is stored permanently in an EEPROM in the module
LEDs display the status
01
epm-t047
Fig. 6.5-1 32×dig. I/O compact
LEDs for status display9-pole Sub-D plug for connection to the system bus (CAN)Coding switch to set address and baud rateExternal voltage supply connectionTerminal strips for digital input signalsTerminal strip for digital output signals
Description
Features
Overview
32×dig. I/O compact
6 The compact system
6.5
l6.5-2 EDSPM-TXXX-3.0-04/2004
1
2
3
45
6
7
8
9
epm-t023
Fig. 6.5-2 Connection to the system bus (CAN)/CANopen with 9-pole Sub-D plug
Pin Assignment1 Not assigned2 CAN-LOW3 CAN-GND4 Not assigned5 Not assigned6 Not assigned7 CAN-HIGH8 Not assigned9 Not assigned
Use the coding switch to set the baud rate.
The node address must be set via the coding switch.
0 1
+ +
– –
epm-t024
Fig. 6.5-3 Coding switch a CAN gateway
– Decrease numerical value
+ Increase numerical value
Connecting systembus (CAN)/CANopen
Baud rate and node address
32×dig. I/O compact
6The compact system
6.5
l 6.5-3EDSPM-TXXX-3.0-04/2004
System bus (CAN) CANopen Baud rate
Coding switch value Coding switch value [kbit/s]
90 80 1000
91 81 500
92 82 250
93 83 125
94 84 100
95 85 50
96 86 20
97 87 10
98 88 800
Bold print = Lenze setting
1. Switch off the voltage supply of the module.
2. Use the coding switch to set the required baud rate.– Select ”9x” , when using the ”system bus (CAN)” protocol (x = value for the
required baud rate)– Select ”8x” when using the ”CANopen” protocol (x = value of required
baud rate)
3. Switch on the voltage supply of the module.– The LEDs ER, RD and BA are blinking with a frequency of 1 Hz.
4. LEDs ER and BA go off after 5 seconds, and the set baud rate is stored.
5. Now set the node address with the coding switch for the module. You havefive seconds for this.– Each node address must be assigned only once.
6. The set node address will be accepted after 5 seconds.– LED RD goes off.– The module changes to the pre-operational mode.
Note!The node address can be changed any time with the codingswitch. The setting is accepted after switching on the supplyvoltage.After switching on the supply voltage, the compact systemneeds approx. 1 ms for initialisation. During this time, noparameters can be set.
Baud rate setting
Setting the node address
32×dig. I/O compact
6 The compact system
6.5
l6.5-4 EDSPM-TXXX-3.0-04/2004
LED Status Meaning
PW (yellow) on Supply voltage is applied
ER (red) on Incorrect data transmission between microcontroller and digital inputs/outputs
RD (green)on Error-free data transmission between microcontroller and digital inputs/outputs
RD (green)See table below
BA (yellow) See table below
PW (yellow) ER (red) RD (green) BA (yellow) Meaning
on off blinking (1 Hz) off Self test and initialisation in progress
on off on onSystem bus (CAN)/CANopen in the”Operational”state
on off on blinking (1 Hz)System bus (CAN)/CANopen in the”Pre-Operational”state
on off on blinking (10 Hz)System bus (CAN)/CANopen in the”Stopped”state
on blinking (10 Hz) on onblinking (1 Hz)
System bus (CAN)/CANopen ”Offline”state
on blinking (1 Hz) onblinking (1 Hz)blinking (10 Hz) System bus (CAN)/CANopen ”Warning”state
on on on on Error during RAM or EEPROM initialisation
on blinking (1 Hz) blinking (1 Hz) blinking (1 Hz) Baud rate setting mode active
on blinking (10 Hz) blinking (10 Hz) blinking (10 Hz) Error during baud rate setting
on off blinking (1 Hz) off Address setting mode active
Note!NMT telegrams for changing to the different states can be found inthe chapter ”Networking via system bus (CAN)” or ”Networking viaCANopen” .
Status display
32×dig. I/O compact
6The compact system
6.5
l 6.5-5EDSPM-TXXX-3.0-04/2004
DI 8xDC24V DI 8xDC24V DI 8xDC24V DO 8xDC24V 1A
L+ L+ L+ L+
.0 .0 .0 .0
.1 .1 .1 .1
.2 .2 .2 .2
.3 .3 .3 .3
.4 .4 .4 .4
.5 .5 .5 .5
.6 .6 .6 .6
.7 .7 .7 .7
F F F F
1 1 1 1
2 2 2 2
3 3 3 3
4 4 4 4
5 5 5 5
6 6 6 6
7 7 7 7
8 8 8 8
9 9 9 9
10 10 10 10
L
PW
ER
RD
BA
ADR.0 1
+ – PE
X1DC24V DI 24xDC24V
DO 8xDC24V 1A
X3 X4 X5 X6
EPM-T832 1A.10
epm-t049
Fig. 6.5-4 Front view of 32×dig. I/O compact
Status display for digital inputs/outputs at terminal strips X3, X4, X5, and X6
L+ LED (yellow) is lit when the supply voltage is applied..0 ... .7 LED (green) is lit when the output is triggered and/or a HIGH
level is detected at the inputF LED (red) is lit in case of overload, overheating, short-circuit
errors.Terminal strip X3 assignmentX3/1 Not assignedX3/2 ... X3/9 Digital inputs E.0 ... E.7X3/10 GND (reference potential)Terminal strip X4 assignmentX4/1 Not assignedX4/2 ... X4/9 Digital inputs E.0 ... E.7X4/10 GND (reference potential)Terminal strip X5 assignmentX5/1 Not assignedX5/2 ... X5/9 Digital inputs E.0 ... E.7X5/10 GND (reference potential)Terminal strip X6 assignmentX6/1 DC 24 V supply voltageX6/2 ... X6/9 Digital outputs A.0 ... A.7X6/10 GND (reference potential)
Status display and terminalassignment
32×dig. I/O compact
6 The compact system
6.5
l6.5-6 EDSPM-TXXX-3.0-04/2004
–
+
X6/1
X6/2
X3/10
X4/10
X5/10
X3/9
X4/9
X5/9
X3/2
X4/2
X5/2
X3/1
X4/1
X5/1
X6/9
X6/10
Z
Z
DC 24 V+ – X1PE
µC
epm-t048
Fig. 6.5-5 Wiring diagram of 32×dig. I/O compact
Z Load
Connection
32×dig. I/O compact
6The compact system
6.5
l 6.5-7EDSPM-TXXX-3.0-04/2004
Type 32×dig. I/O compact
Voltage supply DC 24 V / 55 mA (DC 20.4 ... 28.8 V)
Connectable cable cross-section ≤ 2.5 mm2 (≥ AWG 14)
CommunicationCommunication protocol • System bus (CAN)
• CANopen (CAL-based communication profile DS301/DS401)
Communication medium DIN ISO 11898
Network topology Line (terminated at both ends)
Baud rate [kbit/s] 10 20 50 100 125 250 500 800 1000
Max. bus length [m] 5000 2500 1000 600 500 250 80 50 25
Max. number of nodes 63
Digital inputs/outputsNumber 24 digital inputs
8 digital outputs
Electrical isolation from system bus Yes, via optocouplers
Digital inputs
Input resistance 3.3 kΩDelay time 3 ms
Level LOW: DC 0 ... 5 VHIGH: DC 15 ... 30 V
Digital outputs
Rated load voltage DC 24 V (DC 18 ... 35 V)
Max. output current per output 1 A (resistant to short circuits)
Current consumption if all outputs= LOW
50 mA
Delay time < 1 ms
Communication
Input data 3 bytes
Output data 1 byte
Diagnostic data 2 bitsDimensions
Width 152 mm
Height 76 mm
Depth 48 mm
Weight 300 g
Order designation EPM-T832
Technical data
Contents
7Mechanical installation
7.1
l 7.1-1EDSPM-TXXX-3.0-04/2004
7 Mechanical installation
7.1 Contents
7.2 The modular system 7.2-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.3 The compact system 7.3-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
The modular system
7Mechanical installation
7.2
l 7.2-1EDSPM-TXXX-3.0-04/2004
7.2 The modular system
Mounting dimensions and other dimensions
01
60 mm
40 mm
27 mm
7.5/15 mm
35 mm
80 mm90 mm
76 mm 76 mm
76 mm 76 mm
25.4 mm 25.4 mm 110 mm
epm-t053
Fig. 7.2-1 Module dimensions of the modular system
The modular system
7 Mechanical installation
7.2
l7.2-2 EDSPM-TXXX-3.0-04/2004
Stop!Only plug the modules on the backplane bus or remove them if thesupply voltage is switched off!
#0
#1
#2
#n < 33_
4321
CLACK!
60
40
epm-t055
Fig. 7.2-2 Mounting the module on the DIN rail
Mount the DIN rail to allow the module an installation clearance of min. 60 mmat the top and min. 40 mm at the bottom.
Press backplane bus on to the DIN rail until it safely engagesLower the module on to the DIN rail at an angle of approx. 45 °Turn the module downwardConnection to the backplane bus is established once the module has audiblyengaged with the DIN rail.
Note!The backplane bus is available in single (EPM-T910), double(EPM-T911), quadruple (EPM-T912) and octuple (EPM-T913)versions.– In order to determine the number of slots, add a 1 to the
backplane bus versions you want to use, e. g.:single (EPM-T910) + octuple (EPM-T913) + 1 = 10 slots.
The modules are always arranged from left to right and mustalways start with the CAN gateway module.Modules must always be plugged directly next to each other.Free slots are not permissible since this would interrupt thebackplane bus.A module is electrically connected only once it has audiblyengaged.Slots to the right of the last module may remain unassigned.The number of modules is limited to max. 32.
Mounting
The modular system
7Mechanical installation
7.2
l 7.2-3EDSPM-TXXX-3.0-04/2004
Stop!Only plug the modules on the backplane bus or remove them if thesupply voltage is switched off!
1 432
epm-t056
Fig. 7.2-3 Remove the module from the backplane bus
Insert the screw driver into the withdrawal slotPress the screw driver upward to disengage the modulePull the module towards the front by its bottom edge.Remove the module from the backplane bus by pulling it upwards
Note!Unplugging a module leaves the backplane bus interrupted at thatparticular location.
Disassembly
The compact system
7Mechanical installation
7.3
l 7.3-1EDSPM-TXXX-3.0-04/2004
7.3 The compact system
Mounting dimensions and other dimensions
34 mm
101 mm
48 mm
34
mm
27
mm
35
mm
76
mm
EPM-T830
34 mm
152 mm
76
mm
69
mm
34
mm
48 mm
EPM-T833
01
01
34 mm
101 mm
76
mm
69
mm
34
mm
48 mm
EPM-T831
01
34 mm
152 mm
76
mm
69
mm
34
mm
48 mm
EPM-T832
01
30 mm
7.5/15 mm
epm-t054
Fig. 7.3-1 Module dimensions of the compact system
The compact system
7 Mechanical installation
7.3
l7.3-2 EDSPM-TXXX-3.0-04/2004
Mounting
CLACK!
1 432
40
60
01
epm-t057
Fig. 7.3-2 Mounting the module on the DIN rail
Mount the DIN rail to allow the module an installation clearance of min. 60 mmat the top and min. 40 mm at the bottom.Lower the module on to the DIN rail at an angle of approx. 45 °Turn the module downwardAllow the module to audibly engage with the DIN rail
1 432
epm-t058
Fig. 7.3-3 Remove the module from the DIN rails
Insert the screw driver into the withdrawal slotPress the screw driver upward to disengage the modulePull the module towards the front by its bottom edge.Remove the module from the DIN rail by pulling it upwards.
Disassembly
Contents
8Electrical installation
8.1
l 8.1-1EDSPM-TXXX-3.0-04/2004
8 Electrical installation
8.1 Contents
8.2 Wiring according to EMC 8.2-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.3 Wiring of terminal strips 8.3-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.4 Connecting the supply voltage 8.4-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.5 Wiring of the system bus (CAN) / CANopen 8.5-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Wiring according to EMC
8Electrical installation
8.2
l 8.2-1EDSPM-TXXX-3.0-04/2004
8.2 Wiring according to EMC
General notes • The electromagnetic compatibility of the I/O system IP20 depends on the type and accuracy of the installation. Special attention should bepaid to:– Assembly– Shielding– Earthing
• Any other installation set-ups require the system to be checked for compliance with the EMC limit values for assessment of conformity withthe EMC Directive. This applies e.g. to the following:– Use of unshielded cables
• Responsibility for compliance with the EMC Directive is with the user.– It can be assumed, if the following measures are observed, that no EMC problems will arise during operation and that the EMC Directiveand / or the EMC Act, respectively, is complied with.
– Operating devices near the system that do not meet the CE standard in terms of disturbance immunity EN 61000-4-2, may causeelectromagnetic interference to these devices by the decentralised I/O system IP20.
Assembly • Connect DIN rail to earthed mounting plate:– Mounting plates with conductive surfaces (zinc-coated or stainless steel) allow permanent contact.– Painted plates are not suitable for installation in accordance with the EMC.
• If you use several mounting plates:– Connect the mounting plates electrically with a surface as large as possible (e.g. with copper bands).
• When laying the cables, ensure spatial separation from signalling and mains cables.• Route the cables as close as possible to the reference potential. Freely suspended cables act like aerials.
Shielding • If possible, use only cables with braids.• The shield coverage should be in excess of 80%.• Data lines for serial coupling always require metallic or metallised plugs. Connect the shield of the data line to the plug housing.• Use metal cable clamps to attach the braids.• Connect shield to shield rail inside the switchgear cabinet.• Connect the shields of analog control cables at one end (either to the sensor or as closely as possible to the analog module input).
Earthing • Earth all metallically conductive components with suitable cables from a central earthing point (PE bar).• Comply with the minimum cross-sections defined in the safety instructions:
– It is not the cable cross-section that is decisive for EMC, but instead the cable surface and large-surface contact.
Wiring of terminal strips
8Electrical installation
8.3
l 8.3-1EDSPM-TXXX-3.0-04/2004
8.3 Wiring of terminal strips
Stop!Insert the screw driver only into the rectangular opening of theterminal strip !Using force to insert the screw driver into the round opening forthe cable will destroy the spring-mounted terminal !
6 mm
< 2.5mm²
> AWG 14_ ___ < 1.5 mm²
> AWG 16
epm-t060
Fig. 8.3-1 Wiring of the terminal strips
Plugging and unplugging the terminal stripStripping length and max. permitted cable cross-sectionWiring of the terminal strip
Insert a suitable screw driver into the rectangular openingTo open the contact spring, press the screw driver in the shown directionand hold in positionInsert the stripped core into the round opening. By removing the screwdriver, the wire is securely connected to the terminal strip via a springcontact
Connecting the supply voltage
8Electrical installation
8.4
l 8.4-1EDSPM-TXXX-3.0-04/2004
8.4 Connecting the supply voltage
PE
N
L1
~
–
DC 24 V (DC 20.4 … 28.8 V)
–+
EPM-T110 EPM-T2XX
EPM-T3XX
EPM-T4XX
GND
X1
GND
PEPEPE
epm-t063
Fig. 8.4-1 Connecting the supply voltage
Module PE connection is made via the DIN rail and established via a contact onthe module’s backplane
PE
N
L1
~
–DC 24 V (DC 20.4 … 28.8 V)
– PE+
EPM-T83X
GND
X1
epm-t132
Fig. 8.4-2 Connecting the supply voltage
The PE connection of the modules is made via terminal X1/PE
Note!Specific connection data is included in the corresponding moduledescription:
Modular system ( 5.1-1 ff)
Compact system ( 6.1-1 ff)
Modular system
Compact system
Wiring of the system bus (CAN) / CANopen
8Electrical installation
8.5
l 8.5-1EDSPM-TXXX-3.0-04/2004
8.5 Wiring of the system bus (CAN) / CANopen
120
120
LO LO LOCG CG CGHI HI HI
A 2A 1 A 3 A nEPM-T110
EPM-T8XX
PES PES PESPES PES PES
CAN-GND
CAN-LOW
CAN-HIGH
120
1 2 3 4 5
6 7 8 9
epm-t061
Fig. 8.5-1 Basic wiring of the system bus (CAN) / CANopen
A1 Nodes 1 EPM-T110 or EPM-T8XXA2 Node 2A3 Node 3An Node n (e.g. PLC), n = max. 63
Please follow our recommendations on the use of the signal cable:
Total length ≤ 300 m ≤ 1000 m
Cable type LIYCY 2 x 2 x 0.5 mm2
(twisted in pairs with shield)CYPIMF 2 x 2 x 0.5 mm2
(twisted in pairs with shield)
Cable resistance ≤ 80 Ω/km ≤ 80 Ω/km
Capacitance per unitlength
≤ 130 nF/km ≤ 60 nF/km
Connection of the bus terminating resistors:– One resistor of 120 Ω each at the first and last bus node
Communication protocol– System bus (CAN) and– CANopen (CAL-based communication profile DS301/DS401)
Bus extension:– 25 m for max. 1 Mbit/s baud rate– up to 1 km with reduced baud rate
Signal level acc. to ISO 11898
Up to 63 nodes possible
Access to all Lenze parameters
Features
Contents
9Networking via system bus (CAN)
9.1
l 9.1-1EDSPM-TXXX-3.0-04/2004
9 Networking via system bus (CAN)
9.1 Contents
9.2 Via system bus (CAN) 9.2-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.2.1 Structure of the CAN data telegram 9.2-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.2.2 Identifier 9.2-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.2.3 Saving changes 9.2-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.3 Network management (NMT) 9.3-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.4 Transmitting process data 9.4-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.4.1 Process data telegram 9.4-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.4.2 Identifier of the process data objects (PDO) 9.4-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.4.3 Assigning individual parameters 9.4-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.4.4 Process data transmission mode 9.4-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.4.5 Process image of the modular system 9.4-5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.4.6 Process image of the compact system 9.4-8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.4.7 Compatibility with Lenze drive and automation components 9.4-9. . . . . . . . . . . . . . . . . . .
9.4.8 Data transmission between I/O system IP20 and controller 9.4-11. . . . . . . . . . . . . . . . . . .
9.4.9 Indices for setting the process data transmission 9.4-12. . . . . . . . . . . . . . . . . . . . . . . . . .
9.5 Transmitting parameter data 9.5-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.5.1 Telegram structure 9.5-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.5.2 Writing a parameter (example) 9.5-4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.5.3 Reading a parameter (example) 9.5-5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.6 Setting of baud rate and node address (node ID) 9.6-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.7 Node Guarding 9.7-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.8 Heartbeat 9.8-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.9 Reset node 9.9-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.10 Monitoring 9.10-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.10.1 Time monitoring for PDO1-Rx ... PDO10-Rx 9.10-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.10.2 Digital output monitoring 9.10-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.10.3 Digital output monitoring 9.10-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.10.4 Monitoring of the analog outputs 9.10-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.11 Diagnostics 9.11-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.11.1 Emergency telegram 9.11-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.11.2 Operating state of system bus (CAN) 9.11-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.11.3 Reading out the module identifiers 9.11-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.11.4 Status of the digital inputs 9.11-4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.11.5 Status of the digital outputs 9.11-4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.11.6 Status of the analog inputs 9.11-5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.11.7 Status of the analog outputs 9.11-5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Via system bus (CAN)Structure of the CAN data telegram
9Networking via system bus (CAN)
9.29.2.1
l 9.2-1EDSPM-TXXX-3.0-04/2004
9.2 Via system bus (CAN)
The I/O system IP20 supports the Lenze system bus (CAN).
Lenze has developed the system bus on the basis of CAN. As a result, functionsof the communication profile CANopen have been integrated to DS301 whichcame into being under the umbrella organisation of CiA (CAN in Automation) inconformance with the CAL (CAN Application Layer).
Note!The communication profile system bus (CAN) can be selectedwith the setting of the node address (Node ID).– Information on how to proceed with the modular system is
included in the description of the module CAN Gateway in thechapter ”The modular system” .
– Information on how to proceed with the compact system isincluded in the description of the corresponding module in thechapter ”The compact system” .
– Lenze setting: System bus (CAN)Additional information on the system bus (CAN) can be found inthe Lenze Communication Manual CAN.
9.2.1 Structure of the CAN data telegram
Control field CRC delimit. ACK delimit.Start RTR bit CRC sequence ACK slot End
IdentifierIdentifier User data (0 ... 8 bytes)User data (0 ... 8 bytes)• Network management
1 bit 11 bits 1 bit 6bits
g• Process data• Parameter data
15bits
1 bit 1 bit 1 bit 7 bits
Fig. 9.2-1 Basic structure of the CAN telegram
Note!Only the identifier and the user data are relevant to the user. Allother data of the CAN telegram are automatically processed bythe system
Via system bus (CAN)Identifier
9 Networking via system bus (CAN)
9.29.2.2
l9.2-2 EDSPM-TXXX-3.0-04/2004
9.2.2 Identifier
The principle of CAN communication is based on a message-oriented dataexchange between a transmitter and many receivers. Therefore, all nodes cantransmit and receive more or less at the same time.
The so-called identifier in the CAN telegram, also called COB-ID (CommunicationObject Identifier), controls which node is to receive a transmitted message. Inaddition to the addressing, the identifier contains information on the priority of themessage and the type of user data.
The identifier consists of a ’basic identifier’ and the node address of the device tobe approached:
Identifier = Basic identifier + node address
This node address is set with the coding switch at the module:– Modular system: At CAN gateway– Compact system: At each module
Network management and sync telegram only require the basic identifier.
The identifiers can also be set individually. ( 9.4-3)
9.2.3 Saving changes
Note!Changes of the baud rate, node address, identifiers for PDOs,and the transmission mode for PDOs must be saved withI2003h = 1, for being maintained even after switching off thesupply voltage.Any changes will become effective only after a Reset Node:– Switch the supply voltage on again– Execute NMT command ”81h” (see chapter ”Network
management (NMT)”)– Set I2358h = 1
Network management (NMT)
9Networking via system bus (CAN)
9.3
l 9.3-1EDSPM-TXXX-3.0-04/2004
9.3 Network management (NMT)
The master can change states for the entire CAN network via the networkmanagement.
Structure of the CAN telegram used for network management:
11 bits 2 bytes of user dataIdentifier Command (1 byte) Device address (1 byte)
00h
Command Network statusafter change
Information
01h Operational The I/O system can receive parameter data and process data.02h Stopped The I/O system can receive network management telegrams, but is
unable to receive parameter and process data.80h Pre-Operational The I/O system can receive parameter data while process data are
ignored.81h Pre-Operational Reset Node: Changes to system bus parameters relevant to
communication (e.g. node address, baud rate, etc.) are only acceptedafter a Reset Node.
Device address Information0 All nodes are addressed. In this way, a status change can be implemented for all devices at
the same time.1 ... 63 Node address of the node the status of which is to be changed.
Command
Device address
Transmitting process dataProcess data telegram
9Networking via system bus (CAN)
9.49.4.1
l 9.4-1EDSPM-TXXX-3.0-04/2004
9.4 Transmitting process data
Process data are used for control-specific purposes, such as setpoint and actualvalues, for example.
Process data or the input / output data of the I/O system IP20 aretransmitted as so-called PDOs (Process Data Objects).
9.4.1 Process data telegram
Structure of the process data telegram:
11 bits 8 bytes of user dataIdentifier Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8
Information on the identifier can be found in chapter ”Structure of the CAN datatelegram” .
The eight bytes of user data transmit the input signals (sent user data) and theoutput signals (received user data) of the modules.
Identifier
User data
Transmitting process dataIdentifier of the process data objects (PDO)
9 Networking via system bus (CAN)
9.49.4.2
l9.4-2 EDSPM-TXXX-3.0-04/2004
9.4.2 Identifier of the process data objects (PDO)
The identifiers of process data objects PDO1 ... PDO10 consist of the so-calledbasic identifiers and the set node address:
Identifier = Basic identifier + node address
Basic identifier Available for
dec hex CAN gateway 8×dig. I/O compact16×dig. I/O compact32×dig. I/O compact
PDOs Process data object 1PDOs Process data object 1
PDO1-Rx 768 300
PDO1-Tx 767 2FFProcess data object 2Process data object 2
PDO2-Rx 640 280 –PDO2-Tx 639 27F
Process data object 3Process data object 3
PDO3-Rx 512 200 –PDO3-Tx 384 180
Process data object 4Process data object 4
PDO4-Rx 832 340 –PDO4-Tx 896 380
Process data object 5Process data object 5
PDO5-Rx 1024 400 –PDO5-Tx 448 1C0
Process data object 6Process data object 6
PDO6-Rx 1088 440 –PDO6-Tx 704 2C0
Process data object 7Process data object 7
PDO7-Rx 1152 480 –PDO7-Tx 960 3C0
Process data object 8Process data object 8
PDO8-Rx 1280 500 –PDO8-Tx 1216 4C0
Process data object 9Process data object 9
PDO9-Rx 1344 540 –PDO9-Tx 1728 6C0
Process data object 10Process data object 10
PDO10-Rx 1664 680 –PDO10-Tx 1984 7C0
Basic identifiers of the processdata objects
Transmitting process dataAssigning individual parameters
9Networking via system bus (CAN)
9.49.4.3
l 9.4-3EDSPM-TXXX-3.0-04/2004
9.4.3 Assigning individual parameters
For larger networks with many nodes, it may be useful to set individual identifiersfor process data objects PDO1 ... PDO10, that are independent of the set nodeaddress.
Process data objects for input data
Individual identifiers for input data can be set via the indices I1400h,subindex 1 ... I1409h, subindex 1.
Process data objects for output data
Individual identifier for output data can be set via the indices I1800h,subindex 1 ... I1809h, subindex 1.
Note!Set the value which makes the required identifier(x = corresponding process data object) in index I140xh,subindex 1 or I180xh, subindex 1.Make a reset node so that the changes are accepted.
9.4.4 Process data transmission mode
The transmission mode is configured via the index I1400h, subindex 2(PDO1-Rx) ... I1409h, subindex 2 (PDO10-Rx):
Sync-controlled reception
N-sync-controlled reception
– First, a certain number (n) of sync telegrams must be transmitted (I140xh,subindex 2 = 1 ... 240). Then the PDO telegram must be received from themaster. Finally, the process input data are accepted.
Event-controlled reception (Lenze setting)
The transmission mode is configured via the index I1800h, subindex 2(PDO1-Tx) ... I1809h, subindex 2 (PDO10-Tx):
Sync-controlled transmission
n-sync-controlled transmission
– First, a certain number (n) of sync telegrams must be transmitted (I180xh,subindex 2 = 2 ... 240). Then, the PDO telegram is transmitted to themaster.
Event-controlled transmission (Lenze setting)
Note!After changing to the CAN state ”Operational” , the currentprocess image is transmitted from the I/O system IP20.
Process data transmission mode
Process output datatransmission method
Transmitting process dataProcess data transmission mode
9 Networking via system bus (CAN)
9.49.4.4
l9.4-4 EDSPM-TXXX-3.0-04/2004
A special telegram, the sync telegram, is required for synchronisation when cyclicprocess data are transmitted.
The sync telegram must be generated by another node. It initiates thetransmission for the cyclic process data of the I/O system I/P20 and at the sametime triggers data acceptance of cyclic process data received in the I/O systemIP20.
1.
PDO1-TX PDO1-RX
2. 3. 4.
epm-t111
Fig. 9.4-1 Synchronisation of cyclical process data with the help of a sync telegram(asynchronous data not considered)
Sync telegram
1. After receiving a sync telegram, the I/O system IP20 transmits the cyclicprocess output data (PDO1-Tx) if ”sync-controlled transmission” is active.
2. Once the transmission is completed, the I/O system IP20 receives the cyclicprocess input data (PDO1-Rx).
3. The data is accepted by the I/O system IP20 with the next sync telegram if”sync-controlled reception” is active.
4. All other telegrams (e.g. for parameter or event-controlled process data) areaccepted asynchronously by the I/O system IP20 after transmission.
Sync telegram for cyclic processdata
Transmission sequence
Transmitting process dataProcess image of the modular system
9Networking via system bus (CAN)
9.49.4.5
l 9.4-5EDSPM-TXXX-3.0-04/2004
9.4.5 Process image of the modular system
The process image of the modular system is explained on the basis of the followingexample. In addition to the CAN gateway, maximally 32 modules can beconnected.
Module
L
0 1
L L L L
EPM – T211
L L L L
EPM – T211
L
CANGateway
8×DI 8×DI 8×DI 8×DI 16×DI 8×DO 4×AI 2/4×Counter
SSIinterface
1×counter/ 16×DI
4×AI/AO– –
Processdata
– 1 byte TX 1 byte TX 1 byte TX 1 byte TX 2 bytesTX
1 byte RX 8 bytesTX
10 bytesTX
10 bytesRX
4 bytes TX4 bytesRX
6 bytes TX6 bytesRX
4 bytes TX4 bytesRX
ModuleNo.
M0 M1 M2 M3 M4 M5 M6 M7 M8 M9 M10 M11 ... M32
Transmitting process dataProcess image of the modular system
9 Networking via system bus (CAN)
9.49.4.5
l9.4-6 EDSPM-TXXX-3.0-04/2004
Process image Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7
PDO1Fixed for the first PDO1-RX M6 – – – – – – –
PDO1Fixed for the firstDIO PDO1-TX M1 M2 M3 M4 M5 M5 – –
PDO2Fixed for the first PDO2-RX M8 M8 M8 M8 M8 M8 M8 M8
PDO2Fixed for the firstAIO PDO2-TX M7 M7 M7 M7 M7 M7 M7 M7
PDO3 DIO or AIO 1)PDO3-RX M8 M8 M11 M11 M11 M11 – –
PDO3 DIO or AIO 1)PDO3-TX M8 M8 M8 M8 M8 M8 M8 M8
PDO4 DIO or AIO 1)PDO4-RX – – – – – – – –
PDO4 DIO or AIO 1)PDO4-TX M8 M8 M11 M11 M11 M11 – –
PDO5 DIO or AIO 1)PDO5-Rx M10 M10 M10 M10 M10 M10 – –
PDO5 DIO or AIO 1)PDO5-Tx M10 M10 M10 M10 M10 M10 – –
PDO6 DIO or AIO 1)PDO6-Rx M9 M9 M9 M9 – – – –
PDO6 DIO or AIO 1)PDO6-Tx M9 M9 M9 M9 – – – –
... ... ... ... ... ... ... ... ... ... ...
PDO10 DIO or AIO 1) PDO10-RX – – – – – – – –PDO10 DIO or AIO 1)
PDO10-TX – – – – – – – –
1) A PDO can be either assigned to AIO or DIO. AI Analog input dataA PDO can be either assigned to AIO or DIO.The modules are assigned according to the slot
ith th DIO b i i d fi tAO Analog output datag g
sequence, with the DIO being assigned first. DI Digital input data
DO Digital output data
AIO Analog input and output data
DIO Digital input and output data
Special features of the modules 1×counter/16×digital input and SSI interface:
The module 1×counter/16×digital input always assigns the next to last andthe SSI interface module always the last of the PDOs used.
The modules cannot be assigned to PDO1 and PDO2. Thus, only eight ofthese modules can be used in a system.
The modules assign a whole PDO (8 bytes) each.
The transmission times of the input / output signals within the I/O system IP20 canbe calculated with a formula.
tt = tc+ (NPDOTX ⋅ 8 ms)+ (NPDORX ⋅ 2 ms)+ td+ 742 ms
tt Transmission time of input / output signals of a module betweenfieldbus connection and input / output terminals.
tc Time required for copying into the CAN object directoryNPDOTX Transmitting the PDO number (PDO1-Tx ... PDO10-Tx)NPDORX Receiving the PDO number (PDO1-Rx ... PDO10-Rx)td Module delay time742 µs Fixed internal processing time
Time required for copying into the CAN object directory:
DO modules DI modules AO modules AI modules
tc = 50 µs + n × 14 µs tc = 50 µs + n × 25 µs tc = 50 µs + n × 210 µs tc = 50 µs + n × 250 µs
n Number of bytes assigned by the module in the PDOs
Transmission times
Transmitting process dataProcess image of the modular system
9Networking via system bus (CAN)
9.49.4.5
l 9.4-7EDSPM-TXXX-3.0-04/2004
In the I/O system shown in the example, the transmission time of the input signalsat the module M3 (8×digital input) to the master are to be detected. The baud rateamounts to 500 kbits/s.
Solution:
For transmitting the input signals, the module assigns one byte (byte 3) ofthe process data channel PDO1-Tx.
The delay time td within the module amounts to 3 ms.
1. Calculating the time required for copying tc into the CAN object directory:
tc = 50 ms+ 1 ⋅ 25 ms= 75 ms
2. Calculating the transmission time tt of the input signals to the fieldbus:
tt = 75 ms+ (1 ⋅ 8 ms)+ (0 ⋅ 2 ms)+ 3000 ms+ 742 ms= 3825 ms
3. Calculating the transmission time tCAN via the fieldbus:
l
L
EPM – T110 1A.10
PW
ER
RD
BA
ADR.0 1
+
–
DC24V
X1
DI 8xDC24V
.0
.1
.2
.3
.4
.5
.6
.7
1
2
3
4
5
6
7
8
9
L
10
EPM – T210 1A
tCAN
epm-t135
tCAN=CAN telegram length
Baud rate= 111 bits
500 kbitss
= 222 ms
4. Calculating the total transmission time t:
t = t t+ tCAN= 3825 ms+ 222 ms= 4047 ms= 4.047 ms
Note!The internal processing times of the controller must also beconsidered.
Example
Transmitting process dataProcess image of the compact system
9 Networking via system bus (CAN)
9.49.4.6
l9.4-8 EDSPM-TXXX-3.0-04/2004
9.4.6 Process image of the compact system
The process image of the compact system is explained on the basis of the module32×dig. I/O compact.
Module
L
0 1
CAN gateway 8×DI 8×DI 8×DO
Process data – 1 byte 1 byte DI 1 byte DI 1 byte DO
Slot M0 M1 M2 M3 M4
Process image Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7
PDO1PDO1-RX M4 – – – – – – –
PDO1PDO1-TX M1 M2 M3 – – – – –
DI Digital input data
DO Digital output data
Transmitting process dataCompatibility with Lenze drive and automation components
9Networking via system bus (CAN)
9.49.4.7
l 9.4-9EDSPM-TXXX-3.0-04/2004
9.4.7 Compatibility with Lenze drive and automation components
The tables below will assist you in finding out at which stage a modular system orwhich compact module, respectively, can be operated in combination with aLenzedrive and automation component.
Compatibility is dependent on the available process data objects (PDO).
Process data objects (PDO) of the I/O system IP20 (slave)
Module type Module requiresModule type
PDO-Rx PDO-TxModular system8×digital input – 1/816×digital input – 2/88×digital output 1A 1/8 –8×digital output 2A 1/8 –16×digital output 1A 2/8 –8×digital input / output 1/8 1/84×relay 1/8 –4×analog input – 8/84×analog output 8/8 –4×analog input / output 8/8 8/82/4×counter 8/8 + 2/8 8/8 + 1/8SSI interface 8/8 8/81×counter/16×digital input 8/8 8/8Compact system8×dig. I/O compact 8/8 8/816×dig. I/O compact 8/8 8/816×dig. I/O compact (single-wire conductor) 8/8 8/816×dig. I/O compact (three-wire conductor) 8/8 8/8
Process data objects (PDO) of the Lenze drive and automation components (master)
Components PDO-Rx [xPDO-Rx] PDO-Tx [xPDO-Tx]9300 Servo PLC
>10 >10Drive PLC
>10 >10
9300 inverter (all standard types)8200 vector frequency inverter
2 28200 motec frequency inverter 2 2
Communication module EMF2175
Note!A modular system allows the connection of max. 32 modules inaddition to the CAN gateway.A modular system offers max. 20 PDOs (10 PDO-Rx and10 PDO-Tx) for process data exchange.Since 9300 Servo PLC and Drive PLC are able to manage morethan 20 process data objects, several modular systems can beoperated on a Servo PLC or Drive PLC. For this each CANgateway must be assigned to a unique node address.
Transmitting process dataCompatibility with Lenze drive and automation components
9 Networking via system bus (CAN)
9.49.4.7
l9.4-10 EDSPM-TXXX-3.0-04/2004
A control task requires the connection of 4 digital outputs, 10 digital inputs and3 analog outputs to an 8200 vector frequency inverter.
The planned solution is a modular system with the following modules:
I/O system IP20 Number Required PDOsI/O system IP20Modular system
Numbermodules PDO-Rx PDO-Tx
8×digital input / output 1 1/8 1/88×digital input 1 – 1/84×analog input 1 1 –Sum 3 9/8 2/8
For exchanging the process data, the 8200 vector makes enough PDOs available:
Frequency inverter Available PDOsFrequency inverterPDO-Rx PDO-Tx
8200 vector 2 2
Example
Solution
Transmitting process dataData transmission between I/O system IP20 and controller
9Networking via system bus (CAN)
9.49.4.8
l 9.4-11EDSPM-TXXX-3.0-04/2004
9.4.8 Data transmission between I/O system IP20 and controller
The basic identifiers of PDO1-Rx and PDO1-Tx are pre-assigned in such away that they can exchange data with the process data objects ofCAN-IN3/OUT3 of a controller.
The basic identifiers of PDO2-Rx and PDO2-Tx are pre-assigned in such away that they can exchange data with the process data objects ofCAN-IN2/OUT2 of a controller.
l
L
EPM – T110 1A.10
PW
ER
RD
BA
ADR.0 1
+
–
DC24V
X1
DO 8xDC24V 1A
.0
L+
.1
.2
.3
.4
.5
.6
.7
F
1
2
3
4
5
6
7
8
9
L
10
EPM – T220 1A
DI 8xDC24V
.0
.1
.2
.3
.4
.5
.6
.7
1
2
3
4
5
6
7
8
9
L
10
EPM – T210 1A
PDO1-Rx
CAN_OUT3
CAN_IN3
PDO1-Tx
epm-t112
Fig. 9.4-2 Data transmission between I/O system IP20 and controller
PDO-Rx The I/O system IP20 receives the status information of the controllerPDO-Tx The I/O system IP20 transmits the status information to the controller
Controller with node address 1 (C0350 = 1)768d (Basic identifier) + 1 (node address) = 769d (identifier)769d (Basic identifier) + 1 (node address) = 770d (identifier)
CAN gateway of the modular system (or a module of the compact system)with node address 2
767d (Basic identifier) + 2 (node address) = 769d (identifier)768d (Basic identifier) + 2 (node address) = 770d (identifier)
Transmitting process dataIndices for setting the process data transmission
9 Networking via system bus (CAN)
9.49.4.9
l9.4-12 EDSPM-TXXX-3.0-04/2004
9.4.9 Indices for setting the process data transmission
Process data objects for input data
Index Name Possible settings Important
Lenze Selection
I1400h Index is available in the modular andcompact system
9.4-3
1 COB-ID used byRxPDO 1
768 385 1 2047 Defining the individual identifiers forprocess data object 1
2 Transmission mode 255 0 1 255 Defining the transmission mode
0 Sync-controlled reception The input data are accepted on synctelegram transmission.
1 ... 240 N-sync-controlled reception The input data are accepted aftertransmission of the set number (1 ... 240)of sync telegrams.
255 Event-controlled reception Every received value is accepted
... ...
I1409h Index is only available in the modularsystem
9.4-3
1 COB-ID used byRxPDO 10
1665 385 1 2047 Defining the individual identifiers forprocess data object 10
2 Transmission mode 255 0 1 255 Defining the transmission mode
0 Sync-controlled reception The input data are accepted on synctelegram transmission.
1 ... 240 N-sync-controlled reception The input data are accepted aftertransmission of the set number (1 ... 240)of sync telegrams.
255 Event-controlled reception Every received value is accepted
Transmitting process dataIndices for setting the process data transmission
9Networking via system bus (CAN)
9.49.4.9
l 9.4-13EDSPM-TXXX-3.0-04/2004
Process data objects for output data
Index Name Possible settings Important
Lenze Selection
I1800h Index is available in the modular andcompact system
9.4-3
1 COB-ID used byTxPDO 1
767 385 1 2047 Defining the individual identifiers forprocess data object 1
2 Transmission mode 255 0 1 255 Defining the transmission mode
1 Sync-controlled transmission The output data are accepted on synctelegram transmission.
2 ... 240 n-sync-controlled transmission The output data are accepted aftertransmission of the set number (1 ... 240)of sync telegrams.
254 Time-controlled transmission Only if a cycle time is set in I180xh,subindex 5
255 Event-controlled transmission
255 Event-controlled transmission with cyclicoverlapping
Only if a cycle time is set in I180xh,subindex 5
... ...
I1809h Index is only available in the modularsystem
9.4-3
1 COB-ID used byTxPDO 10
1984 385 1 2047 Defining the individual identifiers forprocess data object 10
2 Transmission mode 255 0 1 255 Defining the transmission mode
1 Sync-controlled transmission The output data are accepted on synctelegram transmission.
2 ... 240 n-sync-controlled transmission The output data are accepted aftertransmission of the set number (1 ... 240)of sync telegrams.
254 Time-controlled transmission Only if a cycle time is set in I180xh,subindex 5
255 Event-controlled transmission
255 Event-controlled transmission with cyclicoverlapping
Only if a cycle time is set in I180xh,subindex 5
3 Inhibit time 0 0 1 ms 65535 Inhibit time
5 Event time 0 1 ms 65535 Cycle time
Transmitting parameter dataTelegram structure
9Networking via system bus (CAN)
9.59.5.1
l 9.5-1EDSPM-TXXX-3.0-04/2004
9.5 Transmitting parameter data
Parameter data are the so-called indices.
Parameters are usually set only once during the commissioning.
Parameter data are transmitted as so-called SDOs (Service Data Objects) via thesystem bus and acknowledged by the receiver, i.e. the transmitter gets a feedbackif the transmission was successful.
9.5.1 Telegram structure
Structure of the telegram for parameter data:
11 bits 8 bytes of user data
IdentifierInstruction Index
Subindex Data 1 Data 2 Data 3 Data 4IdentifierInstruction
code LOW byte HIGH byteSubindex Data 1 Data 2 Data 3 Data 4
The subchapters below explain the individual telegram components in detail.
The chapter 9.5.2 contains an example of how to write a parameter.( 9.5-4)
The chapter 9.5.3 contains an example of how to read a parameter. ( 9.5-5)
IdentifierInstruction Index
Subindex Data 1 Data 2 Data 3 Data 4IdentifierInstruction
code LOW byte HIGH byteSubindex Data 1 Data 2 Data 3 Data 4
Two parameter channels are available for parameter data transmission. They areaddressed via the identifier.
Identifier = Basic identifier + node address of the deviceIdentifier =
dec hex
+ node address of the device
SDOs Parameter channel 1SDOs
Output (transmit) 1408 580al e set ith coding s itch
Input (receive) 1536 600+ value set with coding switch
Parameter channel 2
Output (transmit) 1600 640+ value set with coding switch
Input (receive) 1472 5C0+ value set with coding switch
Note!There is an offset of 64 between the identifiers for parameterchannels 1 and 2:
Output of parameter channel 1 = 1536Output of parameter channel 2 = 1536 + 64 = 1600
Identifier
Transmitting parameter dataTelegram structure
9 Networking via system bus (CAN)
9.59.5.1
l9.5-2 EDSPM-TXXX-3.0-04/2004
IdentifierInstruction Index
Subindex Data 1 Data 2 Data 3 Data 4IdentifierInstruction
code LOW byte HIGH byteSubindex Data 1 Data 2 Data 3 Data 4
The instruction code contains the command to be executed and information aboutthe parameter data length. It is structured as follows:
bits 7(MSB)
bits 6 bits 5 bits 4 bits 3 bits 2 bit 1 bit 0
Command Command Specifier (cs) Length E s
Write Request 0 0 1 0 00 = 4 bytes 1 1Write Response 0 1 1 0
00 4 bytes01 = 3 bytes 0 0
Read Request 0 1 0 0
y10 = 2 bytes11 1 b t
0 0Read Response 0 1 0 0
y11 = 1 byte 1 1
Error Response 1 0 0 0 0 0 0 0
Instruction code for parameters with 4 bytes of data length:
4 bytes of data(32 bits)
Command hex dec Information
Write Request 23 35 Transmitting parameters to a node
Write Response 60 96 Node response to the Write Request (acknowledgement)
Read Request 40 64 Request to read a parameter from a node
Read Response 43 67 Response to the read request with the actual value
Error Response 80 128 Node reports a communication error
If an error occurs, the addressed node generates an “Error Response” .
In Data 4, this telegram always contains the value “6” , in Data 3 it contains an errorcode:
Command code Error Response Data 3 Data 4 Error message
3 Access denied
80h 5 6 Wrong subindex80h6
6Wrong index
Instruction code
Instruction “Error Response”
Transmitting parameter dataTelegram structure
9Networking via system bus (CAN)
9.59.5.1
l 9.5-3EDSPM-TXXX-3.0-04/2004
IdentifierInstruction Index
Subindex Data 1 Data 2 Data 3 Data 4IdentifierInstruction
code LOW byte HIGH byteSubindex Data 1 Data 2 Data 3 Data 4
The index of the telegram is used to address the index to be read or written:
The index value must be entered in left-justified Intel format and divided intoLow byte and High byte (see example).
For subindices, the number of the associated subindex must be entered intothe telegram’s subindex.
For indices without subindex, the subindex always has a value “0’.
The subindex 1 of index I2400h (monitoring time for PDO1) is to be addressed:
11 bits 8 bytes of user data
IdentifierInstruction Index
Subindex Data 1 Data 2 Data 3 Data 4IdentifierInstruction
code LOW byte HIGH byteSubindex Data 1 Data 2 Data 3 Data 4
00h 24h 1
IdentifierInstruction Index
Subindex Data 1 Data 2 Data 3 Data 4IdentifierInstruction
code LOW byte HIGH byteSubindex Data 1 Data 2 Data 3 Data 4
Up to 4 bytes (Data 1 ... Data 4) are available for parameter data.
Data are entered in left-justified Intel format with Data 1 as LSB and Data 4 as MSB(see example).
The value ”1 s” is to be transmitted for the index 2400h (monitoring time).
Data1...4 = 1 × 1000 = 1000 = 00 00 03 E8h
11 bits 8 bytes of user data
IdentifierInstruction Index
Subindex Data 1 Data 2 Data 3 Data 4IdentifierInstruction
code LOW byte HIGH byteSubindex Data 1 Data 2 Data 3 Data 4
E8h 03h 00h 00h
(LSB) (MSB)
Parameter addressing(Index/subindex)
Example
Parameter data (data 1 ... data 4)
Example
Transmitting parameter dataWriting a parameter (example)
9 Networking via system bus (CAN)
9.59.5.2
l9.5-4 EDSPM-TXXX-3.0-04/2004
9.5.2 Writing a parameter (example)
An I/O system IP20 has the node address 2. For the first analog module (4×analogoutput), the function of the output A.0 (voltage signal 0 ... +10 V, 12 bits) is to beoutput.
Formula InformationIdentifier = Basic identifier + node address
= 1536 + 2 =1538 = 602h• Basic identifier for parameter channel 1 (output) = 1536• Node address of the I/O system IP20 = 2
Instructioncode:
= 23h • Command “Write Request” (transmitting parameters tothe I/O system IP20)
Index = I3001h • Index first analog module
Subindex = 1 • Subindex = 1 (function for output A.1 among others)
Data 1Data 2Data 3Data 4Data 1 ... 4
= 00h= 00h= 05h= 3Bh= 00 00 05 3Bh
• Diagnostics (Lenze setting)• Reserved• Output A.0 (voltage signal 0 ... +10 V, 12 bits)• Output A.1 (Lenze setting)
11 Bit 8 bytes of user data
IdentifierInstruction Index
Subindex Data 1 Data 2 Data 3 Data 4IdentifierInstruction
code: LOW byte HIGH byteSubindex Data 1 Data 2 Data 3 Data 4
602h 23h 01h 30h 1 00h 00h 05h 3Bh
(LSB) (MSB)
L
0 1
L
Write Request
Write Response
Identifier = 1538
Identifier = 1410
epm-t118
Fig. 9.5-1 Writing a parameter
Formula InformationIdentifier = Basic identifier + node address
= 1408 + 2= 1410
• Basic identifier for parameter channel 1 (input) = 1408• Node address of the I/O system IP20 = 2
Instructioncode:
= 60h • Command “Write Response” (acknowledgement from theI/O system IP20)
Index = Index of the read request
Subindex = Subindex of the read request
Data 1 ... 4 = 0 • Acknowledgement only
11 Bit 8 bytes of user data
IdentifierInstruction Index
Subindex Data 1 Data 2 Data 3 Data 4IdentifierInstruction
code: LOW byte HIGH byteSubindex Data 1 Data 2 Data 3 Data 4
1410 60h 01h 30h 0 0 0 0 3
Task
Telegram to the I/O system IP20
Telegram from the I/Osystem IP20 (acknowledgementwhen being executed faultlessly)
Transmitting parameter dataReading a parameter (example)
9Networking via system bus (CAN)
9.59.5.3
l 9.5-5EDSPM-TXXX-3.0-04/2004
9.5.3 Reading a parameter (example)
An I/O system IP20 has the node address 2. For the first module (4×analog output)the function of the A.0 output is to be read.
Formula Information
Identifier = Basic identifier + node address= 1536 + 2 =1538 = 602h
• Basic identifier for parameter channel 1 (output) = 1536• Node address of the I/O system IP20 = 2
Instructioncode:
= 40h • Command “Read Request” (request for reading aparameter of the I/O system IP20)
Index = I3001h • Index first analog module
Subindex = 1 • Subindex = 1 (function for output A.0 among others)
Data 1Data 2Data 3Data 4Data 1 ... 4
= 00h= 00h= 00h= 00h= 00 00 00 00h
• Read request only
11 bits 8 bytes of user data
IdentifierInstruction Index
Subindex Data 1 Data 2 Data 3 Data 4IdentifierInstruction
code: LOW byte HIGH byteSubindex Data 1 Data 2 Data 3 Data 4
602h 40h 01h 30h 1 00h 00h 00h 00h
L
0 1
L
Read Request
Read Response
Identifier = 1538
Identifier = 1410
epm-t119
Fig. 9.5-2 Reading a parameter
Formula Information
Identifier = Basic identifier + node address= 1408 + 2= 1410
• Basic identifier for parameter channel 1 (input) = 1408• Node address of the I/O system IP20 = 2
Instructioncode:
= 43h • Command “Read Response” (response to the readrequest with the current value)
Index = Index of the read request
Subindex = Subindex of the read request
Data 1Data 2Data 3Data 4Data 1 ... 4
= 00h= 00h= 05h= 3Bh= 00 00 05 3Bh
• Assumption: Analog output A.0 outputs a voltage signal0 ... +10 V at a 12 bit resolution.
11 bits 8 bytes of user data
IdentifierInstruction Index
Subindex Data 1 Data 2 Data 3 Data 4IdentifierInstruction
code: LOW byte HIGH byteSubindex Data 1 Data 2 Data 3 Data 4
1410 43h 01h 30h 0 00h 00h 05h 3Bh
(LSB) (MSB)
Task
Telegram to the I/O system IP20
Telegram from the I/O systemIP20 (value of the requestedparameter):
Setting of baud rate and node address (node ID)
9Networking via system bus (CAN)
9.6
l 9.6-1EDSPM-TXXX-3.0-04/2004
9.6 Setting of baud rate and node address (node ID)
Baud rate
For establishing a communication, all devices must use the same baud rate for thedata transfer.
The baud rate can be set via the coding switch at the module.
Node address
Each nodeof thenetwork must beassigned to anode address, also called Node IDwithin a range of 1 ... 63 for clear identification.
A node address in a network may be used only once.
The node address must be set with the coding switch at the module.
0 1
+ +
– –
epm-t024
Fig. 9.6-1 Coding switch a CAN gateway
– Decrease numerical value
+ Increase numerical value
System bus (CAN) Baud rate
Coding switch value [kbit/s]
90 1000
91 500
92 250
93 125
94 100
95 50
96 20
97 10
98 800
Bold print = Lenze setting
1. Switch off the voltage supply of the module.
2. Use the coding switch to set the required baud rate.– Select ”9x” (x = value for the required baud rate)
3. Switch on the voltage supply of the module.– The LEDs ER, RD and BA are blinking with a frequency of 1 Hz.
4. LEDs ER and BA go off after 5 seconds, and the set baud rate is stored.
Baud rate setting
Setting of baud rate and node address (node ID)
9 Networking via system bus (CAN)
9.6
l9.6-2 EDSPM-TXXX-3.0-04/2004
5. Now set the node address with the coding switch for the module. You havefive seconds for this.– Each node address must be assigned only once.
6. The set node address will be accepted after 5 seconds.– LED RD goes off.
– The module changes to the pre-operational mode.
Note!The node address can be changed any time with the codingswitch. The setting is accepted after switching on the supplyvoltage.
Indices for setting
Index Name Possible settings Important
Lenze SelectionI100Bh Node ID 0 0 1 63 Display only
System bus node address
I2001h CAN baud rate 1 0 1 255 Display onlyh
012345678
1000 kbits/s500 kbits/s250 kbits/s125 kbits/s100 kbits/s50 kbits/s20 kbits/s10 kbits/s800 kbits/s
p y ysystem bus baud rate
Setting the node address
Node Guarding
9Networking via system bus (CAN)
9.7
l 9.7-1EDSPM-TXXX-3.0-04/2004
9.7 Node Guarding
COB-ID = 1792 + Node-ID
COB-ID = 1792 + Node-ID NMT-Slave1 )
NMT-Master
indication
indication
indication
request
request
confirm
confirm
indication
Remote transmit request
Remote transmit request
response
response
Node Guarding Event2 )
Life Guarding Event2
Node
Guard
time
Node
Time
Life
0
0
1
1
t s
7 6 … 0
t s
7 6 … 0
epm-t133
Fig. 9.7-1 Node Guarding Protocol
1) I/O system IP20s Status of the I/O system IP20T Toggle bit
The Node Guarding Protocol monitors the connection between master and slave.
Via the index I100Ch ”Guard time” , a time [ms] can be set and in the index I100Dh”Life time factor” a factor can be set. If both indices are multiplied by each other,you get a monitoring time in which the master must send a Node Guardingtelegram to the slave. If one of both indices is set to zero, the monitoring time isalso zero and hencedeactivated. The slavesends a telegram with its current statusto the master.
With event-controlled process data transmission, Node Guarding ensures cyclicalnode monitoring.
The master starts the Node Guarding by sending the Node Guardingtelegram.
If the slave (I/O system IP20) does not receive a telegram within themonitoring time, the Node Guarding Event is activated. The I/O system IP20switches to the state set in I1029h. The outputs switch to a defined state(also see the chapter Configuration → Diagnostics).
A change to the Operational status triggers a reset.
Description
Node Guarding
9 Networking via system bus (CAN)
9.7
l9.7-2 EDSPM-TXXX-3.0-04/2004
11 bits 1 byte of user dataIdentifier Device status (bits 0 ... 6) Toggle bit
1792d (700h)
Identifier:
Formula InformationIdentifier = Basic identifier + node address
= 1792d + xxThe basic identifier for Node Guarding isfirmly adjusted to 1792d (700h)xx = Node address of the I/O system
Device status (bit 0 ... 6) of the slave (I/O system IP20):
Command(hex)
Device status
04 Stopped05 Operational7F Pre-Operational
Indices for setting
Index Name Possible settings Important
Lenze Selection
I100Ch Guard time 0 0 1 ms 65535 Node GuardingMonitoring time0 = monitoring not active
9.7-1
I100Dh Life time factor 0 0 1 255 Node GuardingResponse time computation factor0 = monitoring not activeThe response time is computed as:Monitoring period x factor
9.7-1
I100Eh Node Guardingidentifier
Display onlyidentifier = basic identifier + node address(basic identifier cannot be modified)
9.7-1
Note!The Lenze PLC’s 9300 servo PLC and Drive PLC in connectionwith the function library LenzeCanDSxDrv.lib support the ”NodeGuarding” function.
Status telegram
Heartbeat
9Networking via system bus (CAN)
9.8
l 9.8-1EDSPM-TXXX-3.0-04/2004
9.8 Heartbeat
COB-ID = 1792 + Node-ID Heartbeat
Consumer
Heartbeat
Producer
indication
indication
indication
indication
indication
indication
indication
indication
Heartbeat Event
request
request
Heartbeat
Producer
Time
Heartbeat
Consumer
Time
Heartbeat
Consumer
Time
0
0
1
1
r
r
s
s
7
7
6 … 0
6 … 0
epm-t134
Fig. 9.8-1 Heartbeat Protocol
r Reserveds Status of the Heartbeat Producer
The I/O system IP20 can monitor up to five nodes. The status telegrams of thenodes to be monitored must arrive cyclically with a certain time at the I/O systemIP20. If a status telegram is not received within this time, the I/O system IP20switches to the status set in I1029h. The outputs switch to a defined status (alsosee the chapter Configuration → Diagnostics).
Settings are made in the index I1016h.
The I/O system IP20 assigns a status telegram to the fieldbus and can thus bemonitored by other nodes.
Settings are made in index I1017h.
Producer heartbeat is automatically started if a time > 0 is entered into theindex 1017h and the I/O system IP20 changes to the status ”Operational” .
After the cycle time has been completed, the status telegram is transmittedto the fieldbus by the I/O system IP20.
A change into the Operational status triggers a reset.
Heartbeat Consumer
Heartbeat Producer
Heartbeat
9 Networking via system bus (CAN)
9.8
l9.8-2 EDSPM-TXXX-3.0-04/2004
11 bits 1 byte of user dataIdentifier Device status (bits 0 ... 6) bits 7
1792d (700h) reserved
Identifier:
Formula InformationIdentifier = Basic identifier + node address
= 1792d + xxThe basic identifiers for heartbeat is firmlyadjusted to 1792d (700h)xx = node address of the I/O system IP20
Device status (bit 1 ... 6) of the heartbeat producer:
Command(hex)
Status
00 Boot-up05 Operational04 Stopped7F Pre-Operational
Indices for setting
Index Name Possible settings Important
Lenze SelectionI1016h Heartbeat
consumer timeData contents The I/O system IP20 can monitor up to five
nodes (subindex 1 5)9.8-1
consumer timeHeartbeat time Node ID reserved
nodes (subindex 1 ... 5).If the monitored node does not respond,
Byte 1 Byte 2 Byte 3 Byte 4If the monitored node does not respond,the I/O system IP20 changes to the”Pre-Operational” state The outputs
00h 00h 00h 00h”Pre-Operational” state. The outputsswitch to a defined state.
1 Heartbeat time 0 0 1 ms 65535 In the compact system, only the subindex 1i il bl
9.8-1
Node ID 0 0 1 255
p y , yis availableHeartbeat time:2 Heartbeat time 0 0 1 ms 65535Heartbeat time:The monitored node must respond within
Node ID 0 0 1 255The monitored node must respond withinthe time set. The time is set in byte 0 and
3 Heartbeat time 0 0 1 ms 65535the time set. The time is set in byte 0 and1.
Node ID 0 0 1 255 Node ID:N d dd f th d t b it d4 Heartbeat time 0 0 1 ms 65535 Node address of the node to be monitored.The address is set in byte 2
Node ID 0 0 1 255The address is set in byte 2.
5 Heartbeat time 0 0 1 ms 65535
Node ID 0 0 1 255I1017h Heartbeat producer
time0 0 1 ms 65535 The I/O system IP20 can be monitored by
other nodes.Within this time the device status of the I/O
9.8-1
0 Function is not active
Within this time the device status of the I/Osystem IP20 is transmitted to the fieldbus.In the communication protocol, system bus(CAN) is not available
Note!The Lenze PLC’s 9300 servo PLC and Drive PLC in connectionwith the function library LenzeCanDSxDrv.lib support the”heartbeat” function.
Status telegram
Reset node
9Networking via system bus (CAN)
9.9
l 9.9-1EDSPM-TXXX-3.0-04/2004
9.9 Reset node
Changes of transmission modes and identifiers will be accepted after ”reset node”only.
Switch the supply voltage on again
Execute NMT command ”81h” (see chapter ”Network management (NMT)”)
Set I2358h = 1
Index Name Possible settings Important
Lenze SelectionI2358h CAN reset node 0 0 No function Reset node 9.9-1h
1 CAN reset node
MonitoringTime monitoring for PDO1-Rx ... PDO10-Rx
9Networking via system bus (CAN)
9.109.10.1
l 9.10-1EDSPM-TXXX-3.0-04/2004
9.10 Monitoring
9.10.1 Time monitoring for PDO1-Rx ... PDO10-Rx
A time monitoring can be configured for the inputs of the process data objectsPDO1-Rx ... PDO10-Rx via the index I2400h.
Index Name Possible settings Important
Lenze Selection
I2400h* Timer value 0 1 ms 65535 Monitoring time for process data inputbj
9.10-1
1 PD01 0
g p pobjectsFor the compact system only index I2400
2 PD02 0For the compact system, only index I2400h,subindex 1 is available
3 PD03 0subindex 1 is available
4 PD04 0
5 PD05 0
6 PD06 0
7 PD07 0
8 PD08 0
9 PD09 0
10 PD10 0
MonitoringDigital output monitoring
9 Networking via system bus (CAN)
9.109.10.2
l9.10-2 EDSPM-TXXX-3.0-04/2004
9.10.2 Digital output monitoring
Via the index I6206h you can configure the reactions of the digital outputs, whichare to take place when no telegrams, ”node guarding events” or ”heartbeat” havebeen received in the adjusted monitoring time.
Index Name Possible settings Important
Lenze SelectionI6206h Error mode digital
output0 1 255 Configures digital output monitoring
For the compact system, only index I6206h,subindex 1 is available
9.10-2
0 All digital outputs retain the last status output.
255 Reaction from I6207h In I6207h, the response can be configuredindividually for each digital output
1 Module 1 0
2 Module 2 0
... ... ...
32 Module 32 0
9.10.3 Digital output monitoring
Via the index I6206h you can configure the reactions of the digital outputs, whichare to take place when no telegrams, ”node guarding events” or ”heartbeat” havebeen received in the adjusted monitoring time.
Via index I6207h the response can be configured individually for each digitaloutput.
Index Name Possible settings Important
Lenze SelectionI6207h Error value digital 0 0 1 255 Configures the individual digital output 9.10-2h g
output 8 bits of information
g g presponsesFor the compact system only index I620
Bit value0
Output switches to LOWFor the compact system, only index I6207h,subindex 1 is available
Bit value1
Output retains last status output
1 Module 1 0
2 Module 2 0
... ... ...
32 Module 32 0
Individual response setting
MonitoringDigital output monitoring
9Networking via system bus (CAN)
9.109.10.4
l 9.10-3EDSPM-TXXX-3.0-04/2004
9.10.4 Monitoring of the analog outputs
Via the index I6443h you can configure the reactions of the analog outputs, whichare to take place when no telegrams, ”node guarding events” or ”heartbeat” havebeen received in the adjusted monitoring time.
Monitoring is started on receipt of the next PDO telegram after the settings.
If a telegram is not transmitted within the adjusted time, the moduleswitches to the ”Pre-Operational” state. No further process data aretransmitted.
A change into the ”Operational” state triggers a reset.
Index Name Possible settings Important
Lenze SelectionI6443h* Error mode analog
output0 1 255 Configures analog output monitoring
Index is only available in the modularsystem
9.10-3
0 All analog outputs retain the last value output.
255 Response from I6444h In I6444h the response can be configuredindividually for each analog output
1 Channel 1 0
2 Channel 2 0
... ... ...
36 Channel 36 0
Via index I6444h the response can be configured individually for each analogoutput.
Index Name Possible settings Important
Lenze Selection
I6444h* Error value analogoutput
-32768 1 32767 Configures the individual analog outputresponsesTh l id h l
9.10-3
1 Channel 1 0
pThe analog outputs provide the set valueIndex is only available in the modular
2 Channel 2 0Index is only available in the modularsystem
... ... ...system
36 Channel 36 0
Individual response setting
Diagnostics
9Networking via system bus (CAN)
9.11
l 9.11-1EDSPM-TXXX-3.0-04/2004
9.11 Diagnostics
The following indices can be used for the diagnostics. They display operatingstates. Settings are not possible.
Index Information displayed DescriptionI1014h Emergency telegram 9.11-2
I2359h Operating status of the system bus 9.11-3
I1027h Module ID read 9.11-3
I6000h Digital input status 9.11-4
I6200h Digital output status 9.11-4
I6401h Analog input status 9.11-5
I6411h Analog output status 9.11-5
I1003h Current errors
DiagnosticsEmergency telegram
9 Networking via system bus (CAN)
9.119.11.1
l9.11-2 EDSPM-TXXX-3.0-04/2004
9.11.1 Emergency telegram
By means of the emergency telegram, the I/O system IP20 communicates internaldevice errors to other system bus nodes with high priority. 8 bytes of user data areavailable.
Index Name Possible settings Important
Lenze Selection
I1014h COB ID emergency Emergency telegramIdentifier 80h + node address is displayedafter boot-up.
9.11-2
Emergency telegram structure
Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7LOW byte HIGH byte Error register Error information
Error code Error code I1001h 1 2 3 4 5
Contents of the emergency telegram
Error cause Byte 0 Byte 1 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7Emergency telegram reset 0000h 00h 00h 00h 00h 00hError on initialisation of modules linked tobackplane bus 01h 00h 00h 00h 00h
Error on module configuration check 02h Slot number 00h 00h 00hError on module read/write 03h Slot number 00h 00h 00hModule configuration was changed 05h 00h 00h 00h 00hConfiguration of the modules has beenchanged. The module is in the Pre-Operationalstate. 1000h
06h 00h 00h 00h 00h
Incorrect module parameterisation1000h
30h Slot number 00h 00h 00hDiagnostic alarm - analog module 40h +
Slot numberDiagnostic byte 0 Diagnostic byte 1 Diagnostic byte 2 Diagnostic byte 3
Process alarm - analog module 80h +Slot number
Diagnostic byte 0 Diagnostic byte 1 Diagnostic byte 2 Diagnostic byte 3
PDO control (monitoring time in I2400h hasbeen exceeded). FFh 10h PDO number
Monitoring time(LOW byte)
Monitoring time(HIGH byte)
SDO/PDO mapping error6300h
Map index(LOW byte)
Map index(HIGH byte)
Number of entries 00h 00h
Heartbeat error (monitoring time exceeded).8100h Subindex Node address
Monitoring time(LOW byte)
Monitoring time(HIGH byte) 00h
Node guarding error (monitoring timeexceeded). 8130h
Guard time(LOW byte)
Guard time(HIGH byte)
Life time 00h 00h
DiagnosticsOperating state of system bus (CAN)
9Networking via system bus (CAN)
9.119.11.2
l 9.11-3EDSPM-TXXX-3.0-04/2004
9.11.2 Operating state of system bus (CAN)
Index I2359h displays the operating status of the system bus.
I2359h Operating status Description0 Operational The system bus is fully functional. The I/O system can transmit and receive parameter and process data.
1 Pre-Operational The I/O system can transmit and receive parameter data while process data are ignored.The status can be changed from Pre-Operational to Operational by:• The CAN master• An NMT telegram ’00 01 00’
2 Warning The I/O system has received incorrect telegrams and become passive in the overall system bus environment, i. e., the I/Osystem can no longer transmit data.Possible causes:• A missing bus termination• Insufficient shielding• Potential differences in the earth connections for the control electronics• The bus load is too high
3 Bus off The I/O system has disconnected itself from the system bus after receiving too many incorrect telegrams.
Index Name Possible settings Important
Lenze SelectionI2359h CAN state 0 1 3 Display only 9.11-3h
0123
OperationalPre-OperationalWarningBus off
p y ySystem bus status
9.11.3 Reading out the module identifiers
When using the modular system, the number of the modules connected to thebackplane bus as well as the module types used can be read out via index I1027h.Each module type can be clearly identified via a hexadecimal value.
Index Subindex Reading... Module type Module identifier0 ... the number of plugged modules (0 ... 32) – 0h ... 20h
No module 0h8×digital input 9FC1h16×digital input 9FC2h
1×counter/16×digital input 08C0h
I1027h 1 ... 32 ... the module type in slots 1 ... 32
8×digital output 1A16×digital output 1A8×digital output 2A4×relay
AFC8h
8×digital input / output BFC9h4×analog input 15C4h
4×analog output A5E0h4×analog input / output 45DBh2/4×counter B5F4hSSI interface B5DBh
DiagnosticsStatus of the digital inputs
9 Networking via system bus (CAN)
9.119.11.4
l9.11-4 EDSPM-TXXX-3.0-04/2004
9.11.4 Status of the digital inputs
Via the index I6000h the status of the digital inputs can be displayed.
Index Name Possible settings Important
Lenze Selection
I6000h Digital input 0 1 255 Display only 9.11-4
1 Module 1
p y ydigital input status
2 Module 2
... ...
32 Module 32
9.11.5 Status of the digital outputs
Via the index I6200h the status of the digital outputs can be displayed:
Index Name Possible settings Important
Lenze Selection
I6200h Digital output 0 1 255 Display only 9.11-4
1 Module 1
p y ydigital output status
2 Module 2
... ...
32 Module 32
DiagnosticsStatus of the analog inputs
9Networking via system bus (CAN)
9.119.11.6
l 9.11-5EDSPM-TXXX-3.0-04/2004
9.11.6 Status of the analog inputs
Via the index I6401h the status of the analog inputs can be displayed.
Index Name Possible settings Important
Lenze Selection
I6401h Analog input -32768 1 32767 Display only 9.11-5
1 Channel 1
p y yanalog input statusI d i l il bl i th d l2 Channel 2 Index is only available in the modularsystem
... ...system
36 Channel 36
9.11.7 Status of the analog outputs
Via the index I6411h the status of the analog outputs can be displayed:
Index Name Possible settings Important
Lenze Selection
I6411h Analog output -32768 1 32767 Display only 9.11-5
1 Channel 1
p y yanalog output statusI d i l il bl i th d l2 Channel 2 Index is only available in the modularsystem
... ...system
36 Channel 36
Contents
10Network via CANopen
10.1
l 10.1-1EDSPM-TXXX-3.0-04/2004
10 Networking via CANopen
10.1 Contents
10.2 Via CANopen 10.2-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.2.1 Structure of the CAN data telegram 10.2-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.2.2 Identifier 10.2-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.2.3 Saving changes 10.2-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.3 Network management (NMT) 10.3-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.4 Transmitting process data 10.4-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.4.1 Process data telegram 10.4-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.4.2 Identifier of the process data objects (PDO) 10.4-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.4.3 Assigning individual parameters 10.4-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.4.4 Process data transmission mode 10.4-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.4.5 Process image of the modular system 10.4-5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.4.6 Process image of the compact system 10.4-8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.4.7 Compatibility with Lenze drive and automation components 10.4-9. . . . . . . . . . . . . . . . . . .
10.4.8 Data transmission between I/O system IP20 and controller 10.4-11. . . . . . . . . . . . . . . . . . .
10.4.9 Indices for setting the process data transmission 10.4-12. . . . . . . . . . . . . . . . . . . . . . . . . .
10.5 Transmitting parameter data 10.5-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.5.1 Telegram structure 10.5-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.5.2 Writing a parameter (example) 10.5-4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.5.3 Reading a parameter (example) 10.5-5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.6 Setting of baud rate and node address (node ID) 10.6-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.7 Node Guarding 10.7-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.8 Heartbeat 10.8-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.9 Reset node 10.9-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.10 Monitoring 10.10-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.10.1 Time monitoring for PDO1-Rx ... PDO10-Rx 10.10-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.10.2 Digital output monitoring 10.10-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.10.3 Digital output monitoring 10.10-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.10.4 Monitoring of the analog outputs 10.10-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.11 Diagnostics 10.11-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.11.1 Emergency telegram 10.11-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.11.2 Operating state of system bus (CAN) 10.11-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.11.3 Reading out the module identifiers 10.11-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.11.4 Status of the digital inputs 10.11-4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.11.5 Status of the digital outputs 10.11-4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.11.6 Status of the analog inputs 10.11-5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.11.7 Status of the analog outputs 10.11-5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Via CANopenStructure of the CAN data telegram
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10.2 Via CANopen
The I/O system IP20 supports the communication module CANopen.
The CANopen protocol is a standardised layer-7 protocol for the CAN bus. Thislayer is based on the CAN Application Layer (CAL) which was developed as auniversal protocol.
However, as the practice shows, applications with CAL were too complex for theusers. CANopen provides a uniform and simple structure for connecting the CANdevices of the various manufacturers.
Note!The communication profile CANopen can be selected withsetting the node address (Node-ID).– Information on how to proceed with the modular system is
included in the description of the module CAN Gateway in thechapter ”The modular system” .
– Information on how to proceed with the compact system isincluded in the description of the corresponding module in thechapter ”The compact system” .
– Lenze setting: System bus (CAN)Additional information on CANopen can be found in the LenzeCommunication Manual CAN.
10.2.1 Structure of the CAN data telegram
Control field CRC delimit. ACK delimit.Start RTR bit CRC sequence ACK slot End
IdentifierIdentifier User data (0 ... 8 bytes)User data (0 ... 8 bytes)• Network management
1 bit 11 bits 1 bit 6bits
g• Process data• Parameter data
15bits
1 bit 1 bit 1 bit 7 bits
Fig. 10.2-1 Basic structure of the CAN telegram
Note!Only the identifier and the user data are relevant to the user. Allother data of the CAN telegram are automatically processed bythe system
Via CANopenIdentifier
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10.2.2 Identifier
The principle of CAN communication is based on a message-oriented dataexchange between a transmitter and many receivers. Therefore, all nodes cantransmit and receive more or less at the same time.
The so-called identifier in the CAN telegram, also called COB-ID (CommunicationObject Identifier), controls which node is to receive a transmitted message. Inaddition to the addressing, the identifier contains information on the priority of themessage and the type of user data.
The identifier consists of a ’basic identifier’ and the node address of the device tobe approached:
Identifier = Basic identifier + node address
This node address is set with the coding switch at the module:– Modular system: At CAN gateway– Compact system: At each module
Network management and sync telegram only require the basic identifier.
The identifiers can also be set individually. ( 10.4-3)
10.2.3 Saving changes
Note!Changes of the baud rate, node address, identifiers for PDOs,and the transmission mode for PDOs must be saved withI2003h = 1, for being maintained even after switching off thesupply voltage.Any changes will become effective only after a Reset Node:– Switch the supply voltage on again– Execute NMT command ”81h” (see chapter ”Network
management (NMT)”)– Set I2358h = 1
Network management (NMT)
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l 10.3-1EDSPM-TXXX-3.0-04/2004
10.3 Network management (NMT)
The master can change states for the entire CAN network via the networkmanagement.
Structure of the CAN telegram used for network management:
11 bits 2 bytes of user dataIdentifier Command (1 byte) Device address (1 byte)
00h
Command Network statusafter change
Information
01h Operational The I/O system can receive parameter data and process data.02h Stopped The I/O system can receive network management telegrams, but is
unable to receive parameter and process data.80h Pre-Operational The I/O system can receive parameter data while process data are
ignored.81h Pre-Operational Reset Node: Changes to system bus parameters relevant to
communication (e.g. node address, baud rate, etc.) are only acceptedafter a Reset Node.
Device address Information0 All nodes are addressed. In this way, a status change can be implemented for all devices at
the same time.1 ... 63 Node address of the node the status of which is to be changed.
Command
Device address
Transmitting process dataProcess data telegram
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10.4 Transmitting process data
Process data are used for control-specific purposes, such as setpoint and actualvalues, for example.
Process data or the input / output data of the I/O system IP20 aretransmitted as so-called PDOs (Process Data Objects).
10.4.1 Process data telegram
Structure of the process data telegram:
11 bits 8 bytes of user dataIdentifier Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8
Information on the identifier can be found in chapter ”Structure of the CAN datatelegram” .
The eight bytes of user data transmit the input signals (sent user data) and theoutput signals (received user data) of the modules.
Identifier
User data
Transmitting process dataIdentifier of the process data objects (PDO)
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10.4.2 Identifier of the process data objects (PDO)
The identifiers of process data objects PDO1 ... PDO10 consist of the so-calledbasic identifiers and the set node address:
Identifier = Basic identifier + node address
Basic identifier Available for
dec hex CAN gateway 8×dig. I/O compact16×dig. I/O compact32×dig. I/O compact
PDOs Process data object 1PDOs Process data object 1
PDO1-Rx 512 200
PDO1-Tx 384 180Process data object 2Process data object 2
PDO2-RX 768 300 –PDO2-TX 640 280
Process data object 3Process data object 3
PDO3-Rx 1024 400 –PDO3-Tx 896 380
Process data object 4Process data object 4
PDO4-Rx 1280 500 –PDO4-Tx 1152 480
Process data object 5Process data object 5
PDO5-Rx 1920 780 –PDO5-Tx 1664 680
Process data object 6Process data object 6
PDO6-Rx 576 240 –PDO6-Tx 448 1C0
Process data object 7Process data object 7
PDO7-Rx 832 340 –PDO7-Tx 704 2C0
Process data object 8Process data object 8
PDO8-Rx 1088 440 –PDO8-Tx 960 3C0
Process data object 9Process data object 9
PDO9-Rx 1344 540 –PDO9-Tx 1216 4C0
Process data object 10Process data object 10
PDO10-Rx 1984 7C0 –PDO10-Tx 1728 6C0
Basic identifiers of the processdata objects
Transmitting process dataAssigning individual parameters
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10.4.3 Assigning individual parameters
For larger networks with many nodes, it may be useful to set individual identifiersfor process data objects PDO1 ... PDO10, that are independent of the set nodeaddress.
Process data objects for input data
Individual identifiers for input data can be set via the indices I1400h,subindex 1 ... I1409h, subindex 1.
Process data objects for output data
Individual identifier for output data can be set via the indices I1800h,subindex 1 ... I1809h, subindex 1.
Note!Set the value which makes the required identifier(x = corresponding process data object) in index I140xh,subindex 1 or I180xh, subindex 1.Make a reset node so that the changes are accepted.
10.4.4 Process data transmission mode
The transmission mode is configured via the index I1400h, subindex 2(PDO1-Rx) ... I1409h, subindex 2 (PDO10-Rx):
Sync-controlled reception
N-sync-controlled reception
– First, a certain number (n) of sync telegrams must be transmitted (I140xh,subindex 2 = 1 ... 240). Then the PDO telegram must be received from themaster. Finally, the process input data are accepted.
Event-controlled reception (Lenze setting)
The transmission mode is configured via the index I1800h, subindex 2(PDO1-Tx) ... I1809h, subindex 2 (PDO10-Tx):
Sync-controlled transmission
n-sync-controlled transmission
– First, a certain number (n) of sync telegrams must be transmitted (I180xh,subindex 2 = 2 ... 240). Then, the PDO telegram is transmitted to themaster.
Event-controlled transmission (Lenze setting)
Note!After changing to the CAN state ”Operational” , the currentprocess image is transmitted from the I/O system IP20.
Process data transmission mode
Process output datatransmission method
Transmitting process dataProcess data transmission mode
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A special telegram, the sync telegram, is required for synchronisation when cyclicprocess data are transmitted.
The sync telegram must be generated by another node. It initiates thetransmission for the cyclic process data of the I/O system I/P20 and at the sametime triggers data acceptance of cyclic process data received in the I/O systemIP20.
1.
PDO1-TX PDO1-RX
2. 3. 4.
epm-t111
Fig. 10.4-1 Synchronisation of cyclical process data with the help of a sync telegram(asynchronous data not considered)
Sync telegram
1. After receiving a sync telegram, the I/O system IP20 transmits the cyclicprocess output data (PDO1-Tx) if ”sync-controlled transmission” is active.
2. Once the transmission is completed, the I/O system IP20 receives the cyclicprocess input data (PDO1-Rx).
3. The data is accepted by the I/O system IP20 with the next sync telegram if”sync-controlled reception” is active.
4. All other telegrams (e.g. for parameter or event-controlled process data) areaccepted asynchronously by the I/O system IP20 after transmission.
Sync telegram for cyclic processdata
Transmission sequence
Transmitting process dataProcess image of the modular system
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10.4.5 Process image of the modular system
The process image of the modular system is explained on the basis of the followingexample. In addition to the CAN gateway, maximally 32 modules can beconnected.
Module
L
0 1
L L L L
EPM – T211
L L L L
EPM – T211
L
CANGateway
8×DI 8×DI 8×DI 8×DI 16×DI 8×DO 4×AI 2/4×Counter
SSIinterface
1×counter/ 16×DI
4×AI/AO– –
Processdata
– 1 byte TX 1 byte TX 1 byte TX 1 byte TX 2 bytesTX
1 byte RX 8 bytesTX
10 bytesTX
10 bytesRX
4 bytes TX4 bytesRX
6 bytes TX6 bytesRX
4 bytes TX4 bytesRX
ModuleNo.
M0 M1 M2 M3 M4 M5 M6 M7 M8 M9 M10 M11 ... M32
Transmitting process dataProcess image of the modular system
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Process image Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7
PDO1Fixed for the first PDO1-RX M6 – – – – – – –
PDO1Fixed for the firstDIO PDO1-TX M1 M2 M3 M4 M5 M5 – –
PDO2Fixed for the first PDO2-RX M8 M8 M8 M8 M8 M8 M8 M8
PDO2Fixed for the firstAIO PDO2-TX M7 M7 M7 M7 M7 M7 M7 M7
PDO3 DIO or AIO 1)PDO3-RX M8 M8 M11 M11 M11 M11 – –
PDO3 DIO or AIO 1)PDO3-TX M8 M8 M8 M8 M8 M8 M8 M8
PDO4 DIO or AIO 1)PDO4-RX – – – – – – – –
PDO4 DIO or AIO 1)PDO4-TX M8 M8 M11 M11 M11 M11 – –
PDO5 DIO or AIO 1)PDO5-Rx M10 M10 M10 M10 M10 M10 – –
PDO5 DIO or AIO 1)PDO5-Tx M10 M10 M10 M10 M10 M10 – –
PDO6 DIO or AIO 1)PDO6-Rx M9 M9 M9 M9 – – – –
PDO6 DIO or AIO 1)PDO6-Tx M9 M9 M9 M9 – – – –
... ... ... ... ... ... ... ... ... ... ...
PDO10 DIO or AIO 1) PDO10-RX – – – – – – – –PDO10 DIO or AIO 1)
PDO10-TX – – – – – – – –
1) A PDO can be either assigned to AIO or DIO. AI Analog input dataA PDO can be either assigned to AIO or DIO.The modules are assigned according to the slot
ith th DIO b i i d fi tAO Analog output datag g
sequence, with the DIO being assigned first. DI Digital input data
DO Digital output data
AIO Analog input and output data
DIO Digital input and output data
Special features of the modules 1×counter/16×digital input and SSI interface:
The module 1×counter/16×digital input always assigns the next to last andthe SSI interface module always the last of the PDOs used.
The modules cannot be assigned to PDO1 and PDO2. Thus, only eight ofthese modules can be used in a system.
The modules assign a whole PDO (8 bytes) each.
The transmission times of the input / output signals within the I/O system IP20 canbe calculated with a formula.
tt = tc+ (NPDOTX ⋅ 8 ms)+ (NPDORX ⋅ 2 ms)+ td+ 742 ms
tt Transmission time of input / output signals of a module betweenfieldbus connection and input / output terminals.
tc Time required for copying into the CAN object directoryNPDOTX Transmitting the PDO number (PDO1-Tx ... PDO10-Tx)NPDORX Receiving the PDO number (PDO1-Rx ... PDO10-Rx)td Module delay time742 µs Fixed internal processing time
Time required for copying into the CAN object directory:
DO modules DI modules AO modules AI modules
tc = 50 µs + n × 14 µs tc = 50 µs + n × 25 µs tc = 50 µs + n × 210 µs tc = 50 µs + n × 250 µs
n Number of bytes assigned by the module in the PDOs
Transmission times
Transmitting process dataProcess image of the modular system
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In the I/O system shown in the example, the transmission time of the input signalsat the module M3 (8×digital input) to the master are to be detected. The baud rateamounts to 500 kbits/s.
Solution:
For transmitting the input signals, the module assigns one byte (byte 3) ofthe process data channel PDO1-Tx.
The delay time td within the module amounts to 3 ms.
1. Calculating the time required for copying tc into the CAN object directory:
tc = 50 ms+ 1 ⋅ 25 ms= 75 ms
2. Calculating the transmission time tt of the input signals to the fieldbus:
tt = 75 ms+ (1 ⋅ 8 ms)+ (0 ⋅ 2 ms)+ 3000 ms+ 742 ms= 3825 ms
3. Calculating the transmission time tCAN via the fieldbus:
l
L
EPM – T110 1A.10
PW
ER
RD
BA
ADR.0 1
+
–
DC24V
X1
DI 8xDC24V
.0
.1
.2
.3
.4
.5
.6
.7
1
2
3
4
5
6
7
8
9
L
10
EPM – T210 1A
tCAN
epm-t135
tCAN=CAN telegram length
Baud rate= 111 bits
500 kbitss
= 222 ms
4. Calculating the total transmission time t:
t = t t+ tCAN= 3825 ms+ 222 ms= 4047 ms= 4.047 ms
Note!The internal processing times of the controller must also beconsidered.
Example
Transmitting process dataProcess image of the compact system
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10.4.6 Process image of the compact system
The process image of the compact system is explained on the basis of the module32×dig. I/O compact.
Module
L
0 1
CAN gateway 8×DI 8×DI 8×DO
Process data – 1 byte 1 byte DI 1 byte DI 1 byte DO
Slot M0 M1 M2 M3 M4
Process image Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7
PDO1PDO1-RX M4 – – – – – – –
PDO1PDO1-TX M1 M2 M3 – – – – –
DI Digital input data
DO Digital output data
Transmitting process dataCompatibility with Lenze drive and automation components
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10.4.7 Compatibility with Lenze drive and automation components
The tables below will assist you in finding out at which stage a modular system orwhich compact module, respectively, can be operated in combination with aLenzedrive and automation component.
Compatibility is dependent on the available process data objects (PDO).
Process data objects (PDO) of the I/O system IP20 (slave)
Module type Module requiresModule type
PDO-Rx PDO-TxModular system8×digital input – 1/816×digital input – 2/88×digital output 1A 1/8 –8×digital output 2A 1/8 –16×digital output 1A 2/8 –8×digital input / output 1/8 1/84×relay 1/8 –4×analog input – 8/84×analog output 8/8 –4×analog input / output 8/8 8/82/4×counter 8/8 + 2/8 8/8 + 1/8SSI interface 8/8 8/81×counter/16×digital input 8/8 8/8Compact system8×dig. I/O compact 8/8 8/816×dig. I/O compact 8/8 8/816×dig. I/O compact (single-wire conductor) 8/8 8/816×dig. I/O compact (three-wire conductor) 8/8 8/8
Process data objects (PDO) of the Lenze drive and automation components (master)
Components PDO-Rx [xPDO-Rx] PDO-Tx [xPDO-Tx]9300 Servo PLC
>10 >10Drive PLC
>10 >10
9300 inverter (all standard types)8200 vector frequency inverter
2 28200 motec frequency inverter 2 2
Communication module EMF2175
Note!A modular system allows the connection of max. 32 modules inaddition to the CAN gateway.A modular system offers max. 20 PDOs (10 PDO-Rx and10 PDO-Tx) for process data exchange.Since 9300 Servo PLC and Drive PLC are able to manage morethan 20 process data objects, several modular systems can beoperated on a Servo PLC or Drive PLC. For this each CANgateway must be assigned to a unique node address.
Transmitting process dataCompatibility with Lenze drive and automation components
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A control task requires the connection of 4 digital outputs, 10 digital inputs and3 analog outputs to an 8200 vector frequency inverter.
The planned solution is a modular system with the following modules:
I/O system IP20 Number Required PDOsI/O system IP20Modular system
Numbermodules PDO-Rx PDO-Tx
8×digital input / output 1 1/8 1/88×digital input 1 – 1/84×analog input 1 1 –Sum 3 9/8 2/8
For exchanging the process data, the 8200 vector makes enough PDOs available:
Frequency inverter Available PDOsFrequency inverterPDO-Rx PDO-Tx
8200 vector 2 2
Example
Solution
Transmitting process dataData transmission between I/O system IP20 and controller
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10.4.8 Data transmission between I/O system IP20 and controller
In the Lenze setting of the I/O system IP20, the basic identifiers of the PDOs areset for the communication protocol ”system bus (CAN)” .
For communicating with Lenzecontrollers thebasic identifiers for the process dataobject 1 must be adapted.
1. Set PDO1-Rx via index 1400h, subindex 1 to 770.
2. Set PDO1-Tx via index 1800h, subindex 1 to 769.
3. Make a reset node by setting the index I2358h = 1. The settings areaccepted.
l
L
EPM – T110 1A.10
PW
ER
RD
BA
ADR.0 1
+
–
DC24V
X1
DO 8xDC24V 1A
.0
L+
.1
.2
.3
.4
.5
.6
.7
F
1
2
3
4
5
6
7
8
9
L
10
EPM – T220 1A
DI 8xDC24V
.0
.1
.2
.3
.4
.5
.6
.7
1
2
3
4
5
6
7
8
9
L
10
EPM – T210 1A
PDO1-Rx
CAN_OUT3
CAN_IN3
PDO1-Tx
epm-t112
Fig. 10.4-2 Data transmission between I/O system IP20 and controller
PDO-Rx The I/O system IP20 receives the status information of the controllerPDO-Tx The I/O system IP20 transmits the status information to the controller
Controller with node address 1 (C0350 = 1)768d (Basic identifier) + 1 (node address) = 769d (identifier)769d (Basic identifier) + 1 (node address) = 770d (identifier)
CAN gateway of the modular system (or a module of the compact system)with node address 2
767d (Basic identifier) + 2 (node address) = 769d (identifier)768d (Basic identifier) + 2 (node address) = 770d (identifier)
Transmitting process dataIndices for setting the process data transmission
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l10.4-12 EDSPM-TXXX-3.0-04/2004
10.4.9 Indices for setting the process data transmission
Process data objects for input data
Index Name Possible settings Important
Lenze Selection
I1400h Index is available in the modular andcompact system
10.4-3
1 COB-ID used byRxPDO 1
768 385 1 2047 Defining the individual identifiers forprocess data object 1
2 Transmission mode 255 0 1 255 Defining the transmission mode
0 Sync-controlled reception The input data are accepted on synctelegram transmission.
1 ... 240 N-sync-controlled reception The input data are accepted aftertransmission of the set number (1 ... 240)of sync telegrams.
255 Event-controlled reception Every received value is accepted
... ...
I1409h Index is only available in the modularsystem
10.4-3
1 COB-ID used byRxPDO 10
1665 385 1 2047 Defining the individual identifiers forprocess data object 10
2 Transmission mode 255 0 1 255 Defining the transmission mode
0 Sync-controlled reception The input data are accepted on synctelegram transmission.
1 ... 240 N-sync-controlled reception The input data are accepted aftertransmission of the set number (1 ... 240)of sync telegrams.
255 Event-controlled reception Every received value is accepted
Transmitting process dataIndices for setting the process data transmission
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Process data objects for output data
Index Name Possible settings Important
Lenze Selection
I1800h Index is available in the modular andcompact system
10.4-3
1 COB-ID used byTxPDO 1
767 385 1 2047 Defining the individual identifiers forprocess data object 1
2 Transmission mode 255 0 1 255 Defining the transmission mode
1 Sync-controlled transmission The output data are accepted on synctelegram transmission.
2 ... 240 n-sync-controlled transmission The output data are accepted aftertransmission of the set number (1 ... 240)of sync telegrams.
254 Time-controlled transmission Only if a cycle time is set in I180xh,subindex 5
255 Event-controlled transmission
255 Event-controlled transmission with cyclicoverlapping
Only if a cycle time is set in I180xh,subindex 5
... ...
I1809h Index is only available in the modularsystem
10.4-3
1 COB-ID used byTxPDO 10
1984 385 1 2047 Defining the individual identifiers forprocess data object 10
2 Transmission mode 255 0 1 255 Defining the transmission mode
1 Sync-controlled transmission The output data are accepted on synctelegram transmission.
2 ... 240 n-sync-controlled transmission The output data are accepted aftertransmission of the set number (1 ... 240)of sync telegrams.
254 Time-controlled transmission Only if a cycle time is set in I180xh,subindex 5
255 Event-controlled transmission
255 Event-controlled transmission with cyclicoverlapping
Only if a cycle time is set in I180xh,subindex 5
3 Inhibit time 0 0 1 ms 65535 Inhibit time
5 Event time 0 1 ms 65535 Cycle time
Transmitting parameter dataTelegram structure
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10.5 Transmitting parameter data
Parameter data are the so-called indices.
Parameters are usually set only once during the commissioning.
Parameter data are transmitted as so-called SDOs (Service Data Objects) via thesystem bus and acknowledged by the receiver, i.e. the transmitter gets a feedbackif the transmission was successful.
10.5.1 Telegram structure
Structure of the telegram for parameter data:
11 bits 8 bytes of user data
IdentifierInstruction Index
Subindex Data 1 Data 2 Data 3 Data 4IdentifierInstruction
code LOW byte HIGH byteSubindex Data 1 Data 2 Data 3 Data 4
The subchapters below explain the individual telegram components in detail.
The chapter 10.5.2 contains an example of how to write a parameter.( 10.5-4)
The chapter 10.5.3 contains an example of how to read a parameter.( 10.5-5)
IdentifierInstruction Index
Subindex Data 1 Data 2 Data 3 Data 4IdentifierInstruction
code LOW byte HIGH byteSubindex Data 1 Data 2 Data 3 Data 4
Two parameter channels are available for parameter data transmission. They areaddressed via the identifier.
Identifier = Basic identifier + node address of the deviceIdentifier =
dec hex
+ node address of the device
SDOs Parameter channel 1SDOs
Output (transmit) 1408 580al e set ith coding s itch
Input (receive) 1536 600+ value set with coding switch
Parameter channel 2
Output (transmit) 1600 640+ value set with coding switch
Input (receive) 1472 5C0+ value set with coding switch
Note!There is an offset of 64 between the identifiers for parameterchannels 1 and 2:
Output of parameter channel 1 = 1536Output of parameter channel 2 = 1536 + 64 = 1600
Identifier
Transmitting parameter dataTelegram structure
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10.510.5.1
l10.5-2 EDSPM-TXXX-3.0-04/2004
IdentifierInstruction Index
Subindex Data 1 Data 2 Data 3 Data 4IdentifierInstruction
code LOW byte HIGH byteSubindex Data 1 Data 2 Data 3 Data 4
The instruction code contains the command to be executed and information aboutthe parameter data length. It is structured as follows:
bits 7(MSB)
bits 6 bits 5 bits 4 bits 3 bits 2 bit 1 bit 0
Command Command Specifier (cs) Length E s
Write Request 0 0 1 0 00 = 4 bytes 1 1Write Response 0 1 1 0
00 4 bytes01 = 3 bytes 0 0
Read Request 0 1 0 0
y10 = 2 bytes11 1 b t
0 0Read Response 0 1 0 0
y11 = 1 byte 1 1
Error Response 1 0 0 0 0 0 0 0
Instruction code for parameters with 4 bytes of data length:
4 bytes of data(32 bits)
Command hex dec Information
Write Request 23 35 Transmitting parameters to a node
Write Response 60 96 Node response to the Write Request (acknowledgement)
Read Request 40 64 Request to read a parameter from a node
Read Response 43 67 Response to the read request with the actual value
Error Response 80 128 Node reports a communication error
If an error occurs, the addressed node generates an “Error Response” .
In Data 4, this telegram always contains the value “6” , in Data 3 it contains an errorcode:
Command code Error Response Data 3 Data 4 Error message
3 Access denied
80h 5 6 Wrong subindex80h6
6Wrong index
Instruction code
Instruction “Error Response”
Transmitting parameter dataTelegram structure
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IdentifierInstruction Index
Subindex Data 1 Data 2 Data 3 Data 4IdentifierInstruction
code LOW byte HIGH byteSubindex Data 1 Data 2 Data 3 Data 4
The index of the telegram is used to address the index to be read or written:
The index value must be entered in left-justified Intel format and divided intoLow byte and High byte (see example).
For subindices, the number of the associated subindex must be entered intothe telegram’s subindex.
For indices without subindex, the subindex always has a value “0’.
The subindex 1 of index I2400h (monitoring time for PDO1) is to be addressed:
11 bits 8 bytes of user data
IdentifierInstruction Index
Subindex Data 1 Data 2 Data 3 Data 4IdentifierInstruction
code LOW byte HIGH byteSubindex Data 1 Data 2 Data 3 Data 4
00h 24h 1
IdentifierInstruction Index
Subindex Data 1 Data 2 Data 3 Data 4IdentifierInstruction
code LOW byte HIGH byteSubindex Data 1 Data 2 Data 3 Data 4
Up to 4 bytes (Data 1 ... Data 4) are available for parameter data.
Data are entered in left-justified Intel format with Data 1 as LSB and Data 4 as MSB(see example).
The value ”1 s” is to be transmitted for the index 2400h (monitoring time).
Data1...4 = 1 × 1000 = 1000 = 00 00 03 E8h
11 bits 8 bytes of user data
IdentifierInstruction Index
Subindex Data 1 Data 2 Data 3 Data 4IdentifierInstruction
code LOW byte HIGH byteSubindex Data 1 Data 2 Data 3 Data 4
E8h 03h 00h 00h
(LSB) (MSB)
Parameter addressing(Index/subindex)
Example
Parameter data (data 1 ... data 4)
Example
Transmitting parameter dataWriting a parameter (example)
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10.510.5.2
l10.5-4 EDSPM-TXXX-3.0-04/2004
10.5.2 Writing a parameter (example)
An I/O system IP20 has the node address 2. For the first analog module (4×analogoutput), the function of the output A.0 (voltage signal 0 ... +10 V, 12 bits) is to beoutput.
Formula InformationIdentifier = Basic identifier + node address
= 1536 + 2 =1538 = 602h• Basic identifier for parameter channel 1 (output) = 1536• Node address of the I/O system IP20 = 2
Instructioncode:
= 23h • Command “Write Request” (transmitting parameters tothe I/O system IP20)
Index = I3001h • Index first analog module
Subindex = 1 • Subindex = 1 (function for output A.1 among others)
Data 1Data 2Data 3Data 4Data 1 ... 4
= 00h= 00h= 05h= 3Bh= 00 00 05 3Bh
• Diagnostics (Lenze setting)• Reserved• Output A.0 (voltage signal 0 ... +10 V, 12 bits)• Output A.1 (Lenze setting)
11 Bit 8 bytes of user data
IdentifierInstruction Index
Subindex Data 1 Data 2 Data 3 Data 4IdentifierInstruction
code: LOW byte HIGH byteSubindex Data 1 Data 2 Data 3 Data 4
602h 23h 01h 30h 1 00h 00h 05h 3Bh
(LSB) (MSB)
L
0 1
L
Write Request
Write Response
Identifier = 1538
Identifier = 1410
epm-t118
Fig. 10.5-1 Writing a parameter
Formula InformationIdentifier = Basic identifier + node address
= 1408 + 2= 1410
• Basic identifier for parameter channel 1 (input) = 1408• Node address of the I/O system IP20 = 2
Instructioncode:
= 60h • Command “Write Response” (acknowledgement from theI/O system IP20)
Index = Index of the read request
Subindex = Subindex of the read request
Data 1 ... 4 = 0 • Acknowledgement only
11 Bit 8 bytes of user data
IdentifierInstruction Index
Subindex Data 1 Data 2 Data 3 Data 4IdentifierInstruction
code: LOW byte HIGH byteSubindex Data 1 Data 2 Data 3 Data 4
1410 60h 01h 30h 0 0 0 0 3
Task
Telegram to the I/O system IP20
Telegram from the I/Osystem IP20 (acknowledgementwhen being executed faultlessly)
Transmitting parameter dataReading a parameter (example)
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l 10.5-5EDSPM-TXXX-3.0-04/2004
10.5.3 Reading a parameter (example)
An I/O system IP20 has the node address 2. For the first module (4×analog output)the function of the A.0 output is to be read.
Formula Information
Identifier = Basic identifier + node address= 1536 + 2 =1538 = 602h
• Basic identifier for parameter channel 1 (output) = 1536• Node address of the I/O system IP20 = 2
Instructioncode:
= 40h • Command “Read Request” (request for reading aparameter of the I/O system IP20)
Index = I3001h • Index first analog module
Subindex = 1 • Subindex = 1 (function for output A.0 among others)
Data 1Data 2Data 3Data 4Data 1 ... 4
= 00h= 00h= 00h= 00h= 00 00 00 00h
• Read request only
11 bits 8 bytes of user data
IdentifierInstruction Index
Subindex Data 1 Data 2 Data 3 Data 4IdentifierInstruction
code: LOW byte HIGH byteSubindex Data 1 Data 2 Data 3 Data 4
602h 40h 01h 30h 1 00h 00h 00h 00h
L
0 1
L
Read Request
Read Response
Identifier = 1538
Identifier = 1410
epm-t119
Fig. 10.5-2 Reading a parameter
Formula Information
Identifier = Basic identifier + node address= 1408 + 2= 1410
• Basic identifier for parameter channel 1 (input) = 1408• Node address of the I/O system IP20 = 2
Instructioncode:
= 43h • Command “Read Response” (response to the readrequest with the current value)
Index = Index of the read request
Subindex = Subindex of the read request
Data 1Data 2Data 3Data 4Data 1 ... 4
= 00h= 00h= 05h= 3Bh= 00 00 05 3Bh
• Assumption: Analog output A.0 outputs a voltage signal0 ... +10 V at a 12 bit resolution.
11 bits 8 bytes of user data
IdentifierInstruction Index
Subindex Data 1 Data 2 Data 3 Data 4IdentifierInstruction
code: LOW byte HIGH byteSubindex Data 1 Data 2 Data 3 Data 4
1410 43h 01h 30h 0 00h 00h 05h 3Bh
(LSB) (MSB)
Task
Telegram to the I/O system IP20
Telegram from the I/O systemIP20 (value of the requestedparameter):
Setting of baud rate and node address (node ID)
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l 10.6-1EDSPM-TXXX-3.0-04/2004
10.6 Setting of baud rate and node address (node ID)
Baud rate
For establishing a communication, all devices must use the same baud rate for thedata transfer.
The baud rate can be set via the coding switch at the module.
Node address
Each nodeof thenetwork must beassigned to anode address, also called Node IDwithin a range of 1 ... 63 for clear identification.
A node address in a network may be used only once.
The node address must be set with the coding switch at the module.
0 1
+ +
– –
epm-t024
Fig. 10.6-1 Coding switch a CAN gateway
– Decrease numerical value
+ Increase numerical value
CANopen Baud rate
Coding switch value [kbit/s]
80 1000
81 500
82 250
83 125
84 100
85 50
86 20
87 10
88 800
1. Switch off the voltage supply of the module.
2. Use the coding switch to set the required baud rate.– Select ’8x’ (x = value of required baud rate)
3. Switch on the voltage supply of the module.– The LEDs ER, RD and BA are blinking with a frequency of 1 Hz.
4. LEDs ER and BA go off after 5 seconds, and the set baud rate is stored.
Baud rate setting
Setting of baud rate and node address (node ID)
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10.6
l10.6-2 EDSPM-TXXX-3.0-04/2004
5. Now set the node address with the coding switch for the module. You havefive seconds for this.– Each node address must be assigned only once.
6. The set node address will be accepted after 5 seconds.– LED RD goes off.
– The module changes to the pre-operational mode.
Note!The node address can be changed any time with the codingswitch. The setting is accepted after switching on the supplyvoltage.
Indices for setting
Index Name Possible settings Important
Lenze SelectionI100Bh Node ID 0 0 1 63 Display only
System bus node address
I2001h CAN baud rate 1 0 1 255 Display onlyh
012345678
1000 kbits/s500 kbits/s250 kbits/s125 kbits/s100 kbits/s50 kbits/s20 kbits/s10 kbits/s800 kbits/s
p y ysystem bus baud rate
Setting the node address
Node Guarding
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l 10.7-1EDSPM-TXXX-3.0-04/2004
10.7 Node Guarding
COB-ID = 1792 + Node-ID
COB-ID = 1792 + Node-ID NMT-Slave1 )
NMT-Master
indication
indication
indication
request
request
confirm
confirm
indication
Remote transmit request
Remote transmit request
response
response
Node Guarding Event2 )
Life Guarding Event2
Node
Guard
time
Node
Time
Life
0
0
1
1
t s
7 6 … 0
t s
7 6 … 0
epm-t133
Fig. 10.7-1 Node Guarding Protocol
1) I/O system IP20s Status of the I/O system IP20T Toggle bit
The Node Guarding Protocol monitors the connection between master and slave.
Via the index I100Ch ”Guard time” , a time [ms] can be set and in the index I100Dh”Life time factor” a factor can be set. If both indices are multiplied by each other,you get a monitoring time in which the master must send a Node Guardingtelegram to the slave. If one of both indices is set to zero, the monitoring time isalso zero and hencedeactivated. The slavesends a telegram with its current statusto the master.
With event-controlled process data transmission, Node Guarding ensures cyclicalnode monitoring.
The master starts the Node Guarding by sending the Node Guardingtelegram.
If the slave (I/O system IP20) does not receive a telegram within themonitoring time, the Node Guarding Event is activated. The I/O system IP20switches to the state set in I1029h. The outputs switch to a defined state(also see the chapter Configuration → Diagnostics).
A change to the Operational status triggers a reset.
Description
Node Guarding
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10.7
l10.7-2 EDSPM-TXXX-3.0-04/2004
11 bits 1 byte of user dataIdentifier Device status (bits 0 ... 6) Toggle bit
1792d (700h)
Identifier:
Formula InformationIdentifier = Basic identifier + node address
= 1792d + xxThe basic identifier for Node Guarding isfirmly adjusted to 1792d (700h)xx = Node address of the I/O system
Device status (bit 0 ... 6) of the slave (I/O system IP20):
Command(hex)
Device status
04 Stopped05 Operational7F Pre-Operational
Indices for setting
Index Name Possible settings Important
Lenze Selection
I100Ch Guard time 0 0 1 ms 65535 Node GuardingMonitoring time0 = monitoring not active
10.7-1
I100Dh Life time factor 0 0 1 255 Node GuardingResponse time computation factor0 = monitoring not activeThe response time is computed as:Monitoring period x factor
10.7-1
I100Eh Node Guardingidentifier
Display onlyidentifier = basic identifier + node address(basic identifier cannot be modified)
10.7-1
Note!The Lenze PLC’s 9300 servo PLC and Drive PLC in connectionwith the function library LenzeCanDSxDrv.lib support the ”NodeGuarding” function.
Status telegram
Heartbeat
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10.8
l 10.8-1EDSPM-TXXX-3.0-04/2004
10.8 Heartbeat
COB-ID = 1792 + Node-ID Heartbeat
Consumer
Heartbeat
Producer
indication
indication
indication
indication
indication
indication
indication
indication
Heartbeat Event
request
request
Heartbeat
Producer
Time
Heartbeat
Consumer
Time
Heartbeat
Consumer
Time
0
0
1
1
r
r
s
s
7
7
6 … 0
6 … 0
epm-t134
Fig. 10.8-1 Heartbeat Protocol
r Reserveds Status of the Heartbeat Producer
The I/O system IP20 can monitor up to five nodes. The status telegrams of thenodes to be monitored must arrive cyclically with a certain time at the I/O systemIP20. If a status telegram is not received within this time, the I/O system IP20switches to the status set in I1029h. The outputs switch to a defined status (alsosee the chapter Configuration → Diagnostics).
Settings are made in the index I1016h.
The I/O system IP20 assigns a status telegram to the fieldbus and can thus bemonitored by other nodes.
Settings are made in index I1017h.
Producer heartbeat is automatically started if a time > 0 is entered into theindex 1017h and the I/O system IP20 changes to the status ”Operational” .
After the cycle time has been completed, the status telegram is transmittedto the fieldbus by the I/O system IP20.
A change into the Operational status triggers a reset.
Heartbeat Consumer
Heartbeat Producer
Heartbeat
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10.8
l10.8-2 EDSPM-TXXX-3.0-04/2004
11 bits 1 byte of user dataIdentifier Device status (bits 0 ... 6) bits 7
1792d (700h) reserved
Identifier:
Formula InformationIdentifier = Basic identifier + node address
= 1792d + xxThe basic identifiers for heartbeat is firmlyadjusted to 1792d (700h)xx = node address of the I/O system IP20
Device status (bit 1 ... 6) of the heartbeat producer:
Command(hex)
Status
00 Boot-up05 Operational04 Stopped7F Pre-Operational
Indices for setting
Index Name Possible settings Important
Lenze SelectionI1016h Heartbeat
consumer timeData contents The I/O system IP20 can monitor up to five
nodes (subindex 1 5)10.8-1
consumer timeHeartbeat time Node ID reserved
nodes (subindex 1 ... 5).If the monitored node does not respond,
Byte 1 Byte 2 Byte 3 Byte 4If the monitored node does not respond,the I/O system IP20 changes to the”Pre-Operational” state The outputs
00h 00h 00h 00h”Pre-Operational” state. The outputsswitch to a defined state.
1 Heartbeat time 0 0 1 ms 65535 In the compact system, only the subindex 1i il bl
10.8-1
Node ID 0 0 1 255
p y , yis availableHeartbeat time:2 Heartbeat time 0 0 1 ms 65535Heartbeat time:The monitored node must respond within
Node ID 0 0 1 255The monitored node must respond withinthe time set. The time is set in byte 0 and
3 Heartbeat time 0 0 1 ms 65535the time set. The time is set in byte 0 and1.
Node ID 0 0 1 255 Node ID:N d dd f th d t b it d4 Heartbeat time 0 0 1 ms 65535 Node address of the node to be monitored.The address is set in byte 2
Node ID 0 0 1 255The address is set in byte 2.
5 Heartbeat time 0 0 1 ms 65535
Node ID 0 0 1 255I1017h Heartbeat producer
time0 0 1 ms 65535 The I/O system IP20 can be monitored by
other nodes.Within this time the device status of the I/O
10.8-1
0 Function is not active
Within this time the device status of the I/Osystem IP20 is transmitted to the fieldbus.In the communication protocol, system bus(CAN) is not available
Note!The Lenze PLC’s 9300 servo PLC and Drive PLC in connectionwith the function library LenzeCanDSxDrv.lib support the”heartbeat” function.
Status telegram
Reset node
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10.9
l 10.9-1EDSPM-TXXX-3.0-04/2004
10.9 Reset node
Changes of transmission modes and identifiers will be accepted after ”reset node”only.
Switch the supply voltage on again
Execute NMT command ”81h” (see chapter ”Network management (NMT)”)
Set I2358h = 1
Index Name Possible settings Important
Lenze SelectionI2358h CAN reset node 0 0 No function Reset node 10.9-1h
1 CAN reset node
MonitoringTime monitoring for PDO1-Rx ... PDO10-Rx
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l 10.10-1EDSPM-TXXX-3.0-04/2004
10.10 Monitoring
10.10.1 Time monitoring for PDO1-Rx ... PDO10-Rx
A time monitoring can be configured for the inputs of the process data objectsPDO1-Rx ... PDO10-Rx via the index I2400h.
Index Name Possible settings Important
Lenze Selection
I2400h* Timer value 0 1 ms 65535 Monitoring time for process data inputbj
10.10-1
1 PD01 0
g p pobjectsFor the compact system only index I2400
2 PD02 0For the compact system, only index I2400h,subindex 1 is available
3 PD03 0subindex 1 is available
4 PD04 0
5 PD05 0
6 PD06 0
7 PD07 0
8 PD08 0
9 PD09 0
10 PD10 0
MonitoringDigital output monitoring
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l10.10-2 EDSPM-TXXX-3.0-04/2004
10.10.2 Digital output monitoring
Via the index I6206h you can configure the reactions of the digital outputs, whichare to take place when no telegrams, ”node guarding events” or ”heartbeat” havebeen received in the adjusted monitoring time.
Index Name Possible settings Important
Lenze SelectionI6206h Error mode digital
output0 1 255 Configures digital output monitoring
For the compact system, only index I6206h,subindex 1 is available
10.10-2
0 All digital outputs retain the last status output.
255 Reaction from I6207h In I6207h, the response can be configuredindividually for each digital output
1 Module 1 0
2 Module 2 0
... ... ...
32 Module 32 0
10.10.3 Digital output monitoring
Via the index I6206h you can configure the reactions of the digital outputs, whichare to take place when no telegrams, ”node guarding events” or ”heartbeat” havebeen received in the adjusted monitoring time.
Via index I6207h the response can be configured individually for each digitaloutput.
Index Name Possible settings Important
Lenze SelectionI6207h Error value digital 0 0 1 255 Configures the individual digital output 10.10-2h g
output 8 bits of information
g g presponsesFor the compact system only index I620
Bit value0
Output switches to LOWFor the compact system, only index I6207h,subindex 1 is available
Bit value1
Output retains last status output
1 Module 1 0
2 Module 2 0
... ... ...
32 Module 32 0
Individual response setting
MonitoringDigital output monitoring
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10.10.4 Monitoring of the analog outputs
Via the index I6443h you can configure the reactions of the analog outputs, whichare to take place when no telegrams, ”node guarding events” or ”heartbeat” havebeen received in the adjusted monitoring time.
Monitoring is started on receipt of the next PDO telegram after the settings.
If a telegram is not transmitted within the adjusted time, the moduleswitches to the ”Pre-Operational” state. No further process data aretransmitted.
A change into the ”Operational” state triggers a reset.
Index Name Possible settings Important
Lenze SelectionI6443h* Error mode analog
output0 1 255 Configures analog output monitoring
Index is only available in the modularsystem
10.10-3
0 All analog outputs retain the last value output.
255 Response from I6444h In I6444h the response can be configuredindividually for each analog output
1 Channel 1 0
2 Channel 2 0
... ... ...
36 Channel 36 0
Via index I6444h the response can be configured individually for each analogoutput.
Index Name Possible settings Important
Lenze Selection
I6444h* Error value analogoutput
-32768 1 32767 Configures the individual analog outputresponsesTh l id h l
10.10-3
1 Channel 1 0
pThe analog outputs provide the set valueIndex is only available in the modular
2 Channel 2 0Index is only available in the modularsystem
... ... ...system
36 Channel 36 0
Individual response setting
Diagnostics
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10.11
l 10.11-1EDSPM-TXXX-3.0-04/2004
10.11 Diagnostics
The following indices can be used for the diagnostics. They display operatingstates. Settings are not possible.
Index Information displayed DescriptionI1014h Emergency telegram 10.11-2
I2359h Operating status of the system bus 10.11-3
I1027h Module ID read 10.11-3
I6000h Digital input status 10.11-4
I6200h Digital output status 10.11-4
I6401h Analog input status 10.11-5
I6411h Analog output status 10.11-5
I1003h Current errors
DiagnosticsEmergency telegram
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10.1110.11.1
l10.11-2 EDSPM-TXXX-3.0-04/2004
10.11.1 Emergency telegram
By means of the emergency telegram, the I/O system IP20 communicates internaldevice errors to other system bus nodes with high priority. 8 bytes of user data areavailable.
Index Name Possible settings Important
Lenze Selection
I1014h COB ID emergency Emergency telegramIdentifier 80h + node address is displayedafter boot-up.
10.11-2
Emergency telegram structure
Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7LOW byte HIGH byte Error register Error information
Error code Error code I1001h 1 2 3 4 5
Contents of the emergency telegram
Error cause Byte 0 Byte 1 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7Emergency telegram reset 0000h 00h 00h 00h 00h 00hError on initialisation of modules linked tobackplane bus 01h 00h 00h 00h 00h
Error on module configuration check 02h Slot number 00h 00h 00hError on module read/write 03h Slot number 00h 00h 00hModule configuration was changed 05h 00h 00h 00h 00hConfiguration of the modules has beenchanged. The module is in the Pre-Operationalstate. 1000h
06h 00h 00h 00h 00h
Incorrect module parameterisation1000h
30h Slot number 00h 00h 00hDiagnostic alarm - analog module 40h +
Slot numberDiagnostic byte 0 Diagnostic byte 1 Diagnostic byte 2 Diagnostic byte 3
Process alarm - analog module 80h +Slot number
Diagnostic byte 0 Diagnostic byte 1 Diagnostic byte 2 Diagnostic byte 3
PDO control (monitoring time in I2400h hasbeen exceeded). FFh 10h PDO number
Monitoring time(LOW byte)
Monitoring time(HIGH byte)
SDO/PDO mapping error6300h
Map index(LOW byte)
Map index(HIGH byte)
Number of entries 00h 00h
Heartbeat error (monitoring time exceeded).8100h Subindex Node address
Monitoring time(LOW byte)
Monitoring time(HIGH byte) 00h
Node guarding error (monitoring timeexceeded). 8130h
Guard time(LOW byte)
Guard time(HIGH byte)
Life time 00h 00h
DiagnosticsOperating state of system bus (CAN)
10Network via CANopen
10.1110.11.2
l 10.11-3EDSPM-TXXX-3.0-04/2004
10.11.2 Operating state of system bus (CAN)
Index I2359h displays the operating status of the system bus.
I2359h Operating status Description0 Operational The system bus is fully functional. The I/O system can transmit and receive parameter and process data.
1 Pre-Operational The I/O system can transmit and receive parameter data while process data are ignored.The status can be changed from Pre-Operational to Operational by:• The CAN master• An NMT telegram ’00 01 00’
2 Warning The I/O system has received incorrect telegrams and become passive in the overall system bus environment, i. e., the I/Osystem can no longer transmit data.Possible causes:• A missing bus termination• Insufficient shielding• Potential differences in the earth connections for the control electronics• The bus load is too high
3 Bus off The I/O system has disconnected itself from the system bus after receiving too many incorrect telegrams.
Index Name Possible settings Important
Lenze SelectionI2359h CAN state 0 1 3 Display only 10.11-3h
0123
OperationalPre-OperationalWarningBus off
p y ySystem bus status
10.11.3 Reading out the module identifiers
When using the modular system, the number of the modules connected to thebackplane bus as well as the module types used can be read out via index I1027h.Each module type can be clearly identified via a hexadecimal value.
Index Subindex Reading... Module type Module identifier0 ... the number of plugged modules (0 ... 32) – 0h ... 20h
No module 0h8×digital input 9FC1h16×digital input 9FC2h
1×counter/16×digital input 08C0h
I1027h 1 ... 32 ... the module type in slots 1 ... 32
8×digital output 1A16×digital output 1A8×digital output 2A4×relay
AFC8h
8×digital input / output BFC9h4×analog input 15C4h
4×analog output A5E0h4×analog input / output 45DBh2/4×counter B5F4hSSI interface B5DBh
DiagnosticsStatus of the digital inputs
10 Network via CANopen
10.1110.11.4
l10.11-4 EDSPM-TXXX-3.0-04/2004
10.11.4 Status of the digital inputs
Via the index I6000h the status of the digital inputs can be displayed.
Index Name Possible settings Important
Lenze Selection
I6000h Digital input 0 1 255 Display only 10.11-4
1 Module 1
p y ydigital input status
2 Module 2
... ...
32 Module 32
10.11.5 Status of the digital outputs
Via the index I6200h the status of the digital outputs can be displayed:
Index Name Possible settings Important
Lenze Selection
I6200h Digital output 0 1 255 Display only 10.11-4
1 Module 1
p y ydigital output status
2 Module 2
... ...
32 Module 32
DiagnosticsStatus of the analog inputs
10Network via CANopen
10.1110.11.6
l 10.11-5EDSPM-TXXX-3.0-04/2004
10.11.6 Status of the analog inputs
Via the index I6401h the status of the analog inputs can be displayed.
Index Name Possible settings Important
Lenze Selection
I6401h Analog input -32768 1 32767 Display only 10.11-5
1 Channel 1
p y yanalog input statusI d i l il bl i th d l2 Channel 2 Index is only available in the modularsystem
... ...system
36 Channel 36
10.11.7 Status of the analog outputs
Via the index I6411h the status of the analog outputs can be displayed:
Index Name Possible settings Important
Lenze Selection
I6411h Analog output -32768 1 32767 Display only 10.11-5
1 Channel 1
p y yanalog output statusI d i l il bl i th d l2 Channel 2 Index is only available in the modularsystem
... ...system
36 Channel 36
Contents
11Commissioning
11.1
l 11.1-1EDSPM-TXXX-3.0-04/2004
11 Commissioning
11.1 Contents
11.2 Before switching on 11.2-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11.3 Commissioning examples 11.3-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11.3.1 I/O system IP20 at the 93xx controller 11.3-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Before switching on
11Commissioning
11.2
l 11.2-1EDSPM-TXXX-3.0-04/2004
11.2 Before switching on
Prior to supply voltage connection, check
the wiring for completeness, earth faults and short circuits
the system bus wiring (CAN)– The first and last node must be connected to a 120 Ω resistor.
spatial cable separation from signalling and mains cables.
Note!After switching on the supply voltage, the modules of the I/Osystem IP20 are initialised. During the initialisation, the modulescannot be parameterised.
Initialisation time - modular system: approx. 10 sInitialisation time - compact system: approx. 1 s
Commissioning examplesI/O system IP20 at the 93xx controller
11Commissioning
11.311.3.1
l 11.3-1EDSPM-TXXX-3.0-04/2004
11.3 Commissioning examples
11.3.1 I/O system IP20 at the 93xx controller
An I/O system IP20 is to be operated on a controller of the 9300 series with sixdigital inputs and two digital outputs.
The node address at the controller is 1. Hence, the node address at the I/Osystem IP20 must be 2.
The baud rate is to be 500 kbits/s.
Stop!When transmitting the status information of the I/O system IP20,the complete byte is read into the controller, including the statusinformation of the digital outputs.
In the example, the input states are read via CAN-IN3.B0 ...CAN-IN3.B5 and the output states via CAN-IN3.B6 andCAN-IN3.B7.Check the internal connection of the input signals CAN-IN3.B6and CAN-IN3.B7 at the controller. Otherwise, outputs set (HIGHlevel) at the I/O system may trigger uncontrolled actions of thecontroller.
CAN
l
LDIO 8xDC24V 1A
.0
L+
.1
.2
.3
.4
.5
.6
.7
F
1
2
3
4
5
6
7
8
9
L
10
EPM – T110 1A.10 EPM – T230 1A
PW
ER
RD
BA
ADR.
X1
1
2
0 2
+
–
DC24V
–
+Z
Z
DC 24 V
EPM-T110
Fig. 11.3-1 9300 drive controller and I/O system IP20 with 6 digital inputs and 2 digital outputs
Drive controller 93XX
Example
Commissioning examplesI/O system IP20 at the 93xx controller
11 Commissioning
11.311.3.1
l11.3-2 EDSPM-TXXX-3.0-04/2004
Please also note relevant information on the controller in the System Manual!
Setting sequence:
1. Set CAN bus node address to value 1 (C0350 = 1).
2. Address for CAN3-IN and CAN3-OUT to be defined by C0350 (C0353/3 = 0).
3. Set CAN bus baud rate to 500 kbits/s (C0351 = 0).
4. Set CAN bus master operation (C0352 = 1).
5. Set cycle time for cyclical process data transfers (C0356/3 > 0).
6. Switch process output words in CAN3-OUT to digital output signals(C0864/3 = 1).
7. Save set parameters (C0003 = 1).
8. Trigger CAN Reset Node (C0358 = 1).
Note!When using an 8200 vector frequency inverter, make sure to setthe process data channel CAN-I/O from sync-controlled toevent-controlled transmission (C0360 = 0) .The modified settings will be accepted after a ”Reset Node”(C0358 = 1).
Settings at the controller
Commissioning examplesI/O system IP20 at the 93xx controller
11Commissioning
11.311.3.1
l 11.3-3EDSPM-TXXX-3.0-04/2004
If you use the communication profile system bus (CAN)
Setting of the baud rate and node address:
System bus (CAN) Baud rateCoding switch value [kbit/s]
90 1000
91 50092 250
93 125
94 100
95 50
96 20
97 10
98 800
Bold print = Lenze setting
1. Switch the CAN gateway module voltage supply off.
2. Use the coding switch to set the required baud rate.– Select value 91.
3. Switch the CAN gateway module voltage supply on.– The LEDs ER, RD and BA are blinking with a frequency of 1 Hz.
4. LEDs ER and BA go off after 5 seconds, and the set baud rate is stored.
5. Now set the node address 2 with the coding switch.
6. The set node address will be accepted after 5 seconds.– The LED RD goes off.– The CAN gateway module changes to Pre-Operational status.
Note!The node address can be changed any time with the codingswitch. The setting is accepted after switching on the supplyvoltage.
Settings at the I/O system IP20
Commissioning examplesI/O system IP20 at the 93xx controller
11 Commissioning
11.311.3.1
l11.3-4 EDSPM-TXXX-3.0-04/2004
When using the communication profile CANopen
1. Adapt the basic identifiers for the process data object 1.– Set PDO1-Rx via index 1400h, and subindex 1 to 770.– Set PDO1-Tx via index 1800h, and subindex 1 to 769.
2. Make a ”reset node” by setting the index I2358h = 1. The settings areaccepted.
Setting of the baud rate and node address:
CANopen Baud rateCoding switch value [kbit/s]
80 1000
81 50082 250
83 125
84 100
85 50
86 20
87 10
88 800
Bold print = Lenze setting
1. Switch the CAN gateway module voltage supply off.
2. Use the coding switch to set the required baud rate.– Select value 91.
3. Switch the CAN gateway module voltage supply on.– The LEDs ER, RD and BA are blinking with a frequency of 1 Hz.
4. LEDs ER and BA go off after 5 seconds, and the set baud rate is stored.
5. Now set the node address 2 with the coding switch.
6. The set node address will be accepted after 5 seconds.– LED RD goes off.– The CAN gateway module changes to Pre-Operational status.
Note!The node address can be changed any time with the codingswitch. The setting is accepted after switching on the supplyvoltage.
Contents
12Parameter setting
12.1
l 12.1-1EDSPM-TXXX-3.0-04/2004
12 Parameter setting
12.1 Contents
12.2 Parameterising digital modules 12.2-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.2.1 Parameter data 12.2-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.3 Parameterising analog modules 12.3-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.3.1 Parameter data 12.3-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.3.2 Diagnostic data 12.3-6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.3.3 Input data / output data 12.3-7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.3.4 Signal functions of 4xanalog input 12.3-7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.3.5 Signal functions of 4xanalog output 12.3-11. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.3.6 Signal functions of 4xanalog input /output 12.3-13. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.3.7 Converting measured values for voltage and current 12.3-16. . . . . . . . . . . . . . . . . . . . . . . .
12.4 Parameterising 2/4xcounter module 12.4-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.4.1 Parameter data 12.4-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.4.2 Input data / output data 12.4-4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.4.3 2 x 32 bit counter (mode 0) 12.4-6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.4.4 Encoder (modes 1, 3, and 5) 12.4-8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.4.5 Measuring the pulse width, fref 50 kHz (mode 6) 12.4-12. . . . . . . . . . . . . . . . . . . . . . . . . .
12.4.6 4 × 16 bit counter (modes 8 ... 11) 12.4-14. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.4.7 2 × 32 bit counter with GATE and RES level-triggered (mode 12 and 13) 12.4-16. . . . . . . . .
12.4.8 2 × 32 bit counter with GATE, RES level-triggered and auto reload (mode 14 and 15) 12.4-19
12.4.9 Measuring the frequency (modes 16 and 18) 12.4-22. . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.4.10 Measuring the period (modes 17 and 19) 12.4-26. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.4.11 Measuring the pulse width, fref programmable (mode 20) 12.4-29. . . . . . . . . . . . . . . . . . . .
12.4.12 Measuring the pulse width with GATE, fref programmable (modes 21 and 22) 12.4-32. . . . . .
12.4.13 2 × 32 bit counter with GATE and set/reset (modes 23 ... 26) 12.4-35. . . . . . . . . . . . . . . . .
12.4.14 2 x 32 bit counter with G/RES (mode 27) 12.4-39. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.4.15 Encoder with G/RES (modes 28 ... 30) 12.4-41. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.4.16 2 × 32 bit counter with GATE and RES edge-triggered (mode 31 and 32) 12.4-45. . . . . . . . .
12.4.17 2 × 32 bit counter with GATE, RES edge-triggered and auto reload (mode 33 and 34) 12.4-48
12.4.18 2 x 32 bit counter with GATE (mode 35) 12.4-51. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.4.19 Encoder with GATE (modes 36 ... 38) 12.4-53. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Contents
12 Parameter setting
12.1
l12.1-2 EDSPM-TXXX-3.0-04/2004
12.5 Parameterising SSI interface 12.5-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.5.1 Parameter data 12.5-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.5.2 Input data / output data 12.5-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.6 Parameterising 1xcounter/16xdigital input module 12.6-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.6.1 Parameter data 12.6-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.6.2 Input data / output data 12.6-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.6.3 Encoder (mode 0) 12.6-5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.6.4 32 bit counter (mode 1) 12.6-7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.6.5 32 bit counter with clock up/down evaluation (mode 2) 12.6-9. . . . . . . . . . . . . . . . . . . . . .
12.6.6 Measuring the frequency (mode 3) 12.6-11. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.6.7 Measuring the period (mode 4) 12.6-13. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.7 Transmitting parameter data 12.7-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.8 Loading default setting 12.8-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Parameterising digital modulesParameter data
12Parameter setting
12.212.2.1
l 12.2-1EDSPM-TXXX-3.0-04/2004
12.2 Parameterising digital modules
12.2.1 Parameter data
Via the parameter data of the digital modules can be defined, how to transmit thecontrol signals: with original polarity or inverse polarity.
1 byte (8x module)or 2 bytes (16x modules)are available for parameter data, whichare assigned via SDOs.
Digital inputs are parameterised via the index I6002h.
Digital outputs are parameterised via the index I6202h.
The subindex depends on the plug-in station (max. 32 digital modules).
epm-t174
Fig. 12.2-1 Display of the parameter data ”digital module”
Byte Assignment Lenze setting0 Polarity of the transmitted
signalsBit 0 0 Signal is transmitted in original
form00h
signals
1 Signal is transmitted in inverseform
Bits 1 ... 7 Reserve
Note!Store changed parameters in the EEPROM via index I2003h. Thesettings are maintained after switching off the supply voltage.
8xdigital input8xdigital output8xdigital input / output16xdigital input16xdigital output
Parameterising analog modulesParameter data
12Parameter setting
12.312.3.1
l 12.3-1EDSPM-TXXX-3.0-04/2004
12.3 Parameterising analog modules
12.3.1 Parameter data
Stop!The modules are not protected against a wrong parameter settingby the hardware. If you, for instance, apply a voltage during aproject current metering, the module can be destroyed!
Note!Store changed parameters in the EEPROM via index I2003h. Thesettings are maintained after switching off the supply voltage.
Via the parameter data of the 4xanalog input module you can define the following:
The signal function for each input (current measurement, voltagemeasurement, temperature measurement etc.)
The module error behaviour
The conversion speed
For the 4xanalog input 10 bytes of parameter data are available, which areassigned via SDOs.
Depending on the plug-in station, the module is activated via the indicesI3001h ... I3010h (max. 16 analog modules). The parameter data are assigned inthe subindex 1 ... 3.
epm-t059
Fig. 12.3-1 Display of the parameter data 4xanalog input
4xanalog input
Parameterising analog modulesParameter data
12 Parameter setting
12.312.3.1
l12.3-2 EDSPM-TXXX-3.0-04/2004
The following bytes with fixed assignment are available for parameter data:
Byte Assignment Lenzesetting
0 Enabling / releasing1)
Bits 0 ... 5 Reserved 00h0 Enabling / releasingdiagnostic alarm 1) Bit 6 0 Alarm inhibited
12 3 6
00hg Bit 6
1 Alarm enabled12.3-6
Bit 7 Reserved1 Reserved2 Selecting signal function for
input E.0Selecting the signal function for analog inputs: 12.3-7 3Bh
3 Selecting signal function forinput E.1
3Bh
4 Selecting signal function forinput E.2
3Bh
5 Selecting signal function forinput E.3
3Bh
6 Select options for input E.0 Bits 0 ... 3 Conversion speed 2) Resolution 00h7 Select options for input E.1
Bits 0 ... 300000001
15 conversions/s30 conversions/s
16 bits16 bits
00h
8 Select options for input E.2000100100011
30 conversions/s60 conversions/s123 conversions/s
16 bits15 bits14 bits
00h
9 Select options for input E.300110100
123 conversions/s168 i /
14 bits12 bit 00h9 Select options for input E.3 0100 168 conversions/s 12 bits 00h0100
0101168 conversions/s202 conversions/s
12 bits10 bits0101
0110202 conversions/s3 7 conversions/s
10 bits16 bits0110
01113.7 conversions/s7 5 conversions/s
16 bits16 bits0111 7.5 conversions/s 16 bits
Bits 4 ... 5 Data selectionBits 4 ... 500 Deactivated01 Use 2 of 3 values10 Use 4 of 6 values
Bits 6 ... 7 HysteresisBits 6 ... 700 Deactivated01 Hysteresis ±810 Hysteresis ±16
1) If the diagnostic alarm is enabled in byte 0, diagnostic data are transmitted to the master via the emergencytelegram in the event of an error.
2) The conversion speeds given are valid for the operation of an analog input. When operating several inputs, thecorresponding convervion speed must be divided by the number of active inputs to detect the conversion speedper input.Please note that the resolution is reduced with higher conversion speeds due to shorter integration times. Thedata transfer format remains the same. Only the lower bits (LSBs) are not relevant anymore for the analog value.
Parameterising analog modulesParameter data
12Parameter setting
12.312.3.1
l 12.3-3EDSPM-TXXX-3.0-04/2004
Via the parameter data of the 4xanalog output module you can define thefollowing:
The signal function for each output (current signal output, voltage signaloutput)
The module error behaviour
For the 4xanalog output 6 bytes of parameter data are available, which areassigned via SDOs.
Depending on the plug-in station, the module is activated via the indicesI3001h ... I3010h (max. 16 analog modules). The parameter data are assigned inthe subindex 1 ... 2.
epm-t193
Fig. 12.3-2 Display of the parameter data 4xanalog output
The following bytes with fixed assignment are available for parameter data:
Byte Assignment Lenze setting0 Enabling / inhibiting diagnostic
1)Bits 0 ... 5 Reserved 00h0 Enabling / inhibiting diagnostic
alarm 1) Bit 6 0 Alarm inhibited12 3 6
00hBit 6
1 Alarm enabled12.3-6
0 Activating / inhibitingdiagnostics
Bit 7 Reserved
1 reserved2 Selecting signal function for
output E.0Selecting the signal function for analog outputs:
12.3-1101h
3 Selecting signal function foroutput E.1
12.3 11
01h
4 Selecting signal function foroutput E.2
01h
5 Selecting signal function foroutput E.3
01h
1) If the diagnostic alarm is enabled, diagnostic data are transmitted to the master via the emergency telegram inthe event of an error.
4xanalog output
Parameterising analog modulesParameter data
12 Parameter setting
12.312.3.1
l12.3-4 EDSPM-TXXX-3.0-04/2004
Via the parameter data of the 4xanalog input / output module you can define thefollowing:
The signal function for each input or output (current metering, voltagemetering, temperature metering, or current signal output, voltage signaloutput)
The module error behaviour
The conversion speed
For the 4xanalog input / output up to eight bytes of parameter data are available,which are assigned via SDOs.
Depending on the plug-in station, the module is activated via the indicesI3001h ... I3010h (max. 16 analog modules). The parameter data are assigned inthe subindex 1 ... 3.
epm-t194
Fig. 12.3-3 Display of the parameter data 4xanalog input /output
The following bytes with fixed assignment are available for parameter data:
Byte Assignment Lenzesetting
0 Activating/deactivating wire1)
Bit 0 Wire breakage detection for input E.0 00h0 Activating/deactivating wirebreakage detection 1) and
bli /i hibiti di ti
Bit 00 Deactivated
12 3 6
00hg
enabling/inhibiting diagnosticalarm 2) 1 activated
12.3-6alarm 2)
Bit 1 Wire breakage detection for input E.1Bit 10 Deactivated
12 3 61 activated
12.3-6
Bits 2 ... 5 ReservedBit 6 0 Diagnostic alarm
inhibited12 3 6
1 Diagnostic alarmenabled
12.3-6
1 reserved Bits 0 ... 7 Reserved2 Selecting signal function for
input E.0Selection of signal function 12.3-13 3Bh
3 Selecting signal function forinput E.1
4 Selecting signal function foroutput E.0
01h
5 Selecting signal function foroutput E.1
4xanalog input /output
Parameterising analog modulesParameter data
12Parameter setting
12.312.3.1
l 12.3-5EDSPM-TXXX-3.0-04/2004
Byte Lenzesetting
Assignment
6 Select options for input E.0 Bits 0 ... 3 Conversion speed 3) Resolution 00h7 Select options for input E.1
Bits 0 ... 30000 15 conversions/s 16 Bit 00h7 Select options for input E.10001 30 conversions/s 16 Bit
00h
0010 60 conversions/s 15 Bit0011 123 conversions/s 14 Bit0100 168 conversions/s 12 Bit0101 202 conversions/s 10 Bit0110 3.7 conversions/s 16 Bit0111 7.5 conversions/s 16 Bit
Bits 4 ... 7 Reserved8... 11
Reserved
1) The wire breakage detection is used in the measuring range 4 ... 20 mA. If the wire breakage detection isactivated in byte 0 and the diagnostic alarm is enabled, a current reduction to below 0.8 mA is indicated.
2) If the diagnostic alarm is enabled in byte 0, diagnostic data are transmitted to the master via the emergencytelegram in the event of an error.
3) The conversion speeds given are valid for the operation of an analog input. When operating several inputs, thecorresponding convervion speed must be divided by the number of active inputs to detect the conversion speedper input.Please note that the resolution is reduced with higher conversion speeds due to shorter integration times. Thedata transfer format remains the same. Only the lower bits (LSBs) are not relevant anymore for the analog value.
Parameterising analog modulesDiagnostic data
12 Parameter setting
12.312.3.2
l12.3-6 EDSPM-TXXX-3.0-04/2004
12.3.2 Diagnostic data
If the diagnostic alarm is activated in byte 0 of the parameter data, the diagnosticdata in the emergency telegram are transmitted to the master (see chapter”Diagnostics” , section ”Emergency telegram”).1
The following bytes are available for diagnostic data:
Byte Assignment0 Bit 0 Module monitoring0 Bit 0
0 No fault1 Module fault
Bit 1 Consistently at 0Bit 2 External errorBit 2
0 No error1 External error
Bit 3 Error at inputs and / or outputs, respectivelyBit 30 No error1 Error at at least one input and / or output, respectively
Bits 4 ... 7 Reserved1 Bits 0 ... 3 Module type1 Bits 0 ... 3
0101 Analog moduleBit 4 Information on inputs and / or outputs, respectivelyBit 4
0 No information available1 Information available
2 Reserved3 Reserved
The following bytes with fixed assignment are available for diagnostic data:
Byte Assignment0 Bit 0 Module monitoring0 Bit 0
0 No fault1 Module fault
Bit 1 ReservedBit 2 External errorBit 2
0 No error1 External error
Bit 3 Error at inputs and / or outputs, respectivelyBit 30 No error1 Error at at least one input and / or output, respectively
Bit 4 Supply errorBit 40 No error1 No external supply voltage
Bits 5 ... 6 ReservedBit 7 Wrong parametersBit 7
0 No error1 Wrong parameters in the module
1 Bits 0 ... 3 Module type1 Bits 0 ... 30101 Analog module
Bit 4 Information on inputs and / or outputs, respectivelyBit 40 No information available1 Information available
2 Reserved3 Reserved
4xanalog input4xanalog output
4xanalog input /output
Parameterising analog modulesInput data / output data
12Parameter setting
12.312.3.3
l 12.3-7EDSPM-TXXX-3.0-04/2004
12.3.3 Input data / output data
Two bytes (LOW byte, HIGH byte) are available for input and output data, whichare assigned and read via PDOs.
Byte2 Format A Format BLOW byte Bits 0 ... 7 Binary signal value Bit 0 Overflow bitLOW byte Bit 0
0 Value within signal range1 Signal range exceeded
Bit 1 Error bitBit 10 No error1 Internal fault
Bit 2 Activity bit (always 0)Bits 3 ... 7 Binary signal value
HIGH byte Bits 0 ... 6 Binary signal value Bits 0 ... 6 Binary signal valueHIGH byteBit 7 Polarity bit Bit 7 Polarity bitBit 7
0 Positive polarityBit 7
0 Positive polarity1 Negative polarity 1 Negative polarity
12.3.4 Signal functions of 4xanalog input
Note!Short-circuit unused inputs (connect positive and negativeterminals) or deactivate them by assigning the function numberFFh.In the event of an overflow or underflow, wrong values areoutput. Strong signal jumps with sign reversal may occur.
Parameterbytes2/3/4/5
Signal function Signal range Format 1) Tolerance 2)
00h3 Parameter data in module not overwritten01h Temperature
measurement withwithPT100
-200.0 0.1 °C +850.0 ±1 °C 3)
02h
measurement withtwo-wire connection with
PT1000-200.0 0.1 °C +500.0
A
±1 °C 3)
03h withNI100
-50.0 0.1 °C +250.0A
±1 °C 3)
04h withNI1000
-50.0 0.1 °C +250.0 ±1 °C 3)
05h Resistancemeasurement with
with60 Ω
00
0.01 Ω1dec
+60.0032767
±0.2 % of the finalvalue 3)
06h
measurement withtwo-wire connection with
600 Ω00
0.01 Ω1dec
+600.0032767
A
±0.2 % of the finalvalue 3)
07h with3000 Ω
00
0.01 Ω1dec
+3000.0032767
A±0.2 % of the finalvalue 3)
08h with6000 Ω
00
0.01 Ω1dec
+6000.0032767
±0.2 % of the finalvalue 3)
09h Temperaturemeasurement with
withPT100
-200.0 0.1 °C +850.0 ±0.5 °C
0Ah
measurement withfour-wire connection with
PT1000-200.0 0.1 °C +500.0
A
±0.5 °C
0Bh withNI100
-50.0 0.1 °C +250.0A
±0.5 °C
0Ch withNI1000
-50.0 0.1 °C +250.0 ±0.5 °C
Parameterising analog modulesSignal functions of 4xanalog input
12 Parameter setting
12.312.3.4
l12.3-8 EDSPM-TXXX-3.0-04/2004
Parameterbytes2/3/4/5
Tolerance 2)Format 1)Signal rangeSignal function
0Dh Resistancemeasurement with
with60 Ω
0 0.01 Ω +60.00 ±0.1 % of the finalvalue
0Eh
measurement withtwo-wire connection with
600 Ω0 0.01 Ω +600.00
A±0.05 % of thefinal value
0Fh with3000 Ω
0 0.01 Ω +3000.00 ±0.05 % of thefinal value
10h Temperaturemeasurement with
with typeJ
-210.0 0.1 °C +850.0 ±1 °C
11h
measurement withthermoelement andexternalcompensation 4)
with typeK
-270.0 0.1 °C +1200.0 ±1.5 °C
12hcompensation 4)
with typeN
-200.0 0.1 °C +1300.0
A
±1.5 °C
13h with typeR
-50.0 0.1 °C +1760.0A
±4 °C
14h with typeT
-270.0 0.1 °C +400.0 ±1.5 °C
15h with typeS
-50.0 0.1 °C +1760.0 ±5 °C
18h Temperaturemeasurement with
with typeJ
-210.0 0.1 °C +850.0 ±1.5 °C
19h
measurement withthermoelement andinternalcompensation 5)
with typeK
-270.0 0.1 °C +1200.0 ±2 °C
1Ahcompensation 5)
with typeN
-200.0 0.1 °C +1300.0
A
±2 °C
1Bh with typeR
-50.0 0.1 °C +1760.0A
±5 °C
1Ch with typeT
-270.0 0.1 °C +400.0 ±2 °C
1Dh with typeS
-50.0 0.1 °C +1760.0 ±5 °C
27h Voltagemeasurement
0...50 mV 00
0.01 mV1dec
+50.0027648
±0.1 % of the finalvaluemeasurement
Lower range limit – A
value
Upper range limit: +59.25 mV32767 dec
A
28h Voltagemeasurement
±10 V -10.00-27648
0.01V1dec
+10.0027648
±0.05 % of thefinal valuemeasurement
Lower range limit: -11.85 V-32767 dec
A
final value
Upper range limit: +11.85 V32767 dec
29h Voltagemeasurement
±4 V -4.00-27648
0.01V1dec
+4.00 V27648dec
±0.05 % of thefinal valuemeasurement
Lower range limit: -4.74 V-32767 dec
A
final value
Upper range limit: +4.74 V32767 dec
2Ah Voltagemeasurement
±400 mV -400-27648
1 mV1dec
+40027648
±0.1 % of the finalvaluemeasurement
Lower range limit: -474 mV-32767 dec
A
value
Upper range limit: +474 mV32767 dec
Parameterising analog modulesSignal functions of 4xanalog input
12Parameter setting
12.312.3.4
l 12.3-9EDSPM-TXXX-3.0-04/2004
Parameterbytes2/3/4/5
Tolerance 2)Format 1)Signal rangeSignal function
2Ch Currentmeasurement
±20 mA -20.00-27648
0.01 mA1dec
+20.0027648
±0.05 % of thefinal valuemeasurement
Lower range limit: -23.70 mA-32767dec
A
final value
Upper range limit: +23.70 mA+32767dec
2Dh Currentmeasurement
4...20 mA 4.000
0.01 mA1dec
20.0027648
±0.05 % of thefinal valuemeasurement
Lower range limit: 1.185 mA-4864dec
A
final value
Upper range limit: +22.96 mA+32767dec
32h Resistancemeasurement with
with6000 Ω
00
0.01 Ω1dec
+6000.0032767dec
±0.05 % of thefinal value
33h
measurement withfour-wire connection with
6000 Ω00
0.01 Ω1dec
+6000.006000dec
±0.05 % of thefinal value
35h with60 Ω
00
0.01 Ω +6000.006000dec A
±0.2 % of the finalvalue 3)
36h with600 Ω
00
0.01 Ω1dec
+600.006000dec
A±0.1 % of the finalvalue 3)
37h with3000 Ω
00
0.01 Ω1dec
+3000.0030000dec
±0.1 % of the finalvalue 3)
38h with6000 Ω
00
0.01 Ω1dec
+6000.006000dec
±0.1 % of the finalvalue 3)
3Ah Currentmeasurement
±20 mA -20.00-16384
0.01 mA1dec
+20.0016384
±0.05 % of thefinal valuemeasurement
Lower range limit: -23.70 mA-19456dec
A
final value
Upper range limit: +23.70 mA+19456dec
3Bh Voltagemeasurement
±10 V -10.00-16384
0.01V1dec
+10.0016384
±0.2 % of the finalvaluemeasurement
Lower range limit: -11.85 V-20480dec
A
value
Upper range limit: +11.85 V20480dec
3Dh Resistancemeasurement with
with60 Ω
00
0.01 Ω1dec
+60.006000dec
±0.1 % of the finalvalue
3Eh
measurement withfour-wire connection with
600 Ω00
0.01 Ω1dec
+600.006000dec
A±0.05 % of thefinal value
3Fh with3000 Ω
00
0.01 Ω1dec
+3000.0030000dec
±0.05 % of thefinal value
57h Voltagemeasurement
0...50 mV 00
0.01 mV1dec
+50.005000
A
±0.1 % of the finalvaluemeasurement
Upper range limit: +59.25 V5925dec
Avalue
58h Voltagemeasurement
±10 V -10.00-10000
0.01V1dec
+10.0010000
±0.05 % of thefinal valuemeasurement
Lower range limit: -11.85 V-11850dec
A
final value
Upper range limit: +11.85 V11850dec
59h Voltagemeasurement
±4 V -4.00-40000
0.01V1dec
+4.00 V40000
±0.05 % of thefinal valuemeasurement
Lower range limit: -4.74 V-47400dec
A
final value
Upper range limit: +4.74 V47400dec
Parameterising analog modulesSignal functions of 4xanalog input
12 Parameter setting
12.312.3.4
l12.3-10 EDSPM-TXXX-3.0-04/2004
Parameterbytes2/3/4/5
Tolerance 2)Format 1)Signal rangeSignal function
5Ah Voltagemeasurement
±400 mV -400-40000
1 mV1dec
+40040000
±0.1 % of the finalvaluemeasurement
Lower range limit: -474 mV-47400dec
A
value
Upper range limit: +474 mV47400dec
5Ch Currentmeasurement
±20 mA -20.00-20000
0.01 mA1dec
+20.0020000
±0.05 % of thefinal valuemeasurement
Lower range limit: -23.70 mA-23700dec
A
final value
Upper range limit: +23.70 mA+23700dec
5Dh Currentmeasurement
4...20 mA 4.000
0.01 mA1dec
20.0016000
±0.05 % of thefinal valuemeasurement
Lower range limit: 1.185 mA-2815dec
A
final value
Upper range limit: +22.96 mA+22960dec
FFh Analog input deactivated
1) Format of the input data ( 12.3-7).2) The tolerance values have been detected at a temperature of 25 °C and 15 conversions/s. Sensor inaccuracies
have not been considered.3) Contact and cable resistances were not taken into consideration.4) Cold spot compensation must be effected externally.5) The cold spot must be compensated internally. The temperature of the terminals is taken into consideration.
Connect the conductors of the thermorelements directly to the terminals; if necessary, operate withthermoelement extension cables.
Parameterising analog modulesSignal functions of 4xanalog output
12Parameter setting
12.312.3.5
l 12.3-11EDSPM-TXXX-3.0-04/2004
12.3.5 Signal functions of 4xanalog output
Note!In the event of an overflow or underflow, wrong values are output.Strong signal jumps with sign reversal may occur.
Parameterbytes2/3/4/5
Signal function Signal range Format1)
Tolerance 2)
00h4 No signal emitted at output01h Voltage signal output ±10 V -10.00
-163840.01V1dec
+10.0016384
±0.2 %
Lower range limit: -11.85 V-20480dec
B
Upper range limit: +11.85 V20480dec
02h Voltage signal output +1 ... +5 V 1.00
0.1V1dec
+5.016384
±0.05 %
Lower range limit: 0 V20480dec
B
Upper range limit: +6.0 V20480dec
05h Voltage signal output 0 ... +10 V 00
0.1V1dec
+10.016384
±0.2 %
Lower range limit: – BUpper range limit: +12.5 V
20480dec
B
09h Voltage signal output ±10 V -10.00-27648
0.01V1dec
+10.00 V27648dec
±0.05 %
Lower range limit: -11.85 V-32767 dec
A
Upper range limit: +11.84 V32767dec
0Ah Voltage signal output +1 ... +5 V 1.000
0.01V1dec
+5.0027648
±0.05 %
Lower range limit: 0 V-6912dec
A
Upper range limit: +5.75 V32767dec
0Dh Voltage signal output 0 ... +10 V 00
0.1V1dec
+10.027648
±0.2 %
Lower range limit: – AUpper range limit: +11.5 V
32767dec
A
03h Current signal output ±20 mA -20.00-16384
0.01 mA1dec
+20.0016384
±0.2 %
Lower range limit: -23.70 mA-20480 dec
B
Upper range limit: +23.70 mA+20480dec
04h Current signal output 4 ... 20 mA 4.000
0.01 mA1dec
20.0016384
±0.2 %
Lower range limit: 0 mA-4096 dec
B
Upper range limit: +23.70 mA+20480dec
Parameterising analog modulesSignal functions of 4xanalog output
12 Parameter setting
12.312.3.5
l12.3-12 EDSPM-TXXX-3.0-04/2004
Parameterbytes2/3/4/5
Tolerance 2)Format1)
Signal rangeSignal function
06h Current signal output 0 ... 20 mA 00
0.01 mA1dec
+20.0016384
±0.2 %
Lower range limit: – BUpper range limit: +23.70 mA
+20480dec
B
0Bh Current signal output ±20 mA -20.00-27648
0.01 mA1dec
+20.0027648
±0.05 %
Lower range limit: -23.70 mA-32767 dec
A
Upper range limit: +23.70 mA+32767dec
0Ch Current signal output 4 ... 20 mA 4.000
0.01 mA1dec
20.0027648
±0.05 %
Lower range limit: 0 mA-5530dec
A
Upper range limit: +22.96 mA+32767dec
0Eh Current signal output 0 ... 20 mA 00
0.01 mA1dec
20.0027648
±0.2 %
Lower range limit: – AUpper range limit: +22.96 mA
+32767dec
A
1) Format of the output data ( 12.3-7).2) The tolerance values were detected at an ambient temperature of 25 °C and 15 conversions/s. The values refer
to the final value.
Parameterising analog modulesSignal functions of 4xanalog input /output
12Parameter setting
12.312.3.6
l 12.3-13EDSPM-TXXX-3.0-04/2004
12.3.6 Signal functions of 4xanalog input /output
Note!Short-circuit unused inputs (connect positive and negativeterminals) or deactivate them by assigning the function numberFFh.In the event of an overflow or underflow, wrong values areoutput. Strong signal jumps with sign reversal may occur.
Parameterbytes 2/3
Signal function Signal range Format 1) Tolerance 2)
00h5 Parameter data in module not overwritten3Bh Voltage measuring ±10 V -10.00
-163840.01V1dec
+10.00+16384
±0.2 % of thefinal value
Lower range limit: -12.50 V-20480dec
B
final value
Upper range limit: +12.50 V+20480dec
75h Voltage measuring 0 ... 10 V 0.000
0.01V1dec
+10.00+16384
±0.4 % of thefinal value
Lower range limit: - B
final value
Upper range limit: +12.50 V+20480dec
B
28h Voltage measuring ±10 V -10.00-27648
0.01V1dec
+10.00+27648
±0.2 % of thefinal value
Lower range limit: -11.76 V-32512dec
A
final value
Upper range limit: +11.76 V+32511dec
7Ah Voltage measuring 1 ... 5 V +1.000
0.01V1dec
+5.00+27648
±0.6 % of thefinal value
Lower range limit: 0.00 V-6912dec
A
final value
Upper range limit: +5.704 V+32511dec
7Dh Voltage measuring 0 ... 10 V 0.000
0.01V1dec
+10.00+27648
±0.4 % of thefinal value
Lower range limit: - A
final value
Upper range limit: +11.76 V+32511dec
A
3Ah Current measuring ±20 mA -20.00-16384
0.01 mA1dec
+20.00+16384
±0.3 % of thefinal value
Lower range limit -25.00 mA-20480dec
B
final value
Upper range limit: +25.00 mA+20480dec
76h Current measuring 0 ... 20 mA 0.000
0.01 mA1dec
+20.00+16384
±0.6 % of thefinal value
Lower range limit - B
final value
Upper range limit: +25.00 mA+20480dec
B
Input functions
Parameterising analog modulesSignal functions of 4xanalog input /output
12 Parameter setting
12.312.3.6
l12.3-14 EDSPM-TXXX-3.0-04/2004
Parameterbytes 2/3
Tolerance 2)Format 1)Signal rangeSignal function
2Ch Current measuring ±20 mA -20.00-27648
0.01 mA1dec
+20.00+27648
±0.3 % of thefinal value
Lower range limit -23.51 mA-32512dec
A
final value
Upper range limit: +23.51 mA+32511dec
2Dh Current measuring 4 ... 20 mA +4.000
0.01 mA1dec
+20.00+27648
±0.8 % of thefinal value
Lower range limit +1.18 mA-4864dec
A
final value
Upper range limit: +22.81 mA+32511dec
7Eh Current measuring 0 ... 20 mA 0.000
0.01 mA1dec
+20.00+27648
±0.6 % of thefinal value
Lower range limit - A
final value
Upper range limit: +23.52 mA+32511dec
A
FFh Analog input deactivated
1) Format of the input data ( 12.3-7).2) The tolerance values have been detected at a temperature of 25 °C and 15 conversions/s. Sensor inaccuracies
have not been considered.
Parameterbytes 4/5
Signal function Signal range Format 1) Tolerance 2)
00h Parameter data in module not overwritten01h Voltage signal output ±10 V -10.00
-163840.01V1dec
+10.00+16384
±0.2 % of thefinal value
Lower range limit: -12.50 V-20480dec
B
final value
Upper range limit: +12.50 V+20480dec
02h Voltage signal output 1 ... 5 V +1.000
0.01V1dec
+5.00+16384
±0.6 % of thefinal value
Lower range limit: 0.00 V-4096dec
B
final value
Upper range limit: +6.00 V+20480dec
05h Voltage signal output 0 ... 10 V 0.000
0.01V1dec
+10.00+16384
±0.4 % of thefinal value
Lower range limit: - B
final value
Upper range limit: +12.50 V+20480dec
B
09h Voltage signal output ±10 V -10.00-27648
0.01V1dec
+10.00+27648
±0.2 % of thefinal value
Lower range limit: -11.76 V-32512dec
A
final value
Upper range limit: +11.76 V+32511dec
0Ah Voltage signal output 1 ... 5 V +1.000
0.01V1dec
+5.00+27648
±0.6 % of thefinal value
Lower range limit: 0.00 V-6912dec
A
final value
Upper range limit: +5.704 V+32511dec
Output functions
Parameterising analog modulesSignal functions of 4xanalog input /output
12Parameter setting
12.312.3.6
l 12.3-15EDSPM-TXXX-3.0-04/2004
Parameterbytes 4/5
Tolerance 2)Format 1)Signal rangeSignal function
0Dh Voltage signal output 0 ... 10 V 0.000
0.01V1dec
+10.00+27648
±0.4 % of thefinal value
Lower range limit: - A
final value
Upper range limit: +11.76 V+32511dec
A
03h Current signal output ±20 mA -20.00-16384
0.01 mA1dec
+20.00+16384
±0.3 % of thefinal value
Lower range limit -25.00 mA-20480dec
B
final value
Upper range limit: +25.00 mA+20480dec
04h Current signal output 4 ... 20 mA +4.000
0.01 mA1dec
+20.00+16384
±0.8 % of thefinal value
Lower range limit +0.00 mA-4096dec
B
final value
Upper range limit: +24.00 mA+20480dec
06h Current signal output 0 ... 20 mA 0.000
0.01 mA1dec
+20.00+16384
±0.6 % of thefinal value
Lower range limit - B
final value
Upper range limit: +25.00 mA+20480dec
B
0Bh Current signal output ±20 mA -20.00-27648
0.01 mA1dec
+20.00+27648
±0.3 % of thefinal value
Lower range limit -23.52 mA-32512dec
A
final value
Upper range limit: +23.52 mA+32511dec
0Ch Current signal output 4 ... 20 mA +4.000
0.01 mA1dec
+20.00+27648
±0.8 % of thefinal value
Lower range limit +0.00 mA-6912dec
A
final value
Upper range limit: +22.81 mA+32511dec
0Eh Current signal output 0 ... 20 mA 0.000
0.01 mA1dec
+20.00+27648
±0.6 % of thefinal value
Lower range limit - A
final value
Upper range limit: +23.52 mA+32511dec
A
FFh Analog output is switched off
1) Format of the output data ( 12.3-7).2) The tolerance values have been detected at a temperature of 25 °C and 15 conversions/s. Sensor inaccuracies
have not been considered.
Parameterising analog modulesConverting measured values for voltage and current
12 Parameter setting
12.312.3.7
l12.3-16 EDSPM-TXXX-3.0-04/2004
12.3.7 Converting measured values for voltage and current
Signal Signal Format A 1) Format B 1)Signalrange
Signal[U] / [I] Decimal value
[dec]Hexadecimal value
[h]Formulae for calculation Decimal value
[dec]Hexadecimal value
[h]Formulae for calculation
-10 V -27648 9400 dec = 27648 ⋅ U -16384 C000 dec = 16348 ⋅ U-5 V -13824 CA00
dec = 27648 ⋅ U10 -8192 E000
dec = 16348 ⋅ U10
±10 V 0 V 0 0000U d 10 0 0000
U d 10±10 V+5 V +13824 3600 U = dec ⋅ 10
27648 +8192 2000 U = dec ⋅ 1016348
+10 V +27648 6C0027648
+16384 400016348
0 V 0 0000 dec = 16384 ⋅ U10
0 0000 dec = 16384 ⋅ U10
0 ... 10 V +5 V +8192 2000dec = 16384
10
10+8192 2000
dec = 1638410
10+10 V +16384 4000 U = dec ⋅ 1016384 +16384 4000 U = dec ⋅ 10
16384+1 V 0 0000 dec = 27648 ⋅ U− 1
41 ... 5 V +3 V — — +8192 2000
dec = 276484
4+5 V +16384 4000 U = dec ⋅ 416384
+1
-4 V -27648 9400 dec = 27648 ⋅ U4
±4 V 0 V 0 0000dec = 27648
4
4— —
+4 V +27648 6C00 U = dec ⋅ 427648
-400 mV -27648 9400 dec = 27648 ⋅ U400
±400 mV 0 V 0 0000dec = 27648
400
400— —
+400 mV +27648 6C00 U = dec ⋅ 40027648
+4 mA 0 0000 dec = 27648 ⋅ I− 416
0 0000 dec = 16384 ⋅ I− 416
4 ... 20 mA +12 mA +13824 3600dec = 27648
16
16+8192 2000
dec = 1638416
16+20 mA +27648 6C00 U = dec ⋅ 1627648
+1 +16384 4000 U = dec ⋅ 1616384
+1
-20 mA -27648 9400 dec = 27648 ⋅ I -16384 C000 dec = 16384 ⋅ I-10 mA -13824 CA00
dec = 27648 ⋅ I20 -8192 E000
dec = 16384 ⋅ I20
±20 mA 0 mA 0 0000U d 20 0 0000
U d 20±20 mA+10 mA +13824 3600 U = dec ⋅ 20
27648 +8192 2000 U = dec ⋅ 2016384
+20 mA +27648 6C0027648
+16384 400016384
1) Format of the input data and output data ( 12.3-7).
Parameterising 2/4xcounter moduleParameter data
12Parameter setting
12.412.4.1
l 12.4-1EDSPM-TXXX-3.0-04/2004
12.4 Parameterising 2/4xcounter module
12.4.1 Parameter data
The operating mode of the 2/4xcounter (e. g. 2 x 32-bit counter or 4 x 16-bitcounter) can be determined by assigning each channel (counter 0 and counter 1)a mode via the parameter data.
Stop!Depending on the mode set, the terminal assigment of the countermodule changes!I
For the 2/4xcounter two bytes of parameter data are available which are assignedvia SDOs.
Depending on the plug-in station, the counter module is parameterised via theindices 3001h ... 3010h (max. 4 counter modules). The parameter data are storedin the subindex 1.
epm-t062
Fig. 12.4-1 Display of the parameter data of 2/4xcounter
The parameter data follow the assignment below:
Byte Assignment Lenze setting
0 Mode, counter 0 Selecting the modes 00h1 Mode, counter 1
g
00h
Note!Store changed parameters in the EEPROM via index I2003h. Thesettings are maintained after switching off the supply voltage.
Counter mode overview
Mode of Function IN1 IN2 IN3 IN4 IN5 IN6 OUT0 OUT1 AutoR l d
CompareL d[h] [dec]
o oReload
o pLoad
2 counters 0 1
00h 0 32-bit counter RES CLK DIR RES CLK DIR • • – –
01h 1 Encoder 1 edge RES A B RES A B • • – –
03h 3 Encoder 2 edges RES A B RES A B • • – –
05h 5 Encoder 4 edges RES A B RES A B • • – –
Parameterising 2/4xcounter moduleParameter data
12 Parameter setting
12.412.4.1
l12.4-2 EDSPM-TXXX-3.0-04/2004
Mode of CompareLoad
AutoReload
OUT1OUT0IN6IN5IN4IN3IN2IN1Function
[h]
CompareLoad
AutoReload
OUT1OUT0IN6IN5IN4IN3IN2IN1Function
[dec]
4 counters 0.1 0.2 1.1 1.2
08h 8 2 × 16-bit counters(counting direction up/up)
– CLK CLK – CLK CLK – – – –
09h 9 2 × 16-bit counters(counting direction down/up)
– CLK CLK – CLK CLK – – – –
0Ah 10 2 × 16-bit counters(counting direction up/down)
– CLK CLK – CLK CLK – – – –
0Bh 11 2 × 16-bit counters(counting direction down/down)
– CLK CLK – CLK CLK – – – –
2 counters 0 1
0Ch 12 2 × 32-bit counters(counting direction up)
RES CLK GATE RES CLK GATE • • –
0Dh 13 2 × 32-bit counters(counting direction down)
RES CLK GATE RES CLK GATE • • –
0Eh 14 2 × 32-bit counters(counting direction up)
RES CLK GATE RES CLK GATE • •
0Fh 15 2 × 32-bit counters(counting direction down)
RES CLK GATE RES CLK GATE • •
1 counter 0/1
10h 16 Frequency measuring RES CLK START STOP – – • • –
11h 17 Measuring the period RES CLK START STOP – – • • –
12h 18 Frequency measuring(Counter output on/off)
RES CLK START STOP – – • • –
13h 19 Measuring the period(Counter output on/off)
RES CLK START STOP – – • • –
2 counters 0 1
06h 6 Measuring the pulse width(fref 50 kHz, counting direction isselectable)
RES PULSE DIR RES PULSE DIR – – – –
14h 20 Measuring the pulse width(fref programmable, countingdirection is selectable)
RES PULSE DIR RES PULSE DIR – – – –
15h 21 Measuring the pulse width(fref programmable, countingdirection: Upwards)
RES PULSE GATE RES PULSE GATE – – – –
16h 22 Measuring the pulse width(fref programmable, countingdirection: Downwards)
RES PULSE GATE RES PULSE GATE – – – –
2 counters 0 1
17h 23 2 × 32-bit counters(counting direction up, ”Set”function)
RES CLK GATE RES CLK GATE – – –
18h 24 2 × 32-bit counters(counting direction down, ”Set”function)
RES CLK GATE RES CLK GATE – – –
19h 25 2 × 32-bit counters(counting direction up, ”Reset”function)
RES CLK GATE RES CLK GATE – – –
1Ah 26 2 × 32-bit counters(counting direction down, ”Reset”function)
RES CLK GATE RES CLK GATE – – –
Parameterising 2/4xcounter moduleParameter data
12Parameter setting
12.412.4.1
l 12.4-3EDSPM-TXXX-3.0-04/2004
Mode of CompareLoad
AutoReload
OUT1OUT0IN6IN5IN4IN3IN2IN1Function
[h]
CompareLoad
AutoReload
OUT1OUT0IN6IN5IN4IN3IN2IN1Function
[dec]
2 counters 0 1
1Bh 27 32-bit counter G/RES CLK DIR G/RES CLK DIR • • – –
1Ch 28 Encoder 1 edge G/RES A B G/RES A B • • – –
1Dh 29 Encoder 2 edges G/RES A B G/RES A B • • – –
1Eh 30 Encoder 4 edges G/RES A B G/RES A B • • – –
2 counters 0 1
1Fh 31 2 × 32-bit counters(counting direction up)
RES CLK GATE RES CLK GATE • • –
20h 32 2 × 32-bit counters(counting direction down)
RES CLK GATE RES CLK GATE • • –
21h 33 2 × 32-bit counters(counting direction up)
RES CLK GATE RES CLK GATE • •
22h 34 2 × 32-bit counters(counting direction down)
RES CLK GATE RES CLK GATE • •
2 counters 0 1
23h 35 32-bit counter GATE CLK DIR GATE CLK DIR • • – –
24h 36 Encoder 1 edge GATE A B GATE A B • • – –
25h 37 Encoder 2 edges GATE A B GATE A B • • – –
26h 38 Encoder 4 edges GATE A B GATE A B • • – –
• Digital output can signal an eventFunction available.
– No function / function not availableA Encoder signal AAuto Reload ”Auto Reload” causes the counter to accept a preset value as soon
as the counter content matches the Compare register content.B Encoder signal BCompare Load You may use ”Compare Load” to specify a counter limit value to
trigger an output when reached or to restart the counters via AutoReload.
CLK Clock signal of a connected encoder
HIGH level starts and / or stops the counting processDIR Indicates counting direction depending on signal level
LOW: Upcounter
HIGH: DowncounterGATE Gate signal is level-triggered
HIGH: Pulses are measuredG/RES Gate signal is level-triggered and reset signal is edge-triggered
HIGH: Pulses are measured
LOW-HIGH edge: Deletes one or both countersPULSE The pulse width of the supplied signal is measured with an internal
time baseRES Reset signal is level-triggered
HIGH: Deletes one or both countersRES Reset signal is edge-triggered
LOW-HIGH edge: Deletes one or both countersSTART Start signal is edge-triggeredSTOP Stop signal is edge-triggered
Parameterising 2/4xcounter moduleInput data / output data
12 Parameter setting
12.412.4.2
l12.4-4 EDSPM-TXXX-3.0-04/2004
12.4.2 Input data / output data
epm-t106
Fig. 12.4-2 Data input / output of 2/4xcounter
For data input / output, 10 bytes are available which are transmitted via two PDOsto the counter (Rx PDO) or output by the counter (Tx PDO).
Counter starting values or comparison values are included in the 1. Rx PDO in thebytes 0 to 7 (Data In).
Due to a level change in byte 9 (Control), the values are written into a counterregister. Each bit in byte 9 is assigned to a specific counter register word.
The current count values are included in the 1. Tx PDO in the bytes 0 to 7 (Data Out)and can be read out there.
The behaviour of the counter, when the master module restarts (e.g. after changingthe parameter setting), can be controlled via byte 8 (status). The followingcombinations are possible:
Bit 0 Bit 11 0 Counter reading remanent on restart0 1
Counter reading cleared on restart (Lenze setting)1 1
Counter reading cleared on restart (Lenze setting)
A read access to byte 9 of the output data allows setting checks at any time.
Note!Count values get lost when the mains supply is switched off/on;they are not stored!
Input data
Control byte
Output data
Status byte
Parameterising 2/4xcounter moduleInput data / output data
12Parameter setting
12.412.4.2
l 12.4-5EDSPM-TXXX-3.0-04/2004
The counter 0 is to be set with the figure 26959382. To make the representationsimpler, the figure is given in a hexadecimal format.
SelectionNode address 2Baud rate 500 kbaudCOB-ID Rx PDO 2 (I1401/1)COB-ID Rx PDO 3 (I1402/1)COB-ID Tx PDO 2 (I1801/1)COB-ID Tx PDO 3 (I1802/1)
282h202h281h182h
Event time (I1801/1) 64hMode (I3001/1) 00h
epm-t140
Fig. 12.4-3 Setting the counter content for the 2/4xcounter
1. Transmit the 1. Rx PDO with the counter setting value.
2. For accepting the counter setting value transmit the 2. Rx PDO:Control byte = 30h.
3. The current count value is output via the 1. Tx PDO.
Example
Parameterising 2/4xcounter module2 x 32 bit counter (mode 0)
12 Parameter setting
12.412.4.3
l12.4-6 EDSPM-TXXX-3.0-04/2004
12.4.3 2 x 32 bit counter (mode 0)
epm-t064
Fig. 12.4-4 Terminal assignment of the 2/4xcounter in the mode 0
The mode 0 offers two 32-bit counters which can be assigned with a starting value.
Each LOW-HIGH edge at input IN2 / IN5 (CLK) increments and/or decrements thecounter by 1, respectively.
The counting direction is determined via the signal level at input IN3 / IN6 (DIR):
Upcounter: LOW levelDowncounter: HIGH level
During the counting process, a LOW level must be applied to input IN1 / IN4 (RES).A HIGH level deletes the counter.
When the counter reaches zero, the output OUT0 / OUT1 is to HIGH level for atleast 100 ms, even if the counter continues to count. When the counter stops atzero, the output OUT0 / OUT1 remains on the HIGH level.
Terminal assignment
CLK signal
DIR signal
RES signal
OUT signal
Parameterising 2/4xcounter module2 x 32 bit counter (mode 0)
12Parameter setting
12.412.4.3
l 12.4-7EDSPM-TXXX-3.0-04/2004
epm-t065
Fig. 12.4-5 Counter access of the 2/4xcounter in the mode 0
Tt0H Tt0L
TclH2dTreH2d
xxxx xxxx 0000 0000 0000 0001 0000 0002 0000 0003 0000 0004 0000 0005
RES
DIR
CLK
Counter
epm-t067
Fig. 12.4-6 Signal characteristic of 2/4xcounter in the mode 0 (upcounter)
RES
DIR
CLK
Counter
Tt0H Tt0L
TclH2dTreH2d
xxxx xxxx 0000 0000 FFFF FFFF FFFF FFFE FFFF FFFD FFFF FFFC FFFF FFFB
epm-t066
Fig. 12.4-7 Signal characteristic of 2/4xcounter in the mode 0 (downcounter)
Counter access
Signal characteristic
Parameterising 2/4xcounter moduleEncoder (modes 1, 3, and 5)
12 Parameter setting
12.412.4.4
l12.4-8 EDSPM-TXXX-3.0-04/2004
12.4.4 Encoder (modes 1, 3, and 5)
1
2
3
4
5
6
7
8
9
10 GND
+24 V DC
In1 (RES)
In2 (A)
In3 (B)
Out0
In4 (RES)
In5 (A)
In6 (B)
Out1
Counte
r0
Counte
r1
epm-t070
Fig. 12.4-8 Terminal assignment of the 2/4xcounter in the modes 1, 3 and 5
The modes 1, 3, and 5 offer two encoders that can be pre-assigned with a startingvalue.
The modes differ in the number of edges which are evaluated:
Mode 1: 1 edgeMode 3: 2 edgesMode 5: 4 edges
See signal characteristics.
During the counting process, a LOW level must be applied to input IN1 / IN4 (RES).A HIGH level deletes the counter.
When the counter reaches zero, the output OUT0 / OUT1 is to HIGH level for atleast 100 ms, even if the counter continues to count. When the counter stops atzero, the output OUT0 / OUT1 remains on the HIGH level.
Terminal assignment
A/B signal
RES signal
OUT signal
Parameterising 2/4xcounter moduleEncoder (modes 1, 3, and 5)
12Parameter setting
12.412.4.4
l 12.4-9EDSPM-TXXX-3.0-04/2004
epm-t141
Fig. 12.4-9 Counter access of the 2/4xcounter in the modes 1, 3 and 5
Every HIGH-LOW edge at input IN2 / IN5 (A) increments the counter by 1 if a HIGHlevel is applied to input IN3 / IN6 (B) at this time.
RES
B
A
Counter 0000 0000XXXX 0000 0001 0000 0002 0000 0003 0000 0004 0000 0005 0000 0006
TreH2d TcIH2d
TcIH
TdL2cIH TcIH2dH
TcIL
epm-t069
Fig. 12.4-10 Signal characteristic of 2/4xcounter in the mode 1 (upcounter)
Every LOW-HIGH edge at input IN2 / IN5 (A)decrements the counter by 1 if aHIGHlevel is applied to input IN3 / IN6 (B) at this time.
RES
B
A
Counter 0000 0000XXXX FFFF FFFF FFFF FFFE FFFF FFFD FFFF FFFC FFFF FFFB FFFF FFFA
TreH2d
TdL2cIH
Tt0H
TcIH2d
Tt0L
TcIH2dH
epm-t068
Fig. 12.4-11 Signal characteristic of 2/4xcounter in the mode 1 (downcounter)
Counter access
Signal characteristic in mode 1
Parameterising 2/4xcounter moduleEncoder (modes 1, 3, and 5)
12 Parameter setting
12.412.4.4
l12.4-10 EDSPM-TXXX-3.0-04/2004
The counter is incremented by 1 on
a LOW-HIGH edge at input IN2 / IN5 (A) and a LOW level at the inputIN3 / IN6 (B).
a HIGH-LOW edge (track A) at input IN2 / IN5 (A) and a HIGH level at inputIN3 / IN6 (B).
RES
B
A
Counter 0000000100000000XXXX 00000002 00000003 00000004 00000005 00000006 00000007 00000008 00000009
TreH2d TcIH2d
TcIH
TdL2cIH TcIH2dH
TcIL
epm-t071
Fig. 12.4-12 Signal characteristic of 2/4xcounter in the mode 3 (upcounter)
The counter is decremented by 1 on
a LOW-HIGH edge at input IN2 / IN5 (A) and a HIGH level at inputIN3 / IN6 (B).
a LOW-HIGH edge at input IN2 / IN5 (A) and a LOW level at the inputIN3 / IN6 (B).
RES
B
A
Counter FFFFFFFF00000000 FFFFFFFE FFFFFFFD FFFFFFFC FFFFFFFB FFFFFFFA FFFFFFF9 FFFFFFF8 FFFFFFF7XXXXX
TreH2d
TdL2cIH
TcIH
TcIH2d
TcIL
TcIH2dH
epm-t072
Fig. 12.4-13 Signal characteristic of 2/4xcounter in the mode 3 (downcounter)
Signal characteristic in mode 3
Parameterising 2/4xcounter moduleEncoder (modes 1, 3, and 5)
12Parameter setting
12.412.4.4
l 12.4-11EDSPM-TXXX-3.0-04/2004
The counter is incremented by 1 on
a LOW-HIGH edge at input IN2 / IN5 (A) and a LOW level at the inputIN3 / IN6 (B).
a HIGH-LOW edge at input IN2 / IN5 (A) and a HIGH level at inputIN3 / IN6 (B).
a LOW-HIGH edge at input IN2 / IN5 (A) and a HIGH level at inputIN3 / IN6 (B).
a HIGH-LOW edge at input IN2 / IN5 (A) and a LOW level at the inputIN3 / IN6 (B).
RES
B
A
Counter 00000000XXXX
TreH2d
TcIH
TdL2cIH TcIH2dH
TcIL
01 02 03 04 05 06 07 08 09 0A 0B 0C 0D 0E 0F 10 11 12
epm-t073
Fig. 12.4-14 Signal characteristic of 2/4xcounter in the mode 5 (upcounter)
The counter is decremented by 1 on
a LOW-HIGH edge at input IN2 / IN5 (A) and a HIGH level at inputIN3 / IN6 (B).
a LOW-HIGH edge at input IN2 / IN5 (A) and a LOW level at the inputIN3 / IN6 (B).
a LOW-HIGH edge at input IN2 / IN5 (A) and a LOW level at the inputIN3 / IN6 (B).
a LOW-HIGH edge at input IN2 / IN5 (A) and a HIGH level at inputIN3 / IN6 (B).
RES
B
A
Counter 00000000 FF FE FD FC FB FA F9 F8F8XXXX
TreH2d
F7 F6 F5 F4
TclL
TclH2dHTdL2clH
TclH
F3 F2 F1 F0 EF EE
epm-t074
Fig. 12.4-15 Signal characteristic of 2/4xcounter in the mode 5 (downcounter)
Signal characteristic in mode 5
Parameterising 2/4xcounter moduleMeasuring the pulse width, fref 50 kHz (mode 6)
12 Parameter setting
12.412.4.5
l12.4-12 EDSPM-TXXX-3.0-04/2004
12.4.5 Measuring the pulse width, fref 50 kHz (mode 6)
1
2
3
4
5
6
7
8
9
10 GND
+24 V DC
In1 (RES)
In2 (PULSE)
In3 (DIR)
Out0
In4 (RES)
In5 (PULSE)
In6 (DIR)
Out1
Counte
r0
Counte
r1
epm-t075
Fig. 12.4-16 Terminal assignment of the 2/4xcounter in the mode 6
The pulse widths of the signals at input IN2 / IN5 (PULSE) are measured with aninternal time base.
The measuring process starts with a HIGH-LOW edge at input IN2 / IN5 (PULSE)and ends with the LOW-HIGH edge.
A LOW-HIGH edge of the measured signal stores the pulse width with the unit20 ms (corresponds to a clock frequency of fref = 50 kHz; the clock frequencycannot be changed). This result is available in the data output range and can beread out until the next new result.
The counting direction is determined via the signal level at input IN3 / IN6 (DIR):
Upcounter: LOW levelDowncounter: HIGH level
During the counting process, a LOW level must be applied to input IN1 / IN4 (RES).A HIGH level deletes the counter.
Output OUT0 / OUT1 has no function.
Terminal assignment
PULSE signal
DIR signal
RES signal
OUT signal
Parameterising 2/4xcounter moduleMeasuring the pulse width, fref 50 kHz (mode 6)
12Parameter setting
12.412.4.5
l 12.4-13EDSPM-TXXX-3.0-04/2004
epm-t078
Fig. 12.4-17 Counter access of the 2/4xcounter in the mode 6
50kHz
Result
PULSE
TreH2d
XX 00 00 00 00 01 02 03 04 05 06 07 00 01
XX XXXX XXXX 07
RES
Counter
DIR
epm-t077
Fig. 12.4-18 Signal characteristic of 2/4xcounter in the mode 6 (upcounter)
50kHz
TreH2d
XX
XX 0000 0000 FFF9
00 00 00 00 FF FE FD FC FB FA F9 00 FF
Result
RST
PULSE
DIR
Counter
epm-t076
Fig. 12.4-19 Signal characteristic of 2/4xcounter in the mode 6 (downcounter)
Counter access
Signal characteristic
Parameterising 2/4xcounter module4 × 16 bit counter (modes 8 ... 11)
12 Parameter setting
12.412.4.6
l12.4-14 EDSPM-TXXX-3.0-04/2004
12.4.6 4 × 16 bit counter (modes 8 ... 11)
1
2
3
4
5
6
7
8
9
10 GND
+24 V DC
n.c.
In2 (CLK)
In3 (CLK)
n.c.
n.c.
In5 (CLK)
In6 (CLK)
n.c.
Counter 0.2
Counter 1.2
Counter 0.1
Counter 1.1
epm-t079
Fig. 12.4-20 Terminal assignment of the 2/4xcounter in the modes 8 ... 11
The modes 8 ... 11 offers four 16-bit counters which can be pre-assigned with astarting value.
The modules differ in having different counting directions:
Mode 8:
Counters 0.2 and 1.2 count up
Counters 0.1 and 1.1 count up
Mode 9:
Counters 0.2 and 1.2 count down
Counters 0.1 and 1.1 count up
Mode 10:
Counters 0.2 and 1.2 count up
Counters 0.1 and 1.1 count down
Mode 11:
Counters 0.2 and 1.2 count down
Counters 0.1 and 1.1 count down
Each LOW-HIGH edge at input IN2 / IN3 / IN5 / IN6 (CLK) causes the associatedcounter to count up and / or down, respectively.
Terminal assignment
CLK signal
Parameterising 2/4xcounter module4 × 16 bit counter (modes 8 ... 11)
12Parameter setting
12.412.4.6
l 12.4-15EDSPM-TXXX-3.0-04/2004
epm-t081
Fig. 12.4-21 Counter access of the 2/4xcounter in the modes 8 ... 11
CLK 0.1
Counter 0.1 FFFE
0001 0002 0003 0004 0005 0006 0007 0008
FFFF 0000 0001 0002 0003 0004 0005
TclH2d
TclH2d
Tt0H
Tt0H
Tt0L
Tt0L
CLK 0.2
Counter 0.2
epm-t080
Fig. 12.4-22 Signal characteristic of 2/4xcounter in mode 8 considering as example the counters0.1 and 0.2
Counter access
Signal characteristic
Parameterising 2/4xcounter module2 × 32 bit counter with GATE and RES level-triggered (mode 12 and 13)
12 Parameter setting
12.412.4.7
l12.4-16 EDSPM-TXXX-3.0-04/2004
12.4.7 2 × 32 bit counter with GATE and RES level-triggered (mode 12 and 13)
epm-t082
Fig. 12.4-23 Terminal assignment of the 2/4xcounter in the modes 12 and 13
In the modes 12 and 13, two 32-bit counters are available, which are controlled viaa gate signal (gate). A starting value and a comparison value can be assigned toeach counter.
The modules differ in haveing different counting directions:
Mode 12: Upcounter.Mode 13: Downcounter
If a HIGH level is applied to input IN3 / IN6 (GATE), the counter is incremented ordecremented by 1 with each LOW/HIGH edge.
During the counting process, a LOW level must be applied to input IN1 / IN4 (RES).A HIGH level deletes the counter.
Once the counter reaches the value loaded in the ”Compare” register, outputOUT0 / OUT1 is set to HIGH level for at least 100 ms, with the counter continuingits task.
Terminal assignment
GATE/CLK signal
RES signal
OUT signal
Parameterising 2/4xcounter module2 × 32 bit counter with GATE and RES level-triggered (mode 12 and 13)
12Parameter setting
12.412.4.7
l 12.4-17EDSPM-TXXX-3.0-04/2004
epm-t084
Fig. 12.4-24 Counter access of the 2/4xcounter in the modes 12 and 13
Counter access
Parameterising 2/4xcounter module2 × 32 bit counter with GATE and RES level-triggered (mode 12 and 13)
12 Parameter setting
12.412.4.7
l12.4-18 EDSPM-TXXX-3.0-04/2004
Tt0H Tt0L
TclH2dTreH2d
xxxx xxxx 0000 0000 0000 0001 0000 0002 0000 0003
RES
Gate
CLK
Counter 0
epm-t083
Fig. 12.4-25 Signal characteristic of 2/4xcounter in the mode 12
Signal characteristic
Parameterising 2/4xcounter module2 × 32 bit counter with GATE, RES level-triggered and auto reload (mode 14 and 15)
12Parameter setting
12.412.4.8
l 12.4-19EDSPM-TXXX-3.0-04/2004
12.4.8 2 × 32 bit counter with GATE, RES level-triggered and auto reload (mode 14and 15)
epm-t082
Fig. 12.4-26 Terminal assignment of the 2/4xcounter in the modes 14 and 15
In the modes 14 and 15, two 32-bit counters are available, which are controlled viaa gate signal (gate). A starting value and a comparison value can be assigned toeach counter.
These modes offer the function ”Auto Reload” . This means, that the Load Registercan be assigned with a value which is automatically loaded into the counter assoon as it reaches the comparison value set.
The modules differ in having different counting directions:
Mode 14: Upcounter.Mode 15: Downcounter
A HIGH level at input IN1 / IN4 (RES) sets the counter to zero.
If a HIGH level is applied to input IN3 / IN6 (GATE), the counter is incremented ordecremented by 1 with each LOW/HIGH edge.
The counter counts up to the value set in the compare register. With this lastLOW-HIGH edge the counter content is overwritten with the value set in the loadregister. This is repeated until the input IN3 / IN6 (GATE) receives a LOW signal.
If an ”Auto Reload” occurs, the signal level at the output OUT0 / OUT1 changes.(A LOW-HIGH edge at the input IN1 / IN4 (RES) does not reset the outputOUT0 / OUT1.)
Terminal assignment
RES signal
GATE/CLK signal
OUT signal
Parameterising 2/4xcounter module2 × 32 bit counter with GATE, RES level-triggered and auto reload (mode 14 and 15)
12 Parameter setting
12.412.4.8
l12.4-20 EDSPM-TXXX-3.0-04/2004
epm-t086
Fig. 12.4-27 Counter access of the 2/4xcounter in the modes 14 and 15
Counter access
Parameterising 2/4xcounter module2 × 32 bit counter with GATE, RES level-triggered and auto reload (mode 14 and 15)
12Parameter setting
12.412.4.8
l 12.4-21EDSPM-TXXX-3.0-04/2004
Tt0H Tt0L
TclH2dTreH2d
xxxx xxxx 0000 0000 0000 0001 0000 0002 0000 0003 0000 0002 0000 0003
RES
Gate
CLK
Counter
0000 0004
Compare
0000 0002
Load
0000 0002 0000 0003
OUT 0
0000 0004
Compare
0000 0002
Load
0000 0004
Compare
0000 0002
Load
..04 ..04 ..04 0000 0002
epm-t085
Fig. 12.4-28 Signal characteristic of 2/4xcounter in the mode 14 (upcounter)
Signal characteristic
Parameterising 2/4xcounter moduleMeasuring the frequency (modes 16 and 18)
12 Parameter setting
12.412.4.9
l12.4-22 EDSPM-TXXX-3.0-04/2004
12.4.9 Measuring the frequency (modes 16 and 18)
1
2
3
4
5
6
7
8
9
10 GND
+24 V DC
In1 (RES)
In2 (CLK)
In3 (START)
Out0
In4 (STOP)
n.c.
n.c.
Out1
epm-t087
Fig. 12.4-29 Terminal assignment of the 2/4xcounter in the modes 16 and 18
Modes 16 and 18 allow determination of the frequency of a signal at input IN2(CLK).
The modes differ in triggering the output Out0 / Out1 in different ways.
Note!For measuring the frequency the counter 0 and 1 are required. Forthis, both counters must be parameterised to mode 16 or 18.Different modes cannot be set.
With the PDO byte 7 (Data In)a reference frequency (fref) is transmitted to counter0 (see figure ”counter access”). The number ”n” of the reference frequency pulsesdetermines the gate time (period of time the counter 1 is to be released). ”n” canbe between 1 and 232-1 and is loaded into the compare register.
A LOW-HIGH edge at input IN1 (RES) sets the counter to zero.
A LOW-HIGH edge at input IN3 (START) starts the measuring process.
During the measuring process the counter 0 counts with the first LOW-HIGH edgeat the input IN2 (CLK) the pulses ”n” of the reference frequency. Simultaneouslythe counter 1 counts every LOW-HIGH edge at the input IN2 (CLK).
Both counters are stopped when
the counter 0 reading reaches the Compare value, or
input IN4 (STOP) receives a HIGH signal.
Terminal assignment
RES signal
START signal
CLK signal
STOP signal
Parameterising 2/4xcounter moduleMeasuring the frequency (modes 16 and 18)
12Parameter setting
12.412.4.9
l 12.4-23EDSPM-TXXX-3.0-04/2004
Mode 16:
The output OUT 0 is set to HIGH level when the measuring process starts, and isset to LOW level, when the measuring process is completed. The output OUT1indicates the output signal of OUT0 in an inverted way.
Mode 18:
The output OUT 0 is set to HIGH level when the counting process starts, and is setto LOW level, when the counting process is completed. The output OUT1 indicatesthe output signal of OUT0 in an inverted way.
f Frequency to be computed
ffref Reference frequency (see figure ”counter access”)
f=fref ⋅ m m Content, counter 1 (number of CLK pulses)f= ref
n n Number of reference frequency pulses in counter 0 (corresponds to Compareunless prematurely terminated by a HIGH signal at input IN4 (STOP)
Note!If the reference frequency [fref] and the number of referencefrequency pulses [n] are selected so that the wanted frequency [f]is exactly 1 Hz, the counter 1 directly displays this frequency.Example: m = 1,000,000; fref = 1 MHz.
OUT signal
Computing the frequency
Parameterising 2/4xcounter moduleMeasuring the frequency (modes 16 and 18)
12 Parameter setting
12.412.4.9
l12.4-24 EDSPM-TXXX-3.0-04/2004
epm-t088
Fig. 12.4-30 Counter access of the 2/4xcounter in the modes 16 and 18
Counter access
Parameterising 2/4xcounter moduleMeasuring the frequency (modes 16 and 18)
12Parameter setting
12.412.4.9
l 12.4-25EDSPM-TXXX-3.0-04/2004
0 1 2 3
n
xxx
0xxx
RES
START
STOP
CLK
Counter 1
Counter 0
Out0
Out1
m
epm-t089
Fig. 12.4-31 Signal characteristic of 2/4xcounter in the mode 16
OUT0 = HIGH Measuring process in progress
epm-t093
Fig. 12.4-32 Signal characteristic of 2/4xcounter in the mode 18
OUT0 = HIGH Gate open
Signal characteristic in mode 16
Signal characteristic in mode 18
Parameterising 2/4xcounter moduleMeasuring the period (modes 17 and 19)
12 Parameter setting
12.412.4.10
l12.4-26 EDSPM-TXXX-3.0-04/2004
12.4.10 Measuring the period (modes 17 and 19)
1
2
3
4
5
6
7
8
9
10 GND
+24 V DC
In1 (RES)
In2 (CLK)
In3 (START)
Out0
In4 (STOP)
n.c.
n.c.
Out1
epm-t087
Fig. 12.4-33 Terminal assignment of the 2/4xcounter in the modes 17 and 19
Modes 17 and 19 allow the determination of the average period of ”n” measuredperiod of signal at input IN2 (CLK).
The modes differ in triggering the output Out0 / Out 1 differently.
Note!For measuring the frequency of the period, the counters 0 and 1are required. For this, both counters must be parameterised tomode 17 or 19. Different modes cannot be set.
With the PDO byte 7 (Data In)a reference frequency (fref) is transmitted to counter1 (see figure ”counter access”). The number ”m” of the reference frequency pulsesdetermines the gate time (period of time the counter 1 is to be released). ”m” canbe between 1 and 232-1 and is loaded into the compare register.
A LOW-HIGH edge at input IN1 (RES) sets the counter to zero.
A LOW-HIGH edge at input IN3 (START) starts the measuring process.
During the measuring process the counter 1 counts with the first LOW-HIGH edgeat the input IN2 (CLK) the pulses ”m” of the reference frequency. Simultaneouslythe counter 0 counts every LOW-HIGH edge at the input IN2 (CLK).
Both counters are stopped when
the counter 0 reaches the Compare value, or
input IN4 (STOP) receives a HIGH signal.
Terminal assignment
RES signal
START signal
CLK signal
STOP signal
Parameterising 2/4xcounter moduleMeasuring the period (modes 17 and 19)
12Parameter setting
12.412.4.10
l 12.4-27EDSPM-TXXX-3.0-04/2004
Mode 17:
The output OUT 0 is set to HIGH level when the measuring process starts, and isset to LOW level, when the measuring process is completed. The output OUT1indicates the output signal of OUT0 in an inverted way.
Mode 19:
The output OUT 0 is set to HIGH level when the counting process starts, and is setto LOW level, when the counting process is completed. Theoutput OUT1 indicatesthe output signal of OUT0 in an inverted way.
T Average period
nfref Reference frequency (see figure ”counter access”)
T= nf ⋅ m m Content, counter 1 (number of reference frequency pulses)Tfref ⋅ m n Number of CLK pulses in counter 0 (corresponds to Compare unless prematurely
terminated by a HIGH signal at input IN4 (STOP)
epm-t092
Fig. 12.4-34 Counter access of the 2/4xcounter in the modes 17 and 19
OUT signal
Computing the period
Counter access
Parameterising 2/4xcounter moduleMeasuring the period (modes 17 and 19)
12 Parameter setting
12.412.4.10
l12.4-28 EDSPM-TXXX-3.0-04/2004
0 1 2 3
m
xxx
0xxx
RES
START
STOP
CLK
Counter 0
Counter 1
Out0
Out1
n
epm-t091
Fig. 12.4-35 Signal characteristic of 2/4xcounter in the mode 17
OUT0 = HIGH Measuring process in progress
epm-t195
Fig. 12.4-36 Signal characteristic of 2/4xcounter in the mode 19
OUT0 = HIGH Gate open
Signal characteristic in mode 17
Signal characteristic in mode 19
Parameterising 2/4xcounter moduleMeasuring the pulse width, fref programmable (mode 20)
12Parameter setting
12.412.4.11
l 12.4-29EDSPM-TXXX-3.0-04/2004
12.4.11 Measuring the pulse width, fref programmable (mode 20)
1
2
3
4
5
6
7
8
9
10 GND
+24 V DC
In1 (RES)
In2 (PULSE)
In3 (DIR)
Out0
In4 (RES)
In5 (PULSE)
In6 (DIR)
Out1
Counte
r0
Counte
r1
epm-t075
Fig. 12.4-37 Terminal assignment of the 2/4xcounter in the mode 20
The pulse widths of the signal at the input IN2 / IN5 (PULSE) are measured with aprogrammable time base (fref, see figure “Counter access”).
The measuring process starts with a HIGH-LOW edge at input IN2 / IN5 (PULSE)and ends with the LOW-HIGH edge.
A LOW-HIGH edge of the measured signal stores the pulse width with the unit1/fref. This result can be found and read out in the data output range until the nextresult appears.
The counting direction is determined via the signal level at input IN3 / IN6 (DIR).
Upcounter: LOW levelDowncounter: HIGH level
During the counting process, a LOW level must be applied to input IN1 / IN4 (RES).A HIGH level deletes the counter.
Output OUT0 / OUT1 has no function.
Terminal assignment
PULSE signal
DIR signal
RES signal
OUT signal
Parameterising 2/4xcounter moduleMeasuring the pulse width, fref programmable (mode 20)
12 Parameter setting
12.412.4.11
l12.4-30 EDSPM-TXXX-3.0-04/2004
epm-t095
Fig. 12.4-38 Counter access of the 2/4xcounter in the mode 20
Counter access
Parameterising 2/4xcounter moduleMeasuring the pulse width, fref programmable (mode 20)
12Parameter setting
12.412.4.11
l 12.4-31EDSPM-TXXX-3.0-04/2004
Result
Counter 00
TreH2d
00 00 00 01 02 03 04 05 06 07 07 00
0700000000
XX
XX
RES
PULSE
GATE
1fref
epm-t097
Fig. 12.4-39 Signal characteristic of 2/4xcounter in the mode 20 (upcounter)
Result
PULSE
DIR
RES
Counter XX 00
TreH2d
00 00 00 FF FE FD FC FB FA F9 F9
FFF900000000XX
1fref
epm-t096
Fig. 12.4-40 Signal characteristic of 2/4xcounter in the mode 20 (downcounter)
Signal characteristic
Parameterising 2/4xcounter moduleMeasuring the pulse width with GATE, fref programmable (modes 21 and 22)
12 Parameter setting
12.412.4.12
l12.4-32 EDSPM-TXXX-3.0-04/2004
12.4.12 Measuring the pulse width with GATE, fref programmable (modes 21 and 22)
1
2
3
4
5
6
7
8
9
10 GND
+24 V DC
IN1 (RES)
IN2 (PULSE)
IN3 (GATE)
Out0
Counte
r0
Counte
r1
IN4 (RES)
IN5 (PULSE)
IN6 (GATE)
Out1
epm-t098
Fig. 12.4-41 Terminal assignment of the 2/4xcounter in the modes 21 and 22
The pulse widths of the signal at the input IN2 / IN5 (PULSE) are measured with aprogrammable time base (fref, see figure “Counter access”).
The modules differ in having different counting directions:
Mode 21: Upcounter.Mode 22: Downcounter
The measuring process is enabled with a HIGH level at input IN3 / IN6 (GATE).
The measuring process starts with a HIGH-LOW edge at input IN2 / IN5 (PULSE)and ends with the LOW-HIGH edge.
A LOW-HIGH edge of the measured signal stores the pulse width with the unit1/fref. This result can be found and read out in the data output range until the nextresult appears.
During the counting process, a LOW level must be applied to input IN1 / IN4 (RES).A HIGH level deletes the counter.
Output OUT0 / OUT1 has no function.
Note!The measuring process is terminated only if a HIGH level isapplied at input IN3 / IN6 (GATE) for the complete duration of themeasuring process.
Terminal assignment
GATE/CLK signal
PULSE signal
RES signal
OUT signal
Parameterising 2/4xcounter moduleMeasuring the pulse width with GATE, fref programmable (modes 21 and 22)
12Parameter setting
12.412.4.12
l 12.4-33EDSPM-TXXX-3.0-04/2004
epm-t099
Fig. 12.4-42 Counter access of the 2/4xcounter in the modes 21 and 22
Result
Counter 00
TreH2d
00 00 00 01 02 03 04 05 06 06 00 01
0600000000
XX
XX
RES
PULSE
GATE
1fref
epm-t100
Fig. 12.4-43 Signal characteristic of 2/4xcounter in the mode 21 (upcounter)
Counter access
Signal characteristic in mode 21
Parameterising 2/4xcounter moduleMeasuring the pulse width with GATE, fref programmable (modes 21 and 22)
12 Parameter setting
12.412.4.12
l12.4-34 EDSPM-TXXX-3.0-04/2004
Signal characteristic in mode 22
XXResult
Counter 00
TreH2d
00 00 00 FF FE FD FC FB FA FA 00 FF
FA00000000
XX
RES
PULSE
GATE
1fref
epm-t101
Fig. 12.4-44 Signal characteristic of 2/4xcounter in the mode 22 (downcounter)
Parameterising 2/4xcounter module2 × 32 bit counter with GATE and set/reset (modes 23 ... 26)
12Parameter setting
12.412.4.13
l 12.4-35EDSPM-TXXX-3.0-04/2004
12.4.13 2 × 32 bit counter with GATE and set/reset (modes 23 ... 26)
epm-t082
Fig. 12.4-45 Terminal assignment of the 2/4xcounter in the modes 23 ... 26
In the modes 23 to 26, two 32-bit counters are available, which are controlled viaa gate signal (gate). A starting value and a comparison value can be assigned toeach counter.
The modes differ in triggering the outputs Out0 / Out 1 differently (set or resetfunction) and the counting direction:
Modes 23 and 25: Upcounter.Modes 24 and 26: Downcounter
If a HIGH level is applied to input IN3 / IN6 (GATE), the counter is incremented ordecremented by 1 with each LOW/HIGH edge.
During the counting process, a LOW level must be applied to input IN1 / IN4 (RES).A HIGH level deletes the counter.
Modes 23 and 24 (set function):
The signal at output OUT0 / OUT1 is set to HIGH level on counter loading.
When reaching the value loaded in Compare, the output signal is set to LOWlevel. The counter continues to run.
Modes 25 and 26 (reset function):
The signal at output OUT0 / OUT1 is set to LOW level on counter loading.
When reaching the value loaded in Compare, the output signal is set toHIGH level (modes 25 and 26). The counter continues to run.
Terminal assignment
GATE/CLK signal
RES signal
OUT signal
Parameterising 2/4xcounter module2 × 32 bit counter with GATE and set/reset (modes 23 ... 26)
12 Parameter setting
12.412.4.13
l12.4-36 EDSPM-TXXX-3.0-04/2004
epm-t084
Fig. 12.4-46 Counter access of the 2/4xcounter in the modes 23 ... 26
Counter access
Parameterising 2/4xcounter module2 × 32 bit counter with GATE and set/reset (modes 23 ... 26)
12Parameter setting
12.412.4.13
l 12.4-37EDSPM-TXXX-3.0-04/2004
Tt0H Tt0L
TclH2dTreH2d
xxxx xxxx 0000 0004 0000 0005 0000 0006 0000 0007
RES
GATE
CLK
Counter 0 0000 0008
Out0
epm-t102
Fig. 12.4-47 Signal characteristic of 2/4xcounter in the mode 23 (upcounter, set function)
Compare reached
Tt0H Tt0L
TclH2dTreH2d
xxxx xxxx 0000 0009 0000 0008 0000 0007 0000 0006
RES
GATE
CLK
Counter 0 0000 0005
Out0
epm-t103
Fig. 12.4-48 Signal characteristic of 2/4xcounter in the mode 24 (downcounter, set function)
Compare reached
Tt0H Tt0L
TclH2dTreH2d
xxxx xxxx 0000 0004 0000 0005 0000 0006 0000 0007
RES
GATE
CLK
Counter 0 0000 0008
Out0
epm-t104
Fig. 12.4-49 Signal characteristic of 2/4xcounter in the mode 25 (upcounter, reset function)
OUT0 LOW activeLoad counterCompare reached
Signal characteristic in mode 23
Signal characteristic in mode 24
Signal characteristic in mode 25
Parameterising 2/4xcounter module2 × 32 bit counter with GATE and set/reset (modes 23 ... 26)
12 Parameter setting
12.412.4.13
l12.4-38 EDSPM-TXXX-3.0-04/2004
epm-t105
Fig. 12.4-50 Signal characteristic of 2/4xcounter in the mode 26 (downcounter, reset function)
OUT0 LOW activeLoad counterCompare reached
Signal characteristic in mode 26
Parameterising 2/4xcounter module2 x 32 bit counter with G/RES (mode 27)
12Parameter setting
12.412.4.14
l 12.4-39EDSPM-TXXX-3.0-04/2004
12.4.14 2 x 32 bit counter with G/RES (mode 27)
epm-t142
Fig. 12.4-51 Terminal assignment of the 2/4xcounter in the mode 27
The mode 27 offers two 32-bit counters which can be assigned with a startingvalue.
The counting direction is determined via the signal level at input IN3 / IN6 (DIR):
Upcounter: LOW levelDowncounter: HIGH level
If a HIGH level is applied to input IN3 / IN6 (G/RES), the counter is incremented ordecremented by 1 with each LOW/HIGH edge.
During the counting process a HIGH level must be applied to input IN1 / IN4(G/RES). With a LOW level the counter content is frozen. With a rising edge at theinput IN1 / IN4 (G/RES) the counter is deleted.
When the counter reaches zero, the output OUT0 / OUT1 is set to HIGH level forat least 100 ms, even if the counter continues to count. When the counter stopsat zero, the output OUT0 / OUT1 remains on the HIGH level.
Terminal assignment
DIR signal
CLK signal
G/RES signal
OUT signal
Parameterising 2/4xcounter module2 x 32 bit counter with G/RES (mode 27)
12 Parameter setting
12.412.4.14
l12.4-40 EDSPM-TXXX-3.0-04/2004
epm-t143
Fig. 12.4-52 Counter access of the 2/4xcounter in the mode 27
epm-t146
Fig. 12.4-53 Signal characteristic of 2/4xcounter in the mode 27 (upcounter)
epm-t147
Fig. 12.4-54 Signal characteristic of 2/4xcounter in the mode 27 (downcounter)
Counter access
Signal characteristic
Parameterising 2/4xcounter moduleEncoder with G/RES (modes 28 ... 30)
12Parameter setting
12.412.4.15
l 12.4-41EDSPM-TXXX-3.0-04/2004
12.4.15 Encoder with G/RES (modes 28 ... 30)
epm-t144
Fig. 12.4-55 Terminal assignment of the 2/4xcounter in the modes 28 ...30
The modes 28 to 30 offer two encoders that can be pre-assigned with a startingvalue.
The modes differ in the number of edges which are evaluated:
Mode 28: 1 edgeMode 29: 2 edgesMode 30: 4 edges
See signal characteristics.
During the counting process a HIGH level must be applied to input IN1 / IN4(G/RES). With a LOW level the counter content is frozen. With a rising edge at theinput IN1 / IN4 (G/RES) the counter is deleted.
When the counter reaches zero, the output OUT0 / OUT1 is set to HIGH level forat least 100 ms, even if the counter continues to count. When the counter stopsat zero, the output OUT0 / OUT1 remains on the HIGH level.
Terminal assignment
A/B signal
G/RES signal
OUT signal
Parameterising 2/4xcounter moduleEncoder with G/RES (modes 28 ... 30)
12 Parameter setting
12.412.4.15
l12.4-42 EDSPM-TXXX-3.0-04/2004
epm-t145
Fig. 12.4-56 Counter access of the 2/4xcounter in the modes 28 ... 30
Every HIGH-LOW edge at input IN2 / IN5 (A) increments the counter by 1 if a HIGHlevel is applied to input IN3 / IN6 (B) at this time.
epm-t148
Every LOW-HIGH edge at input IN2 / IN5 (A)decrements the counter by 1 if aHIGHlevel is applied to input IN3 / IN6 (B) at this time.
epm-t149
Fig. 12.4-57 Signal characteristic of 2/4xcounter in the mode 28 (downcounter)
Counter access
Signal characteristic in mode 28
Parameterising 2/4xcounter moduleEncoder with G/RES (modes 28 ... 30)
12Parameter setting
12.412.4.15
l 12.4-43EDSPM-TXXX-3.0-04/2004
The counter is incremented by 1 on
a LOW-HIGH edge at input IN2 / IN5 (A) and a LOW level at the inputIN3 / IN6 (B).
a HIGH-LOW edge (track A) at input IN2 / IN5 (A) and a HIGH level at inputIN3 / IN6 (B).
epm-t150
Fig. 12.4-58 Signal characteristic of 2/4xcounter in the mode 29 (upcounter)
The counter is decremented by 1 on
a LOW-HIGH edge at input IN2 / IN5 (A) and a HIGH level at inputIN3 / IN6 (B).
a LOW-HIGH edge at input IN2 / IN5 (A) and a LOW level at the inputIN3 / IN6 (B).
epm-t151
Fig. 12.4-59 Signal characteristic of 2/4xcounter in the mode 29 (downcounter)
Signal characteristic in mode 29
Parameterising 2/4xcounter moduleEncoder with G/RES (modes 28 ... 30)
12 Parameter setting
12.412.4.15
l12.4-44 EDSPM-TXXX-3.0-04/2004
The counter is incremented by 1 on
a LOW-HIGH edge at input IN2 / IN5 (A) and a LOW level at the inputIN3 / IN6 (B).
a HIGH-LOW edge at input IN2 / IN5 (A) and a HIGH level at inputIN3 / IN6 (B).
a LOW-HIGH edge at input IN2 / IN5 (A) and a HIGH level at inputIN3 / IN6 (B).
a HIGH-LOW edge at input IN2 / IN5 (A) and a LOW level at the inputIN3 / IN6 (B).
epm-t152
Fig. 12.4-60 Signal characteristic of 2/4xcounter in the mode 30 (upcounter)
The counter is decremented by 1 on
a LOW-HIGH edge at input IN2 / IN5 (A) and a HIGH level at inputIN3 / IN6 (B).
a LOW-HIGH edge at input IN2 / IN5 (A) and a LOW level at the inputIN3 / IN6 (B).
a LOW-HIGH edge at input IN2 / IN5 (A) and a LOW level at the inputIN3 / IN6 (B).
a LOW-HIGH edge at input IN2 / IN5 (A) and a HIGH level at inputIN3 / IN6 (B).
epm-t153
Fig. 12.4-61 Signal characteristic of 2/4xcounter in the mode 30 (downcounter)
Signal characteristic in mode 30
Parameterising 2/4xcounter module2 × 32 bit counter with GATE and RES edge-triggered (mode 31 and 32)
12Parameter setting
12.412.4.16
l 12.4-45EDSPM-TXXX-3.0-04/2004
12.4.16 2 × 32 bit counter with GATE and RES edge-triggered (mode 31 and 32)
epm-t154
Fig. 12.4-62 Terminal assignment of the 2/4xcounter in the modes 31 and 32
In the modes 31 to 32, two 32-bit counters are available, which are controlled viaa gate signal (gate). A starting value and a comparison value can be assigned toeach counter.
The modules differ in having different counting directions:
Mode 31: Upcounter.Mode 32: Downcounter
A LOW/HIGH edge at input IN1 / IN04 (RES ) clears the counter.
If a HIGH level is applied to input IN3 / IN6 (GATE), the counter is incremented ordecremented by 1 with each LOW/HIGH edge.
Once the counter reaches the value loaded in the ”Compare” register, outputOUT0 / OUT1 is set to HIGH level for at least 100 ms, with the counter continuingits task.
Terminal assignment
RES signal
GATE/CLK signal
OUT signal
Parameterising 2/4xcounter module2 × 32 bit counter with GATE and RES edge-triggered (mode 31 and 32)
12 Parameter setting
12.412.4.16
l12.4-46 EDSPM-TXXX-3.0-04/2004
epm-t155
Fig. 12.4-63 Counter access of the 2/4xcounter in the modes 31 and 32
Counter access
Parameterising 2/4xcounter module2 × 32 bit counter with GATE and RES edge-triggered (mode 31 and 32)
12Parameter setting
12.412.4.16
l 12.4-47EDSPM-TXXX-3.0-04/2004
epm-t156
Fig. 12.4-64 Signal characteristic of 2/4xcounter in the mode 31
Signal characteristic
Parameterising 2/4xcounter module2 × 32 bit counter with GATE, RES edge-triggered and auto reload (mode 33 and 34)
12 Parameter setting
12.412.4.17
l12.4-48 EDSPM-TXXX-3.0-04/2004
12.4.17 2 × 32 bit counter with GATE, RES edge-triggered and auto reload (mode 33and 34)
epm-t154
Fig. 12.4-65 Terminal assignment of the 2/4xcounter in the modes 33 and 34
In the modes 33 and 34, two 32-bit counters are available, which are controlled viaa gate signal (gate). A starting value and a comparison value can be assigned toeach counter.
These modes offer the function ”Auto Reload” . This means, that the Load Registercan be assigned with a value which is automatically loaded into the counter assoon as it reaches the comparison value set.
The modules differ in having different counting directions:
Mode 33: UpcounterMode 34: Downcounter
A LOW/HIGH edge at input IN1 / IN04 (RES) clears the counter.
If a HIGH level is applied to input IN3 / IN6 (GATE), the counter is incremented ordecremented by 1 with each LOW/HIGH edge.
The counter counts up to the value set in the compare register. With this lastLOW-HIGH edge the counter content is overwritten with the value set in the loadregister. This is repeated until the input IN3 / IN6 (GATE) receives a LOW signal.
If an ”Auto Reload” occurs, the signal level at the output OUT0 / OUT1 changes.(A LOW-HIGH-edge at the output IN1 / IN4 (RES) does not reset the outputOUT0 / OUT1.)
Terminal assignment
RES signal
GATE/CLK signal
OUT signal
Parameterising 2/4xcounter module2 × 32 bit counter with GATE, RES edge-triggered and auto reload (mode 33 and 34)
12Parameter setting
12.412.4.17
l 12.4-49EDSPM-TXXX-3.0-04/2004
epm-t158
Fig. 12.4-66 Counter access of the 2/4xcounter in the modes 33 and 34
Counter access
Parameterising 2/4xcounter module2 × 32 bit counter with GATE, RES edge-triggered and auto reload (mode 33 and 34)
12 Parameter setting
12.412.4.17
l12.4-50 EDSPM-TXXX-3.0-04/2004
epm-t159
Fig. 12.4-67 Signal characteristic of 2/4xcounter in the mode 33 (upcounter)
Signal characteristic
Parameterising 2/4xcounter module2 x 32 bit counter with GATE (mode 35)
12Parameter setting
12.412.4.18
l 12.4-51EDSPM-TXXX-3.0-04/2004
12.4.18 2 x 32 bit counter with GATE (mode 35)
epm-t160
Fig. 12.4-68 Terminal assignment of the 2/4xcounter in the mode 35
The mode 35 offers two 32-bit counters which can be assigned with a startingvalue.
The counting direction is determined via the signal level at input IN3 / IN6 (DIR):
Upcounter: LOW levelDowncounter: HIGH level
Each LOW-HIGH edge at input IN2 / IN5 (CLK) increments and/or decrements thecounter by 1, respectively.
During the counting process, a HIGH level must be applied to input IN1 / IN4(GATE). With a LOW level the counter content is frozen.
When the counter reaches zero, the output OUT0 / OUT1 is set to HIGH level forat least 100 ms, even if the counter continues to count. When the counter stopsat zero, the output OUT0 / OUT1 remains on the HIGH level.
Terminal assignment
DIR signal
CLK signal
GATE signal
OUT signal
Parameterising 2/4xcounter module2 x 32 bit counter with GATE (mode 35)
12 Parameter setting
12.412.4.18
l12.4-52 EDSPM-TXXX-3.0-04/2004
epm-t161
Fig. 12.4-69 Counter access of the 2/4xcounter in the mode 35
epm-t162
Fig. 12.4-70 Signal characteristic of 2/4xcounter in the mode 35 (upcounter)
epm-t163
Fig. 12.4-71 Signal characteristic of 2/4xcounter in the mode 35 (downcounter)
Counter access
Signal characteristic
Parameterising 2/4xcounter moduleEncoder with GATE (modes 36 ... 38)
12Parameter setting
12.412.4.19
l 12.4-53EDSPM-TXXX-3.0-04/2004
12.4.19 Encoder with GATE (modes 36 ... 38)
epm-t164
Fig. 12.4-72 Terminal assignment of the 2/4xcounter in the modes 36 ... 38
The modes 36 to 38 offer two encoders that can be pre-assigned with a startingvalue.
The modes differ in the number of edges which are evaluated:
Mode 36: 1 edgeMode 37: 2 edgesMode 38: 4 edges
See signal characteristics.
During the counting process, a HIGH level must be applied to input IN1 / IN4(GATE). With a LOW level the counter content is frozen.
When the counter reaches zero, the output OUT0 / OUT1 is set to HIGH level forat least 100 ms, even if the counter continues to count. When the counter stopsat zero, the output OUT0 / OUT1 remains on the HIGH level.
Terminal assignment
A/B signal
GATE signal
OUT signal
Parameterising 2/4xcounter moduleEncoder with GATE (modes 36 ... 38)
12 Parameter setting
12.412.4.19
l12.4-54 EDSPM-TXXX-3.0-04/2004
epm-t165
Fig. 12.4-73 Counter access of the 2/4xcounter in the modes 36, 37 and 38
Every HIGH-LOW edge at input IN2 / IN5 (A) increments the counter by 1 if a HIGHlevel is applied to input IN3 / IN6 (B) at this time.
epm-t166
Fig. 12.4-74 Signal characteristic of 2/4xcounter in the mode 36 (upcounter)
Every LOW-HIGH edge at input IN2 / IN5 (A)decrements the counter by 1 if aHIGHlevel is applied to input IN3 / IN6 (B) at this time.
epm-t167
Fig. 12.4-75 Signal characteristic of 2/4xcounter in the mode 36 (downcounter)
Counter access
Signal characteristic in mode 36
Parameterising 2/4xcounter moduleEncoder with GATE (modes 36 ... 38)
12Parameter setting
12.412.4.19
l 12.4-55EDSPM-TXXX-3.0-04/2004
The counter is incremented by 1 on
a LOW-HIGH edge at input IN2 / IN5 (A) and a LOW level at the inputIN3 / IN6 (B).
a HIGH-LOW edge (track A) at input IN2 / IN5 (A) and a HIGH level at inputIN3 / IN6 (B).
epm-t168
Fig. 12.4-76 Signal characteristic of 2/4xcounter in the mode 37 (upcounter)
The counter is decremented by 1 on
a LOW-HIGH edge at input IN2 / IN5 (A) and a HIGH level at inputIN3 / IN6 (B).
a LOW-HIGH edge at input IN2 / IN5 (A) and a LOW level at the inputIN3 / IN6 (B).
epm-t169
Fig. 12.4-77 Signal characteristic of 2/4xcounter in the mode 37 (downcounter)
Signal characteristic in mode 37
Parameterising 2/4xcounter moduleEncoder with GATE (modes 36 ... 38)
12 Parameter setting
12.412.4.19
l12.4-56 EDSPM-TXXX-3.0-04/2004
The counter is incremented by 1 on
a LOW-HIGH edge at input IN2 / IN5 (A) and a LOW level at the inputIN3 / IN6 (B).
a HIGH-LOW edge at input IN2 / IN5 (A) and a HIGH level at inputIN3 / IN6 (B).
a LOW-HIGH edge at input IN2 / IN5 (A) and a HIGH level at inputIN3 / IN6 (B).
a HIGH-LOW edge at input IN2 / IN5 (A) and a LOW level at the inputIN3 / IN6 (B).
epm-t170
Fig. 12.4-78 Signal characteristic of 2/4xcounter in the mode 38 (upcounter)
The counter is decremented by 1 on
a LOW-HIGH edge at input IN2 / IN5 (A) and a HIGH level at inputIN3 / IN6 (B).
a LOW-HIGH edge at input IN2 / IN5 (A) and a LOW level at the inputIN3 / IN6 (B).
a LOW-HIGH edge at input IN2 / IN5 (A) and a LOW level at the inputIN3 / IN6 (B).
a LOW-HIGH edge at input IN2 / IN5 (A) and a HIGH level at inputIN3 / IN6 (B).
epm-t171
Fig. 12.4-79 Signal characteristic of 2/4xcounter in the mode 38 (downcounter)
Signal characteristic in mode 38
Parameterising SSI interfaceParameter data
12Parameter setting
12.512.5.1
l 12.5-1EDSPM-TXXX-3.0-04/2004
12.5 Parameterising SSI interface
12.5.1 Parameter data
The following can be defined via the parameter data of the SSI interface:
Baud rate
Coding type
Evaluation of the combined E/A.0
For the SSI interface, four bytes of parameter data are available, which areassigned via SDOs.
Depending on the plug-in station, the SSI interface is parameterised via the indicesI3001h ... I3010h (max. 8 SSI interfaces). The parameter data are stored inthesubindex 1.
epm-t173
Fig. 12.5-1 Display of the parameter data of the SSI interface
Note!Store changed parameters in the EEPROM via index I2003h. Thesettings are maintained after switching off the supply voltage.
Parameterising SSI interfaceParameter data
12 Parameter setting
12.512.5.1
l12.5-2 EDSPM-TXXX-3.0-04/2004
The parameter data are assigned as follows:
Byte Assignment Lenze setting0 reserved1 reserved2 Baud rate 1) 00h = 300 kBaud 00h2 Baud rate
01h = 100 kBaud00h
02h = 300 kBaud03h = 600 kBaud04h ... FFh = 300 kBaud
3 Coding 2) Bit 0 0 Binary code 00h3 Coding Bit 01 Gray Code
00h
Bit 1 reservedHold function 3) Bit 2 0 DeactivateHold function Bit 2
1 ActivateBits 3 ... 7 reserved
1) Baud rate: The encoder connected to the SSI interface transmits serial data. Therefore the encoder is providedwith a clock pulse of the SSI interface. The clock pulse can be determined by you.
2) Coding: For data transmission you can select the binary code or the Gray code. Transmission errors are easier todetect with the Gray code since adjacent Gray-code figures differ in exactly one bit.
3) Hold function: When the hold function is activated, the current encoder value is frozen as soon as +24V areapplied to the input E/A.0 +24 V. The encoder value is only updated if the 24 V are not applied any more. Pleasenote, that E/A.0 only operates as an input when the Hold function is activated.
Note!The baud rate depends on the cable length and the SSI encoder.The cables must be twisted and shielded in pairs. The followingdata serve as a guideline:
Cable length Baud rate< 400 m 100 kBaud< 100 m 300 kBaud< 50 m 600 kBaud
Parameterising SSI interfaceInput data / output data
12Parameter setting
12.512.5.2
l 12.5-3EDSPM-TXXX-3.0-04/2004
12.5.2 Input data / output data
epm-t172
Fig. 12.5-2 Data input /output of SSI interface
For data input / output, four bytes are available which are transmitted (Rx PDO)oroutput (Tx PDO) by PDOs.
Note!Input and output data get lost when the mains supply is switchedoff/on; they are not stored!
The input data, which serve to control the outputs (I/O.0 and I/O.1) depending onthe encoder value, are located in the first Rx PDO.
Byte Assignment0 Control Bits 0..1 Setpoint selection0 Control Bits 0..1
00: No setpoint selection01: Setpoint selection for output I/O.010: Setpoint selection for output I/O.111: Setpoint selection for outputs I/O.0 and I/O.1
Bit 2 reservedBit 3 Condition for outputBit 3
0: If SSI encoder value is higher than setpoint1: If SSI encoder value is lower than setpoint
Bits 4..7 reserved1 Comparison value (HIGH byte) Bits 0 ... 7 Binary code or Gray code, depending on the parameter2 Comparison value (MID byte)
Bits 0 ... 7 Binary code or Gray code, depending on the parametersetting
3 Comparison value (LOW byte)
g
The output data supplied by your encoder is located in the first Tx PDO:
Byte Assignment0 Status Bit 0 Status I/O.00 Status
Bit 1 Status I/O.1Bits 2 ... 7 reserved
1 SSI encoder value (HIGH byte) Bits 0 ... 7 Binary code or Gray code, depending on the parameter2 SSI encoder value (MID byte)
Bits 0 ... 7 Binary code or Gray code, depending on the parametersetting
3 SSI encoder value (LOW byte)
g
Input data
Output data
Parameterising SSI interfaceInput data / output data
12 Parameter setting
12.512.5.2
l12.5-4 EDSPM-TXXX-3.0-04/2004
epm-t187
Fig. 12.5-3 Counter access SSI interface, Hold function deactivated
epm-t191
Fig. 12.5-4 Counter access SSI interface, Hold function activated
Counter access
Parameterising SSI interfaceInput data / output data
12Parameter setting
12.512.5.2
l 12.5-5EDSPM-TXXX-3.0-04/2004
The station consists of a CAN gateway and an SSI interface. An encoder with a24-bit resolution and Gray code is used.
Output I/O.0 is to switch with count value of > 1000, output I/O.1 with a count valueof > 2000. The figures are given in a hexadecimal format to provide a simplerrepresentation.
SelectionNode address 2Coding (I3001/1) Gray CodeHold function (I3001/1) Deactivated
1. Assigning parameter data
epm-t188
Fig. 12.5-5 Example - How to assign parameter data when using SSI interface
2. Assigning comparison value for channel 0
epm-t189
Fig. 12.5-6 Example - How to assign a comparison value to channel 0 when using SSI interface
3. Assigning comparison value for channel 1
epm-t190
Fig. 12.5-7 Example - How to assign a comparison value to channel 1 when using SSI interface
Example
Parameterising 1xcounter/16xdigital input moduleParameter data
12Parameter setting
12.612.6.1
l 12.6-1EDSPM-TXXX-3.0-04/2004
12.6 Parameterising 1xcounter/16xdigital input module
12.6.1 Parameter data
The mode of operation of the internal counter can be determined by assigning amode via the parameter data.
For the 1xcounter/16xdigital input one byte of parameter data is available, whichis assigned via SDOs.
Depending on the plug-in station, the module is parameterised via the indices3001h ... 3010xh (max. 8 counter modules). The parameter data are stored in thesubindex 1.
epm-t176
Fig. 12.6-1 Display of the parameter data of 1xcounter/16xdigital input
The parameter data follow the assignment below:
Byte Assignment Lenze setting0 Counter mode 00h Encoder with 4 edges 00h
01h 32-bit counterh
02h Clock up/clock down evaluation
03h Measuring the frequency
04h Measuring the period
05h...FFh reserved
Note!Store changed parameters in the EEPROM via index I2003h. Thesettings are maintained after switching off the supply voltage.
Parameterising 1xcounter/16xdigital input moduleInput data / output data
12 Parameter setting
12.612.6.2
l12.6-2 EDSPM-TXXX-3.0-04/2004
12.6.2 Input data / output data
epm-t192
Fig. 12.6-2 Data input / data output 1xcounter/16xdigital input
For data input / output, six bytes are available which are transmitted via a PDO tothe counter (Rx PDO) or output by the counter (Tx PDO).
Note!Input and output data get lost when the mains supply is switchedoff/on; they are not stored!
Parameterising 1xcounter/16xdigital input moduleInput data / output data
12Parameter setting
12.612.6.2
l 12.6-3EDSPM-TXXX-3.0-04/2004
The inputs E.0 and E.1 are used as counter inputs and digital inputs.
The counter starting value is located in the first Rx PDO in the bytes 0 to 3 (DataIn). If a starting value is loaded, the counter counts upwards or downwards,starting with this value.
The counting range lies between 0 and +4.294.967.295. As soon as the upper limit(when counting upwards) has been reached, the count value jumps to the lowercount limit. The moment, the lower count limit (when counting downwards) hasbeen reached, the count value jumps to the upper count limit.
The counter is controlled via byte 4 (control). It is assigned as follows:
Byte Assignment4 Control byte Bit 0 1 = Start counter (software gate is open) 1)4 Control byte
Bit 1 1 = Stop counter (software gate is closed) 1)
Bit 2 1 = Counter is loaded with starting value /comparison value
Bit 3 1 = Count value is deletedBits 4 ... 7 reserved
1) If start bit and stop bit = HIGH, ”stop” is active. If both bits are LOW, the state of the bit that has been set last, isactive.
Via byte 5 the reference frequency for the modes 3 (frequency measurement)and4 (period measurement) can be set. It is assigned as follows:
Byte Assignment5 Reference frequency 00h 16 MHz5 Reference frequency
01h 8 MHz02h 4 MHz03h 1 MHz04h 100 kHz05h 10 kHz06h 1 kHz07h 100 Hz08h...FFh not permissible
The current count value is located in the first Tx PDO in the bytes 0 to 3 (Data Out)and can be read out there. Bytes 4 and 5 contain the control signals (E.0 ... E.15).
Input data
Output data
Parameterising 1xcounter/16xdigital input moduleInput data / output data
12 Parameter setting
12.612.6.2
l12.6-4 EDSPM-TXXX-3.0-04/2004
epm-t175
Fig. 12.6-3 Counter access - 1xcounter/16xdigital input
Counter access
Parameterising 1xcounter/16xdigital input moduleEncoder (mode 0)
12Parameter setting
12.612.6.3
l 12.6-5EDSPM-TXXX-3.0-04/2004
12.6.3 Encoder (mode 0)
In the mode 0, the rising and falling edges of signal A and B are evaluated. Thecounter can be pre-assigned with a starting value via the Rx PDO.
The counting range lies between 0 and +4.294.967.295. As soon as the upper limit(when counting upwards) has been reached, the count value jumps to the lowercount limit. The moment, the lower count limit (when counting downwards) hasbeen reached, the count value jumps to the upper count limit.
A HIGH level in byte 4 (Control), bit 3 (Clear) sets the counter to zero.
When bit 2 (Load) changes from LOW to HIGH in byte 4 (Control), the counter ispre-assigned with the starting value from byte 0 to 3 (Data In).
The software gate which releases the counting process, is opened, when bit 0(Start) in the byte 4 (Control)has HIGH level. It is closed as soon as bit 1 (Stop)hasHIGH level.
With the software gate open: Every rising or falling edge of signal A (E.0)and B (E.1)increments or decrements the count value. The counting direction depends onwhich signal is leading.
epm-t177
Fig. 12.6-4 Counter access of 1xcounter/16xdigital input in the mode 0
Clear signal
Load signal
Start/stop signal
A/B signal
Counter access
Parameterising 1xcounter/16xdigital input moduleEncoder (mode 0)
12 Parameter setting
12.612.6.3
l12.6-6 EDSPM-TXXX-3.0-04/2004
The counter is incremented by 1 on
a LOW-HIGH edge of signal B and a LOW level of signal A.
a HIGH-LOW edge of signal A and a HIGH level of signal B.
a LOW-HIGH edge of signal A and a HIGH level of signal B.
a HIGH-LOW edge of signal B and a LOW level of signal A.
epm-t178
Fig. 12.6-5 Signal characteristic of 1xcounter/16xdigital input in the mode 0 (upcounter)
The counter is decremented by 1 with
a LOW-HIGH edge of signal A and a HIGH level of signal B.
a HIGH-LOW edge of signal A and a LOW level of signal B.
a LOW-HIGH edge of signal B and a LOW level of signal A.
a HIGH-LOW edge of signal B and a HIGH level of signal A.
epm-t179
Fig. 12.6-6 Signal characteristic of 1xcounter/16xdigital input in the mode 0 (downcounter)
Signal characteristic
Parameterising 1xcounter/16xdigital input module32 bit counter (mode 1)
12Parameter setting
12.612.6.4
l 12.6-7EDSPM-TXXX-3.0-04/2004
12.6.4 32 bit counter (mode 1)
In the mode 1 the counter operates as an 32-bit counter. The counter can bepre-assigned with a starting value via the Rx PDO.
The counting range lies between 0 and +4.294.967.295. As soon as the upper limit(when counting upwards) has been reached, the count value jumps to the lowercount limit. The moment, the lower count limit (when counting downwards) hasbeen reached, the count value jumps to the upper count limit.
A HIGH level in byte 4 (Control), bit 3 (Clear) sets the counter to zero.
When bit 2 (Load) changes from LOW to HIGH in byte 4 (Control), the counter ispre-assigned with the starting value from byte 0 to 3 (Data In).
The software gate which releases the counting process, is opened, when bit 0(Start) in the byte 4 (Control)has HIGH level. It is closed as soon as bit 1 (Stop)hasHIGH level.
With the software gate open: With every rising edge of signal A (E.0) the counteris either incremented or decremented by 1.
The counting direction is determined via the level of signal B (E.1):
Upcounter: LOW levelDowncounter: HIGH level
epm-t177
Fig. 12.6-7 Counter access of 1xcounter/16xdigital input in the mode 1
Clear signal
Load signal
Start/stop signal
A/B signal
Counter access
Parameterising 1xcounter/16xdigital input module32 bit counter (mode 1)
12 Parameter setting
12.612.6.4
l12.6-8 EDSPM-TXXX-3.0-04/2004
epm-t180
Fig. 12.6-8 Signal characteristic of 1xcounter/16xdigital input in the mode 1 (upcounter)
epm-t181
Fig. 12.6-9 Signal characteristic of 1xcounter/16xdigital input in the mode 1 (downcounter)
Signal characteristic
Parameterising 1xcounter/16xdigital input module32 bit counter with clock up/down evaluation (mode 2)
12Parameter setting
12.612.6.5
l 12.6-9EDSPM-TXXX-3.0-04/2004
12.6.5 32 bit counter with clock up/down evaluation (mode 2)
In the mode 1 the counter operates as a clock-up/clock-down counter. Thecounter can be pre-assigned with a starting value via the Rx PDO.
The counting range lies between 0 and +4.294.967.295. As soon as the upper limit(when counting upwards) has been reached, the count value jumps to the lowercount limit. The moment, the lower count limit (when counting downwards) hasbeen reached, the count value jumps to the upper count limit.
A HIGH level in byte 4 (Control), bit 3 (Clear) sets the counter to zero.
When bit 2 (Load) changes from LOW to HIGH in byte 4 (Control), the counter ispre-assigned with the starting value from byte 0 to 3 (Data In).
The software gate which releases the counting process, is opened, when bit 0(Start) in the byte 4 (Control)has HIGH level. It is closed as soon as bit 1 (Stop)hasHIGH level.
With the software gate open: With every rising edge of the signal A (E.0)thecounteris incremented by 1. With every rising edge of the signal B (E.1) the counter isdecremented by 1.
epm-t177
Fig. 12.6-10 Counter access of 1xcounter/16xdigital input in the mode 2
Clear signal
Load signal
Start/stop signal
A/B signal
Counter access
Parameterising 1xcounter/16xdigital input module32 bit counter with clock up/down evaluation (mode 2)
12 Parameter setting
12.612.6.5
l12.6-10 EDSPM-TXXX-3.0-04/2004
epm-t182
Fig. 12.6-11 Signal characteristic of 1xcounter/16xdigital input in the mode 2
Signal characteristic
Parameterising 1xcounter/16xdigital input moduleMeasuring the frequency (mode 3)
12Parameter setting
12.612.6.6
l 12.6-11EDSPM-TXXX-3.0-04/2004
12.6.6 Measuring the frequency (mode 3)
In mode 3, the counter operates as a frequency meter. For this purpose thecountercounts the number of rising edges of signal A of a specified time slot.
The time slot can be determined by selecting a starting value (Data In) and areference frequency (Ref. Freq.) in the Rx PDO.
Byte Assignment5 Reference frequency 00h 16 MHz5 Reference frequency
01h 8 MHz02h 4 MHz03h 1 MHz04h 100 kHz05h 10 kHz06h 1 kHz07h 100 Hz08h...FFh not permissible
1Tw Time slot
TW=1f⋅ n fref Reference frequency (is transmitted in byte 5)TW frefn
n Starting value (is transmitted in bytes 0 ... 3)
When bit 2 (Load) changes from LOW to HIGH in byte 4 (Control), the counter ispre-assigned with the starting value from byte 0 to 3 (Data In).
The software gate which releases the counting process, is opened, when bit 0(Start) in the byte 4 (Control)has HIGH level. It is closed as soon as bit 1 (Stop)hasHIGH level.
When the software gate is open:
The reference counter is started by the first rising edge of signal A (E.0) andthen incremented with every rising edge of the reference clock.
When the reference counter reaches the starting value (time Tw has elapsed),the current count value is shifted into the Tx PDO in byte 0 ... 3 (Data Out).
Then, the counter and reference counter are automatically reset and the nextfrequency measurement starts with the next rising edge of signal A.
If two rising edges do not occur in the signal A within the time slot Tw, thecount value for this measurement is interpreted with zero.
The counter can be cleared at any time via a HIGH level in byte 4 (Control), bit 3(Clear). The loaded value remains valid unti a new value is loaded.
Reference frequency
Time slot calculation
Load signal
Start/stop signal
A signal
Clear signal
Parameterising 1xcounter/16xdigital input moduleMeasuring the frequency (mode 3)
12 Parameter setting
12.612.6.6
l12.6-12 EDSPM-TXXX-3.0-04/2004
f Frequency of signal A
f f m fref Reference frequencyf= fref ⋅
mn m Count valuen
n Starting value
Example: Reference frequency fref = 1 MHz, starting value n = 1,000,000, countvalue m = 10,000
f= 1 MHz ⋅ 100001000000
= 10 kHz
epm-t183
Fig. 12.6-12 Counter access of 1xcounter/16xdigital input in the mode 3
epm-t185
Fig. 12.6-13 Signal characteristic of 1xcounter/16xdigital input in the mode 3
Frequency calculation
Counter access
Signal characteristic
Parameterising 1xcounter/16xdigital input moduleMeasuring the period (mode 4)
12Parameter setting
12.612.6.7
l 12.6-13EDSPM-TXXX-3.0-04/2004
12.6.7 Measuring the period (mode 4)
In mode 4 the counter operates as a permanent period meter. The counter countsthe number of rising edges of a reference counter between two rising edges ofsignal A (E.0).
The frequency of a reference counter can be preset in the Rx PDO in byte 5 (Ref.Freq.).
Byte Assignment5 Reference frequency 00h 16 MHz5 Reference frequency
01h 8 MHz02h 4 MHz03h 1 MHz04h 100 kHz05h 10 kHz06h 1 kHz07h 100 Hz08h...FFh not permissible
The software gate which releases the counting process, is opened when bit 0(Start) in the byte 4 (Control)has HIGH level. It is closed as soon as bit 1 (Stop)hasHIGH level.
When the software gate is open:
The reference counter is started by the first rising edge of signal A and thenincremented with every rising edge of the reference clock.
The next rising edge of signal A stops the reference counter.
The counter can be cleared at any time via a HIGH level in byte 4 (Control), bit 3(Clear). Then the measuring process is restarted with the next rising edge of signalA.
1T Period
T= 1f⋅ n fref Reference frequencyT
frefn
n Count value
Example: Reference frequency fref = 1 MHz, count value n = 10,000
T= 11 MHz
⋅ 10000= 10 ms
Note!The count value remains valid until the next measurement iscompleted or the counter is reset via the clear signal; this meansthat you do not get the current count value but the one from theprevious measurement if a measurement has not been completed,e.g. because no second rising edge of signal A has occurred.
Reference frequency
Start/stop signal
A signal
Clear signal
Period calculation
Parameterising 1xcounter/16xdigital input moduleMeasuring the period (mode 4)
12 Parameter setting
12.612.6.7
l12.6-14 EDSPM-TXXX-3.0-04/2004
epm-t184
Fig. 12.6-14 Counter access of 1xcounter/16xdigital input in the mode 4
epm-t186
Fig. 12.6-15 Signal characteristic of 1xcounter/16xdigital input in the mode 4
Counter access
Signal characteristic
Transmitting parameter data
12Parameter setting
12.7
l 12.7-1EDSPM-TXXX-3.0-04/2004
12.7 Transmitting parameter data
If you change parameters (e. g. monitoring times in the index I2400h), the newsettings must be saved non-volatilely via index I2003h. The settings continue toexist after disconnecting the supply voltage.
Step Action Note1. Save changes Set index I2003h = 1
Loading default setting
12Parameter setting
12.8
l 12.8-1EDSPM-TXXX-3.0-04/2004
12.8 Loading default setting
Via index I2100hex all parameter changes are reset to the default setting. Changesmade by you are deleted from the EEPROM of the distributed I/O system
Step Action Note1. Loading factory setting Set index I2100h = 12. Reset Node Set index I2358h = 1 The changes are accepted.3. Save changes Set index I2003h = 1
Contents
13Troubleshooting and fault elimination
13.1
l 13.1-1EDSPM-TXXX-3.0-04/2004
13 Troubleshooting and fault elimination
13.1 Contents
13.2 Fault messages 13.2-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Fault messages
13Troubleshooting and fault elimination
13.2
l 13.2-1EDSPM-TXXX-3.0-04/2004
13.2 Fault messages
Module Fault Display Cause RemedyCAN gateway No data transmission No LED is lit No supply voltage Make sure that the module is
supplied 24 V DC
Incorrect data transmission tothe backplane bus
LED ”ER” is lit No module contact with thebackplane bus.
Place module on DIN rail, turndownward until it audiblyengages with the DIN rail.Then restart the module byswitching the supply voltageoff and on again.
No process data aretransmitted
LED ’BA’ is blinking System bus in Pre-Operationalstatus
Transmit telegram 00 01 00from master to change into theOperational status.
Parameter changes were notsaved after supply voltagedisconnection.
– Parameter changes were notsaved
Save all settings via indexI2003h
8×digital input16×digital input1×counter/16×digital input8×digital input / output
HIGH signal at a digital input isnot transmitted/indicated.
The green status LED of theoutput is not on.
High signal lacks referencepotential (GND) via pin 10.
Establish reference potential
8×digital output 1A16×digital output 1A8×digital output 2A8×digital input / output
No HIGH level output at thedigital output
The red status LED ’F’ is lit Short circuit at a digital outputdue to incorrect wiring.The output remains off until theerror has been eliminated.
Check wiring
8×digital input / outputConnected load defective Check load
Digital output overload asload’s current consumption istoo high.
Select load with lower currentconsumption.When using the module8×digital output 1A, exchangeit, if possible, by a module8×digital output 2A.
4×relay Relay contact does not open – Excess load has lead to relaycontact fusing.
Replace module and reduceload on the relay contact.
4×analog input4×analog input / output
Signal at analog input is nottransmitted
The red LED of thecorresponding input is lit
Open circuit within measuringrange 4 ... 20 mA
Check wiring4×analog input / output transmitted corresponding input is lit
No sensor connected. Connect sensor.Short-circuit the plus andminus terminals of an input if itis not to be used.
The red LED of the associatedinput is blinking
Input current >40 mA Reduce input current
2/4×counter After a reset via the digitalinput IN1 / IN4 the value 0 isnot transmitted to the master.It is only transmitted with thenext count value.
– Process data transmission tothe master (PDO-Tx) isevent-controlled.
Setting cyclic process datachange (I1800h ... I1809h)
Contents
14Appendix
14.1
l 14.1-1EDSPM-TXXX-3.0-04/2004
14 Appendix
14.1 Contents
14.2 Index table 14.2-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Index table
14Appendix
14.2
l 14.2-1EDSPM-TXXX-3.0-04/2004
14.2 Index table
The indices are numbered in ascending sequence for reference purposes.
How to read the index table:
Column Abbreviation MeaningIndex Ixxxxh Index IxxxxhIndex
1 Subindex 1 of Ixxxxh2 Subindex 2 of Ixxxxh
Ixxxxh* Index parameter is permanently stored in the EEPROM.Name Index nameLenze Lenze setting, setting on deliverySelection 1 % 99 Min. value (unit) max. valueImportant – Brief, important explanationsImportant
Page x Reference to detailed explanations
Note!Store changed parameters in the EEPROM via index I2003h. Thesettings are maintained after switching off the supply voltage.
Index Name Possible settings Important
Lenze Selection
I1000h Device type Display onlyType
I1001h Error register Display only 9.11-2h g
Bit 0 Generic An unspecified error has occurred(flag set on each error message)
Bit 1 reserved
Bit 2 reserved
Bit 3 reserved
Bit 4 Comm. Communication error (Overrun CAN)
Bit 5 reserved
Bit 6 reserved
Bit 7 ManSpec. Manufacturer-specific error Is shown in detail in I1003hI1003h Display only
1 Actual errors
p y yFault memory
I1004h Number ofsupported PDOs
Display only
1 Number ofsynchronous PDOssupported
2 Number ofsynchronous PDOssupported
I1005h Sync COB-ID 128 128 1 2047
I1006h Sync interval 0 0 1 65535 Sync transmit window
I1007h Sync windowlength
0 0 1 ms 65535 If no sync signal arrives during the syncinterval set (I1006h), the I/O system IP20switches to the Pre-Operational mode.Function is deactivated: I1007h = 0
I1008h DIS: Device name Display onlydevice name
I1009h DIS: Hardwareversion
Display onlyHardware version
Index table
14 Appendix
14.2
l14.2-2 EDSPM-TXXX-3.0-04/2004
Index ImportantPossible settingsName
SelectionLenze
I100Ah DIS: Softwareversion
Display onlySoftware version
I100Bh Node ID 0 0 1 63 Display onlySystem bus node address
I100Ch Guard time 0 0 1 ms 65535 Node GuardingMonitoring time0 = monitoring not active
9.7-1
I100Dh Life time factor 0 0 1 255 Node GuardingResponse time computation factor0 = monitoring not activeThe response time is computed as:Monitoring period x factor
9.7-1
I100Eh Node Guardingidentifier
Display onlyidentifier = basic identifier + node address(basic identifier cannot be modified)
9.7-1
I1010h Store parameter 0 Store in accordance with CANopen(communication protocol DS301/DS401)
I1011h Restore parameter 0 Load factory setting in accordance withCANopen(communication protocolDS301/DS401)
I1014h COB ID emergency Emergency telegramIdentifier 80h + node address is displayedafter boot-up.
9.11-2
I1016h Heartbeatconsumer time
Data contents The I/O system IP20 can monitor up to fivenodes (subindex 1 5)
9.8-1consumer time
Heartbeat time Node ID reservednodes (subindex 1 ... 5).If the monitored node does not respond,
Byte 1 Byte 2 Byte 3 Byte 4If the monitored node does not respond,the I/O system IP20 changes to the”Pre-Operational” state The outputs
00h 00h 00h 00h”Pre-Operational” state. The outputsswitch to a defined state.
1 Heartbeat time 0 0 1 ms 65535 In the compact system, only the subindex 1i il bl
9.8-1
Node ID 0 0 1 255
p y , yis availableHeartbeat time:2 Heartbeat time 0 0 1 ms 65535Heartbeat time:The monitored node must respond within
Node ID 0 0 1 255The monitored node must respond withinthe time set. The time is set in byte 0 and
3 Heartbeat time 0 0 1 ms 65535the time set. The time is set in byte 0 and1.
Node ID 0 0 1 255 Node ID:N d dd f th d t b it d4 Heartbeat time 0 0 1 ms 65535 Node address of the node to be monitored.The address is set in byte 2
Node ID 0 0 1 255The address is set in byte 2.
5 Heartbeat time 0 0 1 ms 65535
Node ID 0 0 1 255I1017h Heartbeat producer
time0 0 1 ms 65535 The I/O system IP20 can be monitored by
other nodes.Within this time the device status of the I/O
9.8-1
0 Function is not active
Within this time the device status of the I/Osystem IP20 is transmitted to the fieldbus.In the communication protocol, system bus(CAN) is not available
I1018h Display only
1 Vendor ID
p y ydevice identifier
2 Product code
3 Revision number
I1027h Type of Display only 9.11-3
1 Module no. 1
p y ymodule listS bindices 1 32 Mod le identifiers of2 Module no. 2 Subindices 1 ... 32 Module identifiers ofthe plugged modules
... ...the plugged modules
32 Module no. 32
Index table
14Appendix
14.2
l 14.2-3EDSPM-TXXX-3.0-04/2004
Index ImportantPossible settingsName
SelectionLenze
I1029h Error behavior 0123
Pre-OperationalNo state changedStoppedRESET
Error behaviour
1 CommunicationError
0 The I/O system IP20 switches to the statusset if the communication with the masterfails or ”node guarding”, ”heartbeat”, orthe output monitoring have been activated.
2 ManufacturerSpecific Error
0 Only available for the compact system.If a digital output has a short circuit andthe time set in I2410h has been exceeded,the module switches to the status set.
I1200h Server SDOparameter 1
Display onlyCurrent identifiers for SDO communication
1 SDO1-Rx 1536 (basic identifier) + node address
2 SDO1-Tx 1408 (basic identifier) + node address
I1201h Server SDOparameter 2
Display onlyCurrent identifiers for SDO communication
1 SDO2-Rx 1600 (basic identifier) + node address
2 SDO2-Tx 1472 (basic identifier) + node address
I1400h Index is available in the modular andcompact system
9.4-3
1 COB-ID used byRxPDO 1
768 385 1 2047 Defining the individual identifiers forprocess data object 1
2 Transmission mode 255 0 1 255 Defining the transmission mode
0 Sync-controlled reception The input data are accepted on synctelegram transmission.
1 ... 240 N-sync-controlled reception The input data are accepted aftertransmission of the set number (1 ... 240)of sync telegrams.
255 Event-controlled reception Every received value is accepted
I1401h Index is only available in the modularsystem
9.4-3
1 COB-ID used byRxPDO 2
640 385 1 2047 Defining the individual identifiers forprocess data object 2
2 Transmission type 255 0 1 255 Defining the transmission mode
0 Sync-controlled receive The input data are accepted on synctelegram transmission.
1 ... 240 N-sync-controlled reception The input data are accepted aftertransmission of the set number (1 ... 240)of sync telegrams.
255 Event-controlled reception Every received value is accepted
I1402h Index is only available in the modularsystem
9.4-3
1 COB-ID used byRxPDO 3
512 385 1 2047 Defining the individual identifiers forprocess data object 3
2 Transmission type 255 0 1 255 Defining the transmission mode
0 Sync-controlled receive The input data are accepted on synctelegram transmission.
1 ... 240 N-sync-controlled reception The input data are accepted aftertransmission of the set number (1 ... 240)of sync telegrams.
255 Event-controlled reception Every received value is accepted
Index table
14 Appendix
14.2
l14.2-4 EDSPM-TXXX-3.0-04/2004
Index ImportantPossible settingsName
SelectionLenze
I1403h Index is only available in the modularsystem
9.4-3
1 COB-ID used byRxPDO 4
830 385 1 2047 Defining the individual identifiers forprocess data object 4
2 Transmisson type 255 0 1 255 Defining the transmission mode
0 Sync-controlled receive The input data are accepted on synctelegram transmission.
1 ... 240 N-sync-controlled reception The input data are accepted aftertransmission of the set number (1 ... 240)of sync telegrams.
255 Event-controlled reception Every received value is accepted
I1404h Index is only available in the modularsystem
9.4-3
1 COB-ID used byRxPDO 5
1024 385 1 2047 Defining the individual identifiers forprocess data object 5
2 Transmisson type 255 0 1 255 Defining the transmission mode
0 Sync-controlled receive The input data are accepted on synctelegram transmission.
1 ... 240 N-sync-controlled reception The input data are accepted aftertransmission of the set number (1 ... 240)of sync telegrams.
255 Event-controlled reception Every received value is accepted
I1405h Index is only available in the modularsystem
9.4-3
1 COB-ID used byRxPDO 6
1080 385 1 2047 Defining the individual identifiers forprocess data object 6
2 Transmisson type 255 0 1 255 Defining the transmission mode
0 Sync-controlled receive The input data are accepted on synctelegram transmission.
1 ... 240 N-sync-controlled reception The input data are accepted aftertransmission of the set number (1 ... 240)of sync telegrams.
255 Event-controlled reception Every received value is accepted
I1406h Index is only available in the modularsystem
9.4-3
1 COB-ID used byRxPDO 7
1152 385 1 2047 Defining the individual identifiers forprocess data object 7
2 Transmisson type 255 0 1 255 Defining the transmission mode
0 Sync-controlled receive The input data are accepted on synctelegram transmission.
1 ... 240 N-sync-controlled reception The input data are accepted aftertransmission of the set number (1 ... 240)of sync telegrams.
255 Event-controlled reception Every received value is accepted
I1407h Index is only available in the modularsystem
9.4-3
1 COB-ID used byRxPDO 8
1280 385 1 2047 Defining the individual identifiers forprocess data object 8
2 Transmisson type 255 0 1 255 Defining the transmission mode
0 Sync-controlled receive The input data are accepted on synctelegram transmission.
1 ... 240 N-sync-controlled reception The input data are accepted aftertransmission of the set number (1 ... 240)of sync telegrams.
255 Event-controlled reception Every received value is accepted
Index table
14Appendix
14.2
l 14.2-5EDSPM-TXXX-3.0-04/2004
Index ImportantPossible settingsName
SelectionLenze
I1408h Index is only available in the modularsystem
9.4-3
1 COB-ID used byRxPDO 9
1344 385 1 2047 Defining the individual identifiers forprocess data object 9
2 Transmisson type 255 0 1 255 Defining the transmission mode
0 Sync-controlled receive The input data are accepted on synctelegram transmission.
1 ... 240 N-sync-controlled reception The input data are accepted aftertransmission of the set number (1 ... 240)of sync telegrams.
255 Event-controlled reception Every received value is accepted
I1409h Index is only available in the modularsystem
9.4-3
1 COB-ID used byRxPDO 10
1665 385 1 2047 Defining the individual identifiers forprocess data object 10
2 Transmission mode 255 0 1 255 Defining the transmission mode
0 Sync-controlled reception The input data are accepted on synctelegram transmission.
1 ... 240 N-sync-controlled reception The input data are accepted aftertransmission of the set number (1 ... 240)of sync telegrams.
255 Event-controlled reception Every received value is accepted
I1600h* Mapping parameters for receive PDOs
0 Number of mappedRxPDO1
0 1 255 8 bit value
1 1st mapped object 00000000h 1 FFFFFFFFh 32 bit value
2 2nd mapped object 00000000h 1 FFFFFFFFh 32 bit value
3 3rd mapped object 00000000h 1 FFFFFFFFh 32 bit value
4 4th mapped object 00000000h 1 FFFFFFFFh 32 bit value
5 5th mapped object 00000000h 1 FFFFFFFFh 32 bit value
6 6th mapped object 00000000h 1 FFFFFFFFh 32 bit value
7 7th mapped object 00000000h 1 FFFFFFFFh 32 bit value
8 8th mapped object 00000000h 1 FFFFFFFFh 32 bit value
I1800h Index is available in the modular andcompact system
9.4-3
1 COB-ID used byTxPDO 1
767 385 1 2047 Defining the individual identifiers forprocess data object 1
2 Transmission mode 255 0 1 255 Defining the transmission mode
1 Sync-controlled transmission The output data are accepted on synctelegram transmission.
2 ... 240 n-sync-controlled transmission The output data are accepted aftertransmission of the set number (1 ... 240)of sync telegrams.
254 Time-controlled transmission Only if a cycle time is set in I180xh,subindex 5
255 Event-controlled transmission
255 Event-controlled transmission with cyclicoverlapping
Only if a cycle time is set in I180xh,subindex 5
Index table
14 Appendix
14.2
l14.2-6 EDSPM-TXXX-3.0-04/2004
Index ImportantPossible settingsName
SelectionLenze
I1801h Index is only available in the modularsystem
9.4-3
1 COB-ID used byTxPDO 2
639 385 1 2047 Defining the individual identifiers forprocess data object 2
2 Transmisson type 255 0 1 65535 Defining the transmission mode
0 Sync-controlled transmit The output data are accepted on synctelegram transmission.
1 ... 240 n-sync-controlled transmission The output data are accepted aftertransmission of the set number (1 ... 240)of sync telegrams.
254 Time-controlled transmission Only if a cycle time is set in I180xh,subindex 5
255 Event-controlled transmission
255 Event-controlled transmission with cyclicoverlapping
Only if a cycle time is set in I180xh,subindex 5
3 Inhibit time 0 0 1 ms 65535 Inhibit time
5 Event time 0 1 ms 65535 Cycle time
I1802h Index is only available in the modularsystem
9.4-3
1 COB-ID used byTxPDO 3
384 385 1 2047 Defining the individual identifiers forprocess data object 3
2 Transmisson type 255 0 1 255 Defining the transmission mode
1 Sync-controlled transmit The output data are accepted on synctelegram transmission.
2 ... 240 n-sync-controlled transmission The output data are accepted aftertransmission of the set number (1 ... 240)of sync telegrams.
254 Time-controlled transmission Only if a cycle time is set in I180xh,subindex 5
255 Event-controlled transmission
255 Event-controlled transmission with cyclicoverlapping
Only if a cycle time is set in I180xh,subindex 5
3 Inhibit time 0 0 1 ms 65535 Inhibit time
5 Event time 0 1 ms 65535 Cycle time
I1803h Index is only available in the modularsystem
9.4-3
1 COB-ID used byTxPDO 4
896 385 1 2047 Defining the individual identifiers forprocess data object 4
2 Transmisson type 255 0 1 255 Defining the transmission mode
1 Sync-controlled transmit The output data are accepted on synctelegram transmission.
2 ... 240 n-sync-controlled transmission The output data are accepted aftertransmission of the set number (1 ... 240)of sync telegrams.
254 Time-controlled transmission Only if a cycle time is set in I180xh,subindex 5
255 Event-controlled transmission
255 Event-controlled transmission with cyclicoverlapping
Only if a cycle time is set in I180xh,subindex 5
3 Inhibit time 0 0 1 ms 65535 Inhibit time
5 Event time 0 1 ms 65535 Cycle time
Index table
14Appendix
14.2
l 14.2-7EDSPM-TXXX-3.0-04/2004
Index ImportantPossible settingsName
SelectionLenze
I1804h Index is only available in the modularsystem
9.4-3
1 COB-ID used byTxPDO 5
448 385 1 2047 Defining the individual identifiers forprocess data object 5
2 Transmission type 255 0 1 255 Defining the transmission mode
1 Sync-controlled transmit The output data are accepted on synctelegram transmission.
2 ... 240 n-sync-controlled transmission The output data are accepted aftertransmission of the set number (1 ... 240)of sync telegrams.
254 Time-controlled transmission Only if a cycle time is set in I180xh,subindex 5
255 Event-controlled transmission
255 Event-controlled transmission with cyclicoverlapping
Only if a cycle time is set in I180xh,subindex 5
3 Inhibit time 0 0 1 ms 65535 Inhibit time
5 Event time 0 1 ms 65535 Cycle time
I1805h Index is only available in the modularsystem
9.4-3
1 COB-ID used byTxPDO 6
704 385 1 2047 Defining the individual identifiers forprocess data object 6
2 Transmission type 255 0 1 255 Defining the transmission mode
1 Sync-controlled transmit The output data are accepted on synctelegram transmission.
2 ... 240 n-sync-controlled transmission The output data are accepted aftertransmission of the set number (1 ... 240)of sync telegrams.
254 Time-controlled transmission Only if a cycle time is set in I180xh,subindex 5
255 Event-controlled transmission
255 Event-controlled transmission with cyclicoverlapping
Only if a cycle time is set in I180xh,subindex 5
3 Inhibit time 0 0 1 ms 65535 Inhibit time
5 Event time 0 1 ms 65535 Cycle time
I1806h Index is only available in the modularsystem
9.4-3
1 COB-ID used byTxPDO 7
960 385 1 2047 Defining the individual identifiers forprocess data object 7
2 Transmisson type 255 0 1 255 Defining the transmission mode
1 Sync-controlled transmit The output data are accepted on synctelegram transmission.
2 ... 240 n-sync-controlled transmission The output data are accepted aftertransmission of the set number (1 ... 240)of sync telegrams.
254 Time-controlled transmission Only if a cycle time is set in I180xh,subindex 5
255 Event-controlled transmission
255 Event-controlled transmission with cyclicoverlapping
Only if a cycle time is set in I180xh,subindex 5
3 Inhibit time 0 0 1 ms 65535 Inhibit time
5 Event time 0 1 ms 65535 Cycle time
Index table
14 Appendix
14.2
l14.2-8 EDSPM-TXXX-3.0-04/2004
Index ImportantPossible settingsName
SelectionLenze
I1807h Index is only available in the modularsystem
9.4-3
1 COB-ID used byTxPDO 8
1216 385 1 2047 Defining the individual identifiers forprocess data object 8
2 Transmisson type 255 0 1 255 Defining the transmission mode
1 Sync-controlled transmit The output data are accepted on synctelegram transmission.
2 ... 240 n-sync-controlled transmission The output data are accepted aftertransmission of the set number (1 ... 240)of sync telegrams.
254 Time-controlled transmission Only if a cycle time is set in I180xh,subindex 5
255 Event-controlled transmission
255 Event-controlled transmission with cyclicoverlapping
Only if a cycle time is set in I180xh,subindex 5
3 Inhibit time 0 0 1 ms 65535 Inhibit time
5 Event time 0 1 ms 65535 Cycle time
I1808h Index is only available in the modularsystem
9.4-3
1 COB-ID used byTxPDO 9
1728 385 1 2047 Defining the individual identifiers forprocess data object 9
2 Transmisson type 255 0 1 255 Defining the transmission mode
1 Sync-controlled transmit The output data are accepted on synctelegram transmission.
2 ... 240 n-sync-controlled transmission The output data are accepted aftertransmission of the set number (1 ... 240)of sync telegrams.
254 Time-controlled transmission Only if a cycle time is set in I180xh,subindex 5
255 Event-controlled transmission
255 Event-controlled transmission with cyclicoverlapping
Only if a cycle time is set in I180xh,subindex 5
3 Inhibit time 0 0 1 ms 65535 Inhibit time
5 Event time 0 1 ms 65535 Cycle time
I1809h Index is only available in the modularsystem
9.4-3
1 COB-ID used byTxPDO 10
1984 385 1 2047 Defining the individual identifiers forprocess data object 10
2 Transmission mode 255 0 1 255 Defining the transmission mode
1 Sync-controlled transmission The output data are accepted on synctelegram transmission.
2 ... 240 n-sync-controlled transmission The output data are accepted aftertransmission of the set number (1 ... 240)of sync telegrams.
254 Time-controlled transmission Only if a cycle time is set in I180xh,subindex 5
255 Event-controlled transmission
255 Event-controlled transmission with cyclicoverlapping
Only if a cycle time is set in I180xh,subindex 5
3 Inhibit time 0 0 1 ms 65535 Inhibit time
5 Event time 0 1 ms 65535 Cycle time
Index table
14Appendix
14.2
l 14.2-9EDSPM-TXXX-3.0-04/2004
Index ImportantPossible settingsName
SelectionLenze
I1A00h Mapping parameters for receive PDOs
0 Number of mappedTxPDO1
0 1 255 8 bit value
1 1st mapped object 00000000h 1 FFFFFFFFh 32 bit value
2 2nd mapped object 00000000h 1 FFFFFFFFh 32 bit value
3 3rd mapped object 00000000h 1 FFFFFFFFh 32 bit value
4 4th mapped object 00000000h 1 FFFFFFFFh 32 bit value
5 5th mapped object 00000000h 1 FFFFFFFFh 32 bit value
6 6th mapped object 00000000h 1 FFFFFFFFh 32 bit value
7 7th mapped object 00000000h 1 FFFFFFFFh 32 bit value
8 8th mapped object 00000000h 1 FFFFFFFFh 32 bit valueI2001h CAN baud rate 1 0 1 255 Display onlyh
012345678
1000 kbits/s500 kbits/s250 kbits/s125 kbits/s100 kbits/s50 kbits/s20 kbits/s10 kbits/s800 kbits/s
p y ysystem bus baud rate
I2003h Save 0 0 No function Parameter changes are savedl il l i I2003
h
1 Save
gnon-volatilely via I2003h
I2100h Default setting 0 0 No function Loading factory setting 12.8-1h g
1 Default setting
g y gThe EEPROM content is cleared
I2358h CAN reset node 0 0 No function Reset node 9.9-1h
1 CAN reset nodeI2359h CAN state 0 1 3 Display only 9.11-3h
0123
OperationalPre-OperationalWarningBus off
p y ySystem bus status
I2400h* Timer value 0 1 ms 65535 Monitoring time for process data inputbj
9.10-1
1 PD01 0
g p pobjectsFor the compact system only index I2400
2 PD02 0For the compact system, only index I2400h,subindex 1 is available
3 PD03 0subindex 1 is available
4 PD04 0
5 PD05 0
6 PD06 0
7 PD07 0
8 PD08 0
9 PD09 0
10 PD10 0
I2410h Timeout shortcircuit monitoring
2 0 1 ms 65535 Only available for the compact system.If a digital output has a short circuit andthe time set has been exceeded, themodule switches to the status set inI1029h, Subindex 2.
I2500h Dummy object forPDO mapping
Display onlyIndex is only available in the compactsystem
Index table
14 Appendix
14.2
l14.2-10 EDSPM-TXXX-3.0-04/2004
Index ImportantPossible settingsName
SelectionLenze
I3001h* Configanalog/countermodule 1
00000000h 1h FFFFFFFFh Configures analog or counter module inslot 1Index is only available in the modular
12.3-112.4-112.5-1
1 0h
Index is only available in the modularsystem
12.5 112.6-1
2 0h3 0h4 0h
I3002h* Configanalog/countermodule 2
00000000h 1h FFFFFFFFh Configures analog or counter module inslot 2Index is only available in the modular
12.3-112.4-112.5-1
1 0h
Index is only available in the modularsystem
12.5 112.6-1
2 0h3 0h4 0h
I3003h* Configanalog/countermodule 3
00000000h 1h FFFFFFFFh Configures analog or counter module inslot 3Index is only available in the modular
12.3-112.4-112.5-1
1 0h
Index is only available in the modularsystem
12.5 112.6-1
2 0h3 0h4 0h
I3004h* Configanalog/countermodule 4
00000000h 1h FFFFFFFFh Configures analog or counter module inslot 4Index is only available in the modular
12.3-112.4-112.5-1
1 0h
Index is only available in the modularsystem
12.5 112.6-1
2 0h3 0h4 0h
I3005h* Configanalog/countermodule 5
00000000h 1h FFFFFFFFh Configures analog or counter module inslot 5Index is only available in the modular
12.3-112.4-112.5-1
1 0h
Index is only available in the modularsystem
12.5 112.6-1
2 0h3 0h4 0h
I3006h* Configanalog/countermodule 6
00000000h 1h FFFFFFFFh Configures analog or counter module inslot 6Index is only available in the modular
12.3-112.4-112.5-1
1 0h
Index is only available in the modularsystem
12.5 112.6-1
2 0h3 0h4 0h
I3007h* Configanalog/countermodule 7
00000000h 1h FFFFFFFFh Configures analog or counter module inslot 7Index is only available in the modular
12.3-112.4-112.5-1
1 0h
Index is only available in the modularsystem
12.5 112.6-1
2 0h3 0h4 0h
Index table
14Appendix
14.2
l 14.2-11EDSPM-TXXX-3.0-04/2004
Index ImportantPossible settingsName
SelectionLenze
I3008h* Configanalog/countermodule 8
00000000h 1h FFFFFFFFh Configures analog or counter module inslot 8Index is only available in the modular
12.3-112.4-112.5-1
1 0h
Index is only available in the modularsystem
12.5 112.6-1
2 0h3 0h4 0h
I3009h* Configanalog/countermodule 9
00000000h 1h FFFFFFFFh Configures analog or counter module inslot 9Index is only available in the modular
12.3-112.4-112.5-1
1 0h
Index is only available in the modularsystem
12.5 112.6-1
2 0h3 0h4 0h
I300Ah* Configanalog/countermodule 10
00000000h 1h FFFFFFFFh Configures analog or counter module inslot 10Index is only available in the modular
12.3-112.4-112.5-1
1 0h
Index is only available in the modularsystem
12.5 112.6-1
2 0h3 0h4 0h
I300Bh* Configanalog/countermodule 11
00000000h 1h FFFFFFFFh Configures analog or counter module inslot 11Index is only available in the modular
12.3-112.4-112.5-1
1 0h
Index is only available in the modularsystem
12.5 112.6-1
2 0h3 0h4 0h
I300Ch* Configanalog/countermodule 12
00000000h 1h FFFFFFFFh Configures analog or counter module inslot 12Index is only available in the modular
12.3-112.4-112.5-1
1 0h
Index is only available in the modularsystem
12.5 112.6-1
2 0h3 0h4 0h
I300Dh* Configanalog/countermodule 13
00000000h 1h FFFFFFFFh Configures analog or counter module inslot 13Index is only available in the modular
12.3-112.4-112.5-1
1 0h
Index is only available in the modularsystem
12.5 112.6-1
2 0h3 0h4 0h
I300Eh* Configanalog/countermodule 14
00000000h 1h FFFFFFFFh Configures analog or counter module inslot 14Index is only available in the modular
12.3-112.4-112.5-1
1 0h
Index is only available in the modularsystem
12.5 112.6-1
2 0h3 0h4 0h
Index table
14 Appendix
14.2
l14.2-12 EDSPM-TXXX-3.0-04/2004
Index ImportantPossible settingsName
SelectionLenze
I300Fh* Configanalog/countermodule 15
00000000h 1h FFFFFFFFh Configures analog or counter module inslot 15Index is only available in the modular
12.3-112.4-112.5-1
1 0h
Index is only available in the modularsystem
12.5 112.6-1
2 0h3 0h4 0h
I3010h* Configanalog/countermodule 16
00000000h 1h FFFFFFFFh Configures analog or counter module inslot 16Index is only available in the modular
12.3-112.4-112.5-1
1 0h
Index is only available in the modularsystem
12.5 112.6-1
2 0h3 0h4 0h
I6000h Digital input 0 1 255 Display only 9.11-4
1 Module 1
p y ydigital input status
2 Module 2
... ...
32 Module 32
I6002h* Change polaritydigital input
0 1 255 Inverts digital input signals 12.2-1
1 Module 1 0
2 Module 2 0
... ... ...
32 Module 32 0
I6200h Digital output 0 1 255 Display only 9.11-4
1 Module 1
p y ydigital output status
2 Module 2
... ...
32 Module 32
I6202h Change polaritydigital output
0 1 255 Inverts digital output signals 12.2-1
1 Module 1 0
2 Module 2 0
... ... ...
32 Module 32 0I6206h Error mode digital
output0 1 255 Configures digital output monitoring
For the compact system, only index I6206h,subindex 1 is available
9.10-2
0 All digital outputs retain the last status output.
255 Reaction from I6207h In I6207h, the response can be configuredindividually for each digital output
1 Module 1 0
2 Module 2 0
... ... ...
32 Module 32 0
Index table
14Appendix
14.2
l 14.2-13EDSPM-TXXX-3.0-04/2004
Index ImportantPossible settingsName
SelectionLenzeI6207h Error value digital 0 0 1 255 Configures the individual digital output 9.10-2h g
output 8 bits of information
g g presponsesFor the compact system only index I620
Bit value0
Output switches to LOWFor the compact system, only index I6207h,subindex 1 is available
Bit value1
Output retains last status output
1 Module 1 0
2 Module 2 0
... ... ...
32 Module 32 0
I6401h Analog input -32768 1 32767 Display only 9.11-5
1 Channel 1
p y yanalog input statusI d i l il bl i th d l2 Channel 2 Index is only available in the modularsystem
... ...system
36 Channel 36
I6411h Analog output -32768 1 32767 Display only 9.11-5
1 Channel 1
p y yanalog output statusI d i l il bl i th d l2 Channel 2 Index is only available in the modularsystem
... ...system
36 Channel 36
I6421h* Trigger selection 0 1 255 Enables interrupt for analog inputs/outputs
1 Channel 1 0
p g p pIndex is only available in the modularsystem
2 Channel 2 0system
... ... ...
36 Channel 36 0
I6424h* Upper limit analoginput
00000000h 1 FFFFFFFFh Index is only available in the modularsystem
1 Channel 1 0
y
2 Channel 2 0
... ... ...
36 Channel 36 0
I6425h* Lower limit analoginput
00000000h 1 FFFFFFFFh Index is only available in the modularsystem
1 Channel 1 0
y
2 Channel 2 0
... ... ...
36 Channel 36 0
I6426h* Delta limit analoginput
00000000h 1 FFFFFFFFh Index is only available in the modularsystem
1 Channel 1 0
y
2 Channel 2 0
... ... ...
36 Channel 36 0I6443h* Error mode analog
output0 1 255 Configures analog output monitoring
Index is only available in the modularsystem
9.10-3
0 All analog outputs retain the last value output.
255 Response from I6444h In I6444h the response can be configuredindividually for each analog output
1 Channel 1 0
2 Channel 2 0
... ... ...
36 Channel 36 0
Index table
14 Appendix
14.2
l14.2-14 EDSPM-TXXX-3.0-04/2004
Index ImportantPossible settingsName
SelectionLenze
I6444h* Error value analogoutput
-32768 1 32767 Configures the individual analog outputresponsesTh l id h l
9.10-3
1 Channel 1 0
pThe analog outputs provide the set valueIndex is only available in the modular
2 Channel 2 0Index is only available in the modularsystem
... ... ...system
36 Channel 36 0
1 Preface
2 Guide
3 Safety instructions
4 Technical data
5 The modular system
6 The compact system
7 Mechanical installation
8 Electrical installation
9 Networking via system bus (CAN)
10 Networking via CANopen
11 Commissioning
12 Parameter setting
13 Troubleshooting and fault elimination
14 Appendix
EDSPM-TXXX!Qz&
System ManualI/O system IP20EPM-T110, EPM-T2xx, EPM-T3xx, EPM-T4xx,EPM-T83x, EPM-T9xx
Lenze Drive Systems GmbHPostfach 10135231763 Hameln
2004 Lenze Drive Systems GmbH